Unmanned aerial vehicle control method and device, unmanned aerial vehicle, terminal, system and storage medium

Abstract

An unmanned aerial vehicle control method and device, an unmanned aerial vehicle, a terminal, a system and a storage medium, the method comprising: acquiring a first manipulation parameter of a user for a first manipulation component, and determining a target acceleration of the unmanned aerial vehicle according to the first manipulation parameter (S101); controlling the unmanned aerial vehicle to accelerate according to the target acceleration (S102); and in response to the first control parameter being less than or equal to a first preset threshold value, acquiring a current flight speed of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly at a constant speed according to the current flight speed (S103). The method can improve the control convenience of the unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a UAV control method, device, UAV, terminal, system and storage medium. Background Technology

[0002] Currently, users primarily control drones to perform a series of actions through control components on the control terminal. However, with the increasing number of drone users, more and more professional users are demanding higher standards for the flight experience, flight safety, and ease of operation. Therefore, developing a safer, more convenient, and better-feeling control strategy is a pressing issue that needs to be addressed. Summary of the Invention

[0003] Based on this, embodiments of this application provide a drone control method, device, drone, terminal, system, and storage medium, aiming to improve the ease of drone control.

[0004] In a first aspect, embodiments of this application provide a method for controlling a drone, wherein the drone is communicatively connected to a control terminal, the control terminal including a first control component, the first control component being used to control the drone's horizontal flight, and the method including: The system acquires the user's first control parameters for the first control component and determines the target acceleration of the UAV based on the first control parameters. Control the drone to accelerate according to the target acceleration; In response to the first control parameter being less than or equal to a first preset threshold, the current flight speed of the UAV is obtained, and the UAV is controlled to fly at a constant speed according to the current flight speed.

[0005] Secondly, embodiments of this application also provide a method for controlling a drone, wherein the drone is communicatively connected to a control terminal, the control terminal including a second control component and a third control component, the second control component being used to control the turning of the drone, and the third control component being used to control the rolling of the drone, the method comprising: The system acquires the user's third control parameters for the second control component and determines the target turning angular velocity of the UAV based on the third control parameters. The first roll angle of the drone is determined based on the current flight speed of the drone and the target turning angular velocity; The user obtains the fourth control parameters for the third control component, and determines the third roll angle of the drone based on the fourth control parameters. The target roll angle of the UAV is determined based on the first roll angle and the third roll angle. The drone is controlled to turn based on the target roll angle.

[0006] Thirdly, embodiments of this application also provide a method for controlling a drone, wherein the drone is communicatively connected to a control terminal, the control terminal includes a fourth control component, the fourth control component being used to control the drone's flight in the vertical direction, and the method includes: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

[0007] Fourthly, this application also provides a drone control device, wherein the drone is communicatively connected to a control terminal, the control terminal includes a first control component, the first control component is used to control the drone to fly horizontally, and the drone control device includes a memory and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The system acquires the user's first control parameters for the first control component and determines the target acceleration of the UAV based on the first control parameters. Control the drone to accelerate according to the target acceleration; In response to the first control parameter being less than or equal to a preset threshold, the current flight speed of the UAV is obtained, and the UAV is controlled to fly at a constant speed according to the current flight speed.

[0008] Fifthly, this application also provides a drone control device, wherein the drone is communicatively connected to a control terminal, the control terminal includes a second control component and a third control component, the second control component is used to control the turning of the drone, the third control component is used to control the rolling of the drone, and the drone control device includes a memory and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The system acquires the user's third control parameters for the second control component and determines the target turning angular velocity of the UAV based on the third control parameters. The first roll angle of the drone is determined based on the current flight speed of the drone and the target turning angular velocity; The user obtains the fourth control parameters for the third control component, and determines the third roll angle of the drone based on the fourth control parameters. The target roll angle of the UAV is determined based on the first roll angle and the third roll angle. The drone is controlled to turn based on the target roll angle.

[0009] Sixthly, embodiments of this application also provide a drone control device, wherein the drone is communicatively connected to a control terminal, the control terminal includes a fourth control component, the fourth control component is used to control the drone's flight in the vertical direction, and the drone control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

[0010] Seventhly, embodiments of this application also provide a drone, the drone comprising: Organism; A power system, located on the fuselage, is used to provide flight power for the UAV; The drone control device described above is located inside the drone body and is used to control the drone.

[0011] Eighthly, embodiments of this application also provide a control terminal, which includes the UAV control device described above, and the control terminal is used for communication connection with the UAV.

[0012] Ninthly, embodiments of this application also provide a control system, the control system including the above-mentioned UAV and a control terminal communicatively connected to the UAV; Alternatively, the control system may include a control terminal as described above, and a drone that is communicatively connected to the control terminal.

[0013] In a tenth aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the unmanned aerial vehicle control method as described above.

[0014] This application provides a drone control method, device, drone, terminal, system, and storage medium. Based on a user's first control parameter on a first control component, a target acceleration of the drone is determined, and the drone is controlled to accelerate according to this target acceleration. Then, when the first control parameter is less than or equal to a first preset threshold, the drone is controlled to fly at a constant speed at the current flight speed. This allows the user to easily manipulate the control component on the control terminal to make the drone fly at the user's desired constant speed, reducing the number of times the user needs to manipulate the control component, lowering the difficulty of operation, and greatly improving the convenience of drone control.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a scenario in which the unmanned aerial vehicle control method provided in the embodiments of this application is implemented; Figure 2 This is a schematic flowchart illustrating the steps of a drone control method provided in an embodiment of this application; Figure 3 This is a schematic flowchart illustrating the steps of another unmanned aerial vehicle (UAV) control method provided in this application embodiment; Figure 4 This is a schematic diagram of a scenario where a drone is controlled to turn, as described in an embodiment of this application. Figure 5 This is a control logic block diagram for controlling the turning of a drone in an embodiment of this application; Figure 6 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 7 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 8 This is a schematic flowchart illustrating the steps of another unmanned aerial vehicle (UAV) control method provided in this application embodiment; Figure 9 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 10 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 11 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 12 This is another control logic block diagram for controlling the drone to turn in the embodiments of this application; Figure 13 This is a schematic flowchart illustrating the steps of another unmanned aerial vehicle (UAV) control method provided in this application embodiment; Figure 14 This is a schematic block diagram of the structure of a drone control device provided in an embodiment of this application; Figure 15 This is a schematic block diagram of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application; Figure 16 This is a schematic block diagram of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application; Figure 17 This is a schematic block diagram of the structure of a drone provided in an embodiment of this application; Figure 18 This is a schematic block diagram of the structure of a control system provided in an embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0020] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] Currently, users primarily control drones to perform a series of actions through control components on the control terminal. However, with the increasing number of drone users, more and more professional users are demanding higher standards for the flight experience, flight safety, and ease of operation. Therefore, developing a safer, more convenient, and better-feeling control strategy is a pressing issue that needs to be addressed.

[0022] To address the aforementioned issues, embodiments of this application provide a drone control method, apparatus, drone, terminal, system, and storage medium. The method determines the target acceleration of the drone based on first control parameters of a first control component, and controls the drone to accelerate according to this target acceleration. Then, when the first control parameter is less than or equal to a preset threshold, the drone is controlled to fly at a constant speed at the current flight speed. This allows the user to easily manipulate the control components on the control terminal to enable the drone to fly at the user's desired constant speed, reducing the number of times the user needs to manipulate the control components, lowering the difficulty of operation, and greatly improving the ease of drone control.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram of a scenario implementing the drone control method provided in the embodiments of this application. Figure 1 As shown, the scenario includes a drone 100 and a control terminal 200. The drone 100 is communicatively connected to the control terminal 200, which is used to control the drone 100.

[0024] The unmanned aerial vehicle (UAV) 100 includes a body 110 and a power system 120 mounted on the body 100. The power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121, and both motors 122 and propellers 121 are mounted on the platform body 110 of the UAV 100. The ESCs receive drive signals generated by the control system and provide drive current to the motors 122 according to the drive signals to control the rotational speed of the motors 122. The motors 122 drive the propellers 121 to rotate, thereby providing power for the flight of the UAV 100, enabling the UAV 100 to achieve one or more degrees of freedom of movement. In some embodiments, the UAV 100 can rotate around one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 122 can be DC motors or AC motors. Additionally, the motors 122 can be brushless motors or brushed motors.

[0025] The propulsion system 120 enables the drone to take off vertically from the ground or land vertically on the ground without requiring any horizontal movement of the drone (such as taxiing on a runway). Optionally, the propulsion system 120 may allow the drone to hover in a preset position and / or direction in the air. One or more propulsion systems 120 can be controlled independently of other propulsion systems 120. Optionally, one or more propulsion systems 120 can be controlled simultaneously. For example, the drone may have multiple horizontal propulsion systems 120 to track target lift and / or propulsion. The horizontal propulsion systems 120 can be actuated to provide the drone with the ability to take off vertically, land vertically, and hover.

[0026] The drone 100 also includes a controller and a sensing system. Figure 1 (Not shown in the image), this sensing system is used to measure the attitude information of the UAV, that is, the position and state information of the UAV 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system may include at least one of the following sensors: gyroscope, ultrasonic sensor, electronic compass, inertial measurement unit (IMU), vision sensor, global navigation satellite system, and barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the movement of the UAV 100, for example, it can control the movement of the UAV 100 based on the attitude information measured by the sensing system. It should be understood that the controller can control the UAV 100 according to pre-programmed instructions.

[0027] The control terminal 200 includes a control component 210 and a display device 220. The control component 210 is used to control the drone 100's horizontal flight, turning, rolling, or vertical flight. The control component 210 can be a physical joystick, physical dial, physical button, etc., or it can be a virtual joystick, slider, virtual button, virtual dial, etc., in the display device 220. There can be one or more control components 210. For example, the control component 210 includes a first control component, a second control component, a third control component, and a fourth control component. The first control component controls the drone 100's horizontal flight, the second control component controls the drone 100's turning, the third control component controls the drone's rolling, and the fourth control component controls the drone 100's vertical flight.

[0028] In one embodiment, the drone 100 further includes a drone control device ( Figure 1(Not shown in the diagram), the drone control device is used to acquire the user's first control parameters for the first control component, and determine the target acceleration of the drone 100 based on the first control parameters; it is also used to control the drone 100 to accelerate according to the target acceleration; and it is also used to acquire the current flight speed of the drone 100 in response to the first control parameters being less than or equal to a first preset threshold, and control the drone 100 to fly at a constant speed at the current flight speed. Therefore, the user can easily manipulate the control component 210 on the control terminal 200 to make the drone 100 fly at a constant speed according to the user's desired flight speed, which can reduce the number of times the user manipulates the control component 210, reduce the difficulty of operation, and greatly improve the control convenience of the drone 100.

[0029] In one embodiment, the control terminal 200 further includes a drone control device ( Figure 1 (Not shown in the diagram), the drone control device is used to acquire the user's first control parameters for the first control component, and determine the target acceleration of the drone 100 based on the first control parameters; it is also used to control the drone 100 to accelerate according to the target acceleration; and it is also used to acquire the current flight speed of the drone 100 in response to the first control parameters being less than or equal to a first preset threshold, and control the drone 100 to fly at a constant speed at the current flight speed. Therefore, the user can easily manipulate the control component 210 on the control terminal 200 to make the drone 100 fly at a constant speed according to the user's desired flight speed, which can reduce the number of times the user manipulates the control component 210, reduce the difficulty of operation, and greatly improve the control convenience of the drone 100.

[0030] Among them, the control terminal 200 includes remote controllers, ground control platforms, mobile phones, tablets, laptops and PCs, etc., and the drone 100 includes rotary-wing drones, such as quadcopter drones, hexacopter drones, octocopter drones, or fixed-wing drones, or combinations of rotary-wing and fixed-wing drones, which are not limited here.

[0031] The following will combine Figure 1 The scenario described herein provides a detailed introduction to the drone control method provided by the embodiments of this application. It should be noted that... Figure 1 The scenarios described are only used to explain the drone control method provided in the embodiments of this application, but do not constitute a limitation on the application scenarios of the drone control method provided in the embodiments of this application.

[0032] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating the steps of a drone control method provided in an embodiment of this application. This drone control method can be applied to a control terminal or a drone to control the drone and improve the ease of drone control.

[0033] like Figure 2 As shown, the UAV control method includes steps S101 to S103.

[0034] Step S101: Obtain the user's first control parameters for the first control component, and determine the target acceleration of the UAV based on the first control parameters; Step S102: Control the drone to accelerate according to the target acceleration; Step S103: In response to the first control parameter being less than or equal to the first preset threshold, obtain the current flight speed of the UAV and control the UAV to fly at a constant speed according to the current flight speed.

[0035] In one embodiment, the control terminal includes a first control component and a second control component. The first control component controls the drone to fly horizontally and also controls the drone to roll / tumble. The second control component controls the drone to turn / yaw and also controls the drone to move / fly vertically. Both the first and second control components have four degrees of freedom. When the first control component deviates from its initial position in a first or second direction, it controls the drone to accelerate or decelerate forward (along the nose direction). When the second control component deviates from its initial position in a third or fourth direction, it controls the drone to turn left or right, or rotate counterclockwise or clockwise. When the first control component deviates from its initial position in a fifth or sixth direction, it controls the drone to roll left or right, or tilt left or right. When the second control component deviates from its initial position in a seventh or eighth direction, it controls the drone to fly / move upwards or downwards. In other words, in this case, the first control component and the third control component mentioned in this application are the same control component, and the second control component and the fourth control component are the same control component.

[0036] For example, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the fifth direction is opposite to the sixth direction, and the seventh direction is opposite to the eighth direction. The first direction can be the same as the seventh direction, the second direction can be the same as the eighth direction, the fifth direction can be the same as the third direction, and the sixth direction can be the same as the fourth direction. For instance, when the user controls the first control component to deviate from its initial position above or below the first control component, the user can control the drone to accelerate or decelerate forward (along the nose direction). When the user controls the first control component to deviate from its initial position to the left or right of the first control component, the user can control the drone to roll left or right, or to tilt left or right. When the user controls the second control component to deviate from its initial position above or below the second control component, the user can control the drone to fly up or down. When the user controls the second control component to deviate from its initial position to the left or right of the second control component, the user can control the drone to turn left or right, or to rotate counterclockwise or clockwise.

[0037] In one embodiment, the control terminal includes a first control component, a second control component, a third control component, and a fourth control component. The first control component controls the drone's horizontal flight, i.e., controls the drone to accelerate or decelerate forward (along the nose direction). The second control component controls the drone to turn left or right, or to rotate counterclockwise or clockwise. The third control component controls the drone to roll left or right, or to tilt left or right. The fourth control component controls vertical flight, i.e., controls the drone to fly up or down. The first, second, third, and fourth control components can be physical joysticks, physical dials, physical buttons, etc., or they can be virtual joysticks, sliders, virtual buttons, virtual dials, etc., in a human-computer interaction interface.

[0038] In one embodiment, the target acceleration of the UAV is positively correlated with the magnitude of the first control parameter. This positive correlation can be linear or non-linear. Since the target acceleration of the UAV is positively correlated with the magnitude of the first control parameter, a larger first control parameter results in a larger target acceleration, and a smaller first control parameter results in a smaller target acceleration.

[0039] In one embodiment, the first control parameter includes control parameters obtained by the user manipulating the first control component to deviate from its initial position in a first direction. The first control parameter is used to control the acceleration of the drone. The magnitude of the first control parameter is related to the degree to which the first control component deviates from its initial position in the first direction; that is, the greater the deviation of the first control component from its initial position, the larger the first control parameter; conversely, the closer the first control component is to its initial position, the smaller the first control parameter. When the user does not manipulate the first control component, it can automatically return to its initial position. During the process of returning to its initial position or while the first control component is in its initial position, the first control parameter is less than or equal to a first preset threshold. The initial position of the first control component can be either the middle position of the first control component or any other position. The first preset threshold can be set based on actual conditions, and this embodiment does not specifically limit this setting. For example, the first preset threshold can be 0.0001 or 0.

[0040] In one embodiment, the target acceleration of the UAV is determined based on a first mapping relationship between control parameters and acceleration. The first mapping relationship between control parameters and acceleration can be set based on actual conditions, and this application does not impose specific limitations on it. The first control parameters may include a first stick input amount obtained by the user pushing a physical or virtual joystick in a first direction, a first rotation distance obtained by the user rotating a physical or virtual dial in the first direction, or a first sliding distance obtained by the user sliding a slider in the first direction. Therefore, the target acceleration of the UAV can be determined by any one of the first stick input amount, the first rotation distance, and the first sliding distance, and the first mapping relationship.

[0041] In one embodiment, taking a joystick as the control component, the greater the forward movement of the joystick, the greater the corresponding acceleration. When the joystick returns to its center position, the mapped acceleration is zero, and the drone flies at a constant speed. Conversely, the greater the backward movement of the joystick, the greater the corresponding deceleration. Here, "joystick returning to center / center position" refers to the joystick of the control terminal, such as a remote controller, being in the middle position. "Joystick movement amount" refers to the amount of offset of the joystick of the control terminal, such as a remote controller, from its center position.

[0042] In one embodiment, the maximum flight speed of the drone is obtained, and the current flight speed of the drone is also obtained. If the current flight speed of the drone is less than the maximum flight speed, the current flight speed is used as the initial flight speed, and the drone is controlled to accelerate according to the target acceleration. In response to a first control parameter being less than or equal to a first preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. In one implementation, the maximum flight speed of the drone is independent of the magnitude of the first control parameter. By setting a maximum flight speed for the drone, the drone continues to accelerate according to the target acceleration when its flight speed has not reached the set maximum flight speed. Then, when the user does not operate the first control component, the drone is controlled to fly at a constant speed at the current flight speed, which allows the drone to quickly reach the speed desired by the user, improving control convenience. By setting a flight speed limit, flight safety can be ensured.

[0043] In one embodiment, first control parameters of the user on the first control component are obtained, and a target acceleration of the drone is determined based on the first control parameters; the maximum flight speed of the drone is determined based on the first control parameters, and the current flight speed of the drone is obtained; if the current flight speed of the drone is less than the maximum flight speed, the drone is controlled to accelerate according to the target acceleration, using the current flight speed as the initial flight speed; in response to the first control parameters being less than or equal to a first preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. By determining the target acceleration and maximum flight speed of the drone through the first control parameters, the drone continues to accelerate according to the target acceleration even when its flight speed has not reached the maximum flight speed. Then, when the user does not control the first control component, the drone is controlled to fly at a constant speed at the current flight speed, allowing the drone to quickly reach the speed desired by the user and improving control convenience.

[0044] In one implementation, the target acceleration and maximum flight speed of the UAV are positively correlated with the magnitude of a first control parameter. This positive correlation can be linear or non-linear. Since the target acceleration and maximum flight speed are positively correlated with the magnitude of the first control parameter, a larger first control parameter results in a larger target acceleration and a larger maximum flight speed, while a smaller first control parameter results in a smaller target acceleration and a smaller maximum flight speed.

[0045] In one embodiment, during the process of controlling the drone to accelerate according to the target acceleration, if the drone's current flight speed is greater than or equal to the maximum flight speed, the drone is controlled to stop accelerating and fly at a constant speed. In another embodiment, after determining the drone's target acceleration and maximum flight speed, if the drone's current flight speed is equal to the maximum flight speed, the drone is not controlled to accelerate, but instead is controlled to fly at a constant speed. By controlling the drone to fly at a constant speed when its current flight speed is greater than or equal to the maximum flight speed, the drone's flight safety can be ensured.

[0046] In one embodiment, if the user stops manipulating the first control component while it is moving in the first direction (e.g., the user releases the stick), the first control component automatically returns to its initial position. At this time, the first control parameter of the first control component is less than or equal to a first preset threshold. Therefore, in response to the first control parameter being less than or equal to the first preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. By controlling the drone to accelerate when the user manipulates the first control component in the first direction, and then controlling the drone to fly at a constant speed at the current flight speed when the user stops manipulating the first control component, the flight speed of the drone can be controlled quickly and conveniently, greatly improving the controllability of the drone.

[0047] In one embodiment, in response to a user's second control parameter on the first control component, and based on the second control parameter, a target deceleration of the drone is determined; the drone is controlled to decelerate according to the target deceleration; in response to the second control parameter being less than or equal to a second preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. The second control parameter includes control parameters obtained by the user manipulating the first control component to deviate from its initial position in a second direction. The second control parameter is used to control the deceleration of the drone. The second preset threshold can be set based on actual conditions, and this embodiment does not specifically limit it. For example, the second preset threshold is 0.001 or 0. By controlling the drone to decelerate when the user manipulates the first control component to deviate from its initial position in a second direction, and then controlling the drone to fly at a constant speed at the current flight speed when the user no longer manipulates the first control component, the flight speed of the drone can be controlled quickly and conveniently, greatly improving the control convenience of the drone.

[0048] In one embodiment, the target deceleration of the UAV is positively correlated with the magnitude of the second control parameter. This positive correlation can be linear or non-linear. Since the target deceleration of the UAV is positively correlated with the magnitude of the second control parameter, a larger second control parameter results in a larger target deceleration, and a smaller second control parameter results in a smaller target deceleration.

[0049] In one embodiment, the target deceleration of the UAV is determined based on a second mapping relationship between control parameters and deceleration. The second mapping relationship between control parameters and deceleration can be set based on actual conditions, and this application does not impose specific limitations on it. The second control parameters may include a second stick input amount obtained by the user pushing a physical or virtual joystick in a second direction, a second rotation distance obtained by the user rotating a physical or virtual dial in a second direction, or a second sliding distance obtained by the user sliding a slider in a second direction. Therefore, the target deceleration of the UAV can be determined by any one of the second stick input amount, the second rotation distance, and the second sliding distance, along with the second mapping relationship.

[0050] In one embodiment, the magnitude of the second control parameter is related to the degree to which the first control component deviates from its initial position in the second direction. That is, the more the first control component deviates from its initial position in the second direction, the larger the second control parameter is, and the closer the first control component is to its initial position, the smaller the second control parameter is. When the user does not control the first control component, the first control component can automatically return to its initial position. During the process of the first control component returning to its initial position or when it is in its initial position, the second control parameter is less than or equal to a second preset threshold.

[0051] In one embodiment, in response to a user's second control parameter on the first control component, a target deceleration of the drone is determined based on the second control parameter; a minimum flight speed of the drone is determined based on the second control parameter, and the current flight speed of the drone is obtained; if the current flight speed of the drone is greater than the minimum flight speed, the drone is controlled to decelerate according to the target deceleration, using the current flight speed as the initial flight speed; in response to a second control parameter being less than or equal to a second preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. Since different second control parameters correspond to different decelerations, the user can precisely control the flight speed during braking by manipulating the first control component to deviate from the initial position in a second direction. Furthermore, once the drone's flight speed reaches the user's desired speed, the user no longer manipulates the first control component, allowing the drone to fly at a constant speed at the current flight speed, greatly improving the control convenience of the drone.

[0052] In one embodiment, the minimum flight speed of the drone may be independent of the magnitude of the second control parameter.

[0053] In one embodiment, the minimum flight speed of the drone is negatively correlated with the magnitude of the second control parameter. This negative correlation can be linear or non-linear. Since the minimum flight speed is negatively correlated with the second control parameter, a larger second control parameter results in a smaller minimum flight speed, and vice versa. It is understood that the maximum second control parameter is obtained when the first control component deviates from its initial position in the second direction by the greatest distance. At this maximum, the minimum flight speed of the drone is zero; that is, when the user controls the first control component to deviate from its initial position in the second direction by the greatest distance, the drone's flight speed can be reduced to zero.

[0054] In one embodiment, during the process of controlling the drone to decelerate according to the target deceleration rate, if the drone's current flight speed is less than or equal to the minimum flight speed, the drone is controlled to stop decelerating and fly at a constant speed at the current flight speed, or the drone is controlled to stop flying altogether. In another embodiment, after determining the drone's target deceleration rate and minimum flight speed, if the drone's current flight speed is less than or equal to the minimum flight speed, the drone is not controlled to decelerate, but instead is controlled to fly at a constant speed at the current flight speed. By controlling the drone to fly at a constant speed at the current flight speed when the drone's current flight speed is less than or equal to the minimum flight speed, the drone's flight safety can be ensured.

[0055] In one embodiment, the first direction is opposite to the second direction. For example, the first control parameter includes the control parameter obtained by the user controlling the first control component to deviate upward from the initial position, and the second control parameter includes the control parameter obtained by the user controlling the first control component to deviate downward from the initial position. It is understood that the first control parameter obtained by the user controlling the first control component to deviate from the initial position in the first direction can be defined as a control parameter greater than zero, while the second control parameter obtained by the user controlling the first control component to deviate from the initial position in the second direction can be defined as a control parameter less than zero. Therefore, the absolute value of the second control parameter is related to the degree to which the first control component deviates from the initial position in the second direction. The target deceleration of the UAV is positively correlated with the absolute value of the second control parameter, and the minimum flight speed of the UAV is negatively correlated with the absolute value of the second control parameter.

[0056] In one embodiment, during the process of the user manipulating the first control component to deviate from the initial position in the second direction, if the user stops manipulating the first control component, the first control component automatically returns to the initial position. At this time, the second control parameter of the first control component is less than or equal to a second preset threshold. Therefore, in response to the second control parameter being less than or equal to the second preset threshold, the current flight speed of the drone is obtained, and the drone is controlled to fly at a constant speed at the current flight speed. By controlling the drone to decelerate when the user manipulates the first control component to deviate from the initial position in the second direction, and then controlling the drone to fly at a constant speed at the current flight speed when the user stops manipulating the first control component, the flight speed of the drone can be controlled quickly and conveniently, greatly improving the control convenience of the drone.

[0057] In one embodiment, the control terminal further includes a first control component, which is used to set the control mode of the first control component. The control mode of the first control component includes a first control mode and a second control mode. In the first control mode, the first control component is used to control the acceleration or deceleration of the drone. In the second control mode, the first control component is used to control the flight speed of the drone. The first control component can be a physical button, a physical slider, or a virtual button or a virtual slider; this embodiment does not specifically limit its use.

[0058] In one embodiment, in response to a user's triggering operation on the first control component, the first control mode is triggered to be turned on or off.

[0059] In one embodiment, in response to a user's triggering operation on the first control component, the second control mode is triggered to be turned on or off.

[0060] In one embodiment, in response to a user's trigger operation on the first control component, the control mode of the first control component is set to either a first control mode or a second control mode. For example, when the control mode of the first control component is the first control mode, in response to a user's trigger operation on the first control component, the control mode of the first control component is set to the second control mode; conversely, when the control mode of the first control component is the second control mode, in response to a user's trigger operation on the first control component, the control mode of the first control component is set to the first control mode. The trigger operation includes a single-click operation, a double-click operation, and a long-press operation. This first control component allows users to easily and quickly switch between control modes, improving the user experience.

[0061] In one embodiment, in response to a user's first trigger operation on the first control component, the control mode of the first control component is set to a first control mode; in response to a user's second trigger operation on the first control component, the control mode of the first control component is set to a second control mode. The first trigger operation and the second trigger operation are different; for example, the first trigger operation is a single click and the second trigger operation is a double click, or vice versa. By setting different trigger operations to set the control mode of the first control component, users can easily and quickly switch the control mode of the first control component, improving the user experience.

[0062] In one embodiment, the user's control parameters for the first control component are acquired, and it is determined whether the control mode of the first control component is a first control mode or a second control mode. If the control mode of the first control component is the first control mode, the target acceleration or target deceleration of the drone is determined based on the control parameters triggered by the user on the first control component. The drone is controlled to accelerate according to the target acceleration, or the drone is controlled to decelerate according to the target deceleration. In response to the user's control parameters for the first control component being less than or equal to a preset threshold, the current flight speed of the drone is acquired, and the drone is controlled to fly at a constant speed at the current flight speed. The control parameters triggered by the user on the first control component include either the first control parameter or the second control parameter. The first control parameter is used to control the acceleration of the drone, and the second control parameter is used to control the deceleration of the drone. In the first control mode, the flight speed of the drone can be precisely controlled, and the complexity of the user's operation of the first control component can be reduced, improving control convenience.

[0063] In one embodiment, if the control mode of the first control component is the second control mode, the target flight speed of the drone is determined based on the control parameters triggered by the user on the first control component; the drone is controlled to fly at a constant speed according to the target flight speed; when the control parameters triggered by the user on the first control component become zero, the drone is controlled to stop flying, i.e., the flight speed is zero. In the second control mode, the first control parameter obtained by the user controlling the first control component to deviate from the initial position in a first direction is defined as the forward flight speed command. Different parameter values ​​correspond to different forward flight speeds; the larger the parameter, the greater the controlled flight speed of the drone, and the smaller the parameter, the smaller the controlled flight speed of the drone. The second control parameter obtained by the user controlling the first control component to deviate from the initial position in a second direction is defined as the backward flight speed command. Different parameter values ​​correspond to different backward flight speeds; the larger the parameter, the greater the flight speed, and the smaller the parameter, the smaller the flight speed. When the parameter is zero, the corresponding flight speed is zero, and the drone hovers. Since different control parameters map to different flight speeds, it is possible for basic users to control the drone more safely, improving control convenience and user experience.

[0064] The target flight speed of the drone is positively correlated with the magnitude of the control parameter triggered by the user on the first control component. This positive correlation can be linear or non-linear. Since the target flight speed is positively correlated with the magnitude of the control parameter, a larger control parameter results in a larger target flight speed, and a smaller control parameter results in a smaller target flight speed. When the control parameter is zero, the target flight speed of the drone is zero.

[0065] In one embodiment, in the second control mode, the control parameters triggered by the user on the first control component include control parameters obtained by the user controlling the first control component to deviate from the initial position in a first direction or control parameters obtained by the user controlling the first control component to deviate from the initial position in a second direction. The control parameters obtained by the user controlling the first control component to deviate from the initial position in the first direction are used to control the forward flight speed of the drone, and the control parameters obtained by the user controlling the first control component to deviate from the initial position in the second direction are used to control the backward flight speed of the drone.

[0066] In one embodiment, if the control mode of the first control component is the first control mode, then when the current flight speed of the drone is less than or equal to a preset flight speed, the control mode of the first control component is automatically set to the second control mode. The preset flight speed can be set based on actual conditions, and this embodiment does not specifically limit it. By setting the control mode of the first control component to the second control mode when the drone's flight speed is low, users can more safely control the drone in scenarios with low flight speeds (such as takeoff or landing), improving control convenience and user experience.

[0067] In one embodiment, if the control mode of the first control component is the first control mode, then when the current flight speed of the drone is less than or equal to a preset flight speed and the flight altitude of the drone is less than or equal to a preset flight altitude, the control mode of the first control component is automatically set to the second control mode. The preset flight speed and preset flight altitude can be set based on actual conditions, and this embodiment does not specifically limit them. Determining whether to switch the control mode of the first control component from the first control mode to the second control mode based on the drone's flight speed and flight altitude can improve the accuracy of mode switching. Furthermore, by setting the control mode of the first control component to the second control mode when the drone's flight speed is low, it allows users to operate the drone more safely in scenarios with low flight speeds (such as takeoff or landing), improving control convenience and user experience.

[0068] In one embodiment, a first control unit receives a mode switching command triggered by a user to switch the control mode of the drone from the first control mode to the second control mode.

[0069] In one embodiment, after the drone activates its flight control mode (e.g., the user selects the S sport mode), it defaults to the second control mode, which provides a safer flight control mode suitable for more users (both ordinary and professional users). Upon receiving a user-triggered mode switching command (e.g., receiving a user-inputted mode switching command via the first control component), the drone's control mode is switched from the second control mode back to the first control mode.

[0070] In one embodiment, when the current flight environment of the UAV is detected to meet preset flight conditions, the first control mode is automatically entered; or when the current flight environment of the UAV is detected to meet preset flight conditions, the user is prompted to switch modes and the first control mode is entered after receiving confirmation from the user regarding the prompt information.

[0071] In one embodiment, the first control mode is automatically triggered by the drone based on the current flight environment. For example, if the drone detects an open environment, such as grassland, open meadow, or desert, using its various sensors, it can automatically enter the first control mode to provide users with a more flexible and free flight experience. Alternatively, if the drone detects a racetrack, training ground, or similar environment, it can automatically enter the first control mode to adapt to autonomously triggering a professional control mode in competition scenarios.

[0072] In one embodiment, the acceleration of the drone or a first control parameter of the user on a first control component is acquired; the pitch angle of the drone's gimbal is adjusted according to the drone's acceleration or the first control parameter. The drone's gimbal is used to mount a shooting device, and the pitch angle of the shooting device changes with the pitch angle of the gimbal. Adjusting the gimbal's pitch angle based on the drone's acceleration or the first control parameter causes the image captured by the shooting device to change accordingly, providing the user with a faster flight experience and thus a greater sense of flight excitement, greatly improving the user experience.

[0073] In one embodiment, the target pitch angle of the gimbal is determined based on the acceleration of the drone or the first control parameter of the first control component, and the pitch angle of the gimbal is adjusted to the target pitch angle. The target pitch angle of the gimbal is positively correlated with the magnitude of the drone's acceleration, and this positive correlation can be linear or non-linear. Furthermore, the target pitch angle of the gimbal is also positively correlated with the magnitude of the first control parameter, and this positive correlation can also be linear or non-linear. It is understood that the greater the acceleration of the drone, the greater the target pitch angle of the gimbal; the smaller the acceleration of the drone, the smaller the target pitch angle of the gimbal. Similarly, the greater the first control parameter, the greater the target pitch angle of the gimbal; the smaller the first control parameter, the smaller the target pitch angle of the gimbal.

[0074] The UAV control method provided in the above embodiments determines the target acceleration of the UAV based on the first control parameters of the first control component, and controls the UAV to accelerate according to the target acceleration. Then, when the first control parameter is less than or equal to a first preset threshold, the UAV is controlled to fly at a constant speed at the current flight speed. This allows the user to easily operate the control component on the control terminal to make the UAV fly at a constant speed according to the user's required flight speed. This reduces the number of times the user operates the control component, reduces the difficulty of operation, and greatly improves the control convenience of the UAV.

[0075] Optionally, in one embodiment, when the user controls the speed of the drone's forward and backward flight by controlling the first control component, the first control component can be used to trigger the activation of the constant speed mode, that is, the drone maintains a constant speed flight.

[0076] For example, the first control component is the joystick on the remote controller, and the second control component is the button on the remote controller. The drone's current mode is the second control mode, where the joystick movement is mapped to flight speed. Pushing the joystick forward controls the drone's forward flight, and pulling the joystick back controls its backward flight. If the user clicks a button at this time, the constant speed mode can be activated, in which case the drone will maintain its current flight speed and fly forward at a constant speed.

[0077] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating the steps of another drone control method provided in this application embodiment.

[0078] like Figure 3 As shown, the UAV control method includes steps S201 to S203.

[0079] Step S201: Obtain the user's third control parameters for the second control component, and determine the target turning angular velocity of the UAV based on the third control parameters; Step S202: Determine the first roll angle of the UAV based on the current flight speed of the UAV and the target turning angular velocity; Step S203: Control the drone to turn according to the first roll angle.

[0080] The third control parameters for the second control component include control parameters obtained by the user manipulating the second control component to deviate from its initial position in a third direction or a fourth direction. For example, the third direction can be opposite to the fourth direction. Control parameters obtained by the user manipulating the second control component to deviate from its initial position in a third direction are used to control the drone to turn left, and control parameters obtained by the user manipulating the second control component to deviate from its initial position in a fourth direction are used to control the drone to turn right; alternatively, control parameters obtained by the user manipulating the second control component to deviate from its initial position in a third direction are used to control the drone to turn right, and control parameters obtained by the user manipulating the second control component to deviate from its initial position in a fourth direction are used to control the drone to turn left.

[0081] In one embodiment, the target turning angular velocity of the UAV is positively correlated with the magnitude of the third control parameter. This positive correlation can be linear or non-linear. It is understood that a larger third control parameter results in a larger target turning angular velocity, and a smaller third control parameter results in a smaller target turning angular velocity.

[0082] In one embodiment, a candidate turning angular velocity of the UAV is determined based on a third control parameter and the mapping relationship between the third control parameter and the turning angular velocity. This candidate turning angular velocity is then determined as the target turning angular velocity of the UAV. Alternatively, the candidate turning angular velocity can be low-pass filtered to obtain the target turning angular velocity of the UAV. The mapping relationship between the third control parameter and the turning angular velocity can be set based on actual conditions, and this embodiment does not impose specific limitations on it. By low-pass filtering the candidate angular velocity determined based on the third control parameter to obtain the target turning angular velocity, interference can be reduced. Then, by controlling the UAV's turn based on the roll angle determined by the target turning angular velocity and the flight speed, it can be ensured that the UAV's captured image will not produce a jerky feel due to the user's rapid operation of the second control component, improving the smoothness and shooting effect of the captured image, and also improving control convenience.

[0083] For example, ,in, The third control parameter is obtained by the user manipulating the second control component to deviate from its initial position. This describes the mapping relationship between the third control parameter and the steering angular velocity. This refers to the target turning angular velocity of the drone. For example, , The third control parameter is obtained by the user manipulating the second control component to deviate from its initial position. This describes the mapping relationship between the third control parameter and the steering angular velocity. It is a low-pass filter. The target turning angular velocity of the UAV.

[0084] In one embodiment, the centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed and the target turning angular velocity; the first roll angle of the UAV is then determined based on this centripetal acceleration. The centripetal acceleration required for the UAV to turn is related to the product of the UAV's current flight speed and the target turning angular velocity, and the first roll angle of the UAV is related to the arctangent function of the ratio of the centripetal acceleration to gravitational acceleration. After the user manipulates the second control component to deviate from the initial position, the corresponding target turning angular velocity can be determined. Then, the centripetal acceleration required for the UAV to turn can be determined using the UAV's flight speed and the target turning angular velocity. Based on this centripetal acceleration, the first roll angle of the UAV can be determined, facilitating subsequent control of the UAV's turn based on the first roll angle, greatly improving control convenience.

[0085] For example, , ,in, The target turning angular velocity of the UAV, This represents the current flight speed of the drone. The centripetal acceleration required for the drone to turn, Let g be the first roll angle of the drone, and g be the acceleration due to gravity.

[0086] In one embodiment, the centripetal acceleration required for the UAV to turn can be determined by: obtaining the UAV's roll angle compensation coefficient; and determining the centripetal acceleration required for the UAV to turn based on the UAV's current flight speed, target turning angular velocity, and roll angle compensation coefficient. The roll angle compensation coefficient can be set based on actual conditions, and this embodiment does not impose specific limitations on it. When the UAV's current flight speed and target turning angular velocity remain constant, the centripetal acceleration required for the UAV to turn is positively correlated with the UAV's roll angle compensation coefficient. That is, the larger the UAV's roll angle compensation coefficient, the larger the centripetal acceleration required for the UAV to turn; conversely, the smaller the UAV's roll angle compensation coefficient, the smaller the centripetal acceleration required for the UAV to turn.

[0087] For example, , ,in, The target turning angular velocity of the UAV, Let be the current flight speed of the drone, and k be the roll angle compensation coefficient of the drone. The centripetal acceleration required for the drone to turn, Let g be the first roll angle of the drone, and g be the acceleration due to gravity.

[0088] Understandably, a larger roll angle compensation coefficient results in less drone sideslip and greater changes in the captured image; conversely, a smaller roll angle compensation coefficient results in greater drone sideslip and less changes in the captured image. By setting different roll angle compensation coefficients for different scenarios, the drone's turning control can be made more adaptable to those scenarios, thus ensuring both control effectiveness and ease of use. For example, in scenarios where high smoothness of the captured image is required, a smaller roll angle compensation coefficient can be used, resulting in smoother drone turns and ensuring the smoothness of the captured image.

[0089] like Figure 4 As shown, based on the formula After determining the first roll angle of the drone 10, the turning trajectory of the drone 10 when turning based on the first roll angle can be... Figure 4 The drone 10 makes a left turn along turning trajectory 11. If the roll angle compensation coefficient k equals 1, then based on the formula... After determining the first roll angle of the drone 10, the turning trajectory of the drone 10 when turning is also controlled based on the first roll angle. Figure 4 The turning trajectory 11 in the formula. If the roll angle compensation coefficient k is greater than 1, then based on the formula... After determining the first roll angle of the drone 10, the turning trajectory of the drone 10 when turning based on the first roll angle can be... Figure 4 In the turning trajectory 12, compared to turning trajectory 11, turning trajectory 12 slides inward in the turning direction. If the roll angle compensation coefficient k is less than 1, then based on the formula... After determining the first roll angle of the drone 10, the turning trajectory of the drone 10 when turning based on the first roll angle can be... Figure 4 The turning trajectory 13 in the middle, compared with the turning trajectory 11, the turning trajectory 13 slides to the outside in the turning direction.

[0090] For example, please refer to Figure 5 , Figure 5 This is a control logic block diagram for controlling the turning of a drone in an embodiment of this application. For example... Figure 5As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters Candidate steering angular velocities can be determined Candidate steering angular velocity Input a low-pass filter to obtain the target steering angular velocity. Then based on the target steering angular velocity and the flight speed of drones This allows us to obtain the centripetal acceleration required to prevent sideslip. Then, by using the roll angle compensation coefficient k and the centripetal acceleration required to prevent sideslip, Determine the final centripetal acceleration. Then, through the final centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Finally, the first roll angle and the drone's current roll angle Input the attitude loop controller, which then controls the drone's turning.

[0091] In one embodiment, a third control parameter from the user on the second control component is acquired, and the target turning angular velocity of the drone is determined based on the third control parameter. A first roll angle of the drone is determined based on the drone's current flight speed and the target turning angular velocity. The drone's target flight speed and current flight speed are acquired. The drone's target flight speed and current flight speed are input into the drone's speed loop controller for processing to obtain the drone's second roll angle. The target roll angle of the drone is determined based on the first roll angle and the second roll angle output by the speed loop controller. By comprehensively considering the first roll angle and the second roll angle output by the speed loop controller to control the drone's turn, better control of the drone's turn can be achieved, reducing the impact of environmental factors such as strong winds on the turn, and ensuring that the drone's captured footage does not produce a jerky feel due to the user's rapid operation of the second control component, thus improving the smoothness of the captured footage.

[0092] In one embodiment, a first centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed and target turning angular velocity; a second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, target turning angular velocity, and UAV's roll angle compensation coefficient; and the UAV's target flight speed is determined based on the first and second centripetal accelerations.

[0093] The first centripetal acceleration is related to the product of the UAV's current flight speed and the target's turning angular velocity. The larger the product of the UAV's current flight speed and the target's turning angular velocity, the larger the first centripetal acceleration. The smaller the product of the UAV's current flight speed and the target's turning angular velocity, the smaller the first centripetal acceleration. Similarly, the larger the product of the UAV's current flight speed, the target's turning angular velocity, and the roll angle compensation coefficient, the larger the second centripetal acceleration. The smaller the product of the UAV's current flight speed, the target's turning angular velocity, and the roll angle compensation coefficient, the smaller the second centripetal acceleration.

[0094] For example, , ,in, This represents the current flight speed of the drone. Let be the target turning angular velocity of the UAV, and k be the roll angle compensation coefficient of the UAV. The first centripetal acceleration required for the drone to turn, The second centripetal acceleration required for the drone to turn is therefore determined by the formula. First centripetal acceleration Second centripetal acceleration It can determine the target flight speed of the drone. .

[0095] In one embodiment, when the third control parameter is detected to decrease to a third preset threshold, the target roll angle is low-pass filtered; the drone is then controlled to turn based on the low-pass filtered target roll angle. The third preset threshold can be set based on actual conditions, and this embodiment does not impose specific limitations on it. For example, the third preset threshold can be 0.00001 or 0. It is understood that the third control parameter is obtained by the user manipulating the second control component to deviate from its initial position. When the user stops manipulating the second control component, it automatically returns to its initial position. During this return process, the third control parameter decreases to the third threshold. Therefore, by low-pass filtering the target roll angle when the third control parameter is detected to decrease to the third preset threshold (i.e., when the user stops manipulating the second control component), the impact of the suddenly decreased third control parameter on turning can be reduced, thereby eliminating the jerky feeling caused by the user releasing the second control component and improving the smoothness of the captured image.

[0096] For example, please refer to Figure 6 , Figure 6 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 6 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters The target's turning angular velocity can be determined. Then based on and the flight speed of drones This allows us to obtain the first centripetal acceleration required to prevent sideslip. Then, through the roll angle compensation coefficient k and the first centripetal acceleration The second centripetal acceleration can be determined. Then through the second centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Through the first centripetal acceleration Second centripetal acceleration The target's flight speed can be determined. , target flight speed and current flight speed The input speed loop controller can obtain the second roll angle. The first roll angle Second roll angle The target roll angle can be obtained by inputting an adder. Finally, adjust the target's roll angle. and the drone's current roll angle Input the attitude loop controller, which then controls the drone's turning.

[0097] For example, please refer to Figure 7 , Figure 7 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 7 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters The target's turning angular velocity can be determined. Then based on and the flight speed of drones This allows us to obtain the first centripetal acceleration required to prevent sideslip. Then, through the roll angle compensation coefficient k and the first centripetal acceleration The second centripetal acceleration can be determined. Then through the second centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Through the first centripetal acceleration Second centripetal acceleration The target's flight speed can be determined. , target flight speed and current flight speed The input speed loop controller can obtain the second roll angle. The first roll angle Second roll angle The target roll angle can be obtained by inputting an adder. If the user stops operating the second control component, the target roll angle will be adjusted. The input is processed by a low-pass filter, and finally the target roll angle after low-pass filter processing is obtained. and the drone's current roll angle Input the attitude loop controller, which then controls the drone's turning.

[0098] The drone control method provided in this application embodiment obtains the user's third control parameters for the second control component, determines the target turning angular velocity of the drone based on the third control parameters, then determines the first roll angle of the drone based on the current flight speed and the target turning angular velocity, and controls the drone to turn based on the first roll angle, which can improve the control convenience of the drone turning.

[0099] Please see Figure 8 , Figure 8 This is a schematic flowchart illustrating the steps of another drone control method provided in this application embodiment.

[0100] like Figure 8 As shown, the UAV control method includes steps S301 to S305.

[0101] Step S301: Obtain the user's third control parameters for the second control component, and determine the target turning angular velocity of the UAV based on the third control parameters; Step S302: Determine the first roll angle of the UAV based on the current flight speed of the UAV and the target turning angular velocity; Step S303: Obtain the user's fourth control parameters for the third control component, and determine the third roll angle of the drone based on the fourth control parameters; Step S304: Determine the target roll angle of the UAV based on the first roll angle and the third roll angle; Step S305: Control the UAV to turn according to the target roll angle.

[0102] The fourth control parameters for the third control component include control parameters obtained by the user manipulating the third control component to deviate from its initial position in a fifth direction or a sixth direction. For example, the fifth and sixth directions of the third control component are opposite, but the fifth direction can be the same as the third direction, and the sixth direction can be the same as the fourth direction. For instance, control parameters obtained by the user manipulating the third control component to deviate from its initial position in the fifth direction are used to control the drone to tilt to the left or roll to the left; control parameters obtained by the user manipulating the third control component to deviate from its initial position in the sixth direction are used to control the drone to tilt to the right or roll to the right; or control parameters obtained by the user manipulating the third control component to deviate from its initial position in the fifth direction are used to control the drone to tilt to the right or roll to the right; and control parameters obtained by the user manipulating the third control component to deviate from its initial position in the sixth direction are used to control the drone to tilt to the left or roll to the left.

[0103] In one embodiment, the roll angle of the UAV is determined based on the mapping relationship between the fourth control parameter and the roll angle. The mapping relationship between the control parameter and the roll angle can be set based on actual conditions, and this embodiment does not impose specific limitations on it. The third roll angle of the UAV is positively correlated with the magnitude of the fourth control parameter. This positive correlation can be linear or non-linear. It is understood that since the third roll angle of the UAV is positively correlated with the magnitude of the fourth control parameter, a larger fourth control parameter results in a larger third roll angle, and a smaller fourth control parameter results in a smaller third roll angle.

[0104] For example, please refer to Figure 9 , Figure 9 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 9 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters Candidate steering angular velocities can be determined Candidate steering angular velocity Input a low-pass filter to obtain the target steering angular velocity. Then based on and the flight speed of drones This allows us to obtain the centripetal acceleration required to prevent sideslip. Then, by using the roll angle compensation coefficient k and the centripetal acceleration required to prevent sideslip, Determine the final centripetal acceleration. Then, through the final centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Based on the mapping relationship between the fourth control parameter and the third roll angle and the fourth control parameter The third roll angle can be determined. The first roll angle and the third roll angle Input adder to obtain target roll angle Finally, adjust the target's roll angle. and the drone's current roll angle The attitude loop controller is input to control the drone's turn. The speed loop controller outputs a third roll angle, which is then superimposed on the first roll angle and input together with the drone's current roll angle into the attitude loop controller. The attitude loop controller then controls the drone's turn, providing better control and reducing the impact of environmental factors such as strong winds on the drone's turning.

[0105] In one embodiment, the target flight speed of the UAV is determined according to a fourth control parameter; the target flight speed and the current flight speed of the UAV are input into the speed loop controller of the UAV for processing to obtain the third roll angle of the UAV. The target flight speed of the UAV can be determined based on a fourth mapping relationship between the fourth control parameter and the flight speed. The target flight speed of the UAV is positively correlated with the magnitude of the fourth control parameter; that is, the larger the fourth control parameter, the larger the target flight speed of the UAV, and the smaller the fourth control parameter, the smaller the target flight speed of the UAV. The fourth mapping relationship between the fourth control parameter and the flight speed can be set based on actual conditions, and this embodiment does not specifically limit it.

[0106] For example, please refer to Figure 10 , Figure 10 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 10 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters Candidate steering angular velocities can be determined Candidate steering angular velocity Input a low-pass filter to obtain the target steering angular velocity. Then based on and the flight speed of drones This allows us to obtain the centripetal acceleration required to prevent sideslip. Then, by using the roll angle compensation coefficient k and the centripetal acceleration required to prevent sideslip, Determine the final centripetal acceleration. Then, through the final centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Based on the mapping relationship between the fourth control parameter and the target flight speed According to the fourth control parameter The target's flight speed can be determined. , target flight speed and current flight speed The input speed loop controller can obtain the third roll angle. The first roll angle and the third roll angle Input adder to obtain target roll angle Finally, adjust the target's roll angle. and the drone's current roll angle The attitude loop controller is input to control the drone's turning. The speed loop controller outputs a third roll angle, which is then superimposed on the first roll angle and input together with the drone's current roll angle into the attitude loop controller. The attitude loop controller then controls the drone's turning, providing better control and reducing the impact of environmental factors such as strong winds on the drone's turning.

[0107] In one embodiment, the method for determining the target flight speed of the UAV based on the fourth control parameter can be as follows: determining the first centripetal acceleration required for the UAV to turn based on the current flight speed of the UAV and the target turning angular velocity; determining the second centripetal acceleration required for the UAV to turn based on the current flight speed of the UAV, the target turning angular velocity, and the roll angle compensation coefficient of the UAV; determining the first flight speed of the UAV based on the first centripetal acceleration and the second centripetal acceleration; determining the second flight speed of the UAV based on the fourth control parameter; and determining the target flight speed of the UAV based on the first flight speed and the second flight speed.

[0108] For example, please refer to Figure 11 , Figure 11 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 11 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters The target's turning angular velocity can be determined. Then based on and the flight speed of drones The first centripetal acceleration can be obtained. Then, through the roll angle compensation coefficient k and the first centripetal acceleration Determine the second centripetal acceleration Through the second centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Through the first centripetal acceleration Second centripetal acceleration The initial flight speed of the drone can be determined. Based on the mapping relationship between the fourth control parameter and the target flight speed and the fourth control parameter The second flight speed of the drone can be determined. The first flight speed Second flight speed Input the adder to obtain the target flight speed. , target flight speed and current flight speed The input speed loop controller can obtain the third roll angle. The first roll angle and the third roll angle Input adder to obtain target roll angle Finally, adjust the target's roll angle. and the drone's current roll angle The attitude loop controller is input to control the drone's turning. The speed loop controller outputs a third roll angle, which is then superimposed on the first roll angle and input together with the drone's current roll angle into the attitude loop controller. The attitude loop controller then controls the drone's turning, providing better control and reducing the impact of environmental factors such as strong winds on the drone's turning.

[0109] In one embodiment, when the third control parameter and / or the fourth control parameter are detected to decrease to a third preset threshold, the target roll angle is low-pass filtered; the drone is then controlled to turn based on the low-pass filtered target roll angle. It is understood that the third control parameter is obtained by the user manipulating the second control component to deviate from its initial position, and the fourth control parameter is obtained by the user manipulating the third control component to deviate from its initial position. When the user stops manipulating the second control component, it automatically returns to its initial position. During this return process, the third control parameter decreases to the third threshold. Similarly, when the user stops manipulating the third control component, it automatically returns to its initial position. During this return process, the fourth control parameter decreases to the third threshold. Therefore, by low-pass filtering the target roll angle when the third control parameter and / or the fourth control parameter are detected to decrease to the third preset threshold (i.e., when the user stops manipulating the second and / or third control components), the impact of the suddenly decreased third and / or fourth control parameters on turning can be reduced, thereby eliminating the jerky feeling caused by the user releasing the second and / or third control components and improving the smoothness of the captured image.

[0110] For example, please refer to Figure 12 , Figure 12 This is another control logic block diagram for controlling the drone to turn, as shown in the embodiments of this application. Figure 12 As shown, the mapping relationship between the third control parameter and the steering angular velocity is illustrated. and third control parameters The target's turning angular velocity can be determined. Then based on and the flight speed of drones The first centripetal acceleration can be obtained. Then, through the roll angle compensation coefficient k and the first centripetal acceleration Determine the second centripetal acceleration Through the second centripetal acceleration The first roll angle is determined by the gravitational acceleration g. Through the first centripetal acceleration Second centripetal acceleration The initial flight speed of the drone can be determined. Based on the mapping relationship between the fourth control parameter and the target flight speed and the fourth control parameter The second flight speed of the drone can be determined. The first flight speed Second flight speed Input the adder to obtain the target flight speed. , target flight speed and current flight speed The input speed loop controller can obtain the third roll angle. The first roll angle and the third roll angle Input adder to obtain target roll angle If the user releases the second and / or third control components, the target roll angle will be adjusted. Perform low-pass filtering, and finally obtain the target roll angle after low-pass filtering. and the drone's current roll angle Input the attitude loop controller, which then controls the drone's turning.

[0111] In one embodiment, a candidate steering angular velocity can be mapped to a third control parameter without limiting the steering angular velocity, thus providing the user with greater control freedom.

[0112] In one embodiment, the maximum turning angular velocity can be limited to ensure the flight safety of the UAV. For example, a candidate turning angular velocity of the UAV is determined based on a third control parameter, and the maximum turning angular velocity of the UAV is obtained. If the candidate turning angular velocity is less than or equal to the maximum turning angular velocity of the UAV, the candidate turning angular velocity is determined as the target turning angular velocity; if the candidate turning angular velocity is greater than the maximum turning angular velocity of the UAV, the maximum turning angular velocity is determined as the target turning angular velocity. By setting the maximum turning angular velocity of the UAV, when the turning angular velocity corresponding to the third control parameter is less than or equal to the maximum turning angular velocity, the UAV can be controlled to turn according to the turning angular velocity corresponding to the third control parameter, and when the turning angular velocity corresponding to the third control parameter is greater than the maximum turning angular velocity, the UAV can be controlled to turn according to the maximum turning angular velocity, thus ensuring the turning safety of the UAV.

[0113] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, or control coefficients of the speed loop controller corresponding to the UAV's flight control mode can be set through the human-machine interface of the control terminal. Providing users with parameter settings for the UAV under different flight control modes through the human-machine interface greatly improves the user experience. Specifically, if the speed loop controller is a proportional-integral-derivative (PID) controller, then the control coefficients can be PID control coefficients, which include proportional, integral, and derivative coefficients.

[0114] In one embodiment, the control terminal further includes a second control component, which is used to switch the flight control mode of the UAV. The second control component can be a physical button, a physical slider, or a virtual button or a virtual slider; this embodiment does not specifically limit its use. The flight control modes of the UAV include, but are not limited to, a first flight control mode, a second flight control mode, and a third flight control mode.

[0115] For example, in response to a first trigger operation by the user on the second control component, the control mode of the drone is switched to a first flight control mode; or, in response to a second trigger operation by the user on the second control component, the control mode of the drone is switched to a second flight control mode; or, in response to a third trigger operation by the user on the second control component, the control mode of the drone is switched to a third flight control mode. The first, second, and third trigger operations are different, and different flight control modes of the drone are switched by different trigger operations on the second control component, making it convenient for the user to switch the drone's flight control mode.

[0116] The first triggering operation includes any one of a single click, a double click, and a long press; the second triggering operation includes any one of a single click, a double click, and a long press; and the third triggering operation includes any one of a single click, a double click, and a long press. For example, the first triggering operation is a single click, the second triggering operation is a double click, and the third triggering operation is a long press; or, for another example, the first triggering operation is a long press, the second triggering operation is a single click, and the third triggering operation is a double click.

[0117] In one embodiment, the maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second or third flight control mode, the roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second or third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second or third flight control mode.

[0118] Since the first flight control mode has the lowest maximum flight speed and maximum turning angle, it can be defined as the beginner mode. By limiting the maximum flight speed and maximum turning angle of the drone, novice users can safely operate the drone, ensuring its safety and making it easier for them to control it.

[0119] In one embodiment, the roll angle compensation coefficient corresponding to the second flight control mode is greater than that corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is also greater than that corresponding to the third flight control mode. Since both the roll angle compensation coefficient and the control coefficient of the speed loop controller are larger in the second flight control mode, the drone can turn faster than in the first and third flight control modes, and the sideslip of the drone during turns is also less than that in the first and third flight control modes. Therefore, in the second flight control mode, the user can precisely control the drone to navigate through complex scenarios.

[0120] In one embodiment, the control coefficients corresponding to the third flight control mode include a first control coefficient and a second control coefficient, with the first control coefficient being less than the second control coefficient. Therefore, when the drone is in the third flight control mode, if the user's third control parameter for the second control component is greater than a fourth preset threshold, the control coefficient of the drone's speed loop controller is adjusted to the first control coefficient, i.e., the control coefficient of the drone's speed loop controller is reduced. Since the drone's turning is controlled based on the speed loop controller when the third control parameter is greater than the fourth preset threshold, reducing the control coefficient of the speed loop controller when the third control parameter is greater than the fourth preset threshold ensures smooth footage capture during user operation of the second control component.

[0121] In one embodiment, if the user's third control parameter for the second control component is less than or equal to a fourth preset threshold, the control coefficient of the drone's speed loop controller is adjusted to the second control coefficient, i.e., the control coefficient of the drone's speed loop controller is increased. If the user's third control parameter for the second control component is less than or equal to the fourth preset threshold, it can be determined that the user has released the second control component, and the second control component automatically returns to its initial position. At this time, by increasing the control coefficient of the speed loop controller, the degree of sideslip during drone turns can be reduced.

[0122] In one embodiment, if the user's third control parameter for the second control component is greater than a fourth preset threshold, the control coefficient of the drone's speed loop controller is reduced, and the roll angle compensation coefficient is also reduced. Since the drone's turning is controlled based on the speed loop controller when the third control parameter is greater than the fourth preset threshold, reducing the control coefficient of the speed loop controller when the third control parameter is greater than the fourth preset threshold ensures smooth footage during user operation of the second control component.

[0123] In one embodiment, if the user's third control parameter for the second control component is less than or equal to a fourth preset threshold, the control coefficient of the drone's speed loop controller is increased, and the roll angle compensation coefficient is not adjusted. Since the second control component automatically returns to its initial position after the user releases it, the angular velocity command in the yaw direction is zero at this time, and the roll angle compensation coefficient does not affect the drone's sideslip during turning. Therefore, the degree of sideslip during turning is reduced only by increasing the control coefficient of the drone's speed loop controller.

[0124] For example, it can include multiple different flight control modes, such as beginner mode, overtaking mode, and shooting mode. Beginner Mode: Limits the maximum forward speed and yaw angular velocity to make operation safer for users.

[0125] Crossing Mode: Increases the roll angle compensation parameter and speed loop gain parameter to achieve faster turning and reduce sideslip, making it easier for users to precisely control the vehicle when crossing complex scenarios.

[0126] Smooth Shooting Mode: Smooth Shooting Mode employs a dynamic gain strategy, reducing the roll angle compensation parameter and the speed loop gain parameter during turns to make the footage smoother when the user is using the stick. After releasing the stick, it automatically increases the speed loop gain to reduce sideslip. This achieves both smooth shooting and solves the sideslip problem caused by reduced parameters.

[0127] The UAV control method provided in the above embodiments acquires the user's third control parameters for the second control component, determines the target turning angular velocity of the UAV based on the third control parameters, then determines the first roll angle of the UAV based on the current flight speed and the target turning angular velocity, acquires the user's fourth control parameters for the third control component, and finally determines the third roll angle of the UAV based on the fourth control parameters. Based on the first and third roll angles, the target roll angle of the UAV is determined, and the UAV is controlled to turn based on the target roll angle. By controlling both the second and third control components simultaneously, the user can enable the UAV to turn according to the user's needs, greatly improving the convenience of turning control.

[0128] Please see Figure 13 , Figure 13 This is a schematic flowchart illustrating the steps of another drone control method provided in this application embodiment.

[0129] like Figure 13 As shown, the UAV control method includes steps S401 to S403.

[0130] S401. Obtain the user's fifth control parameters for the fourth control component, wherein the fifth control parameters include control parameters obtained by the user controlling the fourth control component to deviate from the initial position in the seventh direction of the fourth control component. S402. Determine the motor speed command of the UAV according to the fifth control parameter; S403. Control the operation of the corresponding motor of the UAV according to the motor speed command, so as to control the UAV to ascend.

[0131] The motor speed indicated by the drone's motor speed command is positively correlated with the magnitude of the fifth control parameter. This positive correlation includes both linear and non-linear relationships. In other words, a larger fifth control parameter results in a larger motor speed indicated by the drone's motor speed command, and vice versa. By acquiring the fifth control parameter obtained when the user deviates from the initial position in the seventh direction of the fourth control component, and mapping this fifth control parameter to the corresponding motor speed command, the drone's ascent can be rapidly controlled, allowing the user to experience the thrill of rapid ascent and greatly enhancing the user experience.

[0132] In one embodiment, during the process of the user manipulating the fourth control component to deviate from its initial position in the seventh direction, if the user stops manipulating the fourth control component, the fourth control component will automatically return to its initial position. At this time, the fifth control parameter is less than or equal to the fifth preset threshold. Therefore, in response to the fifth control parameter being less than or equal to the fifth preset threshold, the drone's vertical flight speed is controlled to become zero by the drone's speed loop controller. Through the speed loop controller, the drone's motors can be automatically compensated with corresponding rotational speeds, enabling the aircraft to brake quickly in the vertical direction. This allows the user to enjoy the smooth operation of the fourth control component and automatically lock the speed after ceasing to operate it, without having to manually control the fourth control component to make the vertical flight speed zero, greatly improving control convenience and user experience.

[0133] In one embodiment, a sixth control parameter is obtained from the user's control of the fourth control component. This sixth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in an eighth direction. The target vertical flight speed of the drone is determined based on the sixth control parameter. The drone is then controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed. For example, the seventh direction can be opposite to the eighth direction, the seventh direction can be the same as the first direction, and the eighth direction can be the same as the second direction. By controlling the drone to decelerate to the target vertical flight speed corresponding to the sixth control parameter with a fixed deceleration, the stability of the captured image and the consistency of the operation can be ensured, allowing the user to predict the descent trajectory and making operation more convenient.

[0134] In one embodiment, the target vertical flight speed of the UAV can be determined based on the mapping relationship between flight speed and a sixth control parameter, as well as the sixth control parameter itself. The target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter, which can be linear or non-linear. It is understood that a larger sixth control parameter results in a smaller target vertical flight speed, and vice versa. The mapping relationship between flight speed and the sixth control parameter can be set based on actual conditions, and this embodiment does not impose specific limitations on it.

[0135] In one embodiment, the relative altitude of the drone is obtained, wherein the relative altitude includes the height of the drone relative to a ground object; the maximum descent speed of the drone is set based on the relative altitude of the drone. Setting the maximum descent speed of the drone based on its relative altitude can prevent the drone from crashing to the ground due to user error, thus ensuring the flight safety of the drone.

[0136] In one embodiment, the maximum descent speed of the drone can be determined and set based on the mapping relationship between the drone's relative altitude and its maximum descent speed, and the drone's current relative altitude. The mapping relationship between the drone's relative altitude and maximum descent speed can be set based on actual conditions, and this embodiment does not impose specific limitations on it. The maximum descent speed of the drone is positively correlated with its relative altitude; that is, the greater the relative altitude, the greater the maximum descent speed, and vice versa.

[0137] In one embodiment, the relative distance between the drone and an obstacle in the drone's flight path is obtained; the maximum flight speed of the drone is set based on this relative distance; if the drone's current flight speed is greater than the set maximum flight speed, the drone's flight speed is reduced to the set maximum horizontal flight speed. The relative distance between the drone and the obstacle in the drone's flight path can be determined by sensors on the drone, which can be binocular vision sensors or radar devices; this embodiment does not specifically limit the type. Setting the maximum flight speed of the drone based on the relative distance between the drone and the obstacle in its flight path can prevent situations where the user cannot control the drone to avoid obstacles in time when the flight speed is high, thus ensuring the drone's flight safety.

[0138] In one embodiment, the target maximum flight speed of the UAV can be determined based on the mapping relationship between relative distance and maximum flight speed and the relative distance between the UAV and obstacles in the UAV's flight direction. Then, the UAV's maximum flight speed is set as the target maximum flight speed. The mapping relationship between relative distance and maximum flight speed can be set based on actual conditions, and this embodiment does not impose specific limitations on it. The target maximum flight speed of the UAV is positively correlated with the relative distance; that is, the larger the relative distance, the larger the target maximum flight speed of the UAV, and vice versa.

[0139] In one embodiment, the relative distance between the drone and an obstacle in the drone's flight direction is obtained; when the relative distance between the drone and the obstacle in the drone's flight direction is less than or equal to a preset distance, a braking prompt message is output to prompt the user to control the drone to stop, ensuring the drone's flight safety. The preset distance can be set based on actual conditions, and this embodiment does not specifically limit it.

[0140] In one embodiment, obstacles and the distance between obstacles and the drone can be identified through vision systems, infrared detection systems, visible light detection systems, TOF detection systems, etc.

[0141] In one embodiment, an emergency braking command for the drone is obtained; based on the emergency braking command, both the horizontal and vertical flight speeds of the drone are adjusted to zero to bring the drone to a stop. The control terminal further includes a braking control component, which is used to stop the drone. This braking control component can trigger the emergency braking command for the drone. The braking control component can be a physical button, a physical slider, or a virtual button or virtual slider; this embodiment does not specifically limit its use. By simultaneously adjusting both the horizontal and vertical flight speeds of the drone to zero, the drone can be brought to a rapid stop.

[0142] In one embodiment, upon receiving an emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting its control coefficients, reduces the UAV's horizontal flight speed to zero; the second speed loop controller, after adjusting its control coefficients, reduces the UAV's vertical flight speed to zero. By increasing the control coefficients of the speed loop controllers, both the horizontal and vertical flight speeds of the UAV can be adjusted to zero more quickly, reducing adjustment time and effectively ensuring the UAV's flight safety.

[0143] The drone control method provided in the above embodiments obtains the fifth control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the seventh direction of the fourth control component, and maps the fifth control parameter to the corresponding motor speed command, thereby quickly controlling the drone to ascend, allowing the user to feel the thrill of the drone's rapid ascent, and greatly improving the user experience.

[0144] Please see Figure 14 , Figure 14 This is a schematic block diagram of a drone control device provided in an embodiment of this application. The drone is communicatively connected to a control terminal, which includes a first control component for controlling the drone's horizontal flight.

[0145] like Figure 14 As shown, the UAV control device 500 includes a processor 510 and a memory 520, which are connected via a bus 530, such as an I2C (Inter-integrated Circuit) bus.

[0146] Specifically, the processor 510 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0147] Specifically, the memory 520 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0148] The processor 510 is used to run a computer program stored in the memory 520, and performs the following steps when executing the computer program: The system acquires the user's first control parameters for the first control component and determines the target acceleration of the UAV based on the first control parameters. Control the drone to accelerate according to the target acceleration; In response to the first control parameter being less than or equal to a preset threshold, the current flight speed of the UAV is obtained, and the UAV is controlled to fly at a constant speed according to the current flight speed.

[0149] In one embodiment, determining the target acceleration of the UAV based on the first control parameter includes: Based on the first mapping relationship between control parameters and acceleration, the target acceleration of the UAV is determined according to the first control parameters.

[0150] In one embodiment, the target acceleration of the UAV is positively correlated with the magnitude of the first control parameter.

[0151] In one embodiment, the first control parameters include control parameters obtained by the user controlling the first control component to deviate from the initial position in a first direction of the first control component, and the first control parameters are used to control the acceleration of the drone.

[0152] In one embodiment, controlling the drone to accelerate according to the target acceleration includes: Obtain the maximum flight speed of the drone and obtain the current flight speed of the drone; If the current flight speed of the drone is less than the maximum flight speed, then the current flight speed is used as the initial flight speed, and the drone is controlled to accelerate according to the target acceleration.

[0153] In one embodiment, the processor is further configured to perform the following steps: If the current flight speed of the drone is greater than or equal to the maximum flight speed, then the drone is controlled to stop accelerating and to fly at a constant speed according to the current flight speed.

[0154] In one embodiment, obtaining the maximum flight speed of the drone includes: The maximum flight speed of the UAV is determined based on the first control parameters.

[0155] In one embodiment, the target acceleration and maximum flight speed of the UAV are positively correlated with the magnitude of the first control parameter.

[0156] In one embodiment, the target acceleration of the UAV is positively correlated with the magnitude of the first control parameter, and the maximum flight speed of the UAV is unrelated to the first control parameter.

[0157] In one embodiment, the processor is further configured to perform the following steps: In response to a second control parameter from the user on the first control component, and based on the second control parameter, the target deceleration of the UAV is determined; Control the drone to decelerate according to the target deceleration rate; In response to the second control parameter being less than or equal to the second preset threshold, the current flight speed of the UAV is obtained, and the UAV is controlled to fly at a constant speed according to the current flight speed.

[0158] In one embodiment, the second control parameter includes control parameters obtained by the user controlling the first control component to deviate from its initial position in a second direction, and the second control parameter is used to control the deceleration of the drone.

[0159] In one embodiment, the target deceleration of the UAV is positively correlated with the magnitude of the second control parameter.

[0160] In one embodiment, determining the target deceleration of the UAV based on the second control parameters includes: Based on the second mapping relationship between control parameters and deceleration, the target deceleration of the UAV is determined according to the second control parameters.

[0161] In one embodiment, controlling the drone to decelerate according to the target deceleration includes: The minimum flight speed of the UAV is determined based on the second control parameters, and the current flight speed of the UAV is obtained. If the current flight speed of the drone is greater than the minimum flight speed, then the current flight speed is used as the initial flight speed, and the drone is controlled to decelerate according to the target deceleration.

[0162] In one embodiment, the minimum flight speed of the drone is negatively correlated with the magnitude of the second control parameter.

[0163] In one embodiment, the processor is further configured to perform the following steps: If the current flight speed of the drone is less than or equal to the minimum flight speed, then control the drone to stop decelerating; Control the drone to fly at a constant speed according to the current flight speed, or control the drone to stop flying.

[0164] In one embodiment, the control terminal further includes a first control component, which is used to set a control mode for the first control component. The control mode of the first control component includes a first control mode and a second control mode. In the first control mode, the first control component is used to control the acceleration or deceleration of the drone. In the second control mode, the first control component is used to control the flight speed of the drone.

[0165] In one embodiment, the processor is further configured to perform the following steps: In response to a user's trigger operation on the first control component, the control mode of the first control component is set to either a first control mode or a second control mode.

[0166] In one embodiment, the processor is further configured to perform the following steps: Determine whether the control mode of the first control component is the first control mode or the second control mode; If the control mode of the first control component is the first control mode, then the target acceleration or target deceleration of the UAV is determined according to the control parameters triggered by the user on the first control component.

[0167] In one embodiment, the processor is further configured to perform the following steps: If the control mode of the first control component is the second control mode, the target flight speed of the UAV is determined according to the control parameters triggered by the user on the first control component. Control the drone to fly at a constant speed according to the target flight speed; When the control parameters triggered by the user on the first control component become zero, the drone is controlled to stop flying.

[0168] In one embodiment, the processor is further configured to perform the following steps: If the control mode of the first control component is the first control mode, then when the current flight speed of the UAV is less than or equal to the preset flight speed, the control mode of the first control component is set to the second control mode.

[0169] In one embodiment, the processor is further configured to perform the following steps: If the control mode of the first control component is the first control mode, then when the current flight speed of the UAV is less than or equal to the preset flight speed and the flight altitude of the UAV is less than or equal to the preset flight altitude, the control mode of the first control component is set to the second control mode.

[0170] In one embodiment, the drone includes a gimbal for mounting a shooting device, and the processor is further configured to perform the following steps: Obtain the acceleration of the drone or the first control parameter; The pitch angle of the gimbal is adjusted according to the acceleration or the first control parameter.

[0171] In one embodiment, adjusting the pitch angle of the gimbal according to the acceleration or the first control parameter includes: Based on the acceleration or the first control parameter, determine the target tilt angle of the gimbal, and adjust the tilt angle of the gimbal to the target tilt angle.

[0172] In one embodiment, the target depression angle is positively correlated with the magnitude of the acceleration.

[0173] In one embodiment, the target depression angle is positively correlated with the magnitude of the first control parameter.

[0174] In one embodiment, the control terminal further includes a second control component for controlling the steering of the drone, and the processor is further configured to implement the following steps: The system acquires the user's third control parameters for the second control component and determines the target turning angular velocity of the UAV based on the third control parameters. The first roll angle of the drone is determined based on the current flight speed of the drone and the target turning angular velocity; The drone is controlled to turn based on the first roll angle.

[0175] In one embodiment, the target turning angular velocity of the UAV is positively correlated with the magnitude of the third control parameter.

[0176] In one embodiment, determining the target turning angular velocity of the UAV based on the third control parameter includes: Based on the third control parameter and the mapping relationship between the third control parameter and the turning angular velocity, the candidate turning angular velocity of the UAV is determined; The candidate turning angular velocity is determined as the target turning angular velocity of the UAV, or the candidate turning angular velocity is low-pass filtered to obtain the target turning angular velocity of the UAV.

[0177] In one embodiment, determining the first roll angle of the UAV based on the current flight speed of the UAV and the target turning angular velocity includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the centripetal acceleration required for the UAV to turn; The first roll angle of the UAV is determined based on the centripetal acceleration.

[0178] In one embodiment, determining the centripetal acceleration required for the UAV to turn based on the UAV's current flight speed and the target turning angular velocity includes: Obtain the roll angle compensation coefficient of the UAV; The centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target turning angular velocity, and the roll angle compensation coefficient.

[0179] In one embodiment, before controlling the drone to turn based on the first roll angle, the processor is further configured to: Obtain the target flight speed and current flight speed of the UAV; The target flight speed and the current flight speed are input into the speed loop controller of the UAV for processing to obtain the second roll angle of the UAV. The target roll angle of the UAV is determined based on the first roll angle and the second roll angle. The step of controlling the drone to turn based on the first roll angle includes: The drone is controlled to turn based on the target roll angle.

[0180] In one embodiment, obtaining the target flight speed of the UAV includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The target flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration.

[0181] In one embodiment, controlling the drone to turn based on the target roll angle includes: When the third control parameter is detected to decrease to the third preset threshold, the target roll angle is low-pass filtered. The drone is controlled to turn based on the target roll angle after low-pass filtering.

[0182] In one embodiment, the control terminal further includes a third control component for controlling the drone's roll. Before controlling the drone to turn based on the first roll angle, the processor is also configured to: The user obtains the fourth control parameters for the third control component, and determines the third roll angle of the drone based on the fourth control parameters. The target roll angle of the UAV is determined based on the first roll angle and the third roll angle. The step of controlling the drone to turn based on the first roll angle includes: The drone is controlled to turn based on the target roll angle.

[0183] In one embodiment, determining the third roll angle of the drone based on the fourth control parameter includes: The target flight speed of the UAV is determined based on the fourth control parameter; The target flight speed and the current flight speed of the UAV are input into the speed loop controller of the UAV for processing to obtain the third roll angle of the UAV.

[0184] In one embodiment, determining the target flight speed of the UAV based on the fourth control parameter includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The first flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration; The second flight speed of the UAV is determined based on the fourth control parameter, and the target flight speed of the UAV is determined based on the first flight speed and the second flight speed.

[0185] In one embodiment, determining the target turning angular velocity of the UAV based on the third control parameter includes: The candidate turning angular velocity of the UAV is determined based on the third control parameter, and the maximum turning angular velocity of the UAV is obtained. If the candidate turning angular velocity is less than or equal to the maximum turning angular velocity of the UAV, then the candidate turning angular velocity is determined as the target turning angular velocity; If the candidate turning angular velocity is greater than the maximum turning angular velocity of the UAV, then the maximum turning angular velocity is determined as the target turning angular velocity.

[0186] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, or control coefficient of the speed loop controller of the UAV are determined according to the flight control mode of the UAV.

[0187] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, or control coefficient of the speed loop controller corresponding to the flight control mode of the UAV can be set through the human-machine interface of the control terminal.

[0188] In one embodiment, the control terminal further includes a second control component, which is used to switch the flight control mode of the UAV.

[0189] In one embodiment, the flight control mode includes a first flight control mode, a second flight control mode, and a third flight control mode, wherein the maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second flight control mode or the third flight control mode.

[0190] In one embodiment, the roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second flight control mode or the third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second flight control mode or the third flight control mode.

[0191] In one embodiment, the roll angle compensation coefficient corresponding to the second flight control mode is greater than the roll angle compensation coefficient corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is greater than the control coefficient corresponding to the third flight control mode.

[0192] In one embodiment, the control coefficient corresponding to the third flight control mode includes a first control coefficient and a second control coefficient, and the first control coefficient is less than the second control coefficient.

[0193] In one embodiment, the processor is further configured to perform the following steps: When the UAV is in the third flight control mode, if the third control parameter of the second control component of the control terminal is greater than the fourth preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the first control coefficient. If the user's third control parameter for the second control component of the control terminal is less than or equal to the fourth preset threshold, then the control coefficient of the speed loop controller of the UAV is adjusted to the second control coefficient.

[0194] In one embodiment, the control terminal further includes a fourth control component for controlling the drone's vertical flight, and the method further includes: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

[0195] In one embodiment, the motor speed indicated by the motor speed command of the UAV is positively correlated with the magnitude of the fifth control parameter.

[0196] In one embodiment, the processor is further configured to perform the following steps: In response to the fifth control parameter being less than or equal to the fifth preset threshold, the vertical flight speed of the UAV is controlled to become zero by the speed loop controller of the UAV.

[0197] In one embodiment, the processor is further configured to perform the following steps: Obtain the user's sixth control parameter for the fourth control component, wherein the sixth control parameter includes the control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the eighth direction of the fourth control component; The target vertical flight speed of the UAV is determined based on the sixth control parameter; The drone is controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed.

[0198] In one embodiment, the target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter.

[0199] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative altitude of the drone, wherein the relative altitude includes the altitude of the drone relative to a ground object; The maximum descent speed of the drone is set according to its relative altitude.

[0200] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative distance between the drone and obstacles in the drone's flight direction; The maximum flight speed of the drone is set according to the relative distance; If the current flight speed of the drone is greater than the set maximum flight speed, then the flight speed of the drone will be reduced to the set maximum horizontal flight speed.

[0201] In one embodiment, the processor is further configured to perform the following steps: Obtain the emergency braking command for the drone; According to the emergency stop command, the horizontal and vertical flight speeds of the UAV are both adjusted to zero.

[0202] In one embodiment, adjusting both the horizontal and vertical flight speeds of the UAV to zero according to the emergency braking command includes: According to the emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting the control coefficient, controls the horizontal flight speed of the UAV to decrease to zero. The second speed loop controller, after adjusting the control coefficients, controls the vertical flight speed of the UAV to decrease to zero.

[0203] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the UAV control device described above can be referred to the corresponding process in the aforementioned UAV control method embodiments, and will not be repeated here.

[0204] Please see Figure 15 , Figure 15 This is a schematic block diagram of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application. The UAV is communicatively connected to a control terminal, which includes a second control component and a third control component. The second control component is used to control the UAV's steering, and the third control component is used to control the UAV's roll.

[0205] like Figure 15 As shown, the UAV control device 600 includes a processor 610 and a memory 620, which are connected via a bus 630, such as an I2C (Inter-integrated Circuit) bus.

[0206] Specifically, the processor 610 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0207] Specifically, the memory 620 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0208] The processor 610 is used to run a computer program stored in the memory 620, and performs the following steps when executing the computer program: The system acquires the user's third control parameters for the second control component and determines the target turning angular velocity of the UAV based on the third control parameters. The first roll angle of the drone is determined based on the current flight speed of the drone and the target turning angular velocity; The user obtains the fourth control parameters for the third control component, and determines the third roll angle of the drone based on the fourth control parameters. The target roll angle of the UAV is determined based on the first roll angle and the third roll angle. The drone is controlled to turn based on the target roll angle.

[0209] In one embodiment, the target turning angular velocity of the UAV is positively correlated with the magnitude of the third control parameter.

[0210] In one embodiment, determining the target turning angular velocity of the UAV based on the third control parameter includes: Based on the third control parameter and the mapping relationship between the third control parameter and the turning angular velocity, the candidate turning angular velocity of the UAV is determined; The candidate turning angular velocity is determined as the target turning angular velocity of the UAV, or the candidate turning angular velocity is low-pass filtered to obtain the target turning angular velocity of the UAV.

[0211] In one embodiment, determining the first roll angle of the UAV based on the current flight speed of the UAV and the target turning angular velocity includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the centripetal acceleration required for the UAV to turn; The first roll angle of the UAV is determined based on the centripetal acceleration.

[0212] In one embodiment, determining the centripetal acceleration required for the UAV to turn based on the UAV's current flight speed and the target turning angular velocity includes: Obtain the roll angle compensation coefficient of the UAV; The centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target turning angular velocity, and the roll angle compensation coefficient.

[0213] In one embodiment, before controlling the drone to turn based on the first roll angle, the processor is further configured to: Obtain the target flight speed and current flight speed of the UAV; The target flight speed and the current flight speed are input into the speed loop controller of the UAV for processing to obtain the second roll angle of the UAV. The target roll angle of the UAV is determined based on the first roll angle and the second roll angle. The step of controlling the drone to turn based on the first roll angle includes: The drone is controlled to turn based on the target roll angle.

[0214] In one embodiment, obtaining the target flight speed of the UAV includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The target flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration.

[0215] In one embodiment, controlling the drone to turn based on the target roll angle includes: When the third control parameter is detected to decrease to a preset threshold, the target roll angle is low-pass filtered. The drone is controlled to turn based on the target roll angle after low-pass filtering.

[0216] In one embodiment, determining the third roll angle of the drone based on the fourth control parameter includes: The target flight speed of the UAV is determined based on the fourth control parameter; The target flight speed and the current flight speed of the UAV are input into the speed loop controller of the UAV for processing to obtain the third roll angle of the UAV.

[0217] In one embodiment, determining the target flight speed of the UAV based on the fourth control parameter includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The first flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration; The second flight speed of the UAV is determined based on the fourth control parameter, and the target flight speed of the UAV is determined based on the first flight speed and the second flight speed.

[0218] In one embodiment, determining the target turning angular velocity of the UAV based on the third control parameter includes: The candidate turning angular velocity of the UAV is determined based on the third control parameter, and the maximum turning angular velocity of the UAV is obtained. If the candidate turning angular velocity is less than or equal to the maximum turning angular velocity of the UAV, then the candidate turning angular velocity is determined as the target turning angular velocity; If the candidate turning angular velocity is greater than the maximum turning angular velocity of the UAV, then the maximum turning angular velocity is determined as the target turning angular velocity.

[0219] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and control coefficient of the speed loop controller of the UAV are determined according to the flight control mode of the UAV.

[0220] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and speed loop controller control coefficient corresponding to the flight control mode of the UAV can be set through the human-machine interface of the control terminal.

[0221] In one embodiment, the control terminal further includes a second control component, which is used to switch the flight control mode of the UAV.

[0222] In one embodiment, the flight control mode includes a first flight control mode, a second flight control mode, and a third flight control mode, wherein the maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second flight control mode or the third flight control mode.

[0223] In one embodiment, the roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second flight control mode or the third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second flight control mode or the third flight control mode.

[0224] In one embodiment, the roll angle compensation coefficient corresponding to the second flight control mode is greater than the roll angle compensation coefficient corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is greater than the control coefficient corresponding to the third flight control mode.

[0225] In one embodiment, the control coefficient corresponding to the third flight control mode includes a first control coefficient and a second control coefficient, and the first control coefficient is less than the second control coefficient.

[0226] In one embodiment, the processor is configured to perform the following steps: When the UAV is in the third flight control mode, if the third control parameter of the second control component of the control terminal is not a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the first control coefficient. If the user changes the third control parameter of the second control component of the control terminal to a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the second control coefficient.

[0227] In one embodiment, the control terminal further includes a fourth control component for controlling the drone's vertical flight, and the processor is used to implement the following steps: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

[0228] In one embodiment, the motor speed indicated by the motor speed command of the UAV is positively correlated with the magnitude of the fifth control parameter.

[0229] In one embodiment, the processor is further configured to perform the following steps: In response to the fifth control parameter being less than or equal to a preset threshold, the vertical flight speed of the UAV is controlled to become zero by the speed loop controller of the UAV.

[0230] In one embodiment, the processor is further configured to perform the following steps: Obtain the user's sixth control parameter for the fourth control component, wherein the sixth control parameter includes the control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the eighth direction of the fourth control component; The target vertical flight speed of the UAV is determined based on the sixth control parameter; The drone is controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed.

[0231] In one embodiment, the target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter.

[0232] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative altitude of the drone, wherein the relative altitude includes the altitude of the drone relative to a ground object; The maximum descent speed of the drone is set according to its relative altitude.

[0233] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative distance between the drone and obstacles in the drone's flight direction; The maximum horizontal flight speed of the UAV is set according to the relative distance; If the current horizontal flight speed of the drone is greater than the set maximum horizontal flight speed, then the horizontal flight speed of the drone will be reduced to the set maximum horizontal flight speed.

[0234] In one embodiment, the processor is further configured to perform the following steps: Obtain the emergency braking command for the drone; According to the emergency stop command, the horizontal and vertical flight speeds of the UAV are both adjusted to zero.

[0235] In one embodiment, adjusting both the horizontal and vertical flight speeds of the UAV to zero according to the emergency braking command includes: According to the emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting the control coefficient, controls the horizontal flight speed of the UAV to decrease to zero. The second speed loop controller, after adjusting the control coefficients, controls the vertical flight speed of the UAV to decrease to zero.

[0236] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the UAV control device described above can be referred to the corresponding process in the aforementioned UAV control method embodiments, and will not be repeated here.

[0237] Please see Figure 16 , Figure 16 This is a schematic block diagram of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application. The UAV is communicatively connected to a control terminal, which includes a fourth control component for controlling the UAV's vertical flight.

[0238] like Figure 16 As shown, the UAV control device 700 includes a processor 710 and a memory 720, which are connected via a bus 730, such as an I2C (Inter-integrated Circuit) bus.

[0239] Specifically, the processor 710 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0240] Specifically, the memory 720 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0241] The processor 710 is used to run a computer program stored in the memory 720, and performs the following steps when executing the computer program: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

[0242] In one embodiment, the motor speed indicated by the motor speed command of the UAV is positively correlated with the magnitude of the fifth control parameter.

[0243] In one embodiment, the processor is further configured to perform the following steps: In response to the fifth control parameter being less than or equal to a preset threshold, the vertical flight speed of the UAV is controlled to become zero by the speed loop controller of the UAV.

[0244] In one embodiment, the processor is further configured to perform the following steps: Obtain the user's sixth control parameter for the fourth control component, wherein the sixth control parameter includes the control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the eighth direction of the fourth control component; The target vertical flight speed of the UAV is determined based on the sixth control parameter; The drone is controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed.

[0245] In one embodiment, the target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter.

[0246] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and control coefficient of the speed loop controller of the UAV are determined according to the flight control mode of the UAV.

[0247] In one embodiment, the maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and speed loop controller control coefficient corresponding to the flight control mode of the UAV can be set through the human-machine interface of the control terminal.

[0248] In one embodiment, the control terminal further includes a second control key, which is used to switch the flight control mode of the UAV.

[0249] In one embodiment, the flight control mode includes a first flight control mode, a second flight control mode, and a third flight control mode, wherein the maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second flight control mode or the third flight control mode.

[0250] In one embodiment, the roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second flight control mode or the third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second flight control mode or the third flight control mode.

[0251] In one embodiment, the roll angle compensation coefficient corresponding to the second flight control mode is greater than the roll angle compensation coefficient corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is greater than the control coefficient corresponding to the third flight control mode.

[0252] In one embodiment, the control coefficient corresponding to the third flight control mode includes a first control coefficient and a second control coefficient, and the first control coefficient is less than the second control coefficient.

[0253] In one embodiment, the processor is further configured to perform the following steps: When the UAV is in the third flight control mode, if the third control parameter of the second control component of the control terminal is not a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the first control coefficient. If the user changes the third control parameter of the second control component of the control terminal to a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the second control coefficient.

[0254] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative altitude of the drone, wherein the relative altitude includes the altitude of the drone relative to a ground object; The maximum descent speed of the drone is set according to its relative altitude.

[0255] In one embodiment, the processor is further configured to perform the following steps: Obtain the relative distance between the drone and obstacles in the drone's flight direction; The maximum horizontal flight speed of the UAV is set according to the relative distance; If the current horizontal flight speed of the drone is greater than the set maximum horizontal flight speed, then the horizontal flight speed of the drone will be reduced to the set maximum horizontal flight speed.

[0256] In one embodiment, the processor is further configured to perform the following steps: Obtain the emergency braking command for the drone; According to the emergency stop command, the horizontal and vertical flight speeds of the UAV are adjusted to zero.

[0257] In one embodiment, adjusting the horizontal and vertical flight speeds of the UAV to zero according to the emergency braking command includes: According to the emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting the control coefficient, controls the horizontal flight speed of the UAV to decrease to zero. The second speed loop controller, after adjusting the control coefficients, controls the vertical flight speed of the UAV to decrease to zero.

[0258] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the UAV control device described above can be referred to the corresponding process in the aforementioned UAV control method embodiments, and will not be repeated here.

[0259] Please see Figure 17 , Figure 17 This is a schematic block diagram of the structure of a drone provided in an embodiment of this application.

[0260] like Figure 17 As shown, the UAV 800 includes a body 810, a power system 820, and a UAV control device 830. The power system 820 is located on the body 810 and is used to provide flight power for the UAV 800. The UAV control device 830 is located inside the body 810 and is used to control the UAV 800. The UAV 800 is used to communicate with a control terminal.

[0261] Among them, the unmanned aerial vehicle control device 830 can be the above-mentioned Figure 14 , Figure 15 or Figure 16 The unmanned aerial vehicle control device described in any one of the following statements.

[0262] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the UAV described above can be referred to the corresponding process in the aforementioned UAV control method embodiments, and will not be repeated here.

[0263] Please see Figure 18 , Figure 18 This is a schematic block diagram of the structure of a control system provided in an embodiment of this application.

[0264] like Figure 18 As shown, the control system 900 includes a drone 910 and a control terminal 920 communicatively connected to the drone 910. The drone 910 includes a drone control device, or the control terminal 920 includes a drone control device.

[0265] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control system described above can be referred to the corresponding process in the aforementioned UAV control method embodiments, and will not be repeated here.

[0266] This application also provides a control terminal, which includes a drone control device and is used for communication connection with the drone. It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control terminal described above can be referred to the corresponding process in the foregoing drone control method embodiments, and will not be repeated here.

[0267] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the unmanned aerial vehicle control method provided in the above embodiments.

[0268] It should be noted that the solution proposed in this application can be applied not only to the field of drones, but also to fields such as unmanned vehicles, unmanned boats, or robots. It can control the forward acceleration or deceleration, uniform motion, and turning of these mobile devices through remote control.

[0269] The computer-readable storage medium can be an internal storage unit of the control terminal or drone described in any of the foregoing embodiments, such as the hard drive or memory of the control terminal or drone. Alternatively, the computer-readable storage medium can be an external storage device of the control terminal or drone, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the control terminal or drone.

[0270] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0271] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0272] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The drone is communicatively connected to a control terminal, which includes a second control component and a third control component. The second control component controls the drone's turning, and the third control component controls the drone's roll. The method includes: The system acquires the user's third control parameters for the second control component and determines the target turning angular velocity of the UAV based on the third control parameters. The first roll angle of the drone is determined based on the current flight speed of the drone and the target turning angular velocity; The user obtains the fourth control parameters for the third control component, and determines the third roll angle of the drone based on the fourth control parameters. The target roll angle of the UAV is determined based on the first roll angle and the third roll angle. The drone is controlled to turn based on the target roll angle.

2. The UAV control method according to claim 1, characterized in that, The target turning angular velocity of the UAV is positively correlated with the magnitude of the third control parameter.

3. The UAV control method according to claim 1, characterized in that, Determining the target turning angular velocity of the UAV based on the third control parameter includes: Based on the third control parameter and the mapping relationship between the third control parameter and the turning angular velocity, the candidate turning angular velocity of the UAV is determined; The candidate turning angular velocity is determined as the target turning angular velocity of the UAV, or the candidate turning angular velocity is low-pass filtered to obtain the target turning angular velocity of the UAV.

4. The UAV control method according to claim 1, characterized in that, Determining the first roll angle of the UAV based on its current flight speed and the target turning angular velocity includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the centripetal acceleration required for the UAV to turn; The first roll angle of the UAV is determined based on the centripetal acceleration.

5. The UAV control method according to claim 4, characterized in that, Determining the centripetal acceleration required for the UAV to turn based on the UAV's current flight speed and the target turning angular velocity includes: Obtain the roll angle compensation coefficient of the UAV; The centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target turning angular velocity, and the roll angle compensation coefficient.

6. The UAV control method according to claim 1, characterized in that, Before controlling the drone to turn based on the first roll angle, the method further includes: Obtain the target flight speed and current flight speed of the UAV; The target flight speed and the current flight speed are input into the speed loop controller of the UAV for processing to obtain the second roll angle of the UAV. The target roll angle of the UAV is determined based on the first roll angle and the second roll angle. The step of controlling the drone to turn based on the first roll angle includes: The drone is controlled to turn based on the target roll angle.

7. The UAV control method according to claim 6, characterized in that, The process of obtaining the target flight speed of the UAV includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The target flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration.

8. The UAV control method according to claim 6, characterized in that, The step of controlling the drone to turn based on the target roll angle includes: When the third control parameter is detected to decrease to a preset threshold, the target roll angle is low-pass filtered. The drone is controlled to turn based on the target roll angle after low-pass filtering.

9. The UAV control method according to claim 1, characterized in that, Determining the third roll angle of the drone based on the fourth control parameter includes: The target flight speed of the UAV is determined based on the fourth control parameter; The target flight speed and the current flight speed of the UAV are input into the speed loop controller of the UAV for processing to obtain the third roll angle of the UAV.

10. The UAV control method according to claim 9, characterized in that, Determining the target flight speed of the UAV based on the fourth control parameter includes: Based on the current flight speed of the UAV and the target turning angular velocity, determine the first centripetal acceleration required for the UAV to turn; The second centripetal acceleration required for the UAV to turn is determined based on the UAV's current flight speed, the target's turning angular velocity, and the UAV's roll angle compensation coefficient. The first flight speed of the UAV is determined based on the first centripetal acceleration and the second centripetal acceleration; The second flight speed of the UAV is determined based on the fourth control parameter, and the target flight speed of the UAV is determined based on the first flight speed and the second flight speed.

11. The UAV control method according to claim 1, characterized in that, Determining the target turning angular velocity of the UAV based on the third control parameter includes: The candidate turning angular velocity of the UAV is determined based on the third control parameter, and the maximum turning angular velocity of the UAV is obtained. If the candidate turning angular velocity is less than or equal to the maximum turning angular velocity of the UAV, then the candidate turning angular velocity is determined as the target turning angular velocity; If the candidate turning angular velocity is greater than the maximum turning angular velocity of the UAV, then the maximum turning angular velocity is determined as the target turning angular velocity.

12. The UAV control method according to any one of claims 1-11, characterized in that, The maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and control coefficient of the speed loop controller of the UAV are determined according to the flight control mode of the UAV.

13. The UAV control method according to claim 12, characterized in that, The maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and speed loop controller control coefficient corresponding to the flight control mode of the UAV can be set through the human-machine interface of the control terminal.

14. The UAV control method according to claim 12, characterized in that, The control terminal also includes a second control component, which is used to switch the flight control mode of the UAV.

15. The UAV control method according to claim 12, characterized in that, The flight control modes include a first flight control mode, a second flight control mode, and a third flight control mode. The maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second flight control mode or the third flight control mode.

16. The UAV control method according to claim 15, characterized in that, The roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second flight control mode or the third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second flight control mode or the third flight control mode.

17. The UAV control method according to claim 16, characterized in that, The roll angle compensation coefficient corresponding to the second flight control mode is greater than the roll angle compensation coefficient corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is greater than the control coefficient corresponding to the third flight control mode.

18. The unmanned aerial vehicle (UAV) control method according to claim 16, characterized in that, The control coefficients corresponding to the third flight control mode include a first control coefficient and a second control coefficient, and the first control coefficient is less than the second control coefficient.

19. The unmanned aerial vehicle (UAV) control method according to claim 18, characterized in that, The method further includes: When the UAV is in the third flight control mode, if the third control parameter of the second control component of the control terminal is not a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the first control coefficient. If the user changes the third control parameter of the second control component of the control terminal to a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the second control coefficient.

20. The unmanned aerial vehicle (UAV) control method according to any one of claims 1-11, characterized in that, The control terminal further includes a fourth control component, which is used to control the drone's vertical flight. The method further includes: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

21. The UAV control method according to claim 20, characterized in that, The motor speed indicated by the motor speed command of the UAV is positively correlated with the magnitude of the fifth control parameter.

22. The UAV control method according to claim 20, characterized in that, The method further includes: In response to the fifth control parameter being less than or equal to a preset threshold, the vertical flight speed of the UAV is controlled to become zero by the speed loop controller of the UAV.

23. The unmanned aerial vehicle (UAV) control method according to claim 20, characterized in that, The method further includes: Obtain the user's sixth control parameter for the fourth control component, wherein the sixth control parameter includes the control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the eighth direction of the fourth control component; The target vertical flight speed of the UAV is determined based on the sixth control parameter; The drone is controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed.

24. The UAV control method according to claim 23, characterized in that, The target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter.

25. The unmanned aerial vehicle control method according to any one of claims 1-11, characterized in that, The method further includes: Obtain the relative altitude of the drone, wherein the relative altitude includes the altitude of the drone relative to a ground object; The maximum descent speed of the drone is set according to its relative altitude.

26. The unmanned aerial vehicle control method according to any one of claims 1-11, characterized in that, The method further includes: Obtain the relative distance between the drone and obstacles in the drone's flight direction; The maximum horizontal flight speed of the UAV is set according to the relative distance; If the current horizontal flight speed of the drone is greater than the set maximum horizontal flight speed, then the horizontal flight speed of the drone will be reduced to the set maximum horizontal flight speed.

27. The unmanned aerial vehicle (UAV) control method according to any one of claims 1-11, characterized in that, The method further includes: Obtain the emergency braking command for the drone; According to the emergency stop command, the horizontal and vertical flight speeds of the UAV are both adjusted to zero.

28. The UAV control method according to claim 27, characterized in that, The step of adjusting both the horizontal and vertical flight speeds of the drone to zero according to the emergency braking command includes: According to the emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting the control coefficient, controls the horizontal flight speed of the UAV to decrease to zero. The second speed loop controller, after adjusting the control coefficients, controls the vertical flight speed of the UAV to decrease to zero.

29. The unmanned aerial vehicle (UAV) control method according to claim 1, characterized in that, The control terminal further includes a first control component, which is used to control the speed of the drone in the horizontal direction. The drone includes a gimbal, which is used to mount a shooting device. The method further includes: Obtain the user's first control parameters for the first control component; Adjust the pitch angle of the gimbal according to the first control parameter.

30. The UAV control method according to claim 29, characterized in that, Adjusting the pitch angle of the gimbal according to the first control parameter includes: Based on the first control parameter, the target tilt angle of the gimbal is determined, and the tilt angle of the gimbal is adjusted to the target tilt angle.

31. The UAV control method according to claim 30, characterized in that, The target depression angle is positively correlated with the magnitude of the first control parameter.

32. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The drone is communicatively connected to a control terminal, which includes a fourth control component for controlling the drone's vertical flight. The method includes: The user obtains a fifth control parameter for the fourth control component, wherein the fifth control parameter includes control parameters obtained by the user controlling the fourth control component to deviate from its initial position in a seventh direction. The motor speed command of the UAV is determined according to the fifth control parameter; The corresponding motor of the UAV is controlled to operate according to the motor speed command in order to control the UAV to ascend.

33. The UAV control method according to claim 32, characterized in that, The motor speed indicated by the motor speed command of the UAV is positively correlated with the magnitude of the fifth control parameter.

34. The UAV control method according to claim 32, characterized in that, The method further includes: In response to the fifth control parameter being less than or equal to a preset threshold, the vertical flight speed of the UAV is controlled to become zero by the speed loop controller of the UAV.

35. The UAV control method according to claim 32, characterized in that, The method further includes: Obtain the user's sixth control parameter for the fourth control component, wherein the sixth control parameter includes the control parameter obtained by the user controlling the fourth control component to deviate from the initial position in the eighth direction of the fourth control component; The target vertical flight speed of the UAV is determined based on the sixth control parameter; The drone is controlled to decelerate according to a preset vertical deceleration until its vertical flight speed reaches the target vertical flight speed.

36. The UAV control method according to claim 35, characterized in that, The target vertical flight speed of the UAV is negatively correlated with the magnitude of the sixth control parameter.

37. The UAV control method according to claim 32, characterized in that, The maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and control coefficient of the speed loop controller of the UAV are determined according to the flight control mode of the UAV.

38. The UAV control method according to claim 37, characterized in that, The maximum flight speed, maximum turning angular velocity, roll angle compensation coefficient, and speed loop controller control coefficient corresponding to the flight control mode of the UAV can be set through the human-machine interface of the control terminal.

39. The unmanned aerial vehicle (UAV) control method according to claim 37, characterized in that, The control terminal also includes a second control key, which is used to switch the flight control mode of the UAV.

40. The unmanned aerial vehicle (UAV) control method according to claim 37, characterized in that, The flight control modes include a first flight control mode, a second flight control mode, and a third flight control mode. The maximum flight speed and maximum turning angular velocity corresponding to the first flight control mode are less than the maximum flight speed and maximum turning angular velocity corresponding to the second flight control mode or the third flight control mode.

41. The UAV control method according to claim 40, characterized in that, The roll angle compensation coefficient corresponding to the first flight control mode is less than the roll angle compensation coefficient corresponding to the second flight control mode or the third flight control mode, and the control coefficient corresponding to the first flight control mode is less than the control coefficient corresponding to the second flight control mode or the third flight control mode.

42. The UAV control method according to claim 41, characterized in that, The roll angle compensation coefficient corresponding to the second flight control mode is greater than the roll angle compensation coefficient corresponding to the third flight control mode, and the control coefficient corresponding to the second flight control mode is greater than the control coefficient corresponding to the third flight control mode.

43. The UAV control method according to claim 42, characterized in that, The control coefficients corresponding to the third flight control mode include a first control coefficient and a second control coefficient, and the first control coefficient is less than the second control coefficient.

44. The UAV control method according to claim 43, characterized in that, The method further includes: When the UAV is in the third flight control mode, if the third control parameter of the second control component of the control terminal is not a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the first control coefficient. If the user changes the third control parameter of the second control component of the control terminal to a preset threshold, the control coefficient of the speed loop controller of the UAV will be adjusted to the second control coefficient.

45. The UAV control method according to any one of claims 32-44, characterized in that, The method further includes: Obtain the relative altitude of the drone, wherein the relative altitude includes the altitude of the drone relative to a ground object; The maximum descent speed of the drone is set according to its relative altitude.

46. ​​The UAV control method according to any one of claims 32-44, characterized in that, The method further includes: Obtain the relative distance between the drone and obstacles in the drone's flight direction; The maximum horizontal flight speed of the UAV is set according to the relative distance; If the current horizontal flight speed of the drone is greater than the set maximum horizontal flight speed, then the horizontal flight speed of the drone will be reduced to the set maximum horizontal flight speed.

47. The UAV control method according to any one of claims 32-44, characterized in that, The method further includes: Obtain the emergency braking command for the drone; According to the emergency stop command, the horizontal and vertical flight speeds of the UAV are adjusted to zero.

48. The UAV control method according to claim 47, characterized in that, The step of adjusting the horizontal and vertical flight speeds of the UAV to zero according to the emergency braking command includes: According to the emergency braking command, the control coefficients of the first speed loop controller and the second speed loop controller of the UAV are increased. The first speed loop controller, after adjusting the control coefficient, controls the horizontal flight speed of the UAV to decrease to zero. The second speed loop controller, after adjusting the control coefficients, controls the vertical flight speed of the UAV to decrease to zero.

49. A drone control device, characterized in that, The drone is communicatively connected to a control terminal, and the drone control device includes a memory and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the method as described in any one of claims 1 to 48.

50. An unmanned aerial vehicle (UAV), characterized in that, The drone includes: Organism; A power system, located on the fuselage, is used to provide flight power for the UAV; The drone control device of claim 49 is disposed within the body of the drone and is used to control the drone.

51. A control terminal, characterized in that, The control terminal includes the UAV control device as described in claim 49, and the control terminal is used for communication connection with the UAV.

52. A control system, characterized in that, The control system includes the UAV as described in claim 50 and a control terminal that is communicatively connected to the UAV. Alternatively, the control system may include the control terminal as described in claim 51, and a drone communicatively connected to the control terminal.

53. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the steps of the unmanned aerial vehicle control method as described in any one of claims 1-48.

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