CN111566011B

CN111566011B - Unmanned aerial vehicle, control terminal thereof, attitude adjustment method and storage medium

Info

Publication number: CN111566011B
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: 2023-05-19
Anticipated expiration: 2039-05-30
Also published as: WO2020237566A1; CN111566011A

Abstract

An unmanned aerial vehicle, a control terminal (2) of the unmanned aerial vehicle, a posture adjustment method of the control terminal (2) of the unmanned aerial vehicle, and a computer-readable storage medium are provided; the unmanned aerial vehicle comprises a central body (12), a plurality of horn (14), a first sensor and a controller (204), wherein the horn (14) is rotatably connected with the central body (12), and the included angle between the horn (14) and the roll shaft 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 gesture information to the controller (204); the controller (204) determines whether the unmanned aerial vehicle is in a preset stable posture according to the current posture information (S104); and when the unmanned aerial vehicle is not in the preset stable posture, sending out a prompt message for adjusting the included angle (S106). The unmanned aerial vehicle can be enabled to be stable, the endurance capacity of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is enabled to adapt to more loads.

Description

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

Technical Field

The present application relates to unmanned remote control devices, and more particularly, to an unmanned aerial vehicle, a control terminal of the unmanned aerial vehicle, a posture adjustment method of the control terminal of the unmanned aerial vehicle, and a computer readable storage medium.

Background

The plurality of power motors of the unmanned aerial vehicle respectively generate driving forces, 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 the multi-rotor unmanned aerial vehicle carrying different loads are gradually increased, when the unmanned aerial vehicle carries different loads, the gravity center of the unmanned aerial vehicle can be caused to deviate to different degrees, so that the gravity center of the unmanned aerial vehicle and the power point center are not overlapped in the vertical line direction, even the deviation is larger, and the cruising of the unmanned aerial vehicle is influenced.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art or related technologies.

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 for an unmanned aerial vehicle.

A third aspect of the present application proposes a method of attitude adjustment of an unmanned aerial vehicle.

A fourth aspect of the present application proposes a method for adjusting the attitude of a control terminal of an unmanned aerial vehicle.

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

In view of this, according to a first aspect of the present application, there is provided an unmanned aerial vehicle comprising a central body, a plurality of horn arms rotatably connected to the central body, a first sensor and a controller, and wherein the angle between the horn arms and the roll axis of the unmanned aerial vehicle can be varied; 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 gesture information to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable posture according to the current posture information; and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

According to the unmanned aerial vehicle provided by the embodiment of the application, each horn is rotatably connected with the central body, and 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 when rotating forwards or backwards relative to the central body. Specifically, the horn at the left front side of the center body rotates rightward while rotating forward, the horn at the left rear side of the center body rotates leftward while rotating forward, the horn at the right front side of the center body rotates leftward while rotating forward, and the horn at the right rear side of the center body rotates rightward while rotating forward. This makes the horn in the in-process of rotation, and its contained angle with unmanned vehicles's roll axle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load on the unmanned aerial vehicle is large, the change in the centre of gravity of the unmanned aerial vehicle by the rotating horn is relatively small. Meanwhile, the power motors of the unmanned aerial vehicle are respectively arranged on the plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the center of the power point of the unmanned aerial vehicle is correspondingly changed. On the basis, the current attitude information of the unmanned aerial vehicle, such as stability, forward tilting, backward tilting, left tilting and right tilting, can be acquired by arranging the first sensor. 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 suggestion information of adjusting the contained angle to the suggestion control horn rotates correspondingly, changes the contained angle between horn and the roll axle, thereby adjusts unmanned vehicles's focus and power point center simultaneously, finally makes unmanned vehicles's focus and power point center of power motor be in same vertical line as far as possible, and unmanned vehicles tend to steadily, and each power motor output reaches the equilibrium, helps 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 aerial vehicle in the above technical scheme provided by the application, the following additional technical features can 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 a preset stable attitude.

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 horn to rotate relative to the central body and change the included angle between the horn and the transverse rolling shaft.

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

In the technical scheme, the relation between the adjustment information and the current posture information is specifically limited, so that the controller can obtain the adjustment information required by restoring the balanced posture according to the current posture information, thereby releasing the vector, shortening the adjustment time consumption, enabling the unmanned aerial vehicle to quickly restore to the balanced posture, further improving the endurance of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to adapt to more loads.

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

In this technical solution, the adjustment information is specifically defined to include a rotation direction and an expected angle of each arm, where the expected angle may represent an angle of an included angle between each arm and the transverse roller that is expected to be achieved by this adjustment, and when the expected angle is less than 90 degrees, the corresponding arm position includes two positions, that is, a position at the front side of the center body and a position at the rear side of the center body, where the rotation direction is added to the adjustment information, for example, the rotation direction may be represented by forward rotation and backward rotation, so as to determine an accurate target position of the arm, and ensure control accuracy. In addition, the desired angle may also represent the angle through which each arm rotates, and the same control effect may be achieved by matching the rotation direction.

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 gesture of the unmanned aerial vehicle according to the adjustment information, wherein the adjustment information comprises the rotation 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 are expected to be achieved by the adjustment, the controller firstly controls each horn to rotate according to the rotation direction, and simultaneously continuously detects the included angle between the horn and the transverse roller, 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 balanced attitude at a time according to one piece of adjustment information, or can be adjusted for a plurality of times according to a plurality of pieces of adjustment information, further, coarse adjustment can be performed during a plurality of times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, and the adjustment can be performed by the controller only according to the current adjustment information according to different conditions of the adjustment information.

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

In the technical scheme, the horn can also stretch and change the length, and an adjustment 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 attitude of the unmanned aerial vehicle is enhanced, and a better adjusting effect is achieved.

In any of the above 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 the control terminal of the unmanned aerial vehicle, namely the unmanned aerial vehicle sends the current gesture information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information, namely data processing is carried out by the control terminal, so that 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, the adjustment information is directly obtained through calculation, so that manual operation can be simplified, the problem of low accuracy in manual operation is avoided, and the posture adjustment efficiency can be improved.

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

In the technical scheme, the limited adjustment information is 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 quantity is reduced.

It can be understood that whether the calculation is performed by the control terminal or the unmanned aerial vehicle, the accurate adjustment information can be directly calculated, and one-time adjustment is realized; the unmanned aerial vehicle can be adjusted to a relatively stable gesture at first, so that the output of each power motor is relatively balanced, the adjustment effect is confirmed by combining the updated current gesture information, and after the gesture is optimized, the fine calculation is performed, so that the unmanned aerial vehicle is adjusted to a preset stable gesture, coarse adjustment is realized, fine adjustment is realized, the calculation load is reduced, and the adjustment efficiency is improved.

In any of the above solutions, preferably, the unmanned aerial vehicle further includes a communication device communicatively connected to the controller, and the communication device sends 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 technical solution, it is specifically defined that the adjustment information is fed back to the unmanned aerial vehicle by the control terminal. The method comprises the scheme that the control terminal calculates the adjustment information, and the control terminal acquires the adjustment information manually input by the user, at the moment, the control terminal can output the current gesture information and the prompt information in a voice broadcasting or text displaying mode when receiving the current gesture information, so that the user is prompted to manually operate and adjust the current gesture of the unmanned aerial vehicle, calculation of the adjustment information is not needed, calculation amount is reduced, software and hardware equipment with lower calculation capability can be configured for the control terminal, cost and selling price of products are reduced, and requirements of low-consumption users are met. It is conceivable that the control terminal may also have rough calculation capability to prompt the user for a reasonable adjustment range, improve adjustment efficiency, and achieve 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 solutions, preferably, the controller determines whether the unmanned aerial vehicle is in a preset stationary attitude during take-off and/or during flight of the unmanned aerial vehicle.

In the technical scheme, the moment for determining whether the unmanned aerial vehicle is in the preset balanced attitude is specifically limited to be in the take-off 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 every time, the attitude of the unmanned aerial vehicle is adjusted during take-off, the adjustment can be more timely, and the effect of improving the cruising ability is better. And in the flying process, the gravity center and the power point center of the unmanned aerial vehicle are possibly changed under the influence of airflow, and the gesture of the unmanned aerial vehicle is regulated and controlled at the moment, so that the power motor can keep the output balance in the flying process, and the cruising ability is further improved.

In any 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 adjusting information.

In the technical scheme, the unmanned aerial vehicle is further provided with the adjusting mechanism capable of adjusting the rotating angle of the horn, and the adjusting mechanism can be arranged at the root of the horn, and accordingly, the controller controls the action of the adjusting mechanism according to the adjusting information to adjust the rotating angle of the horn.

In any 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 power, the connecting mechanism is connected with the horn, the electric device firstly drives the connecting mechanism to move, and then the horn is driven to rotate, so that the adjustment of the rotating angle of the horn is realized. Optionally, the arm can be locked at any position to maintain the current posture, and at this time, the locking mechanism can be configured, and the connecting mechanism can also be prevented from moving when the electric device stops outputting power, so as to achieve locking.

In any of the above solutions, preferably, the connection mechanism includes at least one of: the device comprises a screw rod mechanism, a connecting rod mechanism, a worm and gear mechanism and a gear mechanism.

In this technical scheme, it is specifically defined that the connection mechanism can be at least one of the above four mechanisms, that is, can be used alone or in combination. The screw rod mechanism and the worm 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 aspects, preferably, the electric device includes at least one of: and a motor and a telescopic cylinder.

In the technical scheme, the electric device is specifically limited to be a motor or a telescopic cylinder, so that rotation driving and linear driving are respectively realized, and the electric device is matched with the connecting mechanism, so that rotation of the arm can be realized.

In any of the above 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 horn and the roll shaft in real time, and is helpful for confirming whether the horn rotates to the position to be reached, so that the horn can be intervened in time when the horn cannot rotate in place or rotates excessively, and the adjustment effect is ensured.

In any of the above 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 arm and the transverse roller is acquired in real time, 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, and when the gesture of the unmanned aerial vehicle is adjusted by the control terminal, the information synchronization can be ensured, and the adjustment effect is ensured.

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

In the technical scheme, the prompt information that the horn rotates to the expected angle is sent to the control terminal, so that the control terminal or a user can clearly know that the adjustment is finished, the adjustment is not needed 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 currently detected included angle information in real time, so that the control terminal or the user obtains sufficient information; the proposal can also be used alternatively with the proposal of prompting the current detected included angle information in real time by the controller so as to reduce the information transmission quantity.

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

In the technical scheme, the hardware equipment for detecting the included angle is specifically defined as the angle sensor, so that the included angle between the arm and the roll shaft can be accurately acquired, and the smooth progress of the gesture adjustment process is ensured.

In any of the above embodiments, preferably, the angle sensor includes at least one of: hall sensor, potentiometer.

In any of the foregoing 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 horn arms rotatably connected with the central body, an included angle between each horn 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 posture 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 the 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 gesture.

The control terminal of unmanned vehicles that this application provided, including communication device and controller, when communication device received the current gesture information that unmanned vehicles sent and the suggestion information of regulation contained angle, the controller obtained the adjustment information of contained angle to feed back to unmanned vehicles via communication device, can supply unmanned vehicles to adjust its current gesture according to adjustment information, finally make unmanned vehicles's focus and power motor's power point center be in same vertical line as far as possible, unmanned vehicles tend to steadily, and each power motor output reaches balance, helps 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 the horns connected at different positions of the central body can also rotate leftwards or rightwards when rotating forwards or backwards relative to the central body. Specifically, the horn at the left front side of the center body rotates rightward while rotating forward, the horn at the left rear side of the center body rotates leftward while rotating forward, the horn at the right front side of the center body rotates leftward while rotating forward, and the horn at the right rear side of the center body rotates rightward while rotating forward. This makes the horn in the in-process of rotation, and its contained angle with unmanned vehicles's roll axle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load on the unmanned aerial vehicle is large, the change in the centre of gravity of the unmanned aerial vehicle by the rotating horn is relatively small. Meanwhile, the power motors of the unmanned aerial vehicle are respectively arranged on the plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the center of the power point of the unmanned aerial vehicle is correspondingly changed. On the basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable posture by detecting current posture information such as stable, forward-leaning, backward-leaning, left-leaning and right-leaning, and if not, the unmanned aerial vehicle can send out prompt information for adjusting an included angle so as to prompt a control terminal to control the rotation of a horn of the unmanned aerial vehicle, change the included angle between the horn and a roll shaft, and simultaneously adjust the center of gravity and the center of a power point of the unmanned aerial vehicle, so that the unmanned aerial vehicle achieves the stable posture.

In addition, according to the control terminal of the unmanned aerial vehicle in the technical scheme provided by the application, the control terminal also has the following additional technical characteristics:

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

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

In the technical scheme, the adjustment information is specifically limited to be calculated by the controller, 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 performs calculation, but not by the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly 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.

It can be understood that the controller can directly calculate accurate adjustment information when calculating, so as to realize one-time adjustment in place; the unmanned aerial vehicle can be adjusted to a relatively stable gesture at first, so that the output of each power motor is relatively balanced, the adjustment effect is confirmed by combining the updated current gesture information, and after the gesture is optimized, the fine calculation is performed, so that the unmanned aerial vehicle is adjusted to a preset stable gesture, coarse adjustment is realized, fine adjustment is realized, the calculation load is reduced, and the adjustment efficiency is improved.

In any of the foregoing embodiments, preferably, the control terminal further includes an input device communicatively connected to the controller, the input device receiving 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 gesture information and the prompt information in a voice broadcasting or text displaying mode when receiving the current gesture information, so that the user is prompted to manually operate and adjust the current gesture of the unmanned aerial vehicle, calculation of the adjustment information is not needed, the calculated amount is reduced, software and hardware equipment with lower calculation capability can be configured for the control terminal, the cost and 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 rough calculation capability to prompt the user for a reasonable adjustment range, improve adjustment efficiency, and achieve balance between cost and adjustment efficiency. Optionally, the input device comprises at least one of: the keyboard comprises a joystick, a keyboard and a touch screen.

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

According to the technical scheme, the information of the included angle between the horn and the transverse rolling shaft, 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 confirmed, and the horn can be intervened in time when the horn does not rotate in place or rotates excessively, and the adjusting effect is ensured.

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

In the technical scheme, through the prompt information that the receiver arm rotates to the expected angle, the adjustment can be clearly known to be completed, the adjustment is not needed to be continued, the information synchronization is ensured, and the adjustment effect is ensured. Alternatively, the scheme can be combined with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to obtain sufficient information; the scheme can be used alternatively with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to reduce the information transfer quantity.

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

The gesture 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 when rotating forwards or backwards relative to the central body. Specifically, the horn at the left front side of the center body rotates rightward while rotating forward, the horn at the left rear side of the center body rotates leftward while rotating forward, the horn at the right front side of the center body rotates leftward while rotating forward, and the horn at the right rear side of the center body rotates rightward while rotating forward. This makes the horn in the in-process of rotation, and its contained angle with unmanned vehicles's roll axle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load on the unmanned aerial vehicle is large, the change in the centre of gravity of the unmanned aerial vehicle by the rotating horn is relatively small. Meanwhile, the power motors of the unmanned aerial vehicle are respectively arranged on the plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the center of the power point of the unmanned aerial vehicle is correspondingly changed. On the basis, the attitude adjustment method can determine whether the unmanned aerial vehicle is in a preset stable attitude or not by acquiring the current attitude information of the unmanned aerial vehicle, such as stable, forward-leaning, backward-leaning, left-leaning and right-leaning, if not, the attitude adjustment method can send out prompt information for adjusting an included angle so as to prompt the control arm to rotate correspondingly, change the included angle between the arm and the roll shaft, and simultaneously adjust the center of gravity and the center of power point of the unmanned aerial vehicle, finally enable the center of gravity of the unmanned aerial vehicle and the center of power point of the power motor to be positioned on the same vertical line as much as possible, the unmanned aerial vehicle tends to be stable, and the output of each power motor reaches balance, thereby being beneficial to improving the cruising ability of the unmanned aerial vehicle. 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 method for adjusting the attitude of the unmanned aerial vehicle in the technical scheme provided by the application, the method further has the following additional technical characteristics:

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

In the technical scheme, the unmanned aerial vehicle can send out adjustment information when the unmanned aerial vehicle is not in a preset stable posture, so that the horn can be directly controlled to rotate relative to the central body, and the included angle between the horn and the transverse rolling shaft can be changed.

In the technical scheme, the relation between the adjustment information and the current posture information is specifically limited, so that the adjustment information required for restoring the balanced posture can be obtained according to the current posture information, the adjustment time is shortened, the unmanned aerial vehicle can be quickly restored to the balanced posture, 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 solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: and according to the adjustment information, controlling the horn to rotate to a desired angle according to the rotation direction so as to adjust the current gesture of the unmanned aerial vehicle.

In the technical scheme, how to adjust the current gesture of the unmanned aerial vehicle according to the adjustment information is specifically limited, the adjustment information comprises the rotation 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 are expected to be achieved by the adjustment, the horns are controlled to rotate according to the rotation direction, meanwhile, the included angle between the horns 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 the balanced attitude at a time according to one piece of adjustment information, or can be adjusted for a plurality of times according to a plurality of pieces of adjustment information, further, coarse adjustment can be performed during a plurality of times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, and the adjustment is specifically determined according to different conditions of the adjustment information.

In the technical scheme, the adjustment information is specifically limited to be calculated by the control terminal of the unmanned aerial vehicle, namely the unmanned aerial vehicle sends the current gesture information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information, namely data processing is carried out by the control terminal, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly 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, the adjustment information is directly obtained through calculation, so that manual operation can be simplified, the problem of low accuracy in manual operation is avoided, and the posture adjustment efficiency can be improved.

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

In the technical scheme, the limited adjustment information is directly calculated by the unmanned aerial vehicle, and is specifically calculated by the airborne 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 quantity is reduced.

In any of the above solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: transmitting 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 of the above solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: during take-off and/or flight of the unmanned aerial vehicle, it is determined whether the unmanned aerial vehicle is in a preset stationary attitude.

In any 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 horn according to the adjusting information.

In the technical scheme, the unmanned aerial vehicle is further provided with the adjusting mechanism capable of adjusting the rotating angle of the horn, and the adjusting mechanism can be arranged at the root of the horn, and correspondingly, the adjusting mechanism is controlled to act according to the adjusting information, so that the rotating angle of the horn is adjusted.

In any of the above solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: and detecting the included angle between the horn and the roll shaft of the unmanned aerial vehicle in real time.

In the technical scheme, the attitude adjusting method further comprises the step of acquiring the included angle between the arm and the transverse roller in real time, so that whether the arm rotates to a position to be reached or not can be confirmed, and the arm can be intervened in time when the arm cannot rotate in place or rotates excessively, and the adjusting effect is ensured.

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

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

In any of the above solutions, preferably, the current attitude information is detected by 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 the sensor borne by the unmanned aerial vehicle, so that the current attitude information of the unmanned aerial vehicle can be accurately adjusted, the current attitude of the unmanned aerial vehicle can be adjusted in time, the endurance capacity of the unmanned aerial vehicle can be improved, and the adaptive load range of the unmanned aerial vehicle can be widened.

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

According to a fourth aspect of the present application, there is provided a method for adjusting the attitude of a control terminal of an unmanned aerial vehicle, which is applicable to a control terminal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body, and a plurality of arms rotatably connected with 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 the attitude of the control terminal of the unmanned aerial vehicle includes: receiving current posture information of a central body sent by an unmanned aerial vehicle and prompting information for adjusting an included angle; acquiring adjustment information of an included angle; and feeding the adjustment information back to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to adjust the current gesture.

According to the gesture adjusting method for the control terminal of the unmanned aerial vehicle, when the current gesture 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 gesture according to the adjustment information, the gravity center of the unmanned aerial vehicle and the power point center of the power motor are finally 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 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 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 gesture adjusting method of the control terminal of the unmanned aerial vehicle in the technical scheme provided by the application, the method further has the following additional technical characteristics:

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

In the technical scheme, the adjustment information is specifically limited to be calculated according to the current posture information, 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 performs calculation, but not by the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly 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.

It can be understood that an accurate adjustment information can be directly calculated during calculation, so that one-time adjustment is realized; the unmanned aerial vehicle can be adjusted to a relatively stable gesture at first, so that the output of each power motor is relatively balanced, the adjustment effect is confirmed by combining the updated current gesture information, and after the gesture is optimized, the fine calculation is performed, so that the unmanned aerial vehicle is adjusted to a preset stable gesture, coarse adjustment is realized, fine adjustment is realized, the calculation load is reduced, and the adjustment efficiency is improved.

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

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

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

In any of the above solutions, preferably, the method for adjusting the attitude 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, which when executed by a processor, implements the steps of the attitude adjustment method of an unmanned aerial vehicle according to any one of the third aspect or the steps of the attitude adjustment method of a control terminal of an unmanned aerial vehicle according to any one of the fourth aspect, so that all the advantages of the attitude adjustment method of an unmanned aerial vehicle or the attitude adjustment method of a control terminal of an unmanned aerial vehicle are provided, which are not described herein.

Additional aspects and advantages of the present application will become apparent in the following description, or may be learned by practice of the present application.

Drawings

The foregoing 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, wherein:

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

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

FIG. 3 illustrates a schematic flow chart of a method of attitude adjustment of an unmanned aerial vehicle according to one embodiment of the present application;

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

The correspondence between the reference numerals and the component names in fig. 1 is:

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

Detailed Description

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

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 otherwise than as described herein, and thus the scope of the present application is not limited by the specific embodiments disclosed below.

As shown in fig. 1, the embodiment of the first aspect of the present application provides an unmanned aerial vehicle, including 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 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 left and right, i.e., 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 gesture information to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable posture according to the current posture information; and when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

In the unmanned aerial vehicle provided by the embodiment of the application, each horn 14 is rotatably connected with the central body 12, the horn 14 can rotate forwards or backwards relative to the central body 12, and the horns 14 connected at different positions of the central body 12 also rotate leftwards or rightwards when rotating forwards or backwards relative to the central body 12. Specifically, as shown in fig. 1, the first arm 14a located at the left front side of the center body turns rightward while turning forward, the second arm 14b located at the left rear side of the center body turns leftward while turning forward, the third arm 14c located at the right front side of the center body turns leftward while turning forward, and the fourth arm 14d located at the right rear side of the center body turns rightward while turning forward. This causes the horn 14 to change its angle with the roll axis of the unmanned aerial vehicle during rotation, resulting in a change in the center of gravity of the unmanned aerial vehicle. It will be appreciated that when the load on the unmanned aerial vehicle is large, the turning horn 14 changes the center of gravity of the unmanned aerial vehicle relatively little. Meanwhile, a plurality of power motors 16 of the unmanned aerial vehicle are respectively arranged on the plurality of horn 14 and used for driving the propeller to rotate (a propeller disc 18 shown in fig. 1 is a virtual disc-shaped structure formed by rotating the propeller), so as to provide flying power, the action points of the power motors 16 can be changed along with the rotation of the horn 14, and the center of the power point of the unmanned aerial vehicle is correspondingly changed. On the basis, the current attitude information of the unmanned aerial vehicle, such as stability, forward tilting, backward tilting, left tilting and right tilting, can be acquired by arranging the first sensor. 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 suggestion information of adjusting the contained angle to suggestion control horn 14 rotates correspondingly, changes the contained angle between horn 14 and the roll axle, thereby adjusts unmanned vehicles's focus and power point center simultaneously, finally makes unmanned vehicles's focus and power point center of power motor 16 be in same vertical line as far as possible, unmanned vehicles tend to steadily, and each power motor 16 output reaches equilibrium, helps 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 a preset stable attitude.

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

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

In this embodiment, the association between the adjustment information and the current posture information is specifically defined, so that the controller can obtain the adjustment information required for restoring the balanced posture according to the current posture information, thereby releasing the vector, shortening the adjustment time consumption, enabling the unmanned aerial vehicle to quickly restore to the balanced posture, further improving the endurance of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to adapt to more loads.

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

In this embodiment, 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 included angle between each arm 14 and the traverse roller that is expected to be achieved by the adjustment, and 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 is added to the adjustment information, for example, may be represented by forward rotation and backward rotation, so as to determine an accurate target position of the arms 14, and control accuracy may be ensured. In addition, the desired angle may also represent the angle through which each arm 14 rotates, which cooperates with the direction of rotation, to achieve the same control effect.

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

In this embodiment, it is specifically defined how the controller adjusts the current attitude of the unmanned aerial vehicle according to the adjustment information, where the adjustment information includes the rotation direction and the desired angle of each arm 14, and when the desired angle represents the angle of the angle between each arm 14 and the transverse roller that the adjustment is expected to achieve at this time, the controller first controls each arm 14 to rotate according to the rotation direction, and at the same time continues to detect the angle between the arm 14 and the transverse roller, and when the angle reaches the desired 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 balanced attitude at a time according to one piece of adjustment information, or can be adjusted for a plurality of times according to a plurality of pieces of adjustment information, further, coarse adjustment can be performed during a plurality of times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, and the adjustment can be performed by the controller only according to the current adjustment information according to different conditions of the adjustment information.

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

In this embodiment, the horn 14 is also telescopically variable in length, adding one 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 simultaneously, so that the capability of adjusting the attitude 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 this embodiment, the adjustment information is specifically defined to be calculated by the control terminal of the unmanned aerial vehicle, that is, the unmanned aerial vehicle sends the current gesture information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information, that is, the data processing is performed by the control terminal, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly, a lighter-weight controller can be configured for the unmanned aerial vehicle, which is beneficial to reducing the weight of the unmanned aerial vehicle and improving the cruising ability. In addition, the adjustment information is directly obtained through calculation, so that manual operation can be simplified, the problem of low accuracy in manual operation is avoided, and the posture adjustment efficiency can be improved.

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

In the embodiment, the limited adjustment information is directly calculated by the controller of the unmanned aerial vehicle, so that data does 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 whether the calculation is performed by the control terminal or the unmanned aerial vehicle, the accurate adjustment information can be directly calculated, and one-time adjustment is realized; the rough calculation can be performed first to quickly adjust the unmanned aerial vehicle to a relatively stable posture, so that the output of each power motor 16 is relatively balanced, the adjustment effect is confirmed by combining the updated current posture information, and when the posture is optimized, the fine calculation is performed again to adjust the unmanned aerial vehicle to a preset stable posture, so that coarse adjustment is realized, fine adjustment is realized, the calculation load is 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 current pose 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 method comprises the scheme that the control terminal calculates the adjustment information, and the control terminal acquires the adjustment information manually input by the user, at the moment, the control terminal can output the current gesture information and the prompt information in a voice broadcasting or text displaying mode when receiving the current gesture information, so that the user is prompted to manually operate and adjust the current gesture of the unmanned aerial vehicle, calculation of the adjustment information is not needed, calculation amount is reduced, software and hardware equipment with lower calculation capability can be configured for the control terminal, cost and selling price of products are reduced, and requirements of low-consumption users are met. It is conceivable that the control terminal may also have rough calculation capability to prompt the user for a reasonable adjustment range, improve adjustment efficiency, and achieve 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 stationary attitude during take-off and/or during flight of the unmanned aerial vehicle.

In this embodiment, it is specifically defined that the timing for determining whether the unmanned aerial vehicle is in the preset balanced attitude is in the take-off process and/or in the flight process, and when the load carried by the unmanned aerial vehicle changes once, the center of gravity and the center of the power point will shift, and by adjusting the attitude during take-off, the adjustment can be more timely, and the effect of improving the cruising ability is better. Thereafter, during the flight, the center of gravity and the center of the power point of the unmanned aerial vehicle may also change under the influence of the airflow, and at this time, the attitude of the unmanned aerial vehicle is regulated and controlled, so that the power motor 16 can maintain the balance of the output force during the flight, which is helpful for further improving the endurance.

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

In this embodiment, the unmanned aerial vehicle is further configured 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 action of the adjusting mechanism 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, through which the electric device rotates the horn 14.

In this embodiment, the adjusting mechanism is specifically defined to include an electric device for providing adjusting power and a connection mechanism for transmitting power, where the connection mechanism is connected to the horn 14, and the electric device drives the connection mechanism to move first, so as to drive the horn 14 to rotate, thereby realizing 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 connection 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 device comprises a screw rod mechanism, a connecting rod mechanism, a worm and gear mechanism and a gear mechanism.

In this embodiment, it is specifically defined that the connection mechanism may be at least one of the four mechanisms described above, i.e., may be used alone or in combination. The screw rod mechanism and the worm 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: and a motor and a telescopic cylinder.

In this embodiment, it is specifically defined that the electric device may be a motor or a telescopic cylinder, and the rotation driving and the linear driving are respectively implemented, and the electric device is matched with the connection mechanism, so that the rotation of the arm 14 can be implemented.

Several specific embodiments of the adjustment mechanism are described below:

first embodiment:

the electric device is a motor, and the connecting mechanism comprises a worm and gear mechanism and a connecting rod mechanism. The linkage mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is fixed on the central body 12, one end of the second connecting rod is fixed on the rotation center point of the horn 14, and 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 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 horn 14. When the motor outputs a rotating moment, the first connecting rod rotates around the fixed point of the first connecting rod under the pushing of the worm, and the second connecting rod is pushed to rotate around the fixed point of the second connecting rod through the third connecting rod, so that the horn 14 is driven to rotate. It can be understood that the second link and the arm 14 may be in an integral structure, or the arm 14 itself may be used as the second link, and only the third link may be rotationally connected to the arm 14.

Specific embodiment II:

the embodiment differs from the first embodiment in that the worm gear mechanism is replaced with a screw mechanism, and other structures are identical except for this, and are not described in detail herein.

Third embodiment:

the electric device is a motor, and the connecting mechanism is a gear mechanism. The gear mechanism comprises two gears 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 a rotation axis of the other gear coincides with a rotation axis of the horn 14, so that the horn 14 can be driven to rotate when the motor outputs rotation moment.

Fourth embodiment:

the electric device is a telescopic cylinder, and the connecting mechanism is a connecting rod mechanism. The linkage mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is fixed on the central body 12, one end of the second connecting rod is fixed on the rotation center point of the arm 14, 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, an output shaft of the telescopic cylinder is connected with the first connecting rod, and the second connecting rod is connected with the arm 14. When the telescopic cylinder outputs power, the first connecting rod rotates around the fixed point of the telescopic cylinder under the pushing of the output shaft, and the second connecting rod is pushed to rotate around the fixed point of the telescopic cylinder through the third connecting rod, so that the horn 14 is driven to rotate. It can be understood that the second link and the arm 14 may be in an integral structure, or the arm 14 itself may be used as the second link, and only the third link may be rotationally connected to the arm 14.

Fifth embodiment:

the electric device is a telescopic cylinder, and the connecting rod mechanism is a worm and gear mechanism. An output shaft of the telescopic cylinder is connected with a worm, a rotating shaft of a worm wheel meshed with the worm is connected to the horn 14, and a rotating axis of the worm wheel is overlapped with a rotating axis of the 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 arm 14 synchronously rotates along with the worm wheel.

Specific embodiment six:

the embodiment is different from the fifth embodiment in that the worm gear mechanism is replaced by a screw mechanism, and other structures are identical except for the fact that the worm gear mechanism is replaced by a screw mechanism, and details are not repeated here.

Specific embodiment seven:

the electric device is a telescopic cylinder, and the connecting rod mechanism comprises a worm gear mechanism and a gear mechanism. The gear mechanism comprises two gears meshed with each other, one gear is meshed with the worm gear, the other gear is connected to the horn 14, and the rotation axis of the other gear coincides with the rotation axis of the 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 horn 14 rotates synchronously with the gear connected with the worm wheel and the gear mechanism.

Specific embodiment eight:

The difference between this embodiment and the seventh embodiment is that the worm gear mechanism is replaced with a screw mechanism, and other structures are identical except for this, and are not described here again.

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

In this embodiment, the controller can also acquire the angle between the arm 14 and the transverse roller in real time, which is helpful for confirming whether the arm 14 rotates to the desired position, so as to intervene in time when the arm is not rotating in place or rotates excessively, and ensure the adjustment effect.

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

In this embodiment, after the included angle between the horn 14 and the transverse roller is obtained in real time, information prompting the included angle is sent correspondingly, 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, and when the gesture of the unmanned aerial vehicle is adjusted by using the control terminal, the information synchronization can be ensured, and the adjustment effect is ensured.

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

In this embodiment, by sending a prompt message that the horn 14 rotates to a desired angle, 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, and does not need to continue to adjust, thereby ensuring information synchronization and ensuring adjustment effect. Optionally, the scheme can be combined with a scheme that the controller prompts the currently detected included angle information in real time, so that the control terminal or the user obtains sufficient information; the proposal can also be used alternatively with the proposal of prompting the current detected included angle information in real time by the controller so as to reduce the information transmission quantity.

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

In this embodiment, the hardware device specifically defining the detection angle is an angle sensor, so that the angle between the arm 14 and the roll axis can be accurately obtained, and smooth progress of the posture adjustment process is ensured.

In some embodiments, the angle sensor includes at least one of: hall sensor, potentiometer.

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

Embodiments of the second aspect of the present application provide a control terminal for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body, and a plurality of horn arms rotatably connected with the central body, and an included angle between the horn arms and a roll shaft 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, where the communication device 202 is configured to receive current gesture information of a central body and prompt information for adjusting an included angle, which are sent by an unmanned aerial vehicle; the controller 204 is in communication connection with the communication device 202, the controller 204 obtains the adjustment information of the included angle and sends the adjustment information to the communication device 202, and the communication device 202 feeds back the adjustment information to the unmanned aerial vehicle so that the unmanned aerial vehicle can adjust the current gesture.

The control terminal 2 of unmanned vehicles that this application provided, including communication device 202 and controller 204, when communication device 202 received the current gesture information that unmanned vehicles sent and the suggestion information of regulation contained angle, controller 204 obtained 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 motor's power point center be in same vertical line as far as possible, unmanned vehicles tend to steadily, each power motor output 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 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 horn of the unmanned aerial vehicle controlled by the control terminal 2 is rotatably connected with the central body, the horn can rotate forwards or backwards relative to the central body, and the horns connected at different positions of the central body can also rotate leftwards or rightwards when rotating forwards or backwards relative to the central body. Specifically, the horn at the left front side of the center body rotates rightward while rotating forward, the horn at the left rear side of the center body rotates leftward while rotating forward, the horn at the right front side of the center body rotates leftward while rotating forward, and the horn at the right rear side of the center body rotates rightward while rotating forward. This makes the horn in the in-process of rotation, and its contained angle with unmanned vehicles's roll axle changes, leads to unmanned vehicles's focus to change. It will be appreciated that when the load on the unmanned aerial vehicle is large, the change in the centre of gravity of the unmanned aerial vehicle by the rotating horn is relatively small. Meanwhile, the power motors of the unmanned aerial vehicle are respectively arranged on the plurality of arms, so that the action points of the power motors are changed along with the rotation of the arms, and the center of the power point of the unmanned aerial vehicle is correspondingly changed. On the basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable posture by detecting current posture information such as stable, forward-leaning, backward-leaning, left-leaning and right-leaning, and if not, the unmanned aerial vehicle can send out prompt information for adjusting an included angle so as to prompt the control terminal 2 to control the horn of the unmanned aerial vehicle to rotate, change the included angle between the horn and the roll shaft, and simultaneously adjust the center of gravity and the center of a power point of the unmanned aerial vehicle, so that the unmanned aerial vehicle achieves the stable posture.

In this embodiment, the association of the adjustment information with the current posture information is specifically defined, so that the controller 204 may obtain the adjustment information required for restoring the balanced posture according to the current posture information, thereby reducing adjustment time consumption, enabling the unmanned aerial vehicle to quickly restore to the balanced posture, further improving the endurance of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to adapt to more loads.

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

In this embodiment, the adjustment information is specifically defined to include 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 roller that is expected to be achieved by the adjustment, and when the desired angle is less than 90 degrees, the corresponding arm position includes two positions, that is, a position at the front side of the center body and a position at the rear side of the center body, where the rotation direction is added to the adjustment information, for example, the rotation direction may be represented by forward rotation and backward rotation, so as to determine an accurate target position of the arm, and ensure control accuracy. In addition, the desired angle may also represent the angle through which each arm rotates, and the same control effect may be achieved by matching the rotation direction.

In some embodiments, the adjustment information further includes a preset telescoping length for each horn.

In this embodiment, the horn is also telescopically variable in length, adding one 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 attitude 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, the adjustment information is specifically defined and calculated by the controller 204, so that automatic adjustment can be realized, manual operation is simplified, the problem of low accuracy during manual operation is avoided, and the posture adjustment efficiency can be improved. In addition, the control terminal 2 performs calculation, but not by the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly 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.

It can be appreciated that the controller 204 can directly calculate an accurate adjustment information when calculating, so as to realize one-time adjustment in place; the unmanned aerial vehicle can be adjusted to a relatively stable gesture at first, so that the output of each power motor is relatively balanced, the adjustment effect is confirmed by combining the updated current gesture information, and after the gesture is optimized, the fine calculation is performed, so that the unmanned aerial vehicle is adjusted to a preset stable gesture, coarse adjustment is realized, fine adjustment is realized, the calculation load is reduced, and the adjustment efficiency is improved.

In some embodiments, the control terminal 2 further includes an input device in communicative connection with 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, where the control terminal 2 may output the current gesture information and the prompt information in a manner of broadcasting voice or displaying text when receiving the current gesture information, so as to prompt the user to manually operate and adjust the current gesture of the unmanned aerial vehicle, and not to perform calculation of the adjustment information, thereby reducing the calculation amount, configuring software and hardware devices with lower calculation capability for the control terminal 2, reducing the cost and selling price of the product, and meeting the demands of low-consumption users. It is conceivable that the control terminal 2 may also have rough calculation capability to prompt the user for a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the input device comprises at least one of: the keyboard comprises a joystick, a keyboard and a touch screen.

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

In the embodiment, by receiving the information of the included angle between the horn and the transverse roller, which is sent by the unmanned aerial vehicle in real time, the unmanned aerial vehicle is helpful to confirm whether the horn rotates to the position to be reached, so that the unmanned aerial vehicle can intervene in time 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 notification that the horn of the unmanned aerial vehicle is rotating to a desired angle.

In the embodiment, through the prompt information that the receiver arm rotates to the expected angle, the completion of the adjustment can be clearly known, the adjustment is not needed to be continued, the information synchronization is ensured, and the adjustment effect is ensured. Alternatively, the scheme can be combined with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to obtain sufficient information; the scheme can be used alternatively with a scheme for receiving the included angle information sent by the unmanned aerial vehicle in real time so as to reduce the information transfer quantity.

An embodiment of a third aspect of the present application provides a method for adjusting a posture of 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 with the central body, and an included angle between the arms and a roll shaft of the unmanned aerial vehicle can be changed.

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

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

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

S104, determining whether the unmanned aerial vehicle is in a preset stable posture according to the current posture information;

s106, when the unmanned aerial vehicle is not in the preset stable posture, sending out prompt information for adjusting the included angle.

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

In this embodiment, the adjustment information may also be sent when the unmanned aerial vehicle is not in the preset stable attitude, so as to directly control the rotation of the horn relative to the central body, and change the included angle between the horn and the transverse roller.

In this embodiment, the adjustment information is specifically defined to be associated with the current posture information, so that the adjustment information required for restoring the balanced posture can be obtained according to the current posture information, thereby reducing adjustment time consumption, enabling the unmanned aerial vehicle to quickly restore to the balanced posture, further improving the endurance of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to adapt to more loads.

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

In this embodiment, it is specifically defined how to adjust the current attitude of the unmanned aerial vehicle according to adjustment information, where the adjustment information includes a rotation direction and an expected angle of each arm, and when the expected angle represents an angle of an included angle between each arm and the transverse roller that is expected to be achieved by this adjustment, the arms are first controlled to rotate according to the rotation direction, and at the same time, the included angle between the arms 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 the balanced attitude at a time according to one piece of adjustment information, or can be adjusted for a plurality of times according to a plurality of pieces of adjustment information, further, coarse adjustment can be performed during a plurality of times of adjustment, fine adjustment can be performed according to the result of the coarse adjustment, and the adjustment is specifically determined according to different conditions of the adjustment information.

In this embodiment, the adjustment information is specifically defined to be calculated by the control terminal of the unmanned aerial vehicle, that is, the unmanned aerial vehicle sends the current gesture information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information, that is, the data processing is performed by the control terminal, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly, lighter weight hardware equipment can be configured for the unmanned aerial vehicle, which is beneficial to reducing the weight of the unmanned aerial vehicle and improving the endurance capability. In addition, the adjustment information is directly obtained through calculation, so that manual operation can be simplified, the problem of low accuracy in manual operation is avoided, and the 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 limited adjustment information is directly calculated by the unmanned aerial vehicle, and particularly calculated by the onboard 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.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further comprises: transmitting 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 comprises: during take-off and/or flight of the unmanned aerial vehicle, it is determined whether the unmanned aerial vehicle is in a preset stationary attitude.

In this embodiment, it is specifically defined that the timing for determining whether the unmanned aerial vehicle is in the preset balanced attitude is in the take-off process and/or in the flight process, and when the load carried by the unmanned aerial vehicle changes once, the center of gravity and the center of the power point will shift, and by adjusting the attitude during take-off, the adjustment can be more timely, and the effect of improving the cruising ability is better. And in the flying process, the gravity center and the power point center of the unmanned aerial vehicle are possibly changed under the influence of airflow, and the gesture of the unmanned aerial vehicle is regulated and controlled at the moment, so that the power motor can keep the output balance in the flying process, and the cruising ability is further improved.

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

In this embodiment, the unmanned aerial vehicle is further configured 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, and accordingly, the specific scheme for controlling the rotation of the horn is to control the action of the adjusting mechanism according to the adjusting information, so that the adjustment of the rotation angle of the horn is realized.

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

In this embodiment, the adjusting mechanism is specifically defined to include an electric device for providing adjusting power and a connection mechanism for transmitting power, where the connection mechanism is connected to the horn, and the electric device drives the connection mechanism to move first, so as to drive the horn to rotate, thereby realizing adjustment of the rotation angle of the horn. Optionally, the arm can be locked at any position to maintain the current posture, and at this time, the locking mechanism can be configured, and the connecting mechanism can also be prevented from moving when the electric device stops outputting power, so as to achieve locking.

In this embodiment, it is specifically defined that the electric device may be a motor or a telescopic cylinder, and the rotation driving and the linear driving are respectively implemented, and the electric device is matched with the connection mechanism, so that the rotation of the arm can be implemented.

In some embodiments, the attitude adjustment method of the unmanned aerial vehicle further comprises: and detecting the included angle between the horn and the roll shaft of the unmanned aerial vehicle in real time.

In this embodiment, the attitude adjustment method further includes acquiring, in real time, an included angle between the arm and the transverse roller, so as to help confirm whether the arm rotates to a position to be reached, so as to intervene in time when the arm does not rotate in place or rotates excessively, and ensure an adjustment effect.

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

In this embodiment, after the included angle between the arm and the transverse roller is obtained in real time, information prompting the included angle is sent correspondingly, 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, and when the gesture of the unmanned aerial vehicle is adjusted by the control terminal, the information synchronization can be ensured, and the adjustment effect is ensured.

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

In the embodiment, the prompt information that the horn rotates to the expected angle is sent to the control terminal, so that the control terminal or the user can clearly know that the adjustment is finished, the adjustment is not needed 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 currently detected included angle information in real time, so that the control terminal or the user obtains sufficient information; the proposal can also be used alternatively with the proposal of prompting the current detected included angle information in real time by the controller so as to reduce the information transmission quantity.

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

In the embodiment, the hardware device for detecting the included angle is specifically defined as an angle sensor, so that the included angle between the arm and the roll shaft can be accurately obtained, and smooth progress of the gesture adjustment process is ensured.

In some embodiments, the current pose information is detected by sensors carried by the unmanned aerial vehicle.

In the embodiment, the hardware device for detecting the current gesture information is specifically defined to be a sensor borne by the unmanned aerial vehicle, so that the current gesture information of the unmanned aerial vehicle can be accurately adjusted, the current gesture of the unmanned aerial vehicle can be adjusted in time, the endurance capacity of the unmanned aerial vehicle can be improved, and the adaptive load range of the unmanned aerial vehicle can be widened.

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

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

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

s202, receiving current posture information of a central body sent by an unmanned aerial vehicle and prompting information for adjusting an included angle;

S204, acquiring adjustment information of an included angle;

s206, feeding back the adjustment information to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to adjust the current gesture.

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

In the embodiment, the adjustment information is specifically defined to be calculated according to the current posture information, 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 performs calculation, but not by the unmanned aerial vehicle, so that the calculation load of the unmanned aerial vehicle can be reduced, and correspondingly 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 some embodiments, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: input adjustment information is received.

In this embodiment, the gesture adjustment method further includes receiving adjustment information manually input by the user, where the control terminal may output the current gesture information and the prompt information in a manner of broadcasting voice or displaying text when receiving the current gesture information, so as to prompt the user to manually operate to adjust the current gesture of the unmanned aerial vehicle, and not to perform 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 selling price of the product, and meeting the demands of low-consumption users. It is conceivable that the control terminal may also have rough calculation capability to prompt the user for a reasonable adjustment range, improve adjustment efficiency, and achieve balance between cost and adjustment efficiency. Optionally, the control terminal is configured with a corresponding input device for a user to input adjustment information, and the input device includes at least one of the following: the keyboard comprises a joystick, a keyboard and a touch screen.

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

In some embodiments, the method for adjusting the attitude 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.

Embodiments of the fifth aspect of the present application provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method for adjusting the attitude of an unmanned aerial vehicle according to any one of the embodiments of the third aspect or the steps of the method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to any one of the embodiments of the fourth aspect, so that all the advantages of the method for adjusting the attitude of an unmanned aerial vehicle or the method for adjusting the attitude of a control terminal of an unmanned aerial vehicle are provided, which are not described herein.

In particular, a computer-readable storage medium may include any medium that can store or transfer information. Examples of a computer readable storage medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an Erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, a fiber optic medium, a Radio Frequency (RF) link, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

In the present application, the term "plurality" means two or more, unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean 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 present application. In this specification, schematic representations of the above terms 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 foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle, comprising:

a central body;

the horn is rotatably connected with the central body, and the included angle between the horn and the roll shaft of the unmanned aerial vehicle can be changed;

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

a controller in communication with the first sensor,

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

the controller acquires an included angle between the horn and the roll shaft of the unmanned aerial vehicle in real time.

2. The unmanned aerial vehicle of claim 1, wherein,

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

3. The unmanned aerial vehicle of claim 2, wherein,

the adjustment information is associated with the current pose information.

4. The unmanned aerial vehicle of claim 2, wherein,

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

5. The unmanned aerial vehicle of claim 4, wherein,

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 gesture of the unmanned aerial vehicle.

6. The unmanned aerial vehicle of claim 4, wherein,

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

7. The unmanned aerial vehicle of claim 2, wherein,

the adjustment information is calculated by 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, wherein,

The unmanned aerial vehicle further comprises a communication device in communication connection with the controller, and the communication device sends the current gesture 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, wherein,

the controller determines whether the unmanned aerial vehicle is in a preset stable posture during take-off and/or flight of the unmanned aerial vehicle.

10. The unmanned aerial vehicle of claim 2, wherein,

the unmanned aerial vehicle further comprises an adjusting mechanism, wherein 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, wherein,

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

12. The unmanned aerial vehicle of claim 11, wherein,

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

13. The unmanned aerial vehicle of claim 11, wherein,

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

14. The unmanned aerial vehicle of claim 13, wherein,

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

15. The unmanned aerial vehicle of claim 13, wherein,

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

16. The unmanned aerial vehicle of claim 13, wherein,

the included angle is detected by an angle sensor.

17. The unmanned aerial vehicle of claim 16, wherein,

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

18. The unmanned aerial vehicle of claim 1, wherein,

the first sensor includes at least one of: IMU, gyroscope, vision sensor.

19. A control terminal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a central body and a plurality of horn that are rotatably connected with the central body, the horn with the contained angle between the roll axle of unmanned aerial vehicle can change, the control terminal includes:

The communication device is used for receiving the current posture 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, acquires the 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 gesture;

20. The unmanned aerial vehicle control terminal of claim 19, wherein,

the adjustment information is associated with the current pose information.

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

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

23. The unmanned aerial vehicle control terminal of claim 19, wherein,

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

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

24. The unmanned aerial vehicle control terminal of claim 19, wherein,

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

25. The unmanned aerial vehicle control terminal of claim 19, wherein,

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

26. The unmanned aerial vehicle attitude adjustment method is applicable to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a central body and a plurality of horn arms rotatably connected with the central body, an included angle between each horn arm and a roll shaft of the unmanned aerial vehicle can be changed, and the unmanned aerial vehicle attitude adjustment method comprises the following steps:

acquiring current attitude information of the unmanned aerial vehicle;

determining whether the unmanned aerial vehicle is in a preset stable posture according to the current posture information;

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 attitude adjustment method further comprises the following steps:

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

27. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein said method for adjusting the attitude of an unmanned aerial vehicle further comprises:

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

28. The method for adjusting the attitude of an unmanned aerial vehicle of claim 27, wherein,

the adjustment information is associated with the current pose information.

29. The method for adjusting the attitude of an unmanned aerial vehicle of claim 27, wherein,

30. The attitude adjustment method of an unmanned aerial vehicle of claim 29, 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 gesture of the unmanned aerial vehicle.

31. The method for adjusting the attitude of an unmanned aerial vehicle of claim 29, wherein,

32. The method for adjusting the attitude of an unmanned aerial vehicle of claim 27, wherein,

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

33. The attitude adjustment method of an unmanned aerial vehicle of claim 27, wherein the attitude adjustment method of an unmanned aerial vehicle further comprises:

transmitting the current gesture information to a control terminal of the unmanned aerial vehicle;

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

34. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein said method for adjusting the attitude of an unmanned aerial vehicle further comprises:

and determining whether the unmanned aerial vehicle is in a preset stable posture or not in the take-off process and/or the flight process of the unmanned aerial vehicle.

35. The attitude adjustment method of an unmanned aerial vehicle of claim 27, wherein the unmanned aerial vehicle further comprises an adjustment mechanism for adjusting the angle of rotation of the horn, the attitude adjustment method of an unmanned aerial vehicle further comprising:

And controlling the adjusting mechanism to adjust the rotating angle of the horn according to the adjusting information.

36. The method for adjusting the attitude of an unmanned aerial vehicle of claim 35, wherein,

37. The method for adjusting the attitude of an unmanned aerial vehicle of claim 36, wherein,

38. The method for adjusting the attitude of an unmanned aerial vehicle of claim 36, wherein,

39. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein said method for adjusting the attitude of an unmanned aerial vehicle further comprises:

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

40. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein said method for adjusting the attitude of an unmanned aerial vehicle further comprises:

when the horn rotates to a desired angle, corresponding prompt information is sent out.

41. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein,

the included angle is detected by an angle sensor.

42. The unmanned aerial vehicle attitude adjustment method of claim 41, wherein,

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

43. The method for adjusting the attitude of an unmanned aerial vehicle of claim 26, wherein,

the current gesture information is detected by a sensor borne by the unmanned aerial vehicle.

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

the sensor includes at least one of: IMU, gyroscope, vision sensor.

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

receiving current posture information of the central body sent by the unmanned aerial vehicle and prompting information for adjusting the included angle;

Acquiring adjustment information of the included angle;

feeding the adjustment information back to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to adjust the current gesture;

the attitude adjustment method of the control terminal of the unmanned aerial vehicle further comprises the following steps:

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

46. The attitude adjustment method for a control terminal of an unmanned aerial vehicle of claim 45, wherein the adjustment information is associated with the current attitude information.

47. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 46, wherein the adjustment information includes a rotational direction and a desired angle of each of the horn.

48. The attitude adjustment method of a control terminal of an unmanned aerial vehicle of claim 47, wherein said adjustment information further comprises a preset telescoping length of each of said horn.

49. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 45, wherein the attitude adjustment method of the control terminal of the unmanned aerial vehicle further comprises:

calculating the adjustment information according to the current posture information;

or, receiving the inputted adjustment information.

50. The attitude adjustment method of a control terminal of an unmanned aerial vehicle according to claim 45, wherein the attitude adjustment method of the control terminal of the unmanned aerial vehicle further comprises:

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

51. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method for adjusting the attitude of an unmanned aerial vehicle according to any one of claims 26 to 44, or the steps of the method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to any one of claims 45 to 50.