Flight control method and apparatus, aircraft, and storage medium

Abstract

Embodiments of the present application relate to the field of flight control, and provide a flight control method and device, an aircraft and a storage medium. The flight control method comprises: obtaining a current working mode of an aircraft; determining a corresponding target measurement strategy according to the current working mode of the aircraft; measuring a distance between the aircraft and a target object in a preset direction according to the target measurement strategy; and controlling the aircraft to fly according to the distance between the aircraft and the target object in the preset direction. The flight control method can reduce the probability of collision between the aircraft and an obstacle, and improve the flight safety of the aircraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight control, and particularly relates to a flight control method and device, an aircraft and a storage medium. BACKGROUND

[0002] With the rapid development of aircraft manufacturing industry in China, aircrafts are rapidly growing in the fields of aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, smart city, etc. The safety of aircrafts is particularly important. In the process of flight, the aircraft obtains the height of the aircraft, and controls the flight according to the obtained height. At present, a radar device is mainly used to measure the distance between the aircraft and an object. However, in some scenarios, the distance measured by the radar device is inaccurate, the probability of collision between the aircraft and an obstacle is high, the risk of aircraft explosion is high, and the flight safety of the aircraft cannot be guaranteed. SUMMARY

[0003] Therefore, the embodiments of the present application provide a flight control method, device, aircraft and storage medium, which aims to reduce the probability of collision between the aircraft and the obstacle and improve the flight safety of the aircraft.

[0004] In a first aspect, the embodiments of the present application provide a flight control method, comprising:

[0005] obtaining a current working mode of an aircraft, wherein the working mode of the aircraft comprises a first working mode and a second working mode, and the flight state and / or flight environment of the aircraft in the first working mode is different from that in the second working mode;

[0006] determining a corresponding target measurement strategy according to the current working mode of the aircraft, wherein the target measurement strategy comprises a first target measurement strategy and a second target measurement strategy, the measurement method of the first target measurement strategy is more than that of the second target measurement strategy, the first target measurement strategy is selected when the aircraft is in the first working mode, and the second target measurement strategy is selected when the aircraft is in the second working mode;

[0007] measuring the distance between the aircraft and a target object in a preset direction according to the target measurement strategy; and

[0008] controlling the aircraft to fly according to the distance between the aircraft and the target object in the preset direction.

[0009] The flight control method provided in the first aspect can greatly reduce the probability of collision between the aircraft and obstacles and greatly improve the flight safety of the aircraft by measuring the distance between the aircraft and the target object in the preset direction and the target object in different working modes of the aircraft and controlling the aircraft to fly according to the distance between the aircraft and the target object in the preset direction.

[0010] In the second aspect, the embodiments of the present application further provide a flight control method, comprising:

[0011] obtaining a current flight height of the aircraft;

[0012] when the current flight height of the aircraft is less than or equal to a first height threshold, determining the flight height of the aircraft according to a real-time local elevation map of an environment in which the aircraft is located;

[0013] when the current flight height of the aircraft is greater than the first height threshold and less than or equal to a second height threshold, determining the flight height of the aircraft according to the real-time local elevation map of the environment in which the aircraft is located and data collected in real time by a depth sensor of the aircraft;

[0014] when the current flight height of the aircraft is greater than the second height threshold, determining the flight height of the aircraft according to the data collected in real time by the depth sensor of the aircraft;

[0015] controlling the aircraft to fly according to the flight height.

[0016] The flight control method provided in the second aspect can adaptively match the height fixing strategy of the aircraft based on the current flight height of the aircraft, and can more accurately determine the flight height of the aircraft. Therefore, controlling the aircraft to fly according to the accurate flight height can greatly improve the flight safety of the aircraft.

[0017] In the third aspect, the embodiments of the present application further provide a flight control device, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement the flight control method according to the first aspect or the second aspect when executing the computer program.

[0018] In the fourth aspect, the embodiments of the present application further provide an aircraft, comprising:

[0019] a body;

[0020] a depth sensor arranged in the body and used to measure the distance of the aircraft;

[0021] a power system arranged in the body and used to provide flight power for the aircraft.

[0022] A flight control device is arranged in the machine body, and is configured to implement the flight control method according to the first aspect or the second aspect.

[0023] In a fifth aspect, the embodiments of the present application further provide a storage medium for computer readable storage, the storage medium storing one or more programs, and the one or more programs are executable by one or more processors to implement the flight control method according to the first aspect or the second aspect.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 is a structural schematic diagram of an aircraft for implementing the flight control method provided by the embodiments of the present application;

[0027] Figure 2 is a step schematic flow chart of a flight control method provided by the embodiments of the present application;

[0028] Figure 3 is a step schematic flow chart of another flight control method provided by the embodiments of the present application;

[0029] Figure 4 is a step flow chart of another flight control method provided by the embodiments of the present application;

[0030] Figure 5 is a step flow chart of another flight control method provided by the embodiments of the present application;

[0031] Figure 6 is a step flow chart of another flight control method provided by the embodiments of the present application;

[0032] Figure 7 is a structural schematic block diagram of a flight control device provided by the embodiments of the present application;

[0033] Figure 8 is a structural schematic block diagram of an aircraft provided by the embodiments of the present application. DETAILED DESCRIPTION

[0034] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below, obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0035] The flowchart shown in the drawings is only an example and does not necessarily include all contents and operations / steps, nor does it necessarily execute in the order described. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.

[0036] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, unless otherwise clear from the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0037] With the rapid development of China's aircraft manufacturing industry, aircrafts are rapidly growing in the fields of aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, rescue and disaster relief, smart city, etc. The safety of aircrafts is particularly important. During flight, the aircraft obtains the height of the aircraft, and controls the flight according to the obtained height. At present, a radar device is mainly used to measure the distance between the aircraft and the object, but in some scenarios, the distance measured by the radar device is not accurate, the probability of collision between the aircraft and the obstacle is high, the risk of aircraft explosion is high, and the flight safety of the aircraft cannot be guaranteed.

[0038] To solve the above problems, the present application provides a flight control method and device, an aircraft and a storage medium. By using corresponding target measurement strategies in different working modes of the aircraft, the distance between the aircraft and the target object in a preset direction is measured, and the flight of the aircraft is controlled according to the distance between the aircraft and the target object in the preset direction. This can greatly reduce the probability of collision between the aircraft and the obstacle, and greatly improve the flight safety of the aircraft.

[0039] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0040] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of an aircraft for implementing the flight control method provided by the embodiments of the present application.

[0041] As Figure 1As shown, the aircraft 100 includes a fuselage 110, a power system 120, a depth sensor 130, and a flight control device. Figure 1 (Not shown in the image), the power system 120 is located on the fuselage 110 and is used to provide flight power for the aircraft 100. The depth sensor 130 is located on the fuselage 110 and is used to measure the distance of the aircraft 100. The depth sensor 130 may include at least one of a distance sensor, a vision module and a radar device. The distance sensor may be a TOF (Time of Flight) ranging sensor. The vision module may be a monocular vision module or a multi-view vision module. The radar device may include at least one of lidar and millimeter-wave radar.

[0042] The power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121, and both are mounted on the fuselage 110 of the aircraft 100. The ESCs receive drive signals generated by the control device and provide drive current to the motors 122 to control their rotational speed. The motors 122 drive the propellers 121 to rotate, thereby providing flight propulsion to the aircraft 100, enabling it to achieve one or more degrees of freedom of motion. In some embodiments, the aircraft 100 may rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 122 may be DC motors or AC motors. Additionally, the motors 122 may be brushless motors or brushed motors.

[0043] The aircraft 100 may also include a sensing system. Figure 1 (Not shown in the image). The sensing system is used to measure the attitude information of the aircraft, that is, the position and state information of the aircraft 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include at least one of the following sensors: gyroscope, ultrasonic sensor, electronic compass, inertial measurement unit (IMU), visual sensor, global navigation satellite system, and barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight control device is used to control the flight of the aircraft 100, for example, it can control the flight of the aircraft 100 based on the attitude information measured by the sensing system. It should be understood that the flight control device can control the aircraft 100 according to pre-programmed instructions.

[0044] In some embodiments, the flight control apparatus is configured to acquire a current working mode of the aerial vehicle 100; determine a corresponding target measurement strategy according to the current working mode of the aerial vehicle 100; measure a distance between the aerial vehicle 100 and the target object in a preset direction according to the target measurement strategy; and control the aerial vehicle 100 to fly according to the distance between the aerial vehicle 100 and the target object in the preset direction. In this way, the probability of collision between the aerial vehicle and the obstacle can be greatly reduced, and the flight safety of the aerial vehicle is greatly improved.

[0045] In some embodiments, the flight control apparatus is further configured to acquire a current flight height of the aerial vehicle 100; when the current flight height of the aerial vehicle 100 is less than or equal to a first height threshold, determine the flight height of the aerial vehicle 100 according to a real-time local elevation map of an environment in which the aerial vehicle is located; when the current flight height of the aerial vehicle 100 is greater than the first height threshold and less than or equal to a second height threshold, determine the flight height of the aerial vehicle 100 according to the real-time local elevation map of the environment in which the aerial vehicle is located and data collected by the depth sensor 130 of the aerial vehicle 100 in real time; when the current flight height of the aerial vehicle 100 is greater than the second height threshold, determine the flight height of the aerial vehicle 100 according to the data collected by the depth sensor 130 of the aerial vehicle 100 in real time; and control the aerial vehicle 100 to fly according to the flight height. In this way, the height determination strategy of the aerial vehicle is adaptively matched based on the current flight height of the aerial vehicle, the flight height of the aerial vehicle can be more accurately determined, and the flight safety of the aerial vehicle can be greatly improved when the aerial vehicle is controlled to fly according to the accurate flight height.

[0046] The aerial vehicle 100 includes an unmanned aerial vehicle and a manned aerial vehicle, and the unmanned aerial vehicle includes a rotor type unmanned aerial vehicle, such as a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, or a combination of a rotor type unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, which is not limited herein.

[0047] In the following, the flight control method provided by the embodiments of the present application will be described in detail with reference to the aerial vehicle in Figure 1 The aerial vehicle in Figure 1 The aerial vehicle in

[0048] Please refer to Figure 2 , Figure 2 is a step schematic flowchart of a flight control method provided by the embodiments of the present application. The flight control method is applied to an aerial vehicle, and is used to improve the flight safety of the aerial vehicle.

[0049] As Figure 2As shown, the flight control method includes steps S101-S104.

[0050] Step S101, acquiring a current working mode of the aircraft.

[0051] In this embodiment, the current working mode of the aircraft is the working mode of the aircraft at the current time. It can be understood that the working mode of the aircraft can be manually switched by a user through a remote control device in communication connection with the aircraft, or can be automatically switched according to the flight state and / or flight environment of the aircraft, and the embodiments of the present application do not make specific limitations thereto.

[0052] In some embodiments, the working mode of the aircraft includes a first working mode and a second working mode, and the flight state and / or flight environment of the aircraft in the first working mode is different from that in the second working mode. The flight state refers to the working state of the aircraft itself, such as take-off state, landing state, endurance state, working state, etc., and the flight environment represents the surrounding environment of the position where the aircraft is located, such as geographical environment, illumination intensity, weather condition, etc. The aircraft adopts different working modes in different flight states and / or flight environments, so that the aircraft can better adapt to its own flight state and / or flight environment for flight, greatly improving the flight safety of the aircraft.

[0053] For example, the flight state of the aircraft in the first working mode is different from that of the aircraft in the second working mode. Or, the flight environment of the aircraft in the first working mode is different from that of the aircraft in the second working mode. Or, the flight state of the aircraft in the first working mode is different from that of the aircraft in the second working mode, and the flight environment of the aircraft in the first working mode is also different from that of the aircraft in the second working mode.

[0054] In some embodiments, the first working mode includes a flat land mode or a mountain mode, and the second working mode includes one of a water surface mode, a take-off mode, a landing mode and a manual mode. The flat land mode represents that the terrain where the aircraft is located is flat, the mountain mode represents that the terrain where the aircraft is located has ups and downs, the water surface mode represents that the environment where the aircraft is located is above the water surface, the take-off mode represents that the aircraft is in a take-off state, the landing mode represents that the aircraft is in a landing state, and the manual mode represents that the aircraft is in a flight state controlled by the user.

[0055] In some embodiments, the first working mode comprises one of a flat land mode, a mountain land mode, a range reduction mode and a manual enhancement mode, and the second working mode comprises one of a water surface mode, a take-off mode, a landing mode, a manual mode and a range flight mode. The range flight mode represents that the aerial vehicle is in a state of flying to a first work point in a work area, the range reduction mode represents that the aerial vehicle is in a state of descending from the first work point in the work area to the first work point, and the manual enhancement mode represents that the aerial vehicle is in a state of being mainly controlled manually by a user, but preset parameters of the aerial vehicle are not manually controlled by the user. The preset parameters can be set based on actual conditions, and embodiments of the present application do not make specific limitations thereon. For example, the preset parameters can include at least one of a flight speed, a spraying amount and a working height of the aerial vehicle.

[0056] In step S102, a corresponding target measurement strategy is determined according to the current working mode of the aerial vehicle.

[0057] In the embodiments, the corresponding target measurement strategy can be determined according to the current working mode of the aerial vehicle. For example, in some embodiments, a mapping relationship table between the working mode and the measurement strategy can be queried to obtain the measurement strategy corresponding to the current working mode of the aerial vehicle, and the measurement strategy corresponding to the current working mode of the aerial vehicle is determined as the target measurement strategy. It can be understood that there are many ways to determine the target measurement strategy according to the working mode, and the embodiments of the present application do not make specific limitations thereon.

[0058] In some embodiments, the target measurement strategy comprises a first target measurement strategy and a second target measurement strategy, the measurement method of the first target measurement strategy is more than that of the second target measurement strategy, the aerial vehicle selects the first target measurement strategy when in the first working mode, and the aerial vehicle selects the second target measurement strategy when in the second working mode.

[0059] In some embodiments, different measurement methods adopt different data sources. For example, the data source adopted by the measurement method using the radar is the point cloud data collected by the radar, the data source adopted by the measurement method using the visual sensor is the image data collected by the visual sensor, and the data source adopted by the measurement method using the radar and the visual sensor is the fusion of the point cloud data collected by the radar and the image data collected by the visual sensor. Since the accuracies of different measurement methods under the same measurement condition are different, the embodiments can greatly improve the measurement accuracy by selecting the corresponding measurement method and data source according to different conditions, so as to ensure that the distance between the aerial vehicle and the object in the preset direction is accurate, thereby safely controlling the aerial vehicle to fly, and greatly improving the safety of the aerial vehicle.

[0060] In some embodiments, the first target measurement strategy includes at least one of a first target measurement method, a second target measurement method, and a third target measurement method, and the data source adopted by the first target measurement method, the data source adopted by the second target measurement method, and the data source adopted by the third target measurement method respectively include a fusion of a real-time local elevation map of an environment in which the aerial vehicle is located and data measured in real time by a depth sensor of the aerial vehicle, the real-time local elevation map of the environment in which the aerial vehicle is located, and a different one of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured in real time by the depth sensor of the aerial vehicle. The real-time local elevation map of the environment in which the aerial vehicle is located is used to represent the elevation information of objects in the surrounding environment of the real-time position of the aerial vehicle and the height of the aerial vehicle relative to the objects in the environment.

[0061] For example, the data source adopted by the first target measurement method is the real-time local elevation map of the environment in which the aerial vehicle is located, the data source adopted by the second target measurement method is the fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured in real time by the depth sensor of the aerial vehicle, and the data source adopted by the third target measurement method is the data measured in real time by the depth sensor of the aerial vehicle.

[0062] In some embodiments, when the aerial vehicle is in the first working mode, the aerial vehicle can obtain the real-time local elevation map of the environment in which the aerial vehicle is located, and when the aerial vehicle is in the second working mode, the aerial vehicle cannot obtain the real-time local elevation map of the environment in which the aerial vehicle is located. The real-time local elevation map of the environment in which the aerial vehicle is located can be generated according to data collected in real time by a radar device of the aerial vehicle and data collected in real time by a visual sensor, or can be loaded from a remote control device or a cloud in communication connection with the aerial vehicle according to the real-time position of the aerial vehicle, and the embodiments of the present application do not make specific limitations thereto.

[0063] In some embodiments, according to the current working mode of the aerial vehicle, determining the corresponding target measurement strategy can include: in response to the aerial vehicle being in the first working mode, determining the data source adopted by the measurement method of the first target measurement strategy according to at least one of the fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured in real time by the depth sensor of the aerial vehicle, the real-time local elevation map of the environment in which the aerial vehicle is located, and the data measured in real time by the depth sensor of the aerial vehicle; and in response to the aerial vehicle being in the second working mode, determining the data source adopted by the measurement method of the second target measurement strategy according to the data measured in real time by the depth sensor of the aerial vehicle.

[0064] For example, in response to the aerial vehicle being in the first working mode, at least one of the fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, the real-time local elevation map of the environment in which the aerial vehicle is located, and the data measured by the depth sensor of the aerial vehicle in real time is determined as a data source used by a measurement method of the first target measurement strategy; in response to the aerial vehicle being in the second working mode, the data measured by the depth sensor of the aerial vehicle in real time is determined as a data source used by a measurement method of the second target measurement strategy.

[0065] In step S103, the distance between the aerial vehicle and the target object in the preset direction is measured according to the target measurement strategy.

[0066] In this embodiment, the preset direction can include at least one of the front, rear, left, right, top and bottom of the aerial vehicle, and the target object can be an obstacle or a crop, which is not limited in the embodiments of the present application.

[0067] In some embodiments, when the aerial vehicle is in the first working mode, the distance between the aerial vehicle and the target object in the preset direction is measured according to the first target measurement strategy; when the aerial vehicle is in the second working mode, the distance between the aerial vehicle and the target object in the preset direction is measured according to the second target measurement strategy.

[0068] For example, in the case where the target measurement strategy is the first target measurement strategy, the distance between the aerial vehicle and the target object in the preset direction is determined according to at least one of the fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, the real-time local elevation map of the environment in which the aerial vehicle is located, and the data measured by the depth sensor of the aerial vehicle in real time; in the case where the target measurement strategy is the second target measurement strategy, the distance between the aerial vehicle and the target object in the preset direction is determined according to the data measured by the depth sensor of the aerial vehicle in real time.

[0069] In some embodiments, the preset direction is below the aerial vehicle, and the measuring the distance between the aerial vehicle and the target object in the preset direction according to the target measurement strategy can include: in a case where a data source adopted by a measurement method of the target measurement strategy is a real-time local elevation map of an environment in which the aerial vehicle is located, obtaining a target query range matched with a current working mode of the aerial vehicle; querying a maximum height in the target query range in the real-time local elevation map, and determining the maximum height as a target flight height of the aerial vehicle. The maximum height in the target query range is a sum of a height of a highest obstacle in the target query range that will affect flight of the aerial vehicle and a height of the aerial vehicle relative to the obstacle. This embodiment adaptively determines the target flight height of the aerial vehicle based on the working mode of the aerial vehicle, and the target flight height is a sum of the height of the highest obstacle in the target query range that will affect flight of the aerial vehicle and the height of the aerial vehicle relative to the obstacle, so that the highest obstacle in the target query range will not affect flight of the aerial vehicle, thereby greatly improving flight safety of the aerial vehicle.

[0070] In some embodiments, the target query range includes a query range corresponding to each of one or more query distances in a direction of the aerial vehicle. The shape of the query range corresponding to the query distance can be rectangular, sector-shaped or cone-shaped. For example, the target query range matched with the current working mode of the aerial vehicle includes a query range corresponding to a forward query distance, a query range corresponding to a backward query distance, a query range corresponding to a leftward query distance and a query range corresponding to a rightward query distance. The forward query distance is a query distance in a direction of a nose of the aerial vehicle, the backward query distance is a query distance in a direction opposite to the direction of the nose of the aerial vehicle, the leftward query distance is a query distance in a left direction of the direction of the nose of the aerial vehicle, and the rightward query distance is a query distance in a right direction of the direction of the nose of the aerial vehicle.

[0071] In some embodiments, the querying the maximum height in the target query range in the real-time local elevation map can include: obtaining a target query distance matched with a current flight speed of the aerial vehicle; adjusting a query distance in the direction of flight of the aerial vehicle in the target query range to the target query distance; and querying a maximum height in the adjusted target query range in the real-time local elevation map. The target query distance is proportional to the flight speed, that is, the greater the flight speed, the greater the target query distance, and the smaller the flight speed, the greater the target query distance. This embodiment adaptively adjusts the query range of the aerial vehicle in the real-time local elevation map according to the flight speed of the aerial vehicle, so that the aerial vehicle has enough time to avoid obstacles when encountering obstacles, thereby further improving flight safety of the aerial vehicle.

[0072] For example, the target query range matching the aircraft's current operating mode includes the query range corresponding to the forward query distance L1, the backward query distance L2, the left query distance L3, and the right query distance L4. If the target query distance matching the aircraft's current flight speed is L5, and the aircraft's flight direction is the nose direction, then the forward query distance L1 in the target query range can be replaced with the target query distance L5 to obtain the adjusted target query range. The adjusted target query range includes the query range corresponding to the target query distance L5, the backward query distance L2, the left query distance L3, and the right query distance L4.

[0073] For example, if the target query distance matching the current flight speed of the aircraft is L5, and the flight direction of the aircraft is the opposite of the nose direction, then the backward query distance L2 in the target query range can be replaced with the target query distance L5 to obtain the adjusted target query range. The adjusted target query range includes the query range corresponding to the forward query distance L1, the query range corresponding to the target query distance L5, the query range corresponding to the left query distance L3, and the query range corresponding to the right query distance L4.

[0074] In some embodiments, querying the maximum height within a target query range in a real-time local elevation map may include: obtaining a target query distance matching the aircraft's current flight speed; determining a first query range along the aircraft's flight direction based on the target query distance, and replacing the target query range with the first query range to obtain an adjusted target query range; and querying the maximum height within the adjusted target query range in the real-time local elevation map. This embodiment adaptively adjusts the query distance in the flight speed direction (the aircraft's flight direction) based on the magnitude of the flight speed, and only queries the maximum height within the query range in the flight speed direction. This not only ensures that the aircraft has sufficient time to avoid obstacles but also reduces computational load.

[0075] For example, the target query range includes the query range P1 corresponding to the forward query distance L1, the query range P2 corresponding to the backward query distance L2, the query range P3 corresponding to the left query distance L3, and the query range P4 corresponding to the right query distance L4. The target query distance matching the current flight speed of the aircraft is L5, and the flight direction of the aircraft is the direction of the aircraft's nose. Therefore, the first query range along the direction of the aircraft's nose can be determined based on the target query distance L5. Then, the target query range is replaced with the first query range along the direction of the aircraft's nose to obtain the adjusted target query range. The adjusted target query range only includes the first query range corresponding to the target query distance L5.

[0076] In some embodiments, the querying the maximum height in the real-time local elevation map within the target query range can comprise: obtaining a target query direction matching a direction of the current flight speed of the aerial vehicle; deleting the query ranges in the target query range except the target query direction, to obtain an adjusted target query range; and querying the maximum height in the real-time local elevation map within the adjusted target query range. This embodiment only queries the maximum height in the query range in the flight speed direction, which can reduce the amount of calculation.

[0077] For example, the target query range comprises a query range P1 corresponding to a forward query distance L1, a query range P2 corresponding to a backward query distance L2, a query range P3 corresponding to a leftward query distance L3, and a query range P4 corresponding to a rightward query distance L4, and the direction of the current flight speed of the aerial vehicle is the head direction of the aerial vehicle. Then, the query ranges P2, P3 and P4 in the target query range are deleted, and only the query range P1 corresponding to the forward query distance L1 is retained.

[0078] In some embodiments, the obtaining of the target query distance matching the current flight speed of the aerial vehicle can comprise: obtaining the target query distance matching the current flight speed of the aerial vehicle according to preset relationship information. The preset relationship information is used to describe the corresponding relationship between the flight speed and the query distance, and can comprise a preset relationship table or a preset relationship curve. The preset relationship table is established according to different flight speeds and the respective query distances corresponding to each flight speed, and the preset relationship curve is established according to different flight speeds and the respective query distances corresponding to each flight speed.

[0079] In some embodiments, the preset direction is below the aerial vehicle, and the measuring of the distance between the aerial vehicle and the target object in the preset direction according to the target measurement strategy can comprise: when the data source used in the measurement method of the target measurement strategy is the fusion of the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, obtaining a target query range matching the current working mode of the aerial vehicle; querying the maximum height in the real-time local elevation map within the target query range, and determining the maximum height as a first flight height of the aerial vehicle; obtaining the data measured by the depth sensor of the aerial vehicle in real time, and determining a second flight height of the aerial vehicle according to the data measured by the depth sensor of the aerial vehicle in real time; and performing weighted summation on the first flight height and the second flight height to obtain a target flight height. This embodiment can more accurately determine the target flight height of the aerial vehicle by fusing the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, thereby further improving the flight safety of the aerial vehicle.

[0080] In some embodiments, the weighted sum of the first flight height and the second flight height to obtain the target flight height can include: obtaining a first weighting coefficient and a second weighting coefficient, the sum of the first weighting coefficient and the second weighting coefficient being equal to 1; calculating the product of the first weighting coefficient and the first flight height to obtain a first weighted height, and calculating the product of the second weighting coefficient and the second flight height to obtain a second weighted height; and accumulating the first weighted height and the second weighted height to obtain the target flight height of the aircraft. The first weighting coefficient and the second weighting coefficient can be set based on actual conditions, and embodiments of the present application do not make specific limitations thereon. For example, the first weighting coefficient is 0.4 and the second weighting coefficient is 0.6. For another example, the first weighting coefficient and the second weighting coefficient are both 0.5.

[0081] Step S104, controlling the aircraft to fly according to the distance between the aircraft and the target object in the preset direction.

[0082] For example, in the case where the preset direction is below the aircraft, the distance between the aircraft and the target object in the preset direction is the target flight height, and if the current flight height of the aircraft is less than the target flight height, the aircraft is controlled to climb so that the flight height of the aircraft reaches the target flight height. For another example, in the case where the preset direction is the flight direction of the aircraft, the distance between the aircraft and the target object in the preset direction is the distance between the aircraft and the obstacle in the flight direction of the aircraft, and at this time, the aircraft can be controlled to avoid the obstacle in the flight direction according to the distance between the aircraft and the obstacle in the flight direction, so that the aircraft can avoid the obstacle in the flight direction, such as controlling the aircraft to climb, descend, move left or right by a distance, so that the aircraft avoids the obstacle in the flight direction.

[0083] In some embodiments, as shown in Figure 3 The flight control method further includes steps S105 and S106.

[0084] Step S105, in response to the aircraft being in the first working mode, if the aircraft meets a preset condition, switching the measurement method of the first target measurement strategy of the aircraft.

[0085] In the present embodiment, if the aircraft meets a preset condition when the aircraft is in the first working mode, the measurement method of the first target measurement strategy of the aircraft is switched, so as to realize the automatic switching of the measurement method of the first target measurement strategy. This can ensure that the distance between the aircraft and the target object in the preset direction measured is accurate, so that the aircraft can be controlled to fly accurately based on the accurate distance, greatly improving the flight safety of the aircraft.

[0086] For example, the first working mode includes one of a flat land mode, a mountainous land mode, a range reduction mode and a manual enhancement mode. When the aerial vehicle is in the flat land mode, the mountainous land mode, the range reduction mode or the manual enhancement mode, the measurement method of the first target measurement strategy is switched if the aerial vehicle meets a preset condition, so as to realize automatic switching of the measurement method of the first target measurement strategy when the aerial vehicle is in the flat land mode, the mountainous land mode, the range reduction mode or the manual enhancement mode. In this way, the distance between the aerial vehicle and the target object in the preset direction measured is accurate, so that the aerial vehicle can be controlled to fly accurately based on the accurate distance, and the flight safety of the aerial vehicle in the flat land mode, the mountainous land mode, the range reduction mode or the manual enhancement mode is greatly improved.

[0087] In some embodiments, the measurement method of the first target measurement strategy includes multiple measurement methods. For example, the measurement method of the first target measurement strategy can include at least one of a first target measurement method, a second target measurement method and a third target measurement method, and the first target measurement method, the second target measurement method and the third target measurement method are different. For example, the third target measurement method, the first target measurement method, the second target measurement method and the third target measurement method use different data sources.

[0088] In some embodiments, the preset condition includes at least one of a preset distance condition, a preset light condition and a preset terrain condition. The preset distance condition includes at least one of a distance between the aerial vehicle and the target object in the preset direction being less than or equal to a first preset distance, the distance between the aerial vehicle and the target object in the preset direction being greater than the first preset distance and less than or equal to a second preset distance, and the distance between the aerial vehicle and the target object in the preset direction being greater than the second preset distance, and the first preset distance being less than the second preset distance. The preset light condition includes at least one of a light intensity being greater than or equal to a preset light intensity, and the light intensity being less than the preset light intensity. The preset terrain condition includes at least one of a terrain of an environment in which the aerial vehicle is located being flat, and the terrain of the environment in which the aerial vehicle is located having ups and downs.

[0089] In some embodiments, in response to the aerial vehicle being in the first working mode, the measurement method of the first target measurement strategy of the aerial vehicle is switched if the distance between the aerial vehicle and the target object in the preset direction satisfies a preset distance condition. Since the distance between the aerial vehicle and the object changes with the position of the aerial vehicle or the object, and the measurement accuracy of the same measurement method is different at different distances, the embodiment adaptively switches the measurement method of the first target measurement strategy based on the distance between the aerial vehicle and the target object in the preset direction, so as to realize the use of a measurement method with higher measurement accuracy at different distances. This can ensure that the distance between the aerial vehicle and the target object in the preset direction measured is accurate, so that the aerial vehicle can be controlled to fly accurately based on the accurate distance, greatly improving the flight safety of the aerial vehicle.

[0090] In some embodiments, in response to the distance between the aerial vehicle and the target object in the preset direction being less than or equal to a first preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a first target measurement method; in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the first preset distance and less than or equal to a second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a second target measurement method; and in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a third target measurement method, the first target measurement method, the second target measurement method and the third target measurement method being different.

[0091] In some embodiments, the data source used by the first target measurement method, the data source used by the second target measurement method, and the data source used by the third target measurement method respectively include a fusion of a real-time local elevation map of an environment in which the aerial vehicle is located and data measured by a depth sensor of the aerial vehicle in real time, the real-time local elevation map of the environment in which the aerial vehicle is located, and different one of the data measured by the depth sensor of the aerial vehicle in real time. For example, the data source used by the first target measurement method is the real-time local elevation map of the environment in which the aerial vehicle is located, the data source used by the second target measurement method is the fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, and the data source used by the third target measurement method is the data measured by the depth sensor of the aerial vehicle in real time.

[0092] It can be understood that the first preset distance and the second preset distance can be set based on actual conditions, and embodiments of the present application do not make specific limitations thereto. For example, the first preset distance is 8 meters, and the second preset distance is 12 meters. When the distance between the aircraft and the target object in the preset direction is less than or equal to 8 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the first target measurement method. When the distance between the aircraft and the target object in the preset direction is greater than 8 meters and less than or equal to 12 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the second target measurement method. When the distance between the aircraft and the target object in the preset direction is greater than 12 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the third target measurement method.

[0093] For example, the preset direction is below the aircraft, and the first preset distance and the second preset distance are both the distance between the target object on the ground and the aircraft. Therefore, when the height of the aircraft is less than or equal to 8 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the first target measurement method. When the height of the aircraft is greater than 8 meters and less than or equal to 12 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the second target measurement method. When the height of the aircraft is greater than 12 meters, the measurement method of the first target measurement strategy for controlling the aircraft includes the third target measurement method.

[0094] In some embodiments, in response to the distance between the aircraft and the target object in the preset direction being less than or equal to the first preset distance, the measurement method of the first target measurement strategy for controlling the aircraft includes the first target measurement method can include: if the distance between the aircraft and the target object in the preset direction changes from being greater than the first preset distance and less than or equal to the second preset distance to being less than or equal to the first preset distance, the measurement method of the first target measurement strategy for controlling the aircraft is switched from the second target measurement method to the first target measurement method; if the distance between the aircraft and the target object in the preset direction changes from being greater than the second preset distance to being less than or equal to the first preset distance, the measurement method of the first target measurement strategy for controlling the aircraft is switched from the third target measurement method to the first target measurement method.

[0095] For example, the height of the aerial vehicle at t1 is 10 meters, and after a period of flight, the height of the aerial vehicle at t2 is 6 meters. At this time, the height of the aerial vehicle changes from greater than 8 meters and less than or equal to 12 meters to less than or equal to 8 meters, and thus the measurement method of the first target measurement strategy of the aerial vehicle is switched from the second target measurement method to the first target measurement method. For another example, the height of the aerial vehicle at t1 is 14 meters, and after a period of flight, the height of the aerial vehicle at t2 is 6 meters. At this time, the height of the aerial vehicle changes from greater than 12 meters to less than or equal to 8 meters, and thus the measurement method of the first target measurement strategy of the aerial vehicle is switched from the third target measurement method to the first target measurement method.

[0096] In some embodiments, in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the first preset distance and less than or equal to the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes the second target measurement method can include: if the distance between the aerial vehicle and the target object in the preset direction changes from less than or equal to the first preset distance to greater than the first preset distance and less than or equal to the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle is switched from the first target measurement method to the second target measurement method; if the distance between the aerial vehicle and the target object in the preset direction changes from greater than the second preset distance to greater than the first preset distance and less than or equal to the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle is switched from the third target measurement method to the second target measurement method.

[0097] For example, the height of the aerial vehicle at t1 is 6 meters, and after a period of flight, the height of the aerial vehicle at t2 is 9 meters. At this time, the height of the aerial vehicle changes from less than or equal to 8 meters to greater than 8 meters and less than or equal to 12 meters, and thus the measurement method of the first target measurement strategy of the aerial vehicle is switched from the first target measurement method to the second target measurement method. For another example, the height of the aerial vehicle at t1 is 14 meters, and after a period of flight, the height of the aerial vehicle at t2 is 10 meters. At this time, the height of the aerial vehicle changes from greater than 12 meters to greater than 8 meters and less than or equal to 12, and thus the measurement method of the second target measurement strategy of the aerial vehicle is switched from the third target measurement method to the second target measurement method.

[0098] In some embodiments, in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle can include a third target measurement method, which can include: if the distance between the aerial vehicle and the target object in the preset direction changes from being greater than the first preset distance and less than or equal to the second preset distance to being greater than the second preset distance, switching the measurement method of the first target measurement strategy of the aerial vehicle from the second target measurement method to the third target measurement method; if the distance between the aerial vehicle and the target object in the preset direction changes from being less than or equal to the first preset distance to being greater than the second preset distance, switching the measurement method of the first target measurement strategy of the aerial vehicle from the first target measurement method to the third target measurement method.

[0099] For example, the height of the aerial vehicle at time t1 is 10 meters, and after a period of flight, the height of the aerial vehicle at time t2 is 13 meters, at which time the height of the aerial vehicle changes from being greater than 8 meters and less than or equal to 12 meters to being greater than 12 meters, and thus the measurement method of the first target measurement strategy of the aerial vehicle is switched from the second target measurement method to the third target measurement method. For another example, the height of the aerial vehicle at time t1 is 7 meters, and after a period of flight, the height of the aerial vehicle at time t2 is 13 meters, at which time the height of the aerial vehicle changes from being less than 8 meters to being greater than 12 meters, and thus the measurement method of the second target measurement strategy of the aerial vehicle is switched from the first target measurement method to the third target measurement method.

[0100] In some embodiments, in response to the aerial vehicle being in the first working mode, if the aerial vehicle satisfies a preset condition, switching the measurement method of the first target measurement strategy of the aerial vehicle can include: in response to the aerial vehicle being in the first working mode, if the light intensity of the environment in which the aerial vehicle is located satisfies a preset light condition, switching the measurement method of the first target measurement strategy of the aerial vehicle. Alternatively, in response to the aerial vehicle being in the first working mode, if the terrain of the environment in which the aerial vehicle is located satisfies a preset terrain condition, switching the measurement method of the first target measurement strategy of the aerial vehicle.

[0101] In some embodiments, in response to the aerial vehicle being in the first working mode, if the light intensity of the environment in which the aerial vehicle is located satisfies a preset light condition, switching the measurement method of the first target measurement strategy of the aerial vehicle can include: in response to the aerial vehicle being in the first working mode, if the light intensity of the environment in which the aerial vehicle is located is greater than or equal to a preset light intensity, controlling the measurement method of the first target measurement strategy of the aerial vehicle to include a first target measurement method, a second target measurement method, or a third target measurement method; in response to the aerial vehicle being in the first working mode, if the light intensity of the environment in which the aerial vehicle is located is less than the preset light intensity, controlling the measurement method of the first target measurement strategy of the aerial vehicle to include the third target measurement method.

[0102] When the light intensity of the environment where the aerial vehicle is located is greater than or equal to the preset light intensity, it can be determined that the aerial vehicle is working in the daytime, and at this time, various sensors on the aerial vehicle can work normally, and therefore at least one of the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time can be used to measure the distance between the aerial vehicle and the target object in the preset direction, so as to ensure the accuracy of the measured distance. When the light intensity of the environment where the aerial vehicle is located is less than the preset light intensity, it can be determined that the aerial vehicle is working at night, and at night, the measurement accuracy of the visual sensor will be affected, while the radar device is not affected, and therefore the data measured by the radar device of the aerial vehicle in real time can be used to measure the distance between the aerial vehicle and the target object in the preset direction, so as to ensure the accuracy of the measured distance.

[0103] In some embodiments, in response to the aerial vehicle being in the first working mode, if the terrain of the environment where the aerial vehicle is located satisfies the preset terrain condition, the measurement method of the first target measurement strategy of the aerial vehicle can include: in response to the aerial vehicle being in the first working mode, if the terrain of the environment where the aerial vehicle is located is flat, the measurement method of the first target measurement strategy of the aerial vehicle includes the first target measurement method, the second target measurement method or the third target measurement method; if the terrain of the environment where the aerial vehicle is located is undulating, the measurement method of the first target measurement strategy of the aerial vehicle includes the first target measurement method.

[0104] The embodiment can ensure the accuracy of the measured distance by using at least one of the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time to measure the distance between the aerial vehicle and the target object in the preset direction when the terrain of the environment where the aerial vehicle is located is flat, because the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time are both accurate. When the environment where the aerial vehicle is located is undulating, the undulating environment will affect the measurement accuracy of the visual sensor, and therefore the data measured by the depth sensor of the aerial vehicle in real time can be used to measure the distance between the aerial vehicle and the target object in the preset direction, so as to ensure the accuracy of the measured distance.

[0105] Step S106, in response to the aerial vehicle being in the second working mode, the measurement method of the second target measurement strategy of the aerial vehicle is prohibited from being switched.

[0106] In this embodiment, the flight state and / or flight environment of the aircraft in the second working mode has particularity, and the aircraft can only accurately measure the distance between the aircraft and the object by using a specific measurement method. Therefore, the aircraft is prohibited from switching the measurement method of the second target measurement strategy of the aircraft in the second working mode, so as to ensure that the distance between the aircraft and the target object in the preset direction measured is accurate, so that the aircraft can be controlled based on the accurate distance to fly accurately, and the flight safety of the aircraft in the second working mode is greatly improved.

[0107] In some embodiments, the prohibition of switching the measurement method of the second target measurement strategy of the aircraft can include prohibiting the data source used by the measurement method of the second target measurement strategy of the aircraft. For example, the data source used by the measurement method of the second target measurement strategy of the aircraft is fixed and unchanged, and the data source used by the measurement method of the second target measurement strategy of the aircraft is the data measured by the depth sensor of the aircraft in real time. Since the second working mode includes one of the water surface mode, the take-off mode, the landing mode and the manual mode, and the aircraft cannot generate a real-time local elevation map of the environment in which the aircraft is located when the aircraft is in the water surface mode, the take-off mode, the landing mode or the manual mode, the distance between the aircraft and the target object in the preset direction is determined by using the data measured by the depth sensor of the aircraft in real time, so as to ensure that the distance between the aircraft and the target object in the preset direction measured is accurate, so that the aircraft can be controlled based on the accurate distance to fly accurately, and the flight safety of the aircraft in the second working mode is greatly improved.

[0108] Please refer to Figure 4 , Figure 4 is another step flow diagram of a flight control method provided by the embodiment of the application. The flight control method is applied to an aircraft, and is used to reduce the damage caused by the airflow generated by the aircraft to crops.

[0109] As Figure 4 shown, the flight control method includes steps S201 to S203.

[0110] In step S201, during the operation of the aircraft, if the flight speed of the aircraft is less than a preset speed threshold, a target climb height is obtained.

[0111] In this embodiment, the preset speed threshold can be set based on actual conditions, which is not limited in the embodiment of the application. For example, the preset speed threshold is 0.5 m / s or 1 m / s.

[0112] In some embodiments, the target climb height is determined according to at least one of a type of the crop in the current work area, a growth cycle in which the crop currently is, and a current height of the crop. This embodiment can adaptively determine the target climb height of the aerial vehicle according to at least one of the type of the crop in the current work area, the growth cycle in which the crop currently is, and the current height of the crop, so as to improve flexibility and accuracy of the climb height of the aerial vehicle.

[0113] In some embodiments, the growth cycle in which the crop currently is can be determined according to a prescription map of the current work area. The current work area can be scanned in advance by an aerial vehicle carrying a multispectral camera to obtain multispectral images of the current work area, and then the prescription map of the current work area can be generated according to the multispectral images of the current work area. The prescription map is used to represent information such as the type and growth of the crop in the current work area. The type of the crop in the current work area can be obtained by identifying images of the crop taken by an image acquisition device of the aerial vehicle. The current height of the crop in the current work area can be calculated in advance according to images of the crop taken by the aerial vehicle laterally, the height of the aerial vehicle, and the angle at which the aerial vehicle takes the crop, or can be calculated in real time according to images of the crop taken by the aerial vehicle laterally, the height of the aerial vehicle, and the angle at which the aerial vehicle takes the crop.

[0114] In some embodiments, obtaining the target climb height can include: obtaining at least one of the type of the crop in the current work area, the growth cycle in which the crop currently is, and the current height of the crop; querying a mapping relationship table between at least one of a preset crop type, growth cycle, and crop height and a climb height to obtain a climb height corresponding to at least one of the type of the crop in the current work area, the growth cycle in which the crop currently is, and the current height of the crop; and determining the target climb height of the aerial vehicle as the climb height obtained by the querying.

[0115] The mapping relationship table between at least one of the crop type, the growth cycle and the crop height and the climbing height can be pre-created based on actual conditions, and embodiments of the present application do not make specific limitations thereon. For example, the stems of cotton are relatively tough, and the lodging resistance is relatively strong, so that the climbing height of the aircraft is relatively small when the cotton is operated, and the stems of wheat are relatively fragile, and the lodging resistance is relatively weak, so that the climbing height of the aircraft is relatively large when the wheat is operated. For another example, the seedlings have relatively weak lodging resistance, so that the climbing height of the aircraft is relatively large when the seedlings are operated, and the adult plants have relatively strong lodging resistance, so that the climbing height of the aircraft is relatively small when the adult plants are operated. For another example, the height of the rape plant is generally high, the stem is relatively fragile, and the lodging resistance is relatively weak, so that the climbing height of the aircraft is relatively high when the rape plant is operated, and the height of the sweet potato plant is generally low, and the lodging resistance is relatively strong, so that the climbing height of the aircraft is relatively low when the sweet potato plant is operated.

[0116] In step S202, the target operation height of the aircraft is determined according to the target climbing height and the current operation height.

[0117] In the embodiment, the current operation height of the aircraft is the relative height between the aircraft and the crops. The current operation height of the aircraft can be manually set by the user in advance. For example, the user sets the operation height as 3 meters, and if the speed of the aircraft is always greater than the preset speed threshold during the operation of the aircraft, the operation height (the distance between the aircraft and the crops) of the aircraft is always maintained at 3 meters.

[0118] In some embodiments, determining the target operation height of the aircraft according to the target climbing height and the current operation height can include: adding the target climbing height and the current operation height to obtain the target operation height of the aircraft. Alternatively, a product of the target climbing height and a preset coefficient is calculated to obtain a height adjustment value, and the height adjustment value and the target climbing height are added to obtain the target operation height of the aircraft. The preset coefficient can be set based on actual conditions, and embodiments of the present application do not make specific limitations thereon. For example, the preset coefficient is 0.9 or 1.2.

[0119] In step S203, the aircraft is controlled to climb until the flight height of the aircraft reaches the target operation height.

[0120] Currently, when the aircraft is working, it usually sprays or spreads in the field according to the set working height, and the aircraft will slow down at the edge of the field, and the working height of the aircraft is fixed and unchangeable, and the working height of the aircraft is usually low, so that the airflow generated by the aircraft when flying will cause damage to the crops below the aircraft, and even cause the crops to fall over, and there will be the problem of uneven spraying or spreading. To solve the above problems, the embodiment of the application controls the aircraft to climb when the flight speed of the aircraft is less than the preset speed threshold during the flight of the aircraft, thereby increasing the working height of the aircraft, so that the distance between the aircraft and the crops is enlarged, which can effectively reduce the damage of the airflow generated by the aircraft to the crops at the head, and can increase the effective spraying width at low speed and improve the spraying uniformity of the head.

[0121] In some embodiments, controlling the aircraft to climb until the flight height of the aircraft reaches the target working height can include: controlling the aircraft to climb while controlling the aircraft to fly horizontally until the flight height of the aircraft reaches the target working height. Alternatively, controlling the aircraft to decelerate in the horizontal direction, and controlling the aircraft to climb when the flight speed of the aircraft in the horizontal direction is zero until the flight height of the aircraft reaches the target working height.

[0122] In some embodiments, after step S203, the method further includes: when the flight speed of the aircraft is greater than or equal to the preset speed threshold, controlling the aircraft to descend to the set working height. The set working height can be set by the user based on the actual situation, and the embodiment of the application does not make specific limitation on this. In this embodiment, when the flight speed threshold of the aircraft is greater than or equal to the preset speed threshold, the aircraft is controlled to return to the set working height, so that the aircraft can work along the set working height, and the working efficiency of the working area is improved.

[0123] Please refer to Figure 5 , Figure 5 is another step flow diagram of a flight control method provided by the embodiment of the application. The flight control method is applied to an aircraft, and is used to improve the working efficiency of the aircraft.

[0124] As Figure 5 shown, the flight control method includes steps S301 to S303.

[0125] Step S301, in the process of the aircraft working according to the target working route, the position information of the obstacle is obtained, and the target working route is planned according to the working area selected by the user and the preset obstacle area.

[0126] In this embodiment, the user can select the work area and the preset obstacle area through a remote control device connected with the aerial vehicle, and the remote control device plans the target work route in response to the user-selected work area and the preset obstacle area. Since the position of the preset obstacle area and the path width required by the aerial vehicle during normal flight have been considered when planning the target work route, the aerial vehicle can safely pass through the preset obstacle area during flight along the target work route.

[0127] In some embodiments, the position information of the obstacle can be determined according to sensing data collected by a depth sensor in real time. The depth sensor includes at least one of a distance sensor, a vision module, and a radar device, and the position information of the obstacle can include the distance and direction of the obstacle relative to the aerial vehicle.

[0128] Step S302, when it is determined according to the position information that the obstacle is located in the preset obstacle area or outside the work area, the aerial vehicle is prohibited from performing the obstacle avoidance operation.

[0129] Currently, if the aerial vehicle finds that the distance between the aerial vehicle and the obstacle in the environment is less than the preset obstacle avoidance threshold during work, the aerial vehicle will perform the obstacle avoidance operation so that the aerial vehicle can avoid the obstacle, but this will affect the work efficiency of the aerial vehicle. During the flight of the aerial vehicle along the target work route, in some cases, the preset obstacle avoidance threshold of the aerial vehicle will be greater than the distance between the aerial vehicle and the obstacle in the preset obstacle area. At this time, even if the aerial vehicle can safely pass through the preset obstacle area, the obstacle avoidance operation of the aerial vehicle will still be triggered, thereby affecting the work efficiency of the aerial vehicle. Therefore, the embodiments of the present application prohibit the aerial vehicle from performing the obstacle avoidance operation when it is determined according to the position information that the obstacle is located in the preset obstacle area or outside the work area. This can reduce the number of times the aerial vehicle performs the obstacle avoidance operation, and can improve the work efficiency of the aerial vehicle while ensuring the flight safety of the aerial vehicle.

[0130] Step S303, when it is determined according to the position information that the obstacle is located in the work area and outside the preset obstacle area, the aerial vehicle is controlled to perform the obstacle avoidance operation according to the position information.

[0131] In this embodiment, since the obstacle located in the work area and outside the preset obstacle area will affect the flight safety of the aerial vehicle, if it is found that the obstacle is located in the work area and outside the preset obstacle area, the aerial vehicle is controlled to perform the obstacle avoidance operation, thereby ensuring the flight safety of the aerial vehicle.

[0132] Please refer to Figure 6 , Figure 6is a step flowchart of another flight control method provided by the embodiment of the present application. The flight control method is applied to a flying vehicle, and is used to improve the flight safety of the flying vehicle.

[0133] As shown in Figure 6 the flight control method comprises steps S401 to S405.

[0134] In step S401, the current flight height of the flying vehicle is acquired.

[0135] In step S402, when the current flight height of the flying vehicle is less than or equal to a first height threshold, the flight height of the flying vehicle is determined according to a real-time local elevation map of the environment in which the flying vehicle is located.

[0136] In step S403, when the current flight height of the flying vehicle is greater than the first height threshold and less than or equal to a second height threshold, the flight height of the flying vehicle is determined according to the real-time local elevation map of the environment in which the flying vehicle is located and data collected in real time by a depth sensor of the flying vehicle.

[0137] In step S404, when the current flight height of the flying vehicle is greater than the second height threshold, the flight height of the flying vehicle is determined according to the data collected in real time by the depth sensor of the flying vehicle.

[0138] In step S405, the flying vehicle is controlled to fly according to the flight height.

[0139] The embodiment determines the flight height of the flying vehicle by using different data at different flight heights, greatly improves the accuracy of the flight height, and thus controls the flying vehicle to fly accurately according to the accurate flight height, greatly improving the flight safety of the flying vehicle.

[0140] It can be understood that the first height threshold is less than the second height threshold, and the first height threshold and the second height threshold can be set according to actual conditions, which are not limited in the embodiment of the present application. For example, the first height threshold is 8 meters, and the second height threshold is 12 meters.

[0141] In some embodiments, acquiring the current flight height of the flying vehicle can include: when the flying vehicle takes off, the current flight height of the flying vehicle is determined by default according to one of the real-time local elevation map of the environment in which the flying vehicle is located, the data collected in real time by the depth sensor of the flying vehicle, and the fusion of the real-time local elevation map of the environment in which the flying vehicle is located and the data collected in real time by the depth sensor of the flying vehicle. For example, when the flying vehicle takes off, the current flight height of the flying vehicle is determined by default according to the real-time local elevation map of the environment in which the flying vehicle is located.

[0142] For example, when the aerial vehicle takes off, the current flight height of the aerial vehicle is determined according to the data collected by the depth sensor of the aerial vehicle in real time by default. For another example, when the aerial vehicle takes off, the current flight height of the aerial vehicle is determined according to the fusion of the real-time local elevation map of the environment where the aerial vehicle is located and the data collected by the depth sensor of the aerial vehicle in real time by default.

[0143] In some embodiments, determining the flight height of the aerial vehicle according to the real-time local elevation map of the environment where the aerial vehicle is located can include: obtaining a target query range matched with the current working mode of the aerial vehicle; querying the flight height of the aerial vehicle within the target query range in the real-time local elevation map.

[0144] In some embodiments, determining the flight height of the aerial vehicle according to the real-time local elevation map of the environment where the aerial vehicle is located and the data collected by the depth sensor of the aerial vehicle in real time can include: obtaining a target query range matched with the current working mode of the aerial vehicle; querying the first height of the aerial vehicle within the target query range in the real-time local elevation map; obtaining the data measured by the depth sensor of the aerial vehicle in real time, and determining the second height of the aerial vehicle according to the data measured by the depth sensor of the aerial vehicle in real time; and performing weighted summation on the first flight height and the second flight height to obtain the flight height of the aerial vehicle. By fusing the real-time local elevation map of the environment where the aerial vehicle is located and the data measured by the depth sensor of the aerial vehicle in real time, the flight height of the aerial vehicle can be determined more accurately, and the flight safety of the aerial vehicle is further improved.

[0145] Please refer to Figure 7 , Figure 7 is a structural schematic block diagram of a flight control device provided by an embodiment of the present application.

[0146] As Figure 7 shown, the flight control device 140 includes a processor 141 and a memory 142, and the processor 141 and the memory 142 are connected through a bus 143, such as an I2C (Inter-integrated Circuit) bus.

[0147] Specifically, the processor 141 can be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0148] Specifically, the memory 142 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a U disk, or a mobile hard disk, etc.

[0149] The processor 141 is configured to run a computer program stored in the memory 142, and implement the following steps when the computer program is executed:

[0150] obtaining a current working mode of the aerial vehicle, the working mode of the aerial vehicle including a first working mode and a second working mode, a flight state and / or a flight environment of the aerial vehicle in the first working mode being different from a flight state and / or a flight environment of the aerial vehicle in the second working mode;

[0151] determining a corresponding target measurement strategy according to the current working mode of the aerial vehicle, the target measurement strategy including a first target measurement strategy and a second target measurement strategy, the first target measurement strategy having more measurement methods than the second target measurement strategy, the aerial vehicle selecting the first target measurement strategy when in the first working mode, and the aerial vehicle selecting the second target measurement strategy when in the second working mode;

[0152] measuring a distance between the aerial vehicle and a target object in a preset direction according to the target measurement strategy; and

[0153] controlling the aerial vehicle to fly according to the distance between the aerial vehicle and the target object in the preset direction.

[0154] In some embodiments, the measurement methods of the first target measurement strategy include multiple measurement methods, and the processor 141 is further configured to implement the following steps:

[0155] switching the measurement methods of the first target measurement strategy of the aerial vehicle in response to the aerial vehicle being in the first working mode and the aerial vehicle satisfying a preset condition.

[0156] In some embodiments, the processor 141, when implementing the step of switching the measurement methods of the first target measurement strategy of the aerial vehicle in response to the aerial vehicle being in the first working mode and the aerial vehicle satisfying a preset condition, is configured to implement:

[0157] switching the measurement methods of the first target measurement strategy of the aerial vehicle in response to the aerial vehicle being in the first working mode and the distance between the aerial vehicle and the target object in the preset direction satisfying a preset distance condition.

[0158] In some embodiments, the processor 141, when implementing the step of switching the measurement methods of the first target measurement strategy of the aerial vehicle in response to the distance between the aerial vehicle and the target object in the preset direction satisfying a preset distance condition, is configured to implement:

[0159] In response to the distance between the aerial vehicle and the target object in the preset direction being less than or equal to a first preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a first target measurement method.

[0160] In response to the distance between the aerial vehicle and the target object in the preset direction being greater than the first preset distance and less than or equal to a second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a second target measurement method.

[0161] In response to the distance between the aerial vehicle and the target object in the preset direction being greater than the second preset distance, the measurement method of the first target measurement strategy of the aerial vehicle includes a third target measurement method.

[0162] The first target measurement method, the second target measurement method, and the third target measurement method are different.

[0163] In some embodiments, the different measurement methods employ different data sources.

[0164] In some embodiments, the data source employed by the first target measurement method, the data source employed by the second target measurement method, and the data source employed by the third target measurement method respectively include a fusion of a real-time local elevation map of an environment in which the aerial vehicle is located and data measured in real time by a depth sensor of the aerial vehicle, the real-time local elevation map of the environment in which the aerial vehicle is located, and one of the data measured in real time by the depth sensor of the aerial vehicle.

[0165] In some embodiments, the processor 141 is further configured to implement the following steps:

[0166] In response to the aerial vehicle being in the second working mode, the measurement method of the second target measurement strategy of the aerial vehicle is prohibited from being switched.

[0167] In some embodiments, when the aerial vehicle is in the first working mode, the aerial vehicle is capable of acquiring a real-time local elevation map of an environment in which the aerial vehicle is located, and when the aerial vehicle is in the second working mode, the aerial vehicle is incapable of acquiring the real-time local elevation map of the environment in which the aerial vehicle is located.

[0168] In some embodiments, the processor 141, when implementing the determination of the corresponding target measurement strategy according to the current working mode of the aerial vehicle, is configured to implement:

[0169] In response to the aerial vehicle being in the first working mode, a data source adopted by a measurement method of the first target measurement strategy is determined according to at least one of a fusion of a real-time local elevation map of an environment where the aerial vehicle is located and data measured in real time by a depth sensor of the aerial vehicle, the real-time local elevation map of the environment where the aerial vehicle is located, and the data measured in real time by the depth sensor of the aerial vehicle.

[0170] In response to the aerial vehicle being in the second working mode, a data source adopted by a measurement method of the second target measurement strategy is determined according to data measured in real time by a depth sensor of the aerial vehicle.

[0171] In some embodiments, the first working mode includes a flatland mode or a mountain mode, and the second working mode includes one of a water mode, a takeoff mode, a landing mode, and a manual mode, where the flatland mode represents that a terrain of an environment where the aerial vehicle is located is flat, the mountain mode represents that the terrain of the environment where the aerial vehicle is located is undulating, the water mode represents that the environment where the aerial vehicle is located is above water, the takeoff mode represents that the aerial vehicle is in a takeoff state, the landing mode represents that the aerial vehicle is in a landing state, and the manual mode represents that the aerial vehicle is in a flight state controlled manually by a user.

[0172] In some embodiments, the preset direction is below the aerial vehicle, and the processor 141, when implementing measurement of a distance between the aerial vehicle and the target object in the preset direction according to the target measurement strategy, is configured to implement:

[0173] In a case where the data source adopted by the measurement method of the target measurement strategy is the real-time local elevation map of the environment where the aerial vehicle is located, a target query range matching a current working mode of the aerial vehicle is obtained.

[0174] A maximum height in the target query range in the real-time local elevation map is queried, and the maximum height is determined as a target flight height of the aerial vehicle.

[0175] In some embodiments, the processor 141, when implementing the querying of the maximum height in the target query range in the real-time local elevation map, is configured to implement:

[0176] A target query distance matching a current flight speed of the aerial vehicle is obtained.

[0177] A query distance in the target query range along a flight direction of the aerial vehicle is adjusted to the target query distance.

[0178] A maximum height in the adjusted target query range in the real-time local elevation map is queried.

[0179] In some embodiments, the processor 141 is further configured to implement the following steps:

[0180] During the operation of the aerial vehicle, if the flight speed of the aerial vehicle is less than a preset speed threshold, a target climbing height is obtained;

[0181] A target operation height of the aerial vehicle is determined according to the target climbing height and a current operation height;

[0182] The aerial vehicle is controlled to climb until the flight height of the aerial vehicle reaches the target operation height.

[0183] In some embodiments, the target climbing height is determined according to at least one of the type of the crop in the current operation area, the current growth period of the crop, and the current height of the crop.

[0184] In some embodiments, after implementing the step of controlling the aerial vehicle to climb until the flight height of the aerial vehicle reaches the target operation height, the processor 141 is further configured to implement the following steps:

[0185] When the flight speed of the aerial vehicle is greater than or equal to the preset speed threshold, the aerial vehicle is controlled to descend to a set operation height.

[0186] In some embodiments, the processor 141 is further configured to implement the following steps:

[0187] During the operation of the aerial vehicle along a target operation route, the position information of an obstacle is obtained, the target operation route being planned according to a user-selected operation area and a preset obstacle area;

[0188] When it is determined according to the position information that the obstacle is located in the preset obstacle area or outside the operation area, the aerial vehicle is prohibited from performing an obstacle avoidance operation.

[0189] In some embodiments, after implementing the step of obtaining the position information of the obstacle, the processor 141 is further configured to implement the following steps:

[0190] When it is determined according to the position information that the obstacle is located in the operation area and outside the preset obstacle area, the aerial vehicle is controlled to perform an obstacle avoidance operation according to the position information.

[0191] In some embodiments, the processor 141 is further configured to implement the following steps:

[0192] A current flight height of the aerial vehicle is obtained;

[0193] determine the flight height of the aerial vehicle according to a real-time local elevation map of an environment where the aerial vehicle is located when the current flight height of the aerial vehicle is less than or equal to a first height threshold;

[0194] determine the flight height of the aerial vehicle according to the real-time local elevation map of the environment where the aerial vehicle is located and data collected by the depth sensor of the aerial vehicle in real time when the current flight height of the aerial vehicle is greater than the first height threshold and less than or equal to a second height threshold;

[0195] determine the flight height of the aerial vehicle according to data collected by the depth sensor of the aerial vehicle in real time when the current flight height of the aerial vehicle is greater than the second height threshold;

[0196] control the aerial vehicle to fly according to the flight height.

[0197] It should be noted that, for the convenience and brevity of description, the specific working process of the flight control device described above can refer to the corresponding process in the foregoing flight control method embodiments, which will not be described here.

[0198] Please refer to Figure 8 , Figure 8 is a structural schematic block diagram of an aerial vehicle provided by an embodiment of the present application.

[0199] As Figure 8 shown, the aerial vehicle 100 includes a body 110, a power system 120, a depth sensor 130, and a flight control device 140. The power system 120 is arranged on the body 110 and is configured to provide flight power for the aerial vehicle 100. The depth sensor 130 is arranged on the body 110 and is configured to implement ranging for the aerial vehicle 100. The flight control device 140 is arranged on the body 110 and is configured to control the aerial vehicle 100 to fly. The depth sensor 130 can include at least one of a distance sensor, a vision module, and a radar device. The distance sensor can be a TOF (Time of Flight) ranging sensor. The vision module can be a monocular vision module or a multi-view vision module. The radar device can include at least one of a laser radar and a millimeter wave radar.

[0200] It should be noted that, for the convenience and brevity of description, the specific working process of the aerial vehicle described above can refer to the corresponding process in the foregoing flight control method embodiments, which will not be described here.

[0201] The embodiment of the present application further provides a storage medium for computer readable, the storage medium storing one or more programs, which can be executed by one or more processors to implement the flight control method provided by the above embodiment.

[0202] The storage medium can be an internal storage unit of the aircraft, for example, a hard disk or a memory of the aircraft. The storage medium can also be an external storage device of the aircraft, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0203] Those skilled in the art can understand that all or some steps in the method disclosed above, the functions of the modules / units in the system and the device can be implemented as software, firmware, hardware and appropriate combinations thereof. In the hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all physical components can be implemented as software executed by a processor, such as a central processor, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, it is known to those skilled in the art that communication media generally includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0204] It should be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "comprises" or "comprising" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0205] The above-mentioned embodiment serial numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flight control method characterized by, The method comprises: acquiring a current working mode of an aerial vehicle, the working mode of the aerial vehicle comprising a first working mode and a second working mode, a flight state and / or a flight environment of the aerial vehicle in the first working mode being different from a flight state and / or a flight environment in the second working mode; determining a corresponding target measurement strategy according to the current working mode of the aerial vehicle, the target measurement strategy comprising a first target measurement strategy and a second target measurement strategy, wherein the first target measurement strategy has more measurement methods than the second target measurement strategy, the aerial vehicle selecting the first target measurement strategy when in the first working mode, and the aerial vehicle selecting the second target measurement strategy when in the second working mode; measuring a distance between the aerial vehicle and a target object in a preset direction according to the target measurement strategy; and controlling the aerial vehicle to fly according to the distance between the aerial vehicle and the target object in the preset direction; wherein when the current working mode of the aerial vehicle is the first working mode, a data source used by the measurement method of the first target measurement strategy comprises a real-time local elevation map of an environment in which the aerial vehicle is located, and a target query range of the real-time local elevation map can be adjusted according to a flight speed of the aerial vehicle.

2. The flight control method according to claim 1, characterized by, The measurement method of the first target measurement strategy comprises a plurality of methods, and the method further comprises: in response to the aerial vehicle being in the first working mode, switching the measurement method of the first target measurement strategy of the aerial vehicle if the aerial vehicle meets a preset condition.

3. The flight control method according to claim 2, characterized by, The response to the aerial vehicle being in the first working mode, and switching the measurement method of the first target measurement strategy of the aerial vehicle if the aerial vehicle meets a preset condition, comprises: in response to the aerial vehicle being in the first working mode, switching the measurement method of the first target measurement strategy of the aerial vehicle if a distance between the aerial vehicle and the target object in the preset direction meets a preset distance condition.

4. The flight control method according to claim 3, characterized by, The switching of the measurement method of the first target measurement strategy of the aerial vehicle if the distance between the aerial vehicle and the target object in the preset direction meets a preset distance condition, comprises: in response to the distance between the aerial vehicle and the target object in the preset direction being less than or equal to a first preset distance, controlling the measurement method of the first target measurement strategy of the aerial vehicle to comprise a first target measurement method; in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the first preset distance and less than or equal to a second preset distance, controlling the measurement method of the first target measurement strategy of the aerial vehicle to comprise a second target measurement method; in response to the distance between the aerial vehicle and the target object in the preset direction being greater than the second preset distance, controlling the measurement method of the first target measurement strategy of the aerial vehicle to comprise a third target measurement method; wherein the first target measurement method, the second target measurement method, and the third target measurement method are different.

5. The flight control method according to any one of claims 1 to 4, characterized in that, The data sources used by different measurement methods are different.

6. The flight control method according to claim 4, characterized by, The data source used by the first target measurement method includes a real-time local elevation map of an environment in which the aerial vehicle is located, the data source used by the second target measurement method includes a fusion of the real-time local elevation map of the environment in which the aerial vehicle is located and data measured in real time by a depth sensor of the aerial vehicle, and the data source used by the third target measurement method includes data measured in real time by the depth sensor of the aerial vehicle.

7. The flight control method according to claim 1, characterized by, The method further includes: in response to the aerial vehicle being in the second working mode, prohibiting switching of a measurement method of a second target measurement strategy of the aerial vehicle.

8. The flight control method according to claim 1, characterized by, When the aerial vehicle is in the first working mode, the aerial vehicle is capable of acquiring a real-time local elevation map of an environment in which the aerial vehicle is located, and when the aerial vehicle is in the second working mode, the aerial vehicle is incapable of acquiring the real-time local elevation map of the environment in which the aerial vehicle is located.

9. The flight control method according to claim 8, characterized by, The determining of the corresponding target measurement strategy according to the current working mode of the aerial vehicle includes: in response to the aerial vehicle being in the first working mode, determining, according to at least one of a fusion of a real-time local elevation map of an environment in which the aerial vehicle is located and data measured in real time by a depth sensor of the aerial vehicle, the real-time local elevation map of the environment in which the aerial vehicle is located, and the data measured in real time by the depth sensor of the aerial vehicle, a data source used by a measurement method of the first target measurement strategy; in response to the aerial vehicle being in the second working mode, determining, according to data measured in real time by the depth sensor of the aerial vehicle, a data source used by a measurement method of the second target measurement strategy.

10. The flight control method according to any one of claims 1-4, 6-9, characterized in that, The first working mode includes a flat ground mode or a mountainous ground mode, and the second working mode includes one of a water surface mode, a take-off mode, a landing mode, and a manual mode, wherein the flat ground mode represents that a terrain of an environment in which the aerial vehicle is located is flat, the mountainous ground mode represents that the terrain of the environment in which the aerial vehicle is located is undulating, the water surface mode represents that the environment in which the aerial vehicle is located is above a water surface, the take-off mode represents that the aerial vehicle is in a take-off state, the landing mode represents that the aerial vehicle is in a landing state, and the manual mode represents that the aerial vehicle is in a flight state controlled manually by a user.

11. The flight control method according to claim 1, characterized by, The preset direction is below the aerial vehicle, and the measuring of the distance between the aerial vehicle and the target object in the preset direction according to the target measurement strategy includes: in a case where the data source used by the measurement method of the target measurement strategy is the real-time local elevation map of the environment in which the aerial vehicle is located, acquiring a target query range matched with the current working mode of the aerial vehicle; querying, in the real-time local elevation map, a maximum height within the target query range, and determining the maximum height as a target flight height of the aerial vehicle.

12. The flight control method according to claim 11, characterized by, The querying, in the real-time local elevation map, of the maximum height within the target query range includes: acquiring a target query distance matched with a current flight speed of the aerial vehicle; adjusting a query distance within the target query range along a flight direction of the aerial vehicle to the target query distance; and Query the maximum height in the adjusted target query range in the real-time local elevation map.

13. The flight control method according to any one of claims 1 to 4, characterized by, The method further comprises: During the operation of the aerial vehicle, if the flight speed of the aerial vehicle is less than a preset speed threshold, obtaining a target climb height; determining a target operation height of the aerial vehicle according to the target climb height and a current operation height; controlling the aerial vehicle to climb until the flight height of the aerial vehicle reaches the target operation height.

14. The flight control method according to claim 13, characterized by, The target climb height is determined according to at least one of the type of the crop in the current operation area, the current growth period of the crop, and the current height of the crop.

15. The flight control method according to claim 13, characterized by, After the controlling the aerial vehicle to climb until the flight height of the aerial vehicle reaches the target operation height, the method further comprises: controlling the aerial vehicle to descend to a set operation height when the flight speed of the aerial vehicle is greater than or equal to the preset speed threshold.

16. The flight control method of any one of claims 1-4, wherein, The method further comprises: During the operation of the aerial vehicle along a target operation route, the target operation route being planned according to a user-selected operation area and a preset obstacle area, obtaining position information of an obstacle; when it is determined according to the position information that the obstacle is located in the preset obstacle area or outside the operation area, prohibiting the aerial vehicle from performing an obstacle avoidance operation.

17. The flight control method of claim 16, wherein, After the obtaining position information of the obstacle, the method further comprises: when it is determined according to the position information that the obstacle is located in the operation area and outside the preset obstacle area, controlling the aerial vehicle to perform an obstacle avoidance operation according to the position information.

18. A flight control device, characterized by comprise a memory and a processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program and implement the flight control method according to any one of claims 1-17 when executing the computer program.

19. An aircraft characterized by, comprise: a body; a depth sensor arranged on the body and configured to implement distance measurement of the aerial vehicle; a power system arranged on the body and configured to provide flight power for the aerial vehicle; a flight control device arranged on the body and configured to implement the flight control method according to any one of claims 1-17.

20. A storage medium for computer-readable storage, comprising: The storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the flight control method according to any one of claims 1-17.

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