Control system, method and equipment of tailstock type unmanned aerial vehicle and medium

Abstract

The invention discloses a control system, method and device of a tailstock type unmanned aerial vehicle and a medium, and relates to the technical field of unmanned aerial vehicle flight control, and the method comprises the steps: obtaining a first control instruction for a to-be-controlled unmanned aerial vehicle when the to-be-controlled unmanned aerial vehicle is converted from a fuselage vertical state to a fuselage horizontal state, controlling the to-be-controlled unmanned aerial vehicle of which the fuselage is in a vertical state according to the first control instruction, so that the fuselage of the to-be-controlled unmanned aerial vehicle is converted into a horizontal state; and when the fuselage of the to-be-controlled unmanned aerial vehicle is in a horizontal state and is in hovering flight, acquiring the wind direction of the environment where the to-be-controlled unmanned aerial vehicle is located, and controlling the nose of the to-be-controlled unmanned aerial vehicle to rotate according to the wind direction. According to the invention, the problem of difficulty in aerial large attitude transformation can be overcome, the stability of the unmanned aerial vehicle during hovering is improved, and the possibility that crosswind blows to wings and causes overturning and drifting of the vehicle body is reduced.

Description

Background Art

[0002] The tail-seat UAV is a unique UAV that uses the principle of "the tail seat provides driving force". The UAV fuselage structure with a tail seat is installed at the rear end of the fuselage, and the rotor is installed behind the tail seat. The airfoil of the tail seat is different from that of the aircraft, and it mainly provides aerodynamic power to help the rotor take off and control the angle of the aircraft. When the rotor starts to rotate, the tail seat gradually rises due to this force, so that the aircraft can obtain lift from the air while applying power.

[0003] The tail-seat vertical take-off and landing UAV has an ingenious structure and power layout, which determines its maximum energy utilization without the generation of invalid load. However, due to its complex structural dynamics and the large posture transformation involved in the air, its implementation is relatively difficult.

[0004] At present, tail-seat UAVs have the problem of poor wind resistance, and when they take off and land vertically in multi-rotor mode at ultra-low altitudes, they also need to consider positioning requirements. Summary of the invention

[0005] The technical problem to be solved by the present invention is to solve the deficiencies of the prior art, specifically the difficulty of large-scale posture changes in the air and the poor wind resistance, and specifically provide a control system, method, device and medium for a tail-seat UAV, as follows:

[0006] 1) In a first aspect, the present invention provides a control system for a tail-mounted UAV, and the specific technical solution is as follows: comprising: a flight conversion module and a wind direction detection module;

[0007] The flight conversion module is used to obtain a first control instruction for the unmanned aerial vehicle to be controlled when the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, and control the unmanned aerial vehicle to be controlled in a vertical state according to the first control instruction, so that the unmanned aerial vehicle to be controlled is converted to a horizontal state;

[0008] The wind direction detection module is used to obtain the wind direction of the environment in which the drone to be controlled is located when the fuselage of the drone to be controlled is in a horizontal state and in hovering flight, and control the rotation of the nose of the drone to be controlled according to the wind direction.

[0009] The beneficial effects of the control system of a tail-seat UAV provided by the present invention are as follows:

[0010] By receiving control commands, the flight state of the drone is changed from a vertical angle to a horizontal angle, overcoming the difficulty of large posture changes in the air. At the same time, the nose of the drone is processed based on the wind direction to improve the stability of the drone during hovering and reduce the possibility of side wind blowing against the wings and causing the body to flip or drift.

[0011] Based on the above solution, the present invention can also be improved as follows.

[0012] Further, controlling the unmanned aerial vehicle to be controlled with its fuselage in a vertical state according to the first control instruction is specifically:

[0013] According to the first control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is raised, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is reduced;

[0014] When the pitch angle of the drone to be controlled reaches a preset horizontal angle value, and the flight speed of the drone to be controlled reaches a preset horizontal airspeed value, the drone to be controlled is converted into a horizontal state.

[0015] Furthermore, the flight conversion module is also used for:

[0016] When the unmanned aerial vehicle to be controlled is converted from a horizontal fuselage state to a vertical fuselage state, a second control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its fuselage in the horizontal state is controlled according to the second control instruction, so that the fuselage of the unmanned aerial vehicle to be controlled is converted to a vertical state.

[0017] Further, controlling the unmanned aerial vehicle to be controlled with its fuselage in a horizontal state according to the second control instruction is specifically:

[0018] According to the second control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is lowered, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is increased;

[0019] When the pitch angle of the drone to be controlled reaches a preset vertical angle value, and the flight speed of the drone to be controlled reaches a preset vertical airspeed value, the drone to be controlled is converted to a vertical state.

[0020] Further, the wind direction of the environment in which the drone to be controlled is located is obtained as follows:

[0021] Obtaining a preset attitude angle and a current attitude angle of the fuselage of the unmanned aerial vehicle to be controlled;

[0022] The thrust direction of the unmanned aerial vehicle to be controlled is determined according to the preset attitude angle and the current attitude angle, and the opposite direction of the thrust direction is used as the wind direction of the environment in which the unmanned aerial vehicle to be controlled is in hovering flight.

[0023] Further, it also includes: a positioning module;

[0024] The positioning module is used to obtain the positioning information of the unmanned aerial vehicle to be controlled through RTK positioning technology.

[0025] Further, it also includes: a measurement module;

[0026] The measuring module is used to obtain, through a plurality of distance measuring sensors, the relative distances between the drone to be controlled and all objects within a radius with a preset distance taking the drone to be controlled as an origin and the drone to be controlled.

[0027] 2) In the second aspect, the present invention also provides a control method for a tail-seat UAV, and the specific technical solution is as follows:

[0028] When the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, a first control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its body in the vertical state is controlled according to the first control instruction, so that the body of the unmanned aerial vehicle to be controlled is converted to a horizontal state;

[0029] When the fuselage of the unmanned aerial vehicle to be controlled is in a horizontal state and in a hovering flight, the wind direction of the environment in which the unmanned aerial vehicle to be controlled is obtained, and the head of the unmanned aerial vehicle to be controlled is controlled to rotate according to the wind direction.

[0030] Based on the above solution, the present invention can also be improved as follows.

[0031] Further, controlling the unmanned aerial vehicle to be controlled with its fuselage in a vertical state according to the first control instruction is specifically:

[0032] According to the first control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is raised, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is reduced;

[0033] When the pitch angle of the drone to be controlled reaches a preset horizontal angle value, and the flight speed of the drone to be controlled reaches a preset horizontal airspeed value, the drone to be controlled is converted into a horizontal state.

[0034] Furthermore, it also includes:

[0035] When the unmanned aerial vehicle to be controlled is converted from a horizontal fuselage state to a vertical fuselage state, a second control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its fuselage in the horizontal state is controlled according to the second control instruction, so that the fuselage of the unmanned aerial vehicle to be controlled is converted to a vertical state.

[0036] Further, controlling the unmanned aerial vehicle to be controlled with its fuselage in a horizontal state according to the second control instruction is specifically:

[0037] According to the second control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is lowered, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is increased;

[0038] When the pitch angle of the drone to be controlled reaches a preset vertical angle value, and the flight speed of the drone to be controlled reaches a preset vertical airspeed value, the drone to be controlled is converted to a vertical state.

[0039] Further, the wind direction of the environment in which the drone to be controlled is located is obtained as follows:

[0040] Obtaining a preset attitude angle and a current attitude angle of the fuselage of the unmanned aerial vehicle to be controlled;

[0041] The thrust direction of the unmanned aerial vehicle to be controlled is determined according to the preset attitude angle and the current attitude angle, and the opposite direction of the thrust direction is used as the wind direction of the environment in which the unmanned aerial vehicle to be controlled is in hovering flight.

[0042] Furthermore, it also includes:

[0043] The positioning information of the drone to be controlled is obtained through RTK positioning technology.

[0044] Furthermore, it also includes:

[0045] The relative distances between the drone to be controlled and all objects within a preset distance radius with the drone to be controlled as the origin are obtained through multiple ranging sensors.

[0046] 3) In a third aspect, the present invention further provides a computer device, comprising a processor, wherein the processor is coupled to a memory, wherein the memory stores at least one computer program, and wherein the at least one computer program is loaded and executed by the processor so that the computer device implements any of the above methods.

[0047] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above methods.

[0048] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0050] Figure 1 A schematic flow chart of control steps of a tail-seat UAV according to an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of a tail-seat vertical take-off and landing fixed-wing UAV with a canard layout according to an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the overall flight process of a tail-seat UAV according to an embodiment of the present invention;

[0053] Figure 4 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0055] like Figure 1 As shown, a control system of a tail-seat UAV according to an embodiment of the present invention includes: a flight conversion module and a wind direction detection module;

[0056] The flight conversion module is used to obtain a first control instruction for the unmanned aerial vehicle to be controlled when the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, and control the unmanned aerial vehicle to be controlled in a vertical state according to the first control instruction, so that the unmanned aerial vehicle to be controlled is converted to a horizontal state;

[0057] The wind direction detection module is used to obtain the wind direction of the environment in which the UAV to be controlled is located when the fuselage of the UAV to be controlled is in a horizontal state and in hovering flight, and control the rotation of the nose of the UAV to be controlled according to the wind direction.

[0058] The beneficial effects of the control system of a tail-seat UAV provided by the present invention are as follows:

[0059] By receiving control commands, the flight state of the drone is changed from a vertical angle to a horizontal angle, overcoming the difficulty of large posture changes in the air. At the same time, the nose of the drone is processed based on the wind direction to improve the stability of the drone during hovering and reduce the possibility of side wind blowing against the wings and causing the body to flip or drift.

[0060] The flight conversion module is used to obtain a first control instruction for the unmanned aerial vehicle to be controlled when the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, and control the unmanned aerial vehicle to be controlled in a vertical state according to the first control instruction, so that the unmanned aerial vehicle to be controlled is converted to a horizontal state.

[0061] The drone to be controlled refers to: a tail-mounted drone that is in flight, such as Figure 2 , which is a schematic diagram of a tail-seat vertical take-off and landing fixed-wing UAV with a canard layout.

[0062] The vertical state of the fuselage means that the line connecting the tail of the drone and the head of the drone is perpendicular to the horizon, and the tail of the drone is close to the horizon and the head of the drone is far away from the horizon. At this time, the fuselage of the drone is in a vertical state.

[0063] The horizontal state of the fuselage refers to the state where the line connecting the tail of the drone and the head of the drone is level with the horizon. At this time, the fuselage of the drone is in a horizontal state.

[0064] The first control instruction refers to: an instruction, signal or program for the drone to be controlled to change the drone body from a vertical state to a horizontal state.

[0065] like Figure 3 , which is the overall flight process of the tail-seat UAV. The fuselage state of the UAV is transformed according to the first control instruction.

[0066] In another embodiment of the present invention, the drone to be controlled is controlled according to the first control instruction, and the drone to be controlled is controlled to decelerate and the ailerons to be raised according to the first control instruction, so that the pitch angle of the drone to be controlled is reduced; when the pitch angle of the drone to be controlled reaches a preset horizontal angle value, and the flight speed of the drone to be controlled reaches a preset horizontal airspeed value, the drone to be controlled is converted to a horizontal state. Wherein:

[0067] The pitch angle refers to: the elevation angle and the depression angle. In this embodiment, the pitch angle is used to describe the tilt angle of the drone body relative to the plane.

[0068] The preset horizontal angle value refers to the angle close to horizontal flight. The error value can be set according to needs.

[0069] The preset horizontal airspeed value refers to the minimum airspeed for horizontal flight.

[0070] After receiving the first control command, the drone in vertical flight is first decelerated, and the aileron of the drone is controlled to rise. At this time, the drone obtains a nose-down moment and the pitch angle of the drone changes under this moment. When the pitch angle of the drone fuselage reaches the preset horizontal angle value and the flight speed of the drone meets the preset horizontal airspeed value, the drone completes the process of changing from the vertical flight state to the horizontal flight state.

[0071] In another embodiment of the present invention, the flight conversion module is also used for: when the UAV to be controlled is converted from a horizontal fuselage state to a vertical fuselage state, obtaining a second control instruction for the UAV to be controlled, and controlling the UAV to be controlled with its fuselage in a horizontal state according to the second control instruction, so that the fuselage of the UAV to be controlled is converted to a vertical state.

[0072] According to the second control instruction, the drone to be controlled is controlled in a horizontal state, specifically: according to the second control instruction, the drone to be controlled is controlled to decelerate and the aileron is lowered, so that the pitch angle of the drone to be controlled increases; when the pitch angle of the drone to be controlled reaches a preset vertical angle value, and the flight speed of the drone to be controlled reaches a preset vertical airspeed value, the drone to be controlled is converted to a vertical state. Among them:

[0073] The second control instruction refers to: an instruction, signal or program for the drone to be controlled to change the drone body from a horizontal state to a vertical state.

[0074] The preset vertical angle value refers to an angle close to vertical flight. The error value can be set according to needs.

[0075] The preset vertical airspeed value refers to: the minimum airspeed for vertical flight.

[0076] After receiving the second control command, the drone in horizontal flight is first decelerated, and the aileron of the drone is controlled to be lowered. At this time, the drone obtains a nose-up moment and the pitch angle of the drone changes under this moment. When the pitch angle of the drone fuselage reaches the preset vertical angle value and the flight speed of the drone meets the preset vertical airspeed value, the drone completes the process of changing from the horizontal flight state to the vertical flight state.

[0077] The wind direction detection module is used to obtain the wind direction of the environment in which the UAV to be controlled is located when the fuselage of the UAV to be controlled is in a horizontal state and in hovering flight, and control the rotation of the nose of the UAV to be controlled according to the wind direction.

[0078] Hovering flight can be: when the fuselage of the controlled drone is in a horizontal state or a vertical state, the controlled drone maintains hovering flight. Because no matter what state the drone is in, if the controlled drone maintains hovering flight, it must encounter external resistance to maintain its position, so it is not limited to the horizontal state of the fuselage.

[0079] In another embodiment of the present invention, the wind direction of the environment in which the drone to be controlled is obtained, specifically: obtaining the preset attitude angle and the current attitude angle of the drone to be controlled; determining the thrust direction of the drone to be controlled according to the preset attitude angle and the current attitude angle, and taking the opposite direction of the thrust direction as the wind direction of the environment in which the drone to be controlled is in hovering flight. Wherein:

[0080] The preset attitude angle refers to the pre-set pitch angle, roll angle, yaw angle, etc. of the drone flight.

[0081] The current attitude angle refers to: the pitch angle, roll angle, yaw angle, etc. of the drone currently flying.

[0082] During hovering flight, the drone needs to overcome the resistance imposed by the wind to maintain its position. By tracking the direction of the thrust vector, the wind direction can be estimated. Using the inertial measurement sensor (IMU), the onboard state estimation module calculates the current attitude angle of the drone. By judging the difference (size and direction) between the preset attitude angle of the drone controller and the current attitude angle, the thrust direction to reach the preset attitude angle is calculated, and the opposite direction of the thrust direction is approximately regarded as the wind direction. In addition, the yaw rate of the wind direction can also be estimated based on the heading of the drone.

[0083] When in hovering flight, the nose of the drone is automatically turned to an angle perpendicular to the wind direction to improve stability and reduce the possibility of side wind blowing against the wings and causing the body to flip or drift.

[0084] In another embodiment of the present invention, it also includes: a positioning module, which is used to obtain the positioning information of the unmanned aerial vehicle to be controlled through the RTK positioning technology.

[0085] By adding an RTK (real-time kinematic measurement) module to the drone system, accurate positioning can be achieved during takeoff and landing. RTK positioning technology is a real-time kinematic positioning technology based on carrier phase observations. It can provide the three-dimensional coordinates of the drone in a specified coordinate system in real time with centimeter-level accuracy. The drone navigation system integrates this observation value and converts it into the airborne navigation system to achieve accurate prediction and positioning of the position.

[0086] In another embodiment of the present invention, it further includes: a measuring module, which is used to obtain the relative distance between the drone to be controlled and all objects within a radius with a preset distance taking the drone to be controlled as the origin through multiple ranging sensors.

[0087] All objects can be: other drones, buildings, equipment, plants, and organisms within a preset distance.

[0088] When a tail-mounted UAV flies in multi-rotor mode, it needs to take off and land vertically in a complex environment at an ultra-low altitude of 50m to the ground, so an additional measurement module is needed to increase safety. Specifically, by adding a ranging sensor, the UAV can sense the relative distance between the UAV and the external environment and make obstacle determinations. Then, the navigation path can be replanned through the UAV control system to avoid obstacles.

[0089] The benefits of adopting the above solution are:

[0090] A hardware-redundant sensor configuration is adopted to support the simultaneous operation of multiple navigation control modules, and multi-sensor data is fully integrated to develop wind direction detection and auxiliary positioning modules, and to develop a control system with high stability, strong anti-interference ability and accurate state estimation.

[0091] The present invention also provides a control method for a tail-seat UAV, and the specific technical solution is as follows:

[0092] S1, when the UAV to be controlled is converted from a vertical state to a horizontal state, a first control instruction for the UAV to be controlled is obtained, and the UAV to be controlled whose body is in the vertical state is controlled according to the first control instruction, so that the body of the UAV to be controlled is converted to a horizontal state;

[0093] S2, when the fuselage of the UAV to be controlled is in a horizontal state and in a hovering flight, the wind direction of the environment in which the UAV to be controlled is located is obtained, and the nose of the UAV to be controlled is controlled to rotate according to the wind direction.

[0094] Based on the above solution, the present invention can also be improved as follows.

[0095] Further, the unmanned aerial vehicle to be controlled whose fuselage is in a vertical state is controlled according to the first control instruction, specifically:

[0096] According to the first control instruction, the UAV to be controlled is controlled to decelerate and the aileron is raised, so that the pitch angle of the UAV to be controlled is reduced;

[0097] When the pitch angle of the drone to be controlled reaches a preset horizontal angle value, and the flight speed of the drone to be controlled reaches a preset horizontal airspeed value, the drone to be controlled is converted to a horizontal state.

[0098] Furthermore, it also includes:

[0099] When the unmanned aerial vehicle to be controlled is converted from a horizontal state to a vertical state, a second control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its body in the horizontal state is controlled according to the second control instruction, so that the body of the unmanned aerial vehicle to be controlled is converted to a vertical state.

[0100] Further, the unmanned aerial vehicle to be controlled whose fuselage is in a horizontal state is controlled according to the second control instruction, specifically:

[0101] According to the second control instruction, the UAV to be controlled is controlled to decelerate and the aileron is lowered, so that the pitch angle of the UAV to be controlled increases;

[0102] When the pitch angle of the drone to be controlled reaches a preset vertical angle value, and the flight speed of the drone to be controlled reaches a preset vertical airspeed value, the drone to be controlled is converted to a vertical state.

[0103] Furthermore, the wind direction of the environment where the drone to be controlled is located is obtained, specifically:

[0104] Get the preset attitude angle and current attitude angle of the drone to be controlled;

[0105] The thrust direction of the UAV to be controlled is determined according to the preset attitude angle and the current attitude angle, and the opposite direction of the thrust direction is used as the wind direction of the environment in which the UAV to be controlled is located when it is hovering.

[0106] Furthermore, it also includes:

[0107] The positioning information of the drone to be controlled is obtained through RTK positioning technology.

[0108] Furthermore, it also includes:

[0109] The relative distance between the drone to be controlled and objects other than the drone to be controlled is obtained through multiple ranging sensors.

[0110] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0111] It should be noted that the beneficial effects of the control system of a tail-seat UAV provided in the above embodiment are the same as the beneficial effects of the control method of the tail-seat UAV, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0112] like Figure 4 As shown, a computer device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the computer device 300 implements any of the above methods, specifically:

[0113] The computer device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the computer device 300 implements a control method for a tail-seat drone provided in the above embodiment. Of course, the computer device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the computer device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0114] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0115] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0116] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above-mentioned control methods for a tail-seat UAV.

[0117] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0118] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0119] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control system for a tail-seat UAV, characterized in that: include: Flight conversion module and wind direction detection module; The flight conversion module is used to obtain a first control instruction for the unmanned aerial vehicle to be controlled when the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, and control the unmanned aerial vehicle to be controlled in a vertical state according to the first control instruction, so that the unmanned aerial vehicle to be controlled is converted to a horizontal state; The wind direction detection module is used to obtain the wind direction of the environment in which the drone to be controlled is located when the fuselage of the drone to be controlled is in a horizontal state and in hovering flight, and control the rotation of the nose of the drone to be controlled according to the wind direction.

2. A control system for a tail-seat UAV according to claim 1, characterized in that: The controlling the unmanned aerial vehicle to be controlled with its fuselage in a vertical state according to the first control instruction is specifically: According to the first control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is raised, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is reduced; When the pitch angle of the drone to be controlled reaches a preset horizontal angle value, and the flight speed of the drone to be controlled reaches a preset horizontal airspeed value, the drone to be controlled is converted into a horizontal state.

3. The control system of a tail-seat UAV according to claim 1, characterized in that: The flight conversion module is also used for: When the unmanned aerial vehicle to be controlled is converted from a horizontal fuselage state to a vertical fuselage state, a second control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its fuselage in the horizontal state is controlled according to the second control instruction, so that the fuselage of the unmanned aerial vehicle to be controlled is converted to a vertical state.

4. The control system of a tail-seat UAV according to claim 3, characterized in that: The controlling the unmanned aerial vehicle to be controlled whose fuselage is in a horizontal state according to the second control instruction is specifically: According to the second control instruction, the unmanned aerial vehicle to be controlled is decelerated and the aileron is lowered, so that the pitch angle of the fuselage of the unmanned aerial vehicle to be controlled is increased; When the pitch angle of the drone to be controlled reaches a preset vertical angle value, and the flight speed of the drone to be controlled reaches a preset vertical airspeed value, the drone to be controlled is converted to a vertical state.

5. The control system of a tail-seat UAV according to claim 1, characterized in that: The step of obtaining the wind direction of the environment in which the drone to be controlled is specifically: Obtaining a preset attitude angle and a current attitude angle of the fuselage of the unmanned aerial vehicle to be controlled; The thrust direction of the unmanned aerial vehicle to be controlled is determined according to the preset attitude angle and the current attitude angle, and the opposite direction of the thrust direction is used as the wind direction of the environment in which the unmanned aerial vehicle to be controlled is in hovering flight.

6. The control system of a tail-seat UAV according to claim 1, characterized in that: Also includes: Positioning module; The positioning module is used to obtain the positioning information of the unmanned aerial vehicle to be controlled through RTK positioning technology.

7. The control system of a tail-seat UAV according to claim 1, characterized in that: Also includes: Measurement module; The measuring module is used to obtain, through a plurality of distance measuring sensors, the relative distances between the drone to be controlled and all objects within a radius with a preset distance taking the drone to be controlled as an origin and the drone to be controlled.

8. A control method for a tail-seat UAV, characterized in that: include: When the unmanned aerial vehicle to be controlled is converted from a vertical state to a horizontal state, a first control instruction for the unmanned aerial vehicle to be controlled is obtained, and the unmanned aerial vehicle to be controlled with its body in the vertical state is controlled according to the first control instruction, so that the body of the unmanned aerial vehicle to be controlled is converted to a horizontal state; When the fuselage of the unmanned aerial vehicle to be controlled is in a horizontal state and in a hovering flight, the wind direction of the environment in which the unmanned aerial vehicle to be controlled is obtained, and the head of the unmanned aerial vehicle to be controlled is controlled to rotate according to the wind direction.

9. A computer device, characterized in that: The computer device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor, so that the computer device implements the method according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that the computer implements the method according to claim 8.

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