Unmanned aerial vehicle control method and system, intelligent terminal and storage medium

Abstract

The invention relates to an unmanned aerial vehicle control method and system, an intelligent terminal and a storage medium, and relates to the field of unmanned aerial vehicle technologies. Acquiring a wind influence moment of the unmanned aerial vehicle based on the take-off trigger signal; judging whether the wind influence torque meets the requirement of a preset balance influence torque or not; if the requirement of balancing the influence torque is met, continuing to obtain the wind influence torque of the unmanned aerial vehicle for cyclic judgment; if the wind influence torque does not meet the requirement of the balance influence torque, judging whether the wind influence torque meets the requirement of the preset maximum balance torque or not; if the requirement of the maximum balance moment is not met, preset strong wind prompt information is output for prompting; and if the requirement of the maximum balance moment is met, a preset balance device is controlled to balance the unmanned aerial vehicle according to the wind influence moment. The method has the effect of improving the convenience of balance control of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular, to a drone control method, system, intelligent terminal, and storage medium. Background Art

[0002] An unmanned aerial vehicle, abbreviated as a drone, is an unpiloted aircraft controlled by a radio remote control device and a self - contained program control device, or is fully or intermittently autonomously operated by an on - vehicle computer. By combining with various industrial applications, the uses of drones themselves have been greatly expanded.

[0003] In related technologies, a drone maintaining stability in the wind mainly depends on the collaborative work of its sensors, flight control system, and power system. For example, when the sensors detect the influence of the wind on the drone, the flight control system quickly calculates and adjusts the rotation speed of the motors in the power system through a proportional - integral - derivative algorithm, so as to offset the influence of the wind and keep the drone flying stably.

[0004] In view of the above - mentioned related technologies, in the case of relatively low wind speeds, the adjustment of the rotation speed of the power system by the flight control system is small, and the influence on the speed of the drone can be ignored at this time. However, in strong winds, in order to maintain attitude balance, the flight control system makes a large adjustment to the rotation speed of the power system. At this time, the drone sacrifices some speed, which easily causes the drone to fail to complete the flight task within the specified time, resulting in inconvenient balance control of the drone and there is still room for improvement. Summary of the Invention

[0005] In order to improve the convenience of drone balance control, the present application provides a drone control method, system, intelligent terminal, and storage medium.

[0006] In a first aspect, the present application provides a drone control method, adopting the following technical solution: A drone control method includes: Obtaining a take - off trigger signal of the drone; Obtaining the wind - influenced torque of the drone based on the take - off trigger signal; Judging whether the wind - influenced torque meets the requirements of a preset balanced torque; If it meets the requirements of the balanced torque, continue to obtain the wind - influenced torque of the drone for cyclic judgment; If it does not meet the requirements of the balanced torque, judge whether the wind - influenced torque meets the requirements of a preset maximum balanced torque; If it does not meet the requirements of the maximum balanced torque, output a preset strong - wind prompt message for prompting; If it meets the requirements of the maximum balanced torque, control a preset balancing device according to the wind - influenced torque to balance the drone.

[0007] By adopting the above technical solution, after the UAV takes off, the wind influence moment of the UAV is detected and calculated. When it is determined that the wind influence moment does not meet the requirement of the balanced influence moment but meets the requirement of the maximum balanced moment, the balance device is controlled according to the wind influence moment to balance the UAV, without the need to adjust the rotation speed of the UAV power system, so that the flight speed of the UAV will not be affected, and it can ensure that the UAV completes the flight mission within the scheduled time, thereby improving the convenience of UAV balance control.

[0008] Optionally, the step of controlling a preset balance device to balance the UAV according to the wind influence moment includes: Obtain the windward side of the UAV; Analyze the windward side to determine the liquid distribution side of the preset balance liquid; Obtain the liquid distribution weight of the liquid distribution side; Determine the reverse lever arm length according to the liquid distribution side and the preset relationship between the distribution side lever arms; Analyze the liquid distribution weight, the reverse lever arm length, and the preset gravitational acceleration to determine the applied reverse moment; Control the balance device to balance the UAV according to the applied reverse moment and the wind influence moment.

[0009] By adopting the above technical solution, the windward side of the UAV is defined as the liquid distribution side, the liquid distribution weight is detected, and then the applied reverse moment of the balance device on the liquid distribution side is calculated according to the liquid distribution weight, the reverse lever arm length, and the gravitational acceleration, so as to control the balance device to balance the UAV according to the applied reverse moment and the wind influence moment, thereby improving the accuracy and convenience of UAV balance control.

[0010] Optionally, the step of controlling the balance device to balance the UAV according to the applied reverse moment and the wind influence moment includes: Judge whether the wind influence moment meets the requirement of the applied reverse moment; If it meets the requirement, control the balance device to standby and continue to obtain the wind influence moment of the UAV for cyclic judgment; If it does not meet the requirement, calculate the difference between the applied reverse moment and the wind influence moment, and define the calculated difference as the moment gap value; Control the balance device to distribute the balance liquid to balance the UAV according to the moment gap value.

[0011] By adopting the above technical solution, when it is determined that the wind-influenced moment meets the requirement of applying a reverse moment, it indicates that the balancing liquid distributed to the liquid distribution side by the balancing device is sufficient to maintain the balance of the UAV. Therefore, the balancing device can be controlled to standby. When it does not meet the requirement, the difference between the applied reverse moment and the wind-influenced moment is calculated to obtain the moment gap value. Then, according to the moment gap value, the balancing device is controlled to redistribute the balancing liquid, thereby improving the accuracy and convenience of the balancing device in balancing the UAV.

[0012] Optionally, the steps of controlling the balancing device to distribute the balancing liquid to balance the UAV according to the moment gap value include: Analyze the moment gap value, the reverse force arm length, and the gravitational acceleration to determine the liquid adjustment weight of the balancing liquid; Judge whether the moment gap value is a preset positive value or negative value; If it is a positive value, control the balancing device to extract the balancing liquid on the liquid distribution side according to the liquid adjustment weight; If it is a negative value, control the balancing device to distribute the balancing liquid to the liquid distribution side according to the liquid adjustment weight.

[0013] By adopting the above technical solution, analyze the moment gap value, the reverse force arm length, and the gravitational acceleration to determine the liquid adjustment weight. Thus, when it is determined that the moment gap value is a positive value, control the balancing device to extract the balancing liquid on the liquid distribution side by the liquid adjustment weight. When it is determined that the moment gap value is a negative value, control the balancing device to distribute the balancing liquid to the liquid distribution side by the liquid adjustment weight, thereby improving the accuracy of the balancing device in distributing the balancing liquid.

[0014] Optionally, before obtaining the takeoff trigger signal of the UAV, it further includes the step of injecting the balancing liquid. The specific steps include: Obtain the mission area of the UAV; Obtain the corresponding environmental wind parameters based on the mission area; Analyze the environmental wind parameters and the preset UAV parameters to determine the maximum acting force; Analyze the maximum acting force and the preset maximum force arm length to determine the maximum influence moment; Determine the liquid type according to the maximum influence moment and the preset moment-liquid relationship; Inject the balancing liquid into the balancing device according to the liquid type.

[0015] By adopting the above technical solution, before the UAV takes off, the environmental wind parameters in the UAV mission area are detected, so as to determine the maximum acting force according to the environmental wind parameters and UAV parameters, and determine the maximum influence moment according to the maximum acting force and the maximum arm length, so as to select the liquid type with the maximum influence moment, inject the balancing liquid into the balancing device according to the liquid type, so that the balancing liquid distributed by the balancing device can cope with the complex environment in the mission area, prevent the situation that the UAV cannot be balanced due to insufficient weight of the balancing liquid, and further improve the accuracy of the balancing device in balancing the UAV.

[0016] Optionally, the step of obtaining the wind influence moment of the UAV based on the takeoff trigger signal includes: Obtain the windward angle of the UAV; Obtain the wind acting force of the UAV based on the windward angle; Analyze the windward angle and the preset acting force arm angle to determine the force angle; Analyze the force angle, the wind acting force and the preset acting force arm length to determine the wind influence moment.

[0017] By adopting the above technical solution, the force angle is determined according to the windward angle and the acting force arm angle, so as to calculate the wind influence moment from the force angle, the wind acting force and the acting force arm length, and use the moment of the wind on the centroid of the UAV as the wind influence moment, thereby improving the accuracy of the wind influence moment.

[0018] Optionally, the step of obtaining the wind acting force of the UAV based on the windward angle includes: Determine the windward area of the UAV according to the windward angle and the preset windward area relationship; Determine the drag coefficient of the UAV according to the windward angle and the preset wind resistance relationship; Obtain the relative wind speed; Analyze the relative wind speed, the drag coefficient, the windward area and the preset air density to determine the wind acting force.

[0019] By adopting the above technical solution, different windward areas and drag coefficients are selected according to different angles of the wind, so as to calculate the wind acting force on the UAV according to the actual UAV data, thereby improving the accuracy of the wind acting force.

[0020] In a second aspect, the present application provides a UAV control system, adopting the following technical solution: A UAV control system includes: An acquisition module, configured to acquire a takeoff trigger signal and a wind influence moment; A memory, configured to store a program of a UAV control method as described in any one of the above; A processor, and a program in a memory can be loaded and executed by the processor to implement a drone control method as described in any one of the above.

[0021] By adopting the above technical solution, the processor loads and executes a program of a drone control method stored in the memory, so that an acquisition module acquires a series of data related to drone control. After the drone takes off, the wind influence moment of the drone is detected and calculated. When it is determined that the wind influence moment does not meet the requirement of the balanced influence moment but meets the requirement of the maximum balanced moment, the balance device is controlled according to the wind influence moment to balance the drone, without adjusting the rotation speed of the drone power system, thus not affecting the flight speed of the drone, being able to ensure that the drone completes the flight task within the original scheduled time, and further improving the convenience of drone balance control.

[0022] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution: An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor to implement a drone control method as described in any one of the above is stored on the memory.

[0023] By adopting the above technical solution, by operating the intelligent terminal, the processor loads and executes a computer program of a drone control method stored in the memory, so that after the drone takes off, the wind influence moment of the drone is detected and calculated. When it is determined that the wind influence moment does not meet the requirement of the balanced influence moment but meets the requirement of the maximum balanced moment, the balance device is controlled according to the wind influence moment to balance the drone, without adjusting the rotation speed of the drone power system, thus not affecting the flight speed of the drone, being able to ensure that the drone completes the flight task within the original scheduled time, and further improving the convenience of drone balance control.

[0024] In a fourth aspect, the present application provides a computer storage medium, which can store a corresponding program and has the characteristic of facilitating the implementation of improving the convenience of drone balance control, adopting the following technical solution: A computer-readable storage medium stores a computer program capable of being loaded and executed by a processor to implement any one of the above drone control methods.

[0025] By adopting the above technical solution, a computer program for an unmanned aerial vehicle (UAV) control method is stored in a computer-readable storage medium, and a processor loads and executes the computer program in the storage medium. After the UAV takes off, the wind-influenced moment of the UAV is detected and calculated. When it is determined that the wind-influenced moment does not meet the requirement of the balanced moment but meets the requirement of the maximum balanced moment, the balancing device is controlled according to the wind-influenced moment to balance the UAV, and the rotation speed of the UAV power system does not need to be adjusted, so that the flight speed of the UAV will not be affected, and it can ensure that the UAV completes the flight mission within the original scheduled time, thereby improving the convenience of UAV balance control.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. After the UAV takes off, the wind-influenced moment of the UAV is detected and calculated. When it is determined that the wind-influenced moment does not meet the requirement of the balanced moment but meets the requirement of the maximum balanced moment, the balancing device is controlled according to the wind-influenced moment to balance the UAV, and the rotation speed of the UAV power system does not need to be adjusted, so that the flight speed of the UAV will not be affected, and it can ensure that the UAV completes the flight mission within the original scheduled time, thereby improving the convenience of UAV balance control. 2. By defining the windward side of the UAV as the liquid distribution side, detecting the liquid distribution weight, and then calculating the reverse moment applied by the balancing device on the liquid distribution side according to the liquid distribution weight, the reverse force arm length, and the acceleration due to gravity, the balancing device is controlled according to the applied reverse moment and the wind-influenced moment to balance the UAV, thereby improving the accuracy and convenience of UAV balance control. 3. When it is determined that the wind-influenced moment meets the requirement of the applied reverse moment, it indicates that the balancing liquid distributed by the balancing device to the liquid distribution side is sufficient to keep the UAV balanced. Therefore, the balancing device is controlled to standby. When it does not meet the requirement, the difference between the applied reverse moment and the wind-influenced moment is calculated to obtain the moment gap value, and then the balancing device is controlled according to the moment gap value to redistribute the balancing liquid, thereby improving the accuracy and convenience of the balancing device in balancing the UAV. Description of the Drawings

[0027] Figure 1 is a flowchart of a UAV control method in an embodiment of the present application.

[0028] Figure 2 is a flowchart of the steps of controlling a preset balancing device to balance the UAV according to the wind-influenced moment in an embodiment of the present application.

[0029] Figure 3 is a flowchart of the steps of controlling the balancing device to balance the UAV according to the applied reverse moment and the wind-influenced moment in an embodiment of the present application.

[0030] Figure 4 It is a flowchart of the steps in the embodiment of the present application for controlling the balance device to distribute balance liquid to balance the drone according to the torque gap value.

[0031] Figure 5 It is a flowchart of the injection steps of the balance liquid in the embodiment of the present application.

[0032] Figure 6 It is a flowchart of the steps in the embodiment of the present application for obtaining the wind-influenced torque of the drone based on the takeoff trigger signal.

[0033] Figure 7 It is a flowchart of the steps in the embodiment of the present application for obtaining the wind-influenced acting force of the drone based on the wind-influenced angle. Detailed implementation manners

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further describes the present application in detail with reference to the attached Figures 1-7 drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The embodiment of the present application discloses a method for controlling a drone, specifically discloses a processing terminal, a torque sensor and a balance device. The processing terminal is respectively connected to the torque sensor and the balance device through data wires to realize data interaction and control. When the processing terminal receives the takeoff trigger signal of the drone, the processing terminal controls the torque sensor to detect the wind-influenced torque of the drone, and compares the wind-influenced torque with the balance torque. When the wind-influenced torque exceeds the balance torque, the wind-influenced torque is further compared with the maximum balance torque. When it exceeds the maximum balance torque, a strong wind prompt message is output for prompting. When it does not exceed, the processing terminal controls the balance device to balance the drone according to the wind-influenced torque, without adjusting the rotation speed of the drone power system, thus not affecting the flight speed of the drone, being able to ensure that the drone completes the flight mission within the original scheduled time, and further improving the convenience of drone balance control.

[0036] Referring to Figure 1 , the embodiment of the present application discloses a method for controlling a drone, including the following steps: Step S100: Obtain the takeoff trigger signal of the drone.

[0037] Among them, the takeoff trigger signal refers to the signal for the drone to start flying. When the operator controls the drone to take off or the drone takes off according to the established procedure, the drone control system sends the pre-stored takeoff trigger signal to the processing terminal.

[0038] Step S101: Obtain the wind influence moment of the drone based on the takeoff trigger signal.

[0039] Among them, when the processing terminal receives the takeoff trigger signal, it indicates that the drone has started a flight mission. Therefore, the wind influence moment of the drone is detected to provide data support for determining whether the drone needs to be balanced subsequently.

[0040] The wind influence moment refers to the moment exerted by the environmental wind on the drone. The specific acquisition method refers to Figure 6 the steps.

[0041] Step S102: Determine whether the wind influence moment meets the requirements of the preset balance influence moment.

[0042] Among them, the balance influence moment refers to the maximum moment when the drone does not need to be balanced. The specific value is determined by the operator according to the specific situation of the drone. The requirement of the balance influence moment means not greater than the balance influence moment.

[0043] The processing terminal determines whether the wind influence moment is not greater than the balance influence moment, so as to determine whether the flight of the drone needs to be balanced.

[0044] Step S1021: If it meets the requirements of the balance influence moment, continue to obtain the wind influence moment of the drone for cyclic judgment.

[0045] Among them, if the processing terminal determines that the wind influence moment is not greater than the balance influence moment, it indicates that the influence of the external wind on the flight of the drone is small. At this time, it is not necessary to balance the flight of the drone. Therefore, continue to detect the wind influence moment of the drone to continuously monitor the change of the flight environment of the drone.

[0046] Step S1022: If it does not meet the requirements of the balance influence moment, determine whether the wind influence moment meets the requirements of the preset maximum balance moment.

[0047] Among them, the maximum balance moment refers to the maximum moment that the balance device on the drone can balance, which is obtained by the processing terminal calculating the product of the weight of the balance liquid and the maximum arm. The requirement of the maximum balance moment means not greater than the maximum balance moment.

[0048] If the processing terminal determines that the wind influence moment is greater than the balance influence moment, it indicates that the influence of the external wind on the flight of the drone is large. At this time, the processing terminal determines whether the wind influence moment is not greater than the maximum balance moment, so as to determine whether the balance device can balance the flight of the drone.

[0049] Step S10221: If it does not meet the requirements of the maximum balance moment, output a preset strong wind prompt message for prompt.

[0050] Among them, if the processing terminal determines that the wind influence moment is greater than the balance influence moment, it indicates that there is strong wind in the environment at this time. Relying on the balancing device cannot keep the UAV flying stably. At this time, a strong wind prompt message is output for prompting, so that the operator can recover the UAV or rely on the power system to adjust the speed to maintain stability.

[0051] The strong wind prompt message refers to the prompt message indicating that there is strong wind in the environment, which is stored in the processing terminal by the operator and sent by the processing terminal to the operator's controller.

[0052] Step S10222: If the requirement of the maximum balance moment is met, the preset balancing device is controlled according to the wind influence moment to balance the UAV.

[0053] Among them, if the processing terminal determines that the wind influence moment is not greater than the balance influence moment, it indicates that the influence of the environmental wind on the UAV at this time can be balanced. Therefore, the balancing device is controlled according to the wind influence moment to balance the UAV. The specific method refers to Figure 2 the steps.

[0054] The balancing device refers to the device installed on the UAV to balance the UAV, including a liquid storage tank, a water pump and a distribution pipe. The liquid storage tank stores balancing liquid, and the distribution pipe is installed around the UAV. The balancing liquid in the liquid storage tank is distributed into the distribution pipes in different directions through the water pump, so as to offset the influence of the wind in different directions on the UAV.

[0055] Referring to Figure 2 , the steps of controlling the preset balancing device to balance the UAV according to the wind influence moment include: Step S200: Obtain the windward side of the UAV.

[0056] Among them, the windward side refers to the windward side of the UAV, which is detected by sensors installed on the UAV, such as an anemometer, an accelerometer and a gyroscope, etc.

[0057] Step S201: Analyze the windward side to determine the liquid distribution side of the preset balancing liquid.

[0058] Among them, the liquid distribution side refers to the position on the UAV where the balancing liquid needs to be distributed. The processing terminal defines the windward side as the liquid distribution side, so as to apply additional weight on the windward side to offset the thrust on the windward side. The balancing liquid refers to the liquid used to balance the UAV, and the specific liquid type is selected by the operator according to the actual situation.

[0059] Step S202: Obtain the liquid distribution weight of the liquid distribution side.

[0060] Among them, the liquid distribution weight refers to the weight of the existing balanced liquid on the liquid distribution side, which is obtained by the processing terminal calling the weight of the liquid last distributed by the balancing device.

[0061] Step S203: Determine the reverse lever arm length according to the liquid distribution side and the preset distribution side lever arm relationship.

[0062] Among them, the distribution side lever arm relationship refers to the corresponding relationship between different distribution sides on the unmanned aerial vehicle (UAV) and the lever arm length. The operator forms a mapping table by corresponding the distance between the side of the UAV and the center of gravity of the UAV with the side one by one. The reverse lever arm length refers to the lever arm length of the force applied to the UAV when distributing the balanced liquid, which is obtained by the processing terminal looking up in the mapping table corresponding to the distribution side lever arm relationship according to the liquid distribution side.

[0063] Step S204: Analyze the liquid distribution weight, the reverse lever arm length, and the preset gravitational acceleration to determine the applied reverse torque.

[0064] Among them, the applied reverse torque refers to the torque of the existing balanced liquid on the liquid distribution side on the UAV, which is obtained by the processing terminal calculating the product of the liquid distribution weight, the reverse lever arm length, and the gravitational acceleration. The gravitational acceleration is 9.8 m / s 2 as an example.

[0065] Step S205: Control the balancing device to balance the UAV according to the applied reverse torque and the wind influence torque.

[0066] Among them, after determining the applied reverse torque, the processing terminal controls the balancing device to balance the UAV according to the applied reverse torque and the wind influence torque. The specific method refers to Figure 3 the steps.

[0067] Refer to Figure 3 , the steps of controlling the balancing device to balance the UAV according to the applied reverse torque and the wind influence torque include: Step S300: Judge whether the wind influence torque meets the requirements of the applied reverse torque.

[0068] Among them, the requirements of the applied reverse torque refer to being within the error range of the applied reverse torque. The specific error range is determined by the operator according to the actual situation of the UAV.

[0069] The processing terminal judges whether the wind influence torque is within the error range of the applied reverse torque, so as to determine whether the balancing device needs to redistribute the balanced liquid.

[0070] Step S301: If it meets the requirements, control the balancing device to standby and continue to obtain the wind influence torque of the UAV for cyclic judgment.

[0071] Among them, if the processing terminal determines that the wind influence torque is within the error range of applying the reverse torque, it indicates that the existing balancing liquid on the liquid distribution side of the UAV is sufficient to balance the UAV. Therefore, the balancing device is controlled to standby, and the wind influence torque of the UAV is continuously detected, so as to continuously monitor the flight environment of the UAV.

[0072] Step S302: If not, calculate the difference between the applied reverse torque and the wind influence torque, and define the calculated difference as the torque gap value.

[0073] Among them, if the processing terminal determines that the wind influence torque is not within the error range of applying the reverse torque, it indicates that the existing balancing liquid on the liquid distribution side of the UAV cannot balance the UAV. Therefore, calculate the difference between the applied reverse torque and the wind influence torque to obtain the torque gap value, providing data support for the subsequent balancing device to balance the UAV.

[0074] The torque gap value refers to the difference between the torque of the balancing liquid on the liquid distribution side of the UAV on the UAV and the torque of the wind on the UAV, which is obtained by the processing terminal calculating the difference between the applied reverse torque and the wind influence torque.

[0075] Step S303: Control the balancing device to distribute the balancing liquid to balance the UAV according to the torque gap value.

[0076] Among them, after the processing terminal determines the torque gap value, the processing terminal controls the balancing device to redistribute the balancing liquid on the liquid distribution side according to the torque gap value, so that the torque of the balancing liquid on the liquid distribution side on the UAV cancels the torque generated by the wind on the UAV, so as to keep the UAV flying smoothly. The specific method refers to Figure 4 the steps.

[0077] Refer to Figure 4 , the steps of controlling the balancing device to distribute the balancing liquid to balance the UAV according to the torque gap value include: Step S400: Analyze the torque gap value, the reverse force arm length, and the gravitational acceleration to determine the liquid adjustment weight of the balancing liquid.

[0078] Among them, the liquid adjustment weight refers to the weight of the balancing liquid that needs to be distributed to or withdrawn from the liquid distribution side. The processing terminal first calculates the product of the reverse force arm length and the gravitational acceleration, and then calculates the quotient of the torque gap value and the calculated product to obtain the liquid adjustment weight.

[0079] Step S401: Judge whether the torque gap value is a preset positive value or negative value.

[0080] Among them, the processing terminal judges whether the torque gap value is a positive value or a negative value, so as to determine whether the balancing device needs to distribute the balancing liquid to the liquid distribution side or withdraw the balancing liquid from the liquid distribution side.

[0081] Step S4011: If it is a positive value, the balance liquid on the liquid distribution side is pumped out according to the liquid-adjusted weight control balance device.

[0082] Among them, if the processing terminal determines that the torque gap value is positive, it indicates that there is too much balance liquid on the liquid distribution side of the UAV. Therefore, the water pump in the balance device is controlled to pump out the balance liquid on the liquid distribution side, and the pumped volume is detected, and then the product of the volume and the density is calculated to obtain the weight, and the process stops when it is determined that the weight is equal to the liquid-adjusted weight.

[0083] Step S4012: If it is a negative value, the balance liquid is distributed to the liquid distribution side according to the liquid-adjusted weight control balance device.

[0084] Among them, if the processing terminal determines that the torque gap value is negative, it indicates that more balance liquid is still needed on the liquid distribution side of the UAV for balance. Therefore, the water pump in the balance device is controlled to distribute the balance liquid in the liquid storage tank to the liquid distribution side, and the pumped-in volume is detected, and then the product of the volume and the density is calculated to obtain the weight, and the process stops when it is determined that the weight is equal to the liquid-adjusted weight.

[0085] Refer to Figure 5 , before obtaining the takeoff trigger signal of the UAV, it also includes the step of injecting balance liquid, and the specific steps include: Step S500: Obtain the mission area of the UAV.

[0086] Among them, the mission area refers to the area that the UAV needs to fly through, which is selected by the operator on the electronic map of the UAV.

[0087] Step S501: Obtain the corresponding environmental wind parameters based on the mission area.

[0088] Among them, the environmental wind parameters refer to parameters such as the wind speed and wind direction in the mission area. In one embodiment, the operator can query the relevant wind profile parameters of the mission area on the meteorological website and input them into the processing terminal to obtain them. In another embodiment, the operator can use sensors to detect them on the spot in the mission area.

[0089] Step S502: Analyze the environmental wind parameters and the preset UAV parameters to determine the maximum acting force.

[0090] Among them, the maximum acting force refers to the maximum acting force that the environmental wind may exert on the UAV, which is calculated by the processing terminal according to the environmental wind parameters and the UAV parameters. The specific calculation process is as follows: Calculate the relative wind speed according to the UAV direction and speed corresponding to the environmental wind parameters and the UAV parameters, square the relative wind speed, and then calculate the product of the air density, the square of the relative wind speed, the UAV drag coefficient, and the UAV frontal area and divide it by 2 to obtain the maximum acting force.

[0091] The parameters of the unmanned aerial vehicle refer to parameters such as the flight speed, direction, drag coefficient, and windward area of the unmanned aerial vehicle, which are input and stored in the processing terminal by the operator according to the actual parameters of the unmanned aerial vehicle.

[0092] Step S503: Analyze the maximum acting force and the preset maximum arm length to determine the maximum influence moment.

[0093] Among them, the maximum influence moment refers to the maximum moment of the environmental wind on the unmanned aerial vehicle, and the processing terminal calculates the product of the maximum acting force and the corresponding maximum arm length to obtain the maximum influence moment.

[0094] The maximum arm length refers to the maximum distance between the acting point of the environmental wind on the unmanned aerial vehicle and the center of gravity of the unmanned aerial vehicle, which is determined by the operator according to the actual situation of the unmanned aerial vehicle.

[0095] Step S504: Determine the liquid type according to the maximum influence moment and the preset moment-liquid relationship.

[0096] Among them, the moment-liquid relationship refers to the corresponding relationship between different moments and the balancing liquid. The greater the moment, the greater the density of the required balancing liquid, so as to ensure that within the limited pipeline space, a certain volume of balancing liquid provides sufficient reverse moment. The operator forms a mapping table by corresponding the moments with the balancing liquid one by one.

[0097] The liquid type refers to the balancing liquid applicable in the current task area, which is obtained by the processing terminal searching in the mapping table corresponding to the moment-liquid relationship according to the maximum influence moment.

[0098] Step S505: Inject the balancing liquid into the balancing device according to the liquid type.

[0099] Among them, after the processing terminal determines the liquid type, the processing terminal gives a reminder according to the liquid type, so that the operator injects the liquid corresponding to the liquid type into the liquid storage tank of the balancing device, so that the balancing device can distribute the corresponding balancing liquid into the distribution pipes at different positions of the unmanned aerial vehicle for balancing.

[0100] Refer to Figure 6 , the steps of obtaining the wind influence moment of the unmanned aerial vehicle based on the takeoff trigger signal include: Step S600: Obtain the windward angle of the unmanned aerial vehicle.

[0101] Among them, the windward angle refers to the blowing angle of the environmental wind on the unmanned aerial vehicle, which is detected by the inertial measurement unit on the unmanned aerial vehicle in combination with an anemometer.

[0102] Step S601: Obtain the wind acting force of the unmanned aerial vehicle based on the windward angle.

[0103] Among them, the wind force refers to the force exerted by the environmental wind on the drone. For the specific acquisition method, refer to Figure 7 the steps.

[0104] Step S602: Analyze the wind-receiving angle and the preset force arm angle to determine the force-receiving angle.

[0105] Among them, the force-receiving angle refers to the angle between the wind direction angle and the force arm. The processing terminal calls the force arm angle corresponding to the wind-receiving angle in the force arm angle, and then calculates the difference between the wind-receiving angle and the force arm angle to obtain the force-receiving angle.

[0106] The force arm angle refers to the angles of the force arms in different directions, which are stored in the processing terminal by the operator according to the actual situation of the drone. Subsequently, the processing terminal calls the force arm angle of the corresponding side according to the wind direction angle for use.

[0107] Step S603: Analyze the force-receiving angle, the wind force, and the preset force arm length to determine the wind influence moment.

[0108] Among them, the wind influence moment in this step is the same as the wind influence moment in Step S101. The processing terminal first calculates the sine value of the force-receiving angle, and then calculates the product of the wind force, the force arm length, and the sine value to obtain the wind influence moment.

[0109] The force arm length refers to the lengths of the force arms in different directions, which are stored in the processing terminal by the operator according to the actual situation of the drone. Subsequently, the processing terminal calls the force arm length of the corresponding side according to the wind direction angle for use.

[0110] Refer to Figure 7 , the steps for obtaining the wind force on the drone based on the wind-receiving angle include: Step S700: Determine the windward area of the drone according to the wind-receiving angle and the preset windward area relationship.

[0111] Among them, the windward area relationship refers to the corresponding relationship between the wind-receiving angle and the windward area. The operator forms a mapping table by corresponding the positive wind direction with the front area of the drone, the side wind direction with the side area, etc. The windward area refers to the windward area of the drone, which is found by the processing terminal in the mapping table corresponding to the windward area relationship according to the wind-receiving angle.

[0112] Step S701: Determine the drag coefficient of the drone according to the wind-receiving angle and the preset wind resistance relationship.

[0113] Among them, the wind resistance relationship refers to the corresponding relationship between the windward angle and the drag coefficient. The operator forms a mapping table by corresponding the positive wind direction with the frontal drag coefficient of the UAV, the side wind direction with the side drag coefficient, etc. The drag coefficient refers to the drag coefficient of the UAV, which is obtained by the processing terminal looking up in the mapping table corresponding to the wind resistance relationship according to the windward angle.

[0114] Step S702: Obtain the relative wind speed.

[0115] Among them, the relative wind speed refers to the vector difference between the UAV speed and the wind speed. After the sensor detects the ground speed and the airspeed of the UAV, the difference between the ground speed and the airspeed is calculated to obtain the relative wind speed.

[0116] Step S703: Analyze the relative wind speed, the drag coefficient, the windward area, and the preset air density to determine the wind force.

[0117] Among them, the wind force in this step is the same as the wind force in step S601. The processing terminal first calculates the square of the relative wind speed, and then calculates the product of the air density, the square of the relative wind speed, the drag coefficient, and the windward area and divides it by 2 to obtain the wind force.

[0118] Based on the same inventive concept, an embodiment of the present application provides a UAV control system, including: An acquisition module, configured to acquire a takeoff trigger signal, a wind influence moment, a windward side, a liquid distribution weight, a mission area, environmental wind parameters, a windward angle, a wind force, and a relative wind speed; A memory, configured to store a program of a UAV control method as described in any one of the above; A processor, the program in the memory can be loaded and executed by the processor and implement a UAV control method as described in any one of the above.

[0119] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0120] An embodiment of the present application provides a computer-readable storage medium, storing a computer program that can be loaded and executed by a processor to implement a UAV control method.

[0121] Computer storage media include, for example: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0122] Based on the same inventive concept, embodiments of the present application provide an intelligent terminal, including a memory and a processor. A computer program capable of being loaded and executed by the processor to implement a drone control method is stored on the memory.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to implement all or part of the functions described above. For the specific working processes of the systems, devices, and units described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

[0124] The above are all preferred embodiments of the present application. Without limiting the protection scope of the present application in accordance with this, any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or features with similar purposes. That is, unless specifically described, each feature is only an example in a series of equivalent or similar features.

Claims

1. A drone control method, characterized in that: include: Get the takeoff trigger signal of the drone; Obtain the wind-affected moment of the UAV based on the takeoff trigger signal; Determine whether the wind-affected moment meets the preset equilibrium influence moment requirements; If the balance influence moment requirement is met, the wind influence moment of the UAV will continue to be obtained for cyclic judgment; If it does not meet the requirements of the balance influence moment, then determine whether the wind influence moment meets the requirements of the preset maximum balance moment; If the maximum balancing moment requirement is not met, the preset strong wind warning message will be output for prompting; If the maximum balancing torque requirement is met, the drone is balanced according to the preset balancing device controlled by the wind-affected torque.

2. A drone control method according to claim 1, characterized in that: The steps of balancing the drone by controlling the preset balancing device according to the wind-affected moment include: Get the windward side of the drone; Analyze the windward side to determine the liquid distribution side for the preset balancing liquid; obtaining a liquid dispense weight at a liquid dispensing side; Determine the length of the reverse lever arm according to the relationship between the liquid distribution side and the preset distribution side lever arm; Analyze the liquid distribution weight, the length of the opposing force arm and the preset gravity acceleration to determine the applied opposing moment; The UAV is balanced by controlling the balancing device according to the applied reverse torque and the torque affected by wind.

3. A drone control method according to claim 2, characterized in that: The steps of controlling the balancing device to balance the drone according to the applied reverse torque and the torque affected by wind include: Determine whether the moment affected by wind meets the requirements for applying reverse moment; If it meets the requirements, the balancing device is controlled to standby, and the wind-affected moment of the UAV is continuously obtained for cyclic judgment; If it does not meet the requirements, the difference between the applied reverse moment and the moment affected by wind is calculated, and the calculated difference is defined as the moment gap value; The balancing device is controlled to distribute the balancing liquid according to the torque difference value to balance the drone.

4. A drone control method according to claim 3, characterized in that: The steps of controlling the balancing device to distribute the balancing liquid according to the torque difference value to balance the drone include: Analyze the moment gap value, the opposing lever arm length, and the gravitational acceleration to determine the liquid adjustment weight of the balancing liquid; Determine whether the torque difference value is a preset positive value or a negative value; If it is positive, the balancing device is controlled to draw out the balancing liquid on the liquid distribution side according to the liquid adjustment weight; If it is a negative value, the balancing device is controlled according to the liquid adjustment weight to distribute the balancing liquid to the liquid distribution side.

5. The method for controlling a drone according to claim 1, characterized in that: Before obtaining the takeoff trigger signal of the drone, the step of injecting the balancing liquid is also included. The specific steps include: Get the mission area of ​​the drone; Obtain corresponding environmental wind parameters based on the mission area; Analyze the ambient wind parameters and preset UAV parameters to determine the maximum force; Analyze the maximum force and the preset maximum lever arm length to determine the maximum impact moment; Determine the liquid type based on the maximum influence torque and a preset torque-liquid relationship; Fill the balancing device with balancing liquid according to the type of liquid.

6. A drone control method according to claim 1, characterized in that: The steps of obtaining the wind-affected moment of the UAV based on the take-off trigger signal include: Get the wind angle of the drone; Obtain the wind force on the drone based on the wind angle; Analyze the wind angle and the preset force arm angle to determine the force angle; The force angle, wind force and preset force arm length are analyzed to determine the wind-affected moment.

7. A drone control method according to claim 6, characterized in that: The steps for obtaining the wind force on the drone based on the wind angle include: Determine the windward area of ​​the drone based on the relationship between the wind angle and the preset windward area; Determine the drag coefficient of the drone based on the wind angle and the preset wind resistance relationship; Get relative wind speed; Relative wind speed, drag coefficient, frontal area and pre-set air density are analyzed to determine wind forces.

8. A drone control system, characterized in that: include: An acquisition module is used to acquire a takeoff trigger signal and a wind-affected moment; A memory, used to store a program of a drone control method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a drone control method as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for controlling a drone as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute a method for controlling a drone as claimed in any one of claims 1 to 7.

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