CN111566011A

CN111566011A - Unmanned aerial vehicle, control terminal thereof, attitude adjustment method and storage medium

Info

Publication number: CN111566011A
Application number: CN201980007771.4A
Authority: CN
Inventors: 丘力; 黄永结
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-08-21
Anticipated expiration: 2039-05-30
Also published as: WO2020237566A1; CN111566011B

Abstract

Provided are an unmanned aerial vehicle, a control terminal (2) of the unmanned aerial vehicle, an attitude adjustment method of the control terminal (2) of the unmanned aerial vehicle, a computer-readable storage medium; the unmanned aerial vehicle comprises a central body (12), a plurality of machine arms (14), a first sensor and a controller (204), wherein the plurality of machine arms (14) are rotatably connected with the central body (12), and the included angle between the machine arms (14) and the roll axis of the unmanned aerial vehicle can be changed; the first sensor is used for acquiring current attitude information of the unmanned aerial vehicle (S102); the controller (204) is in communication connection with the first sensor, wherein the first sensor sends the acquired current attitude information to the controller (204); the controller (204) determines whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information (S104); and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle (S106). The unmanned aerial vehicle can tend to be stable, the cruising ability of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is adaptive to more loads.

Description

Unmanned aerial vehicle, control terminal thereof, attitude adjustment method and storage medium

Technical Field

The present invention relates to an unmanned remote control device, and more particularly, to an unmanned aerial vehicle, a control terminal of an unmanned aerial vehicle, an attitude adjustment method of a control terminal of an unmanned aerial vehicle, and a computer-readable storage medium.

Background

A plurality of power motors of the unmanned aerial vehicle respectively generate driving force, and the resultant force of all the driving forces provides power for the flight of the unmanned aerial vehicle. At present, the development and the application of carrying the many rotor unmanned vehicles of different loads increase gradually, when unmanned vehicles carries different loads, can cause unmanned vehicles's focus to take place the skew of different degrees for unmanned vehicles's focus and power point center do not coincide on the plumb line direction, and the deviation is great even, influences unmanned vehicles's continuation of the journey.

Disclosure of Invention

The present application is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present application proposes an unmanned aerial vehicle.

A second aspect of the present application proposes a control terminal of an unmanned aerial vehicle.

A third aspect of the present application provides an attitude adjustment method for an unmanned aerial vehicle.

The fourth aspect of the application provides an attitude adjustment method for a control terminal of an unmanned aerial vehicle.

A fifth aspect of the present application proposes a computer-readable storage medium.

In view of the above, according to a first aspect of the present application, there is provided an unmanned aerial vehicle, comprising a central body, a plurality of arms, a first sensor and a controller, wherein the plurality of arms are rotatably connected to the central body, and an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed; the first sensor is used for acquiring current attitude information of the unmanned aerial vehicle; the controller is in communication connection with the first sensor, wherein the first sensor sends the acquired current attitude information to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information; and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

The unmanned vehicles that this application embodiment provided, every horn all with central body rotatable coupling, the horn can be for the central body forward rotation or turn backward, to the horn that connects the different positions of central body, also can turn left or turn right when turning forward or turn backward relative to the central body. Specifically, the horn located at the left front side of the central body also turns to the right while turning forward, the horn located at the left rear side of the central body also turns to the left while turning forward, the horn located at the right front side of the central body also turns to the left while turning forward, and the horn located at the right rear side of the central body also turns to the right while turning forward. This makes the horn during the rotation, and its and unmanned vehicles ' roll axis's contained angle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load carried by the unmanned aerial vehicle is large, the center of gravity of the unmanned aerial vehicle is relatively less changed by the rotating horn. Meanwhile, a plurality of power motors of the unmanned aerial vehicle are respectively arranged on a plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the centers of the power points of the unmanned aerial vehicle are correspondingly changed. On the basis, by arranging the first sensor, the current attitude information of the unmanned aerial vehicle, such as stability, forward inclination, backward inclination, left inclination and right inclination, can be acquired. The controller then confirms whether unmanned vehicles is in predetermined steady gesture according to current gesture information, if not steady, then can send the prompt message of adjusting the contained angle, so that the corresponding rotation of suggestion control horn, change the contained angle between horn and the roll axis, thereby adjust unmanned vehicles's focus and power point center simultaneously, finally make unmanned vehicles's focus and power point center be in on same plumb line as far as possible, unmanned vehicles tends towards steadily, each power motor is exerted oneself and is reached the balance, help improving unmanned vehicles's duration. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

In addition, according to the unmanned vehicles in the above technical solutions provided by this application, the following additional technical features may also be provided:

in the above technical solution, preferably, the controller sends out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

In the technical scheme, the controller can also send out adjustment information when the unmanned aerial vehicle is not in a preset stable posture so as to directly control the machine arm to rotate relative to the central body and change the included angle between the machine arm and the transverse roller.

In any of the above technical solutions, preferably, the adjustment information is associated with current posture information.

In the technical scheme, the adjustment information is specifically limited to be associated with the current attitude information, so that the controller can obtain the adjustment information required for recovering the balance attitude according to the current attitude information, the aim is fulfilled, the adjustment time is shortened, the unmanned aerial vehicle can be quickly recovered to the balance attitude, the cruising ability of the unmanned aerial vehicle can be further improved, and meanwhile the unmanned aerial vehicle can adapt to more loads.

In any of the above technical solutions, preferably, the adjustment information includes a rotation direction and a desired angle of each horn.

In the technical scheme, the adjustment information is specifically limited to include a rotation direction and an expected angle of each horn, wherein the expected angle can represent an angle of an included angle between each horn and a transverse roller, which is expected to be reached by the adjustment at this time, and because the included angle does not have directionality and is less than or equal to 90 degrees, when the expected angle is less than 90 degrees, the corresponding positions of the horns include two positions, namely, a position at the front side of the central body and a position at the rear side of the central body, at this time, the rotation direction is added to the adjustment information, for example, the rotation direction can be represented by forward rotation and backward rotation, so that the accurate target position of the horn is determined, and the accuracy of control can be ensured. In addition, the desired angle may represent the angle that each arm is turned, which, in cooperation with the direction of rotation, may achieve the same control effect.

In any of the above technical solutions, preferably, the controller controls the horn to rotate to a desired angle according to the rotation direction according to the adjustment information, so as to adjust the current attitude of the unmanned aerial vehicle.

In the technical scheme, how the controller adjusts the current posture of the unmanned aerial vehicle according to adjustment information is specifically limited, the adjustment information comprises the rotating direction and the expected angle of each horn, when the expected angle represents the angle of the included angle between each horn and the transverse roller, which is expected to be achieved by the adjustment at this time, the controller firstly controls each horn to rotate according to the rotating direction, meanwhile, the included angle between each horn and the transverse roller is continuously detected, and when the included angle reaches the expected angle, the adjustment is completed. It can be understood that, from the perspective of the unmanned aerial vehicle, the unmanned aerial vehicle can be adjusted to a balance posture once according to one adjustment information, and can also be adjusted for multiple times according to multiple adjustment information, further, coarse adjustment can be performed first during multiple times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, the adjustment is determined according to different conditions of the adjustment information, and the controller only needs to complete the adjustment according to the current adjustment information.

In any of the above technical solutions, preferably, the adjustment information further includes a preset telescopic length of each horn.

In the technical scheme, the machine arm can also stretch and change the length, and an adjusting dimension is increased. The preset telescopic length is added into the whole information, and the length and the included angle of the horn are changed simultaneously, so that the capability of adjusting the posture of the unmanned aerial vehicle is enhanced, and a better adjusting effect is achieved.

In any one of the above technical solutions, preferably, the adjustment information is calculated by a control terminal of the unmanned aerial vehicle.

In the technical scheme, the adjustment information is specifically limited to be calculated by a control terminal of the unmanned aerial vehicle, namely the unmanned aerial vehicle sends the current attitude information and the prompt information of the angle adjustment to the control terminal, the control terminal calculates the required adjustment information, namely, data processing is carried out by the control terminal, the calculation load of the unmanned aerial vehicle can be reduced, a lighter-weight controller can be correspondingly configured for the unmanned aerial vehicle, the weight of the unmanned aerial vehicle is reduced, and the cruising ability is improved. In addition, adjustment information is obtained through direct calculation, manual operation can be simplified, the problem of low accuracy in manual operation is solved, and posture adjustment efficiency can be improved.

In any of the above technical solutions, preferably, the adjustment information is calculated by the controller.

In the technical scheme, the adjustment information is limited to be directly calculated by the controller of the unmanned aerial vehicle, so that data do not need to be sent back and forth between the unmanned aerial vehicle and the control terminal, and the information interaction amount is reduced.

It can be understood that no matter the calculation is executed by the control terminal or the unmanned aerial vehicle, an accurate adjustment information can be directly calculated, and one-time adjustment in place is realized; or firstly, rough calculation is carried out to quickly adjust the unmanned aerial vehicle to a relatively stable posture so that the output of each power motor is relatively balanced, then the adjustment effect is confirmed by combining the updated current posture information, and after the posture is optimized, the precise calculation is carried out so as to adjust the unmanned aerial vehicle to the preset stable posture, so that the rough adjustment and the fine adjustment are realized, the calculation burden can be reduced, and the adjustment efficiency is improved.

In any one of the above technical solutions, preferably, the unmanned aerial vehicle further includes a communication device in communication connection with the controller, and the communication device sends the current attitude information to a control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

In the technical scheme, the adjustment information is specifically limited to be fed back to the unmanned aerial vehicle by the control terminal. The scheme comprises the scheme that the control terminal calculates the adjustment information, the control terminal obtains the adjustment information manually input by the user, the control terminal can output the current attitude information and prompt information in a voice broadcasting or text displaying mode when receiving the current attitude information so as to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle, and the adjustment information calculation is not required to be executed, so that the calculation amount is reduced, software and hardware equipment with lower calculation capacity can be configured for the control terminal, the cost and the selling price of products are reduced, and the requirements of low-consumption users are met. It is conceivable that the control terminal may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Correspondingly, the unmanned aerial vehicle further comprises a communication device for sending the current attitude information to the control terminal and receiving the adjustment information fed back by the control terminal.

In any of the above technical solutions, preferably, the controller determines whether the unmanned aerial vehicle is in a preset stable attitude during takeoff and/or flight of the unmanned aerial vehicle.

In the technical scheme, the opportunity of determining whether the unmanned aerial vehicle is in the preset balance attitude is specifically limited in the takeoff process and/or the flight process, the deviation of the center of gravity and the center of the power point occurs when the load carried by the unmanned aerial vehicle changes once, and the attitude of the unmanned aerial vehicle is adjusted during takeoff, so that the adjustment is more timely, and the effect of improving the endurance is better. After that, in the flight process, influenced by the air current, the gravity center and the power point center of the unmanned aerial vehicle can also change, and the attitude of the unmanned aerial vehicle is regulated and controlled at the moment, so that the power motor can keep the output balance in the flight process, and the endurance can be further improved.

In any one of the above technical solutions, preferably, the unmanned aerial vehicle further includes an adjusting mechanism, the adjusting mechanism is used for adjusting a rotation angle of the horn, and the controller controls the adjusting mechanism to adjust the rotation angle of the horn according to the adjustment information.

In the technical scheme, the unmanned aerial vehicle is further provided with an adjusting mechanism capable of adjusting the rotation angle of the horn, the adjusting mechanism can be specifically arranged at the root of the horn, and correspondingly, the controller controls the action of the adjusting mechanism according to the adjusting information to realize the adjustment of the rotation angle of the horn.

In any one of the above technical solutions, preferably, the adjusting mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.

In the technical scheme, the adjusting mechanism is specifically limited to comprise an electric device for providing adjusting power and a connecting mechanism for transmitting the power, the connecting mechanism is connected with the horn, the electric device firstly drives the connecting mechanism to move, and then drives the horn to rotate, and the adjustment of the rotation angle of the horn is realized. Optionally, the horn may be locked at any position to maintain the current posture, and at this time, the locking mechanism may be configured, and the connecting mechanism may be made not to move when the electric device stops outputting power to achieve locking.

In any of the above technical solutions, preferably, the connection mechanism includes at least one of: the screw mechanism, the link mechanism, the worm and gear mechanism, the gear mechanism.

In this technical solution, it is specifically limited that the connection mechanism may be at least one of the four mechanisms, that is, may be used alone or in combination. The screw mechanism and the worm and gear mechanism can realize conversion between rotation and linear motion, the connecting rod mechanism can realize point-to-point transmission, and the gear mechanism can realize transmission between rotating parts.

In any of the above technical solutions, preferably, the electric device includes at least one of: motor, telescopic cylinder.

In this technical scheme, it can be motor or telescopic cylinder to have specifically injectd electric actuator, realizes rotation drive and linear drive respectively, and electric actuator and coupling mechanism cooperate, can realize the rotation of horn.

In any one of the above technical solutions, preferably, the controller acquires an included angle between the horn and the roll axis of the unmanned aerial vehicle in real time.

In the technical scheme, the controller can also acquire the included angle between the machine arm and the transverse roller in real time, and is helpful for determining whether the machine arm rotates to the position to be reached, so that timely intervention is performed when the machine arm does not rotate in place or rotates excessively, and the adjustment effect is ensured.

In any of the above technical solutions, preferably, the controller prompts information of the currently detected included angle in real time.

In the technical scheme, after the included angle between the horn and the transverse roller is acquired in real time, the information prompting the included angle is correspondingly sent out, the information can be sent to the control terminal, so that the control terminal or a user can know the adjustment progress in time, the information synchronization can be ensured when the control terminal is used for adjusting the posture of the unmanned aerial vehicle, and the adjustment effect is ensured.

In any of the above technical solutions, preferably, when the boom rotates to a desired angle, the controller sends out a corresponding prompt message.

In the technical scheme, the prompt message of the rotation of the horn to the expected angle is sent out and can be specifically sent to the control terminal, so that the control terminal or a user can clearly know that the adjustment is completed, the adjustment is not required to be continued, the information synchronization is ensured, and the adjustment effect is ensured. Optionally, the scheme can be combined with a scheme that the controller prompts the information of the currently detected included angle in real time, so that the control terminal or the user obtains sufficient information; the scheme can be selected for use with a scheme that the controller prompts the information of the currently detected included angle in real time so as to reduce the information transmission amount.

In any of the above technical solutions, preferably, the included angle is detected by an angle sensor.

In the technical scheme, the hardware equipment which particularly limits the detection included angle is an angle sensor, so that the included angle between the machine arm and the transverse rolling shaft can be accurately acquired, and the smooth proceeding of the posture adjustment process is ensured.

In any of the above technical solutions, preferably, the angle sensor includes at least one of: hall sensor, potentiometre.

In any of the above technical solutions, preferably, the first sensor includes at least one of: IMU (inertial measurement Unit), gyroscope, vision sensor.

According to a second aspect of the application, a control terminal of an unmanned aerial vehicle is provided, wherein the unmanned aerial vehicle comprises a central body and a plurality of arms rotatably connected with the central body, an included angle between each arm and a roll shaft of the unmanned aerial vehicle can be changed, the control terminal comprises a communication device and a controller, and the communication device is used for receiving current attitude information of the central body and prompt information for adjusting the included angle, which are sent by the unmanned aerial vehicle; the controller is in communication connection with the communication device, the controller obtains adjustment information of the included angle and sends the adjustment information to the communication device, and the communication device feeds the adjustment information back to the unmanned aerial vehicle so that the unmanned aerial vehicle can adjust the current posture.

The utility model provides an unmanned vehicles's control terminal, including communication device and controller, when communication device received the current attitude information that unmanned vehicles sent and the suggestion information of adjusting the contained angle, the controller acquires the adjustment information of contained angle, and feed back to unmanned vehicles via communication device, can supply unmanned vehicles to adjust its current attitude according to the adjustment information, finally make unmanned vehicles's focus and power point center of motor be in same vertical line as far as possible, unmanned vehicles tends to steadily, each motor power is exerted oneself and is reached the balance, help improving unmanned vehicles's duration. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle controlled by the control terminal provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

Specifically, each horn of the unmanned aerial vehicle controlled by the control terminal is rotatably connected with the central body, the horn can rotate forwards or backwards relative to the central body, and for the horns connected at different positions of the central body, the horns can rotate leftwards or rightwards when rotating forwards or backwards relative to the central body. Specifically, the horn located at the left front side of the central body also turns to the right while turning forward, the horn located at the left rear side of the central body also turns to the left while turning forward, the horn located at the right front side of the central body also turns to the left while turning forward, and the horn located at the right rear side of the central body also turns to the right while turning forward. This makes the horn during the rotation, and its and unmanned vehicles ' roll axis's contained angle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load carried by the unmanned aerial vehicle is large, the center of gravity of the unmanned aerial vehicle is relatively less changed by the rotating horn. Meanwhile, a plurality of power motors of the unmanned aerial vehicle are respectively arranged on a plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the centers of the power points of the unmanned aerial vehicle are correspondingly changed. On the basis, the unmanned aerial vehicle can detect current attitude information, such as stable attitude, forward inclination, backward inclination, leftward inclination and rightward inclination, determine whether the unmanned aerial vehicle is in a preset stable attitude, if not, prompt information for adjusting an included angle can be sent out to prompt the control terminal to control the rotation of the horn of the unmanned aerial vehicle, so that the included angle between the horn and the transverse rolling shaft is changed, the center of gravity and the center of a power point of the unmanned aerial vehicle are adjusted simultaneously, and the unmanned aerial vehicle can reach the stable attitude.

In addition, according to the control terminal of the unmanned aerial vehicle in the above technical solution provided by the present application, the following additional technical features may also be provided:

in the above technical solution, preferably, the adjustment information is associated with current posture information.

In any of the above technical solutions, preferably, the controller calculates the adjustment information according to the current posture information.

In the technical scheme, the adjustment information is specifically limited to be calculated by the controller, automatic adjustment can be realized, manual operation is simplified, the problem of low accuracy in manual operation is solved, and the posture adjustment efficiency can be improved. In addition, the control terminal executes calculation instead of the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and lighter-weight hardware equipment can be correspondingly configured for the unmanned aerial vehicle, thereby being beneficial to reducing the weight of the unmanned aerial vehicle and improving the endurance capacity.

It can be understood that the controller can directly calculate an accurate adjustment information during calculation, and realize one-time adjustment in place; or firstly, rough calculation is carried out to quickly adjust the unmanned aerial vehicle to a relatively stable posture so that the output of each power motor is relatively balanced, then the adjustment effect is confirmed by combining the updated current posture information, and after the posture is optimized, the precise calculation is carried out so as to adjust the unmanned aerial vehicle to the preset stable posture, so that the rough adjustment and the fine adjustment are realized, the calculation burden can be reduced, and the adjustment efficiency is improved.

In any of the above technical solutions, preferably, the control terminal further includes an input device communicatively connected to the controller, and the input device receives the adjustment information.

In the technical scheme, the control terminal further comprises an input device for receiving the adjustment information manually input by the user, at the moment, the control terminal can output the current attitude information and the prompt information in a voice broadcasting or text displaying mode when receiving the current attitude information so as to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle, and the adjustment information does not need to be calculated, so that the calculated amount is reduced, software and hardware equipment with lower calculation capability can be configured for the control terminal, the cost and the selling price of the product are reduced, and the requirements of low-consumption users are met. It is conceivable that the control terminal may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the input device comprises at least one of: a control lever, a keyboard and a touch screen.

In any one of the above technical solutions, preferably, the communication device receives information of the included angle sent by the unmanned aerial vehicle in real time.

In the technical scheme, the information of the included angle between the horn and the transverse roller, which is sent by the unmanned aerial vehicle in real time, is received, so that whether the horn rotates to the position to be reached or not is facilitated to be confirmed, the timely intervention is facilitated when the horn does not rotate in place or rotates excessively, and the adjusting effect is ensured.

In any one of the above technical solutions, preferably, the communication device receives a prompt message that the horn rotates to a desired angle, which is sent by the unmanned aerial vehicle.

In the technical scheme, the prompt message that the receiver arm rotates to the expected angle can clearly know that the adjustment is finished, continuous adjustment is not needed, information synchronization is guaranteed, and the adjustment effect is guaranteed. Optionally, the scheme can be combined with a scheme of receiving the included angle information sent by the unmanned aerial vehicle in real time, so that sufficient information is obtained; the scheme can be alternatively used with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to reduce the information transmission amount.

According to a third aspect of the present application, there is provided an attitude adjustment method for an unmanned aerial vehicle, which is applicable to an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed, and the attitude adjustment method for the unmanned aerial vehicle includes: acquiring current attitude information of the unmanned aerial vehicle; determining whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information; and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

The posture adjusting method of the unmanned aerial vehicle is suitable for the unmanned aerial vehicle, each horn of the unmanned aerial vehicle is rotatably connected with the central body, the horn can rotate forwards or backwards relative to the central body, and the horns connected to different positions of the central body can also rotate leftwards or rightwards relative to the central body when rotating forwards or backwards. Specifically, the horn located at the left front side of the central body also turns to the right while turning forward, the horn located at the left rear side of the central body also turns to the left while turning forward, the horn located at the right front side of the central body also turns to the left while turning forward, and the horn located at the right rear side of the central body also turns to the right while turning forward. This makes the horn during the rotation, and its and unmanned vehicles ' roll axis's contained angle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load carried by the unmanned aerial vehicle is large, the center of gravity of the unmanned aerial vehicle is relatively less changed by the rotating horn. Meanwhile, a plurality of power motors of the unmanned aerial vehicle are respectively arranged on a plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the centers of the power points of the unmanned aerial vehicle are correspondingly changed. On the basis, the attitude adjusting method can determine whether the unmanned aerial vehicle is in a preset stable attitude by acquiring current attitude information of the unmanned aerial vehicle, such as stable attitude, forward inclination, backward inclination, leftward inclination and rightward inclination, and can send out included angle adjusting prompt information to prompt the control arm to rotate correspondingly and change the included angle between the arm and the rolling shaft if the unmanned aerial vehicle is not stable, so that the center of gravity and the center of a power point of the unmanned aerial vehicle are adjusted simultaneously, the center of gravity of the unmanned aerial vehicle and the center of the power point of the power motor are finally positioned on the same vertical line as much as possible, the unmanned aerial vehicle tends to be stable, the output of each power motor is balanced, and the cruising ability of the unmanned aerial vehicle is improved. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

In addition, according to the attitude adjustment method for the unmanned aerial vehicle in the above technical solution provided by the present application, the following additional technical features may also be provided:

in the above technical solution, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and sending out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

In the technical scheme, the adjusting information can be sent when the unmanned aerial vehicle is not in the preset stable posture so as to directly control the rotation of the machine arm relative to the central body and change the included angle between the machine arm and the transverse roller.

In the technical scheme, the adjustment information is specifically limited to be associated with the current attitude information, so that the adjustment information required for recovering the balance attitude can be obtained according to the current attitude information, the adjustment time is shortened, the unmanned aerial vehicle can be quickly recovered to the balance attitude, the cruising ability of the unmanned aerial vehicle can be further improved, and the unmanned aerial vehicle can adapt to more loads.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and controlling the horn to rotate to a desired angle according to the rotation direction according to the adjustment information so as to adjust the current attitude of the unmanned aerial vehicle.

In the technical scheme, how to adjust the current posture of the unmanned aerial vehicle is specifically limited, the adjustment information comprises the rotating direction and the expected angle of each horn, when the expected angle represents the angle of the included angle between each horn and the transverse roller, which is expected to be achieved by the adjustment at this time, each horn is firstly controlled to rotate according to the rotating direction, meanwhile, the included angle between each horn and the transverse roller is continuously detected, and when the included angle reaches the expected angle, the adjustment at this time is completed. It can be understood that, from the perspective of the unmanned aerial vehicle, the unmanned aerial vehicle can be adjusted to the balance posture once according to one adjustment information, and can also be adjusted for multiple times according to multiple adjustment information, further, the multiple adjustment can be performed by coarse adjustment first, and then fine adjustment is performed according to the result of the coarse adjustment, which is determined specifically according to different conditions of the adjustment information.

In the technical scheme, the adjustment information is specifically limited to be calculated by a control terminal of the unmanned aerial vehicle, namely the unmanned aerial vehicle sends the current attitude information and the prompt information of the angle adjustment to the control terminal, the control terminal calculates the required adjustment information, namely, data processing is carried out by the control terminal, the calculation load of the unmanned aerial vehicle can be reduced, and lighter hardware equipment can be correspondingly configured for the unmanned aerial vehicle, so that the weight of the unmanned aerial vehicle is reduced, and the cruising ability is improved. In addition, adjustment information is obtained through direct calculation, manual operation can be simplified, the problem of low accuracy in manual operation is solved, and posture adjustment efficiency can be improved.

In any of the above technical solutions, preferably, the adjustment information is calculated by an onboard controller of the unmanned aerial vehicle.

In the technical scheme, the adjustment information is limited to be directly obtained by calculation of the unmanned aerial vehicle, particularly by calculation of the onboard controller, so that data do not need to be sent between the unmanned aerial vehicle and the control terminal in a reciprocating mode, and the information interaction amount is reduced.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: sending the current attitude information to a control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and determining whether the unmanned aerial vehicle is in a preset stable attitude or not in the takeoff process and/or the flight process of the unmanned aerial vehicle.

In any one of the above technical solutions, preferably, the unmanned aerial vehicle further includes an adjusting mechanism, the adjusting mechanism is used for adjusting a rotation angle of the horn, and the attitude adjusting method of the unmanned aerial vehicle further includes: and controlling the adjusting mechanism to adjust the rotation angle of the machine arm according to the adjusting information.

In the technical scheme, the unmanned aerial vehicle is further provided with an adjusting mechanism capable of adjusting the rotation angle of the horn, and the adjusting mechanism can be specifically arranged at the root of the horn.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and detecting an included angle between the horn and a transverse rolling shaft of the unmanned aerial vehicle in real time.

In the technical scheme, the posture adjusting method further comprises the step of acquiring the included angle between the machine arm and the transverse roller in real time, which is helpful for confirming whether the machine arm rotates to the position to be reached, so that timely intervention is performed when the machine arm does not rotate in place or rotates excessively, and the adjusting effect is ensured.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and prompting the information of the currently detected included angle in real time.

In any one of the above technical solutions, preferably, the attitude adjustment method of the unmanned aerial vehicle further includes: and when the machine arm rotates to a desired angle, corresponding prompt information is sent out.

In any one of the above technical solutions, preferably, the current attitude information is obtained by detecting a sensor carried by the unmanned aerial vehicle.

In the technical scheme, the hardware equipment for detecting the current attitude information is specifically limited to be a sensor borne by the unmanned aerial vehicle, so that the current attitude information of the unmanned aerial vehicle can be accurately obtained, the current attitude of the unmanned aerial vehicle can be timely adjusted, the improvement of the cruising ability of the unmanned aerial vehicle is facilitated, and the adaptive load range is expanded.

In any of the above technical solutions, preferably, the sensor includes at least one of: IMU, gyroscope, visual sensor.

According to a fourth aspect of the present application, there is provided a method for adjusting an attitude of a control terminal of an unmanned aerial vehicle, the method being applicable to the control terminal of the unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed, and the method for adjusting an attitude of the control terminal of the unmanned aerial vehicle includes: receiving current attitude information of the central body and prompt information for adjusting the included angle sent by the unmanned aerial vehicle; acquiring adjustment information of the included angle; and feeding back the adjustment information to the unmanned aerial vehicle so as to adjust the current posture of the unmanned aerial vehicle.

The attitude adjusting method of the control terminal of the unmanned aerial vehicle, provided by the embodiment of the application, when the current attitude information sent by the unmanned aerial vehicle and the prompt information for adjusting the included angle are received, the adjustment information of the included angle is obtained and fed back to the unmanned aerial vehicle, the unmanned aerial vehicle can adjust the current attitude according to the adjustment information, finally, the gravity center of the unmanned aerial vehicle and the power point center of the power motor are located on the same vertical line as much as possible, the unmanned aerial vehicle tends to be stable, the output of each power motor reaches balance, and the duration of the unmanned aerial vehicle is improved. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle controlled by the control terminal provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

In addition, according to the attitude adjustment method for the control terminal of the unmanned aerial vehicle in the above technical solution provided by the present application, the following additional technical features may also be provided:

In any one of the above technical solutions, preferably, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and calculating adjustment information according to the current attitude information.

In the technical scheme, the adjustment information is specifically limited to be obtained by calculation according to the current posture information, automatic adjustment can be realized, manual operation is simplified, the problem of low accuracy in manual operation is solved, and the posture adjustment efficiency can be improved. In addition, the control terminal executes calculation instead of the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and lighter-weight hardware equipment can be correspondingly configured for the unmanned aerial vehicle, thereby being beneficial to reducing the weight of the unmanned aerial vehicle and improving the endurance capacity.

It can be understood that an accurate adjustment information can be directly calculated during calculation, and one-time adjustment in place is realized; or firstly, rough calculation is carried out to quickly adjust the unmanned aerial vehicle to a relatively stable posture so that the output of each power motor is relatively balanced, then the adjustment effect is confirmed by combining the updated current posture information, and after the posture is optimized, the precise calculation is carried out so as to adjust the unmanned aerial vehicle to the preset stable posture, so that the rough adjustment and the fine adjustment are realized, the calculation burden can be reduced, and the adjustment efficiency is improved.

In any one of the above technical solutions, preferably, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: input adjustment information is received.

In the technical scheme, the attitude adjustment method further comprises the step of receiving adjustment information manually input by a user, at the moment, the control terminal can output the current attitude information and prompt information in a voice broadcasting or text displaying mode when receiving the current attitude information so as to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle, and calculation of the adjustment information is not required, so that the calculation amount is reduced, software and hardware equipment with lower calculation capacity can be configured for the control terminal, the cost and the selling price of products are reduced, and the requirements of low-consumption users are met. It is conceivable that the control terminal may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the control terminal is configured with a corresponding input device for the user to input the adjustment information, and the input device includes at least one of the following: a control lever, a keyboard and a touch screen.

In any one of the above technical solutions, preferably, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and receiving the information of the included angle sent by the unmanned aerial vehicle in real time.

In any one of the above technical solutions, preferably, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and receiving prompt information sent by the unmanned aerial vehicle that the horn rotates to a desired angle.

According to a fifth aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method for adjusting the attitude of the unmanned aerial vehicle according to any one of the third aspects or the steps of the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to any one of the fourth aspects, so that the method for adjusting the attitude of the unmanned aerial vehicle or the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle has all the advantages of the method for adjusting the attitude of the unmanned aerial vehicle or the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle, and the description thereof is omitted.

Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 illustrates a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 2 illustrates a schematic block diagram of a control terminal of an unmanned aerial vehicle of an embodiment of the present application;

FIG. 3 shows a schematic flow diagram of an attitude adjustment method of an unmanned aerial vehicle of an embodiment of the present application;

fig. 4 shows a schematic flowchart of an attitude adjustment method of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application.

Wherein, the corresponding relation between the reference numbers and the part names in fig. 1 is:

12 a hub, 14a horn, 14a first horn, 14b second horn, 14c third horn, 14d fourth horn, 16 a power motor, 18 a paddle.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

As shown in fig. 1, an embodiment of a first aspect of the present application provides an unmanned aerial vehicle, which includes a central body 12, a plurality of arms 14, a first sensor (not shown in the figure), and a controller (not shown in the figure), wherein the plurality of arms 14 are rotatably connected to the central body 12, and an included angle between the arms 14 and a roll axis of the unmanned aerial vehicle (the roll axis is a rotation axis when the unmanned aerial vehicle rolls from side to side, that is, an axis extending in a front-rear direction of the unmanned aerial vehicle in fig. 1) can be changed; the first sensor is used for acquiring current attitude information of the unmanned aerial vehicle; the controller is in communication connection with the first sensor, wherein the first sensor sends the acquired current attitude information to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information; and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

The unmanned aerial vehicle of the embodiments of the present application provides that each of the arms 14 is rotatably coupled to the hub 12, and that the arms 14 can be rotated forward or backward relative to the hub 12, and that the arms 14 coupled to different positions of the hub 12 can also be rotated left or right when rotated forward or backward relative to the hub 12. Specifically, as shown in fig. 1, the first arm 14a located on the front left side of the center body turns to the right while turning forward, the second arm 14b located on the rear left side of the center body turns to the left while turning forward, the third arm 14c located on the front right side of the center body turns to the left while turning forward, and the fourth arm 14d located on the rear right side of the center body turns to the right while turning forward. This causes the angle between the arm 14 and the roll axis of the unmanned aerial vehicle to change during the rotation, resulting in a change in the center of gravity of the unmanned aerial vehicle. It will be appreciated that the swivel arm 14 changes the center of gravity of the UAV relatively little when the load carried by the UAV is large. Meanwhile, a plurality of power motors 16 of the unmanned aerial vehicle are respectively arranged on the plurality of arms 14 and are used for driving propellers to rotate (as shown in fig. 1, a propeller disc 18 is a virtual disc-shaped structure formed by the rotation of the propellers) so as to provide flight power, the action point of each power motor 16 can change along with the rotation of the arm 14, and the center of the power point of the unmanned aerial vehicle changes correspondingly. On the basis, by arranging the first sensor, the current attitude information of the unmanned aerial vehicle, such as stability, forward inclination, backward inclination, left inclination and right inclination, can be acquired. The controller then confirms whether unmanned vehicles is in the steady gesture of predetermineeing according to current gesture information, if not steady, can send the prompt message of adjusting the contained angle, so that the corresponding rotation of suggestion control horn 14, change the contained angle between horn 14 and the roll axis, thereby adjust unmanned vehicles's focus and power point center simultaneously, finally make unmanned vehicles's focus and power point center of power motor 16 be in on the same vertical line as far as possible, unmanned vehicles tends to steadily, each power motor 16 exerts an output and reaches the balance, help improving unmanned vehicles's duration. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

In some embodiments, the controller sends out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

In this embodiment, the controller may also send out adjustment information when the UAV is not in a predetermined stable attitude to directly control the rotation of the horn 14 relative to the central body 12 to change the angle between the horn 14 and the roll axis.

In some embodiments, the adjustment information is associated with current pose information.

In the embodiment, the adjustment information is specifically limited to be associated with the current attitude information, so that the controller can obtain the adjustment information required for recovering the balance attitude according to the current attitude information, thereby being purposeful, shortening the adjustment time, enabling the unmanned aerial vehicle to be quickly recovered to the balance attitude, further improving the cruising ability of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to be adapted to more loads.

In some embodiments, the adjustment information includes the direction of rotation and the desired angle of each horn 14.

In this embodiment, it is specifically defined that the adjustment information includes a rotation direction and a desired angle of each arm 14, where the desired angle may represent an angle of an angle between each arm 14 and a traverse shaft expected to be reached by this adjustment, and since the angle does not have directionality and is less than or equal to 90 degrees, when the desired angle is less than 90 degrees, the corresponding positions of the arms 14 include two positions, that is, a position at the front side of the central body 12 and a position at the rear side of the central body 12, and at this time, the rotation direction, for example, may be represented by a forward rotation direction and a backward rotation direction, is added to the adjustment information to specify an accurate target position of the arm 14, so as to ensure the accuracy of the control. Alternatively, the desired angle may represent the angle through which each arm 14 is rotated, which, in cooperation with the direction of rotation, achieves the same control effect.

In some embodiments, the controller controls the arm 14 to rotate to a desired angle according to the rotation direction according to the adjustment information to adjust the current attitude of the unmanned aerial vehicle.

In this embodiment, how the controller adjusts the current attitude of the unmanned aerial vehicle is specifically defined, where the adjustment information includes a rotation direction and an expected angle of each horn 14, and when the expected angle represents an angle of an angle between each horn 14 and a roll axis that is expected to be reached by this adjustment, the controller first controls each horn 14 to rotate according to the rotation direction, and at the same time, continues to detect an angle between each horn 14 and the roll axis, and when the angle reaches the expected angle, completes this adjustment. It can be understood that, from the perspective of the unmanned aerial vehicle, the unmanned aerial vehicle can be adjusted to a balance posture once according to one adjustment information, and can also be adjusted for multiple times according to multiple adjustment information, further, coarse adjustment can be performed first during multiple times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, the adjustment is determined according to different conditions of the adjustment information, and the controller only needs to complete the adjustment according to the current adjustment information.

In some embodiments, the adjustment information further includes a preset telescopic length of each horn 14.

In this embodiment, the horn 14 is also extendable and retractable to change length, adding an adjustment dimension. The preset telescopic length is added into the whole information, and the length and the included angle of the horn 14 are changed at the same time, so that the capability of adjusting the posture of the unmanned aerial vehicle is enhanced, and a better adjusting effect is achieved.

In some embodiments, the adjustment information is calculated by a control terminal of the unmanned aerial vehicle.

In the embodiment, the adjustment information is specifically limited to be calculated by the control terminal of the unmanned aerial vehicle, that is, the unmanned aerial vehicle sends the current attitude information and the prompt information for adjusting the angle to the control terminal, and the control terminal calculates the required adjustment information, that is, the data processing is handed to the control terminal for execution, so that the calculation load of the unmanned aerial vehicle can be reduced, and the unmanned aerial vehicle can be correspondingly provided with a lighter-weight controller, which is beneficial to reducing the weight of the unmanned aerial vehicle and improving the cruising ability. In addition, adjustment information is obtained through direct calculation, manual operation can be simplified, the problem of low accuracy in manual operation is solved, and posture adjustment efficiency can be improved.

In some embodiments, the adjustment information is calculated by the controller.

In the embodiment, the regulation information is defined to be directly calculated by the controller of the unmanned aerial vehicle, so that data do not need to be sent back and forth between the unmanned aerial vehicle and the control terminal, and the information interaction amount is reduced.

It can be understood that no matter the calculation is executed by the control terminal or the unmanned aerial vehicle, an accurate adjustment information can be directly calculated, and one-time adjustment in place is realized; or firstly, rough calculation is carried out to quickly adjust the unmanned aerial vehicle to a relatively stable posture so that the output force of each power motor 16 is relatively balanced, then the adjustment effect is confirmed by combining the updated current posture information, and after the posture is optimized, the fine calculation is carried out so as to adjust the unmanned aerial vehicle to the preset stable posture, so that the rough adjustment and the fine adjustment are realized, the calculation burden can be reduced, and the adjustment efficiency is improved.

In some embodiments, the unmanned aerial vehicle further comprises a communication device in communication connection with the controller, the communication device sending the current attitude information to a control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

In this embodiment, it is specifically defined that the adjustment information is fed back to the unmanned aerial vehicle by the control terminal. The scheme comprises the scheme that the control terminal calculates the adjustment information, the control terminal obtains the adjustment information manually input by the user, the control terminal can output the current attitude information and prompt information in a voice broadcasting or text displaying mode when receiving the current attitude information so as to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle, and the adjustment information calculation is not required to be executed, so that the calculation amount is reduced, software and hardware equipment with lower calculation capacity can be configured for the control terminal, the cost and the selling price of products are reduced, and the requirements of low-consumption users are met. It is conceivable that the control terminal may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Correspondingly, the unmanned aerial vehicle further comprises a communication device for sending the current attitude information to the control terminal and receiving the adjustment information fed back by the control terminal.

In some embodiments, the controller determines whether the unmanned aerial vehicle is in a preset steady attitude during takeoff and/or during flight of the unmanned aerial vehicle.

In the embodiment, the opportunity of determining whether the unmanned aerial vehicle is in the preset balance attitude is specifically limited to be in the takeoff process and/or the flight process, the deviation of the center of gravity and the center of the power point occurs when the load carried by the unmanned aerial vehicle changes once, and the attitude of the unmanned aerial vehicle is adjusted during takeoff, so that the adjustment is more timely, and the effect of improving the endurance is better. Afterwards, in the flight process, the gravity center and the power point center of the unmanned aerial vehicle can be changed under the influence of airflow, the attitude of the unmanned aerial vehicle is regulated and controlled at the moment, the power motor 16 can keep output balance in the flight process, and the endurance can be further improved.

In some embodiments, the unmanned aerial vehicle further comprises an adjusting mechanism for adjusting the rotation angle of the horn 14, and the controller controls the adjusting mechanism to adjust the rotation angle of the horn 14 according to the adjustment information.

In this embodiment, the unmanned aerial vehicle is further provided with an adjusting mechanism capable of adjusting the rotation angle of the horn 14, and may be specifically disposed at the root of the horn 14, and accordingly, the controller controls the adjusting mechanism to operate according to the adjustment information, so as to adjust the rotation angle of the horn 14.

In some embodiments, the adjustment mechanism includes an electric device and a connection mechanism, and the electric device drives the arm 14 to rotate through the connection mechanism.

In this embodiment, it is specifically defined that the adjusting mechanism includes an electric device for providing adjusting power and a connecting mechanism for transmitting power, the connecting mechanism is connected to the horn 14, the electric device first drives the connecting mechanism to move, and then drives the horn 14 to rotate, so as to achieve adjustment of the rotation angle of the horn 14. Alternatively, the arm 14 may be locked at any position to maintain the current posture, and at this time, the locking mechanism may be configured, or the connecting mechanism may be prevented from moving when the electric device stops outputting power, so as to achieve locking.

In some embodiments, the connection mechanism comprises at least one of: the screw mechanism, the link mechanism, the worm and gear mechanism, the gear mechanism.

In this embodiment, it is specifically defined that the connecting mechanism may be at least one of the four mechanisms described above, i.e., may be used alone or in combination. The screw mechanism and the worm and gear mechanism can realize conversion between rotation and linear motion, the connecting rod mechanism can realize point-to-point transmission, and the gear mechanism can realize transmission between rotating parts.

In some embodiments, the electrically powered device comprises at least one of: motor, telescopic cylinder.

In this embodiment, it is specifically limited that the electric device can be a motor or a telescopic cylinder, and respectively realizes rotation driving and linear driving, and the electric device is matched with the connecting mechanism to realize rotation of the horn 14.

Several specific embodiments of the adjustment mechanism are described below:

the first embodiment is as follows:

the electric device is a motor, and the connecting mechanism comprises a worm and gear mechanism and a connecting rod mechanism. Wherein, the link mechanism comprises a first link with one end fixed on the central body 12, a second link with one end fixed on the rotation central point of the machine arm 14 and a third link, the third link is connected with the other end of the first link and the other end of the second link; the worm wheel is sleeved on the output shaft of the motor, one end of the worm, which is not meshed with the worm wheel, is connected with the first connecting rod, and the second connecting rod is connected with the machine arm 14. When the motor outputs a rotation torque, the first link rod rotates around the fixed point thereof under the pushing of the worm, and the second link rod is pushed to rotate around the fixed point thereof through the third link rod, so that the arm 14 is driven to rotate. It will be appreciated that the second link may be integral with the horn 14, or the horn 14 itself may be the second link, with the third link being pivotally connected to the horn 14.

The second embodiment is as follows:

the difference between this embodiment and the first embodiment is that the worm and gear mechanism is replaced by a lead screw mechanism, and other structures are completely the same, and are not described herein again.

The third concrete embodiment:

the electric device is a motor, and the connecting mechanism is a gear mechanism. The gear mechanism comprises two gears which are meshed with each other, one gear is sleeved on an output shaft of the motor, the other gear is connected to the horn 14, and the rotating axis of the other gear is overlapped with the rotating axis of the horn 14, so that the horn 14 can be driven to rotate when the motor outputs rotating torque.

The fourth concrete embodiment:

the electric device is a telescopic cylinder, and the connecting mechanism is a connecting rod mechanism. Wherein, the link mechanism comprises a first connecting rod with one end fixed on the central body 12, a second connecting rod with one end fixed on the rotation central point of the machine arm 14 and a third connecting rod, the third connecting rod is simultaneously connected with the other end of the first connecting rod and the other end of the second connecting rod, the output shaft of the telescopic cylinder is connected with the first connecting rod, and the second connecting rod is connected with the machine arm 14. When the telescopic cylinder outputs power, the first connecting rod rotates around the fixed point thereof under the pushing of the output shaft, and the second connecting rod is pushed to rotate around the fixed point thereof through the third connecting rod, so that the machine arm 14 is driven to rotate. It will be appreciated that the second link may be integral with the horn 14, or the horn 14 itself may be the second link, with the third link being pivotally connected to the horn 14.

The fifth concrete embodiment:

the electric device is a telescopic cylinder, and the connecting rod mechanism is a worm and gear mechanism. The output shaft of telescopic cylinder links to each other with the worm, and the axis of rotation of the worm wheel with worm meshing is connected on horn 14, and the axis of rotation of worm wheel and the coincidence of the axis of rotation of horn 14. When the telescopic cylinder outputs power, the output shaft pushes the worm to move, so that the worm wheel is driven to rotate, and the machine arm 14 rotates synchronously therewith.

The sixth specific embodiment:

the difference between this embodiment and the fifth embodiment is that the worm gear mechanism is replaced by a lead screw mechanism, and other structures are completely the same, and are not described herein again.

The seventh specific embodiment:

the electric device is a telescopic cylinder, and the connecting rod mechanism comprises a worm gear mechanism and a gear mechanism. Wherein, gear mechanism includes two engaged gears, and a gear meshes with the worm wheel mutually, and another gear is connected on horn 14, and the axis of rotation of another gear and the coincidence of the axis of rotation of horn 14. When the telescopic cylinder outputs power, the output shaft pushes the worm to move, so that the worm wheel and the gear mechanism are driven to rotate one by one, and the mechanical arm 14 rotates synchronously along with the gear connected with the mechanical arm.

The eighth embodiment:

the difference between this embodiment and the seventh embodiment is that the worm and gear mechanism is replaced by a lead screw mechanism, and other structures are completely the same, and are not described again here.

In some embodiments, the controller obtains the angle between the horn 14 and the roll axis of the UAV in real time.

In this embodiment, the controller may also obtain the included angle between the arm 14 and the traverse shaft in real time, which is helpful to determine whether the arm 14 rotates to the position to be reached, so as to intervene in time when the rotation is not in place or excessive, thereby ensuring the adjustment effect.

In some embodiments, the controller prompts in real time for information on the currently detected angle.

In this embodiment, after the included angle between the horn 14 and the roll axis is obtained in real time, the information prompting the included angle is correspondingly sent out, and the information can be sent to the control terminal, so that the control terminal or the user can know the adjustment progress in time.

In some embodiments, when the arm 14 is rotated to a desired angle, the controller issues a corresponding prompt.

In this embodiment, the prompt message that the horn 14 rotates to the desired angle is sent out, and the prompt message can be specifically sent to the control terminal, so that the control terminal or the user can clearly know that the adjustment is completed, the adjustment is not required to be continued, the information synchronization is ensured, and the adjustment effect is ensured. Optionally, the scheme can be combined with a scheme that the controller prompts the information of the currently detected included angle in real time, so that the control terminal or the user obtains sufficient information; the scheme can be selected for use with a scheme that the controller prompts the information of the currently detected included angle in real time so as to reduce the information transmission amount.

In some embodiments, the included angle is detected by an angle sensor.

In this embodiment, the hardware device specifically defining the detection of the included angle is an angle sensor, which can accurately obtain the included angle between the arm 14 and the roll axis, and ensure the smooth proceeding of the posture adjustment process.

In some embodiments, the angle sensor comprises at least one of: hall sensor, potentiometre.

In some embodiments, the first sensor comprises at least one of: IMU, gyroscope, visual sensor.

Embodiments of a second aspect of the present application provide a control terminal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, and an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed.

Fig. 2 shows a schematic block diagram of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, the control terminal 2 includes a communication device 202 and a controller 204, the communication device 202 is configured to receive current attitude information of the central body and prompt information for adjusting the included angle, which are sent by the unmanned aerial vehicle; the controller 204 is in communication connection with the communication device 202, the controller 204 obtains adjustment information of the included angle and sends the adjustment information to the communication device 202, and the communication device 202 feeds the adjustment information back to the unmanned aerial vehicle so that the unmanned aerial vehicle can adjust the current posture.

The embodiment of the application provides an unmanned vehicles's control terminal 2, including communication device 202 and controller 204, when communication device 202 received the current gesture information that unmanned vehicles sent and the prompt message of adjusting the contained angle, controller 204 acquires the adjustment information of contained angle, and feed back to unmanned vehicles via communication device 202, can supply unmanned vehicles to adjust its current gesture according to adjustment information, finally make unmanned vehicles's focus and power point center of motor power be in same vertical line as far as possible, unmanned vehicles tends to steadily, each motor power reaches the balance of exerting oneself, help improving unmanned vehicles's duration. Correspondingly, under the condition that the thrust-weight ratio of the unmanned aerial vehicle is proper, the unmanned aerial vehicle controlled by the control terminal 2 provided by the embodiment of the application can adapt to more loads, and the application range is expanded.

Specifically, each of the arms of the unmanned aerial vehicle controlled by the control terminal 2 is rotatably connected to the central body, and the arms can be rotated forward or backward relative to the central body, and for the arms connected to different positions of the central body, the arms can be rotated left or right while rotating forward or backward relative to the central body. Specifically, the horn located at the left front side of the central body also turns to the right while turning forward, the horn located at the left rear side of the central body also turns to the left while turning forward, the horn located at the right front side of the central body also turns to the left while turning forward, and the horn located at the right rear side of the central body also turns to the right while turning forward. This makes the horn during the rotation, and its and unmanned vehicles ' roll axis's contained angle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load carried by the unmanned aerial vehicle is large, the center of gravity of the unmanned aerial vehicle is relatively less changed by the rotating horn. Meanwhile, a plurality of power motors of the unmanned aerial vehicle are respectively arranged on a plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the centers of the power points of the unmanned aerial vehicle are correspondingly changed. On the basis, the unmanned aerial vehicle can detect current attitude information, such as stable, forward leaning, backward leaning, leftward leaning and rightward leaning, to determine whether the unmanned aerial vehicle is in a preset stable attitude, if not, the unmanned aerial vehicle can send out a prompt message for adjusting an included angle so as to prompt the control terminal 2 to control the rotation of the horn of the unmanned aerial vehicle, change the included angle between the horn and the transverse rolling shaft, and further adjust the center of gravity and the center of a power point of the unmanned aerial vehicle at the same time so that the unmanned aerial vehicle can achieve the stable attitude.

In this embodiment, it is specifically limited that the adjustment information is associated with the current attitude information, so that the controller 204 can obtain the adjustment information required for recovering the balance attitude according to the current attitude information, which is purposeful, shortens the adjustment time, and enables the unmanned aerial vehicle to quickly recover to the balance attitude, thereby further improving the cruising ability of the unmanned aerial vehicle and enabling the unmanned aerial vehicle to adapt to more loads.

In some embodiments, the adjustment information includes a direction of rotation and a desired angle for each horn.

In this embodiment, it is specifically defined that the adjustment information includes a rotation direction and a desired angle of each arm, where the desired angle may represent an angle of an included angle between each arm and the traverse shaft, which is expected to be achieved by the adjustment at this time, and since the included angle does not have directionality and is less than or equal to 90 degrees, when the desired angle is less than 90 degrees, the corresponding arm positions include two positions, that is, a position on the front side of the central body and a position on the rear side of the central body, and at this time, the rotation direction is added to the adjustment information, which may be represented by, for example, forward rotation and backward rotation, to determine an accurate target position of the arm, so that the accuracy of the control may be ensured. In addition, the desired angle may represent the angle that each arm is turned, which, in cooperation with the direction of rotation, may achieve the same control effect.

In some embodiments, the adjustment information further includes a preset telescopic length of each horn.

In this embodiment, the horn is also extendable and retractable to change length, adding an adjustment dimension. The preset telescopic length is added into the whole information, and the length and the included angle of the horn are changed simultaneously, so that the capability of adjusting the posture of the unmanned aerial vehicle is enhanced, and a better adjusting effect is achieved.

In some embodiments, the controller 204 calculates adjustment information based on the current pose information.

In this embodiment, it is specifically limited that the adjustment information is calculated by the controller 204, so that automatic adjustment can be realized, manual operation is simplified, the problem of low accuracy in manual operation is avoided, and the posture adjustment efficiency can be improved. In addition, the control terminal 2 performs calculation instead of the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and lighter-weight hardware equipment can be correspondingly configured for the unmanned aerial vehicle, thereby being beneficial to reducing the weight of the unmanned aerial vehicle and improving the endurance capacity.

It can be understood that the controller 204 can directly calculate an accurate adjustment information to achieve a one-time adjustment; or firstly, rough calculation is carried out to quickly adjust the unmanned aerial vehicle to a relatively stable posture so that the output of each power motor is relatively balanced, then the adjustment effect is confirmed by combining the updated current posture information, and after the posture is optimized, the precise calculation is carried out so as to adjust the unmanned aerial vehicle to the preset stable posture, so that the rough adjustment and the fine adjustment are realized, the calculation burden can be reduced, and the adjustment efficiency is improved.

In some embodiments, the control terminal 2 further includes an input device communicatively coupled to the controller 204, the input device receiving the adjustment information.

In this embodiment, the control terminal 2 further includes an input device to receive adjustment information manually input by a user, and at this time, the control terminal 2 may output current attitude information and prompt information in a manner of broadcasting voice or displaying text when receiving the current attitude information to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle, and it is not necessary to perform calculation of the adjustment information, so that the calculation amount is reduced, software and hardware devices with lower calculation capability may be configured for the control terminal 2, the cost and the selling price of the product are reduced, and the requirements of users with low consumption are met. It is conceivable that the control terminal 2 may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the input device comprises at least one of: a control lever, a keyboard and a touch screen.

In some embodiments, communications device 202 receives information of the included angle transmitted by the unmanned aerial vehicle in real time.

In the embodiment, the information of the included angle between the horn and the transverse roller, which is sent by the unmanned aerial vehicle in real time, is received, so that whether the horn rotates to the position to be reached or not is facilitated to be confirmed, and timely intervention is performed when the horn does not rotate in place or rotates excessively, and the adjusting effect is ensured.

In some embodiments, the communication device 202 receives a prompt sent by the unmanned aerial vehicle that the horn is rotated to a desired angle.

In the embodiment, the prompt message that the receiver arm rotates to the expected angle can clearly know that the adjustment is finished, continuous adjustment is not needed, information synchronization is ensured, and the adjustment effect is ensured. Optionally, the scheme can be combined with a scheme of receiving the included angle information sent by the unmanned aerial vehicle in real time, so that sufficient information is obtained; the scheme can be alternatively used with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to reduce the information transmission amount.

An embodiment of the third aspect of the present application provides an attitude adjustment method for an unmanned aerial vehicle, which is applicable to an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, and an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed.

Fig. 3 shows a schematic flowchart of an attitude adjustment method of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 3, an attitude adjustment method of an unmanned aerial vehicle according to an embodiment of the present application includes:

s102, acquiring current attitude information of the unmanned aerial vehicle;

s104, determining whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information;

and S106, when the unmanned aerial vehicle is not in the preset stable posture, sending out a prompt message for adjusting the included angle.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and sending out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

In the embodiment, the adjusting information can be sent when the unmanned aerial vehicle is not in the preset stable posture so as to directly control the rotation of the machine arm relative to the central body and change the included angle between the machine arm and the transverse roller.

In the embodiment, the adjustment information is specifically limited to be associated with the current attitude information, so that the adjustment information required for recovering the balance attitude can be obtained according to the current attitude information, and therefore the adjustment information is purposeful, the adjustment time is shortened, the unmanned aerial vehicle can be quickly recovered to the balance attitude, the cruising ability of the unmanned aerial vehicle can be further improved, and meanwhile the unmanned aerial vehicle can be adapted to more loads.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and controlling the horn to rotate to a desired angle according to the rotation direction according to the adjustment information so as to adjust the current attitude of the unmanned aerial vehicle.

In this embodiment, how to adjust the current posture of the unmanned aerial vehicle is specifically defined, where the adjustment information includes a rotation direction and an expected angle of each arm, when the expected angle represents an angle at which the adjustment is expected to reach an included angle between each arm and the roll, each arm is first controlled to rotate according to the rotation direction, and at the same time, the included angle between each arm and the roll is continuously detected, and when the included angle reaches the expected angle, the adjustment is completed. It can be understood that, from the perspective of the unmanned aerial vehicle, the unmanned aerial vehicle can be adjusted to the balance posture once according to one adjustment information, and can also be adjusted for multiple times according to multiple adjustment information, further, the multiple adjustment can be performed by coarse adjustment first, and then fine adjustment is performed according to the result of the coarse adjustment, which is determined specifically according to different conditions of the adjustment information.

In the embodiment, the adjustment information is specifically limited to be calculated by the control terminal of the unmanned aerial vehicle, that is, the unmanned aerial vehicle sends the current attitude information and the prompt information for adjusting the angle to the control terminal, and the control terminal calculates the required adjustment information, that is, the data processing is handed to the control terminal for execution, so that the calculation load of the unmanned aerial vehicle can be reduced, and accordingly, lighter-weight hardware equipment can be configured for the unmanned aerial vehicle, thereby being beneficial to reducing the weight of the unmanned aerial vehicle and improving the cruising ability. In addition, adjustment information is obtained through direct calculation, manual operation can be simplified, the problem of low accuracy in manual operation is solved, and posture adjustment efficiency can be improved.

In some embodiments, the adjustment information is calculated by an onboard controller of the unmanned aerial vehicle.

In the embodiment, the regulation information is directly calculated by the unmanned aerial vehicle, particularly by the onboard controller, so that data do not need to be sent back and forth between the unmanned aerial vehicle and the control terminal, and the information interaction amount is reduced.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: sending the current attitude information to a control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and determining whether the unmanned aerial vehicle is in a preset stable attitude or not in the takeoff process and/or the flight process of the unmanned aerial vehicle.

In the embodiment, the opportunity of determining whether the unmanned aerial vehicle is in the preset balance attitude is specifically limited to be in the takeoff process and/or the flight process, the deviation of the center of gravity and the center of the power point occurs when the load carried by the unmanned aerial vehicle changes once, and the attitude of the unmanned aerial vehicle is adjusted during takeoff, so that the adjustment is more timely, and the effect of improving the endurance is better. After that, in the flight process, influenced by the air current, the gravity center and the power point center of the unmanned aerial vehicle can also change, and the attitude of the unmanned aerial vehicle is regulated and controlled at the moment, so that the power motor can keep the output balance in the flight process, and the endurance can be further improved.

In some embodiments, the unmanned aerial vehicle further includes an adjustment mechanism for adjusting a rotation angle of the horn, and the attitude adjustment method of the unmanned aerial vehicle further includes: and controlling the adjusting mechanism to adjust the rotation angle of the machine arm according to the adjusting information.

In this embodiment, the unmanned aerial vehicle is further provided with an adjusting mechanism capable of adjusting the rotation angle of the horn, and the adjusting mechanism can be specifically arranged at the root of the horn.

In some embodiments, the adjusting mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.

In this embodiment, it is specifically limited that the adjusting mechanism includes an electric device for providing adjusting power and a connecting mechanism for transmitting power, the connecting mechanism is connected to the horn, the electric device first drives the connecting mechanism to move, and then drives the horn to rotate, so as to adjust the rotation angle of the horn. Optionally, the horn may be locked at any position to maintain the current posture, and at this time, the locking mechanism may be configured, and the connecting mechanism may be made not to move when the electric device stops outputting power to achieve locking.

In this embodiment, it is specifically limited that the electric device may be a motor or a telescopic cylinder, and the electric device and the connecting mechanism cooperate to realize rotation of the horn, and the electric device may be a motor or a telescopic cylinder, and respectively realize rotation driving and linear driving.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and detecting an included angle between the horn and a transverse rolling shaft of the unmanned aerial vehicle in real time.

In this embodiment, the attitude adjustment method further includes obtaining an included angle between the horn and the roll in real time, which is helpful for determining whether the horn rotates to a position to be reached, so as to intervene in time when the rotation is not in place or excessive, and ensure the adjustment effect.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and prompting the information of the currently detected included angle in real time.

In this embodiment, after the included angle between the horn and the roll axis is obtained in real time, the information prompting the included angle is correspondingly sent out, and the information can be sent to the control terminal so that the control terminal or a user can know the adjustment progress in time.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further includes: and when the machine arm rotates to a desired angle, corresponding prompt information is sent out.

In the embodiment, the prompt message that the horn rotates to the expected angle is sent out and can be specifically sent to the control terminal, so that the control terminal or a user can clearly know that the adjustment is completed, continuous adjustment is not needed, information synchronization is guaranteed, and the adjustment effect is guaranteed. Optionally, the scheme can be combined with a scheme that the controller prompts the information of the currently detected included angle in real time, so that the control terminal or the user obtains sufficient information; the scheme can be selected for use with a scheme that the controller prompts the information of the currently detected included angle in real time so as to reduce the information transmission amount.

In some embodiments, the included angle is detected by an angle sensor.

In this embodiment, the hardware device specifically defining the detection of the included angle is an angle sensor, which can accurately obtain the included angle between the arm and the transverse roller, and ensure the smooth proceeding of the attitude adjustment process.

In some embodiments, the current attitude information is detected by a sensor carried by the UAV.

In the embodiment, the hardware device for detecting the current attitude information is specifically limited to be a sensor borne by the unmanned aerial vehicle, so that the current attitude information of the unmanned aerial vehicle can be accurately obtained, the current attitude of the unmanned aerial vehicle can be timely adjusted, the endurance of the unmanned aerial vehicle can be improved, and the adaptive load range can be expanded.

In some embodiments, the sensor comprises at least one of: IMU, gyroscope, visual sensor.

An embodiment of a fourth aspect of the present application provides a method for adjusting an attitude of a control terminal of an unmanned aerial vehicle, which is applicable to the control terminal of the unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, and an included angle between the arms and a roll axis of the unmanned aerial vehicle can be changed.

As shown in fig. 4, an attitude adjustment method of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application includes:

s202, receiving current attitude information of the central body and prompt information for adjusting the included angle, which are sent by the unmanned aerial vehicle;

s204, acquiring adjustment information of the included angle;

and S206, feeding back the adjustment information to the unmanned aerial vehicle so that the unmanned aerial vehicle can adjust the current posture.

In some embodiments, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and calculating adjustment information according to the current attitude information.

In the embodiment, the adjustment information is specifically limited to be obtained by calculation according to the current posture information, automatic adjustment can be realized, manual operation is simplified, the problem of low accuracy in manual operation is solved, and the posture adjustment efficiency can be improved. In addition, the control terminal executes calculation instead of the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and lighter-weight hardware equipment can be correspondingly configured for the unmanned aerial vehicle, thereby being beneficial to reducing the weight of the unmanned aerial vehicle and improving the endurance capacity.

In some embodiments, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: input adjustment information is received.

In this embodiment, the attitude adjustment method further includes receiving adjustment information manually input by a user, and at this time, the control terminal may output the current attitude information and the prompt information in a manner of broadcasting voice or displaying text when receiving the current attitude information to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle without performing calculation of the adjustment information, thereby reducing the calculation amount, configuring software and hardware devices with lower calculation capability for the control terminal, reducing the cost and the selling price of products, and satisfying the requirements of users with low consumption. It is conceivable that the control terminal may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the control terminal is configured with a corresponding input device for the user to input the adjustment information, and the input device includes at least one of the following: a control lever, a keyboard and a touch screen.

In some embodiments, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and receiving the information of the included angle sent by the unmanned aerial vehicle in real time.

In some embodiments, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: and receiving prompt information sent by the unmanned aerial vehicle that the horn rotates to a desired angle.

An embodiment of the fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for adjusting the attitude of the unmanned aerial vehicle according to any one of the third aspects or the steps of the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to any one of the fourth aspects, so that the method for adjusting the attitude of the unmanned aerial vehicle or the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle has all the advantages of the method for adjusting the attitude of the unmanned aerial vehicle or the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle, and is not described herein again.

In particular, computer-readable storage media may include any medium that can store or transfer information. Examples of computer readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

In this application, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle, comprising:

a central body;

a plurality of horn rotatably coupled to the central body, and an included angle between the horn and a roll axis of the UAV is changeable;

the first sensor is used for acquiring current attitude information of the unmanned aerial vehicle; and

a controller communicatively coupled to the first sensor,

the first sensor sends the acquired current attitude information to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information; and sending prompt information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

2. The unmanned aerial vehicle of claim 1,

and the controller sends out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

3. The unmanned aerial vehicle of claim 2,

the adjustment information is associated with the current pose information.

4. The unmanned aerial vehicle of claim 2,

the adjustment information includes a rotation direction and a desired angle of each of the horn.

5. The unmanned aerial vehicle of claim 4,

and the controller controls the horn to rotate to the expected angle according to the rotation direction according to the adjustment information so as to adjust the current posture of the unmanned aerial vehicle.

6. The unmanned aerial vehicle of claim 4,

the adjustment information further includes a preset telescopic length of each horn.

7. The unmanned aerial vehicle of claim 2,

the adjustment information is obtained by calculation of a control terminal of the unmanned aerial vehicle;

or, the adjustment information is calculated by the controller.

8. The unmanned aerial vehicle of claim 2,

the unmanned aerial vehicle also comprises a communication device in communication connection with the controller, and the communication device sends the current attitude information to a control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

9. The unmanned aerial vehicle of claim 1,

the controller determines whether the unmanned aerial vehicle is in a preset stable attitude or not in the takeoff process and/or the flight process of the unmanned aerial vehicle.

10. The unmanned aerial vehicle of claim 2,

the unmanned aerial vehicle further comprises an adjusting mechanism, the adjusting mechanism is used for adjusting the rotating angle of the horn, and the controller controls the adjusting mechanism to adjust the rotating angle of the horn according to the adjusting information.

11. The unmanned aerial vehicle of claim 10,

the adjusting mechanism comprises an electric device and a connecting mechanism, and the electric device drives the machine arm to rotate through the connecting mechanism.

12. The unmanned aerial vehicle of claim 11,

the connecting mechanism comprises at least one of the following: the screw mechanism, the link mechanism, the worm and gear mechanism, the gear mechanism.

13. The unmanned aerial vehicle of claim 11,

the electric device comprises at least one of the following: motor, telescopic cylinder.

14. The unmanned aerial vehicle of claim 1,

the controller obtains an included angle between the horn and a transverse rolling shaft of the unmanned aerial vehicle in real time.

15. The unmanned aerial vehicle of claim 14,

and the controller prompts the information of the currently detected included angle in real time.

16. The unmanned aerial vehicle of claim 14,

when the machine arm rotates to a desired angle, the controller sends out corresponding prompt information.

17. The unmanned aerial vehicle of claim 14,

the included angle is detected by an angle sensor.

18. The unmanned aerial vehicle of claim 17,

the angle sensor includes at least one of: hall sensor, potentiometre.

19. The unmanned aerial vehicle of claim 1,

the first sensor comprises at least one of: IMU, gyroscope, visual sensor.

20. A control terminal of unmanned vehicles, wherein, unmanned vehicles include the central body and with central body rotatable coupling's a plurality of horn, the horn with contained angle between unmanned vehicles's the roll axis can change, control terminal includes:

the communication device is used for receiving the current attitude information of the central body and the prompt information for adjusting the included angle, which are sent by the unmanned aerial vehicle;

the controller is in communication connection with the communication device, the controller acquires adjustment information of the included angle and sends the adjustment information to the communication device, and the communication device feeds the adjustment information back to the unmanned aerial vehicle to adjust the current posture of the unmanned aerial vehicle.

21. The unmanned aerial vehicle control terminal of claim 20,

the adjustment information is associated with the current pose information.

22. The unmanned aerial vehicle control terminal of claim 21,

23. The unmanned aerial vehicle control terminal of claim 22,

24. The unmanned aerial vehicle control terminal of claim 20,

the controller calculates the adjustment information according to the current attitude information;

or, the control terminal further comprises an input device in communication connection with the controller, and the input device receives the adjustment information.

25. The unmanned aerial vehicle control terminal of claim 20,

and the communication device receives the information of the included angle, which is sent by the unmanned aerial vehicle in real time.

26. The unmanned aerial vehicle control terminal of claim 20,

and the communication device receives prompt information sent by the unmanned aerial vehicle that the horn rotates to a desired angle.

27. An attitude adjustment method of an unmanned aerial vehicle is suitable for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a central body and a plurality of machine arms which are rotatably connected with the central body, and included angles between the machine arms and roll shafts of the unmanned aerial vehicle can be changed, and the attitude adjustment method of the unmanned aerial vehicle comprises the following steps:

acquiring current attitude information of the unmanned aerial vehicle;

determining whether the unmanned aerial vehicle is in a preset stable attitude or not according to the current attitude information;

and sending prompt information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

28. The attitude adjustment method for an unmanned aerial vehicle according to claim 27, wherein the attitude adjustment method for an unmanned aerial vehicle further comprises:

and sending out adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable posture.

29. The attitude adjustment method of an unmanned aerial vehicle according to claim 28, wherein,

the adjustment information is associated with the current pose information.

30. The attitude adjustment method of an unmanned aerial vehicle according to claim 28, wherein,

31. The attitude adjustment method of an unmanned aerial vehicle according to claim 30, wherein the attitude adjustment method of an unmanned aerial vehicle further comprises:

and controlling the horn to rotate to the expected angle according to the rotation direction according to the adjustment information so as to adjust the current posture of the unmanned aerial vehicle.

32. The attitude adjustment method of an unmanned aerial vehicle according to claim 30, wherein,

33. The attitude adjustment method of an unmanned aerial vehicle according to claim 28, wherein,

or the adjustment information is calculated by an onboard controller of the unmanned aerial vehicle.

34. The attitude adjustment method for an unmanned aerial vehicle according to claim 27, wherein the attitude adjustment method for an unmanned aerial vehicle further comprises:

sending the current attitude information to a control terminal of the unmanned aerial vehicle;

and receiving the adjustment information fed back by the control terminal.

35. The attitude adjustment method for an unmanned aerial vehicle according to claim 27, wherein the attitude adjustment method for an unmanned aerial vehicle further comprises:

and determining whether the unmanned aerial vehicle is in a preset stable attitude or not in the takeoff process and/or the flight process of the unmanned aerial vehicle.

36. The attitude adjustment method of an unmanned aerial vehicle according to claim 28, wherein the unmanned aerial vehicle further comprises an adjustment mechanism for adjusting a rotation angle of the horn, the attitude adjustment method of an unmanned aerial vehicle further comprising:

and controlling the adjusting mechanism to adjust the rotation angle of the machine arm according to the adjusting information.

37. The attitude adjustment method of an unmanned aerial vehicle according to claim 36, wherein,

38. The attitude adjustment method of an unmanned aerial vehicle according to claim 37, wherein,

39. The attitude adjustment method of an unmanned aerial vehicle according to claim 37, wherein,

40. The attitude adjustment method for an unmanned aerial vehicle according to claim 27, wherein the attitude adjustment method for an unmanned aerial vehicle further comprises:

and detecting an included angle between the horn and a transverse rolling shaft of the unmanned aerial vehicle in real time.

41. The attitude adjustment method of an unmanned aerial vehicle according to claim 40, wherein the attitude adjustment method of an unmanned aerial vehicle further comprises:

and prompting the information of the currently detected included angle in real time.

42. The attitude adjustment method of an unmanned aerial vehicle according to claim 40, wherein the attitude adjustment method of an unmanned aerial vehicle further comprises:

and when the horn rotates to a desired angle, sending out corresponding prompt information.

43. The attitude adjustment method of an unmanned aerial vehicle according to claim 40, wherein,

the included angle is detected by an angle sensor.

44. The attitude adjustment method of an unmanned aerial vehicle according to claim 43, wherein,

the angle sensor includes at least one of: hall sensor, potentiometre.

45. The attitude adjustment method of an unmanned aerial vehicle according to claim 27, wherein,

and the current attitude information is detected by a sensor carried by the unmanned aerial vehicle.

46. The attitude adjustment method of an unmanned aerial vehicle according to claim 45, wherein,

the sensor comprises at least one of: IMU, gyroscope, visual sensor.

47. The utility model provides an unmanned vehicles's control terminal's attitude adjustment method, is applicable to unmanned vehicles's control terminal, wherein, unmanned vehicles include the central body and with central body rotatable coupling's a plurality of horn, the horn with the contained angle between unmanned vehicles's the roll axle can change, unmanned vehicles's control terminal's attitude adjustment method includes:

receiving current attitude information of the central body and prompt information for adjusting the included angle, which are sent by the unmanned aerial vehicle;

acquiring adjustment information of the included angle;

and feeding back the adjustment information to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to adjust the current posture.

48. An attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 47, wherein said adjustment information is associated with said current attitude information.

49. An attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 48, wherein said adjustment information includes a rotation direction and a desired angle of each of said horn.

50. An attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 49, wherein said adjustment information further includes a preset telescopic length of each of said horn.

51. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 47, wherein the attitude adjustment method of a control terminal of an unmanned aerial vehicle further comprises:

calculating the adjustment information according to the current attitude information;

or, receiving the inputted adjustment information.

52. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 47, wherein the attitude adjustment method of a control terminal of an unmanned aerial vehicle further comprises:

and receiving the information of the included angle sent by the unmanned aerial vehicle in real time.

53. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 47, wherein the attitude adjustment method of a control terminal of an unmanned aerial vehicle further comprises:

and receiving prompt information sent by the unmanned aerial vehicle that the horn rotates to a desired angle.

54. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the attitude adjustment method for an unmanned aerial vehicle according to any one of claims 27 to 46, or the steps of the attitude adjustment method for a control terminal of an unmanned aerial vehicle according to any one of claims 47 to 53.