A wind speed correction method and system for unmanned aerial vehicle

Abstract

The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and system for correcting wind speed of unmanned aerial vehicles, the method comprising: controlling the unmanned aerial vehicle to be in a hovering state, and obtaining the first position information of the unmanned aerial vehicle; obtaining the second position information of the target position; obtaining the target distance based on the first position information and the second position information; obtaining wind condition information and material information; obtaining the material delivery time based on the first position information and the wind condition information; obtaining an offset based on the target distance, the material delivery time, the wind condition information and the material information; performing position correction based on the offset, and obtaining the target delivery position; and performing a material delivery operation based on the target delivery position. The present application helps to reduce the error of unmanned aerial vehicles in hovering and delivering materials.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a wind speed correction method and system for unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in many fields such as security, rescue, and agriculture. In some specific tasks, such as when natural disasters (earthquakes, floods, landslides, etc.) occur, ground transportation is often blocked, and traditional methods of transporting relief supplies are difficult to quickly deliver supplies to the affected people. Drone hovering and delivering supplies can play a key role in this situation. However, the wind speed in the external environment will have a significant impact on the accuracy of material delivery. When drones hover to deliver supplies, if the wind speed factor is not considered, the delivered supplies may deviate from the intended target due to the effect of the wind, resulting in mission failure or unnecessary risks and losses. Therefore, there is an urgent need for an effective wind speed correction method to improve the accuracy of drone hovering and delivering supplies. Summary of the invention

[0003] In order to help reduce the error of drones hovering and dropping supplies, the present application provides a wind speed correction method and system for drones.

[0004] In the first aspect, the present application provides a method for correcting wind speed of a drone, which adopts the following technical solution:

[0005] A wind speed correction method for an unmanned aerial vehicle, comprising:

[0006] Control the drone to hover and obtain the first position information of the drone;

[0007] Acquire second location information of the target location;

[0008] Acquire a target distance based on the first position information and the second position information;

[0009] Obtain wind condition information and material information;

[0010] Based on the first location information and the wind condition information, obtaining a duration for delivering materials;

[0011] Obtaining an offset based on the target distance, the duration of the material delivery, the wind condition information, and the material information;

[0012] Performing position correction based on the offset and obtaining a target delivery position;

[0013] The material delivery operation is performed based on the target delivery position.

[0014] By adopting the above technical solution, the target distance between the drone and the target position is calculated according to the first position information of the drone and the second position information of the target position, and then the material delivery time is calculated according to the first position information, the second position information and the wind condition information; according to the target distance, the material delivery time, the wind condition information and the material information, the offset in the current state compared with the state without considering the influence of the wind condition is calculated, and then the material delivery position is corrected according to the offset, and the target delivery position is obtained, and finally the material is delivered based on the target delivery position;

[0015] The target distance is determined by accurately obtaining the position information of the drone and the target, and the offset is calculated based on wind conditions, material information, and material delivery time to correct the material delivery position. This helps to offset the offset caused by factors such as wind conditions and obtain the accurate target delivery position, which in turn helps to reduce the error of drone hovering and delivering materials and improve the accuracy of hitting the target.

[0016] Optionally, the obtaining of the offset based on the target distance, the material delivery time, the wind condition information and the material information includes:

[0017] Based on the wind condition information, obtaining wind speed information and wind direction information;

[0018] Based on the wind speed information, obtaining the wind force value to which the material is subjected;

[0019] Based on the wind force value and the material information, acquiring the horizontal acceleration of the material;

[0020] Based on the material delivery time, the wind direction information and the horizontal acceleration, a horizontal offset is acquired;

[0021] Based on the horizontal offset and the target distance, obtaining an angular offset;

[0022] The offset is acquired based on the horizontal offset and the angular offset.

[0023] Optionally, before obtaining the horizontal offset based on the material delivery time, the wind direction information and the horizontal acceleration, the step further includes:

[0024] Based on the material information and the wind condition information, obtaining a deviation influence coefficient;

[0025] Determining whether the offset influence coefficient exceeds a preset target threshold;

[0026] If the offset influence coefficient exceeds the preset target threshold, obtaining the horizontal offset based on a first method;

[0027] If the offset influence coefficient does not exceed the preset target threshold, acquiring the horizontal offset based on a second acquisition method;

[0028] The horizontal offset is obtained based on the first method, satisfying the following calculation formula:

[0029] ,

[0030] x is the horizontal offset, n is the number of intervals, i represents the i-th interval, C d represents the drag coefficient of the material, ρ is the air density, v i represents the average wind speed of the material in the ith interval, h i represents the interval distance of the i-th interval, θ i It represents the angle between the wind direction and the line connecting the drone to the target position when the material falls to the i-th interval, m is the mass of the material, g is the acceleration of gravity, is the horizontal acceleration, and A is the projected area of ​​the material on the plane perpendicular to the wind direction.

[0031] Optionally, the determining whether the offset influence coefficient exceeds a preset target threshold includes:

[0032] Based on the first position information, obtaining the initial height of the dropped materials;

[0033] Determine whether the height of the initial material delivery exceeds a preset height threshold;

[0034] If the height of the initially placed materials exceeds the preset height threshold, it is determined that the offset influence coefficient exceeds the preset target threshold;

[0035] If the height of the dropped materials does not exceed the preset height threshold, obtaining historical wind condition information of the area where the target location is located;

[0036] Based on the historical wind condition information, obtaining a first wind condition change corresponding to a specified time and a second wind condition change corresponding to a specified height;

[0037] Determine whether the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement;

[0038] If there is no first wind condition change that does not satisfy the first change requirement and the second wind condition change that does not satisfy the second change requirement, determining that the offset influence coefficient exceeds a preset target threshold;

[0039] If the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement, it is determined that the offset influence coefficient does not exceed the preset target threshold.

[0040] Optionally, the determining whether the first wind condition change does not meet a first change requirement and the second wind condition change does not meet a second change requirement includes:

[0041] Obtaining a current time node, and obtaining a target time interval based on a preset node division rule and the current time node;

[0042] Based on the first wind condition change and the target time interval, obtaining a first maximum wind speed and a first minimum wind speed within a specified time;

[0043] Based on the second wind condition change and the target time interval, obtaining a second maximum wind speed and a second minimum wind speed within a specified height;

[0044] Acquire a first wind speed difference between the first maximum wind speed and the first minimum wind speed, and a second wind speed difference between the second maximum wind speed and the second minimum wind speed;

[0045] Determine whether the first wind speed difference and / or the second wind speed difference exceeds a preset first difference threshold;

[0046] If the first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement;

[0047] If the first wind speed difference does not exist and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0048] Optionally, if the first wind speed difference does not exist and / or the second wind speed difference exceeds a preset first difference threshold, determining that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement includes:

[0049] If the first wind speed difference does not exist and / or the second wind speed difference exceeds the preset first difference threshold, obtaining a third wind speed difference between adjacent specified times and a fourth wind speed difference between adjacent specified heights;

[0050] Determine whether the third wind speed difference and / or the fourth wind speed difference exceeds a preset first difference threshold;

[0051] If the third wind speed difference exists and / or the fourth wind speed difference exceeds the preset first difference threshold, obtaining a first target quantity and;

[0052] Determining whether the first target quantity exceeds a preset quantity threshold;

[0053] If the first target quantity and exceeds a preset quantity threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0054] Optionally, the determining whether the first wind condition change does not meet a first change requirement and the second wind condition change does not meet a second change requirement further includes:

[0055] Based on the first wind condition change and the target time interval, obtaining a first maximum wind direction angle and a first minimum wind direction angle within a specified time;

[0056] Based on the second wind condition change and the target time interval, obtaining a second maximum wind direction angle and a second minimum wind direction angle within a specified height;

[0057] Acquire a first wind direction angle difference between the first maximum wind direction angle and the first minimum wind direction angle, and a second wind direction angle difference between the second maximum wind direction angle and the second minimum wind direction angle;

[0058] Determine whether the first wind direction angle difference and / or the second wind direction angle difference exceeds a preset second difference threshold;

[0059] If the first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement;

[0060] If the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0061] Optionally, if the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds a preset second difference threshold, determining that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement includes:

[0062] If the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds the preset second difference threshold, obtaining a third wind direction angle difference between adjacent specified times and a fourth wind direction angle difference between adjacent specified heights;

[0063] Determine whether the third wind direction angle difference and / or the fourth wind direction angle difference exceeds a preset second difference threshold;

[0064] If the third wind direction angle difference value and / or the fourth wind direction angle difference value exceeds a preset second difference threshold value, obtaining a second target quantity sum;

[0065] Determining whether the second target quantity exceeds a preset quantity threshold;

[0066] If the sum of the second target quantity exceeds the preset quantity threshold, it is determined that there is no first wind condition change situation that does not meet the first change requirement and the second wind condition change situation that does not meet the second change requirement.

[0067] In the second aspect, the present application also discloses a wind speed correction system for a drone, which adopts the following technical solution:

[0068] A wind speed correction system for an unmanned aerial vehicle, comprising:

[0069] A first acquisition module, used to control the drone to be in a hovering state and acquire first position information of the drone;

[0070] A second acquisition module, used to acquire second position information of the target position;

[0071] A third acquisition module, configured to acquire a target distance based on the first position information and the second position information;

[0072] The fourth acquisition module is used to obtain wind condition information and material information;

[0073] A fifth acquisition module, configured to acquire a duration of material delivery based on the first location information and the wind condition information;

[0074] A sixth acquisition module, configured to acquire an offset based on the target distance, the material delivery time, the wind condition information and the material information;

[0075] A seventh acquisition module, used to perform position correction based on the offset and acquire a target delivery position;

[0076] The material delivery module is used to deliver materials based on the target delivery location.

[0077] By adopting the above technical solution, the target distance between the drone and the target position is calculated according to the first position information of the drone and the second position information of the target position, and then the material delivery time is calculated according to the first position information, the second position information and the wind condition information; according to the target distance, the material delivery time, the wind condition information and the material information, the offset in the current state compared with the state without considering the influence of the wind condition is calculated, and then the material delivery position is corrected according to the offset, and the target delivery position is obtained, and finally the material is delivered based on the target delivery position;

[0078] The target distance is determined by accurately obtaining the position information of the drone and the target, and the offset is calculated based on wind conditions, material information, and material delivery time to correct the material delivery position. This helps to offset the offset caused by factors such as wind conditions and obtain the accurate target delivery position, which in turn helps to reduce the error of drone hovering and delivering materials and improve the accuracy of hitting the target.

[0079] In summary, this application includes the following beneficial technical effects:

[0080] The target distance is determined by accurately obtaining the position information of the drone and the target, and the offset is calculated based on wind conditions, material information, and material delivery time to correct the material delivery position. This helps to offset the offset caused by factors such as wind conditions and obtain the accurate target delivery position, which in turn helps to reduce the error of drone hovering and delivering materials and improve the accuracy of hitting the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 This is a main flow chart of a wind speed correction method for a drone according to an embodiment of the present application;

[0082] Figure 2 is a flowchart of steps S201 to S206;

[0083] Figure 3 is a flowchart of steps S301 to S304;

[0084] Figure 4 is a flowchart of steps S401 to S408;

[0085] Figure 5 is a flowchart of steps S501 to S507;

[0086] Figure 6 is a flowchart of steps S601 to S605;

[0087] Figure 7 is a flowchart of steps S701 to S706;

[0088] Figure 8 is a flowchart of steps S801 to S806;

[0089] Fig. 9 It is a module diagram of a wind speed correction system for a drone according to an embodiment of the present application.

[0090] Description of reference numerals:

[0091] 1. First acquisition module; 2. Second acquisition module; 3. Third acquisition module; 4. Fourth acquisition module; 5. Fifth acquisition module; 6. Sixth acquisition module; 7. Seventh acquisition module; 8. Material delivery module. DETAILED DESCRIPTION

[0092] In a first aspect, the present application discloses a method for correcting wind speed of a drone.

[0093] Reference Figure 1 , a wind speed correction method for a drone, comprising steps S101 to S108:

[0094] Step S101: Control the drone to be in a hovering state and obtain first position information of the drone.

[0095] Specifically, when the UAV reaches the area where supplies can be delivered, it is controlled to be in a hovering state and the first position information of the UAV is obtained. In this embodiment, the first position information is the position information of the UAV when it is hovering, including the longitude and latitude of the UAV's location, its height from the ground, and the current direction of the UAV.

[0096] Step S102: Acquire second location information of the target location.

[0097] Specifically, in this embodiment, the target position is the expected landing position of the materials, and the second position information includes the longitude and latitude of the target position.

[0098] Step S103: Acquire the target distance based on the first position information and the second position information.

[0099] Specifically, the target distance is the straight-line distance between the drone's hovering position and the target position, which can be calculated using the latitude and longitude distance formula. ,in, , , the longitude and latitude of the drone’s hovering position are and , the longitude and latitude of the target location are and , R is the average radius. In this embodiment, R is 6371000 meters.

[0100] Step S104: Obtain wind condition information and material information.

[0101] Specifically, in this embodiment, the wind condition information includes wind speed information and wind direction information; the material information is information related to the material, including the quality, material, shape, size, etc. of the material.

[0102] Step S105: Based on the first position information and wind condition information, the duration of material delivery is obtained.

[0103] Specifically, the height h of the hovering position of the drone from the ground can be obtained according to the first position information. During the falling process of the materials, they are affected by gravity and wind. In this embodiment, vertical downward is set as the positive direction. Therefore, during the falling process of the materials, there is not only the gravity acceleration g, but also the acceleration component a in the numerical direction formed by the wind. Therefore, according to the calculation formula Calculate the time it takes for the supplies to fall from the drone's location to the ground, which is the duration of the supplies delivery.

[0104] Step S106: Obtain the offset based on the target distance, material delivery time, wind condition information and material information.

[0105] Specifically, in this embodiment, the offset is the amount of deviation from the hovering position of the drone, including a distance offset and an angle offset.

[0106] Step S107: Correct the position based on the offset and obtain the target delivery position.

[0107] Specifically, in this embodiment, the target delivery position is the final position for delivering materials after correction.

[0108] Step S108: performing material delivery operations based on the target delivery location.

[0109] Specifically, in this embodiment, the drone is controlled to fly to the target delivery position and deliver materials at relevant angles.

[0110] The wind speed correction method for hovering and dropping supplies provided by the present embodiment calculates the target distance between the drone and the target position according to the first position information of the drone and the second position information of the target position, and then calculates the time for dropping supplies according to the first position information, the second position information and the wind condition information; calculates the offset in the current state compared with the state without considering the influence of wind conditions according to the target distance, the time for dropping supplies, the wind condition information and the supply information, and then corrects the drop supply position according to the offset, obtains the target drop supply position, and finally drops supplies based on the target drop supply position;

[0111] The target distance is determined by accurately obtaining the position information of the drone and the target, and the offset is calculated based on wind conditions, material information, and material delivery time to correct the material delivery position. This helps to offset the offset caused by factors such as wind conditions and obtain the accurate target delivery position, which in turn helps to reduce the error of drone hovering and delivering materials and improve the accuracy of hitting the target.

[0112] Reference Figure 2In one implementation of this embodiment, step S106 obtains the offset based on the target distance, the duration of material delivery, the wind condition information and the material information, and includes steps S201 to S206:

[0113] Step S201: Based on wind condition information, obtain wind speed information and wind direction information.

[0114] Specifically, in this embodiment, wind speed information is information related to wind speed, including the size and change of wind speed; wind direction information is information related to wind direction, including wind direction and wind direction change, which can be measured by installing wind speed and direction sensors on the drone.

[0115] Step S202: Based on the wind speed information, obtain the wind force value to which the material is subjected.

[0116] Specifically, in this embodiment, the wind force value received by the material satisfies the calculation formula , where C d It represents the drag coefficient of the material, which is related to the material information, ρ is the air density, v w It represents the wind speed at the height where the UAV is hovering, and A is the projected area of ​​the material on the plane perpendicular to the wind direction.

[0117] Step S203: Based on the wind force value and the material information, the horizontal acceleration of the material is obtained.

[0118] Specifically, in this embodiment, according to Newton's second law, Calculate the horizontal acceleration.

[0119] Step S204: Obtain the horizontal offset based on the material delivery time, wind direction information and horizontal acceleration.

[0120] Specifically, in this embodiment, the horizontal offset is the offset between the target delivery position and the hovering position of the drone in the horizontal direction.

[0121] Step S205: Obtaining the angular offset based on the horizontal offset and the target distance.

[0122] Specifically, in this embodiment, the initial launch angle of the drone relative to the target is (Unit: degree), which can be calculated based on the positional relationship between the drone and the target. , the angle offset is ,in, is the corrected delivery angle. The angle offset can be calculated according to the formula Calculated, where x is the horizontal offset and d is the target distance.

[0123] Step S206: Obtain an offset based on the horizontal offset and the angular offset.

[0124] Specifically, in this embodiment, the offset is a collection of a horizontal offset and an angular offset.

[0125] The wind speed correction method for hovering drones to drop supplies provided in this embodiment calculates the horizontal offset and the angular offset based on wind condition information and supply information, and then obtains the offset based on the horizontal offset and the angular offset. When calculating the offset, not only the horizontal offset but also the angular offset is taken into account, which helps to more accurately offset the impact of wind conditions on supplies, thereby reducing the error of hovering drones to drop supplies and improving the accuracy of supply drop.

[0126] Reference Figure 3 In one implementation of this embodiment, before obtaining the offset based on the target distance, the time for delivering materials, the wind condition information and the material information in step S106, steps S301 to S304 are also included:

[0127] Step S301: Obtain the offset influence coefficient based on the material information and wind condition information.

[0128] Specifically, during the process of dropping materials, the materials are affected by their own characteristics and external factors, which may cause the material falling trajectory and landing position to deviate. The deviation influence coefficient is the influencing factor that causes the material falling trajectory and landing position to deviate.

[0129] Step S302: Determine whether the offset influence coefficient exceeds a preset target threshold.

[0130] Step S303: If the offset influence coefficient exceeds the preset target threshold, a horizontal offset is obtained based on a first method.

[0131] Specifically, according to different situations, the methods of obtaining the horizontal offset are divided into a first method and a second method. The first method indicates that after the materials leave the drone, the wind conditions change greatly during the falling process, and the second method indicates that after the materials leave the drone, the wind conditions change little during the falling process, and the wind conditions can be regarded as unchanged during the falling process.

[0132] In this embodiment, the horizontal offset is obtained based on the first method, satisfying the following calculation formula:

[0133] ,

[0134] x is the horizontal offset, n is the number of intervals, i represents the i-th interval, C d represents the drag coefficient of the material, ρ is the air density, v i represents the average wind speed of the material in the ith interval, hi represents the interval distance of the i-th interval, θ i It represents the angle between the wind direction and the line connecting the drone to the target position when the material falls to the i-th interval, m is the mass of the material, g is the acceleration of gravity, is the horizontal acceleration, and A is the projected area of ​​the material on the plane perpendicular to the wind direction.

[0135] Step S304: If the offset influence coefficient does not exceed the preset target threshold, a horizontal offset is obtained based on a second acquisition method.

[0136] The wind speed correction method for hovering and dropping supplies provided in this embodiment selects a corresponding method to calculate the horizontal offset according to the actual situation of the supply dropping area, which helps to calculate the horizontal offset more accurately and in line with the actual situation, thereby helping to improve the accuracy of supply dropping.

[0137] Reference Figure 4 In one implementation of this embodiment, step S302 determines whether the offset influence coefficient exceeds the preset target threshold and includes steps S401 to S408:

[0138] Step S401: Based on the first position information, the initial material delivery height is obtained.

[0139] Specifically, in this embodiment, the initial material delivery height is the height of the drone's hovering position.

[0140] Step S402: Determine whether the height of the initial dropped materials exceeds a preset height threshold.

[0141] Specifically, the preset height threshold is a pre-set criterion for judging whether the height of the initial dropped materials is too high. In this embodiment, the preset height threshold may be 500 meters, or may be set according to actual conditions and user needs.

[0142] Step S403: If the height of the initially placed materials exceeds the preset height threshold, it is determined that the deviation influence coefficient exceeds the preset target threshold.

[0143] Specifically, in this embodiment, under normal circumstances, the wind speed in the near-ground layer (generally the atmospheric layer within about 1000 meters from the ground) will increase with increasing altitude. Therefore, the higher the initial material delivery altitude, the greater the wind speed, and the greater the impact on the material falling trajectory. Therefore, when the initial material delivery altitude exceeds the preset altitude threshold, it is determined that the offset influence coefficient exceeds the preset target threshold.

[0144] Step S404: If the height of the dropped materials does not exceed the preset height threshold, the historical wind condition information of the area where the target location is located is obtained.

[0145] Specifically, if the height of the dropped materials does not exceed the preset height threshold, it means that the initial height of the dropped materials is relatively low, so the wind speed at this height is relatively small, and the impact on the falling trajectory of the materials is also small. In order to further determine whether the initial height of the dropped materials exceeds the preset height threshold, the historical wind condition information of the area where the target location is located is obtained. In this embodiment, the historical wind condition information is the wind condition information of the area where the target location is located at historical moments.

[0146] Step S405: Based on the historical wind condition information, obtain the first wind condition change corresponding to the specified time and the second wind condition change corresponding to the specified height.

[0147] Specifically, in this embodiment, the first wind condition change is the change of wind speed and wind direction within a specified time, and the second wind condition change is the change of wind speed and wind direction within a specified height.

[0148] Step S406: Determine whether the first wind condition change does not satisfy the first change requirement and the second wind condition change does not satisfy the second change requirement.

[0149] Step S407: If there is no first wind condition change that does not satisfy the first change requirement and the second wind condition change that does not satisfy the second change requirement, it is determined that the offset influence coefficient exceeds the preset target threshold.

[0150] Specifically, in this embodiment, if the first wind condition change does not satisfy the first change requirement and the second wind condition change does not satisfy the second change requirement, it indicates that at least one of the first wind direction change and the second wind direction change meets the corresponding change requirement, and therefore has a greater impact on the falling trajectory and the falling position of the materials, so it is determined that the offset influence coefficient exceeds the preset target threshold.

[0151] Step S408: If the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement, it is determined that the offset influence coefficient does not exceed the preset target threshold.

[0152] Specifically, in this embodiment, if the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement, it indicates that both the first wind direction change and the second wind direction change do not meet the corresponding change requirements. Therefore, the impact on the falling trajectory and falling position of the materials is small, so it is determined that the offset influence coefficient does not exceed the preset target threshold.

[0153] It is worth noting that in the present embodiment, in addition to obtaining the first wind condition change corresponding to the specified time and the second wind condition change corresponding to the specified height based on the historical wind condition information, the first wind condition change and the second wind condition change, etc. can also be obtained in real time through radar remote sensing and other technologies; in addition, when applied to fire fighting, rescue, agriculture, and material delivery, a pattern of materials can be pre-placed, and the pattern materials are provided with relevant wind speed and direction meters for collecting the first wind condition change corresponding to the specified time and the second wind condition change corresponding to the specified height, and the collected relevant data can be used as the basis for the formal release of materials to offset the impact of wind conditions on the materials.

[0154] The wind speed correction method for hovering drones to drop supplies provided in this embodiment sets multiple judgment conditions and, after multiple judgments, obtains judgment results corresponding to different situations, thereby helping to more accurately select the corresponding calculation method to calculate the horizontal offset, thereby helping to improve the accuracy of dropping supplies.

[0155] Reference Figure 5 In one implementation of this embodiment, step S406 determines whether there is a first wind condition change that does not meet the first change requirement and a second wind condition change that does not meet the second change requirement, including steps S501 to S507:

[0156] Step S501: Obtain the current time node, and obtain the target time interval based on the preset node division rule and the current time node.

[0157] Specifically, the preset node division rule is a pre-set rule for dividing time nodes. In this embodiment, it can be divided by hours, starting from 0 o'clock. Each hour represents a time interval, corresponding to numbers 1 to 24 respectively; the time interval where the current time node is located is the target time interval. For example, if the current time node is 15 o'clock, the target time interval is the 15th time interval. Of course, it can also be divided according to other standards or user needs.

[0158] Step S502: Based on the first wind condition change and the target time interval, obtain the first maximum wind speed and the first minimum wind speed within the specified time.

[0159] Specifically, in this embodiment, the designated time can be 1 second or other time period, or it can be a certain percentage of the duration of material delivery, such as 10% or 20% of the duration of material delivery; the first maximum wind speed is the maximum wind speed at each designated time within the target time interval, and the first minimum wind speed is the minimum wind speed at each designated time within the target time interval.

[0160] Step S503: Based on the second wind condition change and the target time interval, the second maximum wind speed and the second minimum wind speed within the specified height are obtained.

[0161] Specifically, in this embodiment, the designated height can be 100 meters or other height segments, or it can be a certain percentage of the initial material delivery height, such as 10% or 20% of the initial material delivery height; the second maximum wind speed is the maximum wind speed at each designated height within the target time interval, and the second minimum wind speed is the minimum wind speed at each designated height within the target time interval.

[0162] Step S504: obtaining a first wind speed difference between the first maximum wind speed and the first minimum wind speed, and a second wind speed difference between the second maximum wind speed and the second minimum wind speed.

[0163] Specifically, in this embodiment, the first wind speed difference is the difference obtained by subtracting the first minimum wind speed from the first maximum wind speed, and the second wind speed difference is the difference obtained by subtracting the second minimum wind speed from the second maximum wind speed.

[0164] Step S505: Determine whether the first wind speed difference and / or the second wind speed difference exceeds a preset first difference threshold.

[0165] Specifically, the preset first difference threshold is a pre-set criterion for determining whether the first wind speed difference and / or the second wind speed difference is too large. In this embodiment, the preset first difference threshold can be set to 5 meters / second, or it can be set according to actual conditions and user needs.

[0166] Step S506: If the first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0167] Specifically, in this embodiment, if it exists, it means that at least one of the first wind speed difference and the second wind speed difference exceeds the preset first difference threshold, so it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0168] Step S507: If there is no first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0169] Specifically, in this embodiment, if it does not exist, it means that both the first wind speed difference and the second wind speed difference do not exceed the preset first difference threshold, so it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0170] The wind speed correction method for hovering and dropping supplies by a drone provided in this embodiment determines whether there is a first wind speed difference and / or a second wind speed difference that exceeds a preset first difference threshold, thereby knowing whether there is a first wind condition change that does not meet the first change requirement and a second wind condition change that does not meet the second change requirement, which helps to determine whether the offset influence coefficient exceeds the preset target threshold.

[0171] Reference Figure 6 In one implementation of this embodiment, if there is no first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, step S507 determines that there is a first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement, including steps S601 to S605:

[0172] Step S601: If there is no first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, a third wind speed difference between adjacent specified times and a fourth wind speed difference between adjacent specified heights are obtained.

[0173] Specifically, the third wind speed difference is the wind speed difference within adjacent specified times, and the fourth wind speed difference is the wind speed difference within adjacent specified heights. In this embodiment, the wind speed difference within adjacent specified times is within adjacent specified times, that is, the difference between the maximum wind speed value and the minimum wind speed value within two specified times, and the wind speed difference within adjacent specified heights is within adjacent specified heights, that is, the difference between the maximum wind speed value and the minimum wind speed value within two specified heights.

[0174] Step S602: Determine whether the third wind speed difference and / or the fourth wind speed difference exceeds a preset first difference threshold.

[0175] Specifically, in this embodiment, determining whether there is a third wind speed difference and / or a fourth wind speed difference that exceeds a preset first difference threshold helps reduce the occurrence of inaccurate judgment results due to the fact that the first wind speed difference and the second wind speed difference are small, but there are large changes in wind conditions between adjacent specified times or adjacent specified heights.

[0176] Step S603: If the third wind speed difference and / or the fourth wind speed difference exceeds the preset first difference threshold, the first target quantity sum is obtained.

[0177] Specifically, in this embodiment, the sum of the first target quantity is the sum of the number of all third wind speed differences that exceed the preset first difference threshold and the number of all fourth wind speed differences that exceed the preset first difference threshold. For example, a total of 10 specified times and 10 specified heights are divided, and the number of third wind speed differences in adjacent specified times that exceed the preset first difference threshold is 3, and the number of fourth wind speed differences in adjacent specified heights that exceed the preset first difference threshold is 5, then the sum of the first target quantity is 3 plus 5, which is equal to 8.

[0178] Step S604: Determine whether the first target quantity exceeds a preset quantity threshold.

[0179] Specifically, the preset quantity threshold can be set to 2 or other values. In the present embodiment, since the adjacent specified times are two specified time intervals, the transition time is longer than one specified time interval. The same is true for the adjacent specified heights. Therefore, the preset quantity threshold is set to 2. There are three ways to meet this standard. The first is that the third wind speed difference exceeds the preset first difference threshold by at least 2, the second is that the fourth wind speed difference exceeds the preset first difference threshold by at least 2, and the third is that the third wind speed difference exceeds the preset first difference threshold by at least 1, and the fourth wind speed difference exceeds the preset first difference threshold by at least 1.

[0180] Step S605: If the sum of the first target quantity exceeds the preset quantity threshold, it is determined that there is no first wind condition change situation that does not meet the first change requirement and the second wind condition change situation does not meet the second change requirement.

[0181] Specifically, in this embodiment, if the sum of the first target quantity exceeds the preset quantity threshold, it indicates that the first target quantity is large, and therefore it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0182] The wind speed correction method for hovering and dropping supplies by a drone provided in this embodiment further determines whether there is a third wind speed difference and / or a fourth wind speed difference exceeding the preset first difference threshold when there is no first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, thereby helping to reduce the occurrence of inaccurate judgment results due to the fact that the first wind speed difference and the second wind speed difference are small, but there are large changes in wind conditions between adjacent specified times or adjacent specified heights.

[0183] Reference Figure 7 In one implementation of this embodiment, step S406 determines whether there is a first wind condition change that does not meet the first change requirement and a second wind condition change that does not meet the second change requirement and further includes steps S701 to S706:

[0184] Step S701: Based on the first wind condition change and the target time interval, a first maximum wind direction angle and a first minimum wind direction angle within a specified time are obtained.

[0185] Specifically, in this embodiment, the first maximum wind direction angle is the maximum wind direction angle at each specified time in the target time interval, and the first minimum wind direction angle is the minimum wind direction angle at each specified time in the target time interval.

[0186] Step S702: Based on the second wind condition change and the target time interval, obtain the second maximum wind direction angle and the second minimum wind direction angle within the specified height.

[0187] Specifically, in this embodiment, the second maximum wind direction angle is the maximum wind direction angle at each specified height within the target time interval, and the second minimum wind direction angle is the minimum wind direction angle at each specified height within the target time interval.

[0188] Step S703: obtaining a first wind direction angle difference between the first maximum wind direction angle and the first minimum wind direction angle, and a second wind direction angle difference between the second maximum wind direction angle and the second minimum wind direction angle.

[0189] Specifically, in this embodiment, the first wind direction angle difference is the difference obtained by subtracting the first minimum wind direction angle from the first maximum wind direction angle, and the second wind direction angle difference is the difference obtained by subtracting the second minimum wind direction angle from the second maximum wind direction angle.

[0190] Step S704: determine whether the first wind direction angle difference and / or the second wind direction angle difference exceeds a preset second difference threshold.

[0191] Specifically, in this embodiment, the preset second difference threshold is a pre-set criterion for determining whether the first wind direction angle difference and / or the second wind direction angle difference is too large. In this embodiment, the preset second difference threshold can be set to 5 degrees, or it can be set according to actual conditions and user needs.

[0192] Step S705: If the first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0193] Specifically, in this embodiment, if it exists, it means that at least one of the first wind direction angle difference and the second wind direction angle difference exceeds the preset second difference threshold, so it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0194] Step S706: If there is no first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0195] Specifically, in this embodiment, if it does not exist, it means that both the first wind direction angle difference and the second wind direction angle difference do not exceed the preset second difference threshold, so it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

[0196] The wind speed correction method for hovering drones to drop supplies provided in this embodiment determines whether there is a first wind direction angle difference and / or a second wind direction angle difference that exceeds a preset second difference threshold, thereby knowing whether there is a first wind condition change that does not meet the first change requirement and a second wind condition change that does not meet the second change requirement, which helps to determine whether the offset influence coefficient exceeds the preset target threshold.

[0197] Reference Figure 8 In one implementation manner of the present embodiment, if there is no first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold in step S706, determining that there is a first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement includes steps S801 to S806:

[0198] Step S801: If there is no first wind direction angle difference and / or the second wind direction angle difference exceeds a preset second difference threshold, a third wind direction angle difference between adjacent specified times and a fourth wind direction angle difference between adjacent specified heights are obtained.

[0199] Specifically, in this embodiment, the third wind direction angle difference is the wind direction angle difference within adjacent specified times, and the fourth wind direction angle difference is the wind direction angle difference within adjacent specified heights. In this embodiment, the wind direction angle difference within adjacent specified times is within adjacent specified times, that is, the difference between the maximum wind direction angle value and the minimum wind direction angle value within two specified times, and the wind direction angle difference within adjacent specified heights is within adjacent specified heights, that is, the difference between the maximum wind direction angle value and the minimum wind direction angle value within two specified heights.

[0200] Step S802: Determine whether the third wind direction angle difference and / or the fourth wind direction angle difference exceeds a preset second difference threshold.

[0201] Specifically, in this embodiment, determining whether there is a third wind direction angle difference and / or a fourth wind direction angle difference that exceeds a preset second difference threshold helps reduce the situation where inaccurate judgment results occur due to the fact that the first wind direction angle difference and the second wind direction angle difference are small, but there are large changes in wind conditions between adjacent specified times or adjacent specified heights.

[0202] Step S803: If the third wind direction angle difference and / or the fourth wind direction angle difference exceeds the preset second difference threshold, the second target quantity sum is obtained.

[0203] Specifically, in this embodiment, the sum of the second target quantity is the sum of the number of all third wind direction angle differences that exceed the preset second difference threshold and the number of all fourth wind direction angle differences that exceed the preset second difference threshold. For example, a total of 10 specified times and 10 specified altitudes are divided, where the number of third wind direction angle differences within adjacent specified times that exceeds the preset second difference threshold is 3, and the number of fourth wind direction angle differences within adjacent specified altitudes that exceeds the preset second difference threshold is 5, then the sum of the second target quantity is 3 plus 5, which is equal to 8.

[0204] Step S804: Determine whether the second target quantity exceeds a preset quantity threshold.

[0205] Step S805: If the second target quantity and exceeds the preset quantity threshold, it is determined that there is no first wind condition change situation that does not meet the first change requirement and the second wind condition change situation does not meet the second change requirement.

[0206] Specifically, in this embodiment, if the sum of the second target quantity exceeds the preset quantity threshold, it indicates that the second target quantity is large, and therefore it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

[0207] The wind speed correction method for hovering and dropping supplies by a drone provided in this embodiment further determines whether there is a third wind direction angle difference and / or a fourth wind direction angle difference that exceeds the preset second difference threshold when there is no first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold, thereby helping to reduce the occurrence of inaccurate judgment results due to the fact that the difference between the first wind direction angle and the second wind direction angle is small, but there is a large change in wind conditions between adjacent specified times or adjacent specified heights.

[0208] Reference Fig. 9 , a wind speed correction system for an unmanned aerial vehicle, comprising:

[0209] A first acquisition module, used to control the drone to be in a hovering state and acquire first position information of the drone;

[0210] A second acquisition module, used to acquire second position information of the target position;

[0211] A third acquisition module, used for acquiring a target distance based on the first position information and the second position information;

[0212] The fourth acquisition module is used to obtain wind condition information and material information;

[0213] A fifth acquisition module, used to acquire the duration of material delivery based on the first location information and the wind condition information;

[0214] The sixth acquisition module is used to obtain the offset based on the target distance, the material delivery time, the wind condition information and the material information;

[0215] A seventh acquisition module is used to correct the position based on the offset and obtain the target delivery position;

[0216] The material delivery module is used to deliver materials based on the target delivery location.

[0217] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for correcting wind speed of an unmanned aerial vehicle, characterized in that: include: Control the drone to hover and obtain the first position information of the drone; Acquire second location information of the target location; Acquire a target distance based on the first position information and the second position information; Obtain wind condition information and material information; Based on the first location information and the wind condition information, obtaining a duration for delivering materials; Obtaining an offset based on the target distance, the duration of the material delivery, the wind condition information, and the material information; Performing position correction based on the offset and obtaining a target delivery position; Performing material delivery operations based on the target delivery location; The offset includes a horizontal offset and an angular offset. Before obtaining the horizontal offset, the following steps are performed: Based on the material information and the wind condition information, obtaining a deviation influence coefficient; Based on the first position information, obtaining the initial height of the dropped materials; Determine whether the height of the initial material delivery exceeds a preset height threshold; If the height of the initially placed materials exceeds the preset height threshold, it is determined that the offset influence coefficient exceeds the preset target threshold; If the height of the dropped materials does not exceed the preset height threshold, obtaining historical wind condition information of the area where the target location is located; Based on the historical wind condition information, obtaining a first wind condition change corresponding to a specified time and a second wind condition change corresponding to a specified height; Determine whether the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement; If there is no first wind condition change that does not satisfy the first change requirement and the second wind condition change that does not satisfy the second change requirement, determining that the offset influence coefficient exceeds a preset target threshold; If the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement, determining that the offset influence coefficient does not exceed the preset target threshold; If the offset influence coefficient exceeds the preset target threshold, obtaining the horizontal offset based on a first method; If the offset influence coefficient does not exceed the preset target threshold, the horizontal offset is acquired based on a second acquisition method.

2. The wind speed correction method for an unmanned aerial vehicle according to claim 1, characterized in that: The obtaining of the offset based on the target distance, the material delivery time, the wind condition information and the material information includes: Based on the wind condition information, obtaining wind speed information and wind direction information; Based on the wind speed information, obtaining the wind force value to which the material is subjected; Based on the wind force value and the material information, acquiring the horizontal acceleration of the material; Based on the material delivery time, the wind direction information and the horizontal acceleration, a horizontal offset is acquired; Based on the horizontal offset and the target distance, obtaining an angular offset; The offset is acquired based on the horizontal offset and the angular offset.

3. The wind speed correction method for an unmanned aerial vehicle according to claim 1, characterized in that: The determining whether the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement includes: Obtaining a current time node, and obtaining a target time interval based on a preset node division rule and the current time node; Based on the first wind condition change and the target time interval, obtaining a first maximum wind speed and a first minimum wind speed within a specified time; Based on the second wind condition change and the target time interval, obtaining a second maximum wind speed and a second minimum wind speed within a specified height; Acquire a first wind speed difference between the first maximum wind speed and the first minimum wind speed, and a second wind speed difference between the second maximum wind speed and the second minimum wind speed; Determine whether the first wind speed difference and / or the second wind speed difference exceeds a preset first difference threshold; If the first wind speed difference and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement; If the first wind speed difference does not exist and / or the second wind speed difference exceeds the preset first difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

4. The wind speed correction method for an unmanned aerial vehicle according to claim 3, characterized in that: If the first wind speed difference does not exist and / or the second wind speed difference exceeds a preset first difference threshold, determining that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement includes: If the first wind speed difference does not exist and / or the second wind speed difference exceeds the preset first difference threshold, obtaining a third wind speed difference between adjacent specified times and a fourth wind speed difference between adjacent specified heights; Determine whether the third wind speed difference and / or the fourth wind speed difference exceeds a preset first difference threshold; If the third wind speed difference exists and / or the fourth wind speed difference exceeds the preset first difference threshold, obtaining a first target quantity and; Determining whether the first target quantity exceeds a preset quantity threshold; If the first target quantity and exceeds a preset quantity threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement.

5. The wind speed correction method for an unmanned aerial vehicle according to claim 1, characterized in that: The determining whether the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement further includes: Based on the first wind condition change and the target time interval, obtaining a first maximum wind direction angle and a first minimum wind direction angle within a specified time; Based on the second wind condition change and the target time interval, obtaining a second maximum wind direction angle and a second minimum wind direction angle within a specified height; Acquire a first wind direction angle difference between the first maximum wind direction angle and the first minimum wind direction angle, and a second wind direction angle difference between the second maximum wind direction angle and the second minimum wind direction angle; Determine whether the first wind direction angle difference and / or the second wind direction angle difference exceeds a preset second difference threshold; If the first wind direction angle difference and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that there is no first wind condition change that does not meet the first change requirement and the second wind condition change that does not meet the second change requirement; If the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds the preset second difference threshold, it is determined that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement.

6. A method for correcting wind speed of a drone according to claim 5, characterized in that: If the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds a preset second difference threshold, determining that the first wind condition change does not meet the first change requirement and the second wind condition change does not meet the second change requirement includes: If the first wind direction angle difference does not exist and / or the second wind direction angle difference exceeds the preset second difference threshold, obtaining a third wind direction angle difference between adjacent specified times and a fourth wind direction angle difference between adjacent specified heights; Determine whether the third wind direction angle difference and / or the fourth wind direction angle difference exceeds a preset second difference threshold; If the third wind direction angle difference value and / or the fourth wind direction angle difference value exceeds a preset second difference threshold value, obtaining a second target quantity sum; Determining whether the second target quantity exceeds a preset quantity threshold; If the sum of the second target quantity exceeds the preset quantity threshold, it is determined that there is no first wind condition change situation that does not meet the first change requirement and the second wind condition change situation that does not meet the second change requirement.

7. A wind speed correction system for an unmanned aerial vehicle, used to execute the wind speed correction method according to any one of claims 1 to 6, characterized in that: include: A first acquisition module, used to control the drone to be in a hovering state and acquire first position information of the drone; A second acquisition module, used to acquire second position information of the target position; A third acquisition module, configured to acquire a target distance based on the first position information and the second position information; The fourth acquisition module is used to obtain wind condition information and material information; A fifth acquisition module, configured to acquire a duration of material delivery based on the first location information and the wind condition information; A sixth acquisition module, configured to acquire an offset based on the target distance, the material delivery time, the wind condition information and the material information; A seventh acquisition module, used to perform position correction based on the offset and acquire a target delivery position; The material delivery module is used to deliver materials based on the target delivery location.

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