CN106814747B - Aircraft and evasion control system and method thereof - Google Patents
Aircraft and evasion control system and method thereof Download PDFInfo
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- CN106814747B CN106814747B CN201510864172.8A CN201510864172A CN106814747B CN 106814747 B CN106814747 B CN 106814747B CN 201510864172 A CN201510864172 A CN 201510864172A CN 106814747 B CN106814747 B CN 106814747B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
An aircraft and a dodging control system and a dodging control method thereof are disclosed, wherein the aircraft comprises a plurality of rotor motors, and the method comprises the steps of confirming whether the rotor motors are locked during the operation of the aircraft; when the rotor motor with the locked rotor is confirmed, determining the obstacle direction according to the rotor motor with the locked rotor; and controlling the aircraft to move in the direction opposite to the obstacle direction. The invention can automatically judge when the aircraft is impacted and make corresponding evasion action aiming at the impact.
Description
Technical Field
The invention relates to an aircraft and a dodging control system and method thereof.
Background
Along with the development of unmanned aerial vehicles, unmanned aerial vehicle's flight safety problem receives more and more attention. If unmanned aerial vehicle runs into the barrier in the air, because apart from problem or operation problem, operating personnel can't accurately judge how to dodge, probably causes because the maloperation lasts and strikes the barrier, leads to unmanned aerial vehicle to crash.
In the existing obstacle avoidance technology, a complex recognition algorithm is completed through a high-performance processor to predict surrounding obstacles based on sensors such as vision or radar, and obstacle avoidance action is performed in advance to prevent collision. However, sensors such as vision and radar are expensive, and have strict requirements on the performance of a processor matched with the sensors, and have high requirements on the environment. For example, when a wave-absorbing or mirror-reflecting material exists on the surface of an obstacle, a radar hardly receives a signal and cannot accurately estimate surrounding obstacles; when the external illumination is strong or dark, the collected images cannot be normally processed, so that the environment is difficult to predict, surrounding obstacles cannot be accurately predicted, and an ideal obstacle avoidance effect cannot be achieved.
Disclosure of Invention
In view of the above, there is a need for an aircraft and a system and a method for controlling evasion thereof, which can conveniently and effectively perform corresponding evasive actions.
A method of evasion control for use in an aircraft including a plurality of rotor motors, the method comprising: when the aircraft runs, determining whether a rotor motor with locked rotor exists; when the motor with the locked rotor is confirmed, determining the obstacle direction according to the motor with the locked rotor; and controlling the aircraft to move in the direction opposite to the obstacle direction.
In some embodiments, the aircraft has a plurality of arms corresponding to the rotor motors and an electrical tuning device electrically connected to the plurality of rotor motors.
In some embodiments, the aircraft includes a plurality of electrical tuning devices, wherein each of the booms of the aircraft is provided with one of the electrical tuning devices and a rotor motor electrically connected to the electrical tuning device on the boom.
In some embodiments, the plurality of electrical tuning devices are configured to detect the operating current of the corresponding rotor motor, and the step of determining whether there is a rotor motor with locked rotor includes: obtaining the working current of each rotor motor from the electric adjusting devices, and comparing the working current value of each rotor motor with a preset current threshold value; and if the working current value of the rotor motor is larger than the preset current threshold value, determining that the rotor motor is in a locked-rotor state.
In some embodiments, the plurality of electric tuning devices are configured to detect the working currents of the rotor motors corresponding to the electric tuning devices, respectively, and send information that the rotor motors are locked to the processor of the aircraft when it is determined that the working currents of the rotor motors corresponding to the electric tuning devices are greater than a preset current threshold value; and the step of determining whether a rotorcraft with a locked rotor has occurred comprises determining that a rotorcraft with a locked rotor has occurred when information that the rotorcraft with a locked rotor has occurred is received.
In some embodiments, the port information corresponding to each electrical tuning device, the identification information of the horn corresponding to each port information, and the orientation information of each horn on the aircraft corresponding to each horn identification information that are pre-stored in the storage device, and the step of determining the obstacle direction according to the rotor motor that has locked up includes: and determining the horn of the rotor motor with locked rotor according to the communication port corresponding to the electric adjusting device which sends the working current or the locked rotor information, then determining the azimuth information of the horn, and determining the azimuth information as the obstacle direction.
In some embodiments, the storage device stores, in advance, port information corresponding to each electrical tuning device, and azimuth information of a horn on the aircraft corresponding to each port information, and the step of determining the obstacle direction according to the rotor motor in which the stall occurs includes: and determining the azimuth information of the horn corresponding to the communication port on the aircraft according to the communication port corresponding to the electric adjusting device for sending the working current or the locked rotor information, and determining the azimuth information as the obstacle direction.
In some embodiments, the aircraft is a multi-rotor drone.
A dodging control system for operation on an aircraft, the aircraft including a plurality of rotor motors, the system comprising: the detection module is used for confirming whether a rotor motor generating locked rotor exists or not when a plurality of aircrafts operate; the determining module is used for determining the obstacle direction according to the rotor motor with the locked rotor when the rotor motor with the locked rotor is confirmed; and the control module is used for controlling the aircraft to move towards the direction opposite to the obstacle direction.
In some embodiments, the aircraft has a plurality of arms corresponding to the rotor motors and an electrical tuning device electrically connected to the plurality of rotor motors.
In some embodiments, the aircraft includes a plurality of electrical tuning devices, wherein each of the booms of the aircraft is provided with one of the electrical tuning devices and a rotor motor electrically connected to the electrical tuning device on the boom.
In some embodiments, the plurality of electrical tuning devices are configured to detect the operating current of the corresponding rotor motor, respectively, and the detection module is configured to obtain the operating system of each rotor motor from the plurality of electrical tuning devices, compare the operating current value of each rotor motor with a preset current threshold value thereof, and determine that the rotor motor is in a locked rotor state when the operating current value of the rotor motor is greater than the preset current threshold value thereof.
In some embodiments, the plurality of electric tuning devices are configured to detect the working currents of the rotor motors corresponding to the electric tuning devices, respectively, and send information that the rotor motors are locked to the processor of the aircraft when it is determined that the working currents of the rotor motors corresponding to the electric tuning devices are greater than a preset current threshold value; and the detection module is configured to determine that the rotor motor is locked when the information that the rotor motor is locked is received.
In some embodiments, the port information corresponding to each electrical modulation device, the identification information of the horn corresponding to each port information, and the orientation information of the horn on the aircraft corresponding to each horn identification information that are pre-stored in the storage device, and the determining module is configured to determine the horn where the rotor motor that has locked rotor is located according to the communication port corresponding to the electrical modulation device that sends the operating current or the locked rotor information, and then confirm the orientation information of the horn, and determine the orientation information as the obstacle direction based on the orientation information.
In some embodiments, the storage device stores, in advance, port information corresponding to each electrical tuning device and orientation information of a horn corresponding to each port information on the aircraft, and the determination module is configured to determine, according to a communication port corresponding to an electrical tuning device that sends working current or locked rotor information, the orientation information of the horn corresponding to the communication port on the aircraft, and determine, as the obstacle direction, the orientation information.
In some embodiments, the aircraft is a multi-rotor drone.
An aircraft comprising at least one processor, a plurality of rotor motors electrically connected to each other, and an electrical tuning device electrically connected to a plurality of the rotor motors, the at least one processor configured for:
confirming whether a rotor motor with locked rotor exists or not when a plurality of aircrafts run; when the rotor motor with the locked rotor is confirmed, determining the obstacle direction according to the rotor motor with the locked rotor; and controlling the aircraft to move in a direction opposite to the obstacle direction.
In some embodiments, the aircraft has a plurality of arms corresponding to the rotor motors, one rotor motor being disposed on each of the arms.
In some embodiments, the aircraft includes a plurality of electrical tuning devices, wherein each of the arms of the aircraft is provided with an electrical tuning device electrically connected to the rotor motor.
In some embodiments, a plurality of the electrical tuning devices are used to detect the operating current of the corresponding rotor motors, respectively, and the at least one processor is configured to obtain the operating system of each rotor motor from the plurality of the electrical tuning devices and compare the operating current value of each rotor motor with a preset current threshold value thereof; and when the working current value of the rotor motor is larger than the preset current threshold value, determining that the rotor motor is in a locked-rotor state.
In some embodiments, the plurality of electric tuning devices are configured to detect the working currents of the rotor motors corresponding to the electric tuning devices, respectively, and send information that the rotor motors are locked to the processor of the aircraft when it is determined that the working currents of the rotor motors corresponding to the electric tuning devices are greater than a preset current threshold value; and the at least one processor is configured to determine that there is a rotorcraft that is stalled when information is received that the rotorcraft is stalled.
In some embodiments, the aircraft further includes a storage device, where the storage device stores port information corresponding to each electrical tuning device, identification information of a horn corresponding to each port information, and orientation information of each horn on the aircraft corresponding to each horn identification information in advance, and the at least one processor is configured to determine, according to a communication port corresponding to an electrical tuning device that sends operating current or locked rotor information, a horn where a rotor motor that has locked rotor is located, and then confirm the orientation information of the horn, and determine the orientation information as the obstacle direction using the orientation information.
In some embodiments, the aircraft further includes a storage device, where port information corresponding to each electrical tuning device and orientation information of the horn corresponding to each port information on the aircraft are stored in advance, and the at least one processor is configured to determine, according to the communication port corresponding to the electrical tuning device that sends the operating current or the stalling information, the orientation information of the horn corresponding to the communication port on the aircraft, and determine, with the orientation information, the obstacle direction.
In some embodiments, the aircraft is a multi-rotor drone.
Compared with the prior art, the dodging control system disclosed by the invention does not need to add an additional sensor, identifies the locked rotor of the rotor motor, and performs corresponding dodging action according to the locked rotor information, so that continuous impact caused by misoperation when the aircraft is in a state of touching an obstacle is effectively prevented, and further damage or falling of the aircraft is avoided.
Drawings
Fig. 1 is a functional block diagram of a preferred embodiment of the aircraft of the present invention.
Fig. 2 is a schematic view of an aircraft of the present invention.
FIG. 3 is a functional block diagram of a evasion control system according to a preferred embodiment of the present invention.
FIG. 4 is a flowchart illustrating a method for evasion control according to a preferred embodiment of the present invention.
Description of the main elements
| Aircraft with a flight control device | 1 |
| Processor with a memory having a plurality of memory cells | 11 |
| Storage device | 12 |
| Evasion control system | 120 |
| |
13 |
| Electric adjusting device | 130 |
| Rotor motor | 131 |
| |
14 |
| |
122 |
| Determining |
124 |
| |
126 |
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, a functional block diagram of a preferred embodiment of the aircraft of the present invention is shown. In an embodiment, the aircraft 1 may be a rotorcraft, a fixed-wing aircraft, or a hybrid fixed-wing and rotor aircraft. Wherein the rotor can be single rotor, double rotor, three rotors, four rotors, six rotors and eight rotors etc. In the present embodiment, the aircraft 1 is a multi-rotor Unmanned Aerial Vehicle (UAV).
The aircraft 1 includes, but is not limited to, a processor 11, a storage device 12, a evasion control system 120, a plurality of electric adjusting devices 130, a plurality of rotor motors 131, and a plurality of power devices 14 for driving the aircraft 1 to fly, which are electrically connected to each other. It should be noted that the aircraft 1 may also include key components such as control systems, housings, sensors, power supplies, communication units, and circuit modules (not shown) that perform various functions.
The processor 11 is used to control the flight of the aircraft 1, including, but not limited to, controlling the speed, altitude, attitude, etc. of the aircraft 1. In the preferred embodiment, the processor 11 is further configured to execute the functions of the functional modules in the evasion control system 120. The evasion control system 120 is installed in the storage means 12 in the form of a software program or instructions and executed by the processor 11. In one embodiment, the processor 11 may be a general purpose processor, a digital signal processor, or other special purpose processor.
The memory device 12 is used for storing various types of information of the aircraft 1, such as flight data of the aircraft 1, including, but not limited to, altitude, acceleration (pitch, roll, and yaw), attitude, geographic position, velocity, outside air temperature, and/or air pressure, etc. The storage device 12 may be a memory of the aircraft 1, and may also be a memory Card that is externally connected to the aircraft 1, such as an SM Card (Smart Media Card), an SD Card (Secure Digital Card), and the like.
A plurality of the electric tuning devices 130 and the rotor motors 131 may be respectively disposed in a plurality of the horn 13 of the aircraft 1, that is, one electric tuning device 130 and one rotor motor 131 are disposed in each horn 13. Referring to fig. 2, a plurality of the horn 13 may have a hollow shape or the like.
The electric adjusting device 130 is an electronic governor, and is used for controlling the rotating speed of the corresponding rotor motor 131, and driving the corresponding rotor motor 131 to run from idle speed to full speed. In the preferred embodiment, a plurality of the electrical tilt devices 130 may be electrically connected to the processor 11 through an I/O bus, and each electrical tilt device 130 has a corresponding communication port, so as to perform data transmission with the processor 11 through the communication port. In other preferred embodiments, the plurality of electrical tilt devices 130 may also be electrically connected to the processor 11 in other manners. In an embodiment, each electrical tilt device 130 may obtain corresponding control data, such as pitch data, roll data, heading angle data, altitude data, and other data, from the processor 11 to control the rotation speed of its corresponding rotor motor 131. It is understood that the electrical tilt apparatus 130 may also be disposed at other positions such as a body or a frame of the aircraft 1.
The electric tuning device 130 may also be one, and is configured to receive information of all the motors 131 and control all the motors 131.
The power device 14 is a device for driving the aircraft 1 to fly. In the preferred embodiment, the power device 14 is a rotor that can have two, three, etc. paddles. Referring to fig. 2, the power unit 14 is a two-bladed rotor. The power device 14 is fixedly connected to the rotor motor 131, and the aircraft 1 is controlled to fly under the driving of the rotor motor 131. The number of the power devices 14, the number of the electric power adjusting devices 130, and the number of the rotor motors 131 may be equal to the number of the horn 13. Of course, the number of the horn 13 and the power unit 14 may be increased or decreased according to actual circumstances.
In the preferred embodiment, the evasion control system 120 may be divided into one or more modules, which are stored in the storage device 12 and configured to be executed by one or more processors (in this embodiment, one processor 11), and the aircraft 1 may automatically determine and make a corresponding evasive action for an impact by using the evasive control system 120 when the aircraft is impacted.
Referring to fig. 3, a functional block diagram of a preferred embodiment of the evasion control system 120 of the present invention is shown. The avoidance control system 120 includes, but is not limited to, at least a detection module 122, a determination module 124, and a control module 126. The functional modules are segments of programs that perform specific functions, and are better suited than the software programs themselves for describing the execution of the software in a computer, such as in the processor 11 of the aircraft 1, so that the description of the software programs in the present invention is in terms of modules. In addition, the functional modules may also be implemented by hardware or firmware.
The detection module 122 is configured to periodically or in real time determine whether there is a rotor motor 131 that has stalled when the aircraft 1 is operating (i.e., when a plurality of rotor motors 131 are operating normally). It should be noted that, during normal operation of rotor motor 131, the current of rotor motor 131 during normal operation is within a stable range of values. In the preferred embodiment, when the moving path (the rotating path of the propeller) of a power unit 14 of the aircraft 1 is blocked and cannot rotate completely for one circle, i.e. when the aircraft collides with an obstacle, the rotor motor 131 connected to the power unit 14 is locked, and the rotating speed of the rotor motor 131 is 0, but the output torque is still available. When rotor motor 131 stalls, 5-10 times the rated current will flow through the stator windings (not shown) of rotor motor 131.
In a first preferred embodiment, each electrical tuning device 130 may include a detection circuit capable of detecting the working current of the corresponding rotor motor 131, and the detection module 122 obtains the working current of each rotor motor 131 from each electrical tuning device 130 periodically or in real time by using the communication port, and compares the working current value of each rotor motor 131 with a preset current threshold value thereof, and if the working current value of the rotor motor 131 is greater than the preset current threshold value thereof, the detection module 122 determines that the rotor motor 131 is in a locked rotor state.
In a second preferred embodiment, the electrical tuning device 130 may include a controller, a current sensor, and other elements to detect the working current of the corresponding rotor motor 131, and determine whether the corresponding rotor motor 131 is locked by the controller. When the electric tuning device 130 determines that the working current of the corresponding rotor motor 131 is greater than the preset current threshold value, it determines that the corresponding rotor motor 131 is locked. The electrical tuning device 130 sends the information of the locked rotor of the rotor motor 131 to the processor 11 through the communication port. When processor 11 receives information that a stall has occurred in rotor motor 131, detection module 122 determines that there is a rotor motor 131 that has occurred.
The determination module 124 is configured to determine an obstacle direction according to the rotor motor 131 that has a stall when the rotor motor 131 that has a stall is determined. In the preferred embodiment, the storage device 12 may store in advance port information corresponding to each electrical tuning device 130, identification information of the horn 13 corresponding to each port information, and orientation information of each horn 13 on the aircraft 1 corresponding to each horn 13 identification information (i.e., orientation information of each horn 13 with respect to a main body portion (not shown in the figure) of the aircraft 1). The determining module 124 determines the horn 13 where the rotor motor 131 is located, according to the communication port corresponding to the electrical tuning device 130 that sends the working current or the locked-rotor information, and then confirms the azimuth information of the horn 13, and determines the azimuth information as the obstacle direction.
In another preferred embodiment, the storage device 12 may store port information corresponding to each electrical tilt device 130 and orientation information of the horn 13 corresponding to each port information on the aircraft 1 in advance. The determining module 124 determines, according to the communication port corresponding to the electrical tuning device 130 that sends the working current or the locked rotor information, the azimuth information of the horn 13 on the aircraft 1 corresponding to the communication port, and determines the azimuth information as the obstacle direction.
The control module 126 is configured to control the aircraft 1 to move in a direction opposite to the obstacle direction. The control module 126 determines a direction of movement opposite to the direction of the obstacle and then controls the aircraft 1 to fly in the determined direction of movement to effectively evade the collision caused by the obstacle.
Referring to FIG. 4, a flow chart 400 of a preferred embodiment of the evasion control method of the present invention is shown. It should be noted that the evasion control method of the present invention is not limited to the steps and sequence shown in the flowchart of fig. 4. Steps in the flowchart shown in fig. 4 may be added, removed, or changed in order, according to various embodiments. In the preferred embodiment, the method 400 may begin at step S401.
Step S401, when the aircraft 1 is running, the detection module 122 periodically or in real time determines whether there is a rotor motor 131 that has locked up. It should be noted that, during normal operation of rotor motor 131, the current of rotor motor 131 during normal operation is within a stable range of values. In the preferred embodiment, when the moving path (the rotating path of the propeller) of a power unit 14 of the aircraft 1 is blocked and cannot rotate completely for one circle, i.e. when the aircraft collides with an obstacle, the rotor motor 131 connected to the power unit 14 is locked, and the rotating speed of the rotor motor 131 is 0, but the output torque is still available. When rotor motor 131 stalls, 5-10 times the rated current will flow through the stator windings (not shown) of rotor motor 131.
In a first preferred embodiment, each electrical tuning device 130 may include a detection circuit capable of detecting the working current of the corresponding rotor motor 131, and the detection module 122 obtains the working current of each rotor motor 131 from each electrical tuning device 130 periodically or in real time by using the communication port, and compares the working current value of each rotor motor 131 with a preset current threshold value thereof, and if the working current value of the rotor motor 131 is greater than the preset current threshold value thereof, the detection module 122 determines that the rotor motor 131 is in a locked rotor state.
In a second preferred embodiment, the electrical tuning device 130 may include a controller, a current sensor, and other elements to detect the working current of the corresponding rotor motor 131, and determine whether the corresponding rotor motor 131 is locked by the controller. When determining that the working current of the corresponding rotor motor 131 is greater than the preset current threshold value, the electric tuning device 130 determines that the corresponding rotor motor 131 is locked. The electrical tuning device 130 sends the information of the locked rotor of the rotor motor 131 to the processor 11 through the communication port. When processor 11 receives information that a stall has occurred in rotor motor 131, detection module 122 determines that there is a rotor motor 131 that has occurred.
In step S402, when it is determined that there is a rotor motor 131 with a locked rotor, the determination module 124 determines the obstacle direction according to the rotor motor 131 with a locked rotor. In the preferred embodiment, the storage device 12 may store in advance port information corresponding to each electrical tuning device 130, identification information of the horn 13 corresponding to each port information, and orientation information of each horn 13 on the aircraft 1 corresponding to each horn 13 identification information (i.e., orientation information of each horn 13 with respect to a main body portion (not shown in the figure) of the aircraft 1). The determining module 124 determines the horn 13 where the rotor motor 131 is located, according to the communication port corresponding to the electrical tuning device 130 that sends the working current or the locked-rotor information, and then confirms the azimuth information of the horn 13, and determines the azimuth information as the obstacle direction.
In another preferred embodiment, the storage device 12 may store port information corresponding to each electrical tilt device 130 and orientation information of the horn 13 corresponding to each port information on the aircraft 1 in advance. The determining module 124 determines, according to the communication port corresponding to the electrical tuning device 130 that sends the working current or the locked rotor information, the azimuth information of the horn 13 on the aircraft 1 corresponding to the communication port, and determines the azimuth information as the obstacle direction.
In step S403, the control module 126 controls the aircraft 1 to move in a direction opposite to the obstacle direction. The control module 126 determines a direction of movement opposite to the direction of the obstacle and then controls the aircraft 1 to fly in the determined direction of movement to effectively evade the collision caused by the obstacle.
It is understood that the electrical tilt apparatus 130 may also be disposed at other positions such as a body or a frame of the aircraft 1.
The electric tuning device 130 may also be one, and is configured to receive information of all the motors 131 and control all the motors 131.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (24)
1. A method of evasion control for use in an aircraft including a plurality of rotor motors, the method comprising:
when the aircraft runs, determining whether a rotor motor with locked rotor exists;
when the rotor motor with the locked rotor is confirmed, determining the obstacle direction according to the rotor motor with the locked rotor;
and controlling the aircraft to move in the direction opposite to the obstacle direction.
2. A evasion control method according to claim 1, wherein said aircraft has a plurality of arms corresponding to said rotor motors and electrical tuning means electrically connected to a plurality of said rotor motors.
3. A evasion control method according to claim 2, wherein said aircraft includes a plurality of electrical tuning devices, wherein each of said arms of said aircraft is provided with one of said electrical tuning devices and a rotor motor electrically connected to said electrical tuning device on said arm.
4. A evasion control method according to claim 3, wherein a plurality of said electrical tuning devices are adapted to detect respective operating currents of their corresponding rotor motors, and said step of determining whether a rotor motor is stalled comprises:
obtaining the working current of each rotor motor from the electric adjusting devices, and comparing the working current value of each rotor motor with a preset current threshold value;
and if the working current value of the rotor motor is larger than the preset current threshold value, determining that the rotor motor is in a locked-rotor state.
5. A dodging control method according to claim 3, wherein said plurality of said electric tuning devices are adapted to detect the operating currents of the respective rotor motors and send a stall message to a processor of said aircraft when it is determined that the operating current of the respective rotor motor is greater than a predetermined current threshold; and the step of determining whether a rotorcraft is stalled comprises:
when the information that the rotor motor is locked is received, the rotor motor which is locked is determined to exist.
6. A evasion control method according to claim 4 or 5, wherein a storage device stores in advance port information corresponding to each electrical tuning device, identification information of a horn corresponding to each port information, and orientation information of each horn on said aircraft corresponding to each horn identification information, and said step of determining the direction of the obstacle based on the rotor motor where the stall has occurred includes:
and determining the horn of the rotor motor with locked rotor according to the communication port corresponding to the electric adjusting device which sends the working current or the locked rotor information, then determining the azimuth information of the horn, and determining the azimuth information as the obstacle direction.
7. A evasion control method according to claim 4 or 5, wherein a storage device stores in advance port information corresponding to each of the electrical tuning devices and orientation information of a horn on the aircraft corresponding to each of the port information, and said step of determining the direction of the obstacle based on the rotor motor in which the stall has occurred comprises:
and determining the azimuth information of the horn corresponding to the communication port on the aircraft according to the communication port corresponding to the electric adjusting device for sending the working current or the locked rotor information, and determining the azimuth information as the obstacle direction.
8. A method of evasion control according to claim 1, wherein said aerial vehicle is a multi-rotor drone.
9. A dodge control system for operation on an aircraft including a plurality of rotor motors, the system comprising:
the detection module is used for confirming whether a rotor motor generating locked rotor exists or not when the aircraft runs;
the determining module is used for determining the obstacle direction according to the rotor motor with the locked rotor when the rotor motor with the locked rotor is confirmed;
and the control module is used for controlling the aircraft to move towards the direction opposite to the obstacle direction.
10. A evasion control system according to claim 9, wherein said aircraft has a plurality of arms corresponding to said rotor motors and electrical tuning devices electrically connected to a plurality of said rotor motors.
11. A evasion control system according to claim 10, wherein said aircraft includes a plurality of electrical tilt devices, wherein each of said arms of said aircraft is provided with one of said electrical tilt devices and a rotor motor electrically connected to said electrical tilt device on said arm.
12. A evasion control system according to claim 11, wherein a plurality of said electrical tuning devices are configured to detect respective operating currents of their corresponding rotor motors, and said detection module is configured to obtain the operating system of each rotor motor from the plurality of said electrical tuning devices, compare the operating current value of each rotor motor with a predetermined current threshold value thereof, and determine that the rotor motor is in a locked rotor state when the operating current value of the rotor motor is greater than the predetermined current threshold value thereof.
13. A evasion control system according to claim 11, wherein said plurality of electrical tuning devices are configured to detect respective operating currents of said rotor motors corresponding thereto, and send a stall message to a processor of said aircraft when determining that the operating current of said rotor motor corresponding thereto is greater than a predetermined current threshold; and the detection module is configured to determine that the rotor motor is locked when the information that the rotor motor is locked is received.
14. A evasion control system according to claim 12 or 13, wherein the storage device stores in advance port information corresponding to each electrical tuning device, identification information of a horn corresponding to each port information, and orientation information of each horn on said aircraft corresponding to each horn identification information, and said determining module is configured to determine the horn where the rotor motor that has locked up is located according to the communication port corresponding to the electrical tuning device that sends the operating current or the locked up information, and then confirm the orientation information of the horn, and determine the orientation information as the obstacle direction using the orientation information.
15. The evasion control system of claim 12 or 13, wherein the storage device stores port information corresponding to each electrical tuning device and orientation information of the horn corresponding to each port information on the aircraft in advance, and the determining module is configured to determine the orientation information of the horn corresponding to the communication port on the aircraft according to the communication port corresponding to the electrical tuning device that sends the operating current or the stalling information, and determine the orientation information as the obstacle direction according to the orientation information.
16. A evasion control system according to claim 9, wherein said aerial vehicle is a multi-rotor drone.
17. An aircraft comprising at least one processor, a plurality of rotor motors electrically connected to each other, and an electrical tuning device electrically connected to a plurality of said rotor motors, wherein said at least one processor is configured for:
when the aircraft runs, determining whether a rotor motor with locked rotor exists;
when the rotor motor with the locked rotor is confirmed, determining the obstacle direction according to the rotor motor with the locked rotor; and
and controlling the aircraft to move in the direction opposite to the obstacle direction.
18. The aircraft of claim 17, wherein said aircraft has a plurality of arms corresponding to said rotor motors, one said rotor motor being disposed on each said arm.
19. The aircraft of claim 18, wherein said aircraft includes a plurality of electrical tuning devices, and wherein each of said arms of said aircraft includes an electrical tuning device electrically connected to said rotor motor.
20. The aircraft according to claim 19, wherein a plurality of said electrical tuning devices are provided for detecting the operating currents of the respective rotor motors, and wherein said at least one processor is configured to obtain the operating system of each rotor motor from the plurality of said electrical tuning devices and to compare the operating current value of each rotor motor with a preset current threshold value thereof; and when the working current value of the rotor motor is larger than the preset current threshold value, determining that the rotor motor is in a locked-rotor state.
21. The aircraft according to claim 19, wherein a plurality of the electrical tuning devices are configured to detect the operating currents of the corresponding rotor motors, respectively, and send a stall message to a processor of the aircraft when determining that the operating current of the corresponding rotor motor is greater than a preset current threshold; and the at least one processor is configured to determine that there is a rotorcraft that is stalled when information is received that the rotorcraft is stalled.
22. The aircraft according to claim 20 or 21, wherein the aircraft further comprises a storage device, the storage device stores port information corresponding to each electrical modulation device, identification information of a horn corresponding to each port information, and orientation information of each horn corresponding to each horn identification information on the aircraft in advance, and the at least one processor is configured to determine the horn where the rotor motor that has locked up is located according to the communication port corresponding to the electrical modulation device that sends the operating current or locked up information, and then confirm the orientation information of the horn, and determine the orientation information as the obstacle direction using the orientation information.
23. The aircraft according to claim 20 or 21, wherein the aircraft further comprises a storage device, the storage device stores port information corresponding to each electrical modulation device and orientation information of an arm corresponding to each port information on the aircraft in advance, and the at least one processor is configured to determine the orientation information of the arm corresponding to the communication port on the aircraft according to the communication port corresponding to the electrical modulation device which sends the operating current or the stalling information, and determine the orientation information as the obstacle direction according to the orientation information.
24. The aircraft of claim 17, wherein said aircraft is a multi-rotor drone.
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| CN202010785988.2A CN111880570A (en) | 2015-12-01 | 2015-12-01 | Aircraft and evasion control system and method thereof |
| CN201510864172.8A CN106814747B (en) | 2015-12-01 | 2015-12-01 | Aircraft and evasion control system and method thereof |
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| CN107600837B (en) * | 2017-09-04 | 2020-05-08 | 福建纳仕达电子股份有限公司 | Electronic garbage bin action power saving control device |
| CN108124472B (en) * | 2017-12-26 | 2022-03-29 | 深圳市道通智能航空技术股份有限公司 | Method and device for avoiding barrier and aircraft |
| CN108711831B (en) * | 2018-06-06 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle |
| WO2022140904A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium |
| CN113911373B (en) * | 2021-11-12 | 2022-07-29 | 白城师范学院 | Industrial unmanned aerial vehicle |
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| CN111880570A (en) | 2020-11-03 |
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