CN110254696B - Unmanned aerial vehicle mode switching control method and device, storage medium and electronic equipment - Google Patents
Unmanned aerial vehicle mode switching control method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The utility model relates to an unmanned aerial vehicle mode switching control method, device, storage medium and electronic equipment, relate to the unmanned aerial vehicle field, the method includes: responding to a flight control instruction for controlling the unmanned aerial vehicle to be switched from a rotor flight mode to a fixed wing flight mode, and adjusting a control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle until the unmanned aerial vehicle completes the switching of the flight mode; wherein, the control weight value representation corresponds the motor to the influence degree of the lift that unmanned aerial vehicle obtained, and the control weight value of stationary wing motor with the size positive correlation of real-time airspeed value, the control weight value of rotor motor with the size negative correlation of real-time airspeed value.
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle mode switching control method and apparatus, a storage medium, and an electronic device.
Background
VTOL fixed wing unmanned aerial vehicle is an unmanned aerial vehicle that has combined fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle advantage, and it adopts the combined type overall arrangement that the four rotors combine to impel the screw mostly, and based on such characteristics, it can realize the effect of VTOL through many rotor modes, also can carry out remote navigation through the fixed wing mode.
In the process of executing flight tasks by the vertical take-off and landing fixed-wing unmanned aerial vehicle, the switching of flight modes is often involved. In the related art, the mode switching mode of the vertical take-off and landing fixed wing unmanned aerial vehicle makes the vertical take-off and landing fixed wing unmanned aerial vehicle have poor stability when suffering environmental disturbance influence, and influence on safety.
Disclosure of Invention
The invention aims to provide a mode switching control method and device of an unmanned aerial vehicle, a storage medium and electronic equipment, which are used for solving the problem that the stability of the vertical take-off and landing fixed wing unmanned aerial vehicle is poor when the vertical take-off and landing fixed wing unmanned aerial vehicle is influenced by environmental disturbance due to the mode switching mode of the conventional vertical take-off and landing fixed wing unmanned aerial vehicle.
To achieve the above object, in a first aspect, the present disclosure provides a mode switching control method for a drone, the drone being a vertical take-off and landing fixed wing drone, the method comprising:
responding to a flight control instruction for controlling the unmanned aerial vehicle to be switched from a rotor flight mode to a fixed wing flight mode, and adjusting a control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle until the unmanned aerial vehicle completes the switching of the flight mode;
wherein, the control weight value representation corresponds the motor to the influence degree of the lift that unmanned aerial vehicle obtained, and the control weight value of stationary wing motor with the size positive correlation of real-time airspeed value, the control weight value of rotor motor with the size negative correlation of real-time airspeed value.
Optionally, the real-time airspeed value according to the acquisition unmanned aerial vehicle adjusts the fixed wing motor and the rotor motor of unmanned aerial vehicle are right unmanned aerial vehicle's control weight value, until unmanned aerial vehicle accomplishes the switching of flight mode and includes:
determining a switching airspeed value according to a first airspeed value of the unmanned aerial vehicle at the moment of starting to respond to the flight control command;
adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle;
and if the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value, determining that the unmanned aerial vehicle is successfully switched to the fixed-wing flight mode from the rotor flight mode.
Optionally, adjust according to the real-time airspeed value of the unmanned aerial vehicle that acquires the fixed wing motor and the rotor motor of unmanned aerial vehicle are right unmanned aerial vehicle's control weight value includes:
adjusting the control weight value W of the fixed wing motor according to the acquired real-time airspeed value V of the unmanned aerial vehicle through the following formula1And a control weight value W of the rotor motor2：
Optionally, the flight control instructions are for controlling the drone to switch from a fixed-wing flight mode to a rotor flight mode, the method further comprising:
controlling the flight speed of the drone through a rotor motor in response to the flight control commands;
and if the flying speed of the unmanned aerial vehicle is less than a preset threshold value, determining that the unmanned aerial vehicle is successfully switched from the fixed wing flying mode to the rotor wing flying mode.
Optionally, the method further comprises:
and stopping controlling the position of the unmanned aerial vehicle in the mode switching process of the unmanned aerial vehicle.
In a second aspect, the present disclosure provides an unmanned aerial vehicle mode switching apparatus, the apparatus comprising:
the adjusting module is used for responding to a flight control instruction for controlling the unmanned aerial vehicle to be switched from a rotor flight mode to a fixed wing flight mode, and adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle until the unmanned aerial vehicle completes the switching of the flight modes;
wherein, the control weight value representation corresponds the motor to the influence degree of the lift that unmanned aerial vehicle obtained, and the control weight value of stationary wing motor with the size positive correlation of real-time airspeed value, the control weight value of rotor motor with the size negative correlation of real-time airspeed value.
Optionally, the adjusting module includes:
the first determining submodule is used for determining a switching airspeed value according to a first airspeed value of the unmanned aerial vehicle at the moment of starting to respond to the flight control instruction;
the adjusting submodule is used for adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the obtained real-time airspeed value of the unmanned aerial vehicle;
and the second determination submodule is used for determining that the unmanned aerial vehicle is successfully switched to a fixed wing flight mode from a rotor wing flight mode when the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value.
Optionally, the adjusting sub-module includes:
an execution module for obtaining the real-time airspeed value V of the unmanned aerial vehicle through the following formulaAdjusting the control weight value W of the fixed-wing motor1And a control weight value W of the rotor motor2：
Optionally, the apparatus further comprises:
the first control module is used for responding to the flight control instruction and completely controlling the flight speed of the unmanned aerial vehicle through a rotor motor;
the determining module is used for determining that the unmanned aerial vehicle is successfully switched to a rotor flight mode from a fixed wing flight mode when the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value.
Optionally, the apparatus further comprises:
and the second control module is used for stopping controlling the position of the unmanned aerial vehicle in the mode switching process of the unmanned aerial vehicle.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the drone mode switching control method of the first aspect.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the drone mode switch control method of the first aspect.
By adopting the technical scheme, the following technical effects can be at least achieved:
when unmanned aerial vehicle need switch to the fixed wing flight mode from rotor flight mode, unmanned aerial vehicle can acquire the real-time airspeed value of self, and according to real-time airspeed value comes constantly to adjust fixed wing motor and rotor motor right unmanned aerial vehicle's control weight value, the switching of final completion flight mode. The mode of adjusting the control weight of different motors according to airspeed value, compare in the correlation technique fixed wing motor and rotor motor and rotate the mode that realizes the mode switch according to the fixed angular acceleration who sets for respectively, when the external air current disturbance is faced, can be quick right unmanned aerial vehicle's lift compensates and adjusts, thereby has strengthened unmanned aerial vehicle stability when the external disturbance is faced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic view of a vertical take-off and landing fixed wing drone shown in an exemplary embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating an unmanned aerial vehicle mode switching control method according to an exemplary embodiment of the present disclosure.
Fig. 3 is a flowchart illustrating a method for controlling mode switching of an unmanned aerial vehicle according to an exemplary embodiment of the present disclosure.
Fig. 4 is a block diagram of an unmanned aerial vehicle mode switching control apparatus according to an exemplary embodiment of the present disclosure.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before introducing the unmanned aerial vehicle mode switching control method and device, the storage medium and the electronic device provided by the present disclosure, an application scenario related to the present disclosure is first introduced. The implementation environment that each disclosed embodiment relates to can be VTOL fixed wing unmanned aerial vehicle, as shown in fig. 1, VTOL fixed wing unmanned aerial vehicle is an unmanned aerial vehicle that has combined rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle characteristics, adopts the combined type overall arrangement that the four rotors combine to impel the screw mostly. The unmanned aerial vehicle has the characteristics that the rotor unmanned aerial vehicle can take off and land vertically, and also inherits the characteristics of low energy consumption, long flying distance and the like of the fixed-wing unmanned aerial vehicle. In the process of carrying out the flight task by the VTOL fixed wing UAV, the switching of flight modes is often involved, and in the correlation technique, the mode switching mode of the VTOL fixed wing UAV makes the VTOL fixed wing UAV is easy to appear the phenomenon of falling high when suffering the environmental disturbance influence, influences safety.
Fig. 2 is a schematic flow chart of a mode switching control method for a drone according to an exemplary embodiment of the present disclosure, the method being applied to a vertical take-off and landing fixed wing drone shown in fig. 1, and as shown in fig. 2, the method including:
s201, in response to the flight control instruction that control VTOL fixed wing unmanned aerial vehicle is switched to fixed wing flight mode by rotor flight mode, according to obtaining unmanned aerial vehicle ' S real-time airspeed value adjustment unmanned aerial vehicle ' S fixed wing motor and rotor motor are right unmanned aerial vehicle ' S control weight value, until unmanned aerial vehicle accomplishes the switching of flight mode.
Wherein, the control weight value representation corresponds the motor to the influence degree of the lift that unmanned aerial vehicle obtained, and the control weight value of stationary wing motor with the size positive correlation of real-time airspeed value, the control weight value of rotor motor with the size negative correlation of real-time airspeed value.
It is worth explaining that the unmanned aerial vehicle depends on the relative speed between the unmanned aerial vehicle and the air to enable the upper part and the lower part of the wing of the unmanned aerial vehicle to generate pressure difference so as to obtain lift force, and when the airspeed of the unmanned aerial vehicle changes, the lift force and the resistance which the unmanned aerial vehicle receives can be changed. In the state switching process of a vertical take-off and landing fixed wing drone, it is necessary to provide sufficient lift for the drone. Among the correlation technique, to VTOL fixed wing unmanned aerial vehicle's flight mode switching process, through setting for its fixed wing motor and rotor motor respectively fixed angular acceleration for the fixed wing motor rotates with the fixed angular acceleration of predetermineeing, and the cooperation is many rotor motors and is realized with the angular acceleration rotation of predetermineeing that corresponds. For example, a fixed wing motor controller in the unmanned aerial vehicle can respond to a control instruction of a flight control system, control a propulsion motor of a fixed wing to rotate at an accelerated speed with a preset angular acceleration, and further control a fixed wing propulsion paddle to rotate at an accelerated speed, so that the unmanned aerial vehicle provides a lift force. In such a case, if the airspeed of the drone changes (e.g., the air flow velocity suddenly decreases, resulting in a sudden change in airspeed), it may be difficult for the drone to obtain sufficient lift to maintain its attitude, and even to run a high risk.
In the mode switching control method for the unmanned aerial vehicle provided by the embodiment, the control weights of different motors for the unmanned aerial vehicle are adjusted through the airspeed, and in the whole mode switching process, the control weights of the fixed wing motors for the unmanned aerial vehicle are generally increased. However, in the case that the change of the external environment causes the abrupt change of the airspeed value of the drone, the control weight of the drone by the fixed-wing motor may be correspondingly increased or decreased according to the change of the airspeed value. Correspondingly, rotor motor's control weight value also can carry out corresponding reduction or increase to change the unmanned aerial vehicle lift that leads to the airspeed value and compensate and adjust, finally promote unmanned aerial vehicle is in the stability when disturbance such as the face air current.
In addition, it should be noted that, when the mode switching control method for the unmanned aerial vehicle is applied to an unmanned aerial vehicle, for example, a flight control system of the unmanned aerial vehicle, the flight control command may be sent by a ground station of the unmanned aerial vehicle, a server, and other unmanned aerial vehicle control terminals. When the unmanned aerial vehicle landing control method is applied to an unmanned aerial vehicle control end, the flight control instruction can be generated by triggering a corresponding processing unit through operation of a user. That is to say, unmanned aerial vehicle landing control method can be applied to unmanned aerial vehicle itself and also can be applied to unmanned aerial vehicle control end, and this disclosure does not limit to this.
The unmanned aerial vehicle mode switching control method provided by the embodiment can have the following technical effects:
when unmanned aerial vehicle need switch to the fixed wing flight mode from rotor flight mode, unmanned aerial vehicle can acquire the real-time airspeed value of self, and according to real-time airspeed value comes constantly to adjust fixed wing motor and rotor motor right unmanned aerial vehicle's control weight value, the switching of final completion flight mode. The mode of adjusting the control weight of different motors according to airspeed value, compare in the correlation technique fixed wing motor and rotor motor and rotate the mode that realizes the mode switch according to the fixed angular acceleration who sets for respectively, when the external air current disturbance is faced, can be quick right unmanned aerial vehicle's lift compensates the adjustment, thereby has strengthened unmanned aerial vehicle stability when the external air current disturbance is faced.
In one possible embodiment, referring to a schematic flow chart of a drone mode switching control method illustrated in fig. 3, the drone is a vertical take-off and landing fixed wing drone, the method comprising:
s301, respond to the flight control instruction that control unmanned aerial vehicle switched to the fixed wing flight mode by rotor flight mode, according to unmanned aerial vehicle is at the beginning response the airspeed value is confirmed to switch the airspeed value at the first airspeed value of flight control instruction moment.
It is noted that the airspeed value is affected by both the flight speed of the drone itself and the airflow speed of the environment in which the drone is located, and therefore, the switching airspeed value may be determined according to the actual situation in different environments, i.e., the switching airspeed value may be different in different flight conditions.
S302, according to the obtained real-time airspeed value of the unmanned aerial vehicle, the fixed wing motor and the rotor motor of the unmanned aerial vehicle are adjusted to the control weight value of the unmanned aerial vehicle.
S303, if the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value, it is determined that the unmanned aerial vehicle is successfully switched from the rotor flight mode to the fixed wing flight mode.
For example, when implemented, the real-time airspeed value of the drone may be obtained through an airspeed meter disposed on the drone. The unmanned aerial vehicle can start to sound according to the flight control instruction after responding to the flight control instructionDetermining a switching airspeed value according to the airspeed value at the moment of the flight control instruction, and adjusting the control weight value W of the fixed wing motor through the following formula according to the acquired real-time airspeed value V of the unmanned aerial vehicle1And a control weight value W of the rotor motor2：
Like this, come adjustment fixed wing motor and rotor motor to accomplish the state switching to the control weight of unmanned aerial vehicle gesture and position according to the airspeed, for control unmanned aerial vehicle's fixed wing motor rotates with the fixed angular acceleration speed reduction of setting for among the correlation technique to the cooperation is many rotor motors and is accomplished the mode of switching process with certain angular velocity acceleration rotation, can help better unmanned aerial vehicle deals with external air current disturbance, thereby has promoted unmanned aerial vehicle state switching process's security and stability.
Still referring to fig. 3, in a possible implementation, the step S302 includes:
adjusting the control weight value W of the fixed wing motor according to the acquired real-time airspeed value V of the unmanned aerial vehicle through the following formula1And a control weight value W of the rotor motor2：
Exemplarily, the unmanned aerial vehicle may obtain a real-time airspeed value of the unmanned aerial vehicle according to a preset frequency, calculate a latest control weight of each motor according to the formula, the real-time airspeed value obtained each time, and the switching airspeed value, and finally adjust the rotation speeds of different motors according to the control weights until the switching of the flight modes is completed. At this in-process, the whole airspeed of view unmanned aerial vehicle is the gradual increase, and the whole trend of change of its rotor motor's the rotational speed reduces, nevertheless leads to the condition that unmanned aerial vehicle lift descends suddenly to the wind speed reduces suddenly, can know by closed-loop control, unmanned aerial vehicle's rotor motor rotational speed also can have transient increase in order to compensate lift to maintain unmanned aerial vehicle's current height. Similarly, the overall trend of the fixed-wing motor speed during this switching process is to increase, but if the wind speed suddenly rises, resulting in an increase in the lift of the drone, the speed of its fixed-wing motor may also briefly drop to maintain the flying height of the drone.
That is to say, the unmanned aerial vehicle mode switching control method that this embodiment provided can make unmanned aerial vehicle can carry out the rotational speed adjustment to unmanned aerial vehicle's different motors according to the change of airspeed to compensate or cut down lift according to particular case, help to maintain unmanned aerial vehicle's gesture and high stability promote the security.
In one possible embodiment, the flight control instructions are for controlling the drone to switch from a fixed-wing flight mode to a rotor flight mode, and the drone mode switching control method includes:
controlling the flight speed of the drone through a rotor motor in response to the flight control commands;
and if the flying speed of the unmanned aerial vehicle is less than a preset threshold value, determining that the unmanned aerial vehicle is successfully switched from the fixed wing flying mode to the rotor wing flying mode.
For example, after responding to the flight control command, the drone may turn off the fixed-wing motor and control the altitude and attitude of the drone through the rotor motor, after the rotor motor reduces the flight speed of the drone to a preset threshold, then it is determined that the drone was successfully switched from the fixed-wing flight mode to the rotor flight mode.
In another possible implementation, the drone mode switching control method further includes:
and stopping controlling the position of the unmanned aerial vehicle in the mode switching process of the unmanned aerial vehicle.
It should be understood that in the process of adjusting the position of the vtol fixed-wing drone, the attitude of the vtol fixed-wing drone may also change, and the vtol fixed-wing drone is more susceptible to disturbances such as airflow due to longer wings. Moreover, the mode switching process of the unmanned aerial vehicle is extremely unstable, and if large airflow disturbance occurs under the condition, the unmanned aerial vehicle is continuously subjected to position control, so that the unmanned aerial vehicle can have large attitude change, and even has the risk of being blown over by strong wind. That is to say, unmanned aerial vehicle carries out the in-process that the mode switched, stops to the control of unmanned aerial vehicle position more is favorable to maintaining unmanned aerial vehicle's stability promotes the security.
Fig. 4 is a block diagram of an unmanned aerial vehicle mode switching control apparatus according to an exemplary embodiment of the present disclosure, and referring to fig. 4, the apparatus 400 includes:
Wherein, the control weight value representation corresponds the motor to the influence degree of the lift that unmanned aerial vehicle obtained, and the control weight value of stationary wing motor with the size positive correlation of real-time airspeed value, the control weight value of rotor motor with the size negative correlation of real-time airspeed value.
By adopting the device, the following technical effects can be obtained:
when unmanned aerial vehicle need switch to the fixed wing flight mode from rotor flight mode, unmanned aerial vehicle can acquire the real-time airspeed value of self to by adjusting module basis real-time airspeed value comes constantly to adjust fixed wing motor and rotor motor right unmanned aerial vehicle's control weight value finally accomplishes flight mode's switching. The mode of adjusting the control weight of different motors according to airspeed value, compare in the correlation technique fixed wing motor and rotor motor and rotate the mode that realizes the mode switch according to the fixed angular acceleration who sets for respectively, when the external air current disturbance is faced, can be quick right unmanned aerial vehicle's lift compensates the adjustment, thereby has strengthened unmanned aerial vehicle stability when the external air current disturbance is faced.
In one possible embodiment, the adjusting module comprises:
the first determining submodule is used for determining a switching airspeed value according to a first airspeed value of the unmanned aerial vehicle at the moment of starting to respond to the flight control instruction;
the adjusting submodule is used for adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the obtained real-time airspeed value of the unmanned aerial vehicle;
and the second determination submodule is used for determining that the unmanned aerial vehicle is successfully switched to a fixed wing flight mode from a rotor wing flight mode when the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value.
Like this, come adjustment fixed wing motor and rotor motor to accomplish the state switching to the control weight of unmanned aerial vehicle gesture and position according to the airspeed, for control unmanned aerial vehicle's fixed wing motor rotates with the fixed angular acceleration speed reduction of setting for among the correlation technique to the cooperation is many rotor motors and is accomplished the mode of switching process with certain angular velocity acceleration rotation, can help better unmanned aerial vehicle deals with external air current disturbance, thereby has promoted unmanned aerial vehicle state switching process's security and stability.
Optionally, the adjusting sub-module includes:
an execution module, configured to adjust a control weight value W of the fixed-wing motor according to the obtained real-time airspeed value V of the unmanned aerial vehicle through the following formula1And a control weight value W of the rotor motor2：
Optionally, the apparatus further comprises:
the first control module is used for responding to the flight control instruction and completely controlling the flight speed of the unmanned aerial vehicle through a rotor motor;
the determining module is used for determining that the unmanned aerial vehicle is successfully switched to a rotor flight mode from a fixed wing flight mode when the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value.
Optionally, the apparatus further comprises:
and the second control module is used for stopping controlling the position of the unmanned aerial vehicle in the mode switching process of the unmanned aerial vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, may implement the steps of any of the drone mode switching control methods.
The present disclosure provides an electronic device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of any of the drone mode switching control methods.
Fig. 5 is a schematic diagram of the electronic device. As shown in fig. 5, the electronic device 500 may include: a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input/output (I/O) interface 504, and a communication component 505.
The processor 501 is configured to control the overall operation of the electronic device 500, so as to complete all or part of the steps of the above-mentioned drone mode switching control method. The memory 502 is used to store various types of data to support operation at the electronic device 500, which may include, for example, instructions for any application or method operating on the electronic device 500, as well as application-related data, such as position information for the drone, altitude information for the drone, drone status information, airspeed value data, and so forth.
The Memory 502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. The I/O interface 504 provides an interface between the processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. A communication component 505 is used for communication between the electronic device 500 and the drone.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, for performing the above-mentioned mode switching control method of the drone.
Furthermore, the computer readable storage medium provided above may be the memory 602 including program instructions executable by the processor 601 of the electronic device 600 to perform the drone mode switching control method described above.
It should be noted that, in the foregoing embodiments, the various technical features described above can be combined in any suitable manner without contradiction, for example, parameters and indexes of the calculation formula of the control weight of the fixed wing motor in the embodiment are modified, or the mode switching control method of the drone is combined, and in order to avoid unnecessary repetition, the disclosure does not separately describe various possible combinations. In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (6)
1. A drone mode switching control method, wherein the drone is a vertical take-off and landing fixed wing drone, the method comprising:
responding to a flight control instruction for controlling the unmanned aerial vehicle to be switched from a rotor flight mode to a fixed wing flight mode, and adjusting a control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle until the unmanned aerial vehicle completes the switching of the flight mode;
the control weight value represents the influence degree of a corresponding motor on the lift force obtained by the unmanned aerial vehicle, the control weight value of the fixed-wing motor is positively correlated with the real-time airspeed value, and the control weight value of the rotor motor is negatively correlated with the real-time airspeed value;
wherein, according to the acquisition the real-time airspeed value adjustment of unmanned aerial vehicle the fixed wing motor and the rotor motor of unmanned aerial vehicle are right unmanned aerial vehicle's control weight value, until unmanned aerial vehicle accomplishes the switching of flight mode and includes:
determining a switching airspeed value according to the airspeed value of the unmanned aerial vehicle at the moment of starting to respond to the flight control command, wherein the airspeed value is influenced by the flight speed of the unmanned aerial vehicle and the airflow speed of the environment where the unmanned aerial vehicle is located;
adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle;
if the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value, determining that the unmanned aerial vehicle is successfully switched from the rotor flight mode to the fixed wing flight mode;
wherein, according to the acquisition unmanned aerial vehicle's real-time airspeed value adjustment unmanned aerial vehicle's fixed wing motor and rotor motor are right unmanned aerial vehicle's control weighted value includes:
adjusting the control weight value W of the fixed wing motor according to the acquired real-time airspeed value V of the unmanned aerial vehicle through the following formula1And a control weight value w of the rotor motor2：
wherein, unmanned aerial vehicle acquires according to predetermined frequency unmanned aerial vehicle's real-time airspeed value, again according to the formula, acquire every time real-time airspeed value and the switching airspeed value calculate the latest control weight of each motor, according to the rotational speed of different motors is adjusted to the control weight, until accomplishing flight mode's switching, at this in-process, whole see unmanned aerial vehicle's airspeed is the crescent, unmanned aerial vehicle's rotor motor's the whole trend of change of rotational speed reduces, nevertheless leads to the wind speed reduces suddenly the condition that unmanned aerial vehicle lift descends suddenly, unmanned aerial vehicle's rotor motor rotational speed also can have transient increase in order to compensate lift to maintain unmanned aerial vehicle's current altitude.
2. The method of claim 1, wherein the flight control instructions are for controlling the drone to switch from a fixed-wing flight mode to a rotor-wing flight mode, the method further comprising:
controlling the flight speed of the drone through a rotor motor in response to the flight control commands;
and if the flying speed of the unmanned aerial vehicle is less than a preset threshold value, determining that the unmanned aerial vehicle is successfully switched from the fixed wing flying mode to the rotor wing flying mode.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and stopping controlling the position of the unmanned aerial vehicle in the mode switching process of the unmanned aerial vehicle.
4. The utility model provides an unmanned aerial vehicle mode switch controlling means, its characterized in that, unmanned aerial vehicle is VTOL fixed wing unmanned aerial vehicle, the device includes:
the adjusting module is used for responding to a flight control instruction for controlling the unmanned aerial vehicle to be switched from a rotor flight mode to a fixed wing flight mode, and adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the acquired real-time airspeed value of the unmanned aerial vehicle until the unmanned aerial vehicle completes the switching of the flight modes;
the control weight value represents the influence degree of a corresponding motor on the lift force obtained by the unmanned aerial vehicle, the control weight value of the fixed-wing motor is positively correlated with the real-time airspeed value, and the control weight value of the rotor motor is negatively correlated with the real-time airspeed value;
wherein the adjustment module comprises:
the first determining submodule is used for determining a switching airspeed value according to the airspeed value of the unmanned aerial vehicle at the moment of starting to respond to the flight control command, and the airspeed value is influenced by the flight speed of the unmanned aerial vehicle and the airflow speed of the environment where the unmanned aerial vehicle is located;
the adjusting submodule is used for adjusting the control weight value of a fixed wing motor and a rotor motor of the unmanned aerial vehicle on the unmanned aerial vehicle according to the obtained real-time airspeed value of the unmanned aerial vehicle;
the second determining submodule is used for determining that the unmanned aerial vehicle is successfully switched from the rotor flight mode to the fixed wing flight mode when the real-time airspeed value of the unmanned aerial vehicle reaches the switching airspeed value; wherein the adjusting submodule comprises:
an execution module, configured to adjust a control weight value W of the fixed-wing motor according to the obtained real-time airspeed value V of the unmanned aerial vehicle through the following formula1And a control weight value W of the rotor motor2：
wherein, unmanned aerial vehicle acquires according to predetermined frequency unmanned aerial vehicle's real-time airspeed value, again according to the formula, acquire every time real-time airspeed value and the switching airspeed value calculate the latest control weight of each motor, according to the rotational speed of different motors is adjusted to the control weight, until accomplishing flight mode's switching, at this in-process, whole see unmanned aerial vehicle's airspeed is the crescent, unmanned aerial vehicle's rotor motor's the whole trend of change of rotational speed reduces, nevertheless leads to the wind speed reduces suddenly the condition that unmanned aerial vehicle lift descends suddenly, unmanned aerial vehicle's rotor motor rotational speed also can have transient increase in order to compensate lift to maintain unmanned aerial vehicle's current altitude.
5. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 3.
6. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 3.
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| CN111026146B (en) * | 2019-12-24 | 2021-04-06 | 西北工业大学 | Attitude control method for composite wing vertical take-off and landing unmanned aerial vehicle |
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