WO2019119199A1 - 无人机的控制方法、控制装置、无人机及农业无人机 - Google Patents

无人机的控制方法、控制装置、无人机及农业无人机 Download PDF

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Publication number
WO2019119199A1
WO2019119199A1 PCT/CN2017/116900 CN2017116900W WO2019119199A1 WO 2019119199 A1 WO2019119199 A1 WO 2019119199A1 CN 2017116900 W CN2017116900 W CN 2017116900W WO 2019119199 A1 WO2019119199 A1 WO 2019119199A1
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WIPO (PCT)
Prior art keywords
drone
ground
flying height
detecting
preset
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PCT/CN2017/116900
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English (en)
French (fr)
Inventor
王石荣
王春明
王俊喜
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202310159236.9A priority Critical patent/CN115951713A/zh
Priority to PCT/CN2017/116900 priority patent/WO2019119199A1/zh
Priority to JP2020527064A priority patent/JP2021504790A/ja
Priority to CN201780025629.3A priority patent/CN109074098B/zh
Publication of WO2019119199A1 publication Critical patent/WO2019119199A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the embodiment of the invention relates to the field of drones, and in particular to a control method, a control device, a drone and an agricultural drone of a drone.
  • the drone can be applied in many fields, such as aerial photography, agricultural plant protection, electric power inspection, disaster relief and the like.
  • drones need to follow terrain flight.
  • agricultural drones as a tool for generating agricultural plant protection, need to maintain a certain height with the ground when working, but the terrain of the working area of the agricultural drone It may be more complicated. When the local shape is more complicated, it is difficult to control the stable flight of the drone.
  • Embodiments of the present invention provide a control method, a control device, a drone, and an agricultural drone of a drone to improve the stability of the drone during flight following the terrain.
  • a first aspect of the embodiments of the present invention provides a method for controlling a drone, including:
  • the drone is controlled to fly in the work area according to the flight state parameter of the drone.
  • a second aspect of the embodiments of the present invention provides a control device for a drone, including: a memory and a processor;
  • the memory is for storing program code
  • the processor calls the program code to perform the following operations when the program code is executed:
  • the drone is controlled to fly in the work area according to the flight state parameter of the drone.
  • a third aspect of the embodiments of the present invention provides a drone, including:
  • a power system mounted to the fuselage for providing flight power
  • a detecting device mounted on the body for detecting a target object around the drone
  • control device of the second aspect wherein the control device is in communication with the power system for controlling the flight of the drone.
  • a fourth aspect of the embodiments of the present invention provides an agricultural drone, including:
  • a power system mounted to the fuselage for providing flight power
  • a detecting device installed in the body for detecting a target object around the agricultural drone
  • control device of the second aspect wherein the control device is in communication with the power system for controlling the flight of the agricultural drone.
  • the control method, the control device, the drone and the agricultural drone of the drone provided by the embodiment detect the topographical information of the working area of the drone through the detecting device on the drone, according to the topographic information of the operating area of the drone Adjusting the flight state parameters of the drone and controlling the flight of the drone in the work area according to the flight state parameters of the drone, so that the flight state parameters of the drone can be changed as the terrain changes, ensuring the drone It can follow the terrain flight in real time.
  • the flight of the drone can be controlled according to the change of the terrain, which can improve the stability of the drone during the follow-up flight.
  • FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a drone according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of adjusting a posture of a drone according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a drone according to another embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a drone according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a drone according to another embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a drone according to another embodiment of the present invention.
  • FIG. 12 is a structural diagram of a control apparatus according to an embodiment of the present invention.
  • FIG. 13 is a structural diagram of a drone according to an embodiment of the present invention.
  • FIG. 14 is a structural diagram of an agricultural drone according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 detecting terrain information of the operating area of the drone by using the detecting device on the drone.
  • the drone 20 is provided with a detecting device 21, and the detecting device 21 can detect a target object around the drone 20.
  • the detecting device includes at least one of the following: an electromagnetic wave radar detecting device and a laser Radar detection equipment, vision sensors, ultrasonic detection equipment.
  • the detecting device 21 may specifically be an electromagnetic wave radar detecting device.
  • the detecting device 21 emits electromagnetic waves. When the ground below the drone 20 receives the electromagnetic wave, the electromagnetic wave is reflected. The detecting device 21 determines the distance of the ground relative to the drone 20 based on the electromagnetic waves emitted by it and the electromagnetic waves reflected by the received ground.
  • the detecting device 21 can emit electromagnetic waves in different directions, and the ground in different directions under the drone 20 can receive electromagnetic waves in corresponding directions, so that the detecting device 21 can receive electromagnetic waves reflected by the ground in different directions, thereby determining no
  • the processor 22 can determine the terrain below the drone 20 according to the distance of the ground in different directions under the drone 20 relative to the drone 20 Information, such as the slope of the ground, flatness, etc.
  • Processor 22 may be a flight controller of drone 20 or other general purpose or special purpose processor.
  • the drone is an agricultural drone.
  • the drone 20 may specifically be an agricultural drone, and the ground below the agricultural drone may be a working area of the agricultural drone, and the processor 22 may be opposite to the ground in different directions under the agricultural drone.
  • the terrain information of the working area of the agricultural drone determines the topographical information of the working area of the agricultural drone.
  • the topographical information of the operating area of the drone includes at least one of the following: the ground gradient of the operating area of the drone The ground level of the working area of the drone.
  • detecting, by the detecting device on the drone, terrain information of the operating area of the drone including: detecting terrain information of the working area of the drone by continuously rotating the detecting device on the drone . That is, as shown in FIG. 2, the detecting device 21 such as the electromagnetic wave radar detecting device is rotatable, for example, continuously rotated. The rotation axis of the detecting device is perpendicular to the yaw axis of the drone, and the rotation axis of the detecting device is parallel to the pitch axis of the drone.
  • the detecting device 31 is vertically disposed on the drone 30. Specifically, the rotating shaft of the detecting device 31 is perpendicular to the yaw axis of the drone 30, and the rotating shaft of the detecting device 31 and the drone 30 The pitch axes are parallel. This embodiment does not limit the position of the detecting device 31 on the drone 30.
  • the detecting device is connected to a tripod of the drone. That is, the detecting device 31 can be fixed to the stand of the drone 30.
  • the processor 32 on the drone 30 can determine the working area of the drone 30 according to the distance of the ground in the different direction of the drone 30 detected by the detecting device 31 during the continuous rotation from the drone 30.
  • Terrain information such as the slope of the work area, and the ground flatness of the work area.
  • the ground slope of the UAV working area includes at least one of: a ground slope of the first detecting direction of the detecting device, a ground slope of the second detecting direction, and a ground slope of the third detecting direction; wherein
  • the first detecting direction is at a first preset angle with a yaw axis direction of the drone, and the second detecting direction is parallel to a yaw axis direction of the drone, the third detecting direction a second predetermined angle with the yaw axis direction of the drone, the first detecting direction and the third detecting direction being on both sides of the second detecting direction.
  • the ground flatness of the UAV working area includes at least one of: ground flatness of the first detecting direction, ground flatness of the second detecting direction, and ground flatness of the third detecting direction.
  • the first detecting direction of the detecting device 21 is the direction indicated by the arrow A
  • the second detecting direction of the detecting device 21 is the direction indicated by the arrow B
  • the third detecting device 21 The detecting direction is the direction indicated by the arrow C, that is, the first detecting direction of the detecting device 21 is the front lower side of the drone 20, and the second detecting direction of the detecting device 21 is directly below the drone 20, and the detecting device
  • the third detection direction of 21 is the lower rear of the drone 20.
  • the first detecting direction is at a first preset angle ⁇ with the yaw axis direction of the drone 20, and the second detecting direction is Parallel to the yaw axis direction of the drone 20, the third detecting direction is at a second predetermined angle ⁇ with the yaw axis direction of the drone 20, and the first preset angle ⁇ and the second preset angle ⁇ may be equal. Can not wait.
  • the embodiment does not limit the sizes of the first preset angle ⁇ and the second preset angle ⁇ .
  • the processor 22 can detect, by the detecting device 21, that the ground slope of the front and lower sides of the drone 20 is recorded as k 1 , the ground slope immediately below is recorded as k 2 , and the ground slope of the lower rear is recorded as k 3 ; in addition, the processor 22 It may also be detected by the detection device 21 out of the ground 20 below the front UAV flatness e 1, just below the surface flatness e 2, and the ground below the rear flatness e 3.
  • the processor 32 can detect, by the detecting device 31, that the ground slope of the front and lower sides of the drone 30 is recorded as k 1 , the slope of the ground directly below is recorded as k 2 , and the slope of the ground below and below. It is k 3; further, the processor 32 may also be detected by the detection device 31 prior to the UAV ground below 30 flatness e 1, just below the surface flatness of 2, and the ground below the rear flatness e e 3.
  • Step S102 Adjust a flight state parameter of the UAV according to terrain information of the UAV work area.
  • the processor 22 determines the ground gradient k 1 in front of the front and rear of the drone 20, the ground gradient k 2 directly below, the ground slope k 3 in the lower rear, and the ground flatness e in front of and below the drone 20 1.
  • the processor 22 may adjust according to at least one of k 1 , k 2 , k 3 , e 1 , e 2 , e 3 Flight status parameters of the drone 20.
  • the processor 32 can adjust the flight state parameters of the drone 30 according to at least one of k 1 , k 2 , k 3 , e 1 , e 2 , and e 3 .
  • the adjusting the flight state parameter of the UAV according to the terrain information of the UAV work area includes at least one of: adjusting the None according to a ground slope of the UAV work area The attitude angle of the man-machine; adjusting the flying height of the drone according to the ground flatness of the working area of the drone.
  • the processor 22 may adjust the attitude angle of the drone 20 according to at least one of k 1 , k 2 , k 3 ; adjust the flight of the drone 20 according to at least one of e 1 , e 2 , e 3
  • the height of the drone 20 may specifically be the vertical height of the drone 20 relative to the ground.
  • Adjusting the attitude angle of the drone according to the ground gradient of the UAV working area includes: adjusting a pitch angle of the UAV according to a ground gradient of the UAV working area.
  • the pitch angle of the drone 20 can be specifically adjusted.
  • the ground slope k 1 in front of the front and rear of the drone 20 corresponds to an angle ⁇
  • the UAV can be adjusted according to the k 1 pitch angle 20, as shown in FIG.
  • the current UAV pitch angle 20 is 0, the UAV after adjusting the pitch angle [theta] is 20, as shown in FIG 4
  • the specific manner of adjusting the attitude angle of the drone 20 according to at least one of k 1 , k 2 , and k 3 is not limited, and is not limited to at least one of e 1 , e 2 , and e 3 .
  • a specific way of adjusting the flying height of the drone 20 is only a schematic description, and the specific manner of adjusting the attitude angle of the drone 20 according to at least one of k 1 , k 2 , and k 3 is not limited, and is not limited to at least one of e 1 , e 2 , and e 3 .
  • Step S103 Control the drone to fly in the work area according to the flight state parameter of the drone.
  • the processor 22 adjusts the attitude angle of the drone 20 according to at least one of k 1 , k 2 , k 3 , and/or adjusts the flying height of the drone 20 according to at least one of e 1 , e 2 , e 3 Thereafter, the processor 22 can control the drone 20 to fly in the work area according to the adjusted flight state parameters of the drone 20, for example, controlling the agriculture according to the adjusted pitch angle and/or flight height of the agricultural drone.
  • the drone flies in the work area.
  • the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone.
  • the drone is flying in the work area, so that the flight state parameters of the drone can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time.
  • the unmanned person is controlled according to the change of the terrain.
  • the flight of the aircraft can improve the stability of the drone during the follow-up flight.
  • Embodiments of the present invention provide a method for controlling a drone.
  • FIG. 5 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 5, based on the embodiment shown in FIG. 1 , step S102 may adjust the flight state parameters of the drone according to the terrain information of the operating area of the drone.
  • Step S501 Adjust an attitude angle of the drone according to a ground gradient of the unmanned aerial working area.
  • Adjusting the attitude angle of the drone according to the ground gradient of the drone working area comprising: adjusting the pitch of the drone according to the ground gradient of the drone working area angle.
  • the processor 1 32 may be adjusted according to the slope k below the front surface 30 of the UAV 30 of the UAV pitch angle, consistent with the specific adjustment method for adjusting in FIG. 2, the method shown in FIG. 4, this I won't go into details here.
  • Step S502 determining a current flying height of the drone.
  • the determining the current flying height of the drone includes: determining, according to the adjusted attitude angle of the drone, and the current rotation angle of the detecting device, determining the first detecting device An angle of the detecting direction with respect to the vertical direction; determining a current flying height of the drone according to an angle of the first detecting direction of the detecting device with respect to the vertical direction and a detecting distance of the first detecting direction.
  • the direction of the first detecting direction of the detecting device 31 for example, the direction indicated by the arrow A also changes, and in addition, when the detecting device 31 rotates, the detecting device 31
  • the direction of the first detection direction for example, indicated by the arrow A, also changes.
  • the first detection direction of the detection device 31 can be determined relative to the vertical.
  • the angle ⁇ of the direction is further based on the angle ⁇ of the first detecting direction of the detecting device 31 with respect to the vertical direction, and the distance of the ground relative to the drone 30 before and below the drone 30 detected by the detecting device 31 in the first detecting direction.
  • L the current flying height H of the drone 30 can be determined.
  • the angle of the second detecting direction of the detecting device 31, for example, the direction indicated by the arrow B, with respect to the vertical direction, and the detecting device 31 directly below the unmanned aerial vehicle 30 detected in the second detecting direction may also be used.
  • the distance of the ground relative to the drone 30 determines the current flying height H of the drone 30.
  • the angle of the direction indicated by the third detecting direction of the detecting device 31, for example, the arrow C, with respect to the vertical direction, and the lower side of the drone 30 detected by the detecting device 31 in the third detecting direction may also be used.
  • the distance of the ground relative to the drone 30 determines the current flying height H of the drone 30.
  • Step S503 Adjust a flying height of the drone according to a current flying height of the drone and a ground level of the drone working area.
  • the flying height of the drone can be adjusted according to the current flying height of the drone 30 and the ground flatness of the operating area of the drone.
  • the drone 30 is along the Flying in the direction indicated by the arrow D
  • the current flying height of the drone 30 is H
  • the ground flatness of the front and lower sides of the drone 30 is e 1 . If e 1 is smaller than a predetermined value ⁇ , it is determined whether H is less than a first predetermined height H a, if H is less than H a, 30 need to adjust the current UAV flying height H, such that H is greater than or equal to H a.
  • H is less than the second preset height H b . If H is less than H b , then the current flying height H of the drone 30 needs to be adjusted so that H is greater than or equal to H. b , optionally, H a is less than H b .
  • the attitude angle of the drone is adjusted by the ground gradient of the operating area of the drone, so that the drone can climb or descend down at an angle consistent with the slope of the ground, so that the drone can be relative to the slope.
  • Contour flight according to the ground level of the UAV operating area, adjusting the flying height of the UAV can make the flying height of the UAV not lower than the safe altitude, ensuring the safety of the UAV during the flight.
  • Embodiments of the present invention provide a method for controlling a drone.
  • FIG. 7 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 7 , based on the foregoing embodiment, step S102, according to the terrain information of the operating area of the drone, adjusting the flight state parameter of the drone may include:
  • Step S701 Obtain a current flight state of the drone.
  • the processor in the drone determines the ground gradient k 1 in front of the drone, the ground slope k 2 directly below, the ground slope k 3 in the lower rear, and the ground in the lower front by the electromagnetic wave radar.
  • the current flight state of the drone is further obtained, for example, the drone advances forward, backward moves backwards, Hover or move left and right.
  • Step S702 adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.
  • a possible situation is: when the drone flies forward, if the ground slope of the first detecting direction is greater than a preset slope, adjusting the none according to the ground slope of the first detecting direction The pitch angle of the man-machine.
  • the drone when the drone advances and advances, it can be preferentially judged whether the ground gradient k 1 in front of the front of the drone is valid, and the basis for determining whether k 1 is valid is: if k 1 is greater than the preset gradient, Then it is determined that k 1 is valid, and if k 1 is less than or equal to the preset slope, it is determined that k 1 is invalid.
  • X represents the X-axis of the body coordinate system of the drone.
  • the angle between the X-axis and the horizontal plane is the pitch angle of the drone.
  • the pitch angle of the drone is positive.
  • the pitch angle of the drone is negative, as shown in Figure 9.
  • k 1 is less than 0, the drape angle of the drone is negative, and when the drone flies forward, the drone is moving downhill.
  • Another possible situation is: when the drone is flying backwards, if the ground slope of the third detecting direction is greater than a preset slope, adjusting the drone according to the ground slope of the third detecting direction The pitch angle.
  • the drone when the drone moves backwards and then retreats, it can be preferentially judged whether k 3 is valid, and the basis for judging whether k 3 is valid is: if k 3 is greater than the preset gradient, it is determined that k 3 is valid, if k 3 is less than or equal to the preset slope, then it is determined that k 3 is invalid.
  • the X axis is forward in front of the drone, and the drone 20 flies backward in the direction indicated by the arrow D. If k 3 is less than 0, it means that the drone can perform the climbing motion according to k 3 . As shown in FIG. 11 , the X axis is forward in front of the drone, and the drone 20 is rearward in the direction indicated by the arrow D. flight.
  • a further possible situation is: when the drone flies forward, if the ground slope of the first detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, The ground slope of the second detecting direction is described, and the pitch angle of the drone is adjusted.
  • a further possible situation is: when the drone is flying backwards, if the ground slope of the third detecting direction is less than the preset slope, and the ground slope of the second detecting direction is greater than the preset slope, The ground slope of the second detecting direction is described, and the pitch angle of the drone is adjusted.
  • Step S703 determining a current flying height of the drone.
  • Step S703 is the same as the specific principle and implementation manner of step S502, and details are not described herein again.
  • Step S704 adjusting a flying height of the drone according to a current flying height of the drone and a ground level of the drone working area.
  • adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone including the following possible situations:
  • the ground gradient of the first detecting direction is greater than a preset gradient
  • the ground level is adjusted to adjust the flying height of the drone, including: adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction.
  • the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e 1 in front of the drone.
  • Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction including: if the first detecting direction is ground level If the whole flight height is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least the first Setting a height; if the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to The flying height of the drone is at least a second preset height; wherein the first preset height is smaller than the second preset height.
  • the ground flatness e 1 in front of the front of the drone is less than a preset flatness, for example, a given value ⁇
  • a preset flatness for example, a given value ⁇
  • H is less than H a you need to adjust the current flying height H of the drone so that H is greater than or equal to H a .
  • e 1 is greater than or equal to the given value ⁇
  • H is less than the second preset height H b .
  • H is less than H b
  • the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H b .
  • H a is less than H b .
  • the ground level of the area, adjusting the flying height of the drone includes: adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction.
  • the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e 3 below the drone.
  • Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction including: if the ground flatness of the third detecting direction is less than a preset Flatness, if the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a first preset height; If the ground flatness of the third detecting direction is greater than or equal to the preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to make the unmanned
  • the flying height of the machine is at least a second preset height; wherein the first preset height is smaller than the second preset height.
  • the ground flatness e 3 at the lower rear of the drone is less than the preset flatness, for example, a given value ⁇
  • it is determined whether the current flying height H of the drone is less than the first preset height H a if H is less than H a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H a .
  • e 3 is greater than or equal to the given value ⁇
  • H it is determined whether H is less than the second preset height H b . If H is less than H b , then the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H b .
  • H a is less than H b .
  • the ground slope of the first detecting direction is less than a preset slope
  • the ground slope of the second detecting direction is greater than a preset slope
  • the drone when the drone advances and advances, it can be preferentially judged whether the ground gradient k 1 in front of the front of the drone is valid, and if k 1 is invalid and k 2 is valid, the adjustment is based on k 2 .
  • the flying height of the drone After the pitch angle of the man-machine, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e 2 directly under the drone.
  • Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction including: if the ground flatness of the second detecting direction is less than a preset Flatness, if the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a first preset height; If the ground flatness of the second detecting direction is greater than or equal to the preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to make the unmanned
  • the flying height of the machine is at least a second preset height; wherein the first preset height is smaller than the second preset height.
  • the ground flatness e 2 directly below the drone is less than a preset flatness, for example, a given value ⁇
  • a preset flatness for example, a given value ⁇
  • H is less than H a you need to adjust the current flying height H of the drone so that H is greater than or equal to H a .
  • e 2 is greater than or equal to the given value ⁇
  • H is less than the second preset height H b . If H is less than H b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H b .
  • H a is less than H b .
  • the drone when the drone moves backwards and then retreats, it can be prioritized whether the ground slope k 3 below the drone is valid, and if k 3 is invalid and k 2 is valid, the adjustment is based on k 2 .
  • the flying height of the drone After the pitch angle of the man-machine, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e 2 directly under the drone.
  • Adjusting the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction including: if the ground flatness of the second detecting direction is less than a preset Flatness, if the current flying height of the drone is less than the first preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a first preset height; If the ground flatness of the second detecting direction is greater than or equal to the preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone to make the unmanned
  • the flying height of the machine is at least a second preset height; wherein the first preset height is smaller than the second preset height.
  • the ground flatness e 2 directly below the drone is less than a preset flatness, for example, a given value ⁇
  • a preset flatness for example, a given value ⁇
  • H is less than H a you need to adjust the current flying height H of the drone so that H is greater than or equal to H a .
  • e 2 is greater than or equal to the given value ⁇
  • H is less than the second preset height H b . If H is less than H b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H b .
  • H a is less than H b .
  • the priority when the unmanned aircraft hover or move about, the priority may be determined directly below the UAV ground slope k 2 is valid, effective in the case where k 2, k 2 adjusted according UAV After the pitch angle, the flying height of the drone can also be adjusted according to the current flying height of the drone and the ground flatness e 2 directly under the drone. Specifically, if the ground flatness e 2 directly below the drone is less than a preset flatness, for example, a given value ⁇ , it is determined whether the current flying height H of the drone is less than the first preset height H a , if H is less than H a , you need to adjust the current flying height H of the drone so that H is greater than or equal to H a .
  • a preset flatness for example, a given value ⁇
  • H is less than the second preset height H b . If H is less than H b , the current flying height H of the drone needs to be adjusted so that H is greater than or equal to H b . , optionally, H a is less than H b .
  • the pitch angle of the drone is adjusted according to the current flight state of the drone and the ground gradient of the drone operating area, and the ground slope of different detection directions can be selected according to different flight states of the drone to adjust the unmanned
  • the pitch angle of the machine improves the accuracy of adjusting the pitch angle of the drone.
  • the ground level of different detection directions is selected to adjust the flying height of the drone, so that the flying height of the drone is not lower than the safe height, further ensuring the drone's flight process. Security in the middle.
  • motion predictions for drones are implemented, such as predicting drone climbs or downhill.
  • FIG. 12 is a structural diagram of a control apparatus according to an embodiment of the present invention.
  • the control apparatus 120 includes: a memory 121 and a processor 122.
  • the memory 121 is configured to store program code
  • the processor 122 calls the program code.
  • the program code is executed, the following operations are performed: detecting terrain information of the drone working area by the detecting device on the drone; and adjusting the drone according to the topographic information of the drone working area a flight state parameter; controlling the drone to fly in the work area according to the flight state parameter of the drone.
  • the terrain information of the UAV work area includes at least one of: a ground slope of the UAV work area, and a ground flatness of the UAV work area.
  • the ground slope of the UAV working area includes at least one of: a ground slope of the first detecting direction of the detecting device, a ground slope of the second detecting direction, and a ground slope of the third detecting direction; wherein
  • the first detecting direction is at a first preset angle with a yaw axis direction of the drone, and the second detecting direction is parallel to a yaw axis direction of the drone, the third detecting direction a second predetermined angle with the yaw axis direction of the drone, the first detecting direction and the third detecting direction being on both sides of the second detecting direction.
  • the ground flatness of the UAV working area includes at least one of: ground flatness of the first detecting direction, ground flatness of the second detecting direction, and ground flatness of the third detecting direction.
  • the processor 122 when the processor 122 adjusts the flight state parameter of the UAV according to the terrain information of the UAV work area, the processor 122 is specifically configured to: at least one of: according to the ground slope of the UAV work area Adjusting the attitude angle of the drone; adjusting the flying height of the drone according to the ground flatness of the unmanned aerial working area.
  • the processor 122 when the processor 122 adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, the processor 122 is specifically configured to: adjust the The pitch angle of the man-machine.
  • the processor 122 when detecting, by the detecting device on the drone, the processor 122 detects terrain information of the operating area of the drone, the processor 122 is configured to: detect, by using a continuously rotating detecting device on the drone, terrain information of the operating area of the drone.
  • control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and are not described herein again.
  • the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone.
  • the drone is flying in the work area, so that the flight state parameters of the drone can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time.
  • the unmanned person is controlled according to the change of the terrain.
  • the flight of the aircraft can improve the stability of the drone during the follow-up flight.
  • Embodiments of the present invention provide a control device for a drone.
  • the processor 122 adjusts the attitude angle of the drone according to the ground gradient of the operating area of the drone, and is further configured to: determine the unmanned The current flying height of the aircraft; when the processor 122 adjusts the flying height of the drone according to the ground flatness of the operating area of the drone, specifically for: according to the current flying height of the drone and the The ground level of the drone operating area adjusts the flying height of the drone.
  • the method is specifically configured to: determine the detecting according to the adjusted attitude angle of the drone and the current rotation angle of the detecting device. Determining the angle of the first detecting direction of the device with respect to the vertical direction; determining the current state of the drone according to the angle of the first detecting direction of the detecting device with respect to the vertical direction and the detecting distance in the first detecting direction Flight height.
  • the processor 122 is further configured to: acquire a current flight state of the drone; and when the processor 122 adjusts a pitch angle of the drone according to a ground gradient of the drone operating area, specifically: Adjusting a pitch angle of the drone according to a current flight state of the drone and a ground gradient of the drone working area.
  • control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 5, and details are not described herein again.
  • the attitude angle of the drone is adjusted by the ground gradient of the operating area of the drone, so that the drone can climb or descend down at an angle consistent with the slope of the ground, so that the drone can be relative to the slope.
  • Contour flight according to the ground level of the UAV operating area, adjusting the flying height of the UAV can make the flying height of the UAV not lower than the safe altitude, ensuring the safety of the UAV during the flight.
  • Embodiments of the present invention provide a control device for a drone.
  • the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone operating area. Specifically, when the UAV is flying forward, if the ground slope of the first detecting direction is greater than a preset slope, adjusting the pitch angle of the drone according to the ground slope of the first detecting direction .
  • the processor 122 when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, the processor 122 is specifically configured to: according to the unmanned The current flying height of the machine and the ground flatness of the first detecting direction adjust the flying height of the drone.
  • the processor 122 when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the first detecting direction, the processor 122 is specifically configured to: if the first detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the first detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than a second preset height, adjusting the flight of the drone a height such that the flying height of the drone is at least a second predetermined height; wherein the first preset height is smaller than the second preset height.
  • the processor 122 when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone is backward During flight, if the ground gradient of the third detecting direction is greater than the preset gradient, the pitch angle of the drone is adjusted according to the ground gradient of the third detecting direction.
  • the processor 122 is configured according to the current flying height of the drone and the drone.
  • the ground level of the industrial area when adjusting the flying height of the drone, is specifically used to: adjust the drone according to the current flying height of the drone and the ground flatness of the third detecting direction Flight height.
  • the processor 122 when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the third detecting direction, the processor 122 is specifically configured to: if the third detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the third detecting direction is greater than or equal to a preset flatness, and the current flying height of the drone is less than the second preset height, adjusting the flight of the drone a height such that the flying height of the drone is at least a second predetermined height; wherein the first preset height is smaller than the second preset height.
  • the processor 122 when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone moves forward In flight, if the ground slope of the first detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, adjusting the unmanned according to the ground slope of the second detecting direction The pitch angle of the machine.
  • the processor 122 when the processor 122 adjusts the pitch angle of the drone according to the current flight state of the drone and the ground gradient of the drone working area, the processor 122 is specifically configured to: when the drone is backward In flight, if the ground slope of the third detecting direction is less than a preset slope, and the ground slope of the second detecting direction is greater than a preset slope, adjusting the unmanned according to the ground slope of the second detecting direction The pitch angle of the machine.
  • the processor 122 when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the operating area of the drone, the processor 122 is specifically configured to: according to the unmanned The current flying height of the machine and the ground flatness of the second detecting direction adjust the flying height of the drone.
  • the processor 122 when the processor 122 adjusts the flying height of the drone according to the current flying height of the drone and the ground flatness of the second detecting direction, the processor 122 is specifically configured to: if the second detecting If the ground level of the direction is less than the preset flatness, and the current flying height of the drone is less than the first preset height, adjust the flying height of the drone so that the flying height of the drone is at least a first preset height; if the ground flatness of the second detecting direction is greater than or equal to Presetting the flatness, if the current flying height of the drone is less than the second preset height, adjusting the flying height of the drone so that the flying height of the drone is at least a second preset height; The first preset height is smaller than the second preset height.
  • control device provided by the embodiment of the present invention is similar to the embodiment shown in FIG. 7, and are not described herein again. .
  • the pitch angle of the drone is adjusted according to the current flight state of the drone and the ground gradient of the drone operating area, and the ground slope of different detection directions can be selected according to different flight states of the drone to adjust the unmanned
  • the pitch angle of the machine improves the accuracy of adjusting the pitch angle of the drone.
  • the ground level of different detection directions is selected to adjust the flying height of the drone, so that the flying height of the drone is not lower than the safe height, further ensuring the drone's flight process. Security in the middle.
  • motion predictions for drones are implemented, such as predicting drone climbs or downhill.
  • FIG. 13 is a structural diagram of a drone according to an embodiment of the present invention.
  • the drone 130 includes: a fuselage, a power system, a detecting device 131, and a control device 132, and the power system includes at least one of the following
  • the motor 107, the propeller 106 and the electronic governor 117 are mounted on the airframe for providing flight power; the control device 132 is in communication with the power system for controlling the drone 130 to fly.
  • control device 132 may specifically be a flight controller.
  • control device 132 The implementation manner and specific principles of the control device 132 are consistent with the foregoing embodiments, and details are not described herein again.
  • the detection device 131 is continuously rotated, as shown in FIG.
  • the rotation axis of the detecting device 131 is perpendicular to the yaw axis of the drone 130, and the rotation axis of the detecting device 131 is parallel to the pitch axis of the drone 130.
  • the detection device 131 is coupled to the stand of the drone 130.
  • the detecting device 131 includes at least one of: an electromagnetic wave radar detecting device, a lidar detecting device, a visual sensor, and an ultrasonic detecting device.
  • the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone.
  • the drone flies in the work area, making the flight of the drone
  • the state parameters can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time.
  • the flight of the drone can be controlled according to the change of the terrain, which can improve the flight process of the drone following the terrain. Stability in the middle.
  • FIG. 14 is a structural diagram of an agricultural drone according to an embodiment of the present invention.
  • the agricultural drone 140 includes a fuselage, a power system, a detecting device 141, and a control device.
  • a power system is mounted on the airframe for providing flight power;
  • a detection device 141 is mounted on the airframe for detecting a target object around the agricultural drone; and
  • a control device is in communication with the power system for control
  • the agricultural drone 140 flies.
  • the control device may specifically be a flight controller of an agricultural drone. The implementation manner and specific principles of the control device are consistent with the foregoing embodiments, and details are not described herein again.
  • the detection device 141 is continuously rotated; the axis of rotation of the detection device 141 is perpendicular to the yaw axis of the agricultural drone 140, and the axis of rotation of the detection device is parallel to the pitch axis of the agricultural drone 140.
  • the detection device 141 is coupled to the stand of the agricultural drone 140. That is to say, the detecting device 141 is fixed on the stand of the agricultural drone.
  • the detecting device 141 includes at least one of: an electromagnetic wave radar detecting device, a lidar detecting device, a visual sensor, and an ultrasonic detecting device.
  • the terrain information of the operating area of the drone is detected by the detecting device on the drone, and the flight state parameters of the drone are adjusted according to the terrain information of the operating area of the drone, and are controlled according to the flight state parameters of the drone.
  • the drone is flying in the work area, so that the flight state parameters of the drone can change with the change of the terrain, ensuring that the drone can follow the terrain flight in real time.
  • the unmanned person is controlled according to the change of the terrain.
  • the flight of the aircraft can improve the stability of the drone during the follow-up flight.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • 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.
  • Another point, displayed or The mutual coupling or direct coupling or communication connection discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in 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.
  • 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 above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • 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, which can store program codes. .

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Abstract

本发明实施例提供一种无人机的控制方法、控制装置、无人机及农业无人机，该方法包括：通过无人机上的探测设备检测无人机作业区域的地形信息；根据无人机作业区域的地形信息，调整无人机的飞行状态参数；根据无人机的飞行状态参数，控制无人机在作业区域飞行。本发明实施例通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。

Description

无人机的控制方法、控制装置、无人机及农业无人机 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人机的控制方法、控制装置、无人机及农业无人机。
背景技术
现有技术中无人机可以被应用在很多领域，例如航拍、农业植保、电力巡检、救灾等领域。
在一些应用领域中，无人机需要跟随地形飞行，例如，农业无人机作为农业植保的生成工具在进行作业时，需要与地面保持一定的高度，但是，农业无人机的作业区域的地形可能较为复杂，当地形较为复杂时，很难控制无人机稳定的飞行。
发明内容
本发明实施例提供一种无人机的控制方法、控制装置、无人机及农业无人机，以提高无人机在跟随地形飞行过程中的稳定性。
本发明实施例的第一方面是提供一种无人机的控制方法，包括：
通过无人机上的探测设备检测无人机作业区域的地形信息；
根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数；
根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
本发明实施例的第二方面是提供一种无人机的控制装置，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
通过无人机上的探测设备检测无人机作业区域的地形信息；
根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参 数；
根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
本发明实施例的第三方面是提供一种无人机，包括：
机身；
动力***，安装在所述机身，用于提供飞行动力；
探测设备，安装在所述机身，用于检测无人机周围的目标对象；
以及第二方面所述的控制装置，所述控制装置与所述动力***通讯连接，用于控制所述无人机飞行。
本发明实施例的第四方面是提供一种农业无人机，包括：
机身；
动力***，安装在所述机身，用于提供飞行动力；
探测设备，安装在所述机身，用于检测农业无人机周围的目标对象；
以及第二方面所述的控制装置，所述控制装置与所述动力***通讯连接，用于控制所述农业无人机飞行。
本实施例提供的无人机的控制方法、控制装置、无人机及农业无人机，通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人机的控制方法的流程图；
图2为本发明实施例提供的无人机的示意图；
图3为本发明实施例提供的无人机的示意图；
图4为本发明实施例提供的调整无人机姿态的示意图；
图5为本发明另一实施例提供的无人机的控制方法的流程图；
图6为本发明另一实施例提供的无人机的示意图；
图7为本发明另一实施例提供的无人机的控制方法的流程图；
图8为本发明另一实施例提供的无人机的控制方法的流程图；
图9为本发明另一实施例提供的无人机的示意图；
图10为本发明另一实施例提供的无人机的示意图；
图11为本发明另一实施例提供的无人机的示意图；
图12为本发明实施例提供的控制装置的结构图；
图13为本发明实施例提供的无人机的结构图；
图14为本发明实施例提供的农业无人机的结构图。
附图标记：
20-无人机         21-探测设备     22-处理器
30-无人机         31-探测设备     32-处理器
120-控制装置      121-存储器      122-处理器
130-无人机        107-电机        106-螺旋桨
117-电子调速器    132-控制装置    131-探测设备
140-农业无人机    141-探测设备
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书 中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种无人机的控制方法。图1为本发明实施例提供的无人机的控制方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、通过无人机上的探测设备检测无人机作业区域的地形信息。
如图2所示，无人机20设置有探测设备21，探测设备21可探测无人机20周围的目标对象，可选的，所述探测设备包括如下至少一种：电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。在本实施例中，探测设备21具体可以是电磁波雷达探测设备，如图2所示，探测设备21发射出电磁波，当无人机20下方的地面接收到该电磁波后，对该电磁波进行反射，探测设备21根据其发射的电磁波和接收到的地面反射的电磁波可确定出地面相对于无人机20的距离。可以理解，探测设备21可向不同方向发出电磁波，无人机20下方不同方向的地面会接收到相应方向的电磁波，如此，探测设备21可接收到不同方向的地面反射的电磁波，从而确定出无人机20下方不同方向的地面相对于无人机20的距离，处理器22可根据无人机20下方不同方向的地面相对于无人机20的距离，可确定出无人机20下方的地形信息，例如地面的坡度、平整度等。处理器22可以是无人机20的飞行控制器，也可以是其他通用或者专用的处理器。
另外，所述无人机为农业无人机。如图2所示，无人机20具体可以是农机无人机，农机无人机下方地面可以是农机无人机的作业区域，处理器22可根据农机无人机下方不同方向的地面相对于农机无人机的距离，确定出农机无人机的作业区域的地形信息，可选的，所述无人机作业区域的地形信息包括如下至少一种：所述无人机作业区域的地面坡度、所述无人机作业区域的地面平整度。
在其他实施例中，可选的，所述通过无人机上的探测设备检测无人机作业区域的地形信息，包括：通过无人机上的连续转动的探测设备检测无人机作业区域的地形信息。也就是说，如图2所示，探测设备21例如电磁波雷达探测设备是可以转动的，例如连续转动。所述探测设备的转动轴与所述无人机的偏航轴垂直，且所述探测设备的转动轴与所述无人机的俯仰轴平行。
如图3所示，探测设备31垂直设置在无人机30上，具体的，探测设备31的转动轴与无人机30的偏航轴垂直，且探测设备31的转动轴与无人机30的俯仰轴平行。本实施例不限定探测设备31在无人机30上的位置。可选的，所述探测设备与所述无人机的脚架连接。也就是说，探测设备31可以固定在无人机30的脚架上。
具体的，无人机30上的处理器32可根据探测设备31在连续转动过程中检测出的无人机30下方不同方向的地面距离无人机30的距离，确定出无人机30作业区域的地形信息，例如作业区域的地面坡度、作业区域的地面平整度。
可选的，所述无人机作业区域的地面坡度包括如下至少一种：所述探测设备的第一探测方向的地面坡度、第二探测方向的地面坡度、第三探测方向的地面坡度；其中，所述第一探测方向与所述无人机的偏航轴方向成第一预设角度，所述第二探测方向与所述无人机的偏航轴方向平行，所述第三探测方向与所述无人机的偏航轴方向成第二预设角度，所述第一探测方向和所述第三探测方向在所述第二探测方向的两侧。
可选的，所述无人机作业区域的地面平整度包括如下至少一种：第一探测方向的地面平整度、第二探测方向的地面平整度、第三探测方向的地面平整度。
在本实施例中，如图2所示，探测设备21的第一探测方向为箭头A所指的方向，探测设备21的第二探测方向为箭头B所指的方向，探测设备21的第三探测方向为箭头C所指的方向，也就是说，探测设备21的第一探测方向为无人机20的前下方，探测设备21的第二探测方向为无人机20的正下方，探测设备21的第三探测方向为无人机20的后下方。可选的，第一探测方向与无人机20的偏航轴方向成第一预设角度α，第二探测方向 与无人机20的偏航轴方向平行，第三探测方向与无人机20的偏航轴方向成第二预设角度β，第一预设角度α和第二预设角度β可以相等，可以不等。另外，本实施例并不限定第一预设角度α和第二预设角度β的大小。
处理器22可通过探测设备21检测出无人机20前下方的地面坡度记为k1、正下方的地面坡度记为k2、以及后下方的地面坡度记为k3；另外，处理器22还可以通过探测设备21检测出无人机20前下方的地面平整度e1、正下方的地面平整度e2、以及后下方的地面平整度e3。
同理，如图3所示，处理器32可通过探测设备31检测出无人机30前下方的地面坡度记为k1、正下方的地面坡度记为k2、以及后下方的地面坡度记为k3；另外，处理器32还可以通过探测设备31检测出无人机30前下方的地面平整度e1、正下方的地面平整度e2、以及后下方的地面平整度e3。
步骤S102、根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数。
如图2所示，处理器22确定出无人机20前下方的地面坡度k1、正下方的地面坡度k2、后下方的地面坡度k3、无人机20前下方的地面平整度e1、正下方的地面平整度e2、以及后下方的地面平整度e3之后，处理器22可以根据k1、k2、k3、e1、e2、e3中的至少一个来调整无人机20的飞行状态参数。同理，如图3所示，处理器32可以根据k1、k2、k3、e1、e2、e3中的至少一个来调整无人机30的飞行状态参数。
具体的，所述根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数，包括如下至少一种：根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角；根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
例如，处理器22可以根据k1、k2、k3中的至少一个来调整无人机20的姿态角；根据e1、e2、e3中的至少一个来调整无人机20的飞行高度，无人机20的飞行高度具体可以是无人机20相对于地面的垂直高度。
所述根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角，包括：根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。例如，处理器22可以根据k1、k2、k3中的至少一个来调整无人机20 的姿态角时，具体可调整无人机20的俯仰角。如图2所示，无人机20前下方的地面坡度k1对应的角度为δ，k1和δ的关系为k1＝tanδ，当无人机20沿着箭头D所示的方向向前飞行时，可根据k1来调整无人机20的俯仰角，如图2所示，当前无人机20的俯仰角为0，调整之后无人机20的俯仰角为θ，如图4所示，θ和k1的关系为θ＝arctan(k1)，即θ和δ相等。此处只是示意性说明，并不限定根据k1、k2、k3中的至少一个调整无人机20的姿态角的具体方式，也不限定根据e1、e2、e3中的至少一个调整无人机20的飞行高度的具体方式。
步骤S103、根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
当处理器22根据k1、k2、k3中的至少一个调整无人机20的姿态角，和/或根据e1、e2、e3中的至少一个调整无人机20的飞行高度之后，处理器22即可根据调整后的无人机20的飞行状态参数控制无人机20在作业区域中飞行，例如，根据调整后的农业无人机的俯仰角和/或飞行高度控制农业无人机在作业区域中飞行。
本实施例通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。
本发明实施例提供一种无人机的控制方法。图5为本发明另一实施例提供的无人机的控制方法的流程图。如图5所示，在图1所示实施例的基础上，步骤S102根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数可以包括：
步骤S501、根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角。
所述根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角，包括：根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰 角。
如图3所示，处理器32可根据无人机30前下方的地面坡度k1来调整无人机30的俯仰角，具体的调整方法与图2、图4所示的调整方法一致，此处不再赘述。在图3的基础上，对无人机30的俯仰角调整之后具体如图6所示，k1和δ的关系为k1＝tanδ，θ和k1的关系为θ＝arctan(k1)，即θ和δ相等。
步骤S502、确定所述无人机当前的飞行高度。
可选的，所述确定所述无人机当前的飞行高度，包括：根据调整后的所述无人机的姿态角，以及所述探测设备当前的转动角度，确定所述探测设备的第一探测方向相对于垂直方向的角度；根据所述探测设备的第一探测方向相对于垂直方向的角度，以及所述第一探测方向上的探测距离，确定所述无人机当前的飞行高度。
如图6所示，当无人机30的俯仰角发生变化时，探测设备31的第一探测方向例如箭头A所指的方向也会发生变化，另外，当探测设备31转动时，探测设备31的第一探测方向例如箭头A所指的方向也会发生变化，根据无人机30调整后的俯仰角和探测设备31当前的转动角度，可确定出探测设备31的第一探测方向相对于垂直方向的角度φ，进一步根据探测设备31的第一探测方向相对于垂直方向的角度φ，以及探测设备31在第一探测方向检测到的无人机30前下方的地面相对无人机30的距离例如L，可确定出无人机30当前的飞行高度H。
在其他实施例中，还可以根据探测设备31的第二探测方向例如箭头B所指的方向相对于垂直方向的角度，以及探测设备31在第二探测方向检测到的无人机30正下方的地面相对无人机30的距离，确定出无人机30当前的飞行高度H。
在另外其他实施例中，还可以根据探测设备31的第三探测方向例如箭头C所指的方向相对于垂直方向的角度，以及探测设备31在第三探测方向检测到的无人机30后下方的地面相对无人机30的距离，确定出无人机30当前的飞行高度H。
步骤S503、根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
在本实施例中，具体可根据无人机30当前的飞行高度以及无人机作业区域的地面平整度，调整所述无人机的飞行高度，如图6所示，无人机30沿着箭头D所示的方向飞行，无人机30当前的飞行高度为H，无人机30前下方的地面平整度为e1。如果e1小于给定值ε，则判断H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机30当前的飞行高度H，以使H大于或等于Ha。如果e1大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机30当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
本实施例通过无人机作业区域的地面坡度调整无人机的姿态角例如俯仰角，可使得无人机以与地面坡度一致的角度进行爬坡或下坡，使得无人机能够相对于斜坡等高飞行；根据无人机作业区域的地面平整度，调整无人机的飞行高度，可使得无人机的飞行高度不低于安全高度，保证了无人机在飞行过程中的安全性。
本发明实施例提供一种无人机的控制方法。图7为本发明另一实施例提供的无人机的控制方法的流程图。如图7所示，在上述实施例的基础上，步骤S102根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数可以包括：
步骤S701、获取无人机当前的飞行状态。
如图8所示，当无人机中的处理器通过电磁波雷达确定出无人机前下方的地面坡度k1、正下方的地面坡度k2、后下方的地面坡度k3、前下方的地面平整度e1、正下方的地面平整度e2、后下方的地面平整度e3之后，进一步获取无人机当前的飞行状态，例如无人机向前飞行即前进、向后飞行即后退、悬停或左右移动。
步骤S702、根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
所述根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括如下几种可能的情况：
一种可能的情况是：当无人机向前飞行时，若所述第一探测方向的地面坡度大于预设坡度，则根据所述第一探测方向的地面坡度，调整所述无 人机的俯仰角。
如图8所示，当无人机向前飞行即前进时，可优先判断无人机前下方的地面坡度k1是否有效，判断k1是否有效的依据是：如果k1大于预设坡度，则确定k1有效，如果k1小于或等于预设坡度，则确定k1无效。当k1有效时，根据k1调整无人机的俯仰角，即根据k1对应的角度δ调整无人机的俯仰角，k1＝tanδ，例如，将无人机的俯仰角θ调整为θ＝arctan(k1)，进一步判断k1是否大于0，如果k1大于0，则说明无人机可根据k1进行爬升运动，如图4或图6所示。如果k1小于0，则说明无人机可根据k1进行下坡运动，如图9所示。X表示无人机的机体坐标系的X轴，X轴与水平面的夹角为无人机的俯仰角，当X轴位于过坐标原点的水平面之上时，无人机的俯仰角为正，如图4或图6所示。当X轴位于过坐标原点的水平面之下时，无人机的俯仰角为负，如图9所示。当k1小于0时，无人机的俯仰角为负，此时无人机向前飞行，则说明无人机在进行下坡运动。
另一种可能的情况是：当无人机向后飞行时，若所述第三探测方向的地面坡度大于预设坡度，则根据所述第三探测方向的地面坡度，调整所述无人机的俯仰角。
如图8所示，当无人机向后飞行即后退时，可优先判断k3是否有效，判断k3是否有效的依据是：如果k3大于预设坡度，则确定k3有效，如果k3小于或等于预设坡度，则确定k3无效。当k3有效时，根据k3调整无人机的俯仰角，例如，将无人机的俯仰角θ调整为θ＝arctan(k3)，进一步判断k3是否大于0，如果k3大于0，则说明无人机可根据k3进行下坡运动，如图10所示，X轴正向为无人机的前方，无人机20沿着箭头D所示的方向向后飞行。如果k3小于0，则说明无人机可根据k3进行爬升运动，如图11所示，X轴正向为无人机的前方，无人机20沿着箭头D所示的方向向后飞行。
再一种可能的情况是：当无人机向前飞行时，若所述第一探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
如图8所示，当无人机向前飞行即前进时，可优先判断无人机前下方的地面坡度k1是否有效，若k1无效，则判断k2是否有效，判断k2是否有效的依据也是通过比较k2和预设坡度，在k1无效且k2有效的情况下，可根据k2 调整无人机的俯仰角，例如，将无人机的俯仰角θ调整为θ＝arctan(k2)，进一步判断k2是否大于0，如果k2大于0，则说明无人机可根据k2进行爬升运动，同理于图4或图6；如果k2小于0，则说明无人机可根据k2进行下坡运动，同理于图9。
再一种可能的情况是：当无人机向后飞行时，若所述第三探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
如图8所示，当无人机向后飞行即后退时，可优先判断k3是否有效，若k3无效，则判断k2是否有效，判断k2是否有效的依据也是通过比较k2和预设坡度，在k3无效且k2有效的情况下，可根据k2调整无人机的俯仰角，例如，将无人机的俯仰角θ调整为θ＝arctan(k2)，进一步判断k2是否大于0，如果k2大于0，则说明无人机可根据k2进行下坡运动，同理于图10；如果k2小于0，则说明无人机可根据k2进行爬升运动，同理于图11。
步骤S703、确定所述无人机当前的飞行高度。
步骤S703与步骤S502的具体原理和实现方式一致，此处不再赘述。
步骤S704、根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
可选的，根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括如下几种可能的情况：
一种可能的情况：当无人机向前飞行，且所述第一探测方向的地面坡度大于预设坡度时，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度。
如图8所示，当无人机向前飞行即前进时，可优先判断无人机前下方的地面坡度k1是否有效，在k1有效的情况下，根据k1调整无人机的俯仰角之后，还可根据无人机当前的飞行高度和无人机前下方的地面平整度e1调整无人机的飞行高度。
所述根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度，包括：若所述第一探测方向的地面平 整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第一探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
具体的，如果无人机前下方的地面平整度e1小于预设平整度例如给定值ε，则判断无人机当前的飞行高度H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机当前的飞行高度H，以使H大于或等于Ha。如果e1大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
另一种可能的情况：当无人机向后飞行，且所述第三探测方向的地面坡度大于预设坡度时，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度。
如图8所示，当无人机向后飞行即后退时，可优先判断无人机后下方的地面坡度k3是否有效，在k3有效的情况下，根据k3调整无人机的俯仰角之后，还可根据无人机当前的飞行高度和无人机后下方的地面平整度e3调整无人机的飞行高度。
所述根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度，包括：若所述第三探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第三探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
具体的，如果无人机后下方的地面平整度e3小于预设平整度例如给定 值ε，则判断无人机当前的飞行高度H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机当前的飞行高度H，以使H大于或等于Ha。如果e3大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
再一种可能的情况：当无人机向前飞行，所述第一探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度时，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度。
如图8所示，当无人机向前飞行即前进时，可优先判断无人机前下方的地面坡度k1是否有效，在k1无效且k2有效的情况下，根据k2调整无人机的俯仰角之后，还可根据无人机当前的飞行高度和无人机正下方的地面平整度e2调整无人机的飞行高度。
所述根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度，包括：若所述第二探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第二探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
具体的，如果无人机正下方的地面平整度e2小于预设平整度例如给定值ε，则判断无人机当前的飞行高度H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机当前的飞行高度H，以使H大于或等于Ha。如果e2大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
再一种可能的情况：当无人机向后飞行，所述第三探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度时，所述 根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度。
如图8所示，当无人机向后飞行即后退时，可优先判断无人机后下方的地面坡度k3是否有效，在k3无效且k2有效的情况下，根据k2调整无人机的俯仰角之后，还可根据无人机当前的飞行高度和无人机正下方的地面平整度e2调整无人机的飞行高度。
所述根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度，包括：若所述第二探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第二探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
具体的，如果无人机正下方的地面平整度e2小于预设平整度例如给定值ε，则判断无人机当前的飞行高度H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机当前的飞行高度H，以使H大于或等于Ha。如果e2大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
另外，如图8所示，当无人机悬停或左右移动时，可优先判断无人机正下方的地面坡度k2是否有效，在k2有效的情况下，根据k2调整无人机的俯仰角之后，还可根据无人机当前的飞行高度和无人机正下方的地面平整度e2调整无人机的飞行高度。具体的，如果无人机正下方的地面平整度e2小于预设平整度例如给定值ε，则判断无人机当前的飞行高度H是否小于第一预设高度Ha，如果H小于Ha，则需调整无人机当前的飞行高度H，以使H大于或等于Ha。如果e2大于或等于给定值ε，则判断H是否小于第二预设高度Hb，如果H小于Hb，则需调整无人机当前的飞行高度H，以使H大于或等于Hb，可选的，Ha小于Hb。
本实施例通过根据无人机当前的飞行状态和无人机作业区域的地面坡度，调整无人机的俯仰角，可根据无人机不同的飞行状态选取不同探测方向的地面坡度来调整无人机的俯仰角，提高了对无人机俯仰角调整的准确性。另外，根据无人机不同的飞行状态选取不同探测方向的地面平整度来调整无人机的飞行高度，可使得无人机的飞行高度不低于安全高度，进一步保证了无人机在飞行过程中的安全性。此外，实现了对无人机的动作预测，例如预测无人机爬坡或下坡。
本发明实施例提供一种无人机的控制装置。图12为本发明实施例提供的控制装置的结构图，如图12所示，控制装置120包括：存储器121和处理器122；存储器121用于存储程序代码；处理器122，调用所述程序代码，当程序代码被执行时，用于执行以下操作：通过无人机上的探测设备检测无人机作业区域的地形信息；根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数；根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
可选的，所述无人机作业区域的地形信息包括如下至少一种：所述无人机作业区域的地面坡度、所述无人机作业区域的地面平整度。
可选的，所述无人机作业区域的地面坡度包括如下至少一种：所述探测设备的第一探测方向的地面坡度、第二探测方向的地面坡度、第三探测方向的地面坡度；其中，所述第一探测方向与所述无人机的偏航轴方向成第一预设角度，所述第二探测方向与所述无人机的偏航轴方向平行，所述第三探测方向与所述无人机的偏航轴方向成第二预设角度，所述第一探测方向和所述第三探测方向在所述第二探测方向的两侧。
可选的，所述无人机作业区域的地面平整度包括如下至少一种：第一探测方向的地面平整度、第二探测方向的地面平整度、第三探测方向的地面平整度。
可选的，处理器122根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数时，具体用于如下至少一种：根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角；根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
可选的，处理器122根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角时，具体用于：根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
可选的，处理器122通过无人机上的探测设备检测无人机作业区域的地形信息时，具体用于：通过无人机上的连续转动的探测设备检测无人机作业区域的地形信息。
本发明实施例提供的控制装置的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。
本实施例通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。
本发明实施例提供一种无人机的控制装置。在图12所示实施例的基础上，可选的，处理器122根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角之后，还用于：确定所述无人机当前的飞行高度；处理器122根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
可选的，处理器122确定所述无人机当前的飞行高度时，具体用于：根据调整后的所述无人机的姿态角，以及所述探测设备当前的转动角度，确定所述探测设备的第一探测方向相对于垂直方向的角度；根据所述探测设备的第一探测方向相对于垂直方向的角度，以及所述第一探测方向上的探测距离，确定所述无人机当前的飞行高度。
可选的，处理器122还用于：获取无人机当前的飞行状态；处理器122根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
本发明实施例提供的控制装置的具体原理和实现方式均与图5所示实施例类似，此处不再赘述。
本实施例通过无人机作业区域的地面坡度调整无人机的姿态角例如俯仰角，可使得无人机以与地面坡度一致的角度进行爬坡或下坡，使得无人机能够相对于斜坡等高飞行；根据无人机作业区域的地面平整度，调整无人机的飞行高度，可使得无人机的飞行高度不低于安全高度，保证了无人机在飞行过程中的安全性。
本发明实施例提供一种无人机的控制装置。在图12所示实施例的基础上，可选的，处理器122根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：当无人机向前飞行时，若所述第一探测方向的地面坡度大于预设坡度，则根据所述第一探测方向的地面坡度，调整所述无人机的俯仰角。
可选的，处理器122根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度。
可选的，处理器122根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：若所述第一探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第一探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
可选的，处理器122根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：当无人机向后飞行时，若所述第三探测方向的地面坡度大于预设坡度，则根据所述第三探测方向的地面坡度，调整所述无人机的俯仰角。
可选的，处理器122根据所述无人机当前的飞行高度和所述无人机作 业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度。
可选的，处理器122根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：若所述第三探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第三探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
可选的，处理器122根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：当无人机向前飞行时，若所述第一探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
可选的，处理器122根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：当无人机向后飞行时，若所述第三探测方向的地面坡度小于预设坡度，且所述第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
可选的，处理器122根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度。
可选的，处理器122根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：若所述第二探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；若所述第二探测方向的地面平整度大于或等于 预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；其中，所述第一预设高度小于所述第二预设高度。
本发明实施例提供的控制装置的具体原理和实现方式均与图7所示实施例类似，此处不再赘述。。
本实施例通过根据无人机当前的飞行状态和无人机作业区域的地面坡度，调整无人机的俯仰角，可根据无人机不同的飞行状态选取不同探测方向的地面坡度来调整无人机的俯仰角，提高了对无人机俯仰角调整的准确性。另外，根据无人机不同的飞行状态选取不同探测方向的地面平整度来调整无人机的飞行高度，可使得无人机的飞行高度不低于安全高度，进一步保证了无人机在飞行过程中的安全性。此外，实现了对无人机的动作预测，例如预测无人机爬坡或下坡。
本发明实施例提供一种无人机。图13为本发明实施例提供的无人机的结构图，如图13所示，无人机130包括：机身、动力***、探测设备131和控制装置132，所述动力***包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力***安装在所述机身，用于提供飞行动力；控制装置132与所述动力***通讯连接，用于控制无人机130飞行，在一些实施例中，控制装置132具体可以是飞行控制器。
控制装置132的实现方式和具体原理均与上述实施例一致，此处不再赘述。
在一些实施例中，探测设备131连续转动，如图3所示。探测设备131的转动轴与无人机130的偏航轴垂直，且探测设备131的转动轴与无人机130的俯仰轴平行。
在一些实施例中，探测设备131与无人机130的脚架连接。
在一些实施例中，探测设备131包括如下至少一种：电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。
本实施例通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状 态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。
本发明实施例提供一种农业无人机。图14为本发明实施例提供的农业无人机的结构图，如图14所示，农业无人机140包括：机身、动力***、探测设备141和控制装置。动力***安装在所述机身，用于提供飞行动力；探测设备141安装在所述机身，用于检测农业无人机周围的目标对象；控制装置与所述动力***通讯连接，用于控制农业无人机140飞行。该控制装置具体可以是农业无人机的飞行控制器。该控制装置的实现方式和具体原理均与上述实施例一致，此处不再赘述。
在一些实施例中，探测设备141连续转动；探测设备141的转动轴与农业无人机140的偏航轴垂直，且所述探测设备的转动轴与农业无人机140的俯仰轴平行。
在一些实施例中，探测设备141与农业无人机140的脚架连接。也就是说，探测设备141固定在农业无人机的脚架上。
在一些实施例中，探测设备141包括如下至少一种：电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。
本实施例通过无人机上的探测设备检测无人机作业区域的地形信息，根据无人机作业区域的地形信息，调整无人机的飞行状态参数，并根据无人机的飞行状态参数，控制无人机在作业区域飞行，使得无人机的飞行状态参数可以随着地形的变化而变化，保证无人机能够实时的跟随地形飞行，当地形较为复杂时，根据地形的变化来控制无人机的飞行，可提高无人机在跟随地形飞行过程中的稳定性。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或 讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (52)

  1. 一种无人机的控制方法，其特征在于，包括：
    通过无人机上的探测设备检测无人机作业区域的地形信息；
    根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数；
    根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
  2. 根据权利要求1所述的方法，其特征在于，所述无人机作业区域的地形信息包括如下至少一种：
    所述无人机作业区域的地面坡度、所述无人机作业区域的地面平整度。
  3. 根据权利要求2所述的方法，其特征在于，所述无人机作业区域的地面坡度包括如下至少一种：
    所述探测设备的第一探测方向的地面坡度、第二探测方向的地面坡度、第三探测方向的地面坡度；
    其中，所述第一探测方向与所述无人机的偏航轴方向成第一预设角度，所述第二探测方向与所述无人机的偏航轴方向平行，所述第三探测方向与所述无人机的偏航轴方向成第二预设角度，所述第一探测方向和所述第三探测方向在所述第二探测方向的两侧。
  4. 根据权利要求3所述的方法，其特征在于，所述无人机作业区域的地面平整度包括如下至少一种：
    第一探测方向的地面平整度、第二探测方向的地面平整度、第三探测方向的地面平整度。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数，包括如下至少一种：
    根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角；
    根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角，包括：
    根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
  7. 根据权利要求5或6所述的方法，其特征在于，所述根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角之后，还包括：
    确定所述无人机当前的飞行高度；
    所述根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：
    根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
  8. 根据权利要求7所述的方法，其特征在于，所述确定所述无人机当前的飞行高度，包括：
    根据调整后的所述无人机的姿态角，以及所述探测设备当前的转动角度，确定所述探测设备的第一探测方向相对于垂直方向的角度；
    根据所述探测设备的第一探测方向相对于垂直方向的角度，以及所述第一探测方向上的探测距离，确定所述无人机当前的飞行高度。
  9. 根据权利要求7或8所述的方法，其特征在于，还包括：
    获取无人机当前的飞行状态；
    所述根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括：
    根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括：
    当无人机向前飞行时，若第一探测方向的地面坡度大于预设坡度，则根据所述第一探测方向的地面坡度，调整所述无人机的俯仰角。
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：
    根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度。
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度，包括：
    若所述第一探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第一探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  13. 根据权利要求9所述的方法，其特征在于，所述根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括：
    当无人机向后飞行时，若第三探测方向的地面坡度大于预设坡度，则根据所述第三探测方向的地面坡度，调整所述无人机的俯仰角。
  14. 根据权利要求13所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：
    根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度，包括：
    若所述第三探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第三探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  16. 根据权利要求9所述的方法，其特征在于，所述根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括：
    当无人机向前飞行时，若第一探测方向的地面坡度小于预设坡度，且第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
  17. 根据权利要求9所述的方法，其特征在于，所述根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角，包括：
    当无人机向后飞行时，若第三探测方向的地面坡度小于预设坡度，且第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
  18. 根据权利要求16或17所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度，包括：
    根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度。
  19. 根据权利要求18所述的方法，其特征在于，所述根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度，包括：
    若所述第二探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第二探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  20. 根据权利要求1所述的方法，其特征在于，所述通过无人机上的探测设备检测无人机作业区域的地形信息，包括：
    通过无人机上的连续转动的探测设备检测无人机作业区域的地形信 息。
  21. 根据权利要求20所述的方法，其特征在于，所述探测设备的转动轴与所述无人机的偏航轴垂直，且所述探测设备的转动轴与所述无人机的俯仰轴平行。
  22. 根据权利要求1所述的方法，其特征在于，所述探测设备与所述无人机的脚架连接。
  23. 根据权利要求1所述的方法，其特征在于，所述探测设备包括如下至少一种：
    电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。
  24. 根据权利要求1-23任一项所述的方法，其特征在于，所述无人机为农业无人机。
  25. 一种无人机的控制装置，其特征在于，包括：存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    通过无人机上的探测设备检测无人机作业区域的地形信息；
    根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数；
    根据所述无人机的飞行状态参数，控制无人机在所述作业区域飞行。
  26. 根据权利要求25所述的控制装置，其特征在于，所述无人机作业区域的地形信息包括如下至少一种：
    所述无人机作业区域的地面坡度、所述无人机作业区域的地面平整度。
  27. 根据权利要求26所述的控制装置，其特征在于，所述无人机作业区域的地面坡度包括如下至少一种：
    所述探测设备的第一探测方向的地面坡度、第二探测方向的地面坡度、第三探测方向的地面坡度；
    其中，所述第一探测方向与所述无人机的偏航轴方向成第一预设角度，所述第二探测方向与所述无人机的偏航轴方向平行，所述第三探测方 向与所述无人机的偏航轴方向成第二预设角度，所述第一探测方向和所述第三探测方向在所述第二探测方向的两侧。
  28. 根据权利要求27所述的控制装置，其特征在于，所述无人机作业区域的地面平整度包括如下至少一种：
    第一探测方向的地面平整度、第二探测方向的地面平整度、第三探测方向的地面平整度。
  29. 根据权利要求25所述的控制装置，其特征在于，所述处理器根据所述无人机作业区域的地形信息，调整所述无人机的飞行状态参数时，具体用于如下至少一种：
    根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角；
    根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
  30. 根据权利要求29所述的控制装置，其特征在于，所述处理器根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角时，具体用于：
    根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
  31. 根据权利要求29或30所述的控制装置，其特征在于，所述处理器根据所述无人机作业区域的地面坡度，调整所述无人机的姿态角之后，还用于：
    确定所述无人机当前的飞行高度；
    所述处理器根据所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：
    根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度。
  32. 根据权利要求31所述的控制装置，其特征在于，所述处理器确定所述无人机当前的飞行高度时，具体用于：
    根据调整后的所述无人机的姿态角，以及所述探测设备当前的转动角度，确定所述探测设备的第一探测方向相对于垂直方向的角度；
    根据所述探测设备的第一探测方向相对于垂直方向的角度，以及所述第一探测方向上的探测距离，确定所述无人机当前的飞行高度。
  33. 根据权利要求31或32所述的控制装置，其特征在于，所述处理器还用于：
    获取无人机当前的飞行状态；
    所述处理器根据所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：
    根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角。
  34. 根据权利要求33所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：
    当无人机向前飞行时，若第一探测方向的地面坡度大于预设坡度，则根据所述第一探测方向的地面坡度，调整所述无人机的俯仰角。
  35. 根据权利要求34所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：
    根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度。
  36. 根据权利要求35所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行高度和所述第一探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：
    若所述第一探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第一探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  37. 根据权利要求34所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：
    当无人机向后飞行时，若第三探测方向的地面坡度大于预设坡度，则根据所述第三探测方向的地面坡度，调整所述无人机的俯仰角。
  38. 根据权利要求37所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：
    根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度。
  39. 根据权利要求38所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行高度和所述第三探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：
    若所述第三探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第三探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  40. 根据权利要求34所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：
    当无人机向前飞行时，若第一探测方向的地面坡度小于预设坡度，且第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
  41. 根据权利要求34所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行状态和所述无人机作业区域的地面坡度，调整所述无人机的俯仰角时，具体用于：
    当无人机向后飞行时，若第三探测方向的地面坡度小于预设坡度，且第二探测方向的地面坡度大于预设坡度，则根据所述第二探测方向的地面坡度，调整所述无人机的俯仰角。
  42. 根据权利要求40或41所述的控制装置，其特征在于，所述处理 器根据所述无人机当前的飞行高度和所述无人机作业区域的地面平整度，调整所述无人机的飞行高度时，具体用于：
    根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度。
  43. 根据权利要求42所述的控制装置，其特征在于，所述处理器根据所述无人机当前的飞行高度和所述第二探测方向的地面平整度，调整所述无人机的飞行高度时，具体用于：
    若所述第二探测方向的地面平整度小于预设平整度，所述无人机当前的飞行高度小于第一预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第一预设高度；
    若所述第二探测方向的地面平整度大于或等于预设平整度，所述无人机当前的飞行高度小于第二预设高度，则调整所述无人机的飞行高度，以使所述无人机的飞行高度至少为第二预设高度；
    其中，所述第一预设高度小于所述第二预设高度。
  44. 根据权利要求25所述的控制装置，其特征在于，所述处理器通过无人机上的探测设备检测无人机作业区域的地形信息时，具体用于：
    通过无人机上的连续转动的探测设备检测无人机作业区域的地形信息。
  45. 一种无人机，其特征在于，包括：
    机身；
    动力***，安装在所述机身，用于提供飞行动力；
    探测设备，安装在所述机身，用于检测无人机周围的目标对象；
    以及如权利要求25-44任一项所述的控制装置，所述控制装置与所述动力***通讯连接，用于控制所述无人机飞行。
  46. 根据权利要求45所述的无人机，其特征在于，所述探测设备连续转动；
    所述探测设备的转动轴与所述无人机的偏航轴垂直，且所述探测设备的转动轴与所述无人机的俯仰轴平行。
  47. 根据权利要求45所述的无人机，其特征在于，所述探测设备与所述无人机的脚架连接。
  48. 根据权利要求45所述的无人机，其特征在于，所述探测设备包括如下至少一种：
    电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。
  49. 一种农业无人机，其特征在于，包括：
    机身；
    动力***，安装在所述机身，用于提供飞行动力；
    探测设备，安装在所述机身，用于检测农业无人机周围的目标对象；
    以及如权利要求25-44任一项所述的控制装置，所述控制装置与所述动力***通讯连接，用于控制所述农业无人机飞行。
  50. 根据权利要求49所述的农业无人机，其特征在于，所述探测设备连续转动；
    所述探测设备的转动轴与所述农业无人机的偏航轴垂直，且所述探测设备的转动轴与所述农业无人机的俯仰轴平行。
  51. 根据权利要求49所述的农业无人机，其特征在于，所述探测设备与所述农业无人机的脚架连接。
  52. 根据权利要求49所述的农业无人机，其特征在于，所述探测设备包括如下至少一种：
    电磁波雷达探测设备、激光雷达探测设备、视觉传感器、超声波探测设备。
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