Unmanned aerial vehicle, control system and method thereof, and unmanned aerial vehicle landing control method

Abstract

An unmanned aerial vehicle includes a fuselage, a power device connected to the fuselage, and a control device disposed at the fuselage and electrically connected with the power device. The control device is configured to control the power device to switch an operating mode of the power device to cause the unmanned aerial vehicle to fly in air or navigate on a water surface. The control device includes a depth detector and a main controller. The depth detector is configured to detect a water depth. The main controller is configured to control the unmanned aerial vehicle not to land in response to the depth detector determining that the depth falls within a pre-depth range.

1 . An unmanned aerial vehicle comprising:
 a fuselage;   a power device connected to the fuselage; and   a control device disposed at the fuselage and electrically connected with the power device, the control device being configured to control the power device to switch an operating mode of the power device to cause the unmanned aerial vehicle to fly in air or navigate on a water surface, the control device including:
 a depth detector configured to detect a water depth; and 
 a main controller configured to control the unmanned aerial vehicle not to land in response to the depth detector determining that the water depth falls within a pre-set depth range. 
   
     
     
         2 . The unmanned aerial vehicle according to  claim 1 , further comprising:
 a takeoff and landing device;   wherein the main controller is further configured to control the power device and the takeoff and landing device to switch to a land landing mode upon receipt of a land landing control instruction.   
     
     
         3 . The unmanned aerial vehicle according to  claim 1 , further comprising:
 an alarm configured to send a warning signal to a user of the unmanned aerial vehicle to indicate that a landing destination is not suitable for landing in response to the depth detector determining that the depth falls within the pre-set depth range.   
     
     
         4 . The unmanned aerial vehicle according to  claim 1 , further comprising:
 a takeoff and landing device electrically connected with the control device,   wherein the main controller is further configured to, upon receipt of an on-water landing control instruction:
 control the takeoff and landing device to switch to an on-water landing mode with a buoyancy support, and 
 control the unmanned aerial vehicle to land on the water surface. 
   
     
     
         5 . The unmanned aerial vehicle according to  claim 4 , wherein:
 the control device includes a distance sensor configured to detect a distance between the unmanned aerial vehicle and the water surface; and   the main controller is further configured to control the takeoff and landing device to enter a ready-to-land state according to the distance.   
     
     
         6 . The unmanned aerial vehicle according to  claim 5 , wherein the main controller is further configured to control the takeoff and landing device to enter the ready-to-land state in response to the distance sensor determining that the distance between the unmanned aerial vehicle and the water surface is within a pre-set range. 
     
     
         7 . The unmanned aerial vehicle according to  claim 4 , wherein:
 the fuselage includes a vehicle body;   the takeoff and landing device and the power device are disposed at the vehicle body; and   the takeoff and landing device includes a suspension device configured to provide buoyance support when the unmanned aerial vehicle navigates on the water surface.   
     
     
         8 . The unmanned aerial vehicle according to  claim 7 , wherein the suspension device is circularly disposed outside the vehicle body. 
     
     
         9 . The unmanned aerial vehicle according to  claim 7 , wherein:
 the takeoff and landing device further includes a landing gear disposed on the vehicle body; and   the suspension device is disposed at the landing gear.   
     
     
         10 . The unmanned aerial vehicle according to  claim 9 , wherein the landing gear comprises:
 a supporting mechanism disposed at the vehicle body; and   a buffer mechanism disposed at the supporting mechanism.   
     
     
         11 . The unmanned aerial vehicle according to  claim 10 , wherein the supporting mechanism includes a telescopic supporting mechanism and is configured to drive the buffer mechanism to move away from or towards the vehicle body. 
     
     
         12 . The unmanned aerial vehicle according to  claim 1 , wherein the power device includes a thruster configured to provide power for the unmanned aerial vehicle to navigate on the water surface. 
     
     
         13 . The unmanned aerial vehicle according to  claim 1 , wherein:
 the power device includes one or more rotor assemblies; and   the control device is further configured to:
 control the one or more rotor assemblies to operate to provide power for the unmanned aerial vehicle to fly in the air; or 
 control the one or more rotor assemblies to rotate for a predetermined angle relative to a vehicle body of the fuselage and to operate to provide power for the unmanned aerial vehicle to navigate on the water surface. 
   
     
     
         14 . A control system of an unmanned aerial vehicle, comprising:
 one or more detectors;   a main controller; and   a memory coupled to the main controller and storing computer programs that, when executed by the main controller, cause the main controller to:
 control a takeoff and landing device of the unmanned aerial vehicle to switch, according to a landing destination, to an on-water landing mode or a land landing mode; 
 in response to receiving an on-water landing control instruction, control the one or more detectors to detect a water depth; and 
 in response to the water depth falling within a pre-set depth range, control the takeoff and landing device not to act. 
   
     
     
         15 . The control system according to  claim 14 , wherein the computer programs further cause the main controller to control the takeoff and landing device to switch to the land landing mode in response to receiving a land landing control instruction. 
     
     
         16 . The control system according to  claim 14 , wherein the computer programs further cause the main controller to:
 control the one or more detectors to detect a distance between the unmanned aerial vehicle and a landing destination; and   in response to the distance falling within a pre-set distance range, enable the takeoff and landing device to switch to a landing mode.   
     
     
         17 . The control system according to  claim 16 , wherein the computer programs further cause the main controller to:
 in response to the distance between the unmanned aerial vehicle and the landing destination not falling within the pre-set distance range, control an operation of a power device of the unmanned aerial vehicle to reduce a flight altitude of the unmanned aerial vehicle.   
     
     
         18 . A control method of an unmanned aerial vehicle comprising:
 receiving a landing control instruction of the unmanned aerial vehicle;   controlling, according to the landing control instruction, a takeoff and landing device of the unmanned aerial vehicle to switch to an on-water landing mode or a land landing mode;   controlling a power device of the unmanned aerial vehicle to reduce a flight altitude of the unmanned aerial vehicle till the unmanned aerial vehicle lands on a landing destination; and   in response to the landing control instruction being an on-water landing control instruction, detecting a water depth, and controlling the takeoff and landing device not to act in response to the water depth falling within a pre-set depth range.   
     
     
         19 . The control method according to  claim 18 , further comprising:
 detecting a distance between the unmanned aerial vehicle and the landing destination; and   in response to the distance falling within a pre-set distance range, controlling the takeoff and landing device to switch to a landing mode.   
     
     
         20 . The control method according to  claim 19 , further comprising:
 in response to the distance between the unmanned aerial vehicle and the landing destination not falling within the pre-set distance range, controlling the power device to reduce the flight altitude of the unmanned aerial vehicle.