CN112166393A - Unmanned aerial vehicle control method, control device and computer-readable storage medium - Google Patents
Unmanned aerial vehicle control method, control device and computer-readable storage medium Download PDFInfo
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- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- 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
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- 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
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention provides a control method, a control device and a computer readable storage medium of an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a fixed wing power system and a rotor wing power system, and the control method comprises the following steps: determining the observation pitching attitude of the unmanned aerial vehicle in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system; the rotor power system is controlled based on the observed pitch attitude such that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle. Therefore, the unstable rollover of the unmanned aerial vehicle in the deceleration process of the switching of the working state can be avoided, the stability of the switching of the working state is ensured, and the flight safety can be improved.
Description
Technical Field
The present invention relates to the field of unmanned aerial vehicle technology, and in particular, to an unmanned aerial vehicle control method, a control device, and a computer-readable storage medium.
Background
With the development and progress of unmanned aerial vehicle technology, a Vertical Take-Off and Landing (VTOL) unmanned aerial vehicle is pursued by the market due to the combination of Vertical Take-Off and Landing capability and high-speed flat flight capability. When the unmanned aerial vehicle needs to be suspended, a rotor power system configured on the unmanned aerial vehicle works to realize hovering in the air; the fixed wing power system configured for the unmanned aerial vehicle works to realize high-speed level flight.
In practice, it is sometimes necessary to rapidly switch from a high-speed flight state to a hover state, during which the unmanned aerial vehicle is in a state of switching from a fixed wing power system operating state to a rotor power system operating state for deceleration. At present, a means for switching states is to manually control a rotor power system, adjust the attitude of the unmanned aerial vehicle, decelerate the unmanned aerial vehicle, and then manually switch to a hovering state. Another means of switching states is to slow down the brake to hover at the maximum attitude angle directly by controlling the rotor power system at high speed.
However, in the above two modes, on one hand, in the high-speed flight state of the unmanned aerial vehicle, the speed regulation is manually intervened through a rotor power system, so that disturbance is easily formed, in the beyond-the-horizon flight, timely adjustment is difficult to observe, and the timing of manual switching is difficult to accurately grasp. On the other hand, when the unmanned aerial vehicle decelerates at the maximum attitude angle, the power output of the rotor power system is in a lower saturation state to avoid climbing of the unmanned aerial vehicle, so that the flight attitude is easy to be unstable. Therefore, generally, the conventional state switching means is difficult to realize smooth switching from the high-speed level flight state to the hovering state, which is likely to cause safety accidents such as a fryer and the like, and may cause personal and property damage.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of an unmanned aerial vehicle and a computer readable storage medium, which are used for solving the problems that the unmanned aerial vehicle in the prior art is poor in stability and easy to explode to cause personal and property damage in the process of switching the working state.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention discloses a control method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system, and the control method includes:
determining an observation pitching attitude of the unmanned aerial vehicle in a deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system;
controlling the rotor power system according to the observed pitch attitude such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
In a second aspect, the present invention discloses a control device for an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a fixed wing power system and a rotor power system, the control device comprises a memory and a processor, wherein,
the memory for storing program code;
the processor, invoking the program code, when executed, is configured to:
determining an observation pitching attitude of the unmanned aerial vehicle in a deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system;
controlling the rotor power system according to the observed pitch attitude such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
In a third aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the control method described above.
In the embodiment of the invention, in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system of the unmanned aerial vehicle, the observation pitch attitude of the unmanned aerial vehicle is taken as a reference condition, the rotor wing power system provides flight power, and the pitch attitude angle of the unmanned aerial vehicle is controlled to be smaller than or equal to the maximum pitch attitude angle. Therefore, the unstable rollover of the unmanned aerial vehicle in the deceleration process of the switching of the working state can be avoided, the stability of the switching of the working state is ensured, and the flight safety can be improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the prior art and the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a composite vertical take-off and landing fixed wing unmanned aerial vehicle in the prior art;
FIG. 2 is a flow chart illustrating the steps of a method for controlling an UAV provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a body coordinate system of an UAV according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating steps of yet another UAV control method provided by an embodiment of the present invention;
FIG. 5 is a flow chart illustrating steps of another UAV control method provided by an embodiment of the present invention;
fig. 6 shows a block diagram of an unmanned aerial vehicle control device according to an embodiment of the present invention.
Detailed Description
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, not all, embodiments of the present 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.
Fig. 1 is a structural configuration of a combined VTOL unmanned aerial vehicle including a multi-rotor power system for vertical take-off and landing control and a fixed-wing power and steering system for high-speed flat flight control, provided in the prior art.
Fig. 2 is a flowchart illustrating steps of a method for controlling an unmanned aerial vehicle, according to an embodiment of the present invention, the unmanned aerial vehicle to which the control method is applied is a VTOL unmanned aerial vehicle, and the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system. The fixed-wing power system may provide flight power when the UAV is flying flat at a relatively high speed (e.g., in a transregional logistics transportation scenario), and the rotary-wing power system may provide flight power when the UAV is flying flat at a relatively low speed or is hovering (e.g., in a scenario when the UAV is approaching or arriving at a destination). As shown in fig. 1, the control method may include:
Specifically, in the case of a large-scale cross-regional flight of the unmanned aerial vehicle, in order to shorten the flight time, the unmanned aerial vehicle can fly quickly at a higher speed using power supplied from the fixed-wing power system. When the unmanned aerial vehicle approaches the destination, the aircraft nose can be controlled to be lifted for stable landing or hovering, so that the wind resistance is increased in the upward flying posture, and the deceleration is realized. In the deceleration process, in order to avoid the situation that the unmanned aerial vehicle can tip over due to the fact that the flight speed of the unmanned aerial vehicle is not matched with the elevation angle, the observation pitch attitude of the unmanned aerial vehicle can be determined according to sensor assemblies such as an accelerator, a gyroscope and a magnetic sensor arranged on the unmanned aerial vehicle, and the observation pitch attitude indicates the flight attitude of the unmanned aerial vehicle at a certain moment in the flight process. The observed pitch attitude may be used as a reference condition for controlling a pitch attitude angle of the unmanned aerial vehicle.
And 102, controlling the rotor wing power system according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle.
Specifically, after the sensor assemblies such as an accelerator, a gyroscope, a magnetic sensor and the like determine the observation pitch attitude of the unmanned aerial vehicle, the pitch attitude of the unmanned aerial vehicle can be known, the rotating speed of each motor of a rotor wing power system can be controlled according to specific data of the pitch angle, the adjustment of the pitch attitude angle is realized, and the pitch attitude angle is controlled to be smaller than or equal to the maximum pitch attitude angle in the deceleration process. The maximum pitch attitude angle is a pitch attitude angle of the unmanned aerial vehicle in a critical state of rollover, and when the pitch attitude angle of the unmanned aerial vehicle exceeds the critical value, the unmanned aerial vehicle is considered to be easily blown over by the airflow in front, so that a safety accident is caused.
It should be noted that, in the embodiment of the present invention, the body coordinate system is used as the reference coordinate system for defining the pitch attitude angle and the maximum pitch attitude angle of the unmanned aerial vehicle. As shown in fig. 3, a schematic diagram of a coordinate system of the aircraft body is given, the origin is the center of gravity of the aircraft, the x-axis is the direction of the axis of the aircraft body, and the positive direction points to the aircraft nose; the y-axis is the extending direction of the wings, and the positive direction points to the right wings; the z-axis is determined by right-hand rule as being perpendicular to the xoy plane with the positive direction pointing to the set-top (i.e., away from the geocentric). In the coordinate system, the pitch attitude angle may be an included angle α between the X-axis and the horizontal plane, and the maximum pitch attitude angle is a maximum value of α.
In the embodiment of the invention, in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system of the unmanned aerial vehicle, the observation pitch attitude of the unmanned aerial vehicle is taken as a reference condition, the rotor wing power system provides flight power, and the pitch attitude angle of the unmanned aerial vehicle is controlled to be smaller than or equal to the maximum pitch attitude angle. Therefore, the unstable rollover of the unmanned aerial vehicle in the deceleration process of the switching of the working state can be avoided, the stability of the switching of the working state is ensured, and the flight safety can be improved.
Fig. 4 is a flowchart illustrating steps of another method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 4, on the basis of the foregoing embodiment, the control method may include:
step 201, in the deceleration process of the unmanned aerial vehicle, switching from the working state of the fixed wing power system to the working state of the rotor wing power system, determining the observation pitch attitude of the unmanned aerial vehicle at a first moment and the observation pitch attitude at a second moment.
Specifically, in the case of a large-scale cross-regional flight of the unmanned aerial vehicle, in order to shorten the flight time, the unmanned aerial vehicle can fly quickly at a higher speed using power supplied from the fixed-wing power system. When the unmanned aerial vehicle approaches the destination, the aircraft nose can be controlled to be lifted for stable landing or hovering, so that the wind resistance is increased in the upward flying posture, and the deceleration is realized. In the deceleration process, in order to avoid the situation that the unmanned aerial vehicle can tip over due to the fact that the flight speed of the unmanned aerial vehicle is not matched with the elevation angle, the observation pitch attitude of the unmanned aerial vehicle can be determined according to sensor assemblies such as an accelerator, a gyroscope and a magnetic sensor arranged on the unmanned aerial vehicle, and the observation pitch attitude indicates the flight attitude of the unmanned aerial vehicle at a certain moment in the flight process. The observed pitch attitude may be used as a reference condition for controlling a pitch attitude angle of the unmanned aerial vehicle. With the lapse of time, the speed of the unmanned aerial vehicle in the deceleration process is smaller and smaller, and the flight attitudes of the unmanned aerial vehicle at different times are not completely the same, so that in order to improve the accuracy of control, the observation pitch attitude of the unmanned aerial vehicle at a first time and the observation pitch attitude at a second time can be respectively determined, and the first time and the second time are two different times in the deceleration process.
And 202, controlling the rotor wing power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to a first maximum pitch attitude angle corresponding to the first moment.
Specifically, the unmanned aerial vehicle may be influenced by environmental factors such as wind power and electromagnetic signal interference during flight, the observed pitch attitude at each time is not necessarily the same, and the corresponding maximum pitch attitude angle is matched for the observed pitch attitude at each time, so that the unmanned aerial vehicle can be prevented from tipping at the time. The first time corresponds to a first maximum pitch attitude angle, and the rotor power system is controlled according to the observed pitch attitude at the first time so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the first maximum pitch attitude angle.
And 203, controlling the rotor wing power system according to the observed pitch attitude at the second moment so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to a second maximum pitch attitude angle corresponding to the second moment, wherein the second moment is later than the first moment, and the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
Specifically, it will be appreciated that as the unmanned aerial vehicle decelerates, the speed of the unmanned aerial vehicle has decreased at a second time later than the first time, the second time corresponding to a second maximum pitch attitude angle in order to prevent the unmanned aerial vehicle from tipping over at the second time. Because the flight speed at the second moment is already small, the risk of tipping over at a larger pitch attitude angle is lower, flying at a larger pitch attitude angle is more conducive to rapid deceleration, and the second maximum pitch attitude angle may be larger than the first maximum pitch attitude angle.
It can be understood that, in the above process, since the speed of the unmanned aerial vehicle is reduced and the corresponding risk of rollover is also reduced over time, the maximum pitch attitude angle of the unmanned aerial vehicle is positively correlated with the time for switching the unmanned aerial vehicle to the rotor power system operating state, that is, the later the time for switching to the rotor power system operating state is, the larger the maximum pitch attitude angle corresponding to the time can be, so that the flight safety can be ensured, and the deceleration time can be shortened.
In the embodiment of the invention, in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system of the unmanned aerial vehicle, the observation pitch attitude of the unmanned aerial vehicle is taken as a reference condition, the rotor wing power system provides flight power, and the pitch attitude angle of the unmanned aerial vehicle is controlled to be smaller than or equal to the maximum pitch attitude angle. In the acceleration process of working state switching, on one hand, the maximum pitching attitude angle can be dynamically limited according to the switching time, and on the other hand, the pitching attitude angle is also dynamically adjusted according to the horizontal speed, so that the balance of flight safety and efficiency is realized. Therefore, the unstable rollover of the unmanned aerial vehicle in the deceleration process of the switching of the working state can be avoided, the stability of the switching of the working state is ensured, and the flight safety and the flight efficiency can be improved.
In the embodiment of the invention, in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system of the unmanned aerial vehicle, the observation pitch attitude of the unmanned aerial vehicle is taken as a reference condition, the rotor wing power system provides flight power, and the pitch attitude angle of the unmanned aerial vehicle is controlled to be smaller than or equal to the maximum pitch attitude angle. In the acceleration process of the working state switching, the maximum pitching attitude angle can be dynamically limited according to the switching time, so that the unstable rollover of the unmanned aerial vehicle in the deceleration process of the working state switching can be avoided, the stability of the working state switching is ensured, and the flight safety and the flight efficiency can be improved.
Fig. 5 is a flowchart illustrating steps of another method for controlling an unmanned aerial vehicle, which is also applicable to a VTOL aerial vehicle, according to an embodiment of the present invention. As shown in fig. 5, on the basis of the foregoing embodiment, the control method may include:
Specifically, regarding the execution process of step 301, refer to the explanation of step 101, which is not described herein again.
And step 302, determining the observation horizontal speed of the unmanned aerial vehicle.
Specifically, after the observed pitch attitude of the unmanned aerial vehicle is determined by the sensor assembly such as the accelerator, the gyroscope, the magnetic sensor, and the like, the flight speed of the unmanned aerial vehicle may be acquired by using the speed sensor, and since the main factor influencing the switching of the operating state of the unmanned aerial vehicle depends on whether the magnitude of the forward speed is appropriate, it is necessary to calculate and obtain a speed component in the horizontal direction as the observed horizontal speed according to the flight speed of the unmanned aerial vehicle, thereby determining whether the speed of the unmanned aerial vehicle in the x direction shown in fig. 3 reaches the attitude control condition.
It can be understood that before the observation horizontal velocity of the unmanned aerial vehicle is determined, whether the inertial navigation components such as the GPS and the like normally work or not can be monitored in advance, if the components are abnormal, it can be considered that the observation horizontal velocity which can be obtained by the unmanned aerial vehicle at the moment lacks reliability, and in order to avoid the posture error adjustment, the inertial navigation components can be continuously monitored until the inertial navigation components are restored to a normal state.
And 303, when the observation horizontal velocity is greater than or equal to a preset horizontal velocity threshold value, determining a pitching attitude control instruction according to the observation horizontal velocity, wherein the size of the pitching attitude control instruction is in negative correlation with the size of the observation horizontal velocity.
Specifically, a preset horizontal velocity threshold value may be preset for the unmanned aerial vehicle according to the structural parameters of the unmanned aerial vehicle, the flight speed, the lift force and other motion parameters, where the preset horizontal velocity threshold value is that the unmanned aerial vehicle corresponds to a certain critical pitch attitude angle, and if the speed of the unmanned aerial vehicle reaches or exceeds the preset horizontal velocity threshold value and the pitch attitude angle is greater than the critical pitch attitude angle, the unmanned aerial vehicle may have a rollover accident, so that a pitch attitude control command needs to be determined according to the observation horizontal velocity, where the size of the pitch attitude control command is inversely related to the size of the observation horizontal velocity. That is, to reduce the risk of rollover, the larger the observed horizontal velocity is, the smaller the pitch attitude control command is, i.e., the smaller the pitch attitude angle controlled by the pitch attitude control command is.
Specifically, the rotor power system may be controlled together so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle, based on the observed pitch attitude and pitch attitude control commands of the unmanned aerial vehicle determined as described above. The observation pitch attitude may be used to dynamically limit the maximum pitch attitude angle of the unmanned aerial vehicle at different times, and reference may be specifically made to the descriptions of step 201 to step 203. The pitch attitude control command can be used for dynamically adjusting the pitch attitude angle along with the horizontal speed in the deceleration process. Therefore, the safety of the unmanned aerial vehicle can be further improved by the coordination of the two.
And 305, when a rotor control mode triggering condition is met, controlling the rotor power system according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle.
Specifically, the flight process of the unmanned aerial vehicle can be controlled remotely by a flight hand through a remote controller, or can be controlled remotely by a manager in a centralized manner in a monitoring center, and the unmanned aerial vehicle can also have autonomous cruising and returning capabilities. An operator can send a command for controlling emergency deceleration to the unmanned aerial vehicle through a control terminal (such as a remote controller or a monitoring center) according to the actual flight task requirement, or when monitoring the abnormal working state of the unmanned aerial vehicle (the abnormal state can be the conditions of steering engine failure, overlarge crosswind speed, an approaching no-fly zone of the unmanned aerial vehicle and the like), at the moment, the unmanned aerial vehicle meets the triggering condition of a rotor wing control mode, and a rotor wing power system is controlled according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle, the safe deceleration of the unmanned aerial vehicle is ensured, and the switching of the working state is completed.
In the embodiment of the invention, in the deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system of the unmanned aerial vehicle, the observation pitch attitude of the unmanned aerial vehicle is taken as a reference condition, the rotor wing power system provides flight power, and the pitch attitude angle of the unmanned aerial vehicle is controlled to be smaller than or equal to the maximum pitch attitude angle. In the acceleration process of working state switching, on one hand, the maximum pitching attitude angle can be dynamically limited according to the switching time, and on the other hand, the pitching attitude angle is also dynamically adjusted according to the horizontal speed, so that the balance of flight safety and efficiency is realized. Therefore, the unstable rollover of the unmanned aerial vehicle in the deceleration process of the switching of the working state can be avoided, the stability of the switching of the working state is ensured, and the flight safety and the flight efficiency can be improved.
Fig. 6 is a view illustrating an unmanned aerial vehicle control device according to an embodiment of the present invention, and as shown in fig. 6, the unmanned aerial vehicle control device 400 may include a memory 401 and a processor 402, wherein,
the memory 401 is used for storing program codes;
the processor 402, invoking the program code, when executed, is configured to:
determining an observation pitching attitude of the unmanned aerial vehicle in a deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system;
controlling the rotor power system according to the observed pitch attitude such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
Optionally, the processor 402 is specifically configured to perform:
determining an observed pitch attitude of the unmanned aerial vehicle at a first time and an observed pitch attitude of the unmanned aerial vehicle at a second time;
controlling the rotor power system according to the observed pitch attitude at the first time to make the pitch attitude angle of the unmanned aerial vehicle less than or equal to a first maximum pitch attitude angle corresponding to the first time;
controlling the rotor power system according to the observed pitch attitude at the second time to cause the pitch attitude angle of the UAV to be less than or equal to a second maximum pitch attitude angle corresponding to the second time, wherein the second time is later than the first time, and the first maximum pitch attitude angle is less than the second maximum pitch attitude angle.
Optionally, the magnitude of the maximum pitch attitude angle is positively correlated with the time to switch to the rotor power system operating state.
Optionally, the processor 402 is further configured to perform:
determining an observed horizontal velocity of the UAV;
and when the observation horizontal velocity is greater than or equal to a preset horizontal velocity threshold value, controlling the rotor wing power system according to the observation pitching attitude so that the pitching attitude angle of the unmanned aerial vehicle is smaller than or equal to a maximum pitching attitude angle.
Optionally, the processor 402 is further configured to perform:
and when the observation horizontal speed is smaller than a preset horizontal speed threshold value, carrying out hovering control on the unmanned aerial vehicle.
Optionally, the processor 402 is specifically configured to perform:
determining a pitch attitude control command according to the observed horizontal velocity, wherein the magnitude of the pitch attitude control command is inversely related to the magnitude of the observed horizontal velocity;
controlling the rotor power system according to the observed pitch attitude and the pitch attitude control command such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
Optionally, the processor 402 is further configured to perform:
and when a rotor control mode triggering condition is met, controlling the rotor power system according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle.
Optionally, the meeting of the rotor control mode triggering condition includes:
and receiving at least one of a control emergency deceleration command sent by a control terminal and monitoring the abnormal working state of the unmanned aerial vehicle.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method are implemented.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, control terminal, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create control terminals for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction control terminals which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The foregoing describes in detail a processing method and a control terminal for an application icon provided in the present application, and a specific example is applied in the present application to explain the principle and implementation of the present application, and the description of the foregoing embodiment is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (17)
1. An unmanned aerial vehicle control method, wherein the unmanned aerial vehicle comprises a fixed wing power system and a rotor power system, the control method comprising:
determining an observation pitching attitude of the unmanned aerial vehicle in a deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system;
controlling the rotor power system according to the observed pitch attitude such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
2. The control method of claim 1, wherein said determining an observed pitch attitude of the UAV comprises:
determining an observed pitch attitude of the unmanned aerial vehicle at a first time and an observed pitch attitude of the unmanned aerial vehicle at a second time;
said controlling said rotor power system to cause a pitch attitude angle of said UAV to be less than or equal to a maximum pitch attitude angle based on said observed pitch attitude, comprising:
controlling the rotor power system according to the observed pitch attitude at the first time to make the pitch attitude angle of the unmanned aerial vehicle less than or equal to a first maximum pitch attitude angle corresponding to the first time;
controlling the rotor power system according to the observed pitch attitude at the second time to cause the pitch attitude angle of the UAV to be less than or equal to a second maximum pitch attitude angle corresponding to the second time, wherein the second time is later than the first time, and the first maximum pitch attitude angle is less than the second maximum pitch attitude angle.
3. The control method according to claim 1 or 2, wherein the magnitude of the maximum pitch attitude angle is positively correlated with the time to switch to the rotor power system operating state.
4. The control method according to any one of claims 1 to 3, characterized by further comprising: determining an observed horizontal velocity of the UAV;
said controlling said rotor power system to cause a pitch attitude angle of said UAV to be less than or equal to a maximum pitch attitude angle based on said observed pitch attitude, comprising:
and when the observation horizontal velocity is greater than or equal to a preset horizontal velocity threshold value, controlling the rotor wing power system according to the observation pitching attitude so that the pitching attitude angle of the unmanned aerial vehicle is smaller than or equal to a maximum pitching attitude angle.
5. The control method according to claim 4, characterized by further comprising:
and when the observation horizontal speed is smaller than a preset horizontal speed threshold value, carrying out hovering control on the unmanned aerial vehicle.
6. The control method according to any one of claims 4-5, wherein said controlling the rotor power system to cause the pitch attitude angle of the UAV to be less than or equal to a maximum pitch attitude angle based on the observed pitch attitude comprises:
determining an observed horizontal velocity of the unmanned aerial vehicle;
determining a pitch attitude control command according to the observed horizontal velocity, wherein the magnitude of the pitch attitude control command is inversely related to the magnitude of the observed horizontal velocity;
said controlling said rotor power system to cause a pitch attitude angle of said UAV to be less than or equal to a maximum pitch attitude angle based on said observed pitch attitude, comprising:
controlling the rotor power system according to the observed pitch attitude and the pitch attitude control command such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
7. The control method according to any one of claims 1 to 6, characterized by further comprising:
and when a rotor control mode triggering condition is met, controlling the rotor power system according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle.
8. The control method of claim 7, wherein the meeting of the rotor control mode trigger condition comprises:
and receiving at least one of a control emergency deceleration command sent by a control terminal and monitoring the abnormal working state of the unmanned aerial vehicle.
9. A control apparatus for an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a fixed wing power system and a rotor power system, wherein the control apparatus comprises a memory and a processor, wherein,
the memory for storing program code;
the processor, invoking the program code, when executed, is configured to:
determining an observation pitching attitude of the unmanned aerial vehicle in a deceleration process of switching the working state of the fixed wing power system to the working state of the rotor wing power system;
controlling the rotor power system according to the observed pitch attitude such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
10. The control apparatus of claim 9, wherein the processor is specifically configured to perform:
determining an observed pitch attitude of the unmanned aerial vehicle at a first time and an observed pitch attitude of the unmanned aerial vehicle at a second time;
controlling the rotor power system according to the observed pitch attitude at the first time to make the pitch attitude angle of the unmanned aerial vehicle less than or equal to a first maximum pitch attitude angle corresponding to the first time;
controlling the rotor power system according to the observed pitch attitude at the second time to cause the pitch attitude angle of the UAV to be less than or equal to a second maximum pitch attitude angle corresponding to the second time, wherein the second time is later than the first time, and the first maximum pitch attitude angle is less than the second maximum pitch attitude angle.
11. The control apparatus of claim 9 or 10, wherein the magnitude of the maximum pitch attitude angle is positively correlated with the time to switch to the rotor power system operating state.
12. The control device of any one of claims 9-11, wherein the processor is further configured to perform:
determining an observed horizontal velocity of the UAV;
and when the observation horizontal velocity is greater than or equal to a preset horizontal velocity threshold value, controlling the rotor wing power system according to the observation pitching attitude so that the pitching attitude angle of the unmanned aerial vehicle is smaller than or equal to a maximum pitching attitude angle.
13. The control device of claim 12, wherein the processor is further configured to perform:
and when the observation horizontal speed is smaller than a preset horizontal speed threshold value, carrying out hovering control on the unmanned aerial vehicle.
14. The control device according to any one of claims 9 to 13, wherein the processor is specifically configured to perform:
determining an observed horizontal velocity of the unmanned aerial vehicle;
determining a pitch attitude control command according to the observed horizontal velocity, wherein the magnitude of the pitch attitude control command is inversely related to the magnitude of the observed horizontal velocity;
controlling the rotor power system according to the observed pitch attitude and the pitch attitude control command such that a pitch attitude angle of the UAV is less than or equal to a maximum pitch attitude angle.
15. The control device of any one of claims 9-14, wherein the processor is further configured to perform:
and when a rotor control mode triggering condition is met, controlling the rotor power system according to the observation pitch attitude so that the pitch attitude angle of the unmanned aerial vehicle is smaller than or equal to the maximum pitch attitude angle.
16. The control device of claim 15, wherein the satisfaction of the rotor control mode trigger condition comprises:
and receiving at least one of a control emergency deceleration command sent by a control terminal and monitoring the abnormal working state of the unmanned aerial vehicle.
17. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the control method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/098405 WO2021016871A1 (en) | 2019-07-30 | 2019-07-30 | Control method and control apparatus for unmanned aerial vehicle, and computer-readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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