CN107438567A - Unmanned aerial vehicle and its control method - Google Patents

Abstract

A method of controlling a drone (500) includes obtaining a first altitude (401) of the drone (500), obtaining a reference altitude (402) of the drone (500), obtaining a first landing speed (403) of the drone (500) according to the first altitude and the reference altitude, and controlling movement (404) of the drone (500) according to the first landing speed.

Description

Unmanned aerial vehicle and its control method

【Technical field】

The invention relates to an unmanned aerial vehicle, and in particular to an unmanned aerial vehicle with an automatic landing function.

【Background technique】

When the drone is flying and landing, it must be a process every time the drone flies, and the probability of accidents during landing is often relatively high. If it lands in a place that is not suitable for drones to land (such as trees, water, uneven ground, etc.), it is easy to cause damage to the drone. So it is necessary to introduce some protection measures when the drone lands. Ensure the safety of the drone landing, avoid damaging the drone or injuring others.

The existing drone landing methods are generally directly descending, without perception of how high it is from the ground when it lands, or with perception but without adding some protection measures, but often without perception of the ground environment. This is likely to cause safety accidents when the drone lands in a place that is not suitable for landing.

【Content of invention】

The technical problem mainly solved by the present invention is to provide a UAV and its control method, which can automatically land by selecting a suitable landing place in different environments, without human intervention, and avoid damaging the UAV or injuring others.

One aspect of the present invention provides a method for controlling an unmanned aerial vehicle, the method comprising: acquiring the first altitude of the unmanned aerial vehicle; acquiring a preset reference altitude; analyzing a height to obtain a first landing speed of the drone; and controlling the movement of the drone according to the first landing speed.

Another aspect of the present invention provides an unmanned aerial vehicle, which includes: a sensor for obtaining the first altitude of the unmanned aerial vehicle; a memory for storing a preset reference altitude; and one or more a processor, configured to: retrieve the preset reference altitude from the memory; analyze the first altitude according to the preset reference altitude, so as to obtain the first landing of the drone speed; and controlling the movement of the UAV according to the first landing speed.

In some embodiments, the first descent speed is linearly related to the preset reference altitude.

In some embodiments, the preset reference height includes a first reference height and a second reference height, and the second reference height is smaller than the first reference height.

In some embodiments, the controlling the movement of the UAV according to the first falling speed includes: controlling the human-machine at the first reference height and the second reference height according to the first falling speed inner movement.

In some embodiments, the controlling the landing of the drone according to the first landing speed includes: controlling the drone to hover at the preset reference height according to the first landing speed.

In some embodiments, the method further includes: obtaining a second height of the UAV, the second height being less than or equal to the second reference height; and obtaining The second landing speed of the drone.

In some embodiments, the second falling speed is less than the first falling speed.

In some embodiments, the second falling speed is constant.

In some embodiments, the method further includes: acquiring an environment image of the UAV; extracting a landing location from the environment image; and controlling the UAV to land according to the landing location.

In some embodiments, the controlling the landing of the drone according to the landing location includes: controlling the landing of the drone to an area on the ground corresponding to the landing location according to the landing location.

In some embodiments, the method further includes: acquiring an environment image of the drone; and controlling the drone to fly horizontally when no landing location is extracted from the environment image.

In some embodiments, the method further includes: receiving status information of sensors; and controlling the drone to hover at a predetermined height according to the status information.

【Description of drawings】

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present disclosure. Those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the structural representation of the unmanned aerial vehicle provided by the embodiment of the present invention;

Fig. 2 is a schematic structural diagram of the bottom of the drone provided by the embodiment of the present invention;

Fig. 3 is the module schematic diagram of the unmanned aerial vehicle provided by the embodiment of the present invention;

Fig. 4 is the flow chart of the UAV control method provided by the embodiment of the present invention;

5 is a schematic diagram of the first embodiment of the automatic landing of the drone provided by the present invention;

6 is a schematic diagram of the second embodiment of the automatic landing of the drone provided by the present invention;

7 is a schematic diagram of the third embodiment of the automatic landing of the drone provided by the present invention;

【detailed description】

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is merely a description of the manner in which objects with the same attribute are described in the embodiments of the present invention. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, product, or apparatus comprising a series of elements is not necessarily limited to those elements, but may include elements not expressly included. Other elements listed explicitly or inherent to the process, method, product, or apparatus.

Some embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a drone provided by an embodiment of the present invention. The drone 100 may include a fuselage 110 including a central section 111 and one or more outer sections 112 . In the embodiment shown in FIG. 1 , the fuselage 110 includes four outer sections 112 (eg, arms 113 ). The four outer portions 112 extend from the central portion 111 respectively. In other embodiments, the fuselage 110 may include any number of outer sections 112 (eg, 6, 8, etc.). In any of the above-mentioned embodiments, each of the outer parts 112 can carry a propulsion system 120, and the propulsion system 120 can drive the UAV 100 to move (eg, climb, land, move horizontally, etc.). For example: the arm 113 can carry a corresponding motor 121, and the motor 121 can drive a corresponding propeller to rotate. The UAV 100 can control any set of motors 121 and their corresponding propellers 122 without being affected by other motors 121 and their corresponding propellers.

The fuselage 110 can carry a payload 130 such as an imaging device 131 . In some embodiments, the imaging device 131 may include a camera, for example, it may capture images, videos, etc. around the drone. The camera is sensitive to light of various wavelengths, including but not limited to visible light, ultraviolet light, infrared light or any combination thereof. In some embodiments, the load 130 may include other types of sensors. In some embodiments, the payload 130 is connected to the fuselage 110 through a platform 150 , so that the payload 130 can move relative to the fuselage 110 . For example: when the payload 130 carries the imaging device 131 , the imaging device 131 can move relative to the fuselage 110 to capture images, videos, etc. around the UAV 100 . As shown, the landing gear 114 may support the drone 100 to protect the payload 130 when the drone 100 is on the ground.

In some embodiments, the drone 100 may include a control system 140 that includes components located on the drone 100 as well as components separate from the drone 100 . For example, the control system 140 may include a first controller 141 placed on the UAV 100, and a first controller 141 that is remote from the UAV 100 and communicates with the UAV 100 through a communication link 160 (such as a wireless link). The first controller 141 is connected to the second controller 142 . The first controller 141 may include one or more processors, memory, and an on-board computer-readable medium 143a, and the on-board computer-readable medium 143a may store program instructions for controlling the behavior of the UAV 100, The actions include, but are not limited to, the operation of the propulsion system 120 and the imaging device 131 , controlling the drone to perform automatic landing, and the like. The second controller 142 may include one or more processors, memory, an external computer-readable medium 143 b, and one or more input and output devices 148 , such as a display device 144 and a control device 145 . The operator of the UAV 100 can remotely control the UAV 100 through the control device 145 , and receive feedback information from the UAV 100 through the display device 144 and/or other devices. In other embodiments, the drone 100 may operate autonomously, in which case the second controller 142 may be omitted, or the second controller 142 may be used only to enable the drone operator to Write functions for drone flight. The onboard computer readable medium 143a may be removed from the drone 100 . The external computer readable medium 143b can be removed from the second controller 142 .

In some embodiments, the UAV 100 may include two forward-looking cameras 171 and 172, and the forward-looking cameras 171 and 172 are photosensitive to light of various wavelengths (such as visible light, infrared light, ultraviolet light) for shooting Images or video of the drone's surroundings. In some embodiments, the drone 100 includes one or more sensors placed on the bottom.

Fig. 2 is a schematic structural view of the bottom of the drone provided by the embodiment of the present invention. The drone 100 may include two downward-looking cameras 173 and 174 placed at the bottom of the fuselage 110 . In addition, the drone 100 also includes two ultrasonic sensors 177 and 178 placed at the bottom of the fuselage 110 . The ultrasonic sensors 177 and 178 can detect and/or monitor objects and the ground at the bottom of the drone 100 , and measure the distance from the objects or the ground by sending and receiving ultrasonic waves.

In other embodiments, the UAV 100 may include an inertial measurement unit (English: inertialmeasurement unit, abbreviation: IMU), an infrared sensor, a microwave sensor, a temperature sensor, a proximity sensor (English: proximity sensor), a three-dimensional laser measurement unit, etc. Tachymeter, 3D TOF, etc. The three-dimensional laser rangefinder and the three-dimensional TOF can detect the distance of an object or surface under the drone.

In some embodiments, the inertial measurement unit may be used to measure the altitude of most drones. The inertial measurement unit may include, but is not limited to, one or more accelerometers, gyroscopes, magnetometers, or any combination thereof. The accelerometer can be used to measure the acceleration of the drone to calculate the speed of the drone.

In some embodiments, the UAV can detect and/or monitor environmental information through the aforementioned sensors, so as to select a suitable place for landing. The environmental information includes, but is not limited to, the flatness of the ground, whether it is a water surface, and the like.

In some embodiments, the UAV can take pictures about the environment information through the camera, and extract depth information from the pictures to reconstruct the three-dimensional terrain of the environment (such as the three-dimensional terrain at the bottom of the drone), and Select a suitable landing site from the three-dimensional terrain.

In some embodiments, the UAV can automatically land until it stops on the ground below the UAV according to the environmental information (such as height) detected and/or monitored by the above sensors. For example, the UAV can land in segments, and the landing speed of the UAV in each segment is different. The number of segments is not limited here, and can be any number (such as 2 segments, 3 segments , 4 paragraphs, etc.).

In some embodiments, the drone can hover at a preset height after landing at a certain height. In some embodiments, after the UAV hovers, the sensor can detect the environmental information at the bottom of the UAV, so as to select a suitable landing place to control the UAV to land automatically.

Fig. 3 is a schematic diagram of modules of the drone provided by the embodiment of the present invention. Referring to FIG. 3 , the drone 100 may include one or more processors 301 , a sensor module 302 , a storage module 303 and an input/output module 304 .

The control module 301 may include one or more processors, including but not limited to a microprocessor (English: microcontroller), a reduced instruction set computer (English: reduced instruction setcomputer, RISC for short), an application specific integrated circuit (English: application specific integrated circuits, referred to as: ASIC), dedicated instruction set processor (English: application-specific instruction-set processor, referred to as: ASIP), central processing unit (English: central processing unit, referred to as: CPU), physical processing Device English (English: physics processing unit, referred to as: PPU), digital signal processor (English: digital signal processor, referred to as DSP), field programmable gate array (English: field programmable gate array, referred to as: FPGA) and so on.

The sensor module 302 may include one or more sensors, including but not limited to temperature sensors, inertial measurement units, accelerometers, image sensors (such as cameras), ultrasonic sensors, microwave sensors, proximity sensors, three-dimensional laser measurement distance meter, infrared sensor, etc.

In some embodiments, the inertial measurement unit may be used to measure the altitude of most drones. The inertial measurement unit may include, but is not limited to, one or more accelerometers, gyroscopes, magnetometers, or any combination thereof. The accelerometer can be used to measure the acceleration of the drone to calculate the speed of the drone.

The storage module 303 may include, but not limited to, read-only memory (ROM), random access memory (RAM), programmable memory (PROM), electronically erasable programmable read-only memory (EEPROM), and the like. The storage module 303 may include a non-transitory computer readable medium that may store code, logic or instructions for performing one or more steps described elsewhere herein. The control module 301 can individually or collectively execute one or more steps according to the codes, logic or instructions of the non-transitory computer-readable medium described herein.

The input and output module 304 is used to output information or instructions to external equipment, such as receiving instructions sent by the input and output device 148 (see FIG. 1 ), or sending images captured by the imaging device 131 (see FIG. 1 ) to The input and output device 148 .

In some embodiments, the control module 301 can control the UAV 100 to land according to the information detected and/or monitored by the sensor module 302 . For example, the control module 301 may calculate the landing speed of the UAV 100 according to the height detected and/or monitored by the sensor module 302 . For another example, the control module 301 can reconstruct the three-dimensional terrain at the bottom of the drone 100 according to the images or videos taken by the sensor module 302, and select a suitable landing site in the three-dimensional terrain to control the drone 100. The drone 100 lands.

Fig. 4 is a flow chart of the drone control method provided by the embodiment of the present invention. Referring to FIG. 4 , the process is executed by the control system and one or more sensors of the drone. The control system of the drone may receive the data detected and/or monitored by the one or more sensors, and control the movement of the drone according to the data.

Step 401, acquire the first altitude of the drone.

In some embodiments, the UAV can obtain the first altitude through one or more ultrasonic sensors, such as one or more of the ultrasonic sensors 177 and 178 (see FIG. 1 ). Specifically, the ultrasonic sensors 177 and 178 can send ultrasonic waves to the ground, and the ultrasonic waves can be received by the UAV after being reflected by the ground. , the first height can be calculated.

In other embodiments, the UAV may obtain the first altitude through one or more cameras, such as one or more of the front-view cameras 171 and 172 and the down-view cameras 173 and 174 . As shown in FIG. 2 , the downward-looking cameras 173 and 174 are installed at the bottom of the drone for capturing images and/or videos of the bottom of the drone. The drone may use stereo matching techniques (English: stereo matching techniques) to extract depth information from the image and/or the video, and reconstruct the three-dimensional terrain at the bottom of the drone based on the depth information, Thus, the first height is obtained. In other embodiments, the drone may use an external camera (such as the imaging device 131 ) to obtain the first height.

In other embodiments, the UAV can send microwaves to the ground through a microwave sensor, and the microwaves can be received by the UAV after being reflected by the ground. By obtaining the sending time and receiving time of the microwaves, supplemented by The propagation speed of the microwave can be used to calculate the first height.

In other embodiments, the UAV may obtain the first altitude through one or more laser range finders. Specifically, the laser range finder can be installed on the bottom of the drone to send microwaves to the ground, and the laser can be received by the drone after being reflected by the ground, and by acquiring the sending time of the laser and the receiving time, supplemented by the propagation speed of the laser, the first height can be calculated. .

In other embodiments, the UAV may obtain the first altitude through an infrared sensor, a proximity sensor, etc., which will not be described in detail here.

Step 402, obtaining a preset reference height.

In some embodiments, the preset reference altitude can be used to calculate the landing speed of the drone, and the reference altitude is preset in the drone, such as the computer-readable medium 143a( See FIG. 1 ), the storage module 403 (see FIG. 4 ), or the memory. Referring to FIG. 5, FIG. 5 is a schematic diagram of Embodiment 1 of the automatic landing of the drone provided by the present invention. The UAV 500 has an automatic landing function. In some embodiments, the drone 500 can automatically land in a direction perpendicular to the ground 501 . In some embodiments, the UAV 500 can automatically land in segments along a direction perpendicular to the ground 501 according to the reference altitude. For example: the preset reference height includes a first reference height H ₁ and a second reference height H ₂ , and when the height of the UAV 500 is greater than or equal to H ₁ , it will land at the speed V ₁ . When the height of the UAV 500 is greater _{than H2} and less _than H1, it will land at the speed V2. When the height of the UAV 500 is less than or equal to _H2 , it will land at the speed _V3 . The formulas for calculating V1, V2, and V3 are:

V ₁ =a (h≥5)

V ₃ =b (h≤0.5)

Wherein, h refers to the current height of the UAV 500, and a and b are constants.

In some embodiments, H ₁ is 5 meters, H ₂ is 0.5 meters, and the UAV 500 will calculate its landing speed according to the following formula.

V ₁ =V (h≥5)

V ₃ =0.4 (h≤0.5)

Wherein, h refers to the current height of the unmanned aerial vehicle 500, when the height of the unmanned aerial vehicle 500 is greater than or equal to 5 meters, it will land according to the speed V m/s, and V is a constant (such as 5 m/s , 4 m/s). When the height of the UAV 500 is greater than 0.5 meters and less than ₅ meters, it will land at the speed V2. Velocity _V2 is a variable that is linearly related to height h. When the height of the drone 500 is less than or equal to 0.5 meters, it will land at the speed _V3 . In this embodiment, V ₃ is 0.4 m/s.

It should be noted that the above description of the reference height is only for the convenience of understanding the present invention. For those of ordinary skill in the art, on the basis of understanding the present invention, the UAV or the user who controls the UAV can make a decision on the values of the first reference altitude and the second reference altitude. Real-time modification and transformation, but said modification and transformation are still within the protection scope of the present invention. For example: modify the _first height H1 to be 10 meters, and modify the second height _H2 to be 1 meter. Another example: the user can modify and transform the parameters and constants in the formula group 1, but the modification and transformation are still within the protection scope of the present invention.

In some embodiments, the reference altitude can be used to calculate the landing speed of the UAV and make the UAV hover. The reference altitude is preset in the drone, such as the computer readable medium 143a (see FIG. 1 ), the storage module 403 (see FIG. 4 ), or the memory. Referring to Fig. 6, Fig. 6 is a schematic diagram of the second embodiment of the automatic landing of the drone provided by the present invention. The UAV 600 has an automatic landing function. In this embodiment, the preset reference height is h, the current height of the UAV is H, and the UAV 600 can automatically land at an end distance along a direction perpendicular to the ground 601 and then hover at h. Then the landing speed V of the UAV 600 from the height H to the height h can be calculated according to the following formula:

V=H-h (Formula Group 3)

Wherein, the landing speed V of the UAV 600 is linearly related to the height H, and decreases as the height continues to decrease, and finally makes the UAV 600 hover at the preset reference height h.

In other embodiments, the landing speed V of the drone 600 can be nonlinearly related to the height H, for example: the landing speed V of the drone 600 can be calculated according to the following formula:

V=H ² -h (Formula Group 4)

Among them, the landing velocity V of the UAV 600 is nonlinearly related to the height H, and decreases as its height continues to decrease, and finally makes the UAV 600 hover at a height of

Step 403 , analyzing the first height according to the preset reference height, so as to obtain a first landing speed of the UAV.

Wherein, the first landing speed of the UAV can be calculated according to the above formula group 1, formula group 2, formula group 3, formula group 4, etc., which will not be repeated here.

In some embodiments, the first falling velocity may be V ₁ . In other embodiments, the first falling speed may be V ₂ .

In some embodiments, the first falling speed is constant, and the UAV can descend to a predetermined height at a constant speed, or land on the ground at a constant speed.

Step 404, controlling the motion of the drone according to the first landing speed.

In some embodiments, the UAV can obtain a second height, the second height is less than or equal to the second reference height, and the UAV can obtain a second landing speed according to the second height. In some embodiments, the second falling speed is constant (such as V ₃ ), and the UAV can land on the ground according to the second falling speed.

In some embodiments, after the UAV lands to a certain height (such as 3 meters) according to the first landing speed, it can detect and/or monitor the environment at the bottom of the UAV by using an airborne environmental sensor. information to determine whether the bottom of the drone is suitable for landing. The sensors include, but are not limited to, ultrasonic sensors, infrared sensors, proximity sensors, microwave sensors, cameras, three-dimensional laser rangefinders, three-dimensional TOF, and the like.

In some embodiments, the UAV can take images of the bottom of the UAV from different angles through cameras, such as one or two of the down-view cameras 173 and 174 (see FIG. 2 ). In some embodiments, the UAV can select a target area in the image through a sliding window. The coordinate information of each pixel in the target area (such as the x, y, z coordinates of each pixel, where the z coordinate represents the depth information of the pixel) can be extracted. In some embodiments, the UAV can use cameras (such as cameras 172 and 714) to take two images simultaneously or successively, and the depth information can be extracted according to a stereo matching technique (such as a semi-global block matching algorithm) come out. The UAV may select an optimal plane and a value function corresponding to the optimal plane from the icon area according to the coordinate information of the pixels in the target area. In some embodiments, the UAV can determine an optimal plane and its corresponding value function by using an algorithm, such as the Leverberg-Marquardt method (English: Leverberg-Marquardt algorithm). Afterwards, the UAV will traverse the remaining area in the image through the sliding window to generate multiple optimal planes and cost functions corresponding to the multiple optimal planes. The plurality of optimal planes will be processed (eg, smoothed) to generate an optimal plane as a suitable landing site.

In this embodiment, the UAV uses a camera to take images of the bottom, and reconstructs the three-dimensional topography of the bottom according to the images, so as to select a suitable landing site from the three-dimensional topography. The advantage of the embodiments of the present invention is that a place that can be landed can be automatically selected through the three-dimensional terrain, and a safe and gentle landing can be made without human intervention. Ensure the safety of the drone landing, avoid damaging the drone or injuring others.

Referring to FIG. 7, FIG. 7 is a schematic diagram of the third embodiment of the automatic landing of the drone provided by the embodiment of the present invention. The UAV 700 can take a bottom image 705 through the methods described in the above embodiments, reconstruct the three-dimensional terrain at the bottom of the UAV 700 according to the image 705, and select a suitable landing site in the three-dimensional terrain. For example: the UAV 700 can identify a water surface 701 , a small slope 702 and a flat land 703 . The UAV 700 can judge that the water surface 701 and the small slope 702 are not suitable for landing, and finally choose the flat land 703 to land.

In some embodiments, if no suitable landing site is found in the three-dimensional terrain, the drone will keep the height constant, move horizontally to take new bottom pictures to obtain new three-dimensional terrain, and try to Find a suitable landing spot in the new 3D terrain.

In some embodiments, if the unmanned aerial vehicle cannot find a suitable landing place all the time, such as failing to find a suitable landing place within a predetermined time interval, the unmanned aerial vehicle will hover at a known height, waiting for the user to enter the next command.

In some embodiments, if the drone finds a suitable landing site in the acquired three-dimensional terrain, the drone will directly land at the landing site.

In some embodiments, the UAV can acquire the state information of the sensors of the UAV (such as the forward-looking cameras 171 and 172, the down-looking cameras 173 and 174, and the ultrasonic sensors 177 and 178) , such as detecting and/or monitoring whether said sensor fails. For example, the UAV may send an inquiry signal to the sensor, and if the sensor does not return a response signal, the UAV may determine that the sensor is invalid. In other embodiments, the sensor may periodically or non-periodically send detected and/or monitored information to the UAV, if the UAV is within a predetermined time interval (such as: 60 seconds) does not receive the information sent by the sensor, then the UAV can judge that the sensor is invalid.

In some embodiments, if the UAV judges that the sensor is invalid, the UAV can hover at a known height and wait for the user to confirm whether the landing site is safe. If the user confirms that the landing site is safe, the user can report to The drone sends a landing command. After the drone receives the landing command, it will start to land until the entire landing process is completed.

By adopting the embodiment of the present invention, when the sensor of the UAV fails, the protection mechanism can be adopted in time to control the UAV to hover at a predetermined height and wait for the user's input instruction, thereby ensuring that the UAV can land safely , to avoid damaging the drone or injuring others.

It should be noted that the above flowchart is only for the convenience of understanding the present invention, and should not be regarded as the only implementation solution of the present invention. For those of ordinary skill in the art, on the basis of understanding the present invention, the steps in the above flow chart can be added, deleted and transformed, but the modification to the flow chart is still within the protection scope of the present invention . For example, the user can modify the reference altitude.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, all of which are equally included in the scope of patent protection of the present invention.

The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present disclosure. scope.

Claims (24)

1. A control method of unmanned aerial vehicle, it is characterized in that, described method comprises: Obtain the first height of the drone; Get the preset reference height; analyzing the first altitude according to the preset reference altitude to obtain a first landing speed of the UAV; and Controlling the movement of the drone according to the first landing speed. 2. The method according to claim 1, wherein the first descent speed is linearly related to the preset reference altitude. 3. The method according to claim 2, wherein the preset reference height comprises a first reference height and a second reference height, the second reference height being smaller than the first reference height. 4. The method according to claim 3, wherein the controlling the movement of the drone according to the first landing speed comprises: The man-machine is controlled to move within the first reference height and the second reference height according to the first falling speed. 5. The method according to claim 2, wherein the controlling the landing of the drone according to the first landing speed comprises: Controlling the UAV to hover at the preset reference altitude according to the first landing speed. 6. The method according to claim 4, characterized in that the method further comprises: Obtaining a second altitude of the drone, the second altitude being less than or equal to the second reference altitude; and Acquiring a second landing speed of the UAV according to a second height of the UAV. 7. The method of claim 6, wherein the second falling speed is less than the first falling speed. 8. The method according to claim 7, wherein the second falling speed is constant. 9. The method of claim 5, further comprising: Obtaining an image of the environment of the drone; extracting a landing site from the environment image; and The landing of the drone is controlled according to the landing location. 10. The method according to claim 9, wherein the controlling the landing of the drone according to the landing site comprises: Controlling the UAV to land on the ground in an area corresponding to the landing location according to the landing location. 11. The method according to claim 5, further comprising: acquiring an image of the environment of the drone; and When no landing location is extracted from the environment image, the drone is controlled to fly horizontally. 12. The method of claim 1, further comprising: receive status information from sensors; and The drone is controlled according to the state information so that it hovers at a predetermined height. 13. A kind of unmanned aerial vehicle, it is characterized in that, described unmanned aerial vehicle comprises: a sensor for obtaining the first height of the drone; a memory for storing a preset reference height; and One or more processors for: recalling the preset reference altitude from the memory; analyzing the first altitude according to the preset reference altitude to obtain a first landing speed of the UAV; and Controlling the movement of the drone according to the first landing speed. 14. The drone according to claim 13, wherein the first landing speed is linearly related to the preset reference altitude. 15. The drone according to claim 14, wherein the preset reference altitude includes a first reference altitude and a second reference altitude, and the second reference altitude is smaller than the first reference altitude. 16. The unmanned aerial vehicle according to claim 15, wherein said controlling said unmanned aerial vehicle movement according to said first landing speed comprises: Controlling the UAV to move within the first reference altitude and the second reference altitude according to the first landing speed. 17. The unmanned aerial vehicle according to claim 14, wherein the controlling the landing of the unmanned aerial vehicle according to the first landing speed comprises: Controlling the UAV to hover at the preset reference altitude according to the first landing speed. 18. The drone of claim 16, wherein the method further comprises: Obtaining a second altitude of the drone, the second altitude being less than or equal to the second reference altitude; and Acquiring a second landing speed of the UAV according to a second height of the UAV. 19. The drone of claim 18, wherein the second falling speed is less than the first falling speed. 20. The drone according to claim 18, wherein the second falling speed is constant. 21. The drone of claim 17, wherein the one or more processors are further configured to: Obtaining an image of the environment of the drone; extracting a landing site from the environment image; and The landing of the drone is controlled according to the landing location. 22. The unmanned aerial vehicle according to claim 21, wherein the controlling the landing of the unmanned aerial vehicle according to the landing site comprises: Controlling the UAV to land on the ground in an area corresponding to the landing location according to the landing location. 23. The drone of claim 17, wherein the method further comprises: acquiring an image of the environment of the drone; and When no landing location is extracted from the environment image, the drone is controlled to fly horizontally. 24. The drone of claim 13, wherein the one or more sensors are further used to: receive status information from sensors; and The drone is controlled according to the state information so that it hovers at a predetermined height.