WO2020237529A1 - Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle Download PDF

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Publication number
WO2020237529A1
WO2020237529A1 PCT/CN2019/089007 CN2019089007W WO2020237529A1 WO 2020237529 A1 WO2020237529 A1 WO 2020237529A1 CN 2019089007 W CN2019089007 W CN 2019089007W WO 2020237529 A1 WO2020237529 A1 WO 2020237529A1
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WO
WIPO (PCT)
Prior art keywords
drone
flight mode
flight
wing
rotor
Prior art date
Application number
PCT/CN2019/089007
Other languages
French (fr)
Chinese (zh)
Inventor
吕熙敏
张子豪
商志猛
林灿龙
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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 CN201980008436.6A priority Critical patent/CN111684384B/en
Priority to PCT/CN2019/089007 priority patent/WO2020237529A1/en
Publication of WO2020237529A1 publication Critical patent/WO2020237529A1/en

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Classifications

    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2247—Optic providing the operator with simple or augmented images from one or more cameras
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • 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
    • G05D1/60—Intended control result
    • G05D1/606—Compensating for or utilising external environmental conditions, e.g. wind or water currents
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/22—Aircraft, e.g. drones with fixed wings
    • G05D2109/23—Vertical take-off and landing [VTOL] aircraft; Short take-off and landing [STOL, STOVL] aircraft
    • G05D2109/24—Convertible aircraft, e.g. tiltrotor aircraft

Definitions

  • an embodiment of the present invention provides a flight control method of a drone, including:
  • an embodiment of the present invention provides a flight control device, including a memory and a processor;
  • an embodiment of the present invention provides a drone, including:
  • FIG. 5 is a schematic structural diagram of a flight control device provided by an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a flight route in the process of switching flight modes according to an embodiment of the present invention.
  • the flight control method of the drone provided in the embodiment of the present invention may be executed by a flight control system of the drone.
  • the flight control system of the drone includes a flight control device and a drone.
  • the flight control device may be installed on the drone.
  • the flight control device The device may be spatially independent of the drone.
  • the flight control device may be a component of the drone, that is, the drone includes a flight control device.
  • the drone may include, but is not limited to, a vertical take-off and landing drone.
  • the vertical take-off and landing drone includes compound, tilt-rotor, rotary wing, tailstock and other unmanned aerial vehicles.
  • a typical composite vertical take-off and landing fixed-wing unmanned aircraft is shown in Figure 1, which is a configuration diagram of an unmanned aerial vehicle provided by an embodiment of the present invention. As shown in FIG. 1, this configuration includes a multi-rotor power system 11 and a fixed-wing power system 12.
  • the fixed-wing power system 12 When hovering, only the rotor power system 11 works; when it needs to switch to the fixed-wing flight mode, the fixed-wing power system 12 is turned on and the aircraft accelerates forward; when the forward flight speed reaches the preset cruising speed range, the fixed-wing power system 12 takes over the drone, and the rotor power system 11 is closed.
  • the UAV When it is necessary to switch from the fixed-wing flight mode to the rotary-wing flight mode, the UAV is controlled to decelerate to a preset speed threshold, the rotor power system is turned on 11, and the UAV is switched to the rotary-wing flight mode 11.
  • the main task of the UAV switching from the rotor flight mode to the fixed-wing flight mode is to allow the UAV to obtain sufficient airspeed.
  • the UAV will fly a distance in the direction of the nose. , So as to smoothly switch to the fixed-wing flight mode; the main task of the UAV from the fixed-wing flight mode to the rotary-wing flight mode is to perform reasonable deceleration from the high-speed flight state of the fixed-wing flight mode.
  • the UAV It will also fly a distance along the nose, so that it can smoothly switch to the rotor flight mode.
  • the flight control device in the flight control system of the drone may, when acquiring the flight mode switching instruction, use the current flight status information of the drone and/or the current flight status of the drone. Using environment information, it is determined whether the drone meets the flight mode switching condition; when the drone meets the flight mode switching condition, the current flight mode of the drone is switched.
  • the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode.
  • the flight mode switching instruction may be sent by a control terminal (such as a remote control, ground station equipment, etc.) to a flight control device; in other embodiments, the flight mode switching instruction may also be a flight control device.
  • the UAV is automatically generated according to the route planning strategy of automatic flight, which is not specifically limited in the embodiment of the present invention.
  • the flight mode switching instruction is used to instruct the drone to switch the flight mode from the rotor flight mode to the fixed wing flight mode, then the flight control device obtains the flight mode switching instruction, it can control the UAV to switch from the rotor flight mode to the fixed wing flight mode.
  • the flight control device before controlling the drone to switch from the rotor flight mode to the fixed-wing flight mode, can check the flight status information of the drone and/or the current drone The environment information is detected, and based on the flight status information of the drone and/or the environment information of the drone, it is determined whether the drone meets the flight mode switching conditions. When the aircraft meets the flight mode switching conditions, the current flight mode of the UAV is switched. Through this implementation, the effectiveness and safety of mode switching by the drone can be improved.
  • the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
  • acceleration error information is less than a first preset threshold
  • speed error information is less than a second preset threshold
  • position error information is less than a third preset threshold
  • angular acceleration error When the information is less than any one or more of the fourth preset threshold, the angular velocity error information is less than the fifth preset threshold, and the attitude error information is less than the sixth preset threshold, it is determined that the drone meets the flight mode switching condition.
  • the calculation method of the error information may be the mean, variance, standard deviation, etc. of the difference between the expected value and the actual value within a period of time. The embodiment of the present invention does not make specific calculation methods for the error information. limited.
  • the environmental information includes environmental wind information
  • the environmental wind information includes the wind direction and wind speed of the environmental wind.
  • the drone can sense or measure the wind speed and wind direction of the environment where the drone is currently located through sensors, and determine whether the wind speed and wind direction meet preset conditions, and if they do, it can be determined that the drone meets Flight mode switching conditions.
  • the wind speed in the environmental wind information is determined according to the modulus length of the environmental wind in the body coordinate system, and the wind direction in the environmental wind information is based on the vector direction of the environmental wind in the body coordinate system. definite.
  • the body coordinate system may take the direction of the drone's nose as the x-axis direction, the right direction of the drone's nose as the y-axis direction, and the downward direction of the drone as the The coordinate system in the z-axis direction.
  • the wind speed conditions for the drone to switch from the rotor flight mode to the fixed-wing flight mode are different.
  • the drone changes from The wind speed condition for switching the rotor flight mode to the fixed-wing flight mode is no more than 8m/s.
  • the wind speed condition for the UAV to switch from the rotor flight mode to the fixed-wing flight mode is no more than 5m/s. s.
  • the UAV may determine the geographic location of the UAV through a Global Positioning System (GPS).
  • GPS Global Positioning System
  • one or more of a barometer, an inertial measurement unit (IMU), an image sensor, an ultrasonic sensor, and a time of flight (TOF) sensor may be combined to obtain the drone.
  • IMU inertial measurement unit
  • TOF time of flight
  • the drone can combine high-precision maps to obtain obstacle information in the environment, such as buildings and mountains around the drone.
  • the positioning system of the UAV includes but is not limited to any one or more of the GPS positioning system, the Beidou positioning system, and the real-time kinematic (RTK) carrier phase differential positioning system.
  • RTK real-time kinematic
  • the drone when the drone does not meet the flight mode switching conditions, the drone can send a prompt message to the control terminal, and the prompt module (may be an APP) of the control terminal prompts the user to adjust the flight mode.
  • the prompt module may be an APP
  • the flight status of the man-machine, such as the heading and altitude, should meet the constraints of the ambient wind, so that the adjusted UAV meets the flight mode switching conditions.
  • the remote control vibrates when you start to switch to the rotor flight mode, the mobile phone APP voice prompts: "Start to switch to the rotor flight mode, wind speed 4m/s, airspeed 19m/s, airspeed 15m/s , Airspeed 10m/s, airspeed 5m/s, enter the rotor flight mode.”
  • the remote control vibrates again.
  • This implementation manner of sending prompt information to the control terminal can prompt the user how to operate, prompt the user the current status of the drone, the flight mode, and other information, thereby improving the user experience.
  • the pulling force generated by the accelerated rotation of the forward pull motor of the drone can control the acceleration of the drone.
  • the route direction of the drone when switching the flight mode may not be consistent with the target route direction.
  • it can be based on the lateral speed error (that is, the difference between the expected lateral speed and the actual lateral speed) or the side offset error (the distance between the target course and the actual course).
  • the flight path of the UAV when switching from the rotor flight mode to the fixed-wing flight mode is deviated, and the distance between the AB flight path and the AC flight path can be determined as the side offset error, such as when the UAV flies to point D
  • the side skew error is the distance d between the E point on the AB course and the D point on the AC course
  • the difference between the expected lateral speed and the actual lateral speed is determined as the lateral speed error, such as the expected lateral If the speed is 0 and the actual lateral velocity is V2, the lateral velocity error can be determined as V2.
  • the target route can be a line segment as shown in FIG. 10 or a ray starting from point A. That is, there is no need to limit the position of the end point of the target route.
  • the flight control device may calculate the target pitch angle in real time according to the real-time wind speed and the current flying speed of the drone.
  • the drone when the flying speed of the drone decelerates to a preset speed threshold, it can be determined that the drone has successfully switched to the rotor flight mode; in another embodiment, when the drone is flying When the man-machine does not switch from the fixed wing flight mode to the rotor flight mode within the second specified time range, the drone can be controlled to switch back to the rotor flight mode.
  • FIG. 2 is a schematic structural diagram of a flight control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the flight control system of the drone includes: a drone 22 and a control terminal 20.
  • the drone 22 has a rotor flight mode and a fixed wing flight mode.
  • the flight control device 21 is provided in the drone 22, and can establish a communication connection with other devices (such as the power system 221) in the drone through a wired communication connection.
  • the drone 22 and the flight control device 21 are independent of each other.
  • the flight control device 21 is set in a cloud server and establishes a communication connection with the drone 22 through a wireless communication connection.
  • the flight control device 21 may be a flight controller.
  • the control terminal 20 may be a remote control, a smart phone, a tablet computer, a laptop computer, a watch, a bracelet, etc. and combinations thereof.
  • the control terminal 20 can send remote control instructions to the drone 22, and the drone 22 can transmit images to the control terminal 20 in real time.
  • the control terminal may also display the prompt information sent to it by the drone.
  • FIG. 3 is a schematic flowchart of a flight control method for a drone provided by an embodiment of the present invention.
  • the method may be executed by a flight control device, and the specific explanation of the flight control device is as described above. .
  • the method of the embodiment of the present invention includes the following steps.
  • the flight control device may obtain a flight mode switching instruction, which is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode.
  • the flight mode switching instruction may be sent by the control terminal to the flight control device; in other embodiments, the flight mode switching instruction may be a route planning strategy of the drone according to automatic flight. It is automatically generated, and there is no specific limitation here.
  • the flight mode switching instruction may be used to instruct the drone to switch from the rotor flight mode to the fixed wing flight mode, and the drone switching from the rotor flight mode to the fixed wing flight mode means During the process of switching from the rotor flight mode to the fixed wing flight mode, control the heading of the drone to accelerate the flight along the nose of the drone, automatically turn off the rotor flight mode and turn on the fixed wing flight mode. When the speed accelerates to the preset speed range, and the flying height error of the drone is less than the preset error value, switching from the rotor flight mode to the fixed wing flight mode is realized.
  • S302 Determine whether the drone satisfies the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone.
  • the flight control device may determine whether the drone satisfies the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone.
  • the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
  • the position error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected position and the actual position within a preset time range; in some embodiments, the actual position It can be obtained through the UAV's positioning system.
  • the acceleration error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected acceleration and the actual acceleration within a preset time range.
  • the angular acceleration error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected angular acceleration and the actual angular acceleration within a preset time range.
  • the angular velocity error information includes, but is not limited to, the mean value, variance, standard deviation, etc. of the difference between the expected angular velocity and the actual angular velocity within a preset time range.
  • acceleration error information is less than a first preset threshold
  • speed error information is less than a second preset threshold
  • position error information is less than a third preset threshold
  • angular acceleration error when the information is less than the fourth preset threshold, the angular velocity error information is less than the fifth preset threshold, and the attitude error information is less than any one or more of the sixth preset threshold, it is determined that the drone meets the flight mode switching condition.
  • the environmental information includes environmental wind information and/or obstacle information.
  • the environmental wind information includes the wind speed and direction of the environmental wind
  • the obstacle information includes the height of the obstacle and the distance from the obstacle to the drone.
  • the drone can sense or measure the wind speed and wind direction of the environment where the drone is currently located through sensors.
  • the UAV can determine the height of the obstacle and the distance from the obstacle to the UAV through a positioning module and a high-precision map.
  • the drone meets flight mode switching conditions, including: wind speed and wind direction in the environmental wind information meet a preset range threshold; and/or, the height of the obstacle and the distance from the obstacle to the drone The distance meets the preset condition.
  • the flight control device when the drone meets the flight mode switching condition, can switch the current flight mode of the drone.
  • the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the flight control device can obtain the flight mode of the drone.
  • Side speed error information or side offset distance error information and according to the side speed error information or the side offset distance error information, the target attitude angle of the drone is determined, and the flight of the drone
  • the attitude of the drone can be controlled according to the target attitude angle.
  • the flight control device can obtain the actual lateral speed of the drone during the process of switching from the rotor flight mode to the fixed-wing flight mode, and calculate the lateral speed error according to the actual lateral speed and the desired lateral speed.
  • the flight control device may calculate the target roll angle of the drone through a lateral controller, and determine the roll angle error according to the target roll angle and the actual roll angle.
  • the flight control device can control the attitude of the drone according to the roll angle error through an attitude controller.
  • the flight control device can obtain the actual flight path of the drone during the process of switching from the rotor flight mode to the fixed-wing flight mode, and calculate the side offset error according to the actual flight path and the target flight path, and calculate the side offset error Send to the lateral controller so that the lateral controller calculates the target roll angle of the UAV.
  • calculating the side skew error based on the actual route and the target route includes: calculating the side skew error according to the current position of the drone in the actual route and the target route.
  • the flight control device can obtain the actual roll angle of the drone, and determine the roll angle error according to the target roll angle and the actual roll angle.
  • the flight control device may send the roll angle error to the attitude controller, so that the attitude controller controls the attitude of the UAV according to the roll angle error.
  • the flight control device may obtain the torque of the rotor motor of the drone and the torque of the fixed wing rudder surface, and according to the torque of the rotor motor and the first preset weight, and the fixed The moment of the wing rudder surface and the second preset weight control the attitude of the UAV.
  • a more flexible control torque can be provided to better control the attitude of the drone during the process of switching flight modes, and ensure the safety of the drone during the flight.
  • the drone when the drone meets one or more of the following conditions, it can be determined that the drone successfully switches to the fixed-wing flight mode: the drone accelerates to a preset speed range, And the flying height error of the drone is less than a preset error value; or, the thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone Less than the preset error value.
  • the flying altitude error is the difference between the expected altitude and the actual altitude.
  • the preset speed range is within the range of 7m/s-8m/s
  • the current speed of the drone is 3m/s
  • the acceleration is within the range of 7m/s-8m/s
  • the flying height error of the drone is less than the preset error value
  • the reliability of the UAV during the process of switching from the rotor flight mode to the fixed wing flight mode can be improved.
  • the drone when the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, the drone can be controlled to switch back to the rotor flight mode.
  • the fixed-wing motor of the drone when the drone fails to switch from the rotor flight mode to the fixed-wing flight mode within the first specified time range, the fixed-wing motor of the drone can be turned off and the drone can be controlled.
  • the man-machine decelerates to a preset speed threshold, thereby switching back to the rotor flight mode.
  • the drone fails to switch from the rotor flight mode to the fixed wing flight mode within 3 minutes, you can turn off the The fixed-wing flight mode of the drone is controlled to decelerate from 6m/s to a preset speed threshold of 3m/s, thereby switching back to the rotor flight mode.
  • prompt information when it is detected that the drone does not meet the flight mode switching condition, prompt information can be output to the control terminal; wherein, the prompt information is used to prompt the user to check the flight status of the drone. Adjustment.
  • the prompt information may be output through a prompt module of the control terminal, and the control terminal may include, but is not limited to, a remote control and other devices.
  • the flight control device may output prompt information to the control terminal at the start time, end time, and intermediate process of the UAV switching flight mode, which is not specifically limited in the embodiment of the present invention. The interactive process and examples of the prompt information output between the flight control device and the control terminal are described above, and will not be repeated here.
  • the flight control device when the flight control device obtains the flight mode switching instruction, when determining that the drone meets the flight mode switching conditions, it switches the current flight mode of the drone to ensure that no one
  • the safety of the drone during the switching process and on the premise of ensuring the safety of the drone switching process, improves the reliability of the drone mode switching in different flight states and/or different environments; through the control terminal Send reminders to improve user experience.
  • FIG. 4 is a schematic flowchart of another flight control method for an unmanned aerial vehicle provided by an embodiment of the present invention.
  • the method can be executed by a flight control device.
  • the specific explanation of the flight control device is as described above. Narrated.
  • the difference between the embodiment of the present invention and the embodiment described in FIG. 3 is that the embodiment of the present invention is a schematic description of the implementation process of switching from the fixed-wing flight mode to the rotor-wing flight mode.
  • the method of the embodiment of the present invention includes the following steps.
  • the flight control device may obtain a flight mode switching instruction, and the flight mode switching instruction is used to instruct the flight mode of the drone to switch from the fixed-wing flight mode to the rotary-wing flight mode.
  • the flight control device when the flight control device obtains the flight mode switching instruction, it can control the attitude angle of the drone to be less than a preset angle threshold.
  • the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode, and the flight control device can be in the flight mode of the drone.
  • the attitude angle of the drone is controlled to be less than a preset angle threshold.
  • the roll angle of the drone is controlled to be smaller than a preset angle threshold.
  • the stability of the drone during subsequent switching from the fixed-wing flight mode to the rotor flight mode can be improved, and the reliability during the process of switching from the fixed-wing flight mode to the rotor flight mode can be improved.
  • the flight control device can switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode.
  • the flight control device when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, it can obtain that the drone is flying on the fixed-wing flight. And determine the target pitch angle of the drone according to the ambient wind speed in the mode, so as to control the drone to fly at the target pitch angle.
  • the flight mode of the drone when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, the flight mode of the drone may be switched from the When the fixed-wing flight mode is switched to the rotor flight mode, the ambient wind speed and the flight speed of the drone are acquired in real time, and the target pitch angle is determined according to the ambient wind speed and the flight speed of the drone, and Control the drone to decelerate and fly at the target pitch angle.
  • the flight control device when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode, it can acquire the lateral speed error information of the drone Or side offset error information, and determine the target attitude angle of the drone according to the side speed error information or the side offset error information, and compare the current fixed-wing flight mode of the drone In the process of switching to the rotor flight mode, the attitude of the drone is controlled according to the target attitude angle. By controlling the attitude of the drone, it is helpful to reduce the lateral speed error or the side offset error of the drone, so as to ensure the safety of the drone during flight.
  • the drone when the drone meets the following conditions, it is determined that the drone successfully switches to the rotor flight mode: the drone is decelerated to a preset speed threshold.
  • the fixed-wing flight mode when the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, the fixed-wing flight mode is automatically turned off and the rotor flight mode is turned on, and the drone is controlled to decelerate at the target pitch angle. , So that when the drone is decelerated to the preset speed threshold, it is determined that the drone is switched from the fixed-wing flight mode to the rotor-wing flight mode.
  • the drone decelerates to 3m/s, it can be determined that the drone has successfully switched from the fixed-wing flight mode to the rotor flight mode.
  • the drone when the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, the drone can be controlled to switch to the rotor flight mode. Rotor flight mode.
  • the drone when the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, the drone can be forcibly controlled to switch back to all The rotor flight mode is described.
  • the protection of the drone can be realized when the handover is overtime, and the safety during the handover of the drone can be improved.
  • the drone if the drone fails to switch from the fixed-wing flight mode to the rotary-wing flight mode within 2 minutes, the drone can be controlled The drone forcibly switches back to the rotor flight mode.
  • the flight control device when the flight control device obtains the flight mode switching instruction indicating that the flight mode of the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, it controls the attitude angle of the drone to be less than the preset angle threshold. , And switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode.
  • FIG. 5 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.
  • the flight control device includes: a memory 501 and a processor 502.
  • the flight control device further includes a data interface 503, and the data interface 503 is used to transfer data information between the flight control device and other devices.
  • the memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also include a combination of the foregoing types of memories.
  • the processor 502 may be a central processing unit (CPU).
  • the processor 502 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 501 is used to store program instructions, and the processor 502 can call the program instructions stored in the memory 501 to perform the following steps:
  • the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
  • the environmental information includes environmental wind information and/or obstacle information.
  • the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the processor 502 is further used to:
  • the attitude of the drone is controlled according to the target attitude angle.
  • processor 502 is further configured to:
  • the attitude of the drone is controlled according to the torque of the rotor motor and the first preset weight, and the torque of the fixed-wing rudder surface and the second preset weight.
  • the drone accelerates to a preset speed range, and the flying height error of the drone is less than a preset error value; or,
  • the thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone is less than the preset error value.
  • processor 502 is further configured to:
  • the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode
  • the processor 502 Before the processor 502 switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, it is also used to control the attitude angle of the drone to be less than a preset angle threshold.
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • the attitude of the drone is controlled according to the target attitude angle.
  • the drone decelerates to a preset speed threshold.
  • processor 502 is further configured to:
  • processor 502 is further configured to:
  • prompt information is output to the control terminal; wherein the prompt information is used to prompt the user to adjust the flight state of the drone.
  • processor 502 is further configured to:
  • prompt information is output to the control terminal.
  • the flight control device when the flight control device obtains the flight mode switching instruction, it may determine the drone according to the current flight status information of the drone and/or the current environment information of the drone Whether the flight mode switching condition is satisfied; when it is determined that the drone meets the flight mode switching condition, the flight control device can switch the current flight mode of the drone, thereby improving the drone's flight process Reliability and safety of mode switching.
  • the embodiment of the present invention also provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle has a rotor flight mode and a fixed-wing flight mode.
  • the drone includes: a fuselage; and a power system configured on the fuselage for UAVs provide power to move; and the above-mentioned flight control equipment.
  • the drone when the drone obtains the flight mode switching instruction, it can determine the drone according to the current flight status information of the drone and/or the current environment information of the drone Whether the flight mode switching conditions are met; when it is determined that the drone meets the flight mode switching conditions, the current flight mode of the drone can be switched, thereby improving the reliability of the drone mode switching during flight Sex and safety.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the embodiment of the present invention corresponding to FIG. 3 or FIG. 4
  • the described method can also implement the device corresponding to the embodiment of the present invention described in FIG. 5, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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Abstract

Provided are a flight control method and apparatus for an unmanned aerial vehicle, and an unmanned aerial vehicle. The method comprises: acquiring a flight mode switching command, the flight mode switching command instructing an unmanned aerial vehicle to switch between a rotary wing flight mode and a fixed wing flight mode (S301); determining, according to current flight state information of the unmanned aerial vehicle and/or information of an environment in which the unmanned aerial vehicle is currently located, whether the unmanned aerial vehicle meets a flight mode switching condition (S302); and if the unmanned aerial vehicle meets the flight mode switching condition, switching a current flight mode of the unmanned aerial vehicle (S303). The method can improve safety and reliability of an unmanned aerial vehicle in a flight mode switching process.

Description

一种无人机的飞行控制方法、设备及无人机Flight control method, equipment and unmanned aerial vehicle 技术领域Technical field
本发明涉及控制技术领域，尤其涉及一种无人机的飞行控制方法、设备及无人机。The present invention relates to the field of control technology, and in particular to a flight control method, equipment and unmanned aerial vehicle.
背景技术Background technique
垂直起降(Vertical Take-Off and Landing,VTOL)无人机是近年来发展迅速的一类新型航空器，垂直起降无人机同时具备旋翼飞行器的垂直起降并能在空中悬停和低速飞行的能力，以及固定翼飞行器以较低能耗高速飞行的能力，具有极强的行业应用价值。Vertical Take-Off and Landing (VTOL) UAVs are a new type of aircraft that has developed rapidly in recent years. Vertical Take-Off and Landing UAVs also have the vertical take-off and landing of rotorcraft and can hover in the air and fly at low speeds. The ability of fixed-wing aircraft and the ability of fixed-wing aircraft to fly at high speed with low energy consumption have extremely strong industrial application value.
垂直起降无人机的飞行过程中需要在旋翼飞行模式和固定翼飞行模式之间切换，目前垂直起降无人机在进行飞行模式切换时容易出现切换失败或者在切换过程中无人机撞到障碍物等情况。因此，如何更有效地控制垂直起降无人机的飞行模式切换过程具有十分重要的意义。During the flight of the vertical take-off and landing drone, it is necessary to switch between the rotor flight mode and the fixed-wing flight mode. At present, the vertical take-off and landing drone is prone to fail to switch or the drone collides during the switching process. To obstacles, etc. Therefore, how to more effectively control the flight mode switching process of vertical take-off and landing drones is of great significance.
发明内容Summary of the invention
本发明实施例提供了一种无人机的飞行控制方法、设备及无人机，可以提高无人机在飞行过程中进行模式切换的可靠性和安全性，提升用户体验。The embodiments of the present invention provide a flight control method, equipment, and the drone of a drone, which can improve the reliability and safety of mode switching of the drone during the flight, and improve user experience.
第一方面，本发明实施例提供了一种无人机的飞行控制方法，包括：In the first aspect, an embodiment of the present invention provides a flight control method of a drone, including:
获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换；Acquiring a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode;
根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；Determine whether the drone meets the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone;
当所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。When the drone meets the flight mode switching condition, the current flight mode of the drone is switched.
第二方面，本发明实施例提供了一种飞行控制设备，包括存储器和处理器；In the second aspect, an embodiment of the present invention provides a flight control device, including a memory and a processor;
所述存储器，用于存储程序指令；The memory is used to store program instructions;
所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换；Acquiring a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode;
根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；Determine whether the drone meets the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone;
当所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。When the drone meets the flight mode switching condition, the current flight mode of the drone is switched.
第三方面，本发明实施例提供了一种无人机，包括：In the third aspect, an embodiment of the present invention provides a drone, including:
机身；body;
配置在机身上的动力***，用于为所述无人机提供移动的动力；The power system configured on the fuselage is used to provide mobile power for the UAV;
如上述第二方面所述的飞行控制设备。The flight control device as described in the above second aspect.
第四方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述的方法。In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.
本发明实施例中，飞行控制设备在获取到飞行模式切换指令时，可以根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；当确定出所述无人机满足飞行模式切换条件时，所述飞行控制设备可以对所述无人机当前的飞行模式进行切换，从而提高无人机在飞行过程中进行模式切换的可靠性和安全性。In the embodiment of the present invention, when the flight control device obtains the flight mode switching instruction, it may determine the drone according to the current flight status information of the drone and/or the current environment information of the drone Whether the flight mode switching condition is satisfied; when it is determined that the drone meets the flight mode switching condition, the flight control device can switch the current flight mode of the drone, thereby improving the drone's flight process Reliability and safety of mode switching.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅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的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.
图1是本发明实施例提供的一种无人机的构型图；Figure 1 is a configuration diagram of an unmanned aerial vehicle provided by an embodiment of the present invention;
图2是本发明实施例提供的一种无人机的飞行控制***的结构示意图；2 is a schematic structural diagram of a flight control system for an unmanned aerial vehicle provided by an embodiment of the present invention;
图3是本发明实施例提供的一种无人机的飞行控制方法的流程示意图；FIG. 3 is a schematic flowchart of a flight control method for a drone provided by an embodiment of the present invention;
图4是本发明实施例提供的另一种无人机的飞行控制方法的流程示意图；FIG. 4 is a schematic flowchart of another flight control method for drones according to an embodiment of the present invention;
图5是本发明实施例提供的一种飞行控制设备的结构示意图；5 is a schematic structural diagram of a flight control device provided by an embodiment of the present invention;
图6是本发明实施例提供的一种切换飞行模式过程中飞行航线的示意图。Fig. 6 is a schematic diagram of a flight route in the process of switching flight modes according to an embodiment of the present invention.
具体实施方式Detailed ways
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。The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
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。Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
本发明实施例中提供的无人机的飞行控制方法可以由一种无人机的飞行控制***执行。其中，所述无人机的飞行控制***包括飞行控制设备和无人机，在某些实施例中，所述飞行控制设备可以安装在无人机上，在某些实施例中，所述飞行控制设备可以在空间上独立于无人机，在某些实施例中，所述飞行控制设备可以是无人机的部件，即所述无人机包括飞行控制设备。The flight control method of the drone provided in the embodiment of the present invention may be executed by a flight control system of the drone. Wherein, the flight control system of the drone includes a flight control device and a drone. In some embodiments, the flight control device may be installed on the drone. In some embodiments, the flight control device The device may be spatially independent of the drone. In some embodiments, the flight control device may be a component of the drone, that is, the drone includes a flight control device.
在某些实施例中，所述无人机可以包括但不限于垂直起降无人机，所述垂直起降无人机包括复合式、倾转旋翼、旋转机翼、尾座式等无人机，一种典型的复合式垂直起降固定翼无人机构型如图1所示，图1是本发明实施例提供的一种无人机的构型图。如图1所示，该构型包含一套多旋翼动力***11以及一套固定翼动力***12。在悬停时只有旋翼动力***11工作；当需要转换为固定翼飞行模式时，固定翼动力***12开启，飞行器加速前飞；在前飞速度达到预设的巡航速度范围时，固定翼动力***12接管无人机，旋翼动力***11关闭。当需要从固定翼飞行模式转换为旋翼飞行模式时，控制无人机减速至预设速度阈值，旋翼动力***开启11，无人机切换为旋翼飞行模式11。In some embodiments, the drone may include, but is not limited to, a vertical take-off and landing drone. The vertical take-off and landing drone includes compound, tilt-rotor, rotary wing, tailstock and other unmanned aerial vehicles. A typical composite vertical take-off and landing fixed-wing unmanned aircraft is shown in Figure 1, which is a configuration diagram of an unmanned aerial vehicle provided by an embodiment of the present invention. As shown in FIG. 1, this configuration includes a multi-rotor power system 11 and a fixed-wing power system 12. When hovering, only the rotor power system 11 works; when it needs to switch to the fixed-wing flight mode, the fixed-wing power system 12 is turned on and the aircraft accelerates forward; when the forward flight speed reaches the preset cruising speed range, the fixed-wing power system 12 takes over the drone, and the rotor power system 11 is closed. When it is necessary to switch from the fixed-wing flight mode to the rotary-wing flight mode, the UAV is controlled to decelerate to a preset speed threshold, the rotor power system is turned on 11, and the UAV is switched to the rotary-wing flight mode 11.
在一个实施例中，所述无人机从旋翼飞行模式切换到固定翼飞行模式的主要任务是让无人机获得足够的空速，在这个过程中无人机会沿着机头方向飞行一段距离，从而平滑切换到固定翼飞行模式；所述无人机从固定翼飞行模式切换到旋翼飞行模式的主要任务是从固定翼飞行模式的高速飞行状态进行合理的减速，在这个过程中无人机也会沿着机头方向飞行一段距离，从而能够平滑切换到旋翼飞行模式。In one embodiment, the main task of the UAV switching from the rotor flight mode to the fixed-wing flight mode is to allow the UAV to obtain sufficient airspeed. During this process, the UAV will fly a distance in the direction of the nose. , So as to smoothly switch to the fixed-wing flight mode; the main task of the UAV from the fixed-wing flight mode to the rotary-wing flight mode is to perform reasonable deceleration from the high-speed flight state of the fixed-wing flight mode. In this process, the UAV It will also fly a distance along the nose, so that it can smoothly switch to the rotor flight mode.
本发明实施例中，所述无人机的飞行控制***中飞行控制设备可以在获取到飞行模式切换指令时，根据所述无人机当前的飞行状态信息和/或所述无人 机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；当所述无人机满足所述飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。在某些实施例中，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换。在某些实施例中，所述飞行模式切换指令可以是控制终端(如遥控器、地面站设备等)发送给飞行控制设备的；在其他实施例中，所述飞行模式切换指令还可以是所述无人机根据自动飞行的航线规划策略自动生成的，本发明实施例不做具体限定。In the embodiment of the present invention, the flight control device in the flight control system of the drone may, when acquiring the flight mode switching instruction, use the current flight status information of the drone and/or the current flight status of the drone. Using environment information, it is determined whether the drone meets the flight mode switching condition; when the drone meets the flight mode switching condition, the current flight mode of the drone is switched. In some embodiments, the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode. In some embodiments, the flight mode switching instruction may be sent by a control terminal (such as a remote control, ground station equipment, etc.) to a flight control device; in other embodiments, the flight mode switching instruction may also be a flight control device. The UAV is automatically generated according to the route planning strategy of automatic flight, which is not specifically limited in the embodiment of the present invention.
在一个实施例中，如果所述无人机当前的飞行模式为旋翼飞行模式，所述飞行模式切换指令用于指示无人机的飞行模式从旋翼飞行模式切换至固定翼飞行模式，则所述飞行控制设备在获取到所述飞行模式切换指令时，可以控制所述无人机从旋翼飞行模式切换至固定翼飞行模式。In one embodiment, if the current flight mode of the drone is the rotor flight mode, the flight mode switching instruction is used to instruct the drone to switch the flight mode from the rotor flight mode to the fixed wing flight mode, then the When the flight control device obtains the flight mode switching instruction, it can control the UAV to switch from the rotor flight mode to the fixed wing flight mode.
在一个实施例中，所述飞行控制设备在控制所述无人机从旋翼飞行模式切换至固定翼飞行模式之前，可以对所述无人机的飞行状态信息和/或所述无人机当前所处的环境信息进行检测，并根据所述无人机的飞行状态信息和/或所述无人机所处环境信息，确定所述无人机是否满足飞行模式切换条件，当所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。通过这种实施方式，可以提高无人机进行模式切换的有效性和安全性。In one embodiment, before controlling the drone to switch from the rotor flight mode to the fixed-wing flight mode, the flight control device can check the flight status information of the drone and/or the current drone The environment information is detected, and based on the flight status information of the drone and/or the environment information of the drone, it is determined whether the drone meets the flight mode switching conditions. When the aircraft meets the flight mode switching conditions, the current flight mode of the UAV is switched. Through this implementation, the effectiveness and safety of mode switching by the drone can be improved.
在一个实施例中，所述飞行状态信息包括位置误差信息、姿态误差信息、速度误差信息、加速度误差信息、角加速度误差信息、角速度误差信息中的任意一种或多种。In an embodiment, the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
在一个实施例中，当所述无人机的飞行状态满足：加速度误差信息小于第一预设阈值、速度误差信息小于第二预设阈值、位置误差信息小于第三预设阈值、角加速度误差信息小于第四预设阈值、角速度误差信息小于第五预设阈值、姿态误差信息小于第六预设阈值中的任意一项或多项时，确定所述无人机满足飞行模式切换条件。在某些实施例中，所述误差信息的计算方式可以是一段时间范围内的期望值与实际值的差值的均值、方差、标准差等，本发明实施例对误差信息的计算方式不做具体限定。In one embodiment, when the flight state of the drone satisfies: acceleration error information is less than a first preset threshold, speed error information is less than a second preset threshold, position error information is less than a third preset threshold, and angular acceleration error When the information is less than any one or more of the fourth preset threshold, the angular velocity error information is less than the fifth preset threshold, and the attitude error information is less than the sixth preset threshold, it is determined that the drone meets the flight mode switching condition. In some embodiments, the calculation method of the error information may be the mean, variance, standard deviation, etc. of the difference between the expected value and the actual value within a period of time. The embodiment of the present invention does not make specific calculation methods for the error information. limited.
在一个实施例中，所述环境信息包括环境风信息，所述环境风信息包括环境风的风向和风速。所述无人机可以通过传感器感知或者测量所述无人机当前所处环境的风速和风向，并判断所述风速和风向是否满足预设条件，若满足， 则可以确定所述无人机满足飞行模式切换条件。在某些实施例中，所述环境风信息中的风速是根据环境风在体坐标系下的模长确定的，所述环境风信息中的风向是根据环境风在体坐标系下的矢量方向确定的。在某些实施例中，所述体坐标系可以是以无人机的机头方向为x轴方向，以无人机机头的右侧方向为y轴方向，以无人机向下方向为z轴方向的坐标系。In one embodiment, the environmental information includes environmental wind information, and the environmental wind information includes the wind direction and wind speed of the environmental wind. The drone can sense or measure the wind speed and wind direction of the environment where the drone is currently located through sensors, and determine whether the wind speed and wind direction meet preset conditions, and if they do, it can be determined that the drone meets Flight mode switching conditions. In some embodiments, the wind speed in the environmental wind information is determined according to the modulus length of the environmental wind in the body coordinate system, and the wind direction in the environmental wind information is based on the vector direction of the environmental wind in the body coordinate system. definite. In some embodiments, the body coordinate system may take the direction of the drone's nose as the x-axis direction, the right direction of the drone's nose as the y-axis direction, and the downward direction of the drone as the The coordinate system in the z-axis direction.
在一些实施例中，当环境风风向不同时，无人机从旋翼飞行模式切换至固定翼飞行模式的风速条件不同，例如：当环境风与机头方向相反，即逆风情况，无人机从旋翼飞行模式切换至固定翼飞行模式的风速条件为不大于8m/s，当环境风垂直于机头方向时，无人机从旋翼飞行模式切换至固定翼飞行模式的风速条件为不大于5m/s。In some embodiments, when the ambient wind direction is different, the wind speed conditions for the drone to switch from the rotor flight mode to the fixed-wing flight mode are different. For example, when the ambient wind and the nose direction are opposite, that is, in the case of headwind, the drone changes from The wind speed condition for switching the rotor flight mode to the fixed-wing flight mode is no more than 8m/s. When the ambient wind is perpendicular to the direction of the nose, the wind speed condition for the UAV to switch from the rotor flight mode to the fixed-wing flight mode is no more than 5m/s. s.
在一个实施例中，所述环境信息包括障碍物信息，所述障碍物信息包括但不限于障碍物的高度和障碍物到无人机的距离，如果所述无人机当前所处环境中障碍物的高度和障碍物到无人机的距离满足预设条件，则可以确定所述无人机满足飞行模式切换条件。In one embodiment, the environment information includes obstacle information, and the obstacle information includes, but is not limited to, the height of the obstacle and the distance from the obstacle to the UAV. If the UAV is currently in an environment where there is an obstacle If the height of the object and the distance from the obstacle to the drone meet the preset conditions, it can be determined that the drone meets the flight mode switching condition.
在某些实施例中，所述无人机可以通过全球定位***(Global Positioning System，GPS)确定出所述无人机的地理位置。可选的，还可以结合气压计、惯性测量单元(Inertial measurement unit，IMU)、图像传感器、超声波传感器、飞行时间(Time of flight，TOF)传感器中的一个或多个融合得到所述无人机离地的高度。进一步地，无人机可以结合高精度地图得到环境中的障碍物信息，如无人机周围的建筑、山川等。需要说明的是，无人机的定位***包括但不限于GPS定位***、北斗定位***、实时动态(Real-time kinematic，RTK)载波相位差分定位***中的任意一种或多种。例如，假设所述无人机当前离地高度为50m，在无人机的正前方100m处有一座100m高的小山，如果无人机通过往前加速来实现从旋翼飞行模式至固定翼飞行模式的切换，则无人机会撞到该小山，所以为了确保无人机进行飞行模式切换的可靠性和安全性，不允许该无人机从旋翼飞行模式切换至固定翼飞行模式。In some embodiments, the UAV may determine the geographic location of the UAV through a Global Positioning System (GPS). Optionally, one or more of a barometer, an inertial measurement unit (IMU), an image sensor, an ultrasonic sensor, and a time of flight (TOF) sensor may be combined to obtain the drone. The height from the ground. Furthermore, the drone can combine high-precision maps to obtain obstacle information in the environment, such as buildings and mountains around the drone. It should be noted that the positioning system of the UAV includes but is not limited to any one or more of the GPS positioning system, the Beidou positioning system, and the real-time kinematic (RTK) carrier phase differential positioning system. For example, suppose the UAV’s current height above the ground is 50m, and there is a 100m high hill 100m directly in front of the UAV. If the UAV accelerates forward to realize the transition from rotor flight mode to fixed wing flight mode If the drone is switched, the drone will hit the hill, so in order to ensure the reliability and safety of the drone's flight mode switching, the drone is not allowed to switch from the rotor flight mode to the fixed-wing flight mode.
在一个实施例中，当所述无人机不满足飞行模式切换条件时，所述无人机可以向控制终端发送提示信息，通过控制终端的提示模块(可以是APP)提示用户可以通过调整无人机的飞行状态，如航向、高度去应对环境风等的约束，以使调整后的无人机满足飞行模式切换条件。In one embodiment, when the drone does not meet the flight mode switching conditions, the drone can send a prompt message to the control terminal, and the prompt module (may be an APP) of the control terminal prompts the user to adjust the flight mode. The flight status of the man-machine, such as the heading and altitude, should meet the constraints of the ambient wind, so that the adjusted UAV meets the flight mode switching conditions.
例如，当垂直于机头方向6m/s的环境风使得无人机不满足从旋翼飞行模式切换至固定翼飞行模式的飞行模式切换条件时，可以通过提示用户调整无人机航向，以使得无人机满足飞行模式切换条件。又例如，当无人机正前方100m处的一座100m高的小山使得无人机不满足从旋翼飞行模式切换至固定翼飞行模式的飞行模式切换条件时，可以通过提示用户将无人机升高到100m以上或者将机头调整到没有撞机风险的方向，以使得无人机满足飞行模式切换条件。For example, when the environment wind of 6m/s perpendicular to the direction of the nose makes the drone not meet the flight mode switching conditions for switching from the rotor flight mode to the fixed-wing flight mode, the user can be prompted to adjust the drone's heading so that there is no The man-machine meets the flight mode switching conditions. For another example, when a 100m high hill 100m directly in front of the drone makes the drone not meet the flight mode switching conditions from rotor flight mode to fixed-wing flight mode, the user can be prompted to raise the drone Above 100m or adjust the nose to a direction where there is no risk of collision, so that the drone meets the flight mode switching conditions.
在某些实施例中，所述控制终端的提示模块主要用于与用户的交互，所述交互途径包括但不限于手机APP语音、手机APP文字、遥控器震动、遥控器液晶显示屏等。以切换至固定翼飞行模式为例：风向与风速不适合切换至固定翼飞行模式，手机APP语音提示：“风速过大，机头左转或降落。”；又例如：地理环境不适合切换至固定翼飞行模式，手机APP语音提示：“前方障碍，机头右转或升高。”；又例如：开始切换至固定翼飞行模式时遥控器振动一下，手机APP语音提示：“开始切换至固定翼飞行模式，风速5m/s，空速5m/s、空速10m/s、空速15m/s、空速20m/s，进入固定翼飞行模式。”；又例如：完成切换至固定翼飞行模式时，遥控器再振动一下。In some embodiments, the prompt module of the control terminal is mainly used for interaction with the user, and the interaction path includes, but is not limited to, mobile phone APP voice, mobile phone APP text, remote control vibration, and remote control LCD screen. Take the switch to the fixed-wing flight mode as an example: the wind direction and wind speed are not suitable for switching to the fixed-wing flight mode, the mobile phone APP voice prompt: "The wind speed is too high, the nose turn left or land."; another example: the geographical environment is not suitable for switching to In fixed-wing flight mode, the mobile phone APP voice prompts: "There is an obstacle ahead, the nose turns right or rises."; another example: the remote control vibrates when the fixed-wing flight mode starts to switch, the mobile phone APP voice prompts: "Start switching to fixed Wing flight mode, wind speed 5m/s, airspeed 5m/s, airspeed 10m/s, airspeed 15m/s, airspeed 20m/s, enter fixed-wing flight mode."; another example: complete the switch to fixed-wing flight In mode, the remote control vibrates again.
以切换至旋翼飞行模式为例：开始切换至旋翼飞行模式时遥控器振动一下，手机APP语音提示：“开始切换至旋翼飞行模式，风速4m/s，空速19m/s、空速15m/s、空速10m/s、空速5m/s，进入旋翼飞行模式。”完成切换至旋翼飞行模式时，遥控器再振动一下。Take the switch to the rotor flight mode as an example: the remote control vibrates when you start to switch to the rotor flight mode, the mobile phone APP voice prompts: "Start to switch to the rotor flight mode, wind speed 4m/s, airspeed 19m/s, airspeed 15m/s , Airspeed 10m/s, airspeed 5m/s, enter the rotor flight mode." When the switch to the rotor flight mode is completed, the remote control vibrates again.
通过向控制终端发送提示信息的这种实施方式可以提示用户如何操作、提示用户无人机当前所处的状态、飞行模式等信息，从而提升了用户体验。This implementation manner of sending prompt information to the control terminal can prompt the user how to operate, prompt the user the current status of the drone, the flight mode, and other information, thereby improving the user experience.
在一个实施例中，所述无人机在从旋翼飞行模式切换至固定翼飞行模式的过程中，所述无人机的前拉电机加速旋转产生的拉力可以控制所述无人机加速前进，当环境风的风向与所述无人机的机头方向有较大夹角时，无人机在切换飞行模式时的航线方向可能无法与目标航线方向保持一致。为使得无人机在切换飞行模式时沿着目标航线飞行，可以根据侧向速度误差(即期望侧向速度与实际侧向速度的差值)或侧偏距误差(目标航线与实际航线的距离)计算并控制所述无人机的目标姿态角，从而实现对无人机的侧向速度或侧偏距的实时控制。在某些实施例中，所述无人机的目标姿态角可以包括但不限于目标横滚角、目标俯仰角、目标偏航角中的任意一种或多种。通过这种实施方式，可以在侧 向风环境下，即环境风的风向与所述无人机的机头方向有较大夹角时，降低无人机的侧向速度或者侧偏距误差，控制无人机按照目标航线飞行。在某些实施例中，目标航线方向与所述垂直起降无人机在切换飞行模式的起始时刻的机头方向一致。In one embodiment, when the drone is switched from the rotor flight mode to the fixed-wing flight mode, the pulling force generated by the accelerated rotation of the forward pull motor of the drone can control the acceleration of the drone. When the wind direction of the ambient wind has a large angle with the nose direction of the drone, the route direction of the drone when switching the flight mode may not be consistent with the target route direction. In order to make the UAV fly along the target course when switching the flight mode, it can be based on the lateral speed error (that is, the difference between the expected lateral speed and the actual lateral speed) or the side offset error (the distance between the target course and the actual course). ) Calculate and control the target attitude angle of the UAV, so as to realize the real-time control of the UAV's lateral speed or side offset distance. In some embodiments, the target attitude angle of the drone may include, but is not limited to, any one or more of a target roll angle, a target pitch angle, and a target yaw angle. Through this embodiment, in a lateral wind environment, that is, when the wind direction of the ambient wind has a large angle with the nose direction of the drone, the side speed or the side offset error of the drone can be reduced, Control the drone to fly according to the target route. In some embodiments, the target course direction is consistent with the nose direction of the vertical take-off and landing drone at the initial moment of switching the flight mode.
具体可以图6为例进行说明，图6是本发明实施例提供的一种切换飞行模式过程中飞行航线的示意图，如图6所示为所述无人机从旋翼飞行模式切换至固定翼飞行模式的过程中的一种飞行航线的示意图。假设无人机从A点开始从旋翼飞行模式切换至固定翼飞行模式，无人机从旋翼飞行模式切换至固定翼飞行模式的目标航线为AB航线，无人机在A点时机头的方向为从A到B的方向，环境风V1的风向与AB航线(即机头的方向)的夹角为90°，满足较大夹角。由于环境风V1的影响无人机在从A点开始从旋翼飞行模式切换至固定翼飞行模式时的航线方向实际为从A到C的方向，实际航线为AC航线。因此，无人机在从旋翼飞行模式切换至固定翼飞行模式时的航线出现了偏差，并可以确定AB航线与AC航线之间的距离为侧偏距误差，如当无人机飞至D点时，侧偏距误差为AB航线上的E点与AC航线上的D点之间的距离d；以及确定期望侧向速度与实际侧向速度的差值为侧向速度误差，如期望侧向速度为0，实际侧向速度为V2，则可以确定侧向速度误差为V2。因此，为使得无人机在从旋翼飞行模式切换至固定翼飞行模式时尽可能地沿着AB航线飞行，可以根据侧向速度误差V2或侧偏距误差(如d)计算并控制所述无人机的目标姿态角(如横滚角)，以使无人机尽可能地靠近AB航线飞行，减小AB航线与AC航线之间的侧偏距误差，控制无人机按照目标航线飞行。Specific description can be made in Figure 6 as an example. Figure 6 is a schematic diagram of a flight route during the process of switching flight modes according to an embodiment of the present invention. As shown in Figure 6, the drone is switched from rotor flight mode to fixed wing flight. A schematic diagram of a flight route in the course of the mode. Assuming that the drone switches from rotor flight mode to fixed-wing flight mode from point A, the target route for the drone to switch from rotor flight mode to fixed-wing flight mode is AB route, and the direction of the drone's nose at point A is From the direction of A to B, the angle between the wind direction of the ambient wind V1 and the AB course (that is, the direction of the nose) is 90°, which satisfies a larger angle. Due to the influence of ambient wind V1, when the UAV switches from rotor flight mode to fixed-wing flight mode from point A, the actual course direction is from A to C, and the actual course is AC course. Therefore, the flight path of the UAV when switching from the rotor flight mode to the fixed-wing flight mode is deviated, and the distance between the AB flight path and the AC flight path can be determined as the side offset error, such as when the UAV flies to point D When, the side skew error is the distance d between the E point on the AB course and the D point on the AC course; and the difference between the expected lateral speed and the actual lateral speed is determined as the lateral speed error, such as the expected lateral If the speed is 0 and the actual lateral velocity is V2, the lateral velocity error can be determined as V2. Therefore, in order to make the UAV fly as far as possible along the AB course when switching from the rotor flight mode to the fixed-wing flight mode, the side speed error V2 or the side offset error (such as d) can be calculated and controlled. The target attitude angle of the man-machine (such as the roll angle) to make the UAV fly as close to the AB course as possible, reduce the side offset error between the AB course and the AC course, and control the UAV to fly according to the target course.
需要说明的是，目标航线可以是如图10所示的一条线段，也可以是由A点起始的一条射线。即，对目标航线的结束点位置可以不做限制。It should be noted that the target route can be a line segment as shown in FIG. 10 or a ray starting from point A. That is, there is no need to limit the position of the end point of the target route.
在一个实施例中，所述无人机在从旋翼飞行模式切换至固定翼飞行模式的过程中，旋翼电机和固定翼舵面同时产生力矩，无人机控制设备可以根据所述旋翼电机的力矩和第一预设权重，以及所述固定翼舵面的力矩和第二预设权重，对所述无人机的姿态进行控制，以对无人机在飞行过程中的姿态进行控制。In one embodiment, when the drone is switched from the rotor flight mode to the fixed-wing flight mode, the rotor motor and the fixed-wing rudder surface generate torque at the same time, and the drone control device can be based on the torque of the rotor motor And the first preset weight, the moment of the fixed-wing rudder surface and the second preset weight, to control the attitude of the drone to control the attitude of the drone during flight.
在一个实施例中，所述无人机在从旋翼飞行模式切换至固定翼飞行模式的过程中，当无人机加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值；或者，所述无人机的旋翼电机的推力在预设时间范围内小于预设推 力值，且所述无人机的飞行高度误差小于预设误差值时，可以确定所述无人机成功切换至固定翼飞行模式。In one embodiment, when the drone is in the process of switching from the rotor flight mode to the fixed-wing flight mode, when the drone accelerates to a preset speed range, and the flight height error of the drone is less than the preset Error value; or, when the thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone is less than the preset error value, it can be determined that the unmanned The aircraft successfully switched to the fixed-wing flight mode.
在一个实施例中，如果所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式，则可以控制所述无人机切换回所述旋翼飞行模式。In one embodiment, if the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, the drone can be controlled to switch back to the rotor flight mode.
在一个实施例中，如果所述无人机当前的飞行模式为固定翼飞行模式，所述飞行模式切换指令用于指示无人机的飞行模式从固定翼飞行模式切换至旋翼飞行模式，则所述飞行控制设备在获取到所述飞行模式切换指令时，可以控制所述无人机从固定翼飞行模式切换至旋翼飞行模式。In one embodiment, if the current flight mode of the drone is a fixed-wing flight mode, the flight mode switching instruction is used to instruct the drone's flight mode to switch from the fixed-wing flight mode to the rotor flight mode. When the flight control device obtains the flight mode switching instruction, it can control the drone to switch from the fixed-wing flight mode to the rotary-wing flight mode.
在一个实施例中，在所述无人机从固定翼飞行模式切换至旋翼飞行模式的过程中，为保证无人机在不同风速与风向下能有相似的刹车距离，所述无人机的目标俯仰角会根据风速进行变化。在某些实施例中，所述刹车距离是指所述无人机从固定翼飞行模式切换至旋翼飞行模式的过程中的飞行距离。In one embodiment, when the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, in order to ensure that the drone can have a similar braking distance at different wind speeds and wind down, the drone's The target pitch angle will change according to the wind speed. In some embodiments, the braking distance refers to the flying distance of the drone during the process of switching from the fixed-wing flight mode to the rotor-wing flight mode.
在一个实施例中，所述飞行控制设备可以根据从固定翼飞行模式开始切换至旋翼飞行模式的那一刻的环境风速计算出一个目标俯仰角，在切换至旋翼飞行模式之前，所述无人机一直以此目标俯仰角进行减速飞行。In one embodiment, the flight control device may calculate a target pitch angle based on the ambient wind speed at the moment when the fixed-wing flight mode is switched to the rotor flight mode. Before switching to the rotor flight mode, the drone It has been decelerating flight at this target pitch angle.
在另一个实施例中，在从固定翼飞行模式开始切换至旋翼飞行模式的过程中，所述飞行控制设备可以根据实时风速及当前无人机的飞行速度实时计算目标俯仰角。In another embodiment, during the process of switching from the fixed-wing flight mode to the rotary-wing flight mode, the flight control device may calculate the target pitch angle in real time according to the real-time wind speed and the current flying speed of the drone.
在一个实施例中，在从固定翼飞行模式开始切换至旋翼飞行模式的过程中，所述飞行控制设备可以通过控制姿态角，实现对无人机的侧向速度或侧偏距进行控制。In one embodiment, during the process of switching from the fixed-wing flight mode to the rotor-wing flight mode, the flight control device can control the side speed or the side offset of the drone by controlling the attitude angle.
在一个实施例中，当所述无人机的飞行速度减速至预设速度阈值时，可以确定所述无人机成功切换至所述旋翼飞行模式；在另一个实施例中，当所述无人机在该第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则可以控制所述无人机切换回所述旋翼飞行模式。In one embodiment, when the flying speed of the drone decelerates to a preset speed threshold, it can be determined that the drone has successfully switched to the rotor flight mode; in another embodiment, when the drone is flying When the man-machine does not switch from the fixed wing flight mode to the rotor flight mode within the second specified time range, the drone can be controlled to switch back to the rotor flight mode.
在某些实施例中，如果所述无人机不满从所述固定翼飞行模式切换至所述旋翼飞行模式的飞行模式切换条件，则同样可以向控制终端输出提示信息，以提升用户体验，具体实施例及举例如前所述，此处不再赘述。In some embodiments, if the drone is dissatisfied with the flight mode switching conditions for switching from the fixed-wing flight mode to the rotor flight mode, it can also output prompt information to the control terminal to improve user experience. The embodiments and examples are described above, and will not be repeated here.
下面结合附图2对本发明实施例提供的无人机的飞行控制***进行示意性说明。The flight control system of the unmanned aerial vehicle provided by the embodiment of the present invention will be schematically described below with reference to FIG. 2.
请参见图2，图2是本发明实施例提供的一种无人机的飞行控制***的结构示意图。所述无人机的飞行控制***包括：无人机22、控制终端20。所述无人机22具有旋翼飞行模式和固定翼飞行模式。在一些实施例中，飞行控制设备21设置在无人机22中，可以通过有线通信连接方式与无人机中的其他设备(如动力***221)建立通信连接。在其他实施例中，无人机22和飞行控制设备21彼此独立，例如飞行控制设备21设置在云端服务器中，通过无线通信连接方式与无人机22建立通信连接。在某些实施例中，所述飞行控制设备21可以为飞行控制器。控制终端20可以是遥控器、智能手机、平板电脑、膝上型电脑、手表、手环等及其组合。控制终端20可以向无人机22发送遥控指令，无人机22可以向控制终端20实时传输图像。在一种实施方式中，控制终端还可以显示无人机向其发送的提示信息。Please refer to FIG. 2, which is a schematic structural diagram of a flight control system for an unmanned aerial vehicle according to an embodiment of the present invention. The flight control system of the drone includes: a drone 22 and a control terminal 20. The drone 22 has a rotor flight mode and a fixed wing flight mode. In some embodiments, the flight control device 21 is provided in the drone 22, and can establish a communication connection with other devices (such as the power system 221) in the drone through a wired communication connection. In other embodiments, the drone 22 and the flight control device 21 are independent of each other. For example, the flight control device 21 is set in a cloud server and establishes a communication connection with the drone 22 through a wireless communication connection. In some embodiments, the flight control device 21 may be a flight controller. The control terminal 20 may be a remote control, a smart phone, a tablet computer, a laptop computer, a watch, a bracelet, etc. and combinations thereof. The control terminal 20 can send remote control instructions to the drone 22, and the drone 22 can transmit images to the control terminal 20 in real time. In an embodiment, the control terminal may also display the prompt information sent to it by the drone.
本发明实施例中，所述飞行控制设备21在获取到飞行模式切换指令时，可以根据无人机22当前的飞行状态信息和/或无人机22当前所处环境信息，确定无人机22是否满足飞行模式切换条件，如果无人机22满足飞行模式切换条件，则可以对所述无人机当前的飞行模式进行切换。在某些实施例中，无人机22当前的飞行模式包括旋翼飞行模式或固定翼飞行模式。无人机22包括旋翼动力***和固定翼动力***，在旋翼飞行模式下旋翼动力***提供无人机22的飞行动力，在固定翼飞行模式下固定翼动力***提供无人机22的飞行动力。In the embodiment of the present invention, when the flight control device 21 obtains the flight mode switching instruction, it can determine the drone 22 based on the current flight status information of the drone 22 and/or the current environment information of the drone 22 Whether the flight mode switching condition is met, if the UAV 22 meets the flight mode switching condition, the current flight mode of the UAV can be switched. In some embodiments, the current flight mode of the drone 22 includes a rotor flight mode or a fixed wing flight mode. The drone 22 includes a rotor power system and a fixed-wing power system. The rotor power system provides the flight power of the drone 22 in the rotor flight mode, and the fixed-wing power system provides the flight power of the drone 22 in the fixed-wing flight mode.
下面结合附图3-附图5对本发明实施例提供的无人机的飞行控制方法进行示意性说明。Hereinafter, the flight control method of the unmanned aerial vehicle provided by the embodiments of the present invention will be schematically described with reference to FIGS. 3 to 5.
具体请参见图3，图3是本发明实施例提供的一种无人机的飞行控制方法的流程示意图，所述方法可以由飞行控制设备执行，其中，飞行控制设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 3 for details. FIG. 3 is a schematic flowchart of a flight control method for a drone provided by an embodiment of the present invention. The method may be executed by a flight control device, and the specific explanation of the flight control device is as described above. . Specifically, the method of the embodiment of the present invention includes the following steps.
S301：获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换。S301: Obtain a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode.
本发明实施例中，飞行控制设备可以获取飞行模式切换指令，所述飞行模 式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换。在某些实施例中，所述飞行模式切换指令可以是控制终端发送给所述飞行控制设备的；在其他实施例中，所述飞行模式切换指令可以是无人机根据自动飞行的航线规划策略自动生成的，在此不做具体限定。In the embodiment of the present invention, the flight control device may obtain a flight mode switching instruction, which is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode. In some embodiments, the flight mode switching instruction may be sent by the control terminal to the flight control device; in other embodiments, the flight mode switching instruction may be a route planning strategy of the drone according to automatic flight. It is automatically generated, and there is no specific limitation here.
在一些实施例中，所述飞行模式切换指令可以用于指示所述无人机从旋翼飞行模式切换至固定翼飞行模式，所述无人机从旋翼飞行模式切换至固定翼飞行模式是指在从旋翼飞行模式切换至固定翼飞行模式的过程中，控制无人机的航向沿着无人机的机头朝向加速飞行，自动关闭旋翼飞行模式并开启固定翼飞行模式，当所述无人机的速度加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值时，实现从旋翼飞行模式切换至固定翼飞行模式。In some embodiments, the flight mode switching instruction may be used to instruct the drone to switch from the rotor flight mode to the fixed wing flight mode, and the drone switching from the rotor flight mode to the fixed wing flight mode means During the process of switching from the rotor flight mode to the fixed wing flight mode, control the heading of the drone to accelerate the flight along the nose of the drone, automatically turn off the rotor flight mode and turn on the fixed wing flight mode. When the speed accelerates to the preset speed range, and the flying height error of the drone is less than the preset error value, switching from the rotor flight mode to the fixed wing flight mode is realized.
S302：根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件。S302: Determine whether the drone satisfies the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone.
本发明实施例中，飞行控制设备可以根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息确定所述无人机是否满足飞行模式切换条件。In the embodiment of the present invention, the flight control device may determine whether the drone satisfies the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone.
在一个实施例中，所述飞行状态信息包括位置误差信息、姿态误差信息、速度误差信息、加速度误差信息、角加速度误差信息、角速度误差信息中的任意一种或多种。In an embodiment, the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
在某些实施例中，所述位置误差信息包括但不限于在预设时间范围内期望位置与实际位置的差值的均值、方差、标准差等；在某些实施例中，所述实际位置可以通过无人机的定位***获取。在某些实施例中，所述加速度误差信息包括但不限于在预设时间范围内期望加速度与实际加速度的差值的均值、方差、标准差等。在某些实施例中，所述角加速度误差信息包括但不限于在预设时间范围内期望角加速度与实际角加速度的差值的均值、方差、标准差等。在某些实施例中，所述角速度误差信息包括但不限于在预设时间范围内期望角速度与实际角角速度的差值的均值、方差、标准差等。In some embodiments, the position error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected position and the actual position within a preset time range; in some embodiments, the actual position It can be obtained through the UAV's positioning system. In some embodiments, the acceleration error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected acceleration and the actual acceleration within a preset time range. In some embodiments, the angular acceleration error information includes, but is not limited to, the mean, variance, standard deviation, etc. of the difference between the expected angular acceleration and the actual angular acceleration within a preset time range. In some embodiments, the angular velocity error information includes, but is not limited to, the mean value, variance, standard deviation, etc. of the difference between the expected angular velocity and the actual angular velocity within a preset time range.
在一个实施例中，当所述无人机的飞行状态满足：加速度误差信息小于第一预设阈值、速度误差信息小于第二预设阈值、位置误差信息小于第三预设阈值、角加速度误差信息小于第四预设阈值、角速度误差信息小于第五预设阈值、姿态误差信息小于第六预设阈值中的任意一项或多项时，确定无人机满足飞行 模式切换条件。In one embodiment, when the flight state of the drone satisfies: acceleration error information is less than a first preset threshold, speed error information is less than a second preset threshold, position error information is less than a third preset threshold, and angular acceleration error When the information is less than the fourth preset threshold, the angular velocity error information is less than the fifth preset threshold, and the attitude error information is less than any one or more of the sixth preset threshold, it is determined that the drone meets the flight mode switching condition.
在一个实施例中，所述环境信息包括环境风信息和/或障碍物信息。所述环境风信息包括环境风的风速和风向，所述障碍物信息包括障碍物的高度和障碍物到无人机的距离。所述无人机可以通过传感器感知或者测量所述无人机当前所处环境的风速和风向。所述无人机可以通过定位模块和高精度地图确定障碍物的高度和障碍物到无人机的距离。所述无人机满足飞行模式切换条件，包括：所述环境风信息中的风速和风向满足预设的范围阈值；和/或，所述障碍物的高度和所述障碍物到无人机的距离满足预设条件。In an embodiment, the environmental information includes environmental wind information and/or obstacle information. The environmental wind information includes the wind speed and direction of the environmental wind, and the obstacle information includes the height of the obstacle and the distance from the obstacle to the drone. The drone can sense or measure the wind speed and wind direction of the environment where the drone is currently located through sensors. The UAV can determine the height of the obstacle and the distance from the obstacle to the UAV through a positioning module and a high-precision map. The drone meets flight mode switching conditions, including: wind speed and wind direction in the environmental wind information meet a preset range threshold; and/or, the height of the obstacle and the distance from the obstacle to the drone The distance meets the preset condition.
S303：当所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。S303: When the drone meets the flight mode switching condition, switch the current flight mode of the drone.
本发明实施例中，当所述无人机满足飞行模式切换条件时，飞行控制设备可以对所述无人机当前的飞行模式进行切换。In the embodiment of the present invention, when the drone meets the flight mode switching condition, the flight control device can switch the current flight mode of the drone.
在一个实施例中，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述旋翼飞行模式切换至固定翼飞行模式，所述飞行控制设备可以获取所述无人机的侧向速度误差信息或侧偏距误差信息，并根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角，在将所述无人机的飞行模式由所述旋翼飞行模式切换至固定翼飞行模式的过程中，可以根据所述目标姿态角对所述无人机的姿态进行控制。通过对无人机的姿态进行控制，有助于降低所述无人机的侧向速度误差或侧偏距误差，降低无人机在进行飞行模式切换时偏离航线的误差，以确保无人机在飞行过程中的可靠性和安全性。In one embodiment, the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the flight control device can obtain the flight mode of the drone. Side speed error information or side offset distance error information, and according to the side speed error information or the side offset distance error information, the target attitude angle of the drone is determined, and the flight of the drone When the mode is switched from the rotor flight mode to the fixed wing flight mode, the attitude of the drone can be controlled according to the target attitude angle. By controlling the attitude of the UAV, it is helpful to reduce the side speed error or the side offset error of the UAV, and reduce the error of the UAV deviating from the course when the flight mode is switched to ensure the UAV Reliability and safety during flight.
例如，飞行控制设备可以获取无人机由旋翼飞行模式切换至固定翼飞行模式的过程中的实际侧向速度，并根据所述实际侧向速度和期望侧向速度计算得到侧向速度误差。所述飞行控制设备可以通过侧向控制器计算得到所述无人机的目标横滚角，并根据所述目标横滚角和实际横滚角，确定出横滚角误差。所述飞行控制设备可以通过姿态控制器根据所述横滚角误差对所述无人机的姿态进行控制。For example, the flight control device can obtain the actual lateral speed of the drone during the process of switching from the rotor flight mode to the fixed-wing flight mode, and calculate the lateral speed error according to the actual lateral speed and the desired lateral speed. The flight control device may calculate the target roll angle of the drone through a lateral controller, and determine the roll angle error according to the target roll angle and the actual roll angle. The flight control device can control the attitude of the drone according to the roll angle error through an attitude controller.
可见，通过对所述无人机从旋翼飞行模式切换至固定翼飞行模式过程中的姿态进行控制的这种实施方式，可以降低实际侧向速度和期望侧向速度之间的误差，提高无人机在侧风环境下切换至固定翼飞行模式时的侧向速度控制精度。It can be seen that by controlling the attitude of the UAV during the process of switching from the rotor flight mode to the fixed-wing flight mode, the error between the actual lateral speed and the desired lateral speed can be reduced, and the unmanned aircraft can be improved. The accuracy of lateral speed control when the aircraft is switched to fixed-wing flight mode in a crosswind environment.
又例如，飞行控制设备可以获取无人机由旋翼飞行模式切换至固定翼飞行模式的过程中的实际航线，并根据所述实际航线和目标航线计算得到侧偏距误差，并将侧偏距误差发送给侧向控制器，以使侧向控制器计算得到所述无人机的目标横滚角。其中，根据实际航线和目标航线计算得到侧偏距误差包括：根据实际航线中无人机在当前时刻的位置和目标航线计算得到侧偏距误差。飞行控制设备可以获取无人机的实际横滚角，并根据所述目标横滚角和实际横滚角，确定出横滚角误差。飞行控制设备可以将所述横滚角误差发送给姿态控制器，以使姿态控制器根据所述横滚角误差对所述无人机的姿态进行控制。For another example, the flight control device can obtain the actual flight path of the drone during the process of switching from the rotor flight mode to the fixed-wing flight mode, and calculate the side offset error according to the actual flight path and the target flight path, and calculate the side offset error Send to the lateral controller so that the lateral controller calculates the target roll angle of the UAV. Among them, calculating the side skew error based on the actual route and the target route includes: calculating the side skew error according to the current position of the drone in the actual route and the target route. The flight control device can obtain the actual roll angle of the drone, and determine the roll angle error according to the target roll angle and the actual roll angle. The flight control device may send the roll angle error to the attitude controller, so that the attitude controller controls the attitude of the UAV according to the roll angle error.
可见，通过对所述无人机从旋翼飞行模式切换至固定翼飞行模式过程中的姿态进行控制的这种实施方式，可以提高无人机在侧风环境下切换至固定翼飞行模式时的侧向位置精度，降低无人机在切换至固定翼飞行模式过程中实际航线与目标航线的误差。It can be seen that by controlling the attitude of the UAV in the process of switching from the rotor flight mode to the fixed-wing flight mode, the side wind of the UAV when switching to the fixed-wing flight mode can be improved. To position accuracy, reduce the error between the actual flight path and the target flight path when the UAV switches to the fixed-wing flight mode.
在一个实施例中，所述飞行控制设备可以获取所述无人机的旋翼电机的力矩以及固定翼舵面的力矩，并根据所述旋翼电机的力矩和第一预设权重，以及所述固定翼舵面的力矩和第二预设权重，对所述无人机的姿态进行控制。通过这种实施方式，可以提供更灵活的控制力矩，以更好地控制无人机在切换飞行模式过程中的姿态，确保无人机在飞行过程中的安全性。In one embodiment, the flight control device may obtain the torque of the rotor motor of the drone and the torque of the fixed wing rudder surface, and according to the torque of the rotor motor and the first preset weight, and the fixed The moment of the wing rudder surface and the second preset weight control the attitude of the UAV. Through this embodiment, a more flexible control torque can be provided to better control the attitude of the drone during the process of switching flight modes, and ensure the safety of the drone during the flight.
在一个实施例中，当所述无人机满足以下一种或多种条件时，则可以确定所述无人机成功切换至固定翼飞行模式：所述无人机加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值；或者，所述无人机的旋翼电机的推力在预设时间范围内小于预设推力值，且所述无人机的飞行高度误差小于预设误差值。所述飞行高度误差为期望高度与实际高度之间的差值。In one embodiment, when the drone meets one or more of the following conditions, it can be determined that the drone successfully switches to the fixed-wing flight mode: the drone accelerates to a preset speed range, And the flying height error of the drone is less than a preset error value; or, the thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone Less than the preset error value. The flying altitude error is the difference between the expected altitude and the actual altitude.
例如，假设预设速度范围为7m/s-8m/s的范围内，所述无人机当前速度为3m/s，如果所述无人机在满足从旋翼飞行模式切换至固定翼飞行模式的飞行模式切换条件时，加速至7m/s-8m/s的范围内，且无人机的飞行高度误差小于预设误差值，则可以确定所述无人机成功从旋翼飞行模式切换至固定翼飞行模式。For example, assuming that the preset speed range is within the range of 7m/s-8m/s, the current speed of the drone is 3m/s, if the drone meets the requirements for switching from rotor flight mode to fixed-wing flight mode When the flight mode is switched, the acceleration is within the range of 7m/s-8m/s, and the flying height error of the drone is less than the preset error value, it can be determined that the drone has successfully switched from the rotor flight mode to the fixed wing Flight mode.
又例如，假设预设推力值2牛顿，如果所述无人机的旋翼电机的推力在预设时间范围1分钟内小于预设推力值2牛顿，且所述无人机的飞行高度误差小于预设误差值0.5m时，则可以确定所述无人机成功从旋翼飞行模式切换至固 定翼飞行模式。For another example, assuming a preset thrust value of 2 Newtons, if the thrust of the rotor motor of the drone is less than the preset thrust value of 2 Newtons within the preset time range of 1 minute, and the flying height error of the drone is less than the expected When the error value is set to 0.5 m, it can be determined that the UAV has successfully switched from the rotor flight mode to the fixed wing flight mode.
通过这种实施方式，可以提高无人机从旋翼飞行模式切换至固定翼飞行模式过程中的可靠性。Through this embodiment, the reliability of the UAV during the process of switching from the rotor flight mode to the fixed wing flight mode can be improved.
在一个实施例中，当所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式时，则可以控制所述无人机切换回所述旋翼飞行模式。In one embodiment, when the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, the drone can be controlled to switch back to the rotor flight mode.
在一个实施例中，当所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式时，则可以关闭所述无人机的固定翼电机并控制所述无人机减速至预设速度阈值，从而切换回所述旋翼飞行模式。通过这种在切换至固定翼飞行模式超时的情况下，切换回旋翼飞行模式的实施方式，可以避免无人机在切换过程中的长时间加速飞行可能飞出安全区域，而导致碰撞等危险，实现了对无人机的保护，提高了无人机在飞行模式切换过程中的安全性。In one embodiment, when the drone fails to switch from the rotor flight mode to the fixed-wing flight mode within the first specified time range, the fixed-wing motor of the drone can be turned off and the drone can be controlled. The man-machine decelerates to a preset speed threshold, thereby switching back to the rotor flight mode. Through this implementation of switching the rotary wing flight mode when the switch to the fixed-wing flight mode is timed out, it can avoid that the drone may fly out of the safe area during the long-term acceleration flight during the switching process, which may cause collision and other hazards. The protection of the drone is realized, and the safety of the drone during the flight mode switching process is improved.
例如，假设所述第一指定时间范围为3分钟，当前飞行速度为6m/s，如果所述无人机在3分钟内没有成功从旋翼飞行模式切换至固定翼飞行模式，则可以关闭所述无人机的固定翼飞行模式，控制所述无人机从6m/s减速至预设速度阈值3m/s，从而切换回所述旋翼飞行模式。For example, assuming that the first specified time range is 3 minutes and the current flight speed is 6m/s, if the drone fails to switch from the rotor flight mode to the fixed wing flight mode within 3 minutes, you can turn off the The fixed-wing flight mode of the drone is controlled to decelerate from 6m/s to a preset speed threshold of 3m/s, thereby switching back to the rotor flight mode.
在一个实施例中，当检测到所述无人机不满足飞行模式切换条件时，可以向控制终端输出提示信息；其中，所述提示信息用于提示用户对所述无人机的飞行状态进行调整。在某些实施例中，所述提示信息可以通过所述控制终端的提示模块输出，所述控制终端可以包括但不限于遥控器等设备。在一个实施例中，所述飞行控制设备可以在所述无人机切换飞行模式的起始时刻，结束时刻以及中间过程，向控制终端输出提示信息，本发明实施例不做具体限定。所述飞行控制设备与控制终端之间输出提示信息的交互过程及举例如前所述，此处不再赘述。In one embodiment, when it is detected that the drone does not meet the flight mode switching condition, prompt information can be output to the control terminal; wherein, the prompt information is used to prompt the user to check the flight status of the drone. Adjustment. In some embodiments, the prompt information may be output through a prompt module of the control terminal, and the control terminal may include, but is not limited to, a remote control and other devices. In an embodiment, the flight control device may output prompt information to the control terminal at the start time, end time, and intermediate process of the UAV switching flight mode, which is not specifically limited in the embodiment of the present invention. The interactive process and examples of the prompt information output between the flight control device and the control terminal are described above, and will not be repeated here.
本发明实施例中，飞行控制设备在获取到飞行模式切换指令时，在确定出所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换，确保了无人机在切换过程中的安全性，并在确保无人机切换过程的安全性的前提下，提高了无人机在不同飞行状态和/或不同环境下进行模式切换的可靠性；通过向控制终端发送提示信息，提升了用户体验。In the embodiment of the present invention, when the flight control device obtains the flight mode switching instruction, when determining that the drone meets the flight mode switching conditions, it switches the current flight mode of the drone to ensure that no one The safety of the drone during the switching process, and on the premise of ensuring the safety of the drone switching process, improves the reliability of the drone mode switching in different flight states and/or different environments; through the control terminal Send reminders to improve user experience.
具体请参见图4，图4是本发明实施例提供的另一种无人机的飞行控制方法的流程示意图，所述方法可以由飞行控制设备执行，其中，飞行控制设备的具体解释如前所述。本发明实施例与图3所述实施例的区别在，本发明实施例是对从固定翼飞行模式切换至旋翼飞行模式的实施过程的示意性说明。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 4 for details. FIG. 4 is a schematic flowchart of another flight control method for an unmanned aerial vehicle provided by an embodiment of the present invention. The method can be executed by a flight control device. The specific explanation of the flight control device is as described above. Narrated. The difference between the embodiment of the present invention and the embodiment described in FIG. 3 is that the embodiment of the present invention is a schematic description of the implementation process of switching from the fixed-wing flight mode to the rotor-wing flight mode. Specifically, the method of the embodiment of the present invention includes the following steps.
S401：获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式从固定翼飞行模式切换至旋翼飞行模式。S401: Obtain a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch from the fixed-wing flight mode to the rotary-wing flight mode.
本发明实施例中，飞行控制设备可以获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式从固定翼飞行模式切换至旋翼飞行模式。In the embodiment of the present invention, the flight control device may obtain a flight mode switching instruction, and the flight mode switching instruction is used to instruct the flight mode of the drone to switch from the fixed-wing flight mode to the rotary-wing flight mode.
S402：控制所述无人机的姿态角小于预设角度阈值。S402: Control the attitude angle of the drone to be less than a preset angle threshold.
本发明实施例中，飞行控制设备在获取到所述飞行模式切换指令时，可以控制所述无人机的姿态角小于预设角度阈值。In the embodiment of the present invention, when the flight control device obtains the flight mode switching instruction, it can control the attitude angle of the drone to be less than a preset angle threshold.
在一个实施例中，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述固定翼飞行模式切换至旋翼飞行模式，所述飞行控制设备可以在所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式之前，控制所述无人机的姿态角小于预设角度阈值。例如，控制所述无人机的横滚角小于预设角度阈值。In one embodiment, the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode, and the flight control device can be in the flight mode of the drone. Before the flight mode is switched from the fixed-wing flight mode to the rotor flight mode, the attitude angle of the drone is controlled to be less than a preset angle threshold. For example, the roll angle of the drone is controlled to be smaller than a preset angle threshold.
通过这种实施方式，可以提高无人机后续从固定翼飞行模式切换至旋翼飞行模式过程中的稳定性，以及提高从固定翼飞行模式切换至旋翼飞行模式过程中的可靠性。Through this embodiment, the stability of the drone during subsequent switching from the fixed-wing flight mode to the rotor flight mode can be improved, and the reliability during the process of switching from the fixed-wing flight mode to the rotor flight mode can be improved.
S403：将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式。S403: Switch the flight mode of the drone from the fixed wing flight mode to the rotor flight mode.
本发明实施例中，飞行控制设备可以将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式。In the embodiment of the present invention, the flight control device can switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode.
在一个实施例中，所述飞行控制设备在将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式时，可以获取所述无人机在所述固定翼飞行模式下的环境风速，并根据所述环境风速确定所述无人机的目标俯仰角，以控制所述无人机以所述目标俯仰角减速飞行。In one embodiment, when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, it can obtain that the drone is flying on the fixed-wing flight. And determine the target pitch angle of the drone according to the ambient wind speed in the mode, so as to control the drone to fly at the target pitch angle.
在一个实施例中，所述飞行控制设备在将所述无人机的飞行模式由所述固 定翼飞行模式切换至所述旋翼飞行模式时，可以在所述无人机的飞行模式由所述固定翼飞行模式切换至旋翼飞行模式的过程中，实时地获取环境风速和所述无人机的飞行速度，并根据所述环境风速和所述无人机的飞行速度，确定目标俯仰角，以控制所述无人机以所述目标俯仰角减速飞行。In one embodiment, when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, the flight mode of the drone may be switched from the When the fixed-wing flight mode is switched to the rotor flight mode, the ambient wind speed and the flight speed of the drone are acquired in real time, and the target pitch angle is determined according to the ambient wind speed and the flight speed of the drone, and Control the drone to decelerate and fly at the target pitch angle.
在一个实施例中，所述飞行控制设备在将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式时，可以获取所述无人机的侧向速度误差信息或侧偏距误差信息，并根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角，以及在将所述无人机当前的固定翼飞行模式切换至旋翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。通过对无人机的姿态进行控制，有助于降低所述无人机的侧向速度误差或侧偏距误差，以确保无人机在飞行过程中的安全性。In one embodiment, when the flight control device switches the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode, it can acquire the lateral speed error information of the drone Or side offset error information, and determine the target attitude angle of the drone according to the side speed error information or the side offset error information, and compare the current fixed-wing flight mode of the drone In the process of switching to the rotor flight mode, the attitude of the drone is controlled according to the target attitude angle. By controlling the attitude of the drone, it is helpful to reduce the lateral speed error or the side offset error of the drone, so as to ensure the safety of the drone during flight.
在一个实施例中，当所述无人机满足以下条件时，则确定所述无人机成功切换至所述旋翼飞行模式：所述无人机减速至预设速度阈值。In one embodiment, when the drone meets the following conditions, it is determined that the drone successfully switches to the rotor flight mode: the drone is decelerated to a preset speed threshold.
在一些实施例中，所述无人机从固定翼飞行模式切换至旋翼飞行模式时，自动关闭固定翼飞行模式并开启旋翼飞行模式，并控制所述无人机以所述目标俯仰角减速飞行，以使无人机减速至预设速度阈值时，确定所述无人机从固定翼飞行模式切换至旋翼飞行模式。In some embodiments, when the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, the fixed-wing flight mode is automatically turned off and the rotor flight mode is turned on, and the drone is controlled to decelerate at the target pitch angle. , So that when the drone is decelerated to the preset speed threshold, it is determined that the drone is switched from the fixed-wing flight mode to the rotor-wing flight mode.
例如，假设当前飞行速度为6m/s，如果所述无人机减速至3m/s，则可以确定所述无人机成功从固定翼飞行模式切换至所述旋翼飞行模式。For example, assuming that the current flight speed is 6m/s, if the drone decelerates to 3m/s, it can be determined that the drone has successfully switched from the fixed-wing flight mode to the rotor flight mode.
在一个实施例中，当所述无人机在所述第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则可以控制所述无人机切换至所述旋翼飞行模式。In one embodiment, when the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, the drone can be controlled to switch to the rotor flight mode. Rotor flight mode.
在一个实施例中，当所述无人机在所述第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则可以强行控制所述无人机切换回所述旋翼飞行模式。通过这种实施方式，可以实现在切换超时的时候对无人机的保护，提高了无人机切换过程中的安全性。In one embodiment, when the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, the drone can be forcibly controlled to switch back to all The rotor flight mode is described. Through this implementation manner, the protection of the drone can be realized when the handover is overtime, and the safety during the handover of the drone can be improved.
例如，假设所述第二指定时间范围为2分钟，当前飞行速度为6m/s，如果所述无人机在2分钟内没有成功从固定翼飞行模式切换至旋翼飞行模式，则可以控制所述无人机强行切换回所述旋翼飞行模式。For example, assuming that the second specified time range is 2 minutes and the current flight speed is 6m/s, if the drone fails to switch from the fixed-wing flight mode to the rotary-wing flight mode within 2 minutes, the drone can be controlled The drone forcibly switches back to the rotor flight mode.
本发明实施例中，飞行控制设备在获取到指示无人机的飞行模式从固定翼 飞行模式切换至旋翼飞行模式的飞行模式切换指令时，控制所述无人机的姿态角小于预设角度阈值，并将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式。通过这种实施方式，可以提高无人机在切换过程中的稳定性、可靠性以及安全性。In the embodiment of the present invention, when the flight control device obtains the flight mode switching instruction indicating that the flight mode of the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, it controls the attitude angle of the drone to be less than the preset angle threshold. , And switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode. Through this embodiment, the stability, reliability and safety of the drone during the handover process can be improved.
请参见图5，图5是本发明实施例提供的一种飞行控制设备的结构示意图。具体的，所述飞行控制设备包括：存储器501、处理器502。Please refer to FIG. 5, which is a schematic structural diagram of a flight control device according to an embodiment of the present invention. Specifically, the flight control device includes: a memory 501 and a processor 502.
在一种实施例中，所述飞行控制设备还包括数据接口503，所述数据接口503，用于传递飞行控制设备和其他设备之间的数据信息。In an embodiment, the flight control device further includes a data interface 503, and the data interface 503 is used to transfer data information between the flight control device and other devices.
所述存储器501可以包括易失性存储器(volatile memory)；存储器501也可以包括非易失性存储器(non-volatile memory)；存储器501还可以包括上述种类的存储器的组合。所述处理器502可以是中央处理器(central processing unit，CPU)。所述处理器502还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also include a combination of the foregoing types of memories. The processor 502 may be a central processing unit (CPU). The processor 502 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
所述存储器501用于存储程序指令，所述处理器502可以调用存储器501中存储的程序指令，用于执行如下步骤：The memory 501 is used to store program instructions, and the processor 502 can call the program instructions stored in the memory 501 to perform the following steps:
获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换；Acquiring a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode;
根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；Determine whether the drone meets the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone;
当所述无人机满足飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。When the drone meets the flight mode switching condition, the current flight mode of the drone is switched.
进一步地，所述飞行状态信息包括位置误差信息、姿态误差信息、速度误差信息、加速度误差信息、角加速度误差信息、角速度误差信息中的任意一种或多种。Further, the flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
进一步地，所述环境信息包括环境风信息和/或障碍物信息。Further, the environmental information includes environmental wind information and/or obstacle information.
进一步地，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所 述旋翼飞行模式切换至固定翼飞行模式，所述处理器502还用于：Further, the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the processor 502 is further used to:
获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
在将所述无人机的飞行模式由所述旋翼飞行模式切换至固定翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。During the process of switching the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
获取所述无人机的旋翼电机的力矩以及固定翼舵面的力矩；Obtaining the torque of the rotor motor of the drone and the torque of the fixed wing rudder surface;
根据所述旋翼电机的力矩和第一预设权重，以及所述固定翼舵面的力矩和第二预设权重，对所述无人机的姿态进行控制。The attitude of the drone is controlled according to the torque of the rotor motor and the first preset weight, and the torque of the fixed-wing rudder surface and the second preset weight.
进一步地，当所述无人机满足以下一种或多种条件时，则确定所述无人机成功切换至固定翼飞行模式：Further, when the drone meets one or more of the following conditions, it is determined that the drone has successfully switched to the fixed-wing flight mode:
所述无人机加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值；或者，The drone accelerates to a preset speed range, and the flying height error of the drone is less than a preset error value; or,
所述无人机的旋翼电机的推力在预设时间范围内小于预设推力值，且所述无人机的飞行高度误差小于预设误差值。The thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone is less than the preset error value.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
当所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式时，则控制所述无人机切换回所述旋翼飞行模式。When the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, control the drone to switch back to the rotor flight mode.
进一步地，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述固定翼飞行模式切换至旋翼飞行模式，Further, the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode,
所述处理器502将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式之前，还用于：控制所述无人机的姿态角小于预设角度阈值。Before the processor 502 switches the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, it is also used to control the attitude angle of the drone to be less than a preset angle threshold.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
获取所述无人机在所述固定翼飞行模式下的环境风速；Acquiring the ambient wind speed of the drone in the fixed-wing flight mode;
根据所述环境风速确定所述无人机的目标俯仰角；Determining the target pitch angle of the drone according to the environmental wind speed;
控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
在所述无人机的飞行模式由所述固定翼飞行模式切换至旋翼飞行模式的过程中，实时地获取环境风速和所述无人机的飞行速度；In the process of switching the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, acquiring the ambient wind speed and the flight speed of the drone in real time;
根据所述环境风速和所述无人机的飞行速度，确定目标俯仰角；Determine the target pitch angle according to the environmental wind speed and the flying speed of the drone;
控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
在将所述无人机当前的固定翼飞行模式切换至旋翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。In the process of switching the current fixed-wing flight mode of the drone to the rotor-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
进一步地，当所述无人机满足以下条件时，则确定所述无人机成功切换至所述旋翼飞行模式：Further, when the drone meets the following conditions, it is determined that the drone successfully switches to the rotor flight mode:
所述无人机减速至预设速度阈值。The drone decelerates to a preset speed threshold.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
当所述无人机在所述第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则控制所述无人机切换至所述旋翼飞行模式。When the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, controlling the drone to switch to the rotor flight mode.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
当检测到所述无人机不满足飞行模式切换条件时，向控制终端输出提示信息；其中，所述提示信息用于提示用户对所述无人机的飞行状态进行调整。When it is detected that the drone does not meet the flight mode switching condition, prompt information is output to the control terminal; wherein the prompt information is used to prompt the user to adjust the flight state of the drone.
进一步地，所述处理器502还用于：Further, the processor 502 is further configured to:
在所述无人机切换飞行模式的起始时刻，结束时刻以及中间过程，向控制终端输出提示信息。At the start time, end time and intermediate process of the UAV switching flight mode, prompt information is output to the control terminal.
本发明实施例中，飞行控制设备在获取到飞行模式切换指令时，可以根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；当确定出所述无人机满足飞行模式切换条件时，所述飞行控制设备可以对所述无人机当前的飞行模式进行切换，从而提高无人机在飞行过程中进行模式切换的可靠性和安全性。In the embodiment of the present invention, when the flight control device obtains the flight mode switching instruction, it may determine the drone according to the current flight status information of the drone and/or the current environment information of the drone Whether the flight mode switching condition is satisfied; when it is determined that the drone meets the flight mode switching condition, the flight control device can switch the current flight mode of the drone, thereby improving the drone's flight process Reliability and safety of mode switching.
本发明实施例还提供了一种无人机，所述无人机具有旋翼飞行模式和固定翼飞行模式，所述无人机包括：机身；配置在机身上的动力***，用于为无人机提供移动的动力；以及上述飞行控制设备。The embodiment of the present invention also provides an unmanned aerial vehicle. The unmanned aerial vehicle has a rotor flight mode and a fixed-wing flight mode. The drone includes: a fuselage; and a power system configured on the fuselage for UAVs provide power to move; and the above-mentioned flight control equipment.
本发明实施例中，无人机在获取到飞行模式切换指令时，可以根据所述无 人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；当确定出所述无人机满足飞行模式切换条件时，可以对所述无人机当前的飞行模式进行切换，从而提高无人机在飞行过程中进行模式切换的可靠性和安全性。In the embodiment of the present invention, when the drone obtains the flight mode switching instruction, it can determine the drone according to the current flight status information of the drone and/or the current environment information of the drone Whether the flight mode switching conditions are met; when it is determined that the drone meets the flight mode switching conditions, the current flight mode of the drone can be switched, thereby improving the reliability of the drone mode switching during flight Sex and safety.
本发明的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图3或图4所对应实施例中描述的方法，也可实现图5所述本发明所对应实施例的设备，在此不再赘述。The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the embodiment of the present invention corresponding to FIG. 3 or FIG. 4 The described method can also implement the device corresponding to the embodiment of the present invention described in FIG. 5, which will not be repeated here.
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (32)

  1. 一种无人机的飞行控制方法，其特征在于，包括：A flight control method of an unmanned aerial vehicle is characterized in that it comprises:
    获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换；Acquiring a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode;
    根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；Determine whether the drone meets the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone;
    当所述无人机满足所述飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。When the drone meets the flight mode switching condition, switch the current flight mode of the drone.
  2. 根据权利要求1所述的方法，其特征在于，The method according to claim 1, wherein:
    所述飞行状态信息包括位置误差信息、姿态误差信息、速度误差信息、加速度误差信息、角加速度误差信息、角速度误差信息中的任意一种或多种。The flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
  3. 根据权利要求1所述的方法，其特征在于，所述环境信息包括环境风信息和/或障碍物信息。The method according to claim 1, wherein the environmental information includes environmental wind information and/or obstacle information.
  4. 根据权利要求1所述的方法，其特征在于，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述旋翼飞行模式切换至所述固定翼飞行模式，所述方法还包括：The method according to claim 1, wherein the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the method further include:
    获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
    根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
    在将所述无人机的飞行模式由所述旋翼飞行模式切换至固定翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。During the process of switching the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：The method according to claim 4, wherein the method further comprises:
    获取所述无人机的旋翼电机的力矩以及固定翼舵面的力矩；Obtaining the torque of the rotor motor of the drone and the torque of the fixed wing rudder surface;
    根据所述旋翼电机的力矩和第一预设权重，以及所述固定翼舵面的力矩和第二预设权重，对所述无人机的姿态进行控制。The attitude of the drone is controlled according to the torque of the rotor motor and the first preset weight, and the torque of the fixed-wing rudder surface and the second preset weight.
  6. 根据权利要求4所述的方法，其特征在于，当所述无人机满足以下一种或多种条件时，则确定所述无人机成功切换至固定翼飞行模式：The method according to claim 4, wherein when the drone meets one or more of the following conditions, it is determined that the drone successfully switches to the fixed-wing flight mode:
    所述无人机加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值；或者，The drone accelerates to a preset speed range, and the flying height error of the drone is less than a preset error value; or,
    所述无人机的旋翼电机的推力在预设时间范围内小于预设推力值，且所述无人机的飞行高度误差小于预设误差值。The thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone is less than the preset error value.
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：The method according to claim 6, wherein the method further comprises:
    当所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式时，则控制所述无人机切换回所述旋翼飞行模式。When the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, control the drone to switch back to the rotor flight mode.
  8. 根据权利要求1所述的方法，其特征在于，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式，所述将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式之前，还包括：The method according to claim 1, wherein the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, and the Before the flight mode of the drone is switched from the fixed-wing flight mode to the rotary-wing flight mode, the method further includes:
    控制所述无人机的姿态角小于预设角度阈值。The attitude angle of the drone is controlled to be less than a preset angle threshold.
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:
    获取所述无人机在所述固定翼飞行模式下的环境风速；Acquiring the ambient wind speed of the drone in the fixed-wing flight mode;
    根据所述环境风速确定所述无人机的目标俯仰角；Determining the target pitch angle of the drone according to the environmental wind speed;
    控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:
    在所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式的过程中，实时地获取环境风速和所述无人机的飞行速度；In the process of switching the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, acquiring the ambient wind speed and the flight speed of the drone in real time;
    根据所述环境风速和所述无人机的飞行速度，确定目标俯仰角；Determine the target pitch angle according to the environmental wind speed and the flying speed of the drone;
    控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
  11. 根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:
    获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
    根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
    在将所述无人机当前的固定翼飞行模式切换至旋翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。In the process of switching the current fixed-wing flight mode of the drone to the rotor-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
  12. 根据权利要求8所述的方法，其特征在于，当所述无人机满足以下条件时，则确定所述无人机成功切换至所述旋翼飞行模式：The method according to claim 8, characterized in that, when the drone meets the following conditions, it is determined that the drone successfully switches to the rotor flight mode:
    所述无人机减速至预设速度阈值。The drone decelerates to a preset speed threshold.
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：The method of claim 12, wherein the method further comprises:
    当所述无人机在所述第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则控制所述无人机切换回所述旋翼飞行模式。When the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, controlling the drone to switch back to the rotor flight mode.
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, wherein the method further comprises:
    当所述无人机不满足飞行模式切换条件时，向控制终端输出提示信息；When the drone does not meet the flight mode switching condition, output prompt information to the control terminal;
    其中，所述提示信息用于提示用户对所述无人机的飞行状态进行调整。Wherein, the prompt information is used to prompt the user to adjust the flight state of the drone.
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, wherein the method further comprises:
    在所述无人机切换飞行模式的起始时刻，结束时刻以及中间过程，向控制终端输出提示信息。At the start time, end time and intermediate process of the UAV switching flight mode, prompt information is output to the control terminal.
  16. 一种飞行控制设备，其特征在于，包括存储器和处理器；A flight control device, characterized in that it comprises a memory and a processor;
    所述存储器，用于存储程序指令；The memory is used to store program instructions;
    所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
    获取飞行模式切换指令，所述飞行模式切换指令用于指示无人机的飞行模式在旋翼飞行模式和固定翼飞行模式之间切换；Acquiring a flight mode switching instruction, where the flight mode switching instruction is used to instruct the flight mode of the drone to switch between the rotor flight mode and the fixed wing flight mode;
    根据所述无人机当前的飞行状态信息和/或所述无人机当前所处环境信息，确定所述无人机是否满足飞行模式切换条件；Determine whether the drone meets the flight mode switching condition according to the current flight status information of the drone and/or the current environment information of the drone;
    当所述无人机满足所述飞行模式切换条件时，对所述无人机当前的飞行模式进行切换。When the drone meets the flight mode switching condition, switch the current flight mode of the drone.
  17. 根据权利要求16所述的设备，其特征在于，The device of claim 16, wherein:
    所述飞行状态信息包括位置误差信息、姿态误差信息、速度误差信息、加速度误差信息、角加速度误差信息、角速度误差信息中的任意一种或多种。The flight status information includes any one or more of position error information, attitude error information, speed error information, acceleration error information, angular acceleration error information, and angular velocity error information.
  18. 根据权利要求16所述的设备，其特征在于，The device of claim 16, wherein:
    所述环境信息包括环境风信息和/或障碍物信息。The environmental information includes environmental wind information and/or obstacle information.
  19. 根据权利要求16所述的设备，其特征在于，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述旋翼飞行模式切换至所述固定翼飞行模式，所述处理器还用于：The device according to claim 16, wherein the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, and the processor Also used for:
    获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
    根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
    在将所述无人机的飞行模式由所述旋翼飞行模式切换至固定翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。During the process of switching the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
  20. 根据权利要求19所述的设备，其特征在于，所述处理器还用于：The device according to claim 19, wherein the processor is further configured to:
    获取所述无人机的旋翼电机的力矩以及固定翼舵面的力矩；Obtaining the torque of the rotor motor of the drone and the torque of the fixed wing rudder surface;
    根据所述旋翼电机的力矩和第一预设权重，以及所述固定翼舵面的力矩和第二预设权重，对所述无人机的姿态进行控制。The attitude of the drone is controlled according to the torque of the rotor motor and the first preset weight, and the torque of the fixed-wing rudder surface and the second preset weight.
  21. 根据权利要求19所述的设备，其特征在于，当所述无人机满足以下一种或多种条件时，则确定所述无人机成功切换至固定翼飞行模式：The device according to claim 19, wherein when the drone meets one or more of the following conditions, it is determined that the drone successfully switches to the fixed-wing flight mode:
    所述无人机加速至预设速度范围，且所述无人机的飞行高度误差小于预设误差值；或者，The drone accelerates to a preset speed range, and the flying height error of the drone is less than a preset error value; or,
    所述无人机的旋翼电机的推力在预设时间范围内小于预设推力值，且所述无人机的飞行高度误差小于预设误差值。The thrust of the rotor motor of the drone is less than the preset thrust value within a preset time range, and the flying height error of the drone is less than the preset error value.
  22. 根据权利要求19所述的设备，其特征在于，所述处理器还用于：The device according to claim 19, wherein the processor is further configured to:
    当所述无人机在第一指定时间范围内没有成功从旋翼飞行模式切换至固定翼飞行模式时，则控制所述无人机切换回所述旋翼飞行模式。When the drone fails to switch from the rotor flight mode to the fixed wing flight mode within the first specified time range, control the drone to switch back to the rotor flight mode.
  23. 根据权利要求16所述的设备，其特征在于，所述飞行模式切换指令用于指示将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式，所述处理器将所述无人机的飞行模式由所述固定翼飞行模式切换至所述旋翼飞行模式之前，还用于：The device according to claim 16, wherein the flight mode switching instruction is used to instruct to switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, and the processor Before switching the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, it is also used to:
    控制所述无人机的姿态角小于预设角度阈值。The attitude angle of the drone is controlled to be less than a preset angle threshold.
  24. 根据权利要求23所述的设备，其特征在于，所述处理器还用于：The device according to claim 23, wherein the processor is further configured to:
    获取所述无人机在所述固定翼飞行模式下的环境风速；Acquiring the ambient wind speed of the drone in the fixed-wing flight mode;
    根据所述环境风速确定所述无人机的目标俯仰角；Determining the target pitch angle of the drone according to the environmental wind speed;
    控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
  25. 根据权利要求23所述的设备，其特征在于，所述处理器还用于：The device according to claim 23, wherein the processor is further configured to:
    在所述无人机的飞行模式由所述固定翼飞行模式切换至旋翼飞行模式的过程中，实时地获取环境风速和所述无人机的飞行速度；In the process of switching the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, acquiring the ambient wind speed and the flight speed of the drone in real time;
    根据所述环境风速和所述无人机的飞行速度，确定目标俯仰角；Determine the target pitch angle according to the environmental wind speed and the flying speed of the drone;
    控制所述无人机以所述目标俯仰角减速飞行。Control the drone to decelerate and fly at the target pitch angle.
  26. 根据权利要求23所述的设备，其特征在于，所述处理器还用于：The device according to claim 23, wherein the processor is further configured to:
    获取所述无人机的侧向速度误差信息或侧偏距误差信息；Acquiring lateral speed error information or side offset error information of the UAV;
    根据所述侧向速度误差信息或所述侧偏距误差信息，确定所述无人机的目标姿态角；Determine the target attitude angle of the drone according to the lateral velocity error information or the lateral offset error information;
    在将所述无人机当前的固定翼飞行模式切换至旋翼飞行模式的过程中，根据所述目标姿态角对所述无人机的姿态进行控制。In the process of switching the current fixed-wing flight mode of the drone to the rotor-wing flight mode, the attitude of the drone is controlled according to the target attitude angle.
  27. 根据权利要求23所述的设备，其特征在于，当所述无人机满足以下 条件时，则确定所述无人机成功切换至所述旋翼飞行模式：The device according to claim 23, wherein when the drone meets the following conditions, it is determined that the drone successfully switches to the rotor flight mode:
    所述无人机减速至预设速度阈值。The drone decelerates to a preset speed threshold.
  28. 根据权利要求27所述的设备，其特征在于，所述处理器还用于：The device according to claim 27, wherein the processor is further configured to:
    当所述无人机在所述第二指定时间范围内没有从所述固定翼飞行模式切换至所述旋翼飞行模式时，则控制所述无人机切换回所述旋翼飞行模式。When the drone does not switch from the fixed-wing flight mode to the rotor flight mode within the second specified time range, controlling the drone to switch back to the rotor flight mode.
  29. 根据权利要求16所述的设备，其特征在于，所述处理器还用于：The device according to claim 16, wherein the processor is further configured to:
    当所述无人机不满足飞行模式切换条件时，向控制终端输出提示信息；When the drone does not meet the flight mode switching condition, output prompt information to the control terminal;
    其中，所述提示信息用于提示用户对所述无人机的飞行状态进行调整。Wherein, the prompt information is used to prompt the user to adjust the flight state of the drone.
  30. 根据权利要求16所述的设备，其特征在于，所述处理器还用于：The device according to claim 16, wherein the processor is further configured to:
    在所述无人机切换飞行模式的起始时刻，结束时刻以及中间过程，向控制终端输出提示信息。At the start time, end time and intermediate process of the UAV switching flight mode, prompt information is output to the control terminal.
  31. 一种无人机，其特征在于，所述无人机具有旋翼飞行模式和固定翼飞行模式，所述无人机包括：An unmanned aerial vehicle, characterized in that it has a rotor flight mode and a fixed-wing flight mode, and the drone includes:
    机身；body;
    配置在机身上的动力***，用于为所述无人机提供移动的动力；The power system configured on the fuselage is used to provide mobile power for the UAV;
    如权利要求16-30中任一项所述的飞行控制设备。The flight control device according to any one of claims 16-30.
  32. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至15任一项所述方法。A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 15 when the computer program is executed by a processor.
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