CN110989675A - Method and device for controlling return flight of unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Method and device for controlling return flight of unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a return control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. The method comprises the following steps: acquiring current position information and return landing point position information of an unmanned aerial vehicle, wherein the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle; determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance; and controlling the rotor wing, the tail thrust motor and/or the control surface of the unmanned aerial vehicle according to the target return way. According to the embodiment of the invention, a proper return flight mode can be selected according to the current position information of the unmanned aerial vehicle, the return landing point position information and the preset braking and decelerating distance, so that the return flight of the unmanned aerial vehicle is controlled.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a return control method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
The combined type vertical take-off and landing fixed wing unmanned aerial vehicle has three flight states: fixed wing mode, rotor mode, and hybrid mode. In the fixed wing mode, the rotor stops working, the tail pushing motor is used for propelling, and the control plane deflection is controlled to realize the track and attitude control of the unmanned aerial vehicle; in the rotor wing mode, the tail thrust motor and the control surface are locked, and the flight of the unmanned aerial vehicle is controlled through the rotor wing; under the mixed mode, all control surfaces and motors of the unmanned aerial vehicle all participate in control to keep the flight of the unmanned aerial vehicle. Hybrid mode is a transitional state between fixed-wing mode and rotor, and the process of accelerating the drone from rotor mode into fixed-wing mode and the process of exiting from fixed-wing mode into rotor mode both pass through hybrid mode.
When the unmanned aerial vehicle performs a task, the fixed-wing mode may be unstable due to a gust, so that the aircraft enters a rotor mode, or the unmanned aerial vehicle needs to go to a remote place for hovering inspection due to some special requirements. The unmanned aerial vehicle can hover at a far place. When the unmanned aerial vehicle returns to the navigation, what adopted at present is that the rotor mode returns to the navigation, returns to the landing site through rotor control unmanned aerial vehicle orbit. However, for the unmanned aerial vehicle, when flying before the rotor mode is low, the flight resistance is large, the flight speed is slow, and the energy loss of the battery is large (the fixed wing mode is not adopted for return flight basically, because the fixed wing mode needs a slideway for the unmanned aerial vehicle to slide after landing, and the unmanned aerial vehicle is required to have a roller of an undercarriage).
Disclosure of Invention
The invention provides a return flight control method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that a proper return flight mode is selected according to the current position information of the unmanned aerial vehicle, and the return flight efficiency is improved.
In a first aspect, an embodiment of the present invention provides a return control method for an unmanned aerial vehicle, including:
acquiring current position information and return landing point position information of an unmanned aerial vehicle, wherein the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle;
determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance;
and controlling a rotor wing, a tail thrust motor and/or a control surface of the unmanned aerial vehicle according to the target return way.
In a second aspect, an embodiment of the present invention further provides a return control device for an unmanned aerial vehicle, including:
the position information acquisition module is used for acquiring the current position information and the return landing point position information of the unmanned aerial vehicle, and the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle;
the return way determining module is used for determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance;
and the unmanned aerial vehicle control module is used for controlling a rotor wing, a tail push motor and/or a control surface of the unmanned aerial vehicle according to the target return way.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, further including: the rotor wing is used for controlling the flight track of the unmanned aerial vehicle; the tail pushing motor is used for controlling the flying speed of the unmanned aerial vehicle; the control surface is used for controlling the flight track of the unmanned aerial vehicle; when the processor executes the computer program, the return control method of the unmanned aerial vehicle is realized.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for controlling return voyage of an unmanned aerial vehicle provided in an embodiment of the present invention is implemented.
According to the technical scheme of the embodiment of the invention, the target return flight mode corresponding to the unmanned aerial vehicle is determined according to the current position information, the return landing point position information and the preset braking deceleration distance, then the rotor wing, the tail thrust motor and/or the control surface of the unmanned aerial vehicle are controlled according to the target return flight mode, and the unmanned aerial vehicle can be controlled to return by selecting a proper return flight mode according to the current position information, the return landing point position information and the preset braking deceleration distance of the unmanned aerial vehicle.
Drawings
Fig. 1 is a flowchart of a return control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a return control method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a flowchart of a return control method for an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a return control device of an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for controlling a return journey of an unmanned aerial vehicle according to an embodiment of the present invention, where the embodiment of the present invention is applicable to a case where a return journey mode of the unmanned aerial vehicle is controlled, and the method may be executed by a return journey control device of the unmanned aerial vehicle, where the device is executed by software and/or hardware, and may generally be integrated in the unmanned aerial vehicle. As shown in fig. 1, the method specifically includes the following steps:
Optionally, obtaining the current position information and the return landing point position information of the unmanned aerial vehicle may include: when the unmanned aerial vehicle is in a hovering state, the current position information and the return landing point position information of the unmanned aerial vehicle are obtained according to the received return instruction information.
And when the unmanned aerial vehicle is in a hovering state, receiving the return flight instruction information. Optionally, after the return command information is received, the current position information of the unmanned aerial vehicle is obtained, and the return landing point position information in the return command information is extracted.
Optionally, the current position information of the unmanned aerial vehicle is a current longitude and latitude coordinate of the unmanned aerial vehicle. And the return landing point position information is longitude and latitude coordinates of the return landing point.
For example, the current longitude and latitude coordinates (lon _ cur lat _ cur) of the unmanned aerial vehicle and the longitude and latitude coordinates (lon _ home lat _ home) of the return landing site are acquired.
The unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle. The rotor of unmanned aerial vehicle is used for controlling unmanned aerial vehicle's flight orbit. The tail of unmanned aerial vehicle pushes away the motor and is used for controlling unmanned aerial vehicle's flying speed. The control surface of the unmanned aerial vehicle is used for controlling the flight track of the unmanned aerial vehicle.
And 102, determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance.
Optionally, according to the current position information, the return flight landing point position information, and the preset braking deceleration distance, the target return flight mode corresponding to the unmanned aerial vehicle is determined, which may include: calculating the distance between the current position of the unmanned aerial vehicle and a return landing point according to the current position information and the return landing point position information; judging whether the distance is greater than a preset braking deceleration distance; if the distance is greater than the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as follows: and (4) a hybrid return voyage mode.
Optionally, a distance calculation function for calculating the distance between the two points is used, and the distance between the current position of the unmanned aerial vehicle and the return landing point is calculated according to the current longitude and latitude coordinates of the unmanned aerial vehicle and the longitude and latitude coordinates of the return landing point.
When the unmanned aerial vehicle is far away from the return flight landing site, namely the distance between the current position of the unmanned aerial vehicle and the return flight landing site is greater than the preset braking deceleration distance, the target return flight mode corresponding to the unmanned aerial vehicle is determined as: and a mixed return way adopts a mixed return way.
Optionally, the braking deceleration distance is preset. The braking deceleration distance is related to the unmanned aerial vehicle performance.
Optionally, after determining whether the distance is greater than the preset braking deceleration distance, the method may further include: if the distance is less than or equal to the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as: and a rotor return mode.
When unmanned aerial vehicle is nearer apart from returning a voyage landing point, when distance between unmanned aerial vehicle's current position and the landing point that returns a voyage is less than or equal to predetermined brake deceleration distance promptly, then will return a voyage mode with the target that unmanned aerial vehicle corresponds and determine into: the rotor return way adopts the rotor return way.
And 103, controlling a rotor wing, a tail thrust motor and/or a control surface of the unmanned aerial vehicle according to the target return way.
Optionally, the target return journey mode corresponding to the unmanned aerial vehicle is determined to be a hybrid return journey mode. According to the target mode of returning a voyage, control unmanned aerial vehicle's rotor, tail push away motor and/or rudder face, can include: controlling the nose direction of the unmanned aerial vehicle to align to a return landing point through the rotor wing; controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing; starting a tail pushing motor, and adjusting an accelerator control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and a return landing point; when the detected distance is smaller than the preset braking deceleration distance, the tail pushing motor is stopped, and the rotor wing controls the braking deceleration of the unmanned aerial vehicle; the unmanned aerial vehicle is controlled by the rotor wing to hover right above the return landing point; the unmanned aerial vehicle is controlled to land to a return landing point through the rotor wing.
Specifically, through rotor control adjustment unmanned aerial vehicle's aircraft nose direction, return the landing site with unmanned aerial vehicle's aircraft nose direction alignment. And after the direction of the head of the unmanned aerial vehicle is aligned to the return landing point, controlling the unmanned aerial vehicle to hover and wait for entering the next step.
The unmanned aerial vehicle is controlled and adjusted to have a height through the rotor wing, so that the unmanned aerial vehicle climbs to a preset return flight safety height, and the unmanned aerial vehicle is ensured not to collide with an obstacle in the return flight process. Optionally, the return flight safety height is preset. Unmanned aerial vehicle can not collide the barrier at the flight under the safe height of returning a journey.
Specifically, a tail pushing motor is started, and the unmanned aerial vehicle is controlled to fly forwards to the return landing point in an accelerated manner through the tail pushing motor.
And acquiring the current position information of the unmanned aerial vehicle in real time. And calculating the distance between the current position of the unmanned aerial vehicle and the return landing site in real time according to the position information of the return landing site and the current position information of the unmanned aerial vehicle acquired in real time. And adjusting the throttle control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point, thereby adjusting the flight speed of the unmanned aerial vehicle.
Optionally, after the tail pushing motor is started, the method may further include: through rotor and control plane, control unmanned aerial vehicle's aircraft nose direction is aimed at the landing site of returning a journey.
In the flight process, the nose direction of the unmanned aerial vehicle is controlled to be always aligned to the return landing point through the rotor and the control surface. From this, can guarantee that unmanned aerial vehicle's return voyage is the shortest.
Optionally, according to the distance between unmanned aerial vehicle's current position and the return journey landing site, adjust the throttle control parameter that tail pushed away the motor, can include: calculating the current throttle control parameter of the tail-pushing motor according to the following formula:
dL＝distance(Pos_cur,Pos_home)，
Vd_cmd＝Kp*dL，
Thr＝Kp*(Vd_cmd–Vd_cur)+Ki∫(Vd_cmd–Vd_cur)dt+Thr_trim，
wherein, dL is the distance between unmanned aerial vehicle's current position and the return landing point, distance is the distance calculation function, Pos _ cur is unmanned aerial vehicle's current position, Pos _ home is the return landing point position, Vd _ cmd is unmanned aerial vehicle's current flight speed control parameter, Kp is the proportional control parameter, Thr is the current throttle control parameter of tail push motor, Ki is the integral control parameter, Vd _ cur is unmanned aerial vehicle's current flight speed, Thr _ trim is the throttle feedforward value of tail push motor.
And the proportional control parameter Kp and the integral control parameter Ki are related to the braking and decelerating performance of the unmanned aerial vehicle.
And the accelerator feed-forward value Thr _ trim of the tail-pushing motor is related to the flight speed control parameter.
Specifically, when detecting that the distance is less than preset brake deceleration distance, stop the tail and push away the motor to through rotor control unmanned aerial vehicle brake speed reduction, so that unmanned aerial vehicle hovers near the landing site top. Then through rotor control adjustment unmanned aerial vehicle's position, adjust unmanned aerial vehicle's position to returning and navigate the landing site directly over to make unmanned aerial vehicle hover directly over returning and navigating the landing site.
Specifically, after the unmanned aerial vehicle is controlled by the rotor to hover over the return landing site, the unmanned aerial vehicle is controlled by the rotor to land to the return landing site, and the landing of the unmanned aerial vehicle is completed.
Optionally, the target return flight mode corresponding to the unmanned aerial vehicle is determined as a rotor return flight mode. According to the target mode of returning a voyage, control unmanned aerial vehicle's rotor, tail push away motor and/or rudder face, can include: and controlling the unmanned aerial vehicle to return to the return landing point through the rotor wing.
From this, according to the distance between unmanned aerial vehicle's current position and the return flight landing site select suitable return flight mode: if the distance is greater than the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as follows: a mixed return way is adopted, and return is carried out in a mixed return way; if the distance is less than or equal to the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as: the rotor return way adopts the rotor return way.
The hybrid return flight mode is adopted for return flight, the flight speed is controlled through a tail thrust motor, and the flight track is controlled through a rotor wing. The wind resistance of the unmanned aerial vehicle under the hybrid return voyage mode is superior to that of the rotor return voyage mode. Therefore, adopt mixed mode of returning a journey to return a journey, return a journey with traditional rotor and compare, unmanned aerial vehicle can keep very fast flight speed, effectively shortens the time of returning a journey, improves the efficiency of returning a journey, and when adopting mixed mode of returning a journey to fly simultaneously, unmanned aerial vehicle is in the horizontality basically, and flight resistance is little, can reduce energy loss, increases unmanned aerial vehicle's duration, improves flight safety.
According to the return control method of the unmanned aerial vehicle, the target return mode corresponding to the unmanned aerial vehicle is determined according to the current position information, the return landing point position information and the preset brake deceleration distance, then the rotor wing, the tail thrust motor and/or the control surface of the unmanned aerial vehicle are controlled according to the target return mode, and the suitable return flight mode can be selected according to the current position information of the unmanned aerial vehicle, the return landing point position information and the preset brake deceleration distance to control the return of the unmanned aerial vehicle.
Example two
Fig. 2 is a flowchart of a return control method for an unmanned aerial vehicle according to a second embodiment of the present invention. The embodiment of the present invention may be combined with any optional solutions in one or more embodiments, and in the embodiment of the present invention, acquiring the current position information and the return landing point position information of the unmanned aerial vehicle may include: when the unmanned aerial vehicle is in a hovering state, the current position information and the return landing point position information of the unmanned aerial vehicle are obtained according to the received return instruction information.
And determining a target return flight mode corresponding to the unmanned aerial vehicle according to the current position information, the return flight landing point position information and the preset braking and decelerating distance, wherein the target return flight mode can comprise: calculating the distance between the current position of the unmanned aerial vehicle and a return landing point according to the current position information and the return landing point position information; judging whether the distance is greater than a preset braking deceleration distance; if the distance is greater than the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as follows: and (4) a hybrid return voyage mode.
And after judging whether the distance is greater than the preset braking deceleration distance, the method may further include: if the distance is less than or equal to the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as: and a rotor return mode.
As shown in fig. 2, the method specifically includes the following steps:
Optionally, after the return command information is received, the current position information of the unmanned aerial vehicle is obtained, and the return landing point position information in the return command information is extracted.
Optionally, the current position information of the unmanned aerial vehicle is a current longitude and latitude coordinate of the unmanned aerial vehicle. And the return landing point position information is longitude and latitude coordinates of the return landing point.
For example, the current longitude and latitude coordinates (lon _ cur lat _ cur) of the unmanned aerial vehicle and the longitude and latitude coordinates (lon _ home lat _ home) of the return landing site are acquired.
Optionally, a distance calculation function for calculating the distance between the two points is used, and the distance between the current position of the unmanned aerial vehicle and the return landing point is calculated according to the current longitude and latitude coordinates of the unmanned aerial vehicle and the longitude and latitude coordinates of the return landing point.
Optionally, the braking deceleration distance is preset. The braking deceleration distance is related to the unmanned aerial vehicle performance.
When the unmanned aerial vehicle is far away from the return flight landing site, namely the distance between the current position of the unmanned aerial vehicle and the return flight landing site is greater than the preset braking deceleration distance, the target return flight mode corresponding to the unmanned aerial vehicle is determined as: and a mixed return way adopts a mixed return way.
When unmanned aerial vehicle is nearer apart from returning a voyage landing point, when distance between unmanned aerial vehicle's current position and the landing point that returns a voyage is less than or equal to predetermined brake deceleration distance promptly, then will return a voyage mode with the target that unmanned aerial vehicle corresponds and determine into: the rotor return way adopts the rotor return way.
Optionally, according to the target return voyage mode, control unmanned aerial vehicle's rotor, tail push motor and/or rudder face, can include: controlling the nose direction of the unmanned aerial vehicle to align to a return landing point through the rotor wing; controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing; starting a tail pushing motor, and adjusting an accelerator control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and a return landing point; when the detected distance is smaller than the preset braking deceleration distance, the tail pushing motor is stopped, and the rotor wing controls the braking deceleration of the unmanned aerial vehicle; the unmanned aerial vehicle is controlled by the rotor wing to hover right above the return landing point; the unmanned aerial vehicle is controlled to land to a return landing point through the rotor wing.
Optionally, after the tail pushing motor is started, the method may further include: through rotor and control plane, control unmanned aerial vehicle's aircraft nose direction is aimed at the landing site of returning a journey.
Optionally, according to the target return voyage mode, control unmanned aerial vehicle's rotor, tail push motor and/or rudder face, can include: and controlling the unmanned aerial vehicle to return to the return landing point through the rotor wing.
The invention provides a return control method of an unmanned aerial vehicle, which calculates the distance between the current position of the unmanned aerial vehicle and a return landing point according to the current position information and the position information of the return landing point, then judges whether the distance is greater than a preset brake deceleration distance, if the distance is greater than the preset brake deceleration distance, determines a target return mode corresponding to the unmanned aerial vehicle as a mixed return mode, if the distance is less than or equal to the preset brake deceleration distance, determines the target return mode corresponding to the unmanned aerial vehicle as a rotor return mode, can select a proper return flight mode according to the distance between the current position of the unmanned aerial vehicle and the return landing point, controls the return of the unmanned aerial vehicle, can adopt the mixed return mode to return when the unmanned aerial vehicle is far away from the return landing point, thereby effectively shortening the return time through the mixed return mode, the efficiency of returning voyage is improved, reduce energy loss, increase unmanned aerial vehicle's duration, improve flight safety.
EXAMPLE III
Fig. 3 is a flowchart of a return control method for an unmanned aerial vehicle according to a third embodiment of the present invention. The embodiment of the present invention may be combined with each optional solution in one or more embodiments described above, and in the embodiment of the present invention, the target return voyage mode corresponding to the unmanned aerial vehicle is determined as a hybrid return voyage mode.
And, according to the target mode of returning voyage, control unmanned aerial vehicle's rotor, tail push away motor and/or rudder face, can include: controlling the nose direction of the unmanned aerial vehicle to align to a return landing point through the rotor wing; controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing; starting a tail pushing motor, and adjusting an accelerator control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and a return landing point; when the detected distance is smaller than the preset braking deceleration distance, the tail pushing motor is stopped, and the rotor wing controls the braking deceleration of the unmanned aerial vehicle; the unmanned aerial vehicle is controlled by the rotor wing to hover right above the return landing point; the unmanned aerial vehicle is controlled to land to a return landing point through the rotor wing.
As shown in fig. 3, the method specifically includes the following steps:
Optionally, when the distance between the unmanned aerial vehicle and the return landing site is far away, that is, the distance between the current position of the unmanned aerial vehicle and the return landing site is greater than the preset braking deceleration distance, the target return mode corresponding to the unmanned aerial vehicle is determined as: and a mixed return way adopts a mixed return way.
And 303, controlling the nose direction of the unmanned aerial vehicle to align to a return landing point through the rotor wing.
Optionally, the aircraft nose direction of unmanned aerial vehicle is adjusted through rotor control, and the aircraft nose direction of unmanned aerial vehicle is aimed at the return landing site. And after the direction of the head of the unmanned aerial vehicle is aligned to the return landing point, controlling the unmanned aerial vehicle to hover and wait for entering the next step.
And step 304, controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing.
Optionally, through rotor control adjustment unmanned aerial vehicle's height, make unmanned aerial vehicle climb to the safe height of predetermineeing returning a voyage to ensure that unmanned aerial vehicle can not hit the barrier at the flight in-process of returning a voyage.
Optionally, the return flight safety height is preset. Unmanned aerial vehicle can not collide the barrier at the flight under the safe height of returning a journey.
And 305, starting a tail pushing motor, and adjusting an accelerator control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point.
Optionally, a tail pushing motor is started, and the unmanned aerial vehicle is controlled to fly forwards to the return landing point in an accelerated manner through the tail pushing motor.
And acquiring the current position information of the unmanned aerial vehicle in real time. And calculating the distance between the current position of the unmanned aerial vehicle and the return landing site in real time according to the position information of the return landing site and the current position information of the unmanned aerial vehicle acquired in real time. And adjusting the throttle control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point, thereby adjusting the flight speed of the unmanned aerial vehicle.
Optionally, after the tail pushing motor is started, the method may further include: through rotor and control plane, control unmanned aerial vehicle's aircraft nose direction is aimed at the landing site of returning a journey.
In the flight process, the nose direction of the unmanned aerial vehicle is controlled to be always aligned to the return landing point through the rotor and the control surface. From this, can guarantee that unmanned aerial vehicle's return voyage is the shortest.
Optionally, according to the distance between unmanned aerial vehicle's current position and the return journey landing site, adjust the throttle control parameter that tail pushed away the motor, can include: calculating the current throttle control parameter of the tail-pushing motor according to the following formula:
dL＝distance(Pos_cur,Pos_home)，
Vd_cmd＝Kp*dL，
Thr＝Kp*(Vd_cmd–Vd_cur)+Ki∫(Vd_cmd–Vd_cur)dt+Thr_trim，
wherein, dL is the distance between unmanned aerial vehicle's current position and the return landing point, distance is the distance calculation function, Pos _ cur is unmanned aerial vehicle's current position, Pos _ home is the return landing point position, Vd _ cmd is unmanned aerial vehicle's current flight speed control parameter, Kp is the proportional control parameter, Thr is the current throttle control parameter of tail push motor, Ki is the integral control parameter, Vd _ cur is unmanned aerial vehicle's current flight speed, Thr _ trim is the throttle feedforward value of tail push motor.
And the proportional control parameter Kp and the integral control parameter Ki are related to the braking and decelerating performance of the unmanned aerial vehicle.
And the accelerator feed-forward value Thr _ trim of the tail-pushing motor is related to the flight speed control parameter.
Optionally, when detecting that the distance is less than preset brake deceleration distance, stop the tail and push away the motor to control unmanned aerial vehicle brake through the rotor and slow down, so that unmanned aerial vehicle hovers near the landing site top.
And 307, controlling the unmanned aerial vehicle to hover right above the return landing point through the rotor wing.
Optionally, the position of the unmanned aerial vehicle is adjusted through rotor control, and the position of the unmanned aerial vehicle is adjusted to be right above the return flight landing point, so that the unmanned aerial vehicle hovers right above the return flight landing point.
And 308, controlling the unmanned aerial vehicle to land to a return landing site through the rotor wing.
Optionally, after the unmanned aerial vehicle is controlled by the rotor to hover right above the return flight landing point, the unmanned aerial vehicle is controlled by the rotor to land to the return flight landing point, and the landing of the unmanned aerial vehicle is finished.
The invention provides a return control method of an unmanned aerial vehicle, which controls the nose direction of the unmanned aerial vehicle to align with a return landing point through a rotor, controls the unmanned aerial vehicle to climb to a preset return safe height, then starts a tail push motor, adjusts the accelerator control parameter of the tail push motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point, stops the tail push motor when the detected distance is less than the preset brake deceleration distance, controls the unmanned aerial vehicle to brake and decelerate through the rotor, controls the unmanned aerial vehicle to land to the return landing point through the rotor after controlling the unmanned aerial vehicle to hover right above the return landing point through the rotor, can control the unmanned aerial vehicle to return by adopting a mixed return mode, can control the flying speed of the unmanned aerial vehicle through the tail push motor under the mixed return mode, controls the flight path of the unmanned aerial vehicle through the rotor, thereby being capable of passing the mixed return mode, effectively shorten the time of returning a journey, improve the efficiency of returning a journey, reduce energy loss, increase unmanned aerial vehicle's duration, improve flight safety.
Example four
Fig. 4 is a schematic structural diagram of a return control device of an unmanned aerial vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus may be configured in a drone, including: a position information acquisition module 401, a return journey mode determination module 402, and an unmanned aerial vehicle control module 403.
The position information acquiring module 401 is configured to acquire current position information and return landing point position information of an unmanned aerial vehicle, where the unmanned aerial vehicle is a combined vertical take-off and landing fixed-wing unmanned aerial vehicle; a return journey mode determining module 402, configured to determine a target return journey mode corresponding to the unmanned aerial vehicle according to the current position information, the return journey landing point position information, and a preset braking deceleration distance; and the unmanned aerial vehicle control module 403 is used for controlling a rotor wing, a tail thrust motor and/or a control surface of the unmanned aerial vehicle according to the target return way.
According to the return control device of the unmanned aerial vehicle, the target return mode corresponding to the unmanned aerial vehicle is determined according to the current position information, the return landing point position information and the preset brake deceleration distance, then the rotor wing, the tail thrust motor and/or the control surface of the unmanned aerial vehicle are controlled according to the target return mode, and the suitable return flight mode can be selected according to the current position information, the return landing point position information and the preset brake deceleration distance of the unmanned aerial vehicle to control the return of the unmanned aerial vehicle.
On the basis of the foregoing embodiments, the location information acquiring module 401 may include: and the information acquisition unit is used for acquiring the current position information and the return landing point position information of the unmanned aerial vehicle according to the received return flight instruction information when the unmanned aerial vehicle is in a hovering state.
On the basis of the foregoing embodiments, the return journey manner determining module 402 may include: the distance calculation unit is used for calculating the distance between the current position of the unmanned aerial vehicle and the return landing site according to the current position information and the return landing site position information; the distance judging unit is used for judging whether the distance is greater than a preset braking deceleration distance; a first mode determination unit, configured to determine, if the distance is greater than a preset braking deceleration distance, a target return route mode corresponding to the unmanned aerial vehicle as: and (4) a hybrid return voyage mode.
On the basis of the foregoing embodiments, the return journey manner determining module 402 may further include: a second mode determining unit, configured to determine, if the distance is less than or equal to a preset braking deceleration distance, a target return mode corresponding to the unmanned aerial vehicle as: and a rotor return mode.
On the basis of the above embodiments, the target return journey mode corresponding to the unmanned aerial vehicle is determined to be a hybrid return journey mode; the drone control module 403 may include: the first direction alignment unit is used for controlling the nose direction of the unmanned aerial vehicle to align to a return landing point through the rotor wing; the unmanned aerial vehicle climbing unit is used for controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing; the tail-pushing motor control unit is used for starting the tail-pushing motor and adjusting an accelerator control parameter of the tail-pushing motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point; the tail pushing motor stopping unit is used for stopping the tail pushing motor when the detected distance is smaller than the preset braking and speed reducing distance, and controlling the braking and speed reducing of the unmanned aerial vehicle through the rotor wing; the unmanned aerial vehicle hovering unit is used for controlling the unmanned aerial vehicle to hover right above the return landing point through the rotor wing; and the unmanned aerial vehicle landing unit is used for controlling the unmanned aerial vehicle to land to a return landing site through the rotor wing.
On the basis of the above embodiments, the unmanned aerial vehicle control module 403 may further include: and the first direction aligning unit is used for controlling the nose direction of the unmanned aerial vehicle to align to the return landing site through the rotor and the control surface.
On the basis of the above embodiments, the tail pushing motor control unit may include: the parameter calculating subunit is used for calculating the current accelerator control parameter of the tail-pushing motor according to the following formula:
dL＝distance(Pos_cur,Pos_home)，
Vd_cmd＝Kp*dL，
Thr＝Kp*(Vd_cmd–Vd_cur)+Ki∫(Vd_cmd–Vd_cur)dt+Thr_trim，
wherein, dL is the distance between unmanned aerial vehicle's current position and the return landing point, distance is the distance calculation function, Pos _ cur is unmanned aerial vehicle's current position, Pos _ home is the return landing point position, Vd _ cmd is unmanned aerial vehicle's current flight speed control parameter, Kp is the proportional control parameter, Thr is the current throttle control parameter of tail push motor, Ki is the integral control parameter, Vd _ cur is unmanned aerial vehicle's current flight speed, Thr _ trim is the throttle feedforward value of tail push motor.
The return control device of the unmanned aerial vehicle provided by the embodiment of the invention can execute the return control method of the unmanned aerial vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a drone according to a fifth embodiment of the present invention, as shown in fig. 5, the drone includes a processor 501, a memory 502, an input device 503, an output device 504, a rotor 505, a tail thrust motor 506, and a control surface 507; the number of the processors 501 in the drone may be one or more, and one processor 501 is taken as an example in fig. 5; the processor 501, memory 502, input device 503, output device 504, rotor 505, tail thrust motor 506, and control surface 507 of the drone may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 502 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the return control method of the drone in the embodiment of the present invention (for example, the position information acquisition module 401, the return mode determination module 402, and the drone control module 403 in the return control device of the drone). The processor 501 executes various functional applications and data processing of the unmanned aerial vehicle by running software programs, instructions and modules stored in the memory 502, that is, the method for controlling return voyage of the unmanned aerial vehicle is implemented.
The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the drone, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 502 may further include memory located remotely from the processor 501, which may be connected to the drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 503 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the drone. The output device 504 may include a voice output device.
A rotor 505 for controlling the flight trajectory of the drone; a tail push motor 506 for controlling the flying speed of the unmanned aerial vehicle; and a control surface 507 for controlling the flight path of the unmanned aerial vehicle.
EXAMPLE six
The sixth embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for controlling return flight of the unmanned aerial vehicle provided by the sixth embodiment of the present invention is implemented, where the method includes: acquiring current position information and return landing point position information of an unmanned aerial vehicle, wherein the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle; determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance; and controlling a rotor wing, a tail thrust motor and/or a control surface of the unmanned aerial vehicle according to the target return way.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A return control method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring current position information and return landing point position information of an unmanned aerial vehicle, wherein the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle;
determining a target return way corresponding to the unmanned aerial vehicle according to the current position information, the return landing point position information and a preset braking and decelerating distance;
and controlling the rotor wing, the tail thrust motor and/or the control surface of the unmanned aerial vehicle according to the target return way.
2. The method of claim 1, wherein obtaining current location information and return landing spot location information of the drone comprises:
when the unmanned aerial vehicle is in a hovering state, the current position information and the return landing point position information of the unmanned aerial vehicle are obtained according to the received return instruction information.
3. The method of claim 1, wherein determining a target return way corresponding to the unmanned aerial vehicle according to the current location information, the return landing point location information, and a preset braking and decelerating distance comprises:
calculating the distance between the current position of the unmanned aerial vehicle and a return landing point according to the current position information and the return landing point position information;
judging whether the distance is greater than a preset braking deceleration distance;
if the distance is greater than the preset braking deceleration distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as: and (4) a hybrid return voyage mode.
4. The method of claim 3, after determining whether the distance is greater than a predetermined braking deceleration distance, further comprising:
if the distance is less than or equal to the preset braking and decelerating distance, determining a target return flight mode corresponding to the unmanned aerial vehicle as: and a rotor return mode.
5. The method of claim 3, wherein the target return voyage corresponding to the drone is determined to be a hybrid return voyage;
according to the target mode of returning voyage, control unmanned aerial vehicle's rotor, tail push away motor and/or rudder face include:
controlling the direction of a machine head of the unmanned aerial vehicle to be aligned to the return landing point through the rotor wing;
controlling the unmanned aerial vehicle to climb to a preset return flight safety height through the rotor wing;
starting the tail pushing motor, and adjusting an accelerator control parameter of the tail pushing motor according to the distance between the current position of the unmanned aerial vehicle and the return landing point;
when the distance is detected to be smaller than a preset braking and decelerating distance, the tail pushing motor is stopped, and the rotor wing is used for controlling the braking and decelerating of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to hover right above the return landing point through the rotor wing;
through rotor control unmanned aerial vehicle descends to return to the landing site of navigating.
6. The method of claim 5, further comprising, after activating the tail thrust motor:
and controlling the nose direction of the unmanned aerial vehicle to align to the return landing point through the rotor wing and the control surface.
7. The method of claim 5, wherein adjusting throttle control parameters of the tail-thrust motor based on a distance between the current position of the drone and the return landing site comprises:
calculating the current throttle control parameter of the tail-pushing motor according to the following formula:
dL＝distance(Pos_cur,Pos_home)，
Vd_cmd＝Kp*dL，
Thr＝Kp*(Vd_cmd–Vd_cur)+Ki∫(Vd_cmd–Vd_cur)dt+Thr_trim，
dL is the current position of unmanned aerial vehicle with return distance between the landing site, distance is the distance calculation function, Pos _ cur is unmanned aerial vehicle's current position, Pos _ home is return landing site position, Vd _ cmd is unmanned aerial vehicle's current flight speed control parameter, Kp is the proportional control parameter, Thr is the current throttle control parameter of tail push motor, Ki is the integral control parameter, Vd _ cur is unmanned aerial vehicle's current flight speed, Thr _ trim is the throttle feedforward value of tail push motor.
8. The utility model provides an unmanned aerial vehicle's controlling means that navigates back which characterized in that includes:
the system comprises a position information acquisition module, a control module and a control module, wherein the position information acquisition module is used for acquiring the current position information and the return landing point position information of an unmanned aerial vehicle, and the unmanned aerial vehicle is a combined type vertical take-off and landing fixed wing unmanned aerial vehicle;
the return flight mode determining module is used for determining a target return flight mode corresponding to the unmanned aerial vehicle according to the current position information, the return flight landing point position information and a preset braking and decelerating distance;
and the unmanned aerial vehicle control module is used for controlling the rotor, the tail push motor and/or the control surface of the unmanned aerial vehicle according to the target return way.
9. A drone comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized by further comprising: the rotor wing is used for controlling the flight track of the unmanned aerial vehicle; the tail pushing motor is used for controlling the flying speed of the unmanned aerial vehicle; the control surface is used for controlling the flight track of the unmanned aerial vehicle; the processor, when executing the computer program, implements a method of fly-back control of a drone as claimed in any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for controlling a return voyage of a drone according to any one of claims 1 to 7.
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