CN108958279A - Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium - Google Patents
Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—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
The invention discloses a kind of unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage mediums.Unmanned plane of the invention is when motor is in stop state, first detect the current pose information of the machine, when the current pose information is unsatisfactory for default takeoff condition, obtain direction to be rolled and according to the current pose information determine the motor to direction of rotation, further according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.It can be seen that, technical solution through the invention, unmanned plane is being unsatisfactory for takeoff condition, the driving direction of motor can be determined according to unmanned plane direction to be rolled and to direction of rotation, realization allows unmanned plane automatic turning, the technical issues of normally taking off, solving when being not easy to the posture by artificially manually adjusting unmanned plane, be unable to normal flight.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of unmanned aerial vehicle rolling method, apparatus, nobody
Machine and storage medium.
Background technique
Unmanned plane is a kind of unpiloted aircraft, it can be carried out remote by ground remote control equipment (such as: remote controler)
Journey manipulation passes through airborne computer automatic Pilot.Compared with manned vehicle, unmanned plane is small in size, low cost, easy to use.
Due to unmanned plane non-manned characteristic and various dimensions controllability the features such as, being capable of the operation under many hazardous environments.
Unmanned plane generally will do it various detections before normally taking off, and one of them are the limitations of attitude angle, work as attitude angle
When deviateing larger, in order to guarantee the safety of unmanned plane, unmanned plane is not permission to take off.When unmanned plane executes task, meaning is encountered
Outer situation, it is possible that attitude angle is greater than the limitation taken off or directly overturns 180 degree after unmanned plane landing, it can not
Normally take off.At this time, it usually needs the artificial posture for manually adjusting unmanned plane can be realized and normally be taken off.
But when facing some scenes, for example, when unmanned plane is grappled, it is possible that the feelings of unmanned plane reverse side upward
Condition；In outdoor flight, the place that can not artificially reach or be inconvenient to reach is dropped to；These scenes are not easy to by artificial
The posture for manually adjusting unmanned plane causes unmanned plane not take off normally.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium,
It aims to solve the problem that in the prior art when being not easy to the posture by artificially manually adjusting unmanned plane, what unmanned plane can not normally take off
Technical problem.
To achieve the above object, the present invention provides a kind of unmanned aerial vehicle rolling method, the unmanned aerial vehicle rolling side
Method the following steps are included:
When motor is in stop state, current pose information is obtained；
When the current pose information is unsatisfactory for default takeoff condition, direction to be rolled is obtained and according to the current appearance
State information determine the motor to direction of rotation；
According to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.
Preferably, the direction to be rolled according to and it is described drive the motor to direction of rotation, to realize ground
Face rolling, specifically includes:
The roll center on the machine fuselage is determined according to the direction to be rolled；
According to the first revolving speed and the motor for driving the close roll center side to direction of rotation, and according to second
Revolving speed and the motor that the separate roll center side is driven to direction of rotation, to realize that ground is rolled, described second turn
Speed is greater than first revolving speed.
Preferably, second revolving speed is calculate by the following formula acquisition,
N=n0+(2-β)βN
Wherein,φ is the roll angle in the current pose information, and θ is
Pitch angle in the current pose information, n are second revolving speed, n0For first revolving speed, N is constant, | | to take
Absolute value sign.
Preferably, first revolving speed is that the motor is in the corresponding revolving speed of idling mode.
Preferably, it is described according to the first revolving speed and it is described to direction of rotation drive close to the roll center side electricity
Machine, and according to the second revolving speed and the motor for driving the separate roll center side to direction of rotation, to realize that ground is turned over
Before rolling, the unmanned aerial vehicle rolling method further include:
According to the first revolving speed and described each motor is driven to direction of rotation.
Preferably, described when the current pose information is unsatisfactory for default takeoff condition, believed according to the current pose
Breath determine the motor to direction of rotation before, the unmanned aerial vehicle rolls method further include:
The current inclination between the machine fuselage and horizontal plane is determined according to the current pose information；
When the current inclination is more than the first default tilt threshold, assert that the current pose information is unsatisfactory for presetting
The condition of flying；
It is described when the current pose information is unsatisfactory for default takeoff condition, institute is determined according to the current pose information
State motor to direction of rotation, specifically include:
When the current pose information is unsatisfactory for default takeoff condition, judge whether the current inclination is pre- more than second
If tilt threshold, the second default tilt threshold is greater than the described first default tilt threshold；
When the current inclination is less than the second default tilt threshold, rotating forward side is set as to direction of rotation by described
To；
When the current inclination is more than the second default tilt threshold, reverse directions are set as to direction of rotation by described.
Preferably, described to obtain direction to be rolled, it specifically includes:
Direction to be rolled is determined according to the current pose information；
Or,
In response to the rolling control instruction that remote controler is sent, direction to be rolled is determined according to the rolling control instruction.
In addition, to achieve the above object, the present invention also provides a kind of unmanned aerial vehicle Rolling device, the unmanned aerial vehicles
Rolling device includes:
Information detecting module, for obtaining current pose information when motor is in stop state；
Direction determining mould, for obtaining side to be rolled when the current pose information is unsatisfactory for default takeoff condition
To and according to the current pose information determine the motor to direction of rotation；
Motor drive module, for according to the direction to be rolled and it is described drive the motor to direction of rotation, with
Realize ground rolling.
In addition, to achieve the above object, the present invention also provides a kind of unmanned plane, the unmanned plane includes: memory, processing
The unmanned aerial vehicle rolling program that device and being stored in can be run on the memory and on the processor, the unmanned plane
The step of face rolling program realizes unmanned aerial vehicle rolling method as described above when being executed by the processor.
In addition, to achieve the above object, the present invention also provides a kind of storage medium, being stored with nobody on the storage medium
Machine ground rolling program, the unmanned aerial vehicle rolling program realize that unmanned aerial vehicle as described above turns over when being executed by processor
The step of roll method.
Unmanned plane of the invention first detects the current pose information of the machine, works as when described when motor is in stop state
When preceding posture information is unsatisfactory for default takeoff condition, obtains direction to be rolled and the electricity is determined according to the current pose information
Machine to direction of rotation, further according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize ground
Rolling.As it can be seen that technical solution, unmanned plane are being unsatisfactory for takeoff condition through the invention, it can be according to unmanned plane direction to be rolled
With the driving direction for determining motor to direction of rotation, realization allows unmanned plane automatic turning, normally takes off, solve and be not easy to pass through
Artificially when manually adjusting the posture of unmanned plane, the technical issues of being unable to normal flight.
Detailed description of the invention
Fig. 1 is the unmanned plane structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of unmanned aerial vehicle of the present invention rolling method first embodiment；
Fig. 3 is that the first in the embodiment of the present invention obtains the schematic diagram in direction to be flipped automatically；
Fig. 4 obtains the schematic diagram in direction to be flipped for second in the embodiment of the present invention automatically；
Fig. 5 is the flow diagram of unmanned aerial vehicle of the present invention rolling method second embodiment；
Fig. 6 is the schematic diagram of throttle curve in the embodiment of the present invention；
Fig. 7 be the embodiment of the present invention in unmanned plane be in reverse side upward state when ground roll procedure schematic diagram；
Fig. 8 be the embodiment of the present invention in unmanned plane be in reverse side upward state when the first ground roll procedure illustrate
Figure；
Fig. 9 be the embodiment of the present invention in unmanned plane be in reverse side upward state when second of ground roll procedure illustrate
Figure；
Figure 10 is the structural block diagram of unmanned aerial vehicle Rolling device first embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, Fig. 1 is the unmanned plane structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
As shown in Figure 1, the unmanned plane may include: processor 1001, such as CPU, communication bus 1002, user interface
1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), optional user interface 1003 can also include standard wireline interface,
Wireless interface.Network interface 1004 optionally may include standard wireline interface and wireless interface (such as WI-FI interface).Storage
Device 1005 can be high speed RAM memory, be also possible to stable memory (non-volatile memory), such as disk
Memory.Memory 1005 optionally can also be the storage server independently of aforementioned processor 1001.
It, can be with it will be understood by those skilled in the art that structure shown in Fig. 1 does not constitute the restriction to the unmanned plane
Including perhaps combining certain components or different component layouts than illustrating more or fewer components.
As shown in Figure 1, as may include operating system, network communication mould in a kind of memory 1005 of storage medium
Block, Subscriber Interface Module SIM and unmanned aerial vehicle rolling program.
The unmanned plane calls the unmanned aerial vehicle stored in memory 1005 rolling program by processor 1001, and holds
The following operation of row:
When motor is in stop state, current pose information is obtained；
When the current pose information is unsatisfactory for default takeoff condition, direction to be rolled is obtained and according to the current appearance
State information determine the motor to direction of rotation；
According to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.
Further, processor 1001 can call the unmanned aerial vehicle stored in memory 1005 rolling program, also hold
The following operation of row:
The roll center on the machine fuselage is determined according to the direction to be rolled；
According to the first revolving speed and the motor for driving the close roll center side to direction of rotation, and according to second
Revolving speed and the motor that the separate roll center side is driven to direction of rotation, to realize that ground is rolled, described second turn
Speed is greater than first revolving speed.
Further, processor 1001 can call the unmanned aerial vehicle stored in memory 1005 rolling program, also hold
The following operation of row:
According to the first revolving speed and described each motor is driven to direction of rotation.
Further, processor 1001 can call the unmanned aerial vehicle stored in memory 1005 rolling program, also hold
The following operation of row:
The current inclination between the machine fuselage and horizontal plane is determined according to the current pose information；
When the current inclination is more than the first default tilt threshold, assert that the current pose information is unsatisfactory for presetting
The condition of flying；
When the current pose information is unsatisfactory for default takeoff condition, judge whether the current inclination is pre- more than second
If tilt threshold, the second default tilt threshold is greater than the described first default tilt threshold；
When the current inclination is less than the second default tilt threshold, rotating forward side is set as to direction of rotation by described
To；
When the current inclination is more than the second default tilt threshold, reverse directions are set as to direction of rotation by described.
Further, processor 1001 can call the unmanned aerial vehicle stored in memory 1005 rolling program, also hold
The following operation of row:
Direction to be rolled is determined according to the current pose information；
Or,
In response to the rolling control instruction that remote controler is sent, direction to be rolled is determined according to the rolling control instruction.
In the present embodiment, unmanned plane first detects the current pose information of the machine, works as institute when motor is in stop state
When stating current pose information and being unsatisfactory for default takeoff condition, obtains direction to be rolled and institute is determined according to the current pose information
State motor to direction of rotation, further according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize
Ground rolling.As it can be seen that technical solution, unmanned plane are being unsatisfactory for takeoff condition through the invention, can wait rolling according to unmanned plane
Direction and the driving direction that motor is determined to direction of rotation, realization allow unmanned plane automatic turning, normally take off, solve and be not easy to
When posture by artificially manually adjusting unmanned plane, the technical issues of being unable to normal flight.
Based on above-mentioned hardware configuration, the embodiment of unmanned aerial vehicle rolling method of the present invention is proposed.
It is the flow diagram of unmanned aerial vehicle of the present invention rolling method first embodiment referring to Fig. 2, Fig. 2.
In the first embodiment, unmanned aerial vehicle rolling method the following steps are included:
S10: when motor is in stop state, current pose information is obtained.
It should be understood that due to current embodiment require that by driving motor, thus realize that ground is rolled, and if motor exists
When driving propeller rotation, propeller ground of directly colliding with can directly result in unmanned plane damage, therefore, nobody in the present embodiment
Machine is usually the unmanned plane for being equipped with shield (shield for encasing the body of unmanned plane), or is the blade of propeller
Unmanned plane not in contact with the ground can also guarantee that propeller does not collide with the unmanned plane on ground when rotated certainly for other, this
Embodiment is without restriction to this.
Can be quadrotor drone it will be appreciated that for unmanned plane, certainly, can also for six rotor wing unmanned aerial vehicles,
Eight rotor wing unmanned aerial vehicles or 16 rotor wing unmanned aerial vehicles can be also certainly the unmanned plane with other quantity rotor, the present embodiment is to this
It is without restriction.
It should be noted that it is that motor is in the state to stop operating, the motor of unmanned plane that motor, which is in stop state,
Causing in stop state meeting there are many situation, one of situation is after unmanned plane falls in normal course of operation and contacts to earth,
When posture information is unsatisfactory for default takeoff condition, and acceleration is detected simultaneously by more than the predetermined acceleration (predetermined acceleration
It can be configured as needed, generally may be configured as 20m/s2) when, it can be determined as that unmanned plane is in aircraft bombing state, at this point, motor
It can be in stop state, of course, it is also possible to which there are other situations, the present embodiment is without restriction to this.
It will be appreciated that in the present embodiment attitude algorithm algorithm (example can be cooperated by sensors such as Inertial Measurement Unit IMU
Such as: extended Kalman filter algorithm EKF or direction cosine matrix algorithm DCM) determine current pose information.
In the concrete realization, the current pose information can usually be characterized by attitude angle, and attitude angle presses Euler
Concept is defined, therefore can be referred to as Eulerian angles again, and typically, the attitude angle may include course angle (yaw), pitch angle
(pitch) and roll angle (roll).
S20: it when the current pose information is unsatisfactory for default takeoff condition, obtains direction to be rolled and is worked as according to described
Preceding posture information determine the motor to direction of rotation.
Under normal conditions, whether default takeoff condition would generally be with the inclination angle between unmanned aerial vehicle body and horizontal plane more than
One default tilt threshold (the first default tilt threshold can be configured as needed, such as: 45 °) it is used as Rule of judgment,
When the inclination angle between the unmanned aerial vehicle body and horizontal plane is more than the first default tilt threshold, then can regard as being unsatisfactory for presetting
Step S20 can be performed in the condition of flying at this time, when the inclination angle between the unmanned aerial vehicle body and horizontal plane is no more than the first default inclination angle
Threshold value can then be regarded as meeting default takeoff condition, without carrying out ground rolling, it is therefore not necessary to execute step S20 and subsequent
Step.
So before the step S20, need first according to the current pose information determine the machine fuselage and horizontal plane it
Between current inclination.
It, will not be to the unmanned aerial vehicle body and water for course angle since course angle is parallel to the horizontal plane
Inclination angle between plane impacts, therefore, can according in the current pose information pitch angle and roll angle to determine
State the current inclination between unmanned aerial vehicle body and horizontal plane.
It should be noted that unmanned plane is in normal operating conditions, in order to drive fuselage to fly upwards, motor would generally band
Dynamic propeller is rotated toward a direction, and the direction is forward rotation direction, and the direction of rotation opposite with forward rotation direction is reversion side
To, it is described to need motor that propeller is driven to rotate according to forward rotation direction for characterizing to direction of rotation, also according to reverse directions
Rotation.
It will be appreciated that according to the current pose information determine the motor when direction of rotation, can determine whether institute
Current inclination is stated whether more than the second default tilt threshold, the second default tilt threshold is greater than the described first default inclination angle threshold
Value；
When the current inclination is less than the second default tilt threshold, illustrate the inclined degree of unmanned aerial vehicle body not
Height, at this point, forward rotation direction can be set as to direction of rotation by described；
When the current inclination is more than the second default tilt threshold, illustrate that the inclined degree of unmanned aerial vehicle body is higher, this
When, reverse directions can be set as to direction of rotation by described.
Usually, when unmanned plane is in the state of face-up or reverse side upward, motor is in order to provide suitable rolling
Torque, rotation direction completely contradicts.When unmanned plane normal flight compared with direction of motor rotation, in face-up
The direction of motor rotation of state is consistent therewith, in reverse side upward state direction of motor rotation in contrast.But two states
Under, the direction that motor provides thrust is all far from ground, and therefore, the second default tilt threshold is usually 90 °, by sentencing
Whether disconnected current inclination can directly determine unmanned plane and be in face-up state, be in reverse side state upward more than 90 °.
In the concrete realization, the direction to be rolled is the direction that the unmanned plane rolls, and is being realized
Cheng Zhong can obtain direction to be rolled in several ways, below in two ways for be illustrated.
First way: manual control mode；In the concrete realization, it can will be rolled control model by user by remote controler
It is set as manual mode, then the input rolling control instruction in remote controler, refers at this point, unmanned plane can be controlled according to the rolling
It enables and determines direction to be rolled, usual user can control unmanned plane toward four direction all around by the rocking bar on remote controler
It rolls, certainly, can also be controlled by other means, the present embodiment is without restriction to this.
The second way: automatic control mode；In the concrete realization, it can will be rolled control model by user by remote controler
It is set as automatic mode, at this point, unmanned plane can determine that direction to be rolled at this time may certainly according to current pose information
Since the other factors by environment are limited, the direction to be rolled that automatic control mode determines can not usually accomplish optimal.
It will be appreciated that determined according to current pose information wait roll direction when, two kinds of situations can be divided into；
The first situation is that the inclination angle between unmanned aerial vehicle body and horizontal plane is not 180 degree, that is to say, that the unmanned plane
Fuselage is not parallel to the horizontal plane, at this point, usually ground locating for unmanned aerial vehicle body can have the case where out-of-flatness, to make unmanned function
It is enough to be rolled in a manner of more energy-efficient, the direction to be rolled can be determined as the direction opposite with the inclination angle, reference
Fig. 3, it is assumed that the inclination angle between the unmanned aerial vehicle body and horizontal plane is θ, can be using the direction d as the direction to be rolled.
Second case is that the inclination angle between unmanned aerial vehicle body and horizontal plane is 180 degree, that is to say, that the unmanned plane machine
Body is parallel to the horizontal plane, and the reverse side of unmanned aerial vehicle body is upward, at this point, can determine one at random for direction of rotation
Direction roll as direction to be rolled, referring to Fig. 4, it is assumed that the inclination angle between the unmanned aerial vehicle body and horizontal plane is θ, can be by d1
Or d2Direction can also choose other directions certainly as the direction to be rolled, and the present embodiment is without restriction to this.
It should be noted that since some scenes need unmanned plane that can fly in time, such as: in rescue operations etc.
In scene, need unmanned plane that can fly in time, unmanned plane waits always rolling control under manual control mode in order to prevent
Instruction can maintain manual control mode for a period of time, and unmanned plane does not receive always when rolling control instruction, switchs to automatically
Automatic control mode, to obtain direction to be rolled in time.
Certainly, other modes can be used also to obtain direction to be rolled, the present embodiment is without restriction to this.
S30: according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.
It should be noted that unmanned plane is possible to meet default takeoff condition after step S30, at this point, can carry out
It takes off, into normal control mode, it is of course also possible to default takeoff condition be still not satisfied, at this point, detectable the machine is worked as
Preceding posture information returns again to step S20.
It will be appreciated that it is described wait the direction and described behind direction of rotation of rolling determining, it can be according to described wait turn over
Direction is rolled and described to the direction of rotation driving motor, to realize that ground is rolled, when unmanned plane is rolled to upward by reverse side
When face-up, either by face-up rolling to reverse side upward when (UAV Attitude is less than 90 degree or 270 degree in other words
When), then motor stalls rely on inertia, so that the lower surface or upper surface of unmanned plane fall back to ground.
The unmanned plane of the present embodiment first detects the current pose information of the machine, when described when motor is in stop state
When current pose information is unsatisfactory for default takeoff condition, direction to be rolled is obtained and according to current pose information determination
Motor to direction of rotation, further according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize ground
Face rolling.As it can be seen that technical solution, unmanned plane are being unsatisfactory for takeoff condition through the invention, rolling side can be waited for according to unmanned plane
To with driving direction that motor is determined to direction of rotation, realization allows unmanned plane automatic turning, normally takes off, solve and be not easy to lead to
When crossing the posture for artificially manually adjusting unmanned plane, the technical issues of being unable to normal flight.
It is the flow diagram of unmanned aerial vehicle of the present invention rolling method second embodiment referring to Fig. 5, Fig. 5, based on above-mentioned
Embodiment shown in Fig. 2 proposes the second embodiment of unmanned aerial vehicle rolling method of the present invention.
In a second embodiment, step S30 is specifically included:
S301: the roll center on the machine fuselage is determined according to the direction to be rolled；
It will be appreciated that can determine which position along the machine fuselage is turned over after direction of rolling determines described
Turn, that is, can determine the part as roll center.
S302: it according to the first revolving speed and the motor for driving the close roll center side to direction of rotation, and presses
It is described to realize that ground is rolled according to the second revolving speed and the motor for driving the separate roll center side to direction of rotation
Second revolving speed is greater than first revolving speed.
It should be noted that since each motor is rotated according to direction of rotation, and the second revolving speed is greater than described the
One revolving speed, at this point, far from the roll center side motor due to rotation speed faster, it is separate on unmanned aerial vehicle body
The thrust of overturning center side is greater than the thrust close to overturning center side, at this point, edge can be realized in unmanned plane
The roll center carries out ground rolling.
Certainly, if considering the case where extreme a bit, in fact, described in determine behind direction of rolling, it is only necessary to according to the
Two revolving speeds and the motor that the separate roll center side is driven to direction of rotation, do not drive close to the roll center one
The motor of side can also realize that ground is rolled, but under normal conditions, direction to be rolled is unpredictable, that is to say, that Ren Heyi
A motor is likely to require to be rotated according to the second revolving speed, and the unexpected shortening for accelerating to easily cause electrical machinery life of motor, because
This can be first according to the first revolving speed and described to each motor of direction of rotation driving before step S302 in the present embodiment.
It should be noted that usual revolving speed is higher, and power consumption is also bigger since different rotating speeds can correspond to different power consumption,
In order to avoid the loss of electric energy, to extend the cruising ability of unmanned plane, in the present embodiment, first revolving speed can be the electricity
Machine is in the corresponding revolving speed of idling mode, i.e., the minimum speed of the described motor.
It will be appreciated that can also be configured by user by remote controler, usual situation for second revolving speed
Under, when can be configured by the remote controler, second revolving speed can be determined according to throttle curve, in general, the throttle is bent
Line is to control motor speed and make the smooth transition of its revolving speed and design convenient for the user to operate, is remote controler rocking bar in interposition
When setting, the rate of change of motor speed is reduced, and referring to Fig. 6, horizontal axis is remote controler range, and the longitudinal axis is throttle range.Curve equation
Can beWherein y is corresponding revolving speed, and x is the rocking bar position of remote controler
It sets, different throttle curves can be realized by adjusting parameter M and p.
According to the current pose information of unmanned plane, ground roll procedure can be divided into following two situation:
Situation A, it is assumed that unmanned plane be in reverse side upward state when, can be determined according to current pose information and to direction of rotation be
Reverse directions, at this point, can according to the first revolving speed and it is described drive each motor to direction of rotation, user can pass through remote controler at this time
Pitching, rolling channel control the direction to be rolled of unmanned plane, at this point, can be according to the throttle of current pose information automatic control motor
Size according to the first revolving speed and described is driven close to the roll center side to direction of rotation so that it is determined that the second revolving speed
Motor, and according to the second revolving speed and the motor for driving the separate roll center side to direction of rotation, so that unmanned plane
Thrust on fuselage far from overturning center side is greater than the thrust close to overturning center side, generates assigned direction
Rolling torque, realize 180 degree rolling movement, can refer to Fig. 7.
During rolling, the thrust that motor generates has a horizontal component along reverses direction, when the component mistake
When big, the sliding of horizontal direction can be generated, unmanned plane is caused to be difficult to complete the movement of overturning.In order to avoid being turned over as far as possible
The sliding phenomenon occurred in journey can design different throttle curves, to guarantee that aircraft begins with sizable thrust in overturning,
Thrust is smaller in switching process, avoid to a certain extent due to horizontal thrust it is larger caused by sliding, the throttle curve
It can choose linear function, also can choose nonlinear function, by taking secondary throttle curve as an example, second revolving speed passes through following formula
It calculates and obtains,
N=n0+(2-β)βN
Wherein,φ is the roll angle in the current pose information, and θ is
Pitch angle in the current pose information, n are second revolving speed, n0For first revolving speed, N is constant, | | to take
Absolute value sign.
Situation B, unmanned plane is in face-up state, although unmanned plane is not on the completely reverse state in front and back sides,
But attitude angle has exceeded the limitation of normal flight, and needing to adjust attitude angle rear can normally take off.Motor is not required in the case of this
The throttle curve that can be changed can set a suitable fixed value, second turn calculated certainly by the formula in situation A
Speed can also be realized.
The operation of aircraft execution rolling is similar with situation A in this case, and details are not described herein, but has two in specific execution
Kind approach, the first approach can control the direction of rolling, so that unmanned plane, which directly slides into, normally to be risen for shown in attached drawing 8
Winged state；Second of approach can be attached drawing 9, control reverses direction, unmanned plane is directly turned to the state of reverse side upward, so
After be again started up tumbling action, overturn 180 degree, be restored to the state normally taken off.
In addition, the embodiment of the present invention also proposes a kind of unmanned aerial vehicle Rolling device, referring to Fig.1 0, the unmanned aerial vehicle
Rolling device includes:
Information detecting module 10, for obtaining current pose information when motor is in stop state；
Direction determining mould 20, for obtaining wait roll when the current pose information is unsatisfactory for default takeoff condition
Direction and according to the current pose information determine the motor to direction of rotation；
Motor drive module 30, for according to the direction to be rolled and it is described drive the motor to direction of rotation,
To realize that ground is rolled.
Each module in above-mentioned apparatus can be used for realizing each step in the above method, and details are not described herein.
In addition, the embodiment of the present invention also proposes a kind of storage medium, unmanned aerial vehicle is stored on the storage medium and is turned over
Program is rolled, the unmanned aerial vehicle rolling program realizes following operation when being executed by processor:
When motor is in stop state, current pose information is obtained；
When the current pose information is unsatisfactory for default takeoff condition, direction to be rolled is obtained and according to the current appearance
State information determine the motor to direction of rotation；
According to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.
Further, following operation is also realized when the unmanned aerial vehicle rolling program is executed by processor:
The roll center on the machine fuselage is determined according to the direction to be rolled；
According to the first revolving speed and the motor for driving the close roll center side to direction of rotation, and according to second
Revolving speed and the motor that the separate roll center side is driven to direction of rotation, to realize that ground is rolled, described second turn
Speed is greater than first revolving speed.
Further, following operation is also realized when the unmanned aerial vehicle rolling program is executed by processor:
According to the first revolving speed and described each motor is driven to direction of rotation.
Further, following operation is also realized when the unmanned aerial vehicle rolling program is executed by processor:
The current inclination between the machine fuselage and horizontal plane is determined according to the current pose information；
When the current inclination is more than the first default tilt threshold, assert that the current pose information is unsatisfactory for presetting
The condition of flying；
When the current pose information is unsatisfactory for default takeoff condition, judge whether the current inclination is pre- more than second
If tilt threshold, the second default tilt threshold is greater than the described first default tilt threshold；
When the current inclination is less than the second default tilt threshold, rotating forward side is set as to direction of rotation by described
To；
When the current inclination is more than the second default tilt threshold, reverse directions are set as to direction of rotation by described.
Further, following operation is also realized when the unmanned aerial vehicle rolling program is executed by processor:
Direction to be rolled is determined according to the current pose information；
Or,
In response to the rolling control instruction that remote controler is sent, direction to be rolled is determined according to the rolling control instruction.
In the present embodiment, unmanned plane first detects the current pose information of the machine, works as institute when motor is in stop state
When stating current pose information and being unsatisfactory for default takeoff condition, obtains direction to be rolled and institute is determined according to the current pose information
State motor to direction of rotation, further according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize
Ground rolling.As it can be seen that technical solution, unmanned plane are being unsatisfactory for takeoff condition through the invention, can wait rolling according to unmanned plane
Direction and the driving direction that motor is determined to direction of rotation, realization allow unmanned plane automatic turning, normally take off, solve and be not easy to
When posture by artificially manually adjusting unmanned plane, the technical issues of being unable to normal flight.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of method 1. unmanned aerial vehicle rolls, which is characterized in that the unmanned aerial vehicle rolling method the following steps are included:When motor is in stop state, current pose information is obtained；When the current pose information is unsatisfactory for default takeoff condition, obtains direction to be rolled and believed according to the current pose Breath determine the motor to direction of rotation；According to the direction to be rolled and it is described drive the motor to direction of rotation, to realize that ground is rolled.
- The method 2. unmanned aerial vehicle as described in claim 1 rolls, which is characterized in that the direction to be rolled according to And it is described drive the motor to direction of rotation, to realize that ground is rolled, specifically include:The roll center on the machine fuselage is determined according to the direction to be rolled；According to the first revolving speed and the motor for driving the close roll center side to direction of rotation, and according to the second revolving speed And the motor that the separate roll center side is driven to direction of rotation, to realize that ground is rolled, second revolving speed is big In first revolving speed.
- The method 3. unmanned aerial vehicle as claimed in claim 2 rolls, which is characterized in that second revolving speed is calculate by the following formula It obtains,N=n0+(2-β)βNWherein,φ is the roll angle in the current pose information, and θ is described works as Pitch angle in preceding posture information, n are second revolving speed, n0For first revolving speed, N is constant, | | to take absolute value Symbol.
- The method 4. unmanned aerial vehicle as claimed in claim 2 rolls, which is characterized in that first revolving speed is at the motor In the corresponding revolving speed of idling mode.
- The method 5. unmanned aerial vehicle as claimed in claim 4 rolls, which is characterized in that it is described according to the first revolving speed and it is described to Direction of rotation drive close to the roll center side motor, and according to the second revolving speed and it is described to direction of rotation drive it is separate The motor of the roll center side, before realizing ground rolling, the unmanned aerial vehicle rolling method further include:According to the first revolving speed and described each motor is driven to direction of rotation.
- 6. such as unmanned aerial vehicle according to any one of claims 1 to 5 rolling method, which is characterized in that described to work as when described When preceding posture information is unsatisfactory for default takeoff condition, obtains direction to be rolled and the electricity is determined according to the current pose information Machine to direction of rotation before, the unmanned aerial vehicle rolls method further include:The current inclination between the machine fuselage and horizontal plane is determined according to the current pose information；When the current inclination is more than the first default tilt threshold, assert that the current pose information is unsatisfactory for the default item that takes off Part；It is described when the current pose information is unsatisfactory for default takeoff condition, the electricity is determined according to the current pose information Machine to direction of rotation, specifically include:When the current pose information is unsatisfactory for default takeoff condition, judges whether the current inclination is default more than second and incline Angle threshold value, the second default tilt threshold are greater than the described first default tilt threshold；When the current inclination is less than the second default tilt threshold, forward rotation direction is set as to direction of rotation by described；When the current inclination is more than the second default tilt threshold, reverse directions are set as to direction of rotation by described.
- 7. such as unmanned aerial vehicle according to any one of claims 1 to 5 rolling method, which is characterized in that described to obtain wait turn over Direction is rolled, is specifically included:Direction to be rolled is determined according to the current pose information；Or,In response to the rolling control instruction that remote controler is sent, direction to be rolled is determined according to the rolling control instruction.
- 8. a kind of unmanned aerial vehicle Rolling device, which is characterized in that the unmanned aerial vehicle Rolling device includes:Information detecting module, for obtaining current pose information when motor is in stop state；Direction determining mould, for obtaining direction to be rolled simultaneously when the current pose information is unsatisfactory for default takeoff condition According to the current pose information determine the motor to direction of rotation；Motor drive module, for according to the direction to be rolled and it is described drive the motor to direction of rotation, to realize Ground rolling.
- 9. a kind of unmanned plane, which is characterized in that the unmanned plane includes: memory, processor and is stored on the memory And the unmanned aerial vehicle rolling program that can be run on the processor, the unmanned aerial vehicle rolling program is by the processor The step of unmanned aerial vehicle rolling method as described in any one of claims 1 to 7 is realized when execution.
- 10. a kind of storage medium, which is characterized in that be stored with unmanned aerial vehicle rolling program, the nothing on the storage medium Man-machine ground rolling program realizes the unmanned aerial vehicle rolling as described in any one of claims 1 to 7 when being executed by processor The step of method.
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| CN201810957194.2A CN108958279A (en) | 2018-08-21 | 2018-08-21 | Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium |
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| CN112947352A (en) * | 2019-12-10 | 2021-06-11 | 广州极飞科技股份有限公司 | Method and device for determining fault reason of unmanned equipment |
| CN114371723A (en) * | 2021-12-02 | 2022-04-19 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle, control method and device thereof and computer readable storage medium |
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Application publication date: 20181207 |