CN112947586A - Unmanned aerial vehicle control method and device, storage medium and rotary wing type unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method and device, storage medium and rotary wing type unmanned aerial vehicle Download PDFInfo
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Abstract
The present disclosure relates to a control method, a device, a storage medium and a rotor type unmanned aerial vehicle for an unmanned aerial vehicle, the method comprises the steps of obtaining current flight characteristic data of the unmanned aerial vehicle when the unmanned aerial vehicle navigates according to a target route, wherein the flight characteristic data comprises vertical speed information, motor rotating speed information, unmanned aerial vehicle attitude information and output power information of a power battery in the unmanned aerial vehicle; calculating to obtain mechanical characteristic parameters and power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the flight characteristic data; according to vertical speed information, motor speed information, mechanics characteristic parameter and power characteristic parameter, obtain unmanned aerial vehicle's target mass through predetermineeing the quality model, control unmanned aerial vehicle navigation according to unmanned aerial vehicle's target mass, can effectively guarantee the accuracy of the unmanned aerial vehicle quality who acquires to can effectively guarantee unmanned aerial vehicle control decision-making's accuracy and reliability, be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of carrying out the task.
Description
Technical Field
The disclosure relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, a storage medium and a rotor type unmanned aerial vehicle.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle is by the wide application in the agricultural, fields such as delivery and fire control, and unmanned aerial vehicle's quality parameter plays crucial effect in unmanned aerial vehicle's task decision-making and task execution process, obtains accurately the unmanned aerial vehicle quality in real time and is favorable to promoting the accuracy that unmanned aerial vehicle control decided, is favorable to promoting the efficiency that unmanned aerial vehicle accomplished the executive task by a wide margin.
In the correlation technique, the current quality of the unmanned aerial vehicle is usually inferred through the time of the unmanned aerial vehicle executing the task, however, the accuracy of the unmanned aerial vehicle quality generally inferred is low, reliable data basis cannot be provided for the control decision of the unmanned aerial vehicle, the reliability and the accuracy of the control decision of the unmanned aerial vehicle are not favorably improved, and the efficiency of the unmanned aerial vehicle completing the task execution is also not favorably improved.
Disclosure of Invention
The invention aims to provide a control method and device of an unmanned aerial vehicle, a storage medium and a rotary wing type unmanned aerial vehicle.
In order to achieve the above object, a first aspect of the present disclosure provides a control method for a drone, the method including:
when the unmanned aerial vehicle navigates according to a target air route, acquiring current flight characteristic data of the unmanned aerial vehicle, wherein the flight characteristic data comprises vertical speed information, motor rotating speed information, unmanned aerial vehicle attitude information and output power information of a power battery in the unmanned aerial vehicle;
calculating to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the motor rotating speed information and the unmanned aerial vehicle attitude information;
calculating to obtain power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information;
obtaining the target quality of the unmanned aerial vehicle through a preset quality model according to the vertical speed information, the motor rotating speed information, the mechanical characteristic parameter and the power characteristic parameter;
controlling the unmanned aerial vehicle to sail according to the target quality of the unmanned aerial vehicle.
Optionally, the vertical speed information includes a vertical acceleration, the motor rotation speed information includes a PWM (Pulse Width Modulation) parameter of a driving motor in the unmanned aerial vehicle, the PWM parameter is used to represent a sum of rotation speeds of the driving motor in the unmanned aerial vehicle, and the unmanned aerial vehicle attitude information includes a pitch angle and a roll angle of the unmanned aerial vehicle;
according to the vertical speed information, the motor speed information and the unmanned aerial vehicle attitude information are calculated to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction, and the method comprises the following steps:
acquiring a difference value between the gravity acceleration and the vertical acceleration;
and calculating the mechanical characteristic parameters according to the PWM parameters, the pitch angle, the roll angle and the difference.
Optionally, the output power information includes output current and output voltage of the power battery, the power characteristic parameter of the unmanned aerial vehicle in the vertical direction is obtained by calculating according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information, and the method includes:
determining a power value of the unmanned aerial vehicle according to the output current and the output voltage;
and calculating the power characteristic parameter according to the power value, the pitch angle, the roll angle and the difference value.
Optionally, the vertical speed information further includes a vertical speed, the mechanical characteristic parameter and the power characteristic parameter are obtained through a preset quality model according to the vertical speed information, the motor speed information, the mechanical characteristic parameter and the power characteristic parameter, and the method includes:
taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter as the input of the preset quality model, and outputting to obtain the target quality of the unmanned aerial vehicle; alternatively, the first and second electrodes may be,
and respectively taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter which are acquired at different moments as the input of the preset quality model to obtain a plurality of undetermined qualities of the unmanned aerial vehicle, and taking the average value of the plurality of undetermined qualities as the target quality.
Optionally, said controlling the navigation of the drone according to said target quality of said drone comprises:
under the condition that the target quality is determined to be within a preset quality range, controlling the unmanned aerial vehicle to continuously execute the target route;
and controlling the unmanned aerial vehicle to hover or return under the condition that the target quality is out of a preset quality range.
Optionally, the method further comprises:
and sending alarm information to a monitoring server under the condition of controlling the unmanned aerial vehicle to hover or return.
Optionally, the preset quality model is obtained by:
acquiring flight characteristic sample data of the unmanned aerial vehicle under different qualities, wherein the flight characteristic sample data comprises vertical speed sample information, motor rotating speed sample information, unmanned aerial vehicle attitude sample information and output power sample information of a power battery in the unmanned aerial vehicle;
aiming at the flight characteristic sample data under each mass, determining a mechanical characteristic sample parameter and a power characteristic sample parameter of the unmanned aerial vehicle in the vertical direction under the mass according to the vertical speed sample information, the unmanned aerial vehicle attitude sample information, the motor rotating speed sample information and the output power sample information of the unmanned aerial vehicle under the mass;
and carrying out linear regression fitting treatment on the vertical speed sample information, the motor rotating speed sample information, the mechanical characteristic sample parameters and the power characteristic sample parameters under different qualities to obtain the preset quality model.
In a second aspect of the present disclosure, there is provided a control apparatus for a drone, the apparatus comprising:
the system comprises an acquisition module, a control module and a power battery, wherein the acquisition module is used for acquiring current flight characteristic data of the unmanned aerial vehicle when the unmanned aerial vehicle navigates according to a target air route, and the flight characteristic data comprises vertical speed information, motor rotating speed information, unmanned aerial vehicle attitude information and output power information of the power battery in the unmanned aerial vehicle;
the first calculation module is used for calculating mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the motor rotating speed information and the unmanned aerial vehicle attitude information;
the second calculation module is used for calculating power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information;
the determining module is used for obtaining the target mass of the unmanned aerial vehicle through a preset mass model according to the vertical speed information, the motor rotating speed information, the mechanical characteristic parameter and the power characteristic parameter;
and the control module is used for controlling the unmanned aerial vehicle to sail according to the target quality of the unmanned aerial vehicle.
Optionally, the vertical speed information includes a vertical acceleration, the motor rotation speed information includes a PWM parameter of a driving motor in the unmanned aerial vehicle, the PWM parameter is used to represent a sum of rotation speeds of the driving motor in the unmanned aerial vehicle, and the unmanned aerial vehicle attitude information includes a pitch angle and a roll angle of the unmanned aerial vehicle;
the first computing module is configured to:
acquiring a difference value between the gravity acceleration and the vertical acceleration;
and calculating the mechanical characteristic parameters according to the PWM parameters, the pitch angle, the roll angle and the difference.
Optionally, the output power information includes an output current and an output voltage of the power battery, and the second calculating module is configured to:
determining a power value of the unmanned aerial vehicle according to the output current and the output voltage;
and calculating the power characteristic parameter according to the power value, the pitch angle, the roll angle and the difference value.
Optionally, the vertical velocity information further includes a vertical velocity, and the determining module is configured to:
taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter as the input of the preset quality model, and outputting to obtain the target quality of the unmanned aerial vehicle; alternatively, the first and second electrodes may be,
and respectively taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter which are acquired at different moments as the input of the preset quality model to obtain a plurality of undetermined qualities of the unmanned aerial vehicle, and taking the average value of the plurality of undetermined qualities as the target quality.
Optionally, the control module is configured to:
under the condition that the target quality is determined to be within a preset quality range, controlling the unmanned aerial vehicle to continuously execute the target route;
and controlling the unmanned aerial vehicle to hover or return under the condition that the target quality is out of a preset quality range.
Optionally, the apparatus further comprises:
and the alarm module is used for sending alarm information to the monitoring server under the condition of controlling the unmanned aerial vehicle to hover or return.
Optionally, the preset quality model is obtained by:
acquiring flight characteristic sample data of the unmanned aerial vehicle under different qualities, wherein the flight characteristic sample data comprises vertical speed sample information, motor rotating speed sample information, unmanned aerial vehicle attitude sample information and output power sample information of a power battery in the unmanned aerial vehicle;
aiming at the flight characteristic sample data under each mass, determining a mechanical characteristic sample parameter and a power characteristic sample parameter of the unmanned aerial vehicle in the vertical direction under the mass according to the vertical speed sample information, the unmanned aerial vehicle attitude sample information, the motor rotating speed sample information and the output power sample information of the unmanned aerial vehicle under the mass;
and carrying out linear regression fitting treatment on the vertical speed sample information, the motor rotating speed sample information, the mechanical characteristic sample parameters and the power characteristic sample parameters under different qualities to obtain the preset quality model.
In a third aspect of the present disclosure there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method as set forth in the first aspect above.
In a fourth aspect of the present disclosure, there is provided a rotary-wing drone, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of the first aspect above.
According to the technical scheme, when the unmanned aerial vehicle navigates according to the target route, the unmanned aerial vehicle is based on the vertical speed information, the motor rotating speed information, the mechanical characteristic parameters and the power characteristic parameters are obtained through the preset quality model, the target quality of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle navigates, the accuracy of the quality of the acquired unmanned aerial vehicle can be effectively guaranteed, the accuracy and the reliability of unmanned aerial vehicle control decision can be effectively improved, and the efficiency of the unmanned aerial vehicle for completing the execution task is favorably improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
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The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart illustrating a method of controlling a drone according to an exemplary embodiment of the present disclosure;
fig. 2 is a flowchart illustrating another method of controlling a drone according to an exemplary embodiment of the present disclosure;
fig. 3 is a block diagram of a control device of a drone according to another exemplary embodiment of the present disclosure;
fig. 4 is a block diagram illustrating a rotary-wing drone in accordance with an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before describing the specific embodiments of the present disclosure in detail, the following description is first made on an application scenario of the present disclosure, and the present disclosure may be applied to a control decision process of an unmanned aerial vehicle, in particular, a process in which the unmanned aerial vehicle determines an unmanned aerial vehicle control strategy according to its own quality. Wherein, this unmanned aerial vehicle can be the rotor unmanned aerial vehicle of variable mass, for example can be agricultural plant protection unmanned aerial vehicle, delivery unmanned aerial vehicle, fire control unmanned aerial vehicle, four rotor unmanned aerial vehicle, six rotor unmanned aerial vehicle etc..
The inventor finds that the quality parameters of the unmanned aerial vehicle play a key role in the control decision of the unmanned aerial vehicle, and the accurate quality of the unmanned aerial vehicle is obtained, so that the efficiency of the unmanned aerial vehicle in executing tasks is improved, for example, when the agricultural plant protection unmanned aerial vehicle executes pesticide spraying tasks, whether the pesticide spraying tasks are finished or not can be determined according to the quality of the unmanned aerial vehicle, and whether return voyage should be carried out or not; in the process of carrying out the distribution task by the distribution unmanned aerial vehicle, whether to carry the to-be-distributed articles can be determined according to the current quality of the unmanned aerial vehicle, and then under the condition that the to-be-distributed articles are carried in a determining mode, the to-be-distributed articles sail according to a preset distribution route so as to complete the distribution task. However, in the related art, the current quality of the unmanned aerial vehicle is usually estimated according to the time of the unmanned aerial vehicle executing the task, for example, within several minutes after the unmanned aerial vehicle takes off, the current quality of the unmanned aerial vehicle is estimated to be the sum of the quality of the articles to be dispensed and the quality of the unmanned aerial vehicle, when the unmanned aerial vehicle executes the spraying task, the quality of the unmanned aerial vehicle is estimated to be reduced according to the time increase of the unmanned aerial vehicle spraying, however, there are often cases that the unmanned aerial vehicle does not carry the articles to be dispensed or carry wrong articles to be dispensed, and the unmanned aerial vehicle may consume the pesticide in the pesticide storage tank faster due to the failure or other failures of the pesticide storage tank or may not be sprayed out due to the failure of the pesticide storage tank, and if the current quality of the unmanned aerial vehicle is determined according to the estimation manner in the related art, and the unmanned aerial vehicle is controlled according to the current quality, it is easy to make the unmanned aerial vehicle continue to sail when the unmanned aerial vehicle is to be made to return, and to control the unmanned aerial vehicle to return to sail and other wrong control decision phenomena when the unmanned aerial vehicle is to continue to execute the task. That is to say, the accuracy of the unmanned aerial vehicle quality inferred according to the unmanned aerial vehicle quality inference method in the related art is low, reliable data bases cannot be provided for the control decision of the unmanned aerial vehicle, the reliability and the accuracy of the control decision of the unmanned aerial vehicle are not favorably improved, and the efficiency of the unmanned aerial vehicle for completing the task execution is also not favorably improved.
In order to solve the technical problems, the present disclosure provides a method, an apparatus, a storage medium, and a rotary wing type unmanned aerial vehicle for controlling an unmanned aerial vehicle, wherein the method includes acquiring current flight characteristic data of the unmanned aerial vehicle when the unmanned aerial vehicle navigates according to a target route, the flight characteristic data including vertical speed information, motor rotation speed information, attitude information of the unmanned aerial vehicle, and output power information of a power battery in the unmanned aerial vehicle; calculating to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction and power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the flight characteristic data; according to this vertical speed information, this motor speed information, this mechanics characteristic parameter and this power characteristic parameter, obtain this unmanned aerial vehicle's target mass through predetermineeing the quality model, this unmanned aerial vehicle navigation according to this target mass control of this unmanned aerial vehicle, according to this vertical speed information like this, motor speed information, this mechanics characteristic parameter and this power characteristic parameter, obtain this unmanned aerial vehicle's target mass through predetermineeing the quality model, can effectively guarantee the accuracy of the unmanned aerial vehicle quality who acquires, thereby can effectively guarantee unmanned aerial vehicle control decision-making's accuracy and reliability, thereby be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of carrying out the task.
The embodiments of the present disclosure are described in detail below with reference to specific examples.
Fig. 1 is a flowchart illustrating a method of controlling a drone according to an exemplary embodiment of the present disclosure; referring to fig. 1, the method may include the steps of:
Wherein, this flight characteristic data includes vertical speed information, motor speed information, unmanned aerial vehicle attitude information to and power battery's output information among the unmanned aerial vehicle.
Optionally, the vertical speed information may include a vertical acceleration and a vertical speed, the motor rotation speed information includes a PWM parameter of a driving motor in the unmanned aerial vehicle, the PWM parameter is used for characterizing a sum of rotation speeds of the driving motor in the unmanned aerial vehicle, the unmanned aerial vehicle attitude information includes a pitch angle and a roll angle of the unmanned aerial vehicle, and the output power information includes an output current and an output voltage of the power battery.
When the drone includes a plurality of driving motors, the PWM parameter is the sum of the PWMs of the plurality of driving motors, for example, when a quad-rotor drone includes 4 driving motors, and when a task is executed, the PWM values corresponding to the control commands of the 4 driving motors are 1000, 1000, 1800, and 1500, respectively, the PWM parameter is 5300.
In addition, it should be noted that, in the process of acquiring the flight characteristic data, the sampling frequencies corresponding to different parameters are usually different, so that the average value of the sampling values of each parameter in a preset unit time can be obtained, and the sampling times of different parameters are aligned.
Illustratively, the sampling frequency of the vertical velocity is 50HZ, the sampling frequency of the PWM parameter is 100HZ, the sampling frequency of the pitch angle and the roll angle are both 100HZ, the sampling frequency of the output current and the output voltage are both 50HZ, in order to align the sampling time of different parameters, the average sampling value of the vertical velocity within 1 second can be calculated as the vertical velocity to be processed, the average sampling value of the PWM parameter within 1 second can be calculated as the PWM parameter to be processed, the average sampling value of the pitch angle within 1 second can be calculated as the pitch angle to be processed, the average sampling value of the roll angle within 1 second can be calculated as the roll angle to be processed, the average sampling values of the output current and the output voltage within 1 second can be calculated as the output current and the output voltage to be processed respectively, thus not only aligning the sampling time of different parameters, but also effectively improving the reliability of the sampling data, and reliable data basis is provided for the acquisition of the quality of the unmanned aerial vehicle.
And 102, calculating to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the motor rotating speed information and the unmanned aerial vehicle attitude information.
In this step, one possible implementation includes: acquiring a difference value between the gravity acceleration and the vertical acceleration; and calculating the mechanical characteristic parameter according to the PWM parameter, the pitch angle, the roll angle and the difference value.
For example, if the gravitational acceleration is g, the vertical acceleration is az, the PWM parameter is P, the pitch angle is pitch, and the roll angle is roll, the mechanical characteristic parameter can be calculated by the following formula: p.cos (pitch). cos (roll)/(g-az).
And 103, calculating to obtain power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information.
In this step, one possible implementation manner is: determining the power value of the unmanned aerial vehicle according to the output current and the output voltage; and calculating the power characteristic parameter according to the power value, the pitch angle, the roll angle and the difference.
In an example, when the output current of the power battery is obtained as current, the output voltage of the power battery is voltage, and the power value of the unmanned aerial vehicle is current _ voltage, the power characteristic parameter may be calculated by the following formula: current voltage cos (batch) cos (roll)/(g-az).
And step 104, obtaining the target mass of the unmanned aerial vehicle through a preset mass model according to the vertical speed information, the motor rotating speed information, the mechanical characteristic parameter and the power characteristic parameter.
In this step, one possible implementation manner is: and outputting the vertical speed, the vertical acceleration, the PWM parameters, the mechanical characteristic parameters and the power characteristic parameters as the input of the preset quality model to obtain the target quality of the unmanned aerial vehicle.
Wherein the preset quality model may be:Y(F)=k 1·f 1+k 2·f 2 +k 3·f 3 +k 4·f 4 +k 5·f 5 +k 6in the case of the model,f 1tof 5Is a variable, and is a function of,k 1tok 6Is a predetermined coefficient, whereinf 1Is a vertical acceleration off 2At a vertical velocity, thef 3As a PWM parameter, thef 4Is a mechanical characteristic parameter, thef 5Is a power characteristic parameter.
Another possible implementation manner is that the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter obtained at different times are respectively used as inputs of the preset quality model to obtain a plurality of undetermined qualities of the unmanned aerial vehicle, and an average value of the plurality of undetermined qualities is used as the target quality.
Exemplarily, the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter corresponding to two sampling times before the current sampling time and closest to the current sampling time are respectively obtained, and then the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter are obtainedF 1AndF 2，wherein the content of the first and second substances,F 1the result of the last sampling before the current sampling time, including the vertical velocityf 11Acceleration in the vertical directionf 21PWM parametersf 31Mechanical characteristic parameterf 41And power characteristic parameterf 51The product isF 2For the previous sampling, including vertical velocityf 12Acceleration in the vertical directionf 22PWM parametersf 32Mechanical characteristic parameterf 42And power characteristic parameterf 52Obtaining the sampling result corresponding to the current sampling timeF 0The product isF 0Including vertical velocityf 10Acceleration in the vertical directionf 20PWM parametersf 30Mechanical characteristic parameterf 40And power characteristic parameterf 50To what is described aboveF 0，F 1AndF 2respectively substituted into the preset quality modelY(F)=k 1·f 1+k 2·f 2 +k 3·f 3 +k 4·f 4 +k 5·f 5 +k 6To obtain a mass to be determinedY(F 0 ) Mass to be determinedY(F 1 ) Mass to be determinedY(F 2 ) Obtaining the sameY(F 0 )， Y(F 1 )， Y(F 2 ) The average value is taken as the target mass.
And 105, controlling the unmanned aerial vehicle to sail according to the target quality of the unmanned aerial vehicle.
One possible implementation manner in this step is: under the condition that the target quality is determined to be within the preset quality range, controlling the unmanned aerial vehicle to continuously execute the target route; and controlling the unmanned aerial vehicle to hover or return under the condition that the target quality is out of the preset quality range. Like this, according to the accurate target quality control unmanned aerial vehicle navigation of unmanned aerial vehicle, can effectively guarantee unmanned aerial vehicle control decision-making's accuracy and reliability, be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of carrying out the task.
Illustratively, during the process of executing the delivery task, the delivery unmanned aerial vehicle navigates according to a preset delivery route (i.e. a target route), during the navigation, the current quality of the delivery unmanned aerial vehicle can be obtained in real time through the method shown in the above steps 101 to 104, in the case that the current quality is determined to be greater than or equal to a preset quality threshold (e.g. 7 Kg), the delivery unmanned aerial vehicle is determined to already carry the to-be-delivered article, the unmanned aerial vehicle can be controlled to continue executing the delivery route, in the case that the current quality is determined to be less than the preset quality threshold, the delivery unmanned aerial vehicle is determined not to carry the to-be-delivered article, and the unmanned aerial vehicle can be controlled to hover or return to wait for further processing.
Optionally, when the target quality is outside the preset quality range, the unmanned aerial vehicle may be controlled to hover or return, and meanwhile, an alarm message may be sent to the monitoring server.
Still taking the above example as an example, in the case that it is determined that the current quality is less than 7Kg, while the unmanned aerial vehicle is controlled to hover or return, the warning information is sent to the monitoring server to show the reason why the unmanned aerial vehicle hovers or returns through the high-precision information, where the current quality of the unmanned aerial vehicle may be included in the warning information. Like this, can make ground monitoring station according to this state of warning information timely understanding this unmanned aerial vehicle to confirm further control strategy according to this state, be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of carrying out the task.
Above technical scheme, through when unmanned aerial vehicle navigates according to the target course, according to this vertical speed information, this motor speed information, this mechanics characteristic parameter and this power characteristic parameter, obtain this unmanned aerial vehicle's target quality through predetermineeing the quality model, this unmanned aerial vehicle navigation is controlled according to this target quality of this unmanned aerial vehicle, the accuracy of the unmanned aerial vehicle quality that can effectively guarantee to acquire, control decision's accuracy and reliability when can effectively promote unmanned aerial vehicle executive task, thereby be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of executive task.
Before acquiring the current flight characteristic data of the drone when the drone navigates according to the target route in step 101, the method may further include the following steps shown in fig. 2 to acquire the preset quality model in step 104, where fig. 2 is a flowchart of a control method of the drone according to the embodiment shown in fig. 1 of the present disclosure, and referring to fig. 2, the method may include:
and S1, acquiring flight characteristic sample data of the unmanned aerial vehicle under different qualities.
The flight characteristic sample data comprises vertical speed sample information, motor rotating speed sample information, unmanned aerial vehicle attitude sample information and output power sample information of a power battery in the unmanned aerial vehicle; this vertical speed sample information includes vertical speed and vertical acceleration, and this motor speed sample information includes driving motor's PWM parameter among the unmanned aerial vehicle, and this PWM parameter is arranged in the sum of the rotational speed of driving motor among the characterization unmanned aerial vehicle, and this unmanned aerial vehicle gesture sample information includes this unmanned aerial vehicle's pitch angle and roll angle, and this output sample information includes this power battery's output current and output voltage.
S2, to flight characteristic sample data under every quality, according to this unmanned aerial vehicle' S vertical velocity sample information under this quality, this unmanned aerial vehicle gesture sample information, this motor speed sample information and this output power sample information confirm this unmanned aerial vehicle at ascending mechanics characteristic sample parameter of vertical direction and power characteristic sample parameter under this quality.
Wherein, the mechanical characteristic sample parameter can be represented by a formula: p · cos (pitch) · cos (roll)/(g-az), in the formula, g is the gravity acceleration, az is the vertical acceleration, P is the PWM parameter, pitch is the pitch angle, and roll is the roll angle.
The power characteristic sample parameter can be calculated by the following formula: in the above formula, current is the output current of the power battery, voltage is the output voltage of the power battery, current is the power value of the unmanned aerial vehicle, pitch is the pitch angle, and roll is the roll angle.
And S3, performing linear regression fitting processing on the vertical speed sample information, the motor rotating speed sample information, the mechanical characteristic sample parameter and the power characteristic sample parameter under different qualities to obtain the preset quality model.
In this step, a function model may be preset:Y(F)=k 1·f 1+k 2·f 2 +k 3·f 3 +k 4·f 4 +k 5·f 5 +k 6wherein, thef 1Is a vertical acceleration off 2At a vertical velocity, thef 3As a PWM parameter, thef 4Is a mechanical characteristic parameter, thef 5For the power characteristic parameter, in the model,f 1tof 5Is a variable, and is a function of,k 1tok 6Is a preset coefficient. The preset coefficient can be obtained by performing linear regression fitting processing on the vertical speed sample information, the motor rotation speed sample information, the mechanical characteristic sample parameter and the power characteristic sample parameter under different qualities through a least square method, a gradient descent method and other linear regression algorithms, and it needs to be explained that the linear regression fitting process is common in the prior art, and the disclosure is not repeated herein.
Exemplarily, flight characteristic sample data under different qualities are collected for a certain six-rotor unmanned aerial vehicle for distribution, and after a preset linear regression fitting algorithm (for example, a least square method) is used for carrying out linear regression fitting processing on vertical speed sample information, motor speed sample information, mechanical characteristic sample parameters and power characteristic sample parameters under different qualities, the characteristic coefficients in the preset function model corresponding to the six-rotor unmanned aerial vehicle for distribution are respectively:k 1=-0.6512，k 2=0.3675，k 3=-0.0237，k 4=3.9425，k 5=0.0473，k 6= -1.010. Substituting the above characteristic coefficients into the preset function model to obtain the preset quality model of the six-rotor unmanned aerial vehicle for delivery:Y(F)=-0.6512f 1+0.3675f 2 - 0.0237f 3 +3.9425f 4 +0.0473f 5-1.010。
through the scheme shown in S1 to S3, the preset quality model can be obtained, the quality of the unmanned aerial vehicle can be accurately obtained through the preset quality model, a more reliable data basis can be provided for the control of the unmanned aerial vehicle, and therefore the accuracy and the reliability of unmanned aerial vehicle control decision making are favorably improved.
Fig. 3 is a block diagram of a control device of a drone according to another exemplary embodiment of the present disclosure; referring to fig. 3, the apparatus may include:
the acquiring module 301 is configured to acquire current flight characteristic data of the unmanned aerial vehicle when the unmanned aerial vehicle navigates according to a target route, where the flight characteristic data includes vertical speed information, motor rotation speed information, unmanned aerial vehicle attitude information, and output power information of a power battery in the unmanned aerial vehicle;
the first calculation module 302 is configured to calculate, according to the vertical speed information, the motor rotation speed information, and the unmanned aerial vehicle attitude information, to obtain a mechanical characteristic parameter of the unmanned aerial vehicle in the vertical direction;
the second calculation module 303 is configured to calculate a power characteristic parameter of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle, and the output power information;
a determining module 304, configured to obtain a target mass of the unmanned aerial vehicle through a preset mass model according to the vertical speed information, the motor rotation speed information, the mechanical characteristic parameter, and the power characteristic parameter;
a control module 305, configured to control the drone to navigate according to the target quality of the drone.
Above technical scheme, through when unmanned aerial vehicle navigates according to the target course, according to this vertical speed information, this motor speed information, this mechanics characteristic parameter and this power characteristic parameter, obtain this unmanned aerial vehicle's target mass through predetermineeing the quality model, according to this unmanned aerial vehicle's this target mass control this unmanned aerial vehicle navigation, the accuracy of the unmanned aerial vehicle quality that can effectively guarantee to acquire, can effectively promote accuracy and the reliability of unmanned aerial vehicle control decision-making, thereby be favorable to promoting unmanned aerial vehicle and accomplish the efficiency of carrying out the task.
Optionally, the vertical speed information includes a vertical acceleration, the motor rotation speed information includes a PWM parameter of a driving motor in the unmanned aerial vehicle, the PWM parameter is used to represent a sum of rotation speeds of the driving motor in the unmanned aerial vehicle, and the unmanned aerial vehicle attitude information includes a pitch angle and a roll angle of the unmanned aerial vehicle;
the first calculating module 302 is configured to:
acquiring a difference value between the gravity acceleration and the vertical acceleration;
and calculating the mechanical characteristic parameter according to the PWM parameter, the pitch angle, the roll angle and the difference value.
Optionally, the output power information includes an output current and an output voltage of the power battery, and the second calculating module 303 is configured to:
determining the power value of the unmanned aerial vehicle according to the output current and the output voltage;
and calculating the power characteristic parameter according to the power value, the pitch angle, the roll angle and the difference.
Optionally, the vertical velocity information further includes a vertical velocity, and the determining module 304 is configured to:
taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter as the input of the preset quality model, and outputting to obtain the target quality of the unmanned aerial vehicle; alternatively, the first and second electrodes may be,
and respectively taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter which are acquired at different moments as the input of the preset quality model to obtain a plurality of undetermined qualities of the unmanned aerial vehicle, and taking the average value of the undetermined qualities as the target quality.
Optionally, the control module 305 is configured to:
under the condition that the target quality is determined to be within the preset quality range, controlling the unmanned aerial vehicle to continuously execute the target route;
and controlling the unmanned aerial vehicle to hover or return under the condition that the target quality is out of the preset quality range.
Optionally, the apparatus further comprises:
and an alarm module 306, configured to send alarm information to the monitoring server when the unmanned aerial vehicle is controlled to hover or return.
Optionally, the preset quality model is obtained by:
acquiring flight characteristic sample data of the unmanned aerial vehicle under different qualities, wherein the flight characteristic sample data comprises vertical speed sample information, motor rotating speed sample information, unmanned aerial vehicle attitude sample information and output power sample information of a power battery in the unmanned aerial vehicle;
aiming at the flight characteristic sample data under each mass, determining a mechanical characteristic sample parameter and a power characteristic sample parameter of the unmanned aerial vehicle in the vertical direction under the mass according to the vertical speed sample information, the attitude sample information, the motor rotating speed sample information and the output power sample information of the unmanned aerial vehicle under the mass;
and carrying out linear regression fitting processing on the vertical speed sample information, the motor rotating speed sample information, the mechanical characteristic sample parameter and the power characteristic sample parameter under different qualities to obtain the preset quality model.
Above technical scheme can obtain the model (this predetermines the quality model) of acquireing unmanned aerial vehicle quality effectively, can acquire unmanned aerial vehicle's quality more accurately through this predetermine the quality model, can provide more reliable data basis for unmanned aerial vehicle's control to be favorable to promoting unmanned aerial vehicle control decision-making's accuracy and reliability.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a block diagram illustrating a rotary-wing drone in accordance with an exemplary embodiment. As shown in fig. 4, the rotary-wing drone 400 may include: a processor 401 and a memory 402. The rotary-wing drone 400 may also include one or more of a multimedia component 403, an input/output (I/O) interface 404, and a communications component 405.
The processor 401 is configured to control the overall operation of the rotary-wing drone 400, so as to complete all or part of the steps in the drone control method. The memory 402 is used to store various types of data to support operation at the rotary-wing drone 400, which may include, for example, instructions for any application or method operating on the rotary-wing drone 400, as well as application-related data, such as contact data, transceived messages, pictures, audio, video, and so forth. The Memory 402 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 403 may include a screen and an audio component. The audio component is used for outputting and/or inputting audio signals. The I/O interface 404 provides an interface between the processor 401 and other interface modules, which may be buttons, for example. These buttons may be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the rotary-wing drone 400 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 405 may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the rotary-wing drone 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described drone control method.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of a drone described above. For example, the computer readable storage medium may be the memory 402 described above including program instructions executable by the processor 401 of the rotary-wing drone 400 to perform the method of controlling the drone described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of controlling a drone, the method comprising:
when the unmanned aerial vehicle navigates according to a target air route, acquiring current flight characteristic data of the unmanned aerial vehicle, wherein the flight characteristic data comprises vertical speed information, motor rotating speed information, unmanned aerial vehicle attitude information and output power information of a power battery in the unmanned aerial vehicle;
calculating to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the motor rotating speed information and the unmanned aerial vehicle attitude information;
calculating to obtain power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information;
obtaining the target quality of the unmanned aerial vehicle through a preset quality model according to the vertical speed information, the motor rotating speed information, the mechanical characteristic parameter and the power characteristic parameter;
controlling the unmanned aerial vehicle to sail according to the target quality of the unmanned aerial vehicle.
2. The method of claim 1, wherein the vertical velocity information comprises vertical acceleration, the motor speed information comprises PWM parameters of drive motors in the drone, the PWM parameters are used to characterize a sum of speeds of the drive motors in the drone, and the drone attitude information comprises pitch and roll angles of the drone;
according to the vertical speed information, the motor speed information and the unmanned aerial vehicle attitude information are calculated to obtain mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction, and the method comprises the following steps:
acquiring a difference value between the gravity acceleration and the vertical acceleration;
and calculating the mechanical characteristic parameters according to the PWM parameters, the pitch angle, the roll angle and the difference.
3. The method of claim 2, wherein the output power information comprises output current and output voltage of the power battery, and the calculating of the power characteristic parameter of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the unmanned aerial vehicle attitude information and the output power information comprises:
determining a power value of the unmanned aerial vehicle according to the output current and the output voltage;
and calculating the power characteristic parameter according to the power value, the pitch angle, the roll angle and the difference value.
4. The method of claim 2, wherein the vertical speed information further includes a vertical speed, and the obtaining the target mass of the drone through a preset mass model according to the vertical speed information, the motor speed information, the mechanical characteristic parameter, and the power characteristic parameter includes:
taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter as the input of the preset quality model, and outputting to obtain the target quality of the unmanned aerial vehicle; alternatively, the first and second electrodes may be,
and respectively taking the vertical speed, the vertical acceleration, the PWM parameter, the mechanical characteristic parameter and the power characteristic parameter which are acquired at different moments as the input of the preset quality model to obtain a plurality of undetermined qualities of the unmanned aerial vehicle, and taking the average value of the plurality of undetermined qualities as the target quality.
5. The method of claim 1, wherein said controlling the voyage of the drone according to the target quality of the drone comprises:
under the condition that the target quality is determined to be within a preset quality range, controlling the unmanned aerial vehicle to continuously execute the target route;
and controlling the unmanned aerial vehicle to hover or return under the condition that the target quality is out of a preset quality range.
6. The method of claim 5, further comprising:
and sending alarm information to a monitoring server under the condition of controlling the unmanned aerial vehicle to hover or return.
7. The method according to any one of claims 1 to 6, wherein the preset quality model is obtained by:
acquiring flight characteristic sample data of the unmanned aerial vehicle under different qualities, wherein the flight characteristic sample data comprises vertical speed sample information, motor rotating speed sample information, unmanned aerial vehicle attitude sample information and output power sample information of a power battery in the unmanned aerial vehicle;
aiming at the flight characteristic sample data under each mass, determining a mechanical characteristic sample parameter and a power characteristic sample parameter of the unmanned aerial vehicle in the vertical direction under the mass according to the vertical speed sample information, the unmanned aerial vehicle attitude sample information, the motor rotating speed sample information and the output power sample information of the unmanned aerial vehicle under the mass;
and carrying out linear regression fitting treatment on the vertical speed sample information, the motor rotating speed sample information, the mechanical characteristic sample parameters and the power characteristic sample parameters under different qualities to obtain the preset quality model.
8. A control device for a drone, the device comprising:
the system comprises an acquisition module, a control module and a power battery, wherein the acquisition module is used for acquiring current flight characteristic data of the unmanned aerial vehicle when the unmanned aerial vehicle navigates according to a target air route, and the flight characteristic data comprises vertical speed information, motor rotating speed information, unmanned aerial vehicle attitude information and output power information of the power battery in the unmanned aerial vehicle;
the first calculation module is used for calculating mechanical characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the motor rotating speed information and the unmanned aerial vehicle attitude information;
the second calculation module is used for calculating power characteristic parameters of the unmanned aerial vehicle in the vertical direction according to the vertical speed information, the attitude information of the unmanned aerial vehicle and the output power information;
the determining module is used for obtaining the target mass of the unmanned aerial vehicle through a preset mass model according to the vertical speed information, the motor rotating speed information, the mechanical characteristic parameter and the power characteristic parameter;
and the control module is used for controlling the unmanned aerial vehicle to sail according to the target quality of the unmanned aerial vehicle.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A rotary wing unmanned aerial vehicle, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 7.
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