WO2018068193A1 - Control method, control device, flight control system, and multi-rotor unmanned aerial vehicle - Google Patents

Abstract

Provided are a control method, a control device, a flight control system, and a multi-rotor unmanned aerial vehicle. The control method comprises: controlling a multi-rotor unmanned aerial vehicle to fly toward a target location (210); determining an airspeed of the multi-rotor unmanned aerial vehicle (220); and controlling the multi-rotor unmanned aerial vehicle such that a low-wind-resistance orientation thereof aligns with a windspeed direction (230). The invention can increase wind resistance of a multi-rotor unmanned aerial vehicle, thereby improving reliability of the multi-rotor unmanned aerial vehicle flying in a windy environment.

Description

Control method, control device, flight control system and multi-rotor drone

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

Embodiments of the present invention relate to the field of control technologies, and relate to a control method, a control device, a flight control system, and a multi-rotor drone.

Background technique

A multi-rotor drone is an unmanned aerial vehicle with two or more rotor shafts that rotates the rotor through the motor on each rotor shaft to generate lift. Multi-rotor UAVs can change the uniaxial propulsion force by changing the relative rotational speed between different rotors to control the flight of the drone.

The intelligent return function is an important function of the multi-rotor drone. The multi-rotor drone records the return point (also known as the HOME point) and returns to the return point after receiving the return request until it arrives back. point.

When the existing multi-rotor drone is returned, it is usually the nose or the tail that flies toward the return point. However, some multi-rotor drones are not designed on every side. For example, some faces are subject to large wind area, that is, the wind resistance is large. In the process of returning the multi-rotor drone, if there is a strong wind environment and the wind direction is large against the wind receiving area. The surface of the drone is easily blown away by the wind, resulting in unsuccessful return.

Therefore, it is necessary to improve the wind resistance of the multi-rotor UAV to ensure its flight reliability.

Summary of the invention

The embodiment of the invention provides a control method, a control device, a flight control system and a multi-rotor UAV, which can improve the wind resistance capability of the multi-rotor UAV and improve flight reliability.

In a first aspect, a control method is provided, the control method comprising: controlling a multi-rotor UAV to fly to a target location; determining an airspeed of the multi-rotor UAV; and controlling the multi-rotor UAV to have a small wind resistance The direction is toward the direction of the airspeed.

In a second aspect, a control device is provided, the control device comprising: a control module for controlling a multi-rotor drone to fly to a target location; and a determining module for determining an airspeed of the multi-rotor drone; The control module is further configured to control a direction in which the wind resistance of the multi-rotor UAV is small toward the airspeed.

In a third aspect, a flight control system is provided, the flight control system comprising: a memory for storing a program; a processor for executing the program stored by the memory, when the program is executed, the processor Controlling the multi-rotor drone to fly to the target location; determining the airspeed of the multi-rotor drone; and controlling the direction of the multi-rotor drone to be small toward the airspeed.

In a fourth aspect, a multi-rotor UAV is provided, the multi-rotor UAV comprising a power system and the flight control system of the third aspect, wherein the flight control system is configured to control the power system The multi-rotor drone provides flight power such that the wind direction of the multi-rotor drone is oriented in a direction toward the airspeed of the multi-rotor drone.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is a schematic architectural diagram of a multi-rotor drone in accordance with an embodiment of the present invention.

2 is a schematic flow chart of a control method according to an embodiment of the present invention.

3 is a schematic diagram of determining airspeed in accordance with an embodiment of the present invention.

4 is a schematic diagram of a control method in accordance with an embodiment of the present invention.

Figure 5 is a schematic block diagram of a control device in accordance with an embodiment of the present invention.

6 is a schematic block diagram of a flight control system in accordance with an embodiment of the present invention.

Figure 7 is a schematic block diagram of a multi-rotor drone in accordance with an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

Embodiments of the present invention can be applied to various types of multi-rotor drones, for example, multi-rotor drones that are propelled by air by a plurality of propelling devices, wherein the air-driven drones by four propelling devices are called Quadrotor drone. Multi-rotor drones are also known as rotorcraft.

FIG. 1 is a schematic structural diagram of a multi-rotor UAV 100 according to an embodiment of the present invention. As shown in FIG. 1, the multi-rotor drone 100 includes a power system 110, a flight controller 120, a sensing system 130, and a frame 140.

The powertrain 110 may include an electronic governor (referred to as ESC) 111, two or more propellers 112, and two or more motors 113 corresponding to two or more propellers 112, in FIG. Only two propellers 112 and two motors 113 corresponding thereto are illustrated, but the scope of protection of the embodiments of the present invention is not limited. The motor 113 is connected between the electronic governor 111 and the propeller 112, and the motor 113 and the propeller 112 are disposed on the corresponding arm; the electronic governor 111 is configured to receive the driving signal generated by the flight control system 120, and according to the driving signal. A drive current is supplied to the motor 113 to control the rotational speed of the motor 113. The motor 113 is used to drive the rotation of the propeller 112 to power the flight of the multi-rotor drone 100, which causes the multi-rotor drone 100 to have a small wind resistance toward the direction of the airspeed of the multi-rotor drone 100.

The sensing system 130 is used to measure the attitude information of the multi-rotor UAV 100, that is, the position information and state information of the multi-rotor UAV 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, three-dimensional angular velocity, and the like. . The sensing system 130 may include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a Global Positioning System (GPS), a barometer, an airspeed meter, and the like. Kind.

The flight controller 120 is used to control the flight of the multi-rotor drone 100. For example, flight controller 120 may control multi-rotor drone 100 in accordance with pre-programmed program instructions. Specifically, the flight controller 120 can control the flight of the multi-rotor drone 100 based on the attitude information measured by the sensing system 130.

The frame 140 can include a fuselage and a stand (also known as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, one or more arms extending radially from the center Extend. The tripod is connected to the fuselage for supporting when the multi-rotor drone is landing.

It should be understood that the above-mentioned components of the multi-rotor drone 100 are named for the purpose of identification only and are not to be construed as limiting the embodiments of the invention.

FIG. 2 is a schematic flowchart of a control method 200 provided by an embodiment of the present invention. The control method 200 can be applied to various types of multi-rotor drones, for example, to the multi-rotor drone shown in FIG. 1. 100. The control method 200 can be performed, for example, by the flight controller 120 shown in FIG. As shown in FIG. 2, the control method 200 includes:

210. Control the multi-rotor drone to fly to the target location.

For example, the target location is the return point of the multi-rotor drone.

220, determining the airspeed of the multi-rotor drone.

It should be understood that airspeed refers to the speed of flight of the rotorcraft relative to the airflow. Specifically, the airspeed is equal to the vector sum of the reverse speed of the wind speed and the ground speed of the rotor drone, wherein the ground speed of the rotor drone refers to the speed of the rotor drone relative to the geodetic coordinate system.

为旋翼无人机的地速，

为风速，

为风速的反向速度，即

为旋翼无人机的空速，且

Specifically, as shown in FIG. 3,

For the ground speed of the rotorcraft,

For wind speed,

For the reverse speed of the wind speed, ie

Is the airspeed of the rotorcraft, and

多旋翼无人机的空速等于其地速，即

如图4a所示。It should be understood that in a windless environment, ie wind speed

The airspeed of a multi-rotor drone is equal to its ground speed, ie

As shown in Figure 4a.

230. Control the direction in which the wind resistance of the multi-rotor UAV is small toward the airspeed.

Specifically, the direction of the wind resistance of the multi-rotor UAV may be the direction of the streamlined design of the multi-rotor UAV, such as the direction in which the head of the multi-rotor UAV is located. It should be understood that the direction of the wind resistance of the multi-rotor UAV can be other directions that make the wind receiving area of the multi-rotor UAV smaller, and is not limited to the direction of the nose.

Optionally, as an embodiment, in the embodiment shown in FIG. 2, 230 controls the direction of the multi-rotor UAV with a small wind resistance toward the airspeed, including: controlling the direction of the multi-rotor UAV streamline design toward the airspeed. The direction.

Optionally, as an embodiment, in the embodiment shown in FIG. 2, 230 controls the direction of the streamlined design of the multi-rotor UAV toward the direction of airspeed, including: controlling the direction of the head of the multi-rotor drone The direction of airspeed.

In the embodiment of the present invention, the direction of the head of the multi-rotor UAV may be an angular range, and is not limited to the direction in which the head axis is located.

为其相对返航点的运动速度)，飞行过程中实时获取空速

然后将该四旋翼无人机的机头A所在的方向朝向空速

的方向。Specifically, as shown in FIG. 4, the returning scene of the quadrotor UAV is taken as an example, and the direction of the head of the quadrotor UAV is assumed to be the direction in which the wind resistance of the quadrotor UAV is small. As shown in Fig. 4a and Fig. 4b, the quadrotor UAV records the position of the return point (ie, the HOME point). After receiving the return request, the quadrotor drone flies to the return point (ie, the land of the multi-rotor drone). speed

For the relative speed of the return point, the airspeed is obtained in real time during the flight.

Then the direction of the nose A of the quadrotor UAV is oriented toward the airspeed

The direction.

四旋翼无人机的空速

等于其地速

即空速

为四旋翼无人机相对返航点的运动速度，控制四旋翼无人机的机头A所在的方向朝向空速

的方向。Specifically, Figure 4a shows the windless environment, ie the wind speed

Airspeed of a quadrotor drone

Equal to its ground speed

Airspeed

For the movement speed of the quadrotor UAV relative to the return point, the direction of the head A of the quadrotor UAV is controlled to face the airspeed.

The direction.

则多旋翼无人机的空速

等于地速

与

矢量和，然后控制多旋翼无人机的机头A所在的方向朝向空速

的方向飞行。Specifically, Figure 4b shows a windy environment, such as wind blowing from the side of a quadrotor UAV (assuming that the return point is in the direction of the quadrotor UAV) and the wind speed is

Airspeed of a multi-rotor drone

Equal to ground speed

versus

Vector sum, then control the direction of the nose A of the multi-rotor drone towards the airspeed

The direction of flight.

It should be understood that the direction of the head A is the direction of the wind resistance of the quadrotor UAV, that is, the wind receiving area is small. When the head of the four-rotor drone is controlled to fly toward the airspeed direction, it can effectively improve. The four-rotor UAV's wind resistance is not easy to be blown by the wind, improving the flight reliability of the drone.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

Specifically, the multi-rotor drone of FIG. 4 may be the multi-rotor drone 100 shown in FIG. 1.

It should also be understood that the embodiment of the present invention can be applied to the scenario where the multi-rotor UAV returns to the scene, and can also be applied to other trajectory planning automatic flight scenarios of the multi-rotor drone.

Specifically, in the embodiment of the present invention, the airspeed of the multi-rotor UAV can be acquired by various means.

Optionally, as an embodiment, in the embodiment shown in FIG. 2, determining the airspeed of the multi-rotor UAV includes: acquiring the current attitude information of the multi-rotor UAV; and according to the posture of the multi-rotor UAV The correspondence between the information and the airspeed and the current attitude information determine the airspeed of the multi-rotor drone.

It should be understood that the corresponding relationship between the attitude information and the airspeed of the multi-rotor UAV can be obtained in advance. Specifically, in the embodiment of the present invention, the control method further includes: acquiring the corresponding relationship when the wind speed is less than the threshold .

Specifically, the case where the wind speed is less than the threshold may mean that the wind is small or the wind hardly affects the situation in which the multi-rotor drone is flying. Wherein, the threshold may be an empirical value. For example, a situation in which the wind speed is less than the threshold may be approximated to a windless environment.

It should be noted that the windless environment mentioned below is a relative concept, and is not strictly windless. For example, the case where the wind speed is less than the threshold is called a windless environment. Correspondingly, the windy environment referred to below refers to a situation where the wind speed is greater than or equal to the threshold.

It can be seen from Fig. 4 that in the absence of wind, the airspeed of the multi-rotor UAV is its actual flight speed. By measuring the attitude information and speed information of the multi-rotor UAV flying in a windless environment, a multi-rotor can be obtained. The correspondence between the attitude information of the drone and the speed information, that is, the correspondence between the attitude information and the airspeed. When the airspeed of the multi-rotor UAV is determined in 220, the current attitude information of the multi-rotor UAV is first acquired, and then the current airspeed of the multi-rotor UAV is estimated based on the current attitude information and the corresponding relationship.

Optionally, after obtaining the airspeed corresponding to the current posture information based on the current posture information and the corresponding relationship, the obtained airspeed may be filtered by a Kalman filtering method to obtain more accurate airspeed information.

In an embodiment of the invention, the attitude information may include three-dimensional angle information, three-dimensional acceleration information, and three-dimensional angular velocity information or other related information.

Optionally, as an embodiment, in the embodiment shown in FIG. 2, 220 determines the airspeed of the multi-rotor drone, including:

Get the wind speed.

Specifically, the wind speed can be obtained by the ground station, for example, receiving information sent by the ground station for indicating the wind speed, thereby acquiring the wind speed.

Get the ground speed of a multi-rotor drone.

Specifically, the ground speed of the drone can be measured in real time through a sensing system on the multi-rotor drone.

Estimate the airspeed of the multi-rotor drone based on wind speed and ground speed.

Specifically, according to the schematic diagram shown in FIG. 3 or FIG. 4, the airspeed of the multi-rotor UAV is calculated according to the wind speed and the ground speed of the multi-rotor UAV.

Optionally, as an embodiment, in the embodiment shown in FIG. 2, 220 determines the airspeed of the multi-rotor drone, including: acquiring the air of the multi-rotor drone through the airspeed meter on the multi-rotor drone speed.

Specifically, an airspeed meter is installed on the multi-rotor drone, and the airspeed meter can measure the airspeed of the multi-rotor drone in real time. Specifically, the design of the airspeed meter in the embodiment of the present invention is smaller than the multi-turn The size of the winged drone, that is, the airspeed meter can be easily installed on a multi-rotor drone.

It should be understood that, in the embodiment of the present invention, the means for obtaining the airspeed of the multi-rotor UAV is not limited to the above several methods, and may be obtained by any other feasible method.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

The control method provided by the embodiment of the present invention is described above with reference to FIG. 2 to FIG. 4 , and the control device, the flight control system and the multi-rotor drone according to the embodiment of the present invention are respectively described below with reference to FIGS. 5 to 7 .

FIG. 5 shows a schematic block diagram of a control device 500 provided by an embodiment of the present invention, such as the flight controller 120 shown in FIG. 1. As shown in FIG. 5, the control device 500 includes:

a control module 510, configured to control the multi-rotor drone to fly to the target location;

a determining module 520, configured to determine an airspeed of the multi-rotor drone;

The control module 510 is further configured to control a direction in which the wind resistance of the multi-rotor UAV is small toward the airspeed.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

Optionally, as an embodiment, the control module 510 is configured to control a direction in which the multi-rotor UAV streamlined design is oriented toward the airspeed.

Optionally, as an embodiment, the control module 510 is configured to control a direction in which the head of the multi-rotor drone is oriented toward the airspeed.

Optionally, as an embodiment, the determining module 520 includes:

a first acquiring unit, configured to acquire current posture information of the multi-rotor UAV;

And a determining unit, configured to determine an airspeed of the multi-rotor UAV according to the correspondence between the attitude information of the multi-rotor UAV and the airspeed and the current attitude information acquired by the first acquiring unit.

Optionally, as an embodiment, the control apparatus 500 further includes:

The obtaining module 530 is configured to obtain the correspondence when the wind speed is less than a threshold.

Optionally, as an embodiment, the determining module 520 includes:

a second acquiring unit, configured to acquire a wind speed;

The second acquiring unit is further configured to acquire a ground speed of the multi-rotor UAV;

And a calculating unit, configured to estimate an airspeed of the multi-rotor drone according to the wind speed acquired by the second acquiring unit and the ground speed.

Optionally, as an embodiment, the second acquiring unit is configured to receive information sent by the ground station to indicate the wind speed.

Optionally, as an embodiment, the determining module 520 is configured to acquire an airspeed of the multi-rotor drone through an airspeed meter on the multi-rotor drone.

Optionally, as an embodiment, the target location is a return destination point of the multi-rotor drone.

It should be understood that the operations and functions of the various modules of the control device 500 provided by the embodiments of the present invention may refer to the control method shown in FIG. 2 above. To avoid repetition, details are not described herein again.

It should also be understood that the control module 510 and determination module 520 in embodiments of the present invention may be executed by a processor or processor circuit component.

FIG. 6 shows a schematic block diagram of a flight control system 600 provided by an embodiment of the present invention, which includes, for example, the flight controller 120 and the sensing system 130 shown in FIG. The flight control system 600 can include a processor 610 and a memory 620 that is communicatively coupled to the memory 620 via a bus 630. The memory 620 is used to store a program, the processor 610 is configured to execute a program stored in the memory, and when the program is executed, the processor 610 controls the multi-rotor drone to fly to the target location; determining that the multi-rotor drone is empty Speed; controlling the direction in which the multi-rotor drone has a small wind resistance toward the airspeed.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

Optionally, as an embodiment, the processor 610 is specifically configured to control a direction in which the multi-rotor UAV streamlined design is oriented toward the airspeed.

Optionally, as an embodiment, the processor 610 is specifically configured to control a direction in which the head of the multi-rotor drone is oriented toward the airspeed.

Optionally, as an embodiment, the processor 610 is specifically configured to acquire current posture information of the multi-rotor UAV, and according to the corresponding information of the attitude information of the multi-rotor UAV and the airspeed, and the current posture. Information to determine the airspeed of the multi-rotor drone.

Optionally, as shown in FIG. 6, as an embodiment, the flight control system 600 further includes:

The sensor 640 is communicatively coupled to the processor for sensing current attitude information of the multi-rotor drone, wherein the processor is configured to receive current attitude information of the multi-rotor drone sensed by the sensor.

Optionally, as an embodiment, the sensor comprises at least one of the following: a gyroscope, an electronic compass, an inertial measurement unit, and a vision sensor.

Optionally, as an embodiment, the processor 610 is specifically configured to acquire the correspondence when the wind speed is less than a threshold.

Optionally, as an embodiment, the processor 610 is specifically configured to acquire a wind speed, acquire a ground speed of the multi-rotor UAV, and estimate an airspeed of the multi-rotor UAV according to the wind speed and the ground speed. .

Optionally, as an embodiment, the processor 610 is specifically configured to receive information sent by the ground station to indicate the wind speed.

Optionally, as shown in FIG. 6, as an embodiment, the flight control system 600 further includes:

An airspeed meter 650 for measuring the airspeed of the multi-rotor drone;

The processor is communicatively coupled to the airspeed meter, and the processor is specifically configured to receive the airspeed of the multi-rotor drone sent by the airspeed meter.

It should be understood that both sensor 640 and airspeed meter 650 can belong to sensing system 130 shown in FIG.

Optionally, as an embodiment, the target location is a return destination point of the multi-rotor drone.

As shown in FIG. 6, the flight control system 600 further includes a transceiver 660 for transmitting commands to a power system (such as the power system 110 shown in FIG. 1) to control the power system to power the multi-rotor drone, The direction of the wind resistance of the multi-rotor drone is made to fly toward the airspeed of the multi-rotor drone.

It should be understood that the operation and function of each module of the flight control system 600 provided by the embodiment of the present invention may refer to the control method shown in FIG. 2 above. To avoid repetition, details are not described herein again.

FIG. 7 shows a schematic block diagram of a multi-rotor drone 700 provided by an embodiment of the present invention. The multi-rotor drone 700 includes a flight control system 710 and a power system 720, which may be the flight control system 600 described in the above embodiments, and the power system 720 may be the power system 110 as shown in FIG. The flight control system 710 is configured to control the power system 720 to provide flight power to the multi-rotor drone 700 to meet the direction of the airspeed of the multi-rotor drone toward the airspeed of the multi-rotor drone.

Therefore, in the embodiment of the present invention, by controlling the direction of the wind speed of the multi-rotor UAV toward the direction of the wind speed of the multi-rotor UAV, the wind resistance capability of the multi-rotor UAV can be improved, thereby improving the multi-rotor UAV. Flight reliability in high wind environments, for example, can increase the success rate of multi-rotor drones in returning to high winds.

It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be taken to the embodiments of the present invention. The implementation process constitutes any limitation.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the present invention The technical solution in essence or the part contributing to the prior art or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for making one The computer device (which may be a personal computer, server, or network device, etc.) performs all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the appended claims.

Claims (30)

A control method, comprising: Control the multi-rotor drone to fly to the target location; Determining an airspeed of the multi-rotor drone; A direction in which the wind resistance of the multi-rotor drone is small is controlled toward the airspeed. The control method according to claim 1, wherein the controlling the direction in which the wind resistance of the multi-rotor UAV is small toward the airspeed comprises: The direction of the streamlined design of the multi-rotor drone is controlled toward the direction of the airspeed. The control method according to claim 2, wherein the controlling the direction of the streamlined design of the multi-rotor UAV toward the direction of the airspeed comprises: The direction in which the nose of the multi-rotor drone is controlled is directed toward the direction of the airspeed. The control method according to any one of claims 1 to 3, wherein the determining the airspeed of the multi-rotor drone includes: Obtaining current posture information of the multi-rotor UAV; Determining the airspeed of the multi-rotor drone according to the correspondence between the attitude information of the multi-rotor UAV and the airspeed and the current attitude information. The control method according to claim 4, wherein the control method further comprises: In the case where the wind speed is less than the threshold, the correspondence is obtained. The control method according to any one of claims 1 to 3, wherein the determining the airspeed of the multi-rotor drone includes: Obtain wind speed; Obtaining the ground speed of the multi-rotor drone; The airspeed of the multi-rotor drone is estimated based on the wind speed and the ground speed. The control method according to claim 6, wherein the obtaining the wind speed comprises: Receiving information sent by the ground station for indicating the wind speed. The control method according to any one of claims 1 to 3, wherein the determining the airspeed of the multi-rotor drone includes: The airspeed of the multi-rotor drone is obtained by an airspeed meter on the multi-rotor drone. The control method according to any one of claims 1 to 8, wherein the object is The target location is the return destination point of the multi-rotor drone. A control device, comprising: a control module for controlling the multi-rotor drone to fly to the target location; Determining a module for determining an airspeed of the multi-rotor drone; The control module is further configured to control a direction in which the wind resistance of the multi-rotor UAV is small toward the airspeed. The control device according to claim 10, wherein said control module is configured to control a direction in which said multi-rotor UAV streamlined design is oriented toward said airspeed. The control device according to claim 11, wherein said control module is configured to control a direction in which said head of said multi-rotor drone is oriented toward said airspeed. The control device according to any one of claims 10 to 12, wherein the determining module comprises: a first acquiring unit, configured to acquire current posture information of the multi-rotor UAV; a determining unit, configured to determine an airspeed of the multi-rotor drone according to a correspondence between posture information of the multi-rotor UAV and an airspeed, and the current posture information acquired by the first acquiring unit. The control device according to claim 13, wherein the control device further comprises: And an acquiring module, configured to acquire the correspondence when the wind speed is less than a threshold. The control device according to any one of claims 10 to 12, wherein the determining module comprises: a second acquiring unit, configured to acquire a wind speed; The second obtaining unit is further configured to acquire a ground speed of the multi-rotor UAV; And a calculating unit, configured to estimate an airspeed of the multi-rotor drone according to the wind speed acquired by the second acquiring unit and the ground speed. The control device according to claim 15, wherein the second acquisition unit is configured to receive information sent by the ground station for indicating the wind speed. The control device according to any one of claims 10 to 12, wherein the determining module is configured to acquire the space of the multi-rotor drone through an airspeed meter on the multi-rotor drone speed. A control device according to any one of claims 10-17, wherein said The target location is the return destination point of the multi-rotor drone. A flight control system, comprising: Memory for storing programs; a processor, configured to execute the program stored by the memory, when the program is executed, the processor controls a multi-rotor drone to fly to a target location; determining an airspeed of the multi-rotor drone; The direction in which the wind resistance of the multi-rotor UAV is small is toward the direction of the airspeed. The flight control system according to claim 19, wherein said processor is specifically configured to control a direction in which said multi-rotor UAV streamlined design is oriented toward said airspeed. The flight control system according to claim 20, wherein said processor is specifically configured to control a direction in which said head of said multi-rotor drone is oriented toward said airspeed. The flight control system according to any one of claims 19 to 21, wherein the processor is specifically configured to acquire current posture information of the multi-rotor UAV, and according to the multi-rotor The airspeed of the multi-rotor drone is determined by the correspondence between the attitude information of the machine and the airspeed and the current attitude information. The flight control system of claim 22, wherein the flight control system further comprises: a sensor communicatively coupled to the processor for sensing current pose information of the multi-rotor drone, wherein the processor is configured to receive a current pose of the multi-rotor drone sensed by the sensor information. The flight control system according to claim 23, wherein the sensor comprises at least one of the following: a gyroscope, an electronic compass, an inertial measurement unit, and a vision sensor. The flight control system according to any one of claims 22 to 24, wherein the processor is further configured to acquire the correspondence if the wind speed is less than a threshold. The flight control system according to any one of claims 19 to 21, wherein the processor is specifically configured to acquire a wind speed, acquire a ground speed of the multi-rotor drone, and according to the wind speed The ground speed is used to estimate the airspeed of the multi-rotor drone. The flight control system according to claim 26, wherein said processor is specifically configured to receive information transmitted by the ground station for indicating said wind speed. The flight control system according to any one of claims 19 to 21, wherein the flight control system further comprises: An airspeed meter for measuring the airspeed of the multi-rotor drone; The processor is communicatively coupled to the airspeed meter, and the processor is specifically configured to receive an airspeed of the multi-rotor drone sent by the airspeed meter. The flight control system according to any one of claims 19 to 28, wherein the target location is a return destination point of the multi-rotor drone. A multi-rotor drone characterized by comprising a power system and a flight control system according to any one of claims 19-29, wherein said flight control system is for controlling said power system to said The multi-rotor drone provides flight power to meet the direction of the airspeed of the multi-rotor drone toward the airspeed of the multi-rotor drone.

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