CN112099520A - Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium - Google Patents
Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium Download PDFInfo
- Publication number
- CN112099520A CN112099520A CN202011026482.XA CN202011026482A CN112099520A CN 112099520 A CN112099520 A CN 112099520A CN 202011026482 A CN202011026482 A CN 202011026482A CN 112099520 A CN112099520 A CN 112099520A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- mode
- composite
- wing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000002131 composite material Substances 0.000 claims abstract description 144
- 150000001875 compounds Chemical class 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned aerial vehicle landing control method and device, an unmanned aerial vehicle and a storage medium, and relates to the field of flight control of unmanned aerial vehicles. The method is applied to a composite wing drone, the composite wing drone comprising a fixed wing and a rotor, the method comprising: judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; if so, setting the composite wing unmanned aerial vehicle to be in a horizontal and vertical mode; when the forward speed of the composite wing unmanned aerial vehicle is less than or equal to the hovering speed threshold value, setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode; judging whether the current hovering time is larger than or equal to the terminal hovering time; if so, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode; and setting the composite wing unmanned aerial vehicle from a terminal descending mode to a to-be-flown mode under the condition that the composite wing unmanned aerial vehicle meets the preset to-be-flown condition. Through setting up different judgement threshold values, divide into the multistage mode to unmanned aerial vehicle's descending action and control, guarantee that unmanned aerial vehicle can fall appointed landing point safely.
Description
Technical Field
The invention relates to the field of flight control of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing control method and device, an unmanned aerial vehicle and a storage medium.
Background
With the development of science and technology and the progress of society, the application of unmanned aerial vehicles is increasingly wide, such as aerial reconnaissance, monitoring, communication, anti-diving, electronic interference and the like.
A drone is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The unmanned aerial vehicle can land automatically in the same way as a common aircraft in the landing process, and can also be recovered by a parachute or a barrier net through remote control.
Along with the demand increase of using the scene, compound wing unmanned aerial vehicle comes with fortune, and compound wing unmanned aerial vehicle is a novel unmanned aerial vehicle that combines fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle, and it can have fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle's advantage concurrently, but the landing control of compound wing also becomes more complicated, and traditional fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle's landing control mode no longer is applicable to compound wing unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle landing control method, an unmanned aerial vehicle landing control device, an unmanned aerial vehicle and a storage medium, wherein the unmanned aerial vehicle landing control method, the unmanned aerial vehicle landing control device, the unmanned aerial vehicle and the storage medium can divide the landing behavior of the unmanned aerial vehicle into a multi-section mode according to the current situation of the unmanned aerial vehicle to control, and the multi-section control of the landing process of the unmanned aerial vehicle is realized by setting different judgment thresholds, so that the unmanned aerial vehicle can be ensured to land to a specified landing point.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a method for controlling landing of an unmanned aerial vehicle, where the method is applied to a compound-wing unmanned aerial vehicle, where the compound-wing unmanned aerial vehicle includes a fixed wing and a rotor wing, and the method includes:
judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is a horizontal distance between the current position of the composite wing unmanned aerial vehicle and a target landing point;
if so, setting the composite wing unmanned aerial vehicle to be in a horizontal-turning-vertical mode; the horizontal-rotation-vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite-wing unmanned aerial vehicle to reduce to 0;
when the forward speed of the composite wing drone is less than or equal to a hover speed threshold, placing the composite wing drone in a terminal hover mode; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point;
judging whether the current hovering time is larger than or equal to the terminal hovering time; the current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in the hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from the target landing point;
if so, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode; the tip-down mode is used to instruct control of the rotor to fly the composite-wing drone toward the target landing point;
setting the composite wing unmanned aerial vehicle from the tail end descending mode to a flying waiting mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition;
wherein the to-be-flown mode is used to indicate locking of the rotor; the preset flying waiting condition comprises a first flying waiting condition and/or a second flying waiting condition, wherein the first flying waiting condition is that the vertical speed is in a preset speed range and is longer than or equal to a first duration time under the condition that the rotor wing throttle of the composite wing unmanned aerial vehicle is smaller than or equal to a minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, if the rotor throttle is less than or equal to the minimum throttle.
In an optional embodiment, prior to the determining whether the current deceleration distance of the composite-wing drone is less than or equal to a deceleration distance threshold, the method further comprises:
judging whether the current height of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration height threshold value; the current height is an altitude corresponding to the current position;
if so, setting the composite wing unmanned aerial vehicle to be in a deceleration mode; the deceleration mode is used for indicating that the throttle of the fixed wing is set to be in a deceleration state.
In an optional embodiment, prior to the determining whether the current altitude of the composite wing drone is less than or equal to a deceleration altitude threshold, the method further comprises:
setting the composite wing unmanned aerial vehicle to be in a landing mode in response to a landing instruction sent by an unmanned aerial vehicle console; the landing mode is used for indicating the fixed wing to control the motion information of the composite wing unmanned aerial vehicle, and the motion information comprises any one or combination of the following items: height information, attitude information, speed information, and horizontal position information.
In an alternative embodiment, the placing the composite wing drone in an end hover mode includes:
controlling the rotor to remain at hover height; the hovering height is an altitude corresponding to the hovering area;
controlling the rotor to adjust a heading angle of the composite wing drone to align a nose of the composite wing drone to the target landing point.
In an alternative embodiment, said placing said composite wing drone in a tip-down mode includes:
controlling the propeller rotation speed of the rotor wing so that the horizontal position of the composite wing unmanned aerial vehicle is matched with the horizontal position of the target landing point;
judging whether the current altitude of the composite wing unmanned aerial vehicle is less than or equal to a preset altitude threshold value;
if so, controlling the composite wing unmanned aerial vehicle to land to the target landing point at a first vertical speed through the accelerator of the rotor wing;
if not, controlling the composite wing unmanned aerial vehicle to land to the target landing point at a second vertical speed through the accelerator of the rotor wing; the second vertical velocity is greater than the first vertical velocity.
In an optional embodiment, prior to the placing the composite wing drone in a tip hover mode, the method further comprises:
determining whether the forward speed is less than or equal to the hover speed threshold;
if so, executing the step of setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode;
if not, returning to execute the step of judging whether the forward speed is less than or equal to the hovering speed threshold value.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle landing control device, which is applied to a compound-wing unmanned aerial vehicle, where the compound-wing unmanned aerial vehicle includes a fixed wing and a rotor wing, and the device includes:
the judging unit is used for judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is a horizontal distance between the current position of the composite wing unmanned aerial vehicle and a target landing point;
the processing unit is used for setting the composite wing unmanned aerial vehicle to be in a horizontal and vertical rotation mode if the current deceleration distance is smaller than or equal to the deceleration distance threshold; the horizontal-rotation-vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite-wing unmanned aerial vehicle to reduce to 0;
the control unit is used for setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode when the forward speed of the composite wing unmanned aerial vehicle is smaller than or equal to a hovering speed threshold value; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point;
the judging unit is also used for judging whether the current hovering time is more than or equal to the terminal hovering time; the current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in the hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from the target landing point;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a tail end descending mode if the current hovering time is greater than or equal to the tail end hovering time; the tip-down mode is used to instruct control of the rotor to fly the composite-wing drone toward the target landing point;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a flying waiting mode from the tail end descending mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition;
wherein the to-be-flown mode is used to indicate locking of the rotor; the preset flying waiting condition comprises a first flying waiting condition and/or a second flying waiting condition, wherein the first flying waiting condition is that the vertical speed is in a preset speed range and is longer than or equal to a first duration time under the condition that the rotor wing throttle of the composite wing unmanned aerial vehicle is smaller than or equal to a minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, if the rotor throttle is less than or equal to the minimum throttle.
In an alternative embodiment, the determining unit is further configured to determine whether the current height of the composite-wing drone is less than or equal to a deceleration height threshold before the determining whether the current deceleration distance of the composite-wing drone is less than or equal to the deceleration distance threshold; the current height is an altitude corresponding to the current position;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a deceleration mode if the current height is smaller than or equal to the deceleration height threshold; the deceleration mode is used for indicating that the throttle of the fixed wing is set to be in a deceleration state.
In a third aspect, an embodiment of the present invention provides a drone, including a processor and a memory, where the memory stores machine executable instructions that are executable by the processor, and the processor may execute the machine executable instructions to implement the method described in any one of the foregoing embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method of any one of the foregoing embodiments.
Compared with the prior art, the invention provides an unmanned aerial vehicle landing control method and device, an unmanned aerial vehicle and a storage medium, and relates to the field of flight control of unmanned aerial vehicles. The unmanned aerial vehicle landing control method is applied to a compound wing unmanned aerial vehicle, the compound wing unmanned aerial vehicle comprises a fixed wing and a rotor wing, and the method comprises the following steps: judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is a horizontal distance between the current position of the composite wing unmanned aerial vehicle and a target landing point; if so, setting the composite wing unmanned aerial vehicle to be in a horizontal-turning-vertical mode; the horizontal-rotation-vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite-wing unmanned aerial vehicle to reduce to 0; when the forward speed of the composite wing drone is less than or equal to a hover speed threshold, placing the composite wing drone in a terminal hover mode; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point; judging whether the current hovering time is larger than or equal to the terminal hovering time; the current hover time is an accumulated time that the composite wing drone is in the hover region; if so, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode; the tip-down mode is used to instruct control of the rotor to fly the composite-wing drone toward the target landing point; setting the composite wing unmanned aerial vehicle from the tail end descending mode to a flying waiting mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition; the to-be-flown mode is used to indicate locking of the rotor. According to unmanned aerial vehicle's current situation, divide into the multistage mode to its landing action and control, through setting up different judgement threshold values, realize the multistage control to unmanned aerial vehicle descending process, guarantee that unmanned aerial vehicle can land to appointed landing point safely.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a composite-wing drone provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of another method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of a landing control device of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Compound wing unmanned aerial vehicle no longer is the unmanned aerial vehicle of the last fixed wing of traditional meaning, rotor type, but has the unmanned aerial vehicle of the advantage of the unmanned aerial vehicle of fixed wing and rotor type simultaneously, and compound wing unmanned aerial vehicle mixes both together, consequently, compound wing unmanned aerial vehicle both is fixed wing unmanned aerial vehicle, also is gyroplane. The composite wing unmanned aerial vehicle has the capability of vertically taking off and landing the rotor wing unmanned aerial vehicle, has the characteristics of long flight and long air-remaining time of the fixed wing unmanned aerial vehicle, can realize the vertical taking off and landing of the fixed wing, does not have a complex mechanism of a tilting rotor wing aircraft, and has multiple purposes. For example, referring to fig. 1, fig. 1 is a schematic diagram of a compound-wing drone provided by an embodiment of the present invention, where the compound-wing drone includes a fixed wing a1, a fixed wing a2, a rotor B1, a rotor B2, a rotor B3, a rotor B4, and a handpiece; it will be appreciated that each of the fixed wing a1, a2 has its own throttle, and each rotor also has its own throttle or power plant, to enable the flight of the composite wing drone.
Furthermore, although not shown in fig. 1, a compound wing drone may have more or fewer rotors or fixed wings, and the four rotors and two fixed wings of fig. 1 should not be construed as limiting the invention. The composite wing drone may also have communication and processing capabilities to enable processing of signals sent by the drone console or other devices.
In order to solve at least the drawbacks of the background art, an embodiment of the present invention provides a method for controlling a landing of a composite wing drone shown in fig. 1, please refer to fig. 2, and fig. 2 is a schematic flow chart of the method for controlling a landing of a drone provided by the embodiment of the present invention, where the method for controlling a landing of a drone is applied to a composite wing drone, the composite wing drone includes a fixed wing and a rotor wing, and the method for controlling a landing of a drone may include the following steps:
and S340, judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is less than or equal to a deceleration distance threshold value.
The current deceleration distance is the horizontal distance between the current position of the composite wing unmanned aerial vehicle and the target landing point. For example, the deceleration distance threshold may be set to 150 meters, or may be adjusted according to the current state of the drone, such as the remaining power, load, and the like of the drone.
If the current deceleration distance of the composite-wing unmanned aerial vehicle is less than or equal to the deceleration distance threshold, executing S350; and if the current deceleration distance of the composite-wing unmanned aerial vehicle is greater than the deceleration distance threshold value, returning to execute S340.
And S350, setting the composite wing unmanned aerial vehicle to be in a horizontal and vertical mode.
The horizontal-rotation vertical mode is used for indicating that the throttle controlling the fixed wing is gradually reduced from the current state to the minimum state, and controlling the vertical speed of the composite wing unmanned aerial vehicle to be reduced to 0. For example, when the accelerator of the fixed wing is gradually reduced to the minimum accelerator, if the engine of the drone is a gasoline power engine, an instruction may be sent to the gasoline power engine to stop the gasoline power engine from rotating, so that each control surface of the fixed wing of the drone (such as an aileron of the fixed wing, an elevator, a rudder, and the like) performs the attitude control of the drone; in addition, the vertical speed of the rotor wing of the unmanned aerial vehicle is reduced to 0, and the real-time horizontal position is controlled.
And S360, when the forward speed of the composite wing unmanned aerial vehicle is less than or equal to the hovering speed threshold value, setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode.
The tip hover mode is used to instruct the control rotor to position the composite wing drone in a hover region corresponding to the target landing point. In one possible scenario, placing the composite-wing drone in an end-hover mode may include the steps of: controlling the rotor to remain at hover height; the hovering height is the altitude corresponding to the hovering area; and controlling the rotor wing to adjust the course angle of the composite wing unmanned aerial vehicle so that the machine head of the composite wing unmanned aerial vehicle is aligned with the target landing point. For example, each propeller of the unmanned aerial vehicle rotor adjusts the rotating speed of the propeller in real time, so that the unmanned aerial vehicle hovers at a tail end suspension point for landing, the position of the tail end suspension point is acquired before takeoff, and the height for hovering at the tail end can be set according to parameters of a ground station; in addition, the rotor can also control each screw rotational speed adjustment course angle when keeping unmanned aerial vehicle's position control to make unmanned aerial vehicle's aircraft nose aim at the target landing point, wherein the position of target landing point can be that unmanned aerial vehicle gathers before taking off.
In another possible case, in order to reduce the error between the landing position of the drone and the target landing point, before 360, the drone landing control method may further include: it is determined whether the forward speed is less than or equal to the hover speed threshold. If the forward speed is less than or equal to the hovering speed threshold value, setting the composite wing unmanned aerial vehicle to be in a tail end hovering mode; if the forward speed is greater than the hovering speed threshold, returning to execute the process of judging whether the forward speed is less than or equal to the hovering speed threshold; it should be noted that, although not shown in fig. 2, when the forward speed is greater than the hovering speed threshold, the forward speed of the drone may be controlled by machine self-adjustment or manual intervention to avoid damage to the drone and achieve control of the landing of the drone.
S370, judging whether the current hovering time is larger than or equal to the terminal hovering time.
The current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in a hovering area, and the hovering area can be an area of which the horizontal position is within a preset error range from a target landing point. It should be noted that the hovering area may be an area in the horizontal direction, which is defined by a deviation between the horizontal position of the drone and the horizontal position of the target landing point within a preset error range.
If the current hovering time is greater than or equal to the terminal hovering time, executing S380; if the current hover time is less than the end hover time, return to execution S370.
And S380, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode.
This tip-down mode is used to instruct the control rotor to fly the composite-wing drone toward the target landing point.
And S390, setting the composite wing unmanned aerial vehicle from the tail end descending mode to the flying waiting mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition.
Wherein the to-be-flown mode is used for indicating locking of the rotor; the preset condition to be flown may include a first condition to be flown and/or a second condition to be flown, the first condition to be flown being that the vertical speed of the composite wing drone is within a preset speed range and greater than or equal to a first duration in a case that the rotor throttle of the composite wing drone is less than or equal to the minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, in the event that the rotor throttle is less than or equal to the minimum throttle. The first duration and the second duration may be the same or different. It will be appreciated that when the compound wing drone meets any one or more of the first and second conditions to be flown, the compound wing drone enters a mode to be flown, with the vertical rotor locked.
It should be understood, according to unmanned aerial vehicle's current situation, divide into the multistage mode to its landing action and control, through setting up different judgement threshold values, realize the multistage control to unmanned aerial vehicle landing process, guarantee that unmanned aerial vehicle can land to appointed landing point safely.
In an optional embodiment, the unmanned aerial vehicle may be at a higher position, in order to ensure stable landing of the unmanned aerial vehicle, a possible implementation manner is provided on the basis of fig. 2, please refer to fig. 3, fig. 3 is a flowchart of a landing control method for the unmanned aerial vehicle according to an embodiment of the present invention, and before the foregoing S340, the landing control method for the unmanned aerial vehicle may further include:
and S320, judging whether the current height of the composite wing unmanned aerial vehicle is less than or equal to a deceleration height threshold value.
This current altitude is the altitude that current position corresponds, and this speed reduction height threshold value can be confirmed according to the altitude position that current ground is located or the altitude position that unmanned aerial vehicle control cabinet is located.
If the current height of the composite wing unmanned aerial vehicle is less than or equal to the deceleration height threshold, executing S330; and if the current height of the composite wing unmanned aerial vehicle is greater than the deceleration height threshold value, returning to execute S320.
And S330, setting the composite wing unmanned aerial vehicle into a deceleration mode.
The deceleration mode is used for indicating that the accelerator of the fixed wing is set to be in a deceleration state; for example, when the drone is in the deceleration mode, the fixed wing of the drone performs deceleration control, and the rotor of the drone has no control output.
The landing process of the unmanned aerial vehicle is controlled according to the current height of the composite wing unmanned aerial vehicle, so that the stable landing of the unmanned aerial vehicle is ensured, and the damage caused by sudden landing of the unmanned aerial vehicle is avoided.
In an optional embodiment, in order to start a landing process of an unmanned aerial vehicle, a possible implementation is given on the basis of fig. 3, please refer to fig. 4, where fig. 4 is a schematic flow diagram of a landing control method for an unmanned aerial vehicle according to an embodiment of the present invention, before the foregoing S320, the landing control method for an unmanned aerial vehicle may further include:
and S310, responding to a landing instruction sent by the unmanned aerial vehicle console, and setting the composite wing unmanned aerial vehicle to be in a landing mode.
The landing mode is used for indicating the motion information of the fixed-wing control compound-wing unmanned aerial vehicle, and the motion information comprises any one or combination of the following items: height information, attitude information, speed information, and horizontal position information.
For example, in a landing mode, the fixed wing of the drone performs height, horizontal position, speed and attitude control; the rotor of the unmanned aerial vehicle has no control output.
In an optional embodiment, the flight performance of the unmanned aerial vehicle may be affected differently in different geographic environments, and in order to implement protection and long-term use of the unmanned aerial vehicle, a possible implementation manner is provided on the basis of fig. 2, please refer to fig. 5, where fig. 5 is a schematic flow diagram of a landing control method for the unmanned aerial vehicle according to an embodiment of the present invention, where the above-mentioned S380 may include:
and S380a, controlling the propeller rotating speed of the rotor wing so that the horizontal position of the composite wing unmanned aerial vehicle is matched with the horizontal position of the target landing point.
For example, unmanned aerial vehicle can adjust each screw rotational speed of rotor, carries out horizontal position control and makes unmanned aerial vehicle keep at the corresponding horizontal position of target landing point to reduce the terminal point that unmanned aerial vehicle descends and the horizontal error of target landing point.
And S380b, judging whether the current altitude of the composite wing unmanned aerial vehicle is less than or equal to a preset height threshold value.
For example, the preset height threshold may be 2500 meters, 2800 meters, and the like.
If the current altitude of the composite wing unmanned aerial vehicle is less than or equal to the preset altitude threshold, executing S380 c; if the current altitude of the composite wing drone is greater than the preset altitude threshold, S380d is executed.
And S380c, controlling the compound wing unmanned aerial vehicle to land to the target landing point according to the first vertical speed through the accelerator of the rotor wing.
And S380d, controlling the composite wing unmanned aerial vehicle to land to the target landing point according to the second vertical speed through the accelerator of the rotor wing.
It is noted that the second vertical velocity is greater than the first vertical velocity. For example, the drone adjusts the rotational speed of each propeller, performs horizontal position control to keep the drone at the landing point horizontal position, and lowers the drone at a certain vertical speed by controlling the rotor throttle. The vertical velocity instruction that descends adjusts according to unmanned aerial vehicle's altitude, when unmanned aerial vehicle altitude surpassed the altitude threshold value of settlement, adopted great descending speed default (second vertical velocity), when unmanned aerial vehicle altitude was less than the altitude threshold value of settlement, adopted less descending speed default (first vertical velocity).
According to the altitude position where the unmanned aerial vehicle is located, the speed of landing of the unmanned aerial vehicle is controlled, the performance difference of the unmanned aerial vehicle at different altitude positions is avoided, and the stability and the accuracy of landing control of the unmanned aerial vehicle are improved.
In order to facilitate understanding of the method for controlling landing of the unmanned aerial vehicle provided by the above embodiment, the present invention provides a possible specific embodiment, please refer to fig. 6, where fig. 6 is a schematic flow diagram of another method for controlling landing of an unmanned aerial vehicle provided by an embodiment of the present invention, and the unmanned aerial vehicle enters a to-be-flown mode from a landing mode, a deceleration mode, a horizontal-turning mode, a terminal hovering mode, and a terminal descending mode in sequence, so as to realize flexible control of landing on a target waypoint.
When the rotor accelerator is smaller than the minimum accelerator and the vertical speed is detected to be within a preset range and exceeds the duration, the unmanned aerial vehicle enters a to-be-flown mode and the vertical rotor locks the propeller; when the rotor wing throttle is less than minimum throttle to unmanned aerial vehicle's height does not change basically in the certain time, exceeds duration, and unmanned aerial vehicle gets into the mode of waiting to fly, and vertical rotor wing lock oar. Therefore, flexible switching of take-off and landing of the unmanned aerial vehicle can be realized.
In order to implement the landing control method for the unmanned aerial vehicle, an embodiment of the present invention provides a landing control device for an unmanned aerial vehicle, please refer to fig. 7, and fig. 7 is a schematic block diagram of the landing control device for an unmanned aerial vehicle according to the embodiment of the present invention, where the landing control device for an unmanned aerial vehicle is applied to a compound-wing unmanned aerial vehicle, the compound-wing unmanned aerial vehicle includes a fixed wing and a rotor wing, and the landing control device for an unmanned aerial vehicle includes: a judging unit 51, a processing unit 52 and a control unit 53.
The determination unit 51 is configured to determine whether the current deceleration distance of the composite-wing drone is less than or equal to a deceleration distance threshold. The current deceleration distance is the horizontal distance between the current position of the composite wing unmanned aerial vehicle and the target landing point.
The processing unit 52 is configured to set the composite-wing drone to a horizontal-rotor mode if the current deceleration distance is less than or equal to the deceleration distance threshold. And the horizontal-rotation vertical mode is used for indicating that the throttle controlling the fixed wing is gradually reduced from the current state to the minimum state and controlling the vertical speed of the composite wing unmanned aerial vehicle to be reduced to 0.
The control unit 53 is configured to place the composite-wing drone in an end hover mode when the forward speed of the composite-wing drone is less than or equal to the hover speed threshold. The tail end hovering mode is used for indicating and controlling the rotor wing, so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point.
The determination unit 51 is further configured to determine whether the current hover time is greater than or equal to the terminal hover time. The current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in a hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from a target landing point.
The control unit 53 is further configured to set the composite-wing drone to the terminal descent mode if the current hover time is greater than or equal to the terminal hover time. The tip-down mode is used to instruct the control rotor to fly the composite-wing drone toward the target landing point.
The control unit 53 is further configured to set the composite-wing drone from the terminal descent mode to the to-be-flown mode when the composite-wing drone meets a preset to-be-flown condition; the flying mode is used for indicating the locking of the rotor wing; the preset condition to be flown may include a first condition to be flown and/or a second condition to be flown, the first condition to be flown being that the vertical speed is in a preset speed range and greater than or equal to a first duration in a case where the rotor throttle of the composite wing drone is less than or equal to the minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, in the event that the rotor throttle is less than or equal to the minimum throttle.
In an alternative embodiment, the determination unit 51 is further configured to determine whether the current height of the composite-wing drone is less than or equal to the deceleration height threshold before determining whether the current deceleration distance of the composite-wing drone is less than or equal to the deceleration distance threshold. The current height is an altitude corresponding to the current position.
The control unit 53 is further configured to set the compound-wing drone to a deceleration mode if the current altitude is less than or equal to the deceleration altitude threshold. The deceleration mode is used for indicating that the throttle of the fixed wing is set to a deceleration state.
It should be understood that the determining unit 51, the processing unit 52 and the control unit 53 may cooperatively implement the unmanned aerial vehicle landing control method corresponding to S310 to S380 and possible sub-steps thereof.
The embodiment of the invention also provides an unmanned aerial vehicle, as shown in fig. 8, and fig. 8 is a block schematic diagram of the unmanned aerial vehicle provided by the embodiment of the invention. The drone 60 includes a memory 61, a processor 62, and a communication interface 63. The memory 61, processor 62 and communication interface 63 are electrically connected to each other, directly or indirectly, to enable transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 61 may be configured to store software programs and modules, such as program instructions/modules corresponding to the method for controlling the landing of the drone provided by the embodiment of the present invention, and the processor 62 executes various functional applications and data processing by executing the software programs and modules stored in the memory 61. The communication interface 63 may be used for communicating signaling or data with other node devices. The drone 60 may have a plurality of communication interfaces 63 in the present invention.
The Memory 61 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 62 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling the landing of an unmanned aerial vehicle according to any one of the foregoing embodiments. The computer readable storage medium may be, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic or optical disk, etc.
In conclusion, the invention provides an unmanned aerial vehicle landing control method and device, an unmanned aerial vehicle and a storage medium, and relates to the field of flight control of unmanned aerial vehicles. The unmanned aerial vehicle landing control method is applied to a compound wing unmanned aerial vehicle, the compound wing unmanned aerial vehicle comprises a fixed wing and a rotor wing, and the unmanned aerial vehicle landing control method comprises the following steps: judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is the horizontal distance between the current position of the composite wing unmanned aerial vehicle and the target landing point; if so, setting the composite wing unmanned aerial vehicle to be in a horizontal and vertical mode; the horizontal-rotation vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite wing unmanned aerial vehicle to reduce to 0; when the forward speed of the composite wing unmanned aerial vehicle is less than or equal to the hovering speed threshold value, setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point; judging whether the current hovering time is larger than or equal to the terminal hovering time; the current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in a hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from a target landing point; if so, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode; the tail end descending mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle flies to a target descending point; setting a tail end descending mode of the composite wing unmanned aerial vehicle as a flying waiting mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition; the pending flight mode is used to indicate locking of the rotor. According to unmanned aerial vehicle's current situation, divide into the multistage mode to its landing action and control, through setting up different judgement threshold values, realize the multistage control to unmanned aerial vehicle descending process, guarantee that unmanned aerial vehicle can land to appointed landing point safely.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle landing control method is applied to a compound wing unmanned aerial vehicle, wherein the compound wing unmanned aerial vehicle comprises a fixed wing and a rotor wing, and the method comprises the following steps:
judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is a horizontal distance between the current position of the composite wing unmanned aerial vehicle and a target landing point;
if so, setting the composite wing unmanned aerial vehicle to be in a horizontal-turning-vertical mode; the horizontal-rotation-vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite-wing unmanned aerial vehicle to reduce to 0;
when the forward speed of the composite wing drone is less than or equal to a hover speed threshold, placing the composite wing drone in a terminal hover mode; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point;
judging whether the current hovering time is larger than or equal to the terminal hovering time; the current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in the hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from the target landing point;
if so, setting the composite wing unmanned aerial vehicle to be in a tail end descending mode; the tip-down mode is used to instruct control of the rotor to fly the composite-wing drone toward the target landing point;
setting the composite wing unmanned aerial vehicle from the tail end descending mode to a flying waiting mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition;
wherein the to-be-flown mode is used to indicate locking of the rotor; the preset flying waiting condition comprises a first flying waiting condition and/or a second flying waiting condition, wherein the first flying waiting condition is that the vertical speed is in a preset speed range and is longer than or equal to a first duration time under the condition that the rotor wing throttle of the composite wing unmanned aerial vehicle is smaller than or equal to a minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, if the rotor throttle is less than or equal to the minimum throttle.
2. The method of claim 1, wherein prior to the determining whether the current deceleration distance of the composite-wing drone is less than or equal to a deceleration distance threshold, the method further comprises:
judging whether the current height of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration height threshold value; the current height is an altitude corresponding to the current position;
if so, setting the composite wing unmanned aerial vehicle to be in a deceleration mode; the deceleration mode is used for indicating that the throttle of the fixed wing is set to be in a deceleration state.
3. The method of claim 2, wherein prior to said determining whether the current altitude of the composite wing drone is less than or equal to a deceleration altitude threshold, the method further comprises:
setting the composite wing unmanned aerial vehicle to be in a landing mode in response to a landing instruction sent by an unmanned aerial vehicle console; the landing mode is used for indicating the fixed wing to control the motion information of the composite wing unmanned aerial vehicle, and the motion information comprises any one or combination of the following items: height information, attitude information, speed information, and horizontal position information.
4. The method of claim 1, wherein placing the composite wing drone in a tip hover mode comprises:
controlling the rotor to remain at hover height; the hovering height is an altitude corresponding to the hovering area;
controlling the rotor to adjust a heading angle of the composite wing drone to align a nose of the composite wing drone to the target landing point.
5. The method of claim 1, wherein said placing the composite wing drone in a tip-down mode comprises:
controlling the propeller rotation speed of the rotor wing so that the horizontal position of the composite wing unmanned aerial vehicle is matched with the horizontal position of the target landing point;
judging whether the current altitude of the composite wing unmanned aerial vehicle is less than or equal to a preset altitude threshold value;
if so, controlling the composite wing unmanned aerial vehicle to land to the target landing point at a first vertical speed through the accelerator of the rotor wing;
if not, controlling the composite wing unmanned aerial vehicle to land to the target landing point at a second vertical speed through the accelerator of the rotor wing; the second vertical velocity is greater than the first vertical velocity.
6. The method of claim 1, wherein prior to said placing the composite-wing drone in a tip-hover mode, the method further comprises:
determining whether the forward speed is less than or equal to the hover speed threshold;
if so, executing the step of setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode;
if not, returning to execute the step of judging whether the forward speed is less than or equal to the hovering speed threshold value.
7. The utility model provides an unmanned aerial vehicle descending control device, its characterized in that is applied to compound wing unmanned aerial vehicle, compound wing unmanned aerial vehicle includes stationary vane and rotor, the device includes:
the judging unit is used for judging whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value; the current deceleration distance is a horizontal distance between the current position of the composite wing unmanned aerial vehicle and a target landing point;
the processing unit is used for setting the composite wing unmanned aerial vehicle to be in a horizontal and vertical rotation mode if the current deceleration distance is smaller than or equal to the deceleration distance threshold; the horizontal-rotation-vertical mode is used for indicating to control the accelerator of the fixed wing to gradually reduce from the current state to the minimum state and controlling the vertical speed of the composite-wing unmanned aerial vehicle to reduce to 0;
the control unit is used for setting the composite wing unmanned aerial vehicle to be in a terminal hovering mode when the forward speed of the composite wing unmanned aerial vehicle is smaller than or equal to a hovering speed threshold value; the tail end hovering mode is used for indicating and controlling the rotor wing so that the composite wing unmanned aerial vehicle is in a hovering area corresponding to the target landing point;
the judging unit is also used for judging whether the current hovering time is more than or equal to the terminal hovering time; the current hovering time is the accumulated time of the composite wing unmanned aerial vehicle in the hovering area, and the hovering area is an area of which the horizontal position is within a preset error range from the target landing point;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a tail end descending mode if the current hovering time is greater than or equal to the tail end hovering time; the tip-down mode is used to instruct control of the rotor to fly the composite-wing drone toward the target landing point;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a flying waiting mode from the tail end descending mode under the condition that the composite wing unmanned aerial vehicle meets the preset flying waiting condition;
wherein the to-be-flown mode is used to indicate locking of the rotor; the preset flying waiting condition comprises a first flying waiting condition and/or a second flying waiting condition, wherein the first flying waiting condition is that the vertical speed is in a preset speed range and is longer than or equal to a first duration time under the condition that the rotor wing throttle of the composite wing unmanned aerial vehicle is smaller than or equal to a minimum throttle; the second wait-to-fly condition is that the current altitude of the compound-wing drone is within a preset altitude range and greater than or equal to a second duration, if the rotor throttle is less than or equal to the minimum throttle.
8. The apparatus according to claim 7, wherein the determining unit is further configured to determine whether the current altitude of the compound wing drone is less than or equal to a deceleration altitude threshold before the determining whether the current deceleration distance of the compound wing drone is less than or equal to a deceleration distance threshold; the current height is an altitude corresponding to the current position;
the control unit is further used for setting the composite wing unmanned aerial vehicle to be in a deceleration mode if the current height is smaller than or equal to the deceleration height threshold; the deceleration mode is used for indicating that the throttle of the fixed wing is set to be in a deceleration state.
9. A drone, comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method of any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011026482.XA CN112099520B (en) | 2020-09-25 | 2020-09-25 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011026482.XA CN112099520B (en) | 2020-09-25 | 2020-09-25 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112099520A true CN112099520A (en) | 2020-12-18 |
| CN112099520B CN112099520B (en) | 2023-05-05 |
Family
ID=73756573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011026482.XA Active CN112099520B (en) | 2020-09-25 | 2020-09-25 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112099520B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
| WO2022183384A1 (en) * | 2021-03-02 | 2022-09-09 | 深圳市大疆创新科技有限公司 | Method for controlling unmanned aerial vehicle, device, remote controller, and storage medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11129992A (en) * | 1997-10-31 | 1999-05-18 | Japan Aviation Electron Ind Ltd | Control device of industrial unmanned helicopter |
| JP2009149157A (en) * | 2007-12-19 | 2009-07-09 | Toshiba Corp | Rotorcraft mounting apparatus, operation adjustment method, and computer program |
| CN102538828A (en) * | 2010-09-15 | 2012-07-04 | 鹦鹉股份有限公司 | Method for piloting a rotary-wing drone with multiple rotors |
| US20140339372A1 (en) * | 2012-01-12 | 2014-11-20 | Israel Aerospace Industries Ltd. | System, a method and a computer program product for maneuvering of an air vehicle with tiltable propulsion unit |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| CN106444824A (en) * | 2016-05-23 | 2017-02-22 | 重庆零度智控智能科技有限公司 | UAV (unmanned aerial vehicle), and UAV landing control method and device |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| CN108803645A (en) * | 2018-08-03 | 2018-11-13 | 成都纵横自动化技术有限公司 | Unmanned plane forced landing method, apparatus, automatic pilot and unmanned plane |
| CN108885462A (en) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Flight control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN109144096A (en) * | 2018-08-15 | 2019-01-04 | 东汉太阳能无人机技术有限公司 | A kind of control method and unmanned plane of UAV Landing |
| CN109720553A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | A kind of fixed-wing unmanned plane, control method and medium with VTOL function |
| US20200097027A1 (en) * | 2017-05-24 | 2020-03-26 | SZ DJI Technology Co., Ltd. | Method and apparatus for controlling an unmanned aerial vehicle and an unmanned aerial vehicle system |
| CN110989641A (en) * | 2019-11-05 | 2020-04-10 | 西安羚控电子科技有限公司 | Ship-borne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle take-off and landing control method |
| CN111003192A (en) * | 2019-12-30 | 2020-04-14 | 南京信息工程大学 | Unmanned aerial vehicle autonomous landing system and landing method based on GPS and vision |
-
2020
- 2020-09-25 CN CN202011026482.XA patent/CN112099520B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11129992A (en) * | 1997-10-31 | 1999-05-18 | Japan Aviation Electron Ind Ltd | Control device of industrial unmanned helicopter |
| JP2009149157A (en) * | 2007-12-19 | 2009-07-09 | Toshiba Corp | Rotorcraft mounting apparatus, operation adjustment method, and computer program |
| CN102538828A (en) * | 2010-09-15 | 2012-07-04 | 鹦鹉股份有限公司 | Method for piloting a rotary-wing drone with multiple rotors |
| US20180002004A1 (en) * | 2012-01-12 | 2018-01-04 | Israel Aerospace Industries Ltd. | System, a method and a computer program product for maneuvering of an air vehicle with tiltable propulsion unit |
| US20140339372A1 (en) * | 2012-01-12 | 2014-11-20 | Israel Aerospace Industries Ltd. | System, a method and a computer program product for maneuvering of an air vehicle with tiltable propulsion unit |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| US20170336804A1 (en) * | 2016-05-23 | 2017-11-23 | ZEROTECH (Shenzhen) Intelligence Robot Co., Ltd. | Uav and uav landing control device and method |
| CN106444824A (en) * | 2016-05-23 | 2017-02-22 | 重庆零度智控智能科技有限公司 | UAV (unmanned aerial vehicle), and UAV landing control method and device |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| US20200097027A1 (en) * | 2017-05-24 | 2020-03-26 | SZ DJI Technology Co., Ltd. | Method and apparatus for controlling an unmanned aerial vehicle and an unmanned aerial vehicle system |
| CN108885462A (en) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Flight control method, unmanned plane and the machine readable storage medium of unmanned plane |
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN108803645A (en) * | 2018-08-03 | 2018-11-13 | 成都纵横自动化技术有限公司 | Unmanned plane forced landing method, apparatus, automatic pilot and unmanned plane |
| CN109144096A (en) * | 2018-08-15 | 2019-01-04 | 东汉太阳能无人机技术有限公司 | A kind of control method and unmanned plane of UAV Landing |
| CN109720553A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | A kind of fixed-wing unmanned plane, control method and medium with VTOL function |
| CN110989641A (en) * | 2019-11-05 | 2020-04-10 | 西安羚控电子科技有限公司 | Ship-borne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle take-off and landing control method |
| CN111003192A (en) * | 2019-12-30 | 2020-04-14 | 南京信息工程大学 | Unmanned aerial vehicle autonomous landing system and landing method based on GPS and vision |
Non-Patent Citations (4)
| Title |
|---|
| ADNAN S. SAEED等: "A review on the platform design, dynamic modeling and control of hybrid UAVs", 《 2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)》 * |
| 吴丹杨: "小型倾转多旋翼无人机飞控系统研究与设计实现", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 常天星: "复合翼无人机自主着舰控制技术研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 张健: "复合翼垂直起降无人机飞行控制技术研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022183384A1 (en) * | 2021-03-02 | 2022-09-09 | 深圳市大疆创新科技有限公司 | Method for controlling unmanned aerial vehicle, device, remote controller, and storage medium |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112099520B (en) | 2023-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA3050426C (en) | Adaptive sense and avoid system | |
| US20220214703A1 (en) | Flight method and apparatus for unmanned aerial vehicle and unmanned aerial vehicle | |
| CN109720553B (en) | Fixed-wing unmanned aerial vehicle with vertical take-off and landing function, control method and medium | |
| CN108885462B (en) | Flight control method of unmanned aerial vehicle, unmanned aerial vehicle and machine readable storage medium | |
| WO2020125636A1 (en) | Automatic return method and device and unmanned aerial vehicle | |
| CN112099520A (en) | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium | |
| CN111742277B (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle control equipment, unmanned aerial vehicle and storage medium | |
| CN112124570A (en) | Aircraft takeoff control method and device, aircraft and storage medium | |
| CN111699451A (en) | Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle | |
| CN111752291A (en) | Height control method and device, unmanned aerial vehicle and storage medium | |
| CN112673330B (en) | Unmanned aerial vehicle descending control method and device and unmanned aerial vehicle | |
| CN108572655B (en) | Flight control method and related device | |
| CN111684384B (en) | Unmanned aerial vehicle flight control method and device and unmanned aerial vehicle | |
| US20170336803A1 (en) | Automated flight control system with altitude-based, automatically-adjusting rate of climb | |
| CN108803643B (en) | Flight control method and device, flight controller and composite wing aircraft | |
| CN112306077B (en) | Flight control method and device, aircraft and storage medium | |
| CN207389553U (en) | A kind of flapping flight balloon | |
| CN110832420A (en) | Unmanned aerial vehicle control method and device and unmanned aerial vehicle | |
| Kang et al. | Flight test results of automatic tilt control for small scaled tilt rotor aircraft | |
| US20230202651A1 (en) | Automatic rotor tilt control | |
| CN112136092A (en) | Flight control method and device and aircraft | |
| CN114839643A (en) | Unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on laser ranging radar | |
| CN107792337A (en) | A kind of flapping flight balloon | |
| US11887493B2 (en) | Systems and methods for power reduction in formation flight | |
| CN114115303A (en) | Aircraft control method and device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 7 / F, area a, building 6, No. 200, Tianfu 5th Street, high tech Zone, Chengdu, Sichuan 610000 Patentee after: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 801-805, 8th floor, Building A, No. 200, Tianfu Wujie, Chengdu High-tech Zone, Sichuan Province, 610000 Patentee before: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |