CN113238574B - Cluster performance unmanned aerial vehicle landing detection control method, system, terminal and application - Google Patents
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a method, a system, a terminal and an application for detecting landing of a cluster performance unmanned aerial vehicle, wherein the method for detecting landing of the cluster performance unmanned aerial vehicle is divided into three stages, including a touchdown stage, a possible landing stage and a landing stage, the aircraft is in a state of being left empty and is in contact with the ground, the touchdown stage is firstly entered, the condition of the touchdown stage is met and lasts for a period of time, then the aircraft is entered into the possible landing stage, the condition of the possible landing stage is met and lasts for a period of time, the aircraft is finally entered into the landing stage, the condition of the landing stage is met and lasts for a period of time, at this moment, the conditions of all stages are considered to be met, and finally, the propeller is stopped; the cluster performance unmanned aerial vehicle landing detection control method further comprises landing detection optimization. The landing detection control method of the unmanned aerial vehicle for cluster performance, provided by the invention, can effectively solve the problem of slight bounce in some special fields through landing detection optimization.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a landing detection control method, a landing detection control system, a landing detection control terminal and application of a cluster performance unmanned aerial vehicle.
Background
At present, in a group performance, hundreds or thousands of airplanes generally perform flight performance simultaneously, and the whole process is full-autonomous flight from the moment of flying from the ground to the moment of landing. The full-autonomous flight is that no human intervention exists in the whole flight process. Certainly, the landing detection is also a part of the whole full-autonomous flight, manual intervention is not needed, and the landing detection is completely carried out by the flight control system according to the sensor data and the flight control data.
Three points of landing detection are extremely important:
(1) One is to ensure that no false triggering occurs in the air. When the cluster flies, the flight control algorithm detects the landing in real time, and at this time, one hundred percent of false triggering cannot be guaranteed.
(2) Secondly, accurate and fast landing detection is achieved. Since the period of flight control computer calculation is in the order of tens of milliseconds, the time for landing detection is in the order of tens of control periods.
(3) Thirdly, the consistency of all the airplane landing detection is achieved. Considering the influence of the field (grassland and cement land) and the influence of external factors (gust), the detection of the landing needs to keep consistency, and theoretically, the propeller is stopped simultaneously.
Meanwhile, since a plurality of sensors are arranged in one airplane, the landing detection cannot be detected by means of single sensor data due to the fact that the sensors have fault rates and data differences, the data of the plurality of sensors need to be considered, and meanwhile, some flight control data need to be considered.
Through the above analysis, the problems and defects of the prior art are as follows: the existing cluster performance unmanned aerial vehicle landing detection method has the problems of false triggering, incapability of adapting to various fields, incapability of realizing the consistency of landing detection of all airplanes and the like.
The difficulty in solving the above problems and defects is:
firstly, due to the comprehensive consideration of data and control parameters of a plurality of sensors and the sectional detection of the landing detection, the problem of false triggering of the landing detection is solved, but as the landing detection relates to the data of the plurality of sensors, the failure of the landing detection can be caused as long as the data of one sensor is abnormal; secondly, the unevenness of the field has great influence on control parameters, so that part of the airplanes in the large number of airplanes can not successfully land on the ground; finally, due to the difference of performance sites, the compatibility of parameter threshold values needs to be considered, and the method is suitable for various sites.
The significance for solving the problems and the defects is as follows:
firstly, landing detection is an important link of the whole autonomous flight, and one is to ensure that false triggering cannot be carried out in the flight process, so that the explosion probability is reduced, and the material cost is saved; secondly, for the high success rate of the large-number airplane landing detection, the work of field operators can be greatly reduced, and the labor cost is saved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method, a system, a terminal and an application for controlling landing detection of a cluster performance unmanned aerial vehicle.
The invention is realized in such a way, and provides a cluster performance unmanned aerial vehicle landing detection control method, which comprises the following steps:
firstly, the airplane enters a 'touchdown stage' from a vacant state to contact the ground, meets the condition of the 'touchdown stage', and lasts for a period of time;
then entering a possibly fallen stage, meeting the condition of the possibly fallen stage for a period of time, finally entering a fallen stage, meeting the condition of the fallen stage for a period of time, considering that the conditions of all stages are met, and finally stopping the propeller.
Further, the touchdown phase comprises:
(1) The horizontal direction does not move, namely the module value of the speed in the horizontal direction is smaller than a threshold value;
(2) The vertical direction does not move, namely the speed in the vertical direction is less than a threshold value;
(3) The touchdown flag needs to satisfy two conditions: the control output in the current vertical direction is less than a threshold value; the set value of the desired velocity in the vertical direction and the set value of the desired acceleration should be smaller than the respective threshold values.
Further, the possibly dropped stage includes:
(1) The control output in the current vertical direction is smaller than the minimum thrust threshold;
(2) The sum of the squares of the gyroscope data, roll rate and pitch rate is less than a threshold value.
Further, the landed phase includes:
and when the condition of the possibly fallen stage is continuously satisfied for a period of time, judging that the paddle falls to the ground, and stopping the paddle.
Further, the cluster performance unmanned aerial vehicle landing detection control method further comprises landing detection optimization; wherein the landing detection optimization comprises:
in the cluster performance, the flight of the airplane is driven by using the deviation of the position, and when the whole cluster performance is close to the ground, the cluster performance is automatically switched to a Land mode. After switching to Land mode, the control system will give a desired velocity in the vertical direction, which is as small as accuracy allows.
Aiming at the problem of slight bounce existing in a special field, the duration from the 'touchdown stage' to the 'possibly-fallen stage' and the 'possibly-fallen stage' to the 'fallen stage' is properly reduced; or directly stopping the propeller according to the condition of meeting the 'fallen stage' and the condition of integrating the height from the ground.
Another object of the present invention is to provide a cluster performance unmanned aerial vehicle landing detection control system using the cluster performance unmanned aerial vehicle landing detection control method, the cluster performance unmanned aerial vehicle landing detection control system comprising:
the landing detection module is used for controlling a touchdown stage, a possible landed stage and a landed stage;
the landing detection optimization module automatically switches to the Land mode when the cluster performance is finished approaching the ground, and sets a vertical expected speed for entering the Land mode; the duration of the "touchdown phase" to the "possibly dropped phase" and the "possibly dropped phase" to the "dropped phase" is suitably reduced; or the problem of slight bounce existing in the field is solved by directly stopping the propeller according to the condition of meeting the 'landed stage' and the condition of integrating the height from the ground.
Another object of the present invention is to provide an information data processing terminal comprising a memory and a processor, the memory storing a computer program, the computer program, when executed by the processor, causing the processor to perform the steps of:
the method comprises the steps that from an empty state to the ground contact state, the airplane firstly enters a 'touchdown stage', meets the condition of the 'touchdown stage' and lasts for a period of time, then enters a 'possibly landed stage', meets the condition of the 'possibly landed stage' and lasts for a period of time, and finally enters the 'landed stage', meets the condition of the 'landed stage' and lasts for a period of time, at this time, the airplane is considered to meet the conditions of all stages, and finally, the airplane stops the propeller.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
the method comprises the steps that from a leaving empty state to the ground contact state, the airplane firstly enters a 'touchdown stage', meets the condition of the 'touchdown stage' and lasts for a period of time, then enters a 'possible landing stage', meets the condition of the 'possible landing stage', lasts for a period of time, finally enters the 'landed stage', meets the condition of the 'landed stage', lasts for a period of time, at this moment, the conditions of all stages are considered to be met, and finally the propeller is stopped.
The invention also aims to provide a cluster performance unmanned aerial vehicle, which is used for realizing the landing detection control method of the cluster performance unmanned aerial vehicle.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention provides a technical scheme for landing detection of cluster show unmanned aerial vehicles, comprehensively considers various sensor data, control parameters and field compatibility, and has certain technical reference; the landing detection optimization method can effectively solve the problem of slight bounce in some special fields.
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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 embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below 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 the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling landing detection of a cluster performance unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a block diagram of a structure of a cluster performance unmanned aerial vehicle landing detection control system provided in an embodiment of the present invention;
in the figure: 1. a landing detection module; 2. and a landing detection optimization module.
Fig. 3 is a schematic diagram of the touchdown phase provided by an embodiment of the present invention.
FIG. 4 is a schematic diagram of a possible landed phase provided by an embodiment of the present invention.
Fig. 5 is a schematic diagram of landing detection optimization according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Aiming at the problems in the prior art, the invention provides a cluster performance unmanned aerial vehicle landing detection control method and a cluster performance unmanned aerial vehicle landing detection control system, and the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, the method for controlling landing detection of cluster performance unmanned aerial vehicles according to the embodiment of the present invention includes the following steps:
s101, performing unmanned aerial vehicle landing detection in a cluster;
and S102, performing unmanned aerial vehicle landing detection optimization in a cluster.
Step S101, the cluster performance unmanned aerial vehicle landing detection comprises the following steps:
firstly, the airplane enters a 'touchdown stage' from a vacant state to contact the ground, meets the condition of the 'touchdown stage', and lasts for a period of time;
secondly, entering a possibly fallen stage, meeting the condition of the possibly fallen stage and lasting for a period of time;
and thirdly, entering a 'landed stage', meeting the conditions of the 'landed stage', lasting for a period of time, considering that the conditions of all stages are met, and finally stopping the propeller.
Preferably, the touchdown phase comprises:
(1) The horizontal direction does not move, namely the module value of the speed in the horizontal direction is smaller than a threshold value;
(2) The vertical direction does not move, namely the speed in the vertical direction is less than a threshold value;
(3) Touchdown flag bit, two conditions need to be satisfied: the control output in the current vertical direction is less than a threshold value; the set value for the desired velocity in the vertical direction and the set value for the desired acceleration should be less than the respective threshold values.
Preferably, the possibly dropped stage comprises:
(1) The control output in the current vertical direction is less than the minimum thrust threshold;
(2) The gyroscope data, the sum of the squares of the roll rate and the pitch rate is less than a threshold value.
Preferably, the dropped stage comprises:
and when the condition of the possibly fallen stage is continuously satisfied for a period of time, judging that the paddle falls to the ground, and stopping the paddle.
Step S102, the unmanned aerial vehicle landing detection optimization of cluster performance comprises the following steps:
in the cluster performance, the flight of the airplane is driven by using the deviation of the position, and when the whole cluster performance is close to the ground, the switch to the Land mode is automatically carried out. After switching to Land mode, the control system will give a desired velocity in the vertical direction, which is as small as the accuracy allows.
Aiming at the problem of slight bounce existing in a special field, the duration from a 'touchdown stage' to a 'possibly fallen stage' and from the 'possibly fallen stage' to the 'fallen stage' is properly reduced; or directly stopping the propeller according to the condition of meeting the 'fallen stage' and the condition of integrating the height from the ground.
As shown in fig. 2, the system for controlling landing detection of cluster performance unmanned aerial vehicles according to the embodiment of the present invention includes:
the landing detection module 1 comprises a touchdown stage, a possible landed stage and a landed stage;
the landing detection optimization module 2 is used for automatically switching to the Land mode when the cluster performance is close to the ground, and setting a vertical expected speed for entering the Land mode; the duration of the "touchdown phase" to the "possibly dropped phase" and the "possibly dropped phase" to the "dropped phase" is suitably reduced; or the problem of slight bounce existing in the field is solved by directly stopping the propeller according to the condition of meeting the 'landed stage' and then integrating the condition of the height from the ground.
The technical solution of the present invention is further described below with reference to examples.
1. Principle of floor detection
The landing detection is divided into three stages: touchdown phase, possibly touchdown phase, touchdown phase. The method comprises the steps that from a leaving empty state to the ground contact state, the airplane firstly enters a 'touchdown stage', meets the condition of the 'touchdown stage' and lasts for a period of time, then enters a 'possible landing stage', meets the condition of the 'possible landing stage', lasts for a period of time, finally enters the 'landed stage', meets the condition of the 'landed stage', lasts for a period of time, at this moment, the conditions of all stages are considered to be met, and finally the propeller is stopped.
1. Touchdown phase (see FIG. 3)
(1) The horizontal direction does not move, i.e. the module value of the horizontal direction velocity is smaller than the threshold.
(2) The vertical direction does not move, i.e. the velocity in the vertical direction is less than a threshold.
(3) The touchdown flag needs to satisfy two conditions. One is that the control output for the current vertical direction is less than the threshold. The other is that the set value of the desired velocity in the vertical direction and the set value of the desired acceleration should be smaller than the respective threshold values.
2. May have fallen (see FIG. 4)
(1) The current vertical direction control output is less than the minimum thrust threshold.
(2) The gyroscope data, the sum of the squares of the roll rate and the pitch rate is less than a threshold value.
3. Stage of having fallen
And when the condition of the stage which is possible to land is continuously satisfied for a period of time, judging that the paddle is landed, and stopping the paddle.
2. Floor detection optimization
As shown in fig. 5, in the cluster performance, the flight of the airplane is driven by the deviation of the position in principle, and when the whole cluster performance is close to the ground, the switch to the Land mode is automatically performed. But at this time, the ground is not completely contacted and is still a certain distance away from the ground. After switching to the Land mode, the control system gives a desired speed in the vertical direction, and in order to prevent the ground bounce caused by the excessive speed, the desired speed is as small as possible as the accuracy allows.
The requirement of a common field and the requirement of the speed precision in the vertical direction are met, and the expected speed entering the Land mode in the vertical direction is set according to the actual situation. For some particular fields, there may also be problems of slight bouncing, for which one approach is to suitably reduce the duration of the "touchdown phase" to the "possibly dropped phase" and the "possibly dropped phase" to the "dropped phase". The other method is that the propeller is stopped directly according to the condition of meeting the 'landed stage' and then integrating the condition of the ground height.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, is implemented in a computer program product that includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the procedures or functions according to the embodiments of the present invention are wholly or partially generated. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A cluster performance unmanned aerial vehicle landing detection control method is characterized by comprising the following steps:
the method comprises the following steps that firstly, an airplane enters a touchdown stage from a state of leaving empty to contact the ground, meets the conditions of the touchdown stage, and lasts for a period of time;
step two, entering a possible landing stage, meeting the conditions of the possible landing stage and continuing for a period of time;
entering a landing stage, meeting the conditions of the landing stage, continuing for a period of time, and finally stopping the propeller if meeting the conditions of the touchdown stage, the conditions of the possible landing stage and the conditions of the landing stage;
the first touchdown phase comprising:
(1) The horizontal direction does not move, namely the module value of the speed in the horizontal direction is smaller than a threshold value;
(2) The vertical direction does not move, namely the speed in the vertical direction is less than a threshold value;
(3) The touchdown flag needs to satisfy two conditions: the control output in the current vertical direction is less than a threshold value; the set value of the desired speed in the vertical direction and the set value of the desired acceleration should be smaller than the corresponding threshold values;
the second step may have a stage of descent, including:
(1) The control output in the current vertical direction is smaller than the minimum thrust threshold;
(2) Gyroscope data, the sum of the squares of roll and pitch angular velocities being less than a threshold;
said third dropped stage comprising:
and when the condition of the possibly fallen stage is continuously satisfied for a period of time, judging that the paddle falls to the ground, and stopping the paddle.
2. The method for controlling the landing detection of the clustered performance unmanned aerial vehicles according to claim 1, further comprising landing detection optimization; the landing detection optimization comprises:
in the cluster performance, the flight of the airplane is driven by using the position deviation, and when the whole cluster performance is close to the ground, the cluster performance is automatically switched to a Land mode; after switching to the Land mode, a desired speed in the vertical direction is given, so that the landing speed can be controlled, and the smaller the desired speed in the accuracy range, the better the landing speed is.
3. The method for controlling the landing detection of unmanned aerial vehicle for group performance as claimed in claim 2, wherein for a specific field, the duration from the touchdown phase to the possible landing phase, or from the possible landing phase to the landing phase is reduced; or directly stopping the propeller according to the condition of meeting the landing stage and the condition of integrating the height from the ground.
4. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the method for controlling the landing detection of the unmanned aerial vehicle for group performance according to any one of claims 1 to 3.
5. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for controlling the landing of a unmanned aerial vehicle for group performance according to any one of claims 1 to 3.
6. A cluster performance unmanned aerial vehicle is characterized by being used for realizing the landing detection control method of the cluster performance unmanned aerial vehicle according to any one of claims 1 to 3.
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