Unmanned aerial vehicle and control method thereof

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles, and specifically relates to an unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a grabbing component, wherein the grabbing component is detachably arranged on the lower side of the unmanned aerial vehicle body; wherein the unmanned aerial vehicle body comprises a base, wherein a connecting component is arranged on the base, wherein one end of the connecting component is connected to the grabbing component, wherein the connecting component is used to lower the grabbing component to the cargo to be transported, and after the grabbing component grabs and fixes the cargo, the grabbing component is lifted upward to contact with the base, so that the grabbing component is relatively fixed to the base. The unmanned aerial vehicle can transport various types of cargo, significantly improving the cargo transport adaptability of the unmanned aerial vehicle, and can also stably grab the cargo to be transported, and prevent unnecessary shaking during transportation.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a UAV and a control method thereof. Background Art

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are flying devices controlled by radio remote control and self-contained programmable controllers. Civilian UAVs have a wide range of applications, including aerial photography, agriculture, and cargo transportation. Among these various drone applications, cargo transportation can significantly save manpower and material resources and improve transportation efficiency. Therefore, drone freight transportation may become a more mainstream mode of transportation in the future.

[0003] However, existing drones can only transport simple and regular-shaped goods and are unable to adapt to the transportation of irregular goods, and their adaptability is poor. Even when transporting simple and regular-shaped goods, it is easy to cause the transported goods to shake during the transportation process, affecting the stability of the goods transportation. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a drone and a control method thereof, which can transport various types of goods, significantly improve the drone's cargo adaptability, and at the same time stably grasp the transported goods to prevent unnecessary shaking during transportation.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A drone, comprising a drone body and a grabbing assembly, wherein the grabbing assembly is detachably arranged on the lower side of the drone body; wherein the drone body comprises a base, a connecting assembly is provided on the base, one end of the connecting assembly is connected to the grabbing assembly, the connecting assembly is used to lower the grabbing assembly to the cargo to be transported, and after the grabbing assembly grabs and secures the cargo, the grabbing assembly is lifted upward until it contacts the base, so that the grabbing assembly and the base are relatively fixed.

[0007] Preferably, the grabbing assembly includes a base, and several pairs of grabbing parts are symmetrically arranged on both sides of the base, and along the longitudinal direction of the drone, several first fixing parts, second fixing parts and third fixing parts for fixing and supporting the transported goods are evenly arranged on the base, and in the transverse direction, the first fixing parts, the second fixing parts and the third fixing parts correspond one-to-one to the grabbing parts; wherein the first fixing part is located at the transverse center of the base, and the projections of the second fixing part and the third fixing part in the vertical direction are located within the transverse working stroke M of each grabbing part.

[0008] Preferably, the first fixing portion, the second fixing portion and the third fixing portion are electric telescopic rods.

[0009] Preferably, the grasping part includes a first connecting rod and a second connecting rod, the upper end of the first connecting rod is hinged to the mounting seat corresponding to the base, the top end is hinged to one end of the first telescopic rod, and the other end of the first telescopic rod is hinged to the mounting seat corresponding to the base; the lower end of the first connecting rod is hinged to the middle position of the second connecting rod, the top end of the second connecting rod is hinged to one end of the second telescopic rod, the other end of the second telescopic rod is hinged to the middle position of the first connecting rod, and a working claw is provided at the end of the lower end of the second connecting rod.

[0010] Preferably, a detection component is provided on the gripping part, and the detection component is communicatively connected with the control component for detecting whether the gripping part stably grips the goods; wherein, the detection component includes a first pressure sensor provided on the working claw, and a second pressure sensor provided on the second connecting rod; wherein, the projection of the second fixing part in the vertical direction is located at the middle position of the transverse working stroke of the first pressure sensor, and the projection of the third fixing part in the vertical direction is located at the middle position of the transverse working stroke of the second pressure sensor.

[0011] Preferably, the control component receives the detection values ​​of the first pressure sensor and the second pressure sensor on each of the grabbing parts, and controls the movement of the corresponding first telescopic rod and / or second telescopic rod on each of the grabbing parts according to the received detection values ​​to grab the goods; and controls the movement of the first fixing part and / or the second fixing part and / or the third fixing part to fix the goods.

[0012] Preferably, the connection assembly includes a lifting motor and a cable. The lifting motor is arranged on the base, one end of the lifting motor is transmission-connected to the cable, and the other end of the cable is connected to the base.

[0013] Preferably, the drone body also includes a first cantilever and a second cantilever respectively arranged on the front and rear sides of the base, and a first rotor and a second rotor are respectively installed at the ends of the first cantilever and the second cantilever, the first rotor is located on the upper side of the first cantilever, and its rotation axis is arranged perpendicular to the horizontal plane, and the second rotor is located on the lower side of the second cantilever, and the angle between its rotation axis and the horizontal plane is less than 90 degrees.

[0014] A method for controlling a drone, comprising the following control steps:

[0015] The control component determines whether the detection value of the first pressure sensor is greater than or equal to a first predetermined threshold value, and if it is less than the first predetermined threshold value, controls the first telescopic rod and / or the second telescopic rod to extend respectively to grab the goods;

[0016] If the value is greater than or equal to the first predetermined threshold, further determining whether the detection value of the second pressure sensor is greater than or equal to a second predetermined threshold; if the value is less than the second predetermined threshold, further controlling the first telescopic rod to extend to stably grab the goods;

[0017] If it is greater than or equal to the second predetermined threshold, the first telescopic rod and / or the second telescopic rod are controlled to stop moving.

[0018] Preferably, when the detected value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detected value of the second pressure sensor is greater than or equal to the second predetermined threshold, the control component controls the second fixing portion and the third fixing portion corresponding to the grasping portion to move downward simultaneously to compress and fix the cargo;

[0019] Alternatively, when the received detection value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detection value of the second pressure sensor is less than the second predetermined threshold, the control component only controls the second fixing portion corresponding to the gripping portion to move downward to compress and fix the cargo, and the third fixing portion does not move;

[0020] Alternatively, when the received detection value of the first pressure sensor is less than the first predetermined threshold and the detection value of the second pressure sensor is less than the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to not move.

[0021] Compared with the existing technology, the drone and control method provided by the present invention have the following beneficial technical effects:

[0022] 1. The present invention provides a first fixing portion located at the transverse center of the base on each gripping assembly, and arranges the second and third fixing portions so that their vertical projections are within the transverse working range M of each gripping portion. When transporting cargo with a long longitudinal dimension, after the gripping portion has grasped the cargo, the first fixing portion, located at the transverse center of the base, can be controlled to compress and secure the cargo, effectively preventing the cargo from tilting and improving its stability during transport. When transporting cargo with an irregular shape, after the gripping portion has grasped the cargo, the second and third fixing portions, located within the transverse working range M of each gripping portion, can be controlled to compress and secure the cargo, thereby cooperating with the corresponding gripping portion to more stably secure and support the cargo, preventing it from shaking during transport. Controlling the operation of the first, second, and / or third fixing portions, depending on the cargo being transported, significantly improves the drone's cargo handling capabilities.

[0023] 2. The present invention utilizes a control assembly to receive detection values ​​from the first and second pressure sensors on each gripping section. Based on the received detection values, the control assembly controls the movement of the first and second telescopic rods corresponding to each gripping section, enabling each gripping section to effectively grip the cargo and improve grip stability. Simultaneously, the control assembly controls the movement of the second and / or third securing sections corresponding to each gripping section based on the readings from the first and second pressure sensors, effectively compressing and securing irregular cargo at different locations.

[0024] 3. The present invention sets an auxiliary transport component on the main body of the drone, and the control component can selectively control the movement of the auxiliary transport component to support and fix the end of the transported goods. Therefore, it can effectively prevent the goods from tilting, reduce the load borne by the grabbing component, and improve the stability of the goods during transportation.

[0025] 4. The present invention adopts a power arrangement in which the first rotor is located on the upper side of the first cantilever, and its rotation axis is perpendicular to the horizontal plane; the second rotor is located on the lower side of the second cantilever, and the angle between its rotation axis and the horizontal plane is less than 90 degrees. This can improve the stability of the drone during cargo transportation and further prevent the transported cargo from shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the UAV;

[0027] Figure 2 This is a schematic diagram of the structure of one side of the drone;

[0028] Figure 3 This is a schematic diagram of the structure of the bottom of the drone;

[0029] Figure 4 This is a schematic diagram of the structure of the drone when it is unfolded;

[0030] Figure 5 It is a partial schematic diagram of the grabbing part.

[0031] The meanings of the symbols in the figure are as follows:

[0032] 1. Drones;

[0033] 100. UAV body; 101. Base; 102. First cantilever; 103. Second cantilever; 104. First rotor; 105. Second rotor; 106. First auxiliary transport assembly; 107. Second auxiliary transport assembly; 108. Connecting assembly;

[0034] 200. Grabbing assembly; 201. Base; 202. Grabbing portion; 203. First fixing portion; 204. Second fixing portion; 205. Third fixing portion; 206. Cable; 207. Working claw; 208. First pressure sensor; 209. Second pressure sensor; 210. First connecting rod; 211. Second connecting rod; 212. First telescopic rod; 213. Second telescopic rod. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0036] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein may be combined with each other.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0039] In the description of the present invention, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is typically placed when in use, or the orientations or positional relationships commonly understood by those skilled in the art. Such terms are intended solely to facilitate the description of the present invention and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0040] See attached Figure 1 -Attached Figure 5 As shown, the present invention provides a drone 1, which includes: a drone body 100, a housing (not shown), and a grab assembly 200. The grab assembly 200 is detachably disposed on the lower side of the drone body 100. The drone body 100 includes a base 101, on which is disposed a connecting assembly 108. One end of the connecting assembly 108 is connected to the grab assembly 200. The connecting assembly 108 is used to lower the grab assembly 200 to the cargo to be transported. After the grab assembly 200 grabs and secures the cargo, the grab assembly 200 is lifted upward until it contacts the base 101, thereby securing the grab assembly 200 relative to the base 101.

[0041] The gripping assembly 200 includes a base 201, with several pairs of gripping sections 202 symmetrically disposed on either side of the base 201. A first fixing section 203, a second fixing section 204, and a third fixing section 205 are evenly distributed along the longitudinal direction Y of the drone, for securing and supporting transported cargo. In the transverse direction X, the first fixing section 203, the second fixing section 204, and the third fixing section 205 correspond one-to-one with the gripping sections 202. The first fixing section 203 is located at the transverse center of the base 201, and the vertical projections of the second fixing section 204 and the third fixing section 205 are within the transverse working range M of each gripping section 202. Preferably, the first fixing section 203, the second fixing section 204, and the third fixing section 205 utilize electrically operated telescopic rods to facilitate accurate control of their extension range.

[0042] Preferably, the connection assembly 108 includes a lifting motor and a cable 206. The lifting motor is mounted on the base 101, with one end of the lifting motor being in driving connection with the cable 206. The other end of the cable 206 is connected to the base 201. In this embodiment, the forward and reverse rotation of the lifting motor reels in and out the cable 206, which in turn lifts and lowers the gripping assembly 200. In other embodiments, the connection assembly 108 may also employ other structures. Furthermore, it will be readily understood that to ensure stability, one or more connection assemblies 108 may be positioned on either side of the drone body 100 in the lateral direction.

[0043] When the drone is needed to transport goods, the drone is first controlled to fly above the goods to be transported. The connecting assembly 108 is then controlled to lower the grabbing assembly 200 to the goods to be transported. The grabbing portion 202 is then controlled to move to grab the goods. After the grabbing portion 202 has grabbed the goods, the first fixing portion 203 and / or the second fixing portion 204 and / or the third fixing portion 205 are controlled to move to compress and secure the goods to prevent them from shaking during transportation. Afterwards, the connecting assembly 108 is controlled to lift the grabbing assembly 200 upward until it contacts the base 101, fixing the grabbing assembly 200 relative to the base 101. The drone is then controlled to safely transport the goods to their destination.

[0044] In the drone provided by the present invention, a first fixing portion is provided on the gripping assembly, located at the transverse center of the base, and the second and third fixing portions are configured such that their vertical projections are within the transverse working range M of each gripping portion. When transporting cargo with a long longitudinal dimension, after the gripping portion has grasped the cargo, the first fixing portion, located at the transverse center of the base, can be controlled to compress and secure the cargo, effectively preventing the cargo from tilting and improving the cargo's stability during transport. When transporting cargo with an irregular shape, after the gripping portion has grasped the cargo, the second and third fixing portions, located within the transverse working range M of each gripping portion, can be controlled to compress and secure the cargo, thereby cooperating with the corresponding gripping portion to more stably secure and support the cargo, preventing it from shaking during transport. Controlling the operation of the first and / or second and / or third fixing portions, depending on the cargo being transported, significantly improves the drone's cargo handling capabilities.

[0045] Preferably, the gripping portion 202 includes a first connecting rod 210 and a second connecting rod 211. The middle portion of the upper end of the first connecting rod 210 is hinged to a corresponding mounting seat on the base 201, and the top end is hinged to one end of a first telescopic rod 212, the other end of which is hinged to a corresponding mounting seat on the base 201. The lower end of the first connecting rod 210 is hinged to the middle portion of the second connecting rod 211, and the top end of the second connecting rod 211 is hinged to one end of a second telescopic rod 213, the other end of which is hinged to the middle portion of the first connecting rod 210. The lower end of the second connecting rod 211 is provided with a working claw 207. A control assembly (not shown) can control the movements of the first and second telescopic rods 212, 213, respectively, to grasp cargo.

[0046] Preferably, the gripping portion 202 is provided with a detection assembly that is in communication with the control assembly and is used to detect whether the gripping portion 202 is stably gripping the cargo. The detection assembly includes a first pressure sensor 208 provided on the working claw 207 and a second pressure sensor 209 provided on the second connecting rod 211. The vertical projection of the second fixing portion 204 is located at the middle of the transverse working range of the first pressure sensor 208, and the vertical projection of the third fixing portion 205 is located at the middle of the transverse working range of the second pressure sensor 209.

[0047] Preferably, the control component receives the detection values ​​of the first pressure sensor 208 and the second pressure sensor 209 on each grasping part 202, and controls the movement of the corresponding first telescopic rod 212 and / or second telescopic rod 213 on each grasping part 202 to grasp the goods according to the received detection values; and controls the movement of the first fixing part 203 and / or the second fixing part 204 and / or the third fixing part 205 to fix the goods.

[0048] Preferably, the drone body 100 also includes a first auxiliary transport assembly 106 and a second auxiliary transport assembly 107 disposed on the front and rear sides of the base 101. The control assembly can selectively control the movement of the first auxiliary transport assembly 106 and / or the second auxiliary transport assembly 107 according to the needs of the cargo to be transported, thereby facilitating the auxiliary transport of the desired cargo and preventing unnecessary shaking during transportation. Alternatively, the first auxiliary transport assembly 106 and / or the second auxiliary transport assembly 107 can be equipped with an auxiliary motor and an auxiliary cable. When transporting cargo with a larger longitudinal dimension, the control assembly selectively controls the first auxiliary transport assembly 106 and / or the second auxiliary transport assembly 107 to lower the auxiliary cable, which is used to support and secure the ends of the transported cargo. This effectively prevents the cargo from tilting, reduces the load borne by the gripping assembly 200, and improves the stability of the cargo during transportation. Furthermore, in some embodiments, the first auxiliary transport assembly 106 and / or the second auxiliary transport assembly 107 can be connected to an adjustment component for adjusting its longitudinal position to facilitate accommodating cargo of varying lengths.

[0049] Preferably, the drone body 100 further includes a first cantilever 102 and a second cantilever 103, respectively disposed on the front and rear sides of the base 101. A first rotor 104 and a second rotor 105 are mounted at the ends of the first cantilever 102 and the second cantilever 103, respectively. The first rotor 104 is located above the first cantilever 102, with its axis of rotation perpendicular to the horizontal plane. The second rotor 105 is located below the second cantilever 103, with its axis of rotation forming an angle of less than 90 degrees with the horizontal plane. The power arrangement provided by the present invention can improve the stability of the drone during cargo transportation and further prevent the transported cargo from shaking.

[0050] The present invention also provides a method for controlling a drone, which comprises the following steps:

[0051] For each gripping portion 202, the control component determines whether the detection value of the first pressure sensor 208 is greater than or equal to a first predetermined threshold. If it is less than the first predetermined threshold, the control component controls the first telescopic rod 212 and / or the second telescopic rod 213 to extend to grab the goods.

[0052] If the value is greater than or equal to the first predetermined threshold, it indicates that the first pressure sensor 208 is in place. Then, it is further determined whether the detection value of the second pressure sensor 209 is greater than or equal to the second predetermined threshold. If it is less than the second predetermined threshold, the first telescopic rod 212 is further controlled to extend to stably grasp the goods.

[0053] If it is greater than or equal to the second predetermined threshold, it means that the position of the second pressure sensor 209 has been clamped in place. At this time, the first telescopic rod 212 and / or the second telescopic rod 213 are controlled to stop moving.

[0054] According to the above embodiment, when the grasping portion 202 grasps the goods, it controls the movement of the first telescopic rod 212 and / or the second telescopic rod 213 so that the areas detected by the first pressure sensor 208 and the second pressure sensor 209 can effectively clamp the goods as much as possible, thereby increasing the grasping area of ​​the grasping portion 202 when grasping irregular goods and improving the stability of clamping.

[0055] Preferably, the control method further comprises: if the detection value of the second pressure sensor 209 is still not greater than a second predetermined threshold after the first telescopic rod 212 is extended to the limit position, controlling the first telescopic rod 212 to remain at the limit position.

[0056] In the above preferred embodiment, if the detection value of the second pressure sensor 209 is still not greater than the second predetermined threshold value after the first telescopic rod 212 is extended to the limit position, it means that during the process of grabbing the irregular cargo, the cargo has not touched the detection range of the second pressure sensor 209. By controlling the first telescopic rod 212 to remain in the limit position, the cargo is clamped by the working claw 207.

[0057] Preferably, the control method further includes: if the first telescopic rod 212 and the second telescopic rod 213 move within the entire working stroke, the control component determines that the detection values ​​received by the first pressure sensor 208 are all less than the first predetermined threshold, then controlling the first telescopic rod 212 and the second telescopic rod 213 to reset to the initial position.

[0058] According to the above preferred embodiment, if the control component operates within the entire working stroke of the first telescopic rod 212 and the second telescopic rod 213, and the detection values ​​received from the first pressure sensor 208 are all less than the first predetermined threshold, it means that there is no part within the working range of the grasping part 202 that can effectively clamp the goods, and therefore the grasping part 202 is controlled to reset to the initial position to avoid obstruction of the transported goods.

[0059] Preferably, after the cargo is clamped, the control method further comprises: the control component controls the second fixing portion 204 and / or the third fixing portion 205 to press and fix the cargo, wherein:

[0060] When the detected value of the first pressure sensor 208 of one of the gripping units 202 is greater than or equal to a first predetermined threshold, and the detected value of the second pressure sensor 209 is greater than or equal to a second predetermined threshold, it indicates that the gripping unit 202 has effectively clamped the cargo. At this point, the second fixing unit 204 and the third fixing unit 205 corresponding to the gripping unit 202 are controlled to move downward simultaneously to compress and secure the cargo. If it is determined that the areas where the first and second pressure sensors 208 and 209 are located are both clamping the cargo, the second fixing unit 204 and the third fixing unit 205 corresponding to the gripping unit 202 are controlled to move downward simultaneously to fully compress and secure the cargo.

[0061] When the detected value of the first pressure sensor 208 of one of the gripping parts 202 is greater than or equal to a first predetermined threshold value and the detected value of the second pressure sensor 209 is less than a second predetermined threshold value, it indicates that the gripping part 202 has effectively clamped the cargo at only the working claw 207. At this time, only the second fixing part 204 corresponding to the gripping part 202 is controlled to move downward to compress and secure the cargo, while the third fixing part 205 does not move. When it is determined that the area where the second pressure sensor 209 is located is not clamping the cargo, only the second fixing part 204 corresponding to the gripping part 202 is controlled to move downward to compress and secure the cargo, while the third fixing part 205 does not move. In this case, a certain amount of clamping force can be provided while preventing the third fixing part 205 from compressing the parts of the cargo that are not effectively clamped, thereby preventing the cargo from being improperly displaced.

[0062] When the received detection value of the first pressure sensor 208 of one of the gripping parts 202 is less than a first predetermined threshold value and the detection value of the second pressure sensor 209 is less than a second predetermined threshold value, it indicates that the gripping part 202 has not effectively gripped the cargo. In this case, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled to be inactive. When it is determined that a gripping part 202 has not effectively gripped the cargo, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled to be inactive, thereby preventing improper clamping from adversely affecting the effective gripping of other gripping parts 202.

[0063] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A method for controlling a drone, wherein the drone comprises a drone body and a grab assembly, wherein the grab assembly comprises a base, and a plurality of pairs of grab parts are symmetrically arranged on both sides of the base, wherein the grab parts comprise a first connecting rod and a second connecting rod, wherein the upper end of the first connecting rod is hinged to a mounting seat correspondingly arranged on the base, the top end is hinged to one end of a first telescopic rod, and the other end of the first telescopic rod is hinged to a mounting seat correspondingly arranged on the base; the lower end of the first connecting rod is hinged to a middle position of the second connecting rod, the top end of the second connecting rod is hinged to one end of the second telescopic rod, and the other end of the second telescopic rod is hinged to the middle position of the first connecting rod, and a working claw is arranged at the end of the lower end of the second connecting rod; Along the longitudinal direction of the drone, a plurality of second fixing parts and third fixing parts for fixing and supporting the transported goods are evenly arranged on the base; The gripping part is provided with a detection component which is in communication with the control component, and the detection component includes a first pressure sensor provided on the working claw and a second pressure sensor provided on the second connecting rod; the projection of the second fixing part in the vertical direction is located at the middle position of the horizontal working stroke of the first pressure sensor, and the projection of the third fixing part in the vertical direction is located at the middle position of the horizontal working stroke of the second pressure sensor; It is characterized in that The control method is as follows: When the detected value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detected value of the second pressure sensor is greater than or equal to the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to move downward simultaneously to press and fix the goods; When the detected value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detected value of the second pressure sensor is less than the second predetermined threshold, the control component only controls the second fixing part corresponding to the grabbing part to move downward to press and fix the goods, and the third fixing part does not move; When the received detection value of the first pressure sensor is less than the first predetermined threshold and the detection value of the second pressure sensor is less than the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to not move.

2. The method for controlling a drone as claimed in claim 1, characterized in that: The grabbing assembly can be detachably arranged on the lower side of the drone body; the drone body includes a base, a connecting assembly is arranged on the base, one end of the connecting assembly is connected to the grabbing assembly, and the connecting assembly is used to lower the grabbing assembly to the cargo to be transported, and after the grabbing assembly grabs and fixes the cargo, the grabbing assembly is lifted upward to contact with the base, so that the grabbing assembly and the base are relatively fixed.

3. The method for controlling a drone as claimed in claim 2, characterized in that: Along the longitudinal direction of the drone, a plurality of first fixing parts for fixing and supporting the transported goods are evenly arranged on the base, and in the transverse direction, the first fixing part, the second fixing part and the third fixing part correspond one by one to the grabbing part; wherein the first fixing part is located at the transverse center of the base.

4. The method for controlling a drone as claimed in claim 3, characterized in that: The first fixing part, the second fixing part and the third fixing part are electric telescopic rods.

5. The method for controlling a drone as claimed in claim 4, characterized in that: The control component receives the detection values ​​of the first pressure sensor and the second pressure sensor on each of the grasping parts, and controls the movement of the corresponding first telescopic rod and / or second telescopic rod on each of the grasping parts according to the received detection values ​​to grasp the goods.

6. The method for controlling a drone as claimed in claim 5, characterized in that: The connection assembly includes a lifting motor and a cable. The lifting motor is arranged on the base, one end of the lifting motor is transmission-connected to the cable, and the other end of the cable is connected to the base.

7. The method for controlling a drone as claimed in claim 6, characterized in that: The drone body also includes a first cantilever and a second cantilever respectively arranged on the front and rear sides of the base, and a first rotor and a second rotor are respectively installed at the ends of the first cantilever and the second cantilever, the first rotor is located on the upper side of the first cantilever, and its rotation axis is perpendicular to the horizontal plane, and the second rotor is located on the lower side of the second cantilever, and the angle between its rotation axis and the horizontal plane is less than 90 degrees.

8. The method for controlling a drone as claimed in claim 7, characterized in that: The control component determines whether the detection value of the first pressure sensor is greater than or equal to a first predetermined threshold value, and if it is less than the first predetermined threshold value, controls the first telescopic rod and / or the second telescopic rod to extend to grab the goods; If it is greater than or equal to the first predetermined threshold, further determining whether the detection value of the second pressure sensor is greater than or equal to a second predetermined threshold; if it is less than the second predetermined threshold, further controlling the first telescopic rod to extend to stably grab the goods; If it is greater than or equal to the second predetermined threshold, the first telescopic rod and / or the second telescopic rod is controlled to stop moving.

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