WO2019100483A1

WO2019100483A1 - Unmanned aerial vehicle-based load control method and device, and unmanned aerial vehicle

Info

Publication number: WO2019100483A1
Application number: PCT/CN2017/117046
Authority: WO
Inventors: 林敬顺
Original assignee: 歌尔科技有限公司
Priority date: 2017-11-21
Filing date: 2017-12-18
Publication date: 2019-05-31
Also published as: CN107757913A; CN107757913B

Abstract

An unmanned aerial vehicle-based load control method and device, and an unmanned aerial vehicle. The method comprises: on the basis of a load object, determining a carrying gravity of an unmanned aerial vehicle (101); according to the carrying gravity, determining a theoretical lifting force of the unmanned aerial vehicle (102); according to the theoretical lifting force, determining a target size for propeller blades (103); upon determining that the propeller blades are the target size, determining a target length for propeller arms (104), wherein the target length and the target size are respectively used for adjusting the propeller arms of the unmanned aerial vehicle and replacing the propeller blades of the unmanned aerial vehicle, so that the unmanned aerial vehicle can carry the load object when the propeller blades are controlled to rotate. The load control method expands the load scope of the unmanned aerial vehicle.

Description

UAV-based load control method, device and drone

Technical field

The present application belongs to the technical field of drones, and in particular, to a load control method, a device and a drone based on a drone.

Background technique

A drone, referred to as a drone, refers to a non-manned aircraft that is operated using a wireless remote control device or its own program control system. UAVs can be used in many fields, such as agriculture, express transportation, disaster relief, etc., which mainly utilize the carrying capacity of drones.

The drone is propelled by a propeller blade mounted on the propeller arm and rotated by the electric motor to generate lift. When the propeller blade rotation produces a lift equal to the drone's carrying gravity, the drone's lift is level with the carrying gravity, and the drone can hover in the air. The carrying gravity is carried by the drone. The main body of the drone and the total gravity of the load object. If the motor increases horsepower to generate forward power, it can be transported.

In the prior art, the propeller paddle arm and the propeller blade of the drone are fixedly mounted on the drone, and therefore, the lift is also fixed, and the maximum load of the drone is also fixed. When carrying out transportation tasks with different load requirements, it is necessary to replace the drones with different lifts, resulting in low utilization rate of drones and reduced utilization efficiency.

Summary of the invention

In view of this, the present application provides a drone-based load control method, device, and drone to solve the technical problem of low utilization efficiency of the drone caused by the load fixing of the drone in the prior art. .

In order to solve the above technical problem, the first aspect of the present application provides a drone control method based on a drone, wherein the drone includes a UAV body, a propeller paddle whose first end is connected to the UAV body and whose length is adjustable. An arm, and a propeller blade detachably coupled to the second end of the propeller paddle arm, and a processor mounted in the body of the drone for controlling rotation of the propeller blade;

The method includes: determining a carrying gravity of the drone based on the load carrying object; determining a theoretical lift of the drone based on the carrying gravity; determining a target size of the propeller blade according to the theoretical lift; determining a target length of the propeller paddle when the propeller blade is the target size; wherein the target length and the target size are respectively used to adjust a propeller paddle of the drone and replace the unmanned Machine propeller blades to make the unmanned The machine is configured to carry the load carrying object when the propeller blade rotates.

Preferably, after the determining that the propeller blade is the target size, after the target length of the propeller paddle arm, the method further comprises: outputting adjustment prompt information based on the target size and the target length; The adjustment prompt information is used to prompt the user to adjust the propeller paddle arm of the drone according to the target length and replace the propeller paddle of the drone according to the target size.

Preferably, the drone further comprises: a switch assembly composed of a plurality of switching devices connected to the propeller paddle arm and connected to the processor; wherein different switching devices correspond to different propeller blade sizes ;

When the determining that the propeller blade is the target size, the target length of the propeller paddle arm includes: a switching device that is currently activated when the propeller blade is determined to be the target size; and querying different preset switches The correspondence between the device and the length of the different propeller paddle arms determines the target length of the propeller paddle arm corresponding to the currently activated switching device.

Preferably, the method further includes: determining current environmental information of the drone; calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; The target rotational speed is used to instruct the drone to control the propeller blade rotation according to the target rotational speed.

A second aspect of the present invention provides a drone, comprising: a UAV body, a propeller paddle arm whose first end is connected to the UAV body and whose length is adjustable, and a propeller paddle arm a two-end detachably coupled propeller blade, and a processor mounted in the drone body for controlling rotation of the propeller blade to carry a load carrying object; wherein a target size of the propeller blade is Determining the theoretical lift corresponding to the carrying gravity of the drone; the carrying gravity is determined based on the load object; the target length of the propeller arm is determined based on the target size of the propeller blade.

Preferably, the processor is further configured to: determine a carrying gravity of the drone based on the load object; determine a theoretical lift of the drone according to the carrying gravity; determine the propeller blade according to the theoretical lift Target size; a target length of the propeller paddle when the propeller blade is the target size.

Preferably, the drone further includes: a motor at a second end of the propeller paddle arm and coupled to the propeller blade; the processor specifically controlling the motor to rotate to drive the propeller blade Rotate.

Preferably, the drone further includes a switch assembly composed of a plurality of switching devices connected to the propeller paddle arm and connected to the processor; wherein different switching devices correspond to different propeller blade sizes;

When the processor determines that the propeller blade is the target size, the target length of the propeller paddle is specifically: when the propeller blade is determined to be the target size, the currently activated switching device; query preset Corresponding relationship between different switching devices and different propeller paddle lengths, determining the target of the propeller paddle arm corresponding to the currently activated switching device Standard length.

Preferably, the drone further comprises: an environment detecting component connected to the processor, configured to detect current environmental information of the drone.

The processor is further configured to: determine current environmental information of the drone; calculate a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; the processor Controlling the rotation of the propeller blades specifically controls the rotation of the propeller blades in accordance with the target rotational speed.

Preferably, the drone further includes a display component connected to the processor; the processor is further configured to control the display component to output adjustment prompt information based on the target size and the target length; The information is used to prompt for adjusting the propeller boom of the drone according to the target length and replacing the propeller blades of the drone according to the target size.

Preferably, the drone further includes an output component connected to the processor; the processor is further configured to control the output component to output the adjustment prompt information to the display device based on the target size and the target length.

The present application further provides a UAV-based load control device, characterized in that the UAV includes: a UAV body, a propeller paddle arm whose first end is connected to the UAV body and has an adjustable length a propeller blade detachably coupled to the second end of the propeller paddle arm, and a processor mounted within the body of the drone; the apparatus including a memory and a processing component coupled to the memory; The memory is configured to store one or more computer instructions; wherein the one or more computer instructions are executed by the processor; the processing component is configured to: determine a drone's carrying gravity based on the load object; Carrying gravity determines a theoretical lift of the drone; determining a target size of the propeller blade according to the theoretical lift; determining a target length of the propeller paddle when the propeller blade is the target size; Wherein the target length and the target size are respectively used to adjust a propeller paddle of the drone and replace a propeller blade of the drone to To give the control of the propeller UAV is capable of carrying the load object blade rotation.

In the embodiment of the present application, after determining the carrying gravity of the drone, the theoretical lift of the drone may be determined to determine the size of the propeller blade of the drone under the theoretical lift, and according to the propeller paddle The size of the blade determines a length of the propeller paddle arm, the target length and the target size respectively for adjusting a propeller paddle arm of the drone and replacing a propeller paddle of the drone to cause the The drone is capable of carrying the load carrying object while controlling the rotation of the propeller blades. The change of the lift of the drone can be realized by changing the length of the paddle and adjusting the length of the paddle arm, thereby realizing the transportation of substances of different weights, and the drone can realize various transportation capacity adjustments to improve the use efficiency.

DRAWINGS

1 is a flow chart of an embodiment of a drone-based load control method according to an embodiment of the present application;

2 is a schematic diagram of a switching device switching circuit according to an embodiment of the present application;

3 is a schematic cross-sectional structural view of a switching device according to an embodiment of the present application;

4 is a schematic structural view of a drone according to an embodiment of the present application;

5 is a schematic structural view of a propeller paddle and a propeller blade according to an embodiment of the present application;

6 is a schematic structural diagram of an embodiment of a drone-based load control device according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an embodiment of a drone-based load control device according to an embodiment of the present application.

Detailed ways

The embodiments of the present application will be described in detail below with reference to the accompanying drawings and embodiments, so that the application of the technical means to solve the technical problems and achieve the technical effect can be fully understood and implemented.

The embodiment of the present application is mainly applied to a drone, and the multi-load control of the drone can be realized by using a detachable propeller blade and a length adjustable propeller paddle arm, and the drone is expanded. The scope of use increases the efficiency of its use.

In recent years, the load capacity of drones has received extensive attention. The drone generates lift from the rotation of the propeller blades to control the flight of the drone. Generally, in order to enable the drone to fly smoothly, four propeller blades are installed on the drone, and four propeller blades work together to ensure that the drone can fly smoothly. Typically the blades of the propeller are attached to the paddle arms of the propeller. In order to maintain balance, the length of the propeller arm of the propeller needs to be adapted to the size of the propeller blade. Therefore, the length of the propeller arm is also fixed.

In the prior art, the size of the propeller blade is fixed, and the lift of the drone is directly related to the propeller blade. Therefore, when the size of the propeller blade is fixed under other factors, the The lift of the man-machine is also fixed. At this time, the drone can only load objects of a fixed weight, resulting in low efficiency of use of the drone. The inventor contemplates whether the load of the drone can be set to be adjustable, and that the drone can be controlled to be transported with different load weights by varying the size of the propeller blades. Accordingly, the inventors have proposed the technical solution of the present application.

In the embodiment of the present application, the drone may include a length adjustable propeller paddle arm and a detachable propeller blade, and the drone may control the drone to be realized under the change of the propeller blade Loads of different weights. After determining the carrying gravity of the drone, a theoretical lift can be determined, under which the target size of the propeller blade can be calculated, and the target length of the propeller paddle can be determined to be based on the target length and Adjusting the target size to respectively adjust the propeller paddle of the drone and replacing the propeller paddle of the drone, so that the drone control The propeller blades are capable of carrying the load carrying object as they rotate. The adjustment of the propeller paddle arm and the replacement of the propeller paddle can realize the control of the drone to be transported under different load capacities, expand the load range of the drone, and improve the use efficiency thereof.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , it is a flowchart of an embodiment of a load control method according to an embodiment of the present application. The load control method is mainly applied to a drone, and the drone includes a drone body and a first a propeller paddle arm coupled to the UAV body and adjustable in length, and a propeller blade detachably coupled to the second end of the propeller paddle arm, and a processor mounted in the UAV body The rotation of the propeller blade is controlled.

The method can include:

101: Determine the carrying gravity of the drone based on the load object.

Unmanned aerial vehicles are unmanned aircraft operated by radio remote control equipment and self-provided program control devices. UAVs can be used for payloads, and they are widely used in express transportation, disaster relief, and material delivery. When the drone is under load, the loaded object can be placed in the body of the drone machine or suspended on the drone, and the load mode of the drone is not limited herein, and any use is not used. The method in which the human machine carries the load can all belong to the embodiment of the present application.

The carrying gravity of the drone can usually include the gravity of the drone itself and the gravity of the object carried by the drone. The gravity of the drone itself and the objects carried by the drone can be measured by a gravity gauge. Alternatively, the weight of the UAV body and the object carried by the UAV can be obtained by a weight measuring device, and the measured weight is multiplied by the gravitational acceleration, and the obtained product is the carrying gravity of the UAV. .

A propeller is usually mounted on the drone, and lift can be generated when the propeller rotates to enable the drone to fly normally. The propeller may be composed of a propeller paddle arm and a propeller blade, which is a segment of a supporting rectangular structure connecting the drone and the propeller blade. A propeller blade is a spiral structure that can rotate in air or water to generate lift or propulsion. The spiral blade is generally a helicoid. The lift or propulsive force generated when the propeller blades rotate is generally affected by the size of the propeller blades and the rotational speed. When the propeller blades and the propeller speed increase, the lift or propulsive force generated by the propeller increases. Generally, the increase of the propeller means that the blade from the propeller blade to the propeller arm is gradually enlarged and lengthened according to a certain rule.

The blade of the propeller is connected to the second end of the propeller arm of the propeller, and the blade can be detachable from the paddle arm under certain conditions, specifically, the connection of the paddle and the paddle arm is buckled, spirally toothed, Removable connection such as screw hinge. The propeller paddle arm can be adjusted, which means that the arm length of the propeller can be adjusted under the action of manpower, and the length of the paddle arm can be lengthened or shortened. When the area of the propeller blade is increased, the propeller paddle arm can be increased to ensure that the propeller blade can rotate normally without colliding with the blade, affecting the normal use of the drone; When reduced, the propeller paddle arm can be shortened to ensure the normal rotation of the propeller blade while avoiding the imbalance of the drone caused by the excessive length of the paddle arm. phenomenon.

Optionally, determining the carrying gravity of the drone based on the load object may include:

Determining a body gravity of the drone body and an object gravity of the load object;

Calculating the sum of the gravity of the body and the gravity of the object, that is, the carrying gravity of the drone.

102: Determine a theoretical lift of the drone according to the carrying gravity.

The theoretical lift of a drone can refer to the driving force required by a drone to maintain its normal speed when it is under load. The theoretical lift of the drone should be slightly larger than the carrying gravity for reasons such as air resistance.

When the drone is flying, it is also susceptible to environmental factors such as atmospheric pressure and atmospheric density. The influence of this part of environmental factors is known as the lift tolerance δ. The lift tolerance can be obtained by pre-testing. When considering the influence of environmental factors, the theoretical lift of the drone is Y>=G+δ; where G is the drone carrying gravity and δ is the lift tolerance.

103: Determine a target size of the propeller blade according to the theoretical lift.

The larger the size of the propeller blade, the greater the lift. Theoretical lift is affected by multiple factors, which may include: lift coefficient, propeller motor speed, atmospheric density, gravity, propeller blade size, etc. The theoretical lift is proportional to the size of the propeller blade at the same lift coefficient, propeller motor speed, atmospheric density, gravity.

Optionally, when the size of the propeller blade is a blade area, determining the target size of the propeller blade according to the theoretical lift may include:

Determine the theoretical lift formula: Y = 1/2ρCSv ² ; where Y is the theoretical lift, C is the lift coefficient, V is the motor speed, ρ is the atmospheric density, and S is the propeller blade area;

After determining the lift coefficient, the motor speed, and the atmospheric density, the values of the lift coefficient, the motor speed, the atmospheric density, and the theoretical lift are brought into the above theoretical lift formula, and the size of the propeller blade is calculated.

The values of the lift coefficient, the motor speed, and the atmospheric density can be obtained by setting, measuring, etc., and the acquisition manner is a conventional acquisition mode, and details are not described herein.

The size of the propeller blade may include the blade area of the propeller blade or the length of the propeller blade. When the size of the propeller blade is the blade area, it can be determined that S is the target size of the propeller blade. When the size of the propeller blade is the blade length, the quotient of the blade area S and the blade width D can be calculated by determining the propeller blade width D, that is, the target size of the propeller blade.

When determining that the propeller blade is the target size, a user can find a propeller blade that matches the target size and mount the propeller blade on a length-adjusted propeller paddle to make the propeller paddle The leaves are rotatable on the propeller arm.

104: Determine a target length of the propeller paddle when the propeller blade is the target size.

Wherein the target length and the target size are respectively used to adjust a propeller paddle of the drone and replace a propeller blade of the drone to cause the drone to control rotation of the propeller blade The carrying object can be carried at the time.

The propeller blades are detachable, and when the user knows the target size of the propeller blades, the propeller blades corresponding to the target size may be mounted on the propeller blades. After installation is complete, the length of the propeller boom can be adjusted to allow the propeller blades to function properly. After the propeller arm is adjusted, the processor can detect that the propeller arm has been adjusted, and the processor can determine the target length of the propeller arm.

When the drone is in the target length and the target size, the propeller blade rotation of the de-man machine can be controlled. When the propeller rotates, lift can be generated, and at this time, the drone can carry the load object.

In the embodiment of the present application, according to the theoretical lift determined by the carrying gravity of the drone, the target size of the propeller blade can be determined, and then the size of the propeller paddle when the propeller blade size is the target size can be determined. The propeller blade is controlled to rotate to cause the drone to be loaded when the propeller blade is the target size and the propeller paddle is the target length. The size of the propeller blade and the size of the propeller paddle are adjustable, thereby expanding the load range of the drone, so that the drone can carry objects of different weights and improve the use efficiency of the drone.

In still another embodiment, after the determining that the propeller blade is the target size, the target length of the propeller paddle arm, the method further includes:

And outputting the adjustment prompt information according to the target size and the target length; the adjustment prompt information is used to prompt the user to adjust the propeller paddle arm of the drone according to the target length, and replace the non-existing according to the target size The propeller blades of the man-machine.

The adjustment prompt information may include the target size and the target length, and the user may replace the propeller blades of the drone according to the target size, and the propeller paddle arm may be adjusted according to the target length.

In the embodiment of the present application, after determining the target size of the propeller blade and the target size of the propeller blade, the adjustment prompt information may be output, prompting the user to adjust the propeller paddle arm and replacing the propeller paddle, thereby enabling the The load adjustment of the drone enables the drone to generate lift under the propeller blades of the target size to carry the load carrying object. The prompt message output can prompt the user to replace the propeller blade and adjust the propeller paddle arm to realize the load control of the drone.

In still another embodiment, the drone further includes: a switch assembly formed by the plurality of switching devices on the propeller paddle arm and connected to the processor; wherein different switch devices correspond to different propellers Blade size

The determining the target length of the propeller paddle when the propeller blade is the target size comprises:

Determining a currently activated switching device when the propeller blade is the target size;

The corresponding relationship between different preset switching devices and different propeller paddle lengths is queried, and the target length of the propeller paddle arm corresponding to the currently activated switching device is determined.

The switch component may specifically be an electronic selector switch, and when different switch devices in the electronic selector switch are activated, the processing device may detect a current output by the switch component, for example, the first switch device may output V/R, the second switching device can output V/2R, and the third switching device can output V/3R. By analogy, when different switching devices in the switch assembly are activated, the processing device can also detect the output voltage of the switch assembly, and details are not described herein. The current or voltage of the output of the switch component can be obtained by detecting a corresponding GPIO (General Purpose Input Output) interface. When different switching devices are activated, different currents or voltages can be detected. .

The switch assembly can include a plurality of switching devices, and different switching devices can correspond to different propeller blade sizes. The switch assembly may specifically be constructed of a circuit having a plurality of switching device components. Taking the switching device as an example, the switching circuit may be specifically as shown in FIG. 2, the switching component is composed of a first switching device 201, a second switching device 202, a third switching device 203, and a first resistor. The second resistor 205, the third resistor 206, and the power source 207 are configured, wherein the first end of the first resistor 204 is connected to the negative pole of the power source 207, and the second end is connected to the first switch device 201. One end and the first end of the second resistor 205 are connected; the second end of the second resistor 205 is connected to the first end of the second switching device 202 and the first end of the third resistor 206; The second end of the third resistor 206 is connected to the first end of the third switching device 203; the second ends of the first switching device 201, the second switching device 201 and the third switching device 203 are connected The positive pole of the power source 207.

In some embodiments, the propeller paddle arm can include a first bracket and a second bracket that are disposed opposite each other; the first bracket connects to the drone, and the second bracket connects the propeller blades. The switching device of the switch assembly is disposed at a first surface of the first bracket, and different switching devices are spaced apart. The first surface of the second bracket may be provided with a fixing member; the first bracket moves relative to the second bracket such that the fixing member contacts any one of the switching devices disposed on the first surface of the first bracket , triggering any of the switching devices to start. The first surface of the first bracket is opposite the second surface of the second bracket.

The switching device of the switch assembly is disposed on the first surface of the first bracket. Specifically, the switch device may be sequentially arranged on the first surface, and a spacing between the switching devices is known. The spacing between the switching devices can be measured in advance prior to the connection of the first bracket and the second bracket. The switching device may specifically be a push-button switch, and the switching device may be activated when the fixing member moves to any one of the switching devices.

3 is a transverse cross-sectional view of the switch assembly, including: a first bracket 301, the first bracket 301 includes a first surface 302 of the first bracket 301; a second bracket 303, the second The bracket 303 includes a first surface 304 of the second bracket 303; a first switching device 3051, a second switching device 3052, and a third switching device 3053; When the first bracket 301 and the second bracket 302 are relatively moved, the fixing member may contact the first switching device 3051, the second switching device 3052, and the first surface of the first bracket 301 of the first bracket 301. Any one of the switching devices of the three-switching device 3053 activates any one of the switching devices.

Through the arrangement of the switching device and the fixing member, the corresponding switching pitch of the switching device can be clearly known to determine the corresponding propeller blade size, and the target size determined by the corresponding method is more accurate.

In some embodiments, the switching device may include three, respectively a first switching device, a second switching device, and a third switching device; the first switching device corresponds to a first paddle arm pitch of 5 cm. The second paddle device corresponding to the second paddle arm has a pitch of 7 cm, and the third switch device has a pitch of 9 cm corresponding to the third paddle arm. Each paddle arm spacing can correspond to one paddle arm length.

In the embodiment of the present application, the switching device on the propeller paddle arm can be started to correspond to different lengths of the propeller paddle arms. Since the switch component can respectively correspond to different propeller paddle arm lengths by using multiple switching devices, each switching device and The correspondence between the lengths of the paddle arms is very clear, and the purpose of accurately adjusting the length of the paddle arm can be achieved. Therefore, the propeller paddle arm can be quickly and accurately adjusted according to the target length.

As an embodiment, the method may further include:

Determining current environmental information of the drone;

Calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; wherein the target rotational speed is used to instruct the drone to control the propeller according to the target rotational speed The blade rotates.

The unmanned aerial vehicle can be equipped with an inductive device and a positioning device, and the sensing device can sense the position of objects such as buildings and pedestrians in the vicinity of the drone, and determine the transportation route according to the obstacle avoidance algorithm. The positioning device in the drone can determine the location information of the drone to determine its distance from the destination and the orientation according to the location information, thereby determining the motion speed and the direction of motion.

The environmental information in the drone may include sensing information and positioning information. The moving position, the moving speed, the moving direction, and the like may be determined according to the sensing information and the orientation information. The target rotational speed may be obtained by using an obstacle avoidance algorithm, using the environmental information, the target size, and the target length.

In the embodiment of the present application, by determining the environmental information of the drone and adding the environmental information to the carrying factor of the drone, the target rotational speed of the drone can be determined from multiple angles, and the drone is improved. The operational accuracy can in turn increase the transport efficiency of the drone.

FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application. The UAV may include a UAV body 401, and the first end is connected to the UAV body and the length is adjustable. a propeller paddle arm 402, a propeller paddle 403 detachably coupled to the second end of the propeller paddle arm, and a processor (not shown) mounted in the drone body 401 for controlling The propeller blade rotates to carry a load carrying object;

Wherein the target size of the propeller blade is determined according to a theoretical lift corresponding to the carrying gravity of the drone; the carrying gravity is determined based on the load object;

The target length of the propeller paddle arm is determined based on a target size of the propeller paddle.

The length of the propeller paddle can be adjusted. As a possible implementation, the propeller blade can be composed of a first bracket and a second bracket. The first bracket is connected to the drone body 401, and the second bracket can be connected to the propeller paddle. leaf. a first surface of the first bracket is provided with a first groove, the first end of the connecting elastic member is at a first position of the first groove; and a first surface of the second bracket is provided with a first surface a second groove connecting the second end of the elastic member at a second position of the second groove, the first surface of the first bracket being opposite to the second surface of the second bracket. When the elastic member is stretched, the length of the propeller paddle becomes long; when the elastic member member is compressed, the length of the propeller paddle becomes short.

The structural schematic diagram of the propeller blade 501 and the propeller paddle 502 can be specifically as shown in FIG. 5, wherein the length of the propeller paddle can be adjusted.

In the embodiment of the present application, the propeller blades and the paddle arms of the UAV can be replaced or adjusted, and the carrying gravity of the UAV changes accordingly, thereby expanding the load range of the UAV and improving its load range. Use efficiency.

As an embodiment, the processor can also be used to:

Determining a carrying gravity of the drone based on the load carrying object; determining a theoretical lift of the drone according to the carrying gravity; determining a target size of the propeller blade according to the theoretical lift; determining that the propeller blade is The target length of the propeller paddle arm when the target size is reached.

A propeller is usually mounted on the drone, and lift can be generated when the propeller rotates to enable the drone to fly normally. The propeller can be composed of a propeller boom and a propeller blade, which is connected to the drone and the propeller. A section of the blade has a supporting rectangular structure. A propeller blade is a spiral structure that can rotate in air or water to generate lift or propulsion. The spiral blade is generally a helicoid. The lift or propulsive force generated when the propeller blades rotate is generally affected by the size of the propeller blades and the rotational speed. When the propeller blades and the propeller speed increase, the lift or propulsive force generated by the propeller increases. Generally, the increase in propeller means that the blade arm from the propeller blade to the propeller blade is gradually increased according to a certain rule.

The blade of the propeller is connected to the second end of the propeller arm of the propeller, and the blade can be detachable from the paddle arm under certain conditions, specifically, the paddle and the paddle arm are snap-connected, spirally toothed, and screw-joined. Such as detachable connection. The propeller paddle arm can be adjusted, which means that the arm length of the propeller can be adjusted under the action of manpower, and the length of the paddle arm can be lengthened or shortened. When the area of the propeller blade is increased, the propeller paddle arm can be increased to ensure that the propeller blade can rotate normally, no blade collision occurs, and the UAV is normally used; the area of the propeller blade is When reducing, the propeller paddle arm can be shortened to ensure the normal rotation of the propeller blade, and the phenomenon that the drone is easily lost due to the excessive length of the paddle arm can be avoided.

Determine the theoretical lift formula: Y = 1/2ρCSv ² ; where Y is the theoretical lift, C is the lift coefficient, V is the motor speed, ρ is the atmospheric density, S is the propeller blade area; determine the lift coefficient, motor speed, atmospheric density Thereafter, the values of the lift coefficient, the motor speed, the atmospheric density, and the theoretical lift are brought into the theoretical lift formula described above, and the size of the propeller blade is calculated. The values of the lift coefficient, the motor speed, and the atmospheric density can be obtained by setting, measuring, etc., and the acquisition manner is a conventional acquisition mode, and details are not described herein.

The size of the propeller blade may include the blade area of the propeller blade or the length of the propeller blade. The propeller When the size of the blade is the blade area, it can be determined that S is the target size of the propeller blade. When the size of the propeller blade is the blade length, the quotient of the blade area S and the blade width D can be calculated by determining the propeller blade width D, that is, the target size of the propeller blade.

In the embodiment of the present application, the drone may include a target size and a target length calculation module, and the target size of the propeller blade and the target length of the propeller paddle may be determined based on the carrying gravity of the drone, and then based on the The target size of the human machine and the target length can adjust the load range of the drone, expand its load range, and improve its use efficiency. The UAV determines the target size and the target length through its internal processor, which can avoid data loss and data delay caused by data transmission, and can improve the control precision of the UAV.

As an embodiment, the drone may further include: a motor located at the second end of the propeller paddle arm and connected to the propeller blade;

The processor specifically controls the rotation of the motor to drive the propeller blades to rotate.

In the embodiment of the present application, the propeller selection is driven by a motor in the drone, and then the drone can carry the load carrying object, so that the use of the drone is normalized.

In still another embodiment, the drone may further include a switch assembly composed of a plurality of switching devices connected to the propeller paddle arm and connected to the processor; wherein different switch devices correspond to different propellers Blade size

When the processor determines that the propeller blade is the target size, the target length of the propeller paddle is specifically:

The switch component may specifically be an electronic selector switch, and when different switch devices in the electronic selector switch are activated, the processing device may detect a current output by the switch component, for example, the first switch device may output V/R, the second switching device can output V/2R, and the third switching device can output V/3R. And so on, the switch assembly The processing device can also detect the output voltage of the switch component when different switching devices are activated, and details are not described herein. The current or voltage of the output of the switch component can be obtained by detecting a corresponding GPIO (General Purpose Input Output) interface. When different switching devices are activated, different currents or voltages can be detected. .

The switch assembly can include a plurality of switching devices, and different switching devices can correspond to different propeller blade sizes. The switch assembly may specifically be constructed of a circuit having a plurality of switching device components. Taking the switching device as an example, the switching circuit may be specifically as shown in FIG. 2, the switching component is composed of a first switching device 201, a second switching device 202, a third switching device 203, and a first resistor. 204, a second resistor 205, a third resistor 206, and a power source 207, wherein the first end of the first resistor 204 is connected to the negative pole of the power source 207, and the second end is respectively connected to the first switching device 201 The first end and the first end of the second resistor 205 are connected; the second end of the second resistor 205 is respectively connected to the first end of the second switching device 202 and the first end of the third resistor 206 Connecting; the second end of the third resistor 206 is connected to the first end of the third switching device 203; the second ends of the first switching device 201, the second switching device 201, and the third switching device 203 are The positive pole of the power source 207 is connected.

In some embodiments, the propeller paddle arm can include a first bracket and a second bracket that are disposed opposite each other; the first bracket connects to the drone, and the second bracket connects the propeller blades.

The switching device of the switch assembly is disposed at a first surface of the first bracket, and different switching devices are spaced apart.

The first surface of the second bracket may be provided with a fixing member; the first bracket moves relative to the second bracket such that the fixing member contacts any one of the switching devices disposed on the first surface of the first bracket , triggering any of the switching devices to start.

The first surface of the first bracket is opposite the second surface of the second bracket.

3 is a transverse cross-sectional view of the switch assembly, including: a first bracket 301, the first bracket 301 includes a first surface 302 of the first bracket 301; a second bracket 303, the second The bracket 303 includes a first surface 304 of the second bracket 303; a first switching device 3051, a second switching device 3052, and a third switching device 3053; a fixing member 306; the first bracket 301 and the second bracket 302 move relative to each other The fixing member may contact any one of the first switching device 3051, the second switching device 3052, and the third switching device 3053 on the first surface 302 of the first bracket 301 to activate the switch. Device.

Through the setting of the switching device and the fixing member, the switching interval corresponding to the switching device can be clearly known The corresponding propeller blade size is determined, and the target size determined by the corresponding method is more accurate.

In another embodiment, the drone may further include: an environment detecting component connected to the processor, configured to detect current environmental information of the drone;

The processor is further configured to:

Determining current environmental information of the drone; calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; the processor controlling the propeller blade to rotate specifically The propeller blade rotation is controlled in accordance with the target rotational speed.

In still another embodiment, the drone may further include a display component connected to the processor; the processor is further configured to control the display component to output adjustment prompt information based on the target size and the target length; The adjustment prompt information is used to prompt for adjusting the propeller paddle arm of the drone according to the target length and replacing the propeller blade of the drone according to the target size.

In still another embodiment, the drone may further include an output component connected to the processor;

The processor is further configured to control the output component to output adjustment prompt information to the display device based on the target size and the target length.

In the embodiment of the present application, the display component can display prompt information, so that the user can obtain data information such as the target size and the target length in time, or can prompt the user to adjust the propeller paddle arm of the drone and replace the drone. The propeller blades enable the user to adjust the load of the Suhuo drone in time to adjust the use of the drone and improve its efficiency.

FIG. 6 is a schematic structural diagram of an embodiment of a UAV-based load control device according to an embodiment of the present disclosure, wherein the UAV includes: a UAV body, and a first end a propeller paddle arm coupled to the UAV body and adjustable in length, a propeller paddle detachably coupled to the second end of the propeller paddle arm, and a processor mounted in the UAV body;

The device includes a memory 601 and a processing component 602 coupled to the memory.

The memory 601 is configured to store one or more computer instructions; wherein the one or more computer instructions are for execution by the processor.

The processing component 602 is configured to: determine a carrying gravity of the drone based on the load object; determine a theoretical lift of the drone according to the carrying gravity; determine a target size of the propeller blade according to the theoretical lift Determining a target length of the propeller paddle when the propeller blade is the target size.

A propeller is usually mounted on the drone, and lift can be generated when the propeller rotates to enable the drone to fly normally. The propeller may be composed of a propeller paddle arm and a propeller blade, which is a segment of a supporting rectangular structure connecting the drone and the propeller blade. A propeller blade is a spiral structure that can rotate in air or water to generate lift or propulsion. The spiral blade is generally a helicoid. The lift or propulsive force generated when the propeller blades rotate is generally affected by the size of the propeller blades and the rotational speed. When the propeller blades and the propeller speed increase, the lift or propulsive force generated by the propeller increases. Generally, the increase in propeller means that the blade arm from the propeller blade to the propeller blade is gradually increased according to a certain rule.

The blade of the propeller is connected to the second end of the propeller arm of the propeller, and the blade can be detachable from the paddle arm under certain conditions, specifically, the paddle and the paddle arm are snap-connected, spirally toothed, and screw-joined. Such as detachable connection. The propeller paddle arm can be adjusted, which means that the arm length of the propeller can be adjusted under the action of manpower, and the length of the paddle arm can be lengthened or shortened. In the snail When the paddle blade area is increased, the propeller paddle arm can be increased to ensure that the propeller blade can rotate normally, no blade collision occurs, and the UAV is normally used; when the propeller blade area is reduced The propeller paddle arm can be shortened to ensure the normal rotation of the propeller blade, and the phenomenon that the drone is easily lost due to the excessive length of the paddle arm can be avoided.

Optionally, the processing component is determined based on the load object, and determining the carrying gravity of the drone may be:

Determining a body gravity of the drone body and an object gravity of the load object; calculating a sum of the body gravity and the object gravity, that is, a carrying gravity of the drone.

Optionally, when the size of the propeller blade is a blade area, the processing component determines, according to the theoretical lift, that the target size of the propeller blade is:

Determine the theoretical lift formula: Y = 1/2ρCSv ² ; where Y is the theoretical lift, C is the lift coefficient, V is the motor speed, ρ is the atmospheric density, S is the propeller blade area; determine the lift coefficient, motor speed, atmospheric density Thereafter, the values of the lift coefficient, the motor speed, the atmospheric density, and the theoretical lift are brought into the theoretical lift formula described above, and the size of the propeller blade is calculated.

The propeller blade is detachable, and when the user knows the target size of the propeller blade, the target can be corresponding to the target A sized propeller blade is mounted on the propeller blade. After installation is complete, the length of the propeller boom can be adjusted to allow the propeller blades to function properly. . After the propeller arm is adjusted, the processor can detect that the propeller arm has been adjusted, and the processor can determine the target length of the propeller arm.

It should be noted that the UAV-based load control device according to the embodiment of the present application may be a control device based on the UAV, for example, a UAV remote controller; And a conventional computing device of the control device, such as a notebook, the computing device can be in data communication with a control device of the drone or a processor within the drone body to view the target size and Outputting the target length to the drone to control the drone to carry a load carrying object, or acquiring various data of the drone from the drone, such as sensing data of the drone; and A module device located on the drone, that is, a module in which the drone-based load control device is disposed in the drone.

In one embodiment, after the processor determines that the propeller blade is at the target size, after the target length of the propeller paddle arm, the processing component is further configured to:

In still another embodiment, the drone further includes: being located on the propeller paddle arm and connected to the processor A switch assembly consisting of a plurality of switching devices; wherein different switching devices correspond to different propeller blade sizes.

When the processing component determines that the propeller blade is the target size, the target length of the propeller paddle arm is specifically:

Determining a switch device that is currently activated when the propeller blade is the target size; querying a corresponding relationship between different switch devices and different propeller paddle lengths to determine a propeller paddle arm corresponding to the currently activated switch device Target length.

The switching device of the switch assembly is disposed on the first surface of the first bracket. Specifically, the switch device may be sequentially arranged on the first surface, and a spacing between the switching devices is known. The spacing between the switching devices can be The connection of the first bracket and the second bracket is measured beforehand. The switching device may specifically be a push-button switch, and the switching device may be activated when the fixing member moves to any one of the switching devices.

As still another embodiment, the processing component may specifically be further used to:

Determining current environmental information of the drone; calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; wherein the target rotational speed is used to indicate the The human machine controls the rotation of the propeller blades in accordance with the target rotational speed.

In the embodiment of the present application, by determining the environmental information of the drone and adding the environmental information to the carrying factor of the drone, the target rotational speed of the drone can be determined from multiple angles, and the drone is improved. Operational accuracy, which in turn can Improve the transportation efficiency of the drone.

FIG. 7 is a schematic structural diagram of an embodiment of a drone-based load control device according to an embodiment of the present application. The load control device can be applied to a drone, and the a load control device of the human machine is disposed in the drone; the drone-based load control device may be configured in a control device of the drone, such as a remote control of the drone; It can be configured in the processor of the drone.

The drone includes a drone body, a propeller paddle arm coupled to the UAV body at a first end and adjustable in length, and a propeller blade detachably coupled to the second end of the propeller paddle arm, and mounting a processor in the body of the drone for controlling rotation of the propeller blade.

The device can include:

The gravity determining module 701: determines the carrying gravity of the drone based on the load carrying object.

Optionally, the gravity load module may include:

a first determining unit, configured to determine a body gravity of the drone body and an object gravity of the load object;

The first calculating unit is configured to calculate a sum of the gravity of the body and the gravity of the object, that is, the carrying gravity of the drone.

The lift determination module 702 is configured to determine a theoretical lift of the drone based on the carrying gravity.

The dimension determining module 703 is configured to determine a target size of the propeller blade according to the theoretical lift.

Optionally, when the size of the propeller blade is a blade area, the size determining unit may specifically be used to:

The length determining module 704 is configured to determine a target length of the propeller paddle when the propeller blade is the target size.

In still another embodiment, the device further includes:

An information output module, configured to output adjustment prompt information based on the target size and the target length; the adjustment prompt information is used to prompt the user to adjust the propeller paddle arm of the drone according to the target length, and according to the The target size replaces the propeller blades of the drone.

The length determining module includes:

a device determining unit, configured to determine a currently activated switching device when the propeller blade is the target size;

The relationship query unit is configured to query the correspondence between different preset switching devices and different propeller paddle lengths. Determining a target length of the propeller paddle corresponding to the currently activated switching device.

3 is a transverse cross-sectional view of the switch assembly, including: a first bracket 301, the first bracket 301 includes a first surface 302 of the first bracket 301; a second bracket 303, the second The bracket 303 includes a first surface 304 of the second bracket 303; a first switching device 3051, a second switching device 3052, and a third switching device 3053; a fixing member 306; the first bracket 301 and the second bracket 302 move relative to each other The fixing member may contact the first bracket Any one of the first switching device 3051, the second switching device 3052, and the third switching device 3053 on the first surface 302 of the 301 is used to activate any of the switching devices.

As an embodiment, the device may further include:

An information determining module is configured to determine current environmental information of the drone.

a rotational speed calculation module, configured to calculate a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; wherein the target rotational speed is used to indicate that the drone is in accordance with the The target speed controls the rotation of the propeller blades.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory. Computer readable media includes both permanent and non-persistent, removable and non-removable media. Information storage can be implemented by any method or technology. Information can be Computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory. (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape storage or other magnetic storage devices or any other non-transportable media can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media, such as modulated data signals and carrier waves.

Certain terms are used throughout the description and claims to refer to particular components. Those skilled in the art will appreciate that hardware manufacturers may refer to the same component by different nouns. The present specification and the claims do not use the difference in the name as the means for distinguishing the components, but the difference in function of the components as the criterion for distinguishing. The word "comprising" as used throughout the specification and claims is an open term and should be interpreted as "including but not limited to". "Substantially" means that within the range of acceptable errors, those skilled in the art will be able to solve the technical problems within a certain error range, substantially achieving the technical effects. The description of the specification is intended to be illustrative of the preferred embodiments of the invention. The scope of protection of the application is subject to the definition of the appended claims.

It should also be noted that the terms "including", "comprising" or "comprising" or any other variations thereof are intended to encompass a non-exclusive inclusion, such that the item or system comprising a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such goods or systems. An element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the item or system including the element, without further limitation.

The above description shows and describes several preferred embodiments of the present application, but as described above, it should be understood that the application is not limited to the forms disclosed herein, and should not be construed as Other combinations, modifications, and environments are possible and can be modified by the above teachings or related art or knowledge within the scope of the application concept described herein. All changes and modifications made by those skilled in the art are intended to be within the scope of the appended claims.

Claims

A UAV-based load control method, characterized in that the UAV includes a UAV body, a propeller paddle arm whose first end is connected to the UAV body and whose length is adjustable, and the propeller paddle a second end of the arm detachably coupled to the propeller blade, and a processor mounted in the body of the drone for controlling rotation of the propeller blade;

The method includes:

Determining the carrying gravity of the drone based on the load object;

Determining a theoretical lift of the drone based on the carrying gravity;

Determining a target size of the propeller blade according to the theoretical lift;

Determining a target length of the propeller paddle when the propeller blade is the target size;

Wherein the target length and the target size are respectively used to adjust a propeller paddle of the drone and replace a propeller blade of the drone to cause the drone to control rotation of the propeller blade The carrying object can be carried at the time.
The method according to claim 1, wherein after the determining that the propeller blade is the target size, the target length of the propeller paddle arm, the method further comprises:

And outputting the adjustment prompt information according to the target size and the target length; the adjustment prompt information is used to prompt the user to adjust the propeller paddle arm of the drone according to the target length, and replace the non-existing according to the target size The propeller blades of the man-machine.
The method of claim 1 wherein said drone further comprises: a switch assembly of a plurality of switching devices located on said propeller paddle arm and coupled to said processor; wherein Switching devices correspond to different propeller blade sizes;

The determining the target length of the propeller paddle when the propeller blade is the target size comprises:

Determining a currently activated switching device when the propeller blade is the target size;

The corresponding relationship between different preset switching devices and different propeller paddle lengths is queried, and the target length of the propeller paddle arm corresponding to the currently activated switching device is determined.
The method of claim 1 further comprising:

Determining current environmental information of the drone;

Calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length; wherein the target rotational speed is used to instruct the drone to control the propeller according to the target rotational speed The blade rotates.
An unmanned aerial vehicle, comprising: a drone body; a first end connected to the main body of the drone and long An adjustable propeller paddle arm, a propeller blade detachably coupled to the second end of the propeller paddle arm, and a processor mounted in the drone body for controlling rotation of the propeller blade Carrying a load carrying object;

Wherein the target size of the propeller blade is determined according to a theoretical lift corresponding to the carrying gravity of the drone; the carrying gravity is determined based on the load object;

The target length of the propeller paddle arm is determined based on a target size of the propeller paddle.
The drone according to claim 5, wherein the processor is further configured to:

Determining the carrying gravity of the drone based on the load object;

Determining a theoretical lift of the drone based on the carrying gravity;

Determining a target size of the propeller blade according to the theoretical lift;

Determining a target length of the propeller paddle when the propeller blade is the target size.
The drone according to claim 5 or 6, wherein the unmanned aerial vehicle further comprises: a motor located at the second end of the propeller paddle arm and coupled to the propeller blade;

The processor specifically controls the rotation of the motor to drive the propeller blades to rotate.
The drone according to claim 6, wherein the drone further comprises a switch assembly comprising a plurality of switching devices connected to the propeller paddle arm and connected to the processor; wherein Different switching devices correspond to different propeller blade sizes;

When the processor determines that the propeller blade is the target size, the target length of the propeller paddle is specifically:

Determining a currently activated switching device when the propeller blade is the target size;

The corresponding relationship between different preset switching devices and different propeller paddle lengths is queried, and the target length of the propeller paddle arm corresponding to the currently activated switching device is determined.
The drone according to claim 6, wherein the drone further comprises: an environment detecting component connected to the processor, configured to detect current environmental information of the drone;

The processor is further configured to:

Determining current environmental information of the drone; calculating a target rotational speed of the propeller blade according to the current environmental information, the target size, and the target length;

The processor controlling the rotation of the propeller blade specifically controls the rotation of the propeller blade according to the target rotational speed.
The drone of claim 6 wherein said drone further comprises a display assembly coupled to the processor;

The processor is further configured to control the display component output adjustment based on the target size and the target length The prompt information is used to prompt the propeller paddle for adjusting the drone according to the target length and to replace the propeller blade of the drone according to the target size.
The drone of claim 6 wherein said drone further comprises an output assembly coupled to the processor;

The processor is further configured to control the output component to output adjustment prompt information to the display device based on the target size and the target length.
A UAV-based load control device, comprising: an unmanned aerial vehicle body; a propeller paddle arm coupled to the UAV body at a first end and adjustable in length, and a second end of the propeller paddle arm detachably coupled to the propeller blade, and a processor mounted in the body of the drone;

The device includes a memory and a processing component coupled to the memory;

The memory is for storing one or more computer instructions; wherein the one or more computer instructions are for execution by the processor;

The processing component is configured to: determine a carrying gravity of the drone based on the load carrying object; determine a theoretical lift of the drone according to the carrying gravity; determine a target size of the propeller blade according to the theoretical lift; Determining a target length of the propeller paddle when the propeller blade is the target size; wherein the target length and the target size are respectively used to adjust a propeller paddle of the drone and replace the A propeller blade of the drone such that the drone can carry the load carrying object while controlling the propeller blade to rotate.