CN114019993B

CN114019993B - Control method of portable multi-terrain unmanned aerial vehicle

Info

Publication number: CN114019993B
Application number: CN202111250813.2A
Authority: CN
Inventors: 雷安旭; 黄飞扬; 詹志明; 董蕴源
Original assignee: Jianghan University
Current assignee: Jianghan University
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2023-09-12
Anticipated expiration: 2041-10-26
Also published as: CN114019993A

Abstract

The invention provides a control method of a portable multi-terrain unmanned aerial vehicle, which comprises a mode identification method, a mode conversion control method, an autonomous flight path planning method, a flight mode variable pitch control method, a driving mode arm wing cooperative control method and a escaping control method; converting the current action state of the unmanned aerial vehicle into a target action state through a mode conversion control method; automatically planning a navigation route of the unmanned aerial vehicle by an autonomous flight path planning method; the unmanned aerial vehicle is enabled to navigate more stably through a flight mode variable pitch control method, a travel mode arm wing cooperative control method and a travel mode arm wing cooperative control method; through the escape control method, when the unmanned aerial vehicle fails, the electric quantity is insufficient or the unmanned aerial vehicle is in a land driving state and turns on one's side, the unmanned aerial vehicle is controlled to adopt a self-rescue program, and the unmanned aerial vehicle is enabled to recover to a normal action state.

Description

Control method of portable multi-terrain unmanned aerial vehicle

Technical Field

The invention belongs to the field of aircrafts, and particularly relates to a control method of a portable multi-terrain unmanned aerial vehicle.

Background

In the prior art, a conventional rotor unmanned aerial vehicle is generally used for flying in the air, and part of sea-land dual-purpose unmanned aerial vehicles are used for realizing floating at sea by additionally installing a bracket or other devices for providing buoyancy, but the unmanned aerial vehicle design for the world of sea, land and air is almost not available. Because unmanned aerial vehicle flight overcomes self gravity when the unmanned ship sails or the unmanned aerial vehicle is required to travel, the energy consumption is huge, so the endurance of the unmanned aerial vehicle is weaker, and long-time long-distance execution is difficult. Meanwhile, the unmanned aerial vehicle wing in the prior art is generally a fixed wing, and cannot be contracted and folded in a shrinking way, so that the unmanned aerial vehicle wing is inconvenient to carry. In order to solve the problem, the invention provides a technical scheme for solving the technical problem.

Disclosure of Invention

In order to solve the problems, a first aspect of the invention provides a control method of a portable multi-terrain unmanned aerial vehicle, which is applied to an air-sea three-purpose unmanned aerial vehicle, and comprises a mode identification method, a mode conversion control method, an autonomous flight path planning method, a flight mode variable pitch control method, a driving mode arm wing cooperative control method and a escaping control method; converting the current action state of the unmanned aerial vehicle into a target action state through a mode conversion control method; automatically planning a navigation route of the unmanned aerial vehicle by an autonomous flight path planning method; when the unmanned aerial vehicle is in a flight state, the change of the included angle between the variable horn and the large horn of the unmanned aerial vehicle is controlled by a flight mode variable pitch control method, so that the unmanned aerial vehicle flies more stably; the unmanned aerial vehicle is used for controlling the change of the included angle between the variable horn and the large horn of the unmanned aerial vehicle when the unmanned aerial vehicle is in a land driving state through the driving mode arm-wing cooperative control method, so that the driving state of the unmanned aerial vehicle is more stable; the unmanned aerial vehicle is in the water sailing state, the included angle between the variable horn and the large horn of the unmanned aerial vehicle is controlled to change by the sailing mode arm wing cooperative control method, and the sailing of the unmanned aerial vehicle is more stable; through the escape control method, when the unmanned aerial vehicle fails, the electric quantity is insufficient or the unmanned aerial vehicle is in a land driving state and turns on one's side, the unmanned aerial vehicle is controlled to adopt a self-rescue program, and the unmanned aerial vehicle is enabled to recover to a normal action state.

In a first aspect, identifying the operation state of the unmanned aerial vehicle by the mode identification method includes determining the operation state of the unmanned aerial vehicle according to the received immersion signal transmitted by the immersion sensor, with the specific conditions as follows: s1, judging that the unmanned aerial vehicle is in an air flight working mode if a water immersion signal is not transmitted back by a water immersion sensor, alpha 1 is more than or equal to 175 degrees and less than or equal to 185 degrees, beta 1 is more than or equal to 175 degrees and less than or equal to 210 degrees; s2, if the water sensor does not transmit back a water immersion signal, and the angle alpha 1 is more than or equal to 0 degree and less than or equal to 10 degrees, the angle beta 1 is more than or equal to 180 degrees and less than or equal to 210 degrees, and the unmanned aerial vehicle is judged to be in a ground running working mode; s3, if the water sensor returns a water immersion signal, and the alpha 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, and the beta 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, judging that the unmanned aerial vehicle is in a water surface navigation working mode; s4, if the transmitted angle information alpha and beta are not more than or equal to 0 degree and less than or equal to 180 degrees or not more than 0 degree and less than or equal to 210 degrees, judging that the rotation angle of the arm is faulty by the controller, and setting a fault code to be E0; s5, a register in the control records the information of the working mode.

In a first aspect, the modality conversion control method includes: switching to a target action state according to the current action state of the unmanned aerial vehicle, and switching by the following steps if the current action state of the unmanned aerial vehicle is a flight mode and the target action state is a driving mode: a1, a control board determines that the current working mode is a flight mode, and judges whether a path planning conversion opportunity is reached; a2, lowering the aircraft to a high speed and a low speed until the universal wheels touch the ground; a3, electrically regulating and stopping after landing, and stopping rotating the propeller; a4, driving the second shaft body to rotate by the stepping motor, and further adjusting the alpha to be more than or equal to 0 degree and less than or equal to 10 degrees; a5, the stepping motor drives the shaft body to rotate five times, and then beta is adjusted to be more than or equal to 180 degrees and less than or equal to 210 degrees; a6, the stepping motor drives the shaft body to rotate, so that beta 2 is adjusted to be more than or equal to 30 degrees and less than or equal to 45 degrees; a7, controlling the electric adjustment start by the control panel, and controlling the ground running of the unmanned aerial vehicle by the propeller and the variable horn according to a running mode arm wing cooperative control method; if the current action state of the unmanned aerial vehicle is a driving mode and the target action state is a flying mode, switching is performed through the following steps: b1, the control board determines that the current working mode is a driving mode, and judges whether the path planning conversion time is reached or not; b2, the unmanned aerial vehicle searches for a ground parking with the gradient not higher than 5 degrees through a driving mode arm wing cooperative control method; the step B3 motor drives the shaft body to rotate five times, so that the angle beta 1 is more than or equal to 175 degrees and less than or equal to 185 degrees; b4, driving a second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to 185 degrees which is more than or equal to 175 degrees; b5, the stepping motor drives the shaft body to rotate three times, and then beta 2 which is more than or equal to minus 10 degrees is adjusted to be more than or equal to 10 degrees; b6, the control board rechecks whether the rotary wing rotating shaft is vertical to the horizontal plane of the machine body through a sensor, if so, the take-off condition is met, and if not, the angle is continuously adjusted to be met; b7, controlling the electric adjustment start by the control board, and controlling the unmanned aerial vehicle to fly in the air by the propeller and the variable horn according to a flight mode variable pitch control method; if the current action state of the unmanned aerial vehicle is a flight mode and the target action state is a navigation mode, switching is performed through the following steps: c1, a control board determines that the current working mode is a flight mode, and judges whether a path planning conversion opportunity is reached or not; c2, lowering the aircraft to a high speed and a low speed until the lower part of the machine body floats in contact with water; c3, controlling the electric tuning and stopping by the control panel, and stopping rotating the propeller; c4, driving a second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to be more than or equal to 90 degrees and less than or equal to 120 degrees; c5, the stepping motor drives the shaft body to rotate five times, and then 90 degrees are more than or equal to beta 1 and less than or equal to 120 degrees are adjusted; after the angle of the horn is adjusted, ensuring that the whole propeller enters below the water surface; c7, controlling the electric adjustment start by the control panel, and controlling the unmanned aerial vehicle to travel on the sea surface by the propeller and the variable horn according to a sailing mode arm wing cooperative control method; if the current action state of the unmanned aerial vehicle is a navigation mode and the target action state is a flight mode, switching is performed through the following steps: d1, the control board determines that the current working mode is a flight mode, and judges whether the path planning conversion time is reached or not; d2, enabling the unmanned aerial vehicle to park on the sea according to a sailing mode arm wing cooperative control method; d3, the stepping motor drives the shaft body to rotate five times, so that 175 degrees are more than or equal to beta 1 and less than or equal to 185 degrees D4, and the stepping motor drives the shaft body to rotate two times, so that 175 degrees are more than or equal to alpha 1 and less than or equal to 185 degrees; and D5, suspending the unmanned aerial vehicle for 1-10 minutes until the viscous liquid on the horn and the rotor wing is completely evaporated; d6, controlling electric adjustment starting by the control board, and controlling the unmanned aerial vehicle to fly in the air by the propeller and the variable horn according to a flight mode variable pitch control method; if the current action state of the unmanned aerial vehicle is a flight mode and the target action state is a running mode, switching is performed through the following steps: e1, converting the unmanned aerial vehicle from a navigation mode to a flight mode according to a method for converting the navigation mode to the flight mode; e2, converting the unmanned aerial vehicle from the flight mode to the driving mode according to the method of converting the flight mode to the driving mode; if the current action state of the unmanned aerial vehicle is a driving mode and the target action state is a flight mode, switching is performed through the following steps: f1, converting the unmanned aerial vehicle from a driving mode to a flight mode according to a method for converting the driving mode to the flight mode; and F2, converting the unmanned aerial vehicle from the flight mode to the navigation mode according to the method of converting the flight mode to the navigation mode.

In a first aspect, the autonomous flight path planning method is used for automatically planning a navigation route of an unmanned aerial vehicle, and includes: g1, determining an origin and a destination, and analyzing a voyage distance and a geographic environment in a path; g2, if the range distance multiplied by 2 is less than the maximum range of the unmanned aerial vehicle, completing the action task by adopting a whole-course flight mode; g3, if the range distance is less than the flight duration maximum distance of the unmanned aerial vehicle and less than the range distance multiplied by 2, completing an action task by adopting a whole-course flight mode and a destination charging mode, namely adopting a flight mode to work in the whole process from a starting place to a destination, landing after flying to the destination, entering a charging mode, supplementing electric energy by utilizing solar energy, and taking off and returning after the electric energy is supplemented; if the range distance is far greater than the maximum range distance of the unmanned aerial vehicle, whether the unmanned aerial vehicle passes through the water surface in the straight-line flight path is further judged, if the water surface exists, the unmanned aerial vehicle can navigate on the water surface by a navigation mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the navigation process, the unmanned aerial vehicle can be stopped on the water surface according to requirements, and the solar energy is utilized to supplement battery electric energy until the unmanned aerial vehicle reaches a destination and returns according to requirements; if the straight flight path does not pass through the water surface, the unmanned aerial vehicle can be driven on land by a driving mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the driving process, and the unmanned aerial vehicle can be stopped on land according to requirements, and the solar energy is utilized to supplement battery storage electric energy; when the ground running condition is not good, the ground running condition can be converted into a flight mode, the ground is continued to run after the obstacle is surmounted to a place with good terrain, and the ground is returned as required until the ground reaches a destination.

In a first aspect, the controlling the change of the included angle between the variable horn and the main horn of the unmanned aerial vehicle by the flying mode variable pitch control method when the unmanned aerial vehicle is in a flying state makes the flying of the unmanned aerial vehicle more stable; the flight mode variable pitch control method comprises the following steps: in the variable pitch flight control method, the included angle between the front horn and the machine body horizontal plane is unchanged, the input quantity is the included angle beta between the rear horn and the machine body, 175 degrees are set as a flight mode reference angle, actual delta beta = beta-175 degrees, V is the flat flight speed of the unmanned aerial vehicle, H is the flight height of the unmanned aerial vehicle, and delta beta, V and H are set as input signal quantities of the variable pitch flight mode; h2, according to different aircrafts, obtaining an aerodynamic model by simulating aerodynamic parameters during flight and flight experiments, setting different flight performance targets, and constructing a relation among variable pitch control quantity c, V, H and delta beta of the unmanned aerial vehicle with different flight parameters, wherein the relation can be obtained through iterative calculation of a neural network; h3, establishing different unmanned aerial vehicle variable pitch control equations, c=f (V, H, Δβ); and H4, the calculated output quantity (the variable quantity of the pitch) of the variable-pitch propeller is implemented on the unmanned aerial vehicle propeller through the variable-pitch motor, so that a flight dynamic process with higher energy efficiency can be realized.

In a first aspect, the cooperative control method for the arm wing of the driving mode is used for controlling the change of the included angle between the variable arm of the unmanned aerial vehicle and the horn when the unmanned aerial vehicle is in a land driving state, so that the driving state of the unmanned aerial vehicle is more stable; the driving mode arm wing cooperative control method comprises the following steps: i1, judging whether the vehicle is in a ground running working mode or not through a mode identification method, and if the vehicle is in the ground running working mode, starting a running mode arm-wing cooperative control flow; i2, numbering the arms into a first arm, a second arm, a third arm and a fourth arm clockwise, setting the first arm and the second arm as front arms, setting the third arm and the fourth arm as rear arms, setting the third arm and the fourth arm as propulsion arms, and providing thrust; the rear horn rotates 90 degrees around the shaft body IV in the horizontal direction, namely, the first horn is provided with the first horn which is delta beta-3=45 degrees, the rotating arm is provided with the second horn which is 45 degrees clockwise around the shaft body III, the first horn is delta beta-4= -45 degrees, and the two propellers of the rear horn are positioned on the same plane; and I4, steering control of the unmanned aerial vehicle, wherein the steering during ground running of the unmanned aerial vehicle is driven by adjusting the delta gamma value of the two rear locomotive arms, namely adjusting the delta beta of the propulsion arms at the same time.

In a first aspect, the sailing mode arm wing cooperative control method is used for controlling the change of the included angle between the variable arm of the unmanned aerial vehicle and the horn when the unmanned aerial vehicle is in a sailing state on water, so that the sailing of the unmanned aerial vehicle is more stable; the navigation mode arm wing cooperative control method comprises the following steps: j1, judging whether the water surface sailing working mode is in the water surface sailing working mode or not through a mode identification method, and if the water surface sailing working mode is in the water surface sailing working mode, starting a sailing mode arm-wing cooperative control flow; j2, numbering the mechanical arms into a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm clockwise, setting the first mechanical arm and the second mechanical arm as front mechanical arms, setting the third mechanical arm and the fourth mechanical arm as rear mechanical arms, setting the first mechanical arm and the second mechanical arm as pulling arms, providing pulling force, setting the third mechanical arm and the fourth mechanical arm as pushing arms, and providing pushing force; the first mechanical arm rotates 90 degrees anticlockwise in the vertical direction by taking the second shaft body as a center rotation angle, namely the first mechanical arm rotates 90 degrees clockwise in the vertical direction by setting as delta beta _2=45 degrees, namely the first mechanical arm rotates 90 degrees clockwise in the vertical direction, namely the first mechanical arm propeller blade plane and the second mechanical arm propeller blade plane are the same plane; the rear horn in the third horn rotates 90 degrees anticlockwise in the vertical direction, namely the first horn is set as the first horn with the first delta beta _3 = 45 degrees, the rear horn in the fourth horn rotates 90 degrees clockwise in the vertical direction, namely the first horn with the first delta beta _4 = 45 degrees, and the third horn propeller blade plane and the fourth horn propeller blade plane are the same plane; and J5, three forward modes including a precursor driving mode, a rear driving mode and a four-driving mode can be adopted: the precursor drives: only the pulling force generated by forward rotation of the first horn propeller and the second horn propeller drives the unmanned aerial vehicle to advance; the rear drive drives: the unmanned aerial vehicle is driven to advance only by the thrust generated by the reverse rotation of the third horn propeller and the fourth horn propeller; the four-wheel drive mode: the unmanned aerial vehicle is driven to advance under the combined action of the pulling force generated by forward rotation of the second horn propeller and the pushing force generated by reverse rotation of the third horn propeller; and J6, steering control of the unmanned aerial vehicle, namely adjusting the delta gamma of the propelling arm or the pulling arm simultaneously by adjusting the delta gamma of the arms at the same side, wherein the steering is consistent and the size is the same, so that the unmanned aerial vehicle is driven to steer when the water surface of the unmanned aerial vehicle is sailed.

In a first aspect, the method for controlling escape is used when the power of the unmanned aerial vehicle is insufficient, and the method includes: when the electric quantity of the unmanned aerial vehicle is lower than twenty percent, the unmanned aerial vehicle control panel performs mode identification at the moment, if the unmanned aerial vehicle is identified to be in a water surface navigation or ground traveling working mode, the unmanned aerial vehicle is parked on site, the solar cell panel charges, if the unmanned aerial vehicle is identified to be in an air flight working mode, mode conversion action is performed, the unmanned aerial vehicle is adjusted to be in a ground traveling state or a sea surface navigation state, then the unmanned aerial vehicle is parked, and the solar cell panel charges.

In a first aspect, the escape control method is used when the unmanned aerial vehicle is in a land driving state and turns on one's side, and the method further includes: and performing mode conversion action, converting a ground running working mode into an air flight working mode, taking off, adjusting the side-turning gesture into a flight gesture, briefly pulling up the body to surmount the obstacle, converting the body into the ground running working mode, and continuing to work.

In a first aspect, the escape control method is used when the unmanned aerial vehicle has an E0 error, and the method further includes: the unmanned aerial vehicle is restarted automatically, the initial state is recovered, whether the angle of the horn can reach the standard is continuously detected, if the angle still does not meet the standard, the unmanned aerial vehicle is judged to have no fault, and no action task is executed; if the unmanned aerial vehicle is out of line E0 fault in the course of action task, and the fault still can not be solved by restarting to restore the initial state, the unmanned aerial vehicle sends a distress signal to the control center, transmits a position signal and waits for rescue of the control center.

The beneficial effects are that: according to the portable multi-terrain unmanned aerial vehicle, the propeller and the running wheel are arranged on the body, and the body is prepared by using the foaming waterproof material, so that the unmanned aerial vehicle can fly in the air, run on land and float at sea, and meanwhile, the front arm, the front adjusting arm, the rear arm and the rear adjusting arm are matched, so that the position of the propeller can be changed in different directions to drive the body to displace in different directions; further, the front horn, the front adjusting arm, the rear adjusting arm and the rear horn can be contracted to the side of the fuselage to reduce the body shape of the unmanned aerial vehicle when the unmanned aerial vehicle does not perform the flight, travel or sailing tasks.

Drawings

Fig. 1 is a flowchart of a control method of a portable multi-terrain unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portable multi-terrain unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic view of a front horn according to an embodiment of the present invention;

FIG. 4 is a schematic view of a rear horn according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a machine body according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a portable multi-terrain unmanned aerial vehicle in an aerial posture according to an embodiment of the present invention;

FIG. 7 is a schematic view of a marine attitude of a portable multi-terrain unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 8 is a schematic view of a portable multi-terrain unmanned aerial vehicle land gesture.

Reference numerals illustrate:

1. a propeller;

11. a propeller shaft;

2. a front horn;

21. a front horn body;

22. a longitudinal connecting hole;

3. a front adjustment arm;

33. a rotating shaft;

4. an image pickup system;

5. landing gear;

6. a moving wheel;

7. a rear arm;

8. a rotating arm;

83. a shaft body III;

9. an adjustor;

92. a shaft body IV;

93. a connecting shaft;

10. a body;

101, a second rotating shaft;

102. and a rotating shaft V.

Detailed Description

The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.

Embodiment one:

as shown in fig. 1 to 8, further, the unmanned aerial vehicle comprises a propeller 1, a front horn 2, a front adjusting arm 3, a camera system 4, a landing gear 5, a moving wheel 6, a rear horn 7, a rotating arm 8, a regulator 9, a machine body 10 and a controller, wherein the propeller 1 comprises a propeller rotating shaft 11, a propeller blade 12 and a servo motor, the servo motor comprises an electronic speed regulator and a motor, and the front horn 2 comprises a horn main body 21 and a longitudinal connecting hole 22; the propeller 1 is arranged at one end of the front adjusting arm 3 through a propeller rotating shaft 11, the other end of the front adjusting arm 3 is connected with the front arm 2 through a rotating shaft 33, and the other end of the front arm 2 is connected with the machine body 10 through a second shaft body 101; the screw 1 is installed in the one end of swinging boom 8 through screw pivot 11, and the other end passes through axis body three 83 with back horn 7 to be connected, and the other end of back horn 7 passes through axis body four 92 with regulator 9 to be connected, and regulator 9 passes through axis body five 102 to be connected with organism 10. The controller is installed in the machine body 10, the multipoint symmetry type landing gear 5 is arranged below the machine body 10, the gravity center is ensured to be positioned at the symmetry center, and the moving wheel 6 is installed below the landing gear 5.

In the technical scheme, the portable multi-terrain unmanned aerial vehicle provided by the invention has the advantages that the functions of flying in the air, running on land and floating at sea of the unmanned aerial vehicle are achieved by arranging the propellers and the running wheels on the unmanned aerial vehicle body and preparing the unmanned aerial vehicle body by using the foaming waterproof material, and meanwhile, the positions of the propellers can be changed in different directions by matching the front horn, the front adjusting arm, the rear horn and the rear adjusting arm so as to drive the unmanned aerial vehicle body to displace in different directions; further, the front horn, the front adjusting arm, the rear adjusting arm and the rear horn can be contracted to the side of the fuselage to reduce the body shape of the unmanned aerial vehicle when the unmanned aerial vehicle does not perform the flight, travel or sailing tasks.

Specifically, for the propeller, the first embodiment proposes an embodiment including: the propeller 1 comprises propeller blades 12, propeller connecting holes 11 and a servo motor; the propeller blades 12 are arranged on the propeller rotating shaft 82 in a central symmetry mode, the servo motor is arranged in the rotating arm 8 and comprises an electronic speed regulator and a motor, and the electronic speed regulator is connected with the controller. The rotating arm 8 is connected with a stepping motor through a shaft body III 83, the stepping motor is installed in the rear horn 7, the other end of the rear horn seven is connected with a regulator 9 through a connecting shaft 92, the stepping motor is installed in the horn 7, and the regulator 9 is connected with the machine body 10 through a connecting hole.

Specifically, for the front horn, the present embodiment proposes an implementation manner including that the front horn 2 includes a longitudinal connecting hole 22, a horn body 21, and a lateral connecting hole 23, and the aperture diameter coincides with the diameter of the horn connecting shaft 32; the front adjusting arm comprises a main arm 31, a propeller connecting shaft 32 and a arm connecting shaft 33; a stepping motor is mounted on the central axis direction of the arm connecting shaft 33, the stepping motor drives the arm connecting shaft 33 to rotate, and the arm connecting shaft 33 is mounted in cooperation with the transverse connecting hole 23. The machine body 10 comprises a connecting shaft 101, the diameter of the shaft body is consistent with that of the longitudinal connecting hole 22, a stepping motor is arranged in the central shaft direction of the connecting shaft 101, the stepping motor drives the connecting shaft 101 to rotate, and the connecting shaft 101 is matched with the longitudinal connecting hole 22; the connecting shaft 101 drives the front arm 2 to rotate in the vertical direction, and the arm connecting shaft 33 drives the front adjusting arm 2 to rotate horizontally.

Specifically, for the rotating arm, the first embodiment provides an implementation manner, the rotating arm 8 includes a rotating arm main body 81 and a rotating connecting shaft 83, a stepping motor is installed in the central axis direction of the connecting shaft 83, the stepping motor drives the rotating arm 8 to rotate, and the rear arm is provided with a connecting hole 73, the diameter of which is consistent with that of the rotating connecting shaft 83, and the diameter of the connecting hole and the diameter of the rotating arm are mutually installed and matched. The other end of the rear horn is provided with a mounting hole 72, the diameter of which is equal to that of a connecting shaft 92 on the rotator, the diameter of the rear horn and the diameter of the connecting shaft 92 are equal to each other, the installer 9 comprises the connecting shaft 92 and a connecting hole 93, a stepping motor is mounted in the central shaft direction of the connecting shaft 92, and the stepping motor drives the rear horn 7 to rotate.

Further, the rotation positions of the first stepping motor, the second stepping motor, the third stepping motor and the fourth stepping motor are provided with angle sensors.

Specifically, as for the installation mode of the running wheel, the first embodiment proposes an embodiment including: the running wheel 6 is connected with the lower part of the machine body 10 through the landing gear 5 by taking the gravity center of the unmanned aerial vehicle as the center symmetry, the control panel is installed inside the machine body, the control program is burnt in the control panel, the upper part of the machine body 10 is provided with the solar panel, the lower half part of the machine body is made of foaming waterproof materials, the lower half part of the machine body is provided with the water logging sensor, and the joint of the machine body 10 and each device is provided with the waterproof sealing ring.

Embodiment two:

the second embodiment of the invention provides a control method of a portable multi-terrain unmanned aerial vehicle, which comprises the following steps: the method comprises a mode identification method, a mode conversion control method, an autonomous flight path planning method, a flight mode variable pitch control method, a driving mode arm and wing cooperative control method and a escaping control method.

The specific steps of the mode identification method are described as follows: (preset angle)

S1, if the water immersion sensor does not transmit back a water immersion signal, and alpha 1 is more than or equal to 175 degrees and less than or equal to 185 degrees, beta 1 is more than or equal to 175 degrees and less than or equal to 210 degrees, judging that the unmanned aerial vehicle is in an air flight working mode;

S2, if the water immersion sensor does not transmit back a water immersion signal, and the angle alpha 1 is more than or equal to 0 degree and less than or equal to 10 degrees, the angle beta 1 is more than or equal to 180 degrees and less than or equal to 210 degrees, and the unmanned aerial vehicle is judged to be in a ground running working mode;

s3, if the water sensor transmits back a water immersion signal, and the alpha 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, the beta 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, and the unmanned aerial vehicle is judged to be in a water surface navigation working mode;

s4, if the transmitted angle information alpha and beta do not meet 0 degree-alpha 1-180 degrees or 0 degree-beta 1-210 degrees, the controller judges that the rotation angle of the arm is faulty, and the fault code is set as E0;

s5, a register in the control records the working mode information.

The mode conversion control method is specifically described as follows:

1. conversion of flight mode and driving mode

(1) Conversion of flight mode into travel mode

S1, a control board determines that the current working mode is a flight mode, and judges whether a path planning conversion opportunity is reached or not;

s2, the aircraft is lowered to high speed and is lowered to speed until the universal wheel touches the ground;

s3, after landing, the electric control is stopped, and the propeller stops rotating;

s4, driving the second shaft body to rotate by the stepping motor, and further adjusting the alpha to be more than or equal to 0 degree and less than or equal to 10 degrees;

s5, the stepping motor drives the shaft body to rotate five times, and then beta is adjusted to be more than or equal to 180 degrees and less than or equal to 210 degrees;

s6, driving the shaft body to rotate by a stepping motor, and further adjusting the beta 2 to be more than or equal to 30 degrees and less than or equal to 45 degrees;

And S7, controlling the electric adjustment to start by using a control panel, and controlling the unmanned aerial vehicle to run on the ground by using the propeller and the variable horn according to a cooperative control method of the arm wings of the running mode.

(2) Conversion of driving mode into flight mode

S1, a control board determines that the current working mode is a driving mode, and judges whether a path planning conversion time is reached or not;

s2, searching for a ground parking with a gradient not higher than 5 degrees by the unmanned aerial vehicle through a driving mode arm wing cooperative control method;

s3, the stepping motor drives the shaft body to rotate five times, and then 175 degrees or more and beta 1 or less and 185 degrees or less are adjusted

S4, driving the second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to be more than or equal to 175 degrees and less than or equal to 185 degrees;

s5, driving the shaft body to rotate by a stepping motor, and further adjusting beta 2 which is more than or equal to minus 10 degrees and less than or equal to 10 degrees;

s6, the control panel rechecks whether the rotor wing rotating shaft is vertical to the horizontal plane of the machine body through a sensor, if so, the take-off condition is met, and if not, the angle is continuously adjusted to be met;

s6, controlling the electric adjustment to start by the control panel, and controlling the unmanned aerial vehicle to fly in the air by the propeller and the variable horn according to the flight mode variable pitch control method.

2. Conversion of flight mode and sailing mode

(1) Conversion of flight mode to sailing mode

S2, the aircraft is lowered in height and speed until the lower part of the aircraft body floats in contact with water;

s3, controlling the electric mediation by the control panel, and stopping rotating the propeller;

s4, driving the second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to be more than or equal to 90 degrees and less than or equal to 120 degrees;

s5, the stepping motor drives the shaft body to rotate five times, and then the beta 1 is adjusted to be more than or equal to 90 degrees and less than or equal to 120 degrees;

s6, after the angle of the arm is adjusted, ensuring that the whole propeller enters below the water surface;

s7, controlling the electric adjustment to start by the control panel, and controlling the unmanned aerial vehicle to travel on the sea surface by the propeller and the variable horn according to a sailing mode arm wing cooperative control method.

(2) Conversion of sailing mode into flight mode

s2, enabling the unmanned aerial vehicle to park on the sea according to a sailing mode arm wing cooperative control method;

s5, suspending the unmanned aerial vehicle for 1-10 minutes until the viscous liquid on the horn and the rotor wing is completely evaporated;

3. Conversion of sailing mode and driving mode

The transition between the sailing mode and the driving mode is completed by taking the flying mode as the transit, and the specific description is as follows:

(1) Conversion of sailing mode into driving mode

S1, converting the unmanned aerial vehicle from a navigation mode to a flight mode according to a method for converting the navigation mode to the flight mode;

s2, converting the unmanned aerial vehicle from the flight mode to the driving mode according to the method of converting the flight mode to the driving mode;

(2) Conversion of the driving mode into a sailing mode

S1, converting the unmanned aerial vehicle from a driving mode to a flight mode according to a method for converting the driving mode to the flight mode;

s2, converting the unmanned aerial vehicle from the flight mode to the navigation mode according to the method of converting the flight mode to the navigation mode.

The method of autonomous navigational planning is described as follows:

s1, determining an origin and a destination, and analyzing a voyage distance and a geographic environment in a path;

s2, if the range distance is multiplied by 2 and less than the maximum flight duration distance of the unmanned aerial vehicle, completing an action task by adopting a whole-course flight mode;

s3, if the range distance is less than the flight duration maximum distance of the unmanned aerial vehicle and less than the range distance multiplied by 2, completing an action task by adopting a whole-course flight mode and a destination charging mode, namely adopting a flight mode to work in the whole process from a starting place to a destination, landing after flying to the destination, entering a charging mode, supplementing electric energy by utilizing solar energy, and taking off and returning after the electric energy is supplemented;

S4, if the range distance is far greater than the maximum range of the unmanned aerial vehicle, whether the unmanned aerial vehicle passes through the water surface in the straight flight path is further judged, if the water surface exists, the unmanned aerial vehicle can navigate on the water surface by a navigation mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the navigation process, the unmanned aerial vehicle can be stopped on the water surface according to requirements, and the solar energy is utilized to supplement battery electric energy until the unmanned aerial vehicle reaches a destination and returns according to requirements;

s5, if the straight flight path does not pass through the water surface, the unmanned aerial vehicle can be driven on land by a driving mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the driving process, and the unmanned aerial vehicle can be stopped on land according to requirements, and the solar energy is utilized to supplement battery storage electric energy; when the ground running condition is not good, the ground running condition can be converted into a flight mode, the ground is continued to run after the obstacle is surmounted to a place with good terrain, and the ground is returned as required until the ground reaches a destination.

The flight mode pitch control method is described as follows:

s1, in a normal flight working mode, a rotating surface of a propeller is perpendicular to a longitudinal axis of a machine body, an included angle between a front horn and a rear horn and a horizontal plane of the machine body is 180 degrees, an included angle between a front adjusting arm and the front horn is 60 degrees, in the variable pitch flight control method, the included angle between the front horn and the horizontal plane of the machine body is unchanged, an input quantity is an included angle beta between the rear horn and the machine body, 175 degrees is set as a flight mode reference angle, actual delta beta = beta-175 degrees, V is a flat flight speed of the unmanned aerial vehicle, H is a flight height of the unmanned aerial vehicle, delta beta, V and H are input signal quantities of the variable pitch flight mode;

S2, according to different aircrafts, obtaining an aerodynamic model by simulating aerodynamic parameters during flight and flight experiments, setting different flight performance targets, and constructing the relation between variable pitch control quantity c, V, H and delta beta of unmanned aerial vehicles with different flight parameters, wherein the relation can be obtained by iterative calculation of a neural network;

s3, building different unmanned aerial vehicle variable pitch control equations, wherein c=f (V, H, delta beta);

and S4, the calculated output quantity (the variable quantity of the pitch) of the variable pitch propeller is implemented on the unmanned aerial vehicle propeller through the variable pitch motor, so that a flight dynamic process with higher energy efficiency is realized.

The cooperative control method of the driving mode arm wing is described as follows:

s1, judging whether the vehicle is in a ground running working mode or not through a mode identification method, and if the vehicle is in the ground running working mode, starting a running mode arm-wing cooperative control flow;

s2, numbering the machine arms into a first machine arm, a second machine arm, a third machine arm and a fourth machine arm clockwise, setting the first machine arm, the second machine arm as a front machine arm, setting the third machine arm and the fourth machine arm as a rear machine arm, setting the third machine arm and the fourth machine arm as a propulsion arm, and providing thrust;

s3, the rear arm rotates 90 degrees around the shaft body IV in the horizontal direction, namely delta gamma is set ₁ The rotary arm is selected and arranged 45 degrees and delta gamma with the shaft body III as the center clockwise ₂ -45 °, the two propellers of the rear horn being in the same plane;

s4, steering control of the unmanned aerial vehicle drives steering of the unmanned aerial vehicle during ground running by adjusting the delta gamma value of the two rear locomotive arms, namely adjusting the delta beta of the propulsion arms at the same time.

The cooperative control method of the sailing mode arm wing is described as follows:

s1, judging whether the water surface sailing working mode is in the water surface sailing working mode or not through a mode identification method, and if the water surface sailing working mode is in the water surface sailing working mode, starting a sailing mode arm-wing cooperative control flow;

s2, numbering the machine arms into a first machine arm, a second machine arm, a third machine arm and a fourth machine arm clockwise, setting the first machine arm and the second machine arm as front machine arms, setting the third machine arm and the fourth machine arm as rear machine arms, setting the first machine arm and the second machine arm as pulling arms, providing pulling force, setting the third machine arm and the fourth machine arm as pushing arms, and providing pushing force;

s3, the mechanical arm I rotates 90 degrees anticlockwise in the vertical direction by taking the shaft body II as a center rotation angle, namely delta gamma is set ₁ The front arm of the first mechanical arm rotates 90 ° clockwise in the vertical direction, i.e. Δγ is set ₂ The plane of the first horn propeller blade and the plane of the second horn propeller blade are the same plane;

the rear horn of the S4 third horn rotates 90 degrees anticlockwise in the vertical direction, namely delta gamma is set ₁ The rear arm of the fourth arm rotates 90 ° clockwise in the vertical direction, i.e. Δγ is set ₂ The plane of the third horn propeller blade and the plane of the fourth horn propeller blade are the same plane;

s5 can employ three forward modes as needed:

(1) Precursor driving: only the pulling force generated by forward rotation of the first horn propeller and the second horn propeller drives the unmanned aerial vehicle to advance;

(2) And (3) rear-drive driving: the unmanned aerial vehicle is driven to advance only by the thrust generated by the reverse rotation of the third horn propeller and the fourth horn propeller;

(3) Four-wheel drive mode: the unmanned aerial vehicle is driven to advance under the combined action of the pulling force generated by forward rotation of the second horn propeller and the pushing force generated by reverse rotation of the third horn propeller;

s6, steering control of the unmanned aerial vehicle drives steering of the unmanned aerial vehicle when the unmanned aerial vehicle sails on the water surface by adjusting the delta beta 2 value of the same-side horn, namely simultaneously adjusting the delta alpha 2 of the propulsion arm or the pulling arm, and steering is consistent and same in size.

When the unmanned aerial vehicle executes the action task and has the faults of insufficient electric quantity, side turning and E0 error reporting, the control panel adopts a escaping program, and the escaping control method is described as follows:

coping strategies of S1 electric quantity shortage: when the electric quantity of the unmanned aerial vehicle is lower than twenty percent, the unmanned aerial vehicle control panel performs mode identification at the moment, if the unmanned aerial vehicle is identified to be in a water surface navigation or ground traveling working mode, the unmanned aerial vehicle is parked on site, the solar cell panel performs charging, if the unmanned aerial vehicle is identified to be in an air flight working mode, the unmanned aerial vehicle is subjected to mode conversion action, and is adjusted to be in a ground traveling state or a sea surface navigation state, and then the unmanned aerial vehicle is parked, and the solar cell panel performs charging;

S2, if the ground running working mode turns over due to the terrain problem, the unmanned aerial vehicle can perform mode conversion action, the ground running working mode is converted into an air flight working mode, take off, the turning over posture is adjusted into a flight posture, and the unmanned aerial vehicle is converted into the ground running working mode after the unmanned aerial vehicle is pulled up for a short time to surmount an obstacle and then continues to work;

when the S3E 0 fails, the unmanned aerial vehicle automatically restarts, the initial state is recovered, whether the angle of the arm can reach the standard is continuously detected, if the angle still does not meet the standard, the unmanned aerial vehicle is judged to have no fault, and no action task is executed; if the unmanned aerial vehicle is out of line E0 fault in the course of action task, and the fault still can not be solved by restarting to restore the initial state, the unmanned aerial vehicle sends a distress signal to the control center, transmits a position signal and waits for rescue of the control center.

Finally it should be noted that while the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments will occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims and the equivalents thereof, the present invention is also intended to include such modifications and variations.

Claims

1. The control method is applied to a three-purpose unmanned aerial vehicle on the sea, land and air, and is characterized by comprising a mode identification method, a mode conversion control method, an autonomous flight path planning method, a flight mode variable pitch control method, a driving mode arm and wing cooperative control method and a escaping control method;

converting the current action state of the unmanned aerial vehicle into a target action state through a mode conversion control method;

automatically planning a navigation route of the unmanned aerial vehicle by an autonomous flight path planning method;

the flying mode variable pitch control method is used for controlling the change of the included angle between the variable horn and the large horn of the unmanned aerial vehicle when the unmanned aerial vehicle is in a flying state, so that the unmanned aerial vehicle flies more stably;

the unmanned aerial vehicle is used for controlling the change of the included angle between the variable horn and the large horn of the unmanned aerial vehicle when the unmanned aerial vehicle is in a land driving state through the driving mode arm-wing cooperative control method, so that the driving state of the unmanned aerial vehicle is more stable;

the unmanned aerial vehicle is in the water sailing state, the included angle between the variable horn and the large horn of the unmanned aerial vehicle is controlled to change by the sailing mode arm wing cooperative control method, and the sailing of the unmanned aerial vehicle is more stable;

The escape control method is used for controlling the unmanned aerial vehicle to adopt a self-rescue program when the unmanned aerial vehicle fails, the electric quantity is insufficient or the unmanned aerial vehicle is in a land driving state and turns on one's side, so that the unmanned aerial vehicle is restored to a normal action state;

the identifying the action state of the unmanned aerial vehicle through the mode identification method comprises the following steps of judging the action state of the unmanned aerial vehicle according to a water immersion signal transmitted by a received water immersion sensor:

s1, judging that the unmanned aerial vehicle is in an air flight working mode if a water immersion signal is not transmitted back by a water immersion sensor, alpha 1 is more than or equal to 175 degrees and less than or equal to 185 degrees, beta 1 is more than or equal to 175 degrees and less than or equal to 210 degrees;

s2, if the water sensor does not transmit back a water immersion signal, and the angle alpha 1 is more than or equal to 0 degree and less than or equal to 10 degrees, the angle beta 1 is more than or equal to 180 degrees and less than or equal to 210 degrees, and the unmanned aerial vehicle is judged to be in a ground running working mode;

s3, if the water sensor returns a water immersion signal, and the alpha 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, and the beta 1 is more than or equal to 90 degrees and less than or equal to 120 degrees, judging that the unmanned aerial vehicle is in a water surface navigation working mode;

s4, if the transmitted angle information alpha 1 and beta 1 are not more than or equal to 0 degree and less than or equal to 180 degrees or are not more than or equal to 0 degree and less than or equal to 210 degrees, judging that the rotation angle of the arm is faulty by the controller, and setting a fault code as E0;

s5, a register in the control panel records working mode information, and beta represents an included angle between the rear horn and the engine body shaft.

2. The control method of a portable multi-terrain unmanned aerial vehicle according to claim 1, wherein the mode conversion control method comprises: switching to a target action state according to the current action state of the unmanned aerial vehicle, and switching by the following steps if the current action state of the unmanned aerial vehicle is a flight mode and the target action state is a driving mode:

a1, a control board determines that the current working mode is a flight mode, and judges whether a path planning conversion opportunity is reached;

a2, if the speed reaches the preset speed, the aircraft is lowered to the high speed until the universal wheel touches the ground;

a3, electrically regulating and stopping after landing, and stopping rotating the propeller;

a4, driving the second shaft body to rotate by the stepping motor, and further adjusting the alpha to be more than or equal to 0 degree and less than or equal to 10 degrees;

a5, the stepping motor drives the shaft body to rotate five times, and then beta is adjusted to be more than or equal to 180 degrees and less than or equal to 210 degrees;

a6, the stepping motor drives the shaft body to rotate, so that beta 2 is adjusted to be more than or equal to 30 degrees and less than or equal to 45 degrees;

a7, controlling the electric adjustment start by the control panel, and controlling the ground running of the unmanned aerial vehicle by the propeller and the variable horn according to a running mode arm wing cooperative control method;

if the current action state of the unmanned aerial vehicle is a driving mode and the target action state is a flight mode, switching is performed through the following steps:

B1, the control board determines that the current working mode is a driving mode, and judges whether the path planning conversion time is reached or not;

if the vehicle reaches the position, the unmanned aerial vehicle searches for a ground parking with the gradient not higher than 5 degrees through a driving mode arm wing cooperative control method;

the step B3 motor drives the shaft body to rotate five times, so that the angle beta 1 is more than or equal to 175 degrees and less than or equal to 185 degrees;

b4, driving a second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to 185 degrees which is more than or equal to 175 degrees;

b5, the stepping motor drives the shaft body to rotate three times, and then beta 2 which is more than or equal to minus 10 degrees is adjusted to be more than or equal to 10 degrees;

b6, the control board rechecks whether the rotary wing rotating shaft is vertical to the horizontal plane of the machine body through a sensor, if so, the take-off condition is met, and if not, the angle is continuously adjusted to be met;

b7, controlling the electric adjustment start by the control board, and controlling the unmanned aerial vehicle to fly in the air by the propeller and the variable horn according to a flight mode variable pitch control method;

if the current action state of the unmanned aerial vehicle is a flight mode and the target action state is a navigation mode, switching is performed through the following steps:

c1, a control board determines that the current working mode is a flight mode, and judges whether a path planning conversion opportunity is reached or not;

c2, if the speed reaches, the aircraft is lowered to be high and the speed is lowered until the lower part of the machine body floats in contact with water;

C3, controlling the electric tuning and stopping by the control panel, and stopping rotating the propeller;

c4, driving a second shaft body to rotate by the stepping motor, and further adjusting the alpha 1 to be more than or equal to 90 degrees and less than or equal to 120 degrees;

c5, the stepping motor drives the shaft body to rotate five times, and then 90 degrees are more than or equal to beta 1 and less than or equal to 120 degrees are adjusted;

after the angle of the horn is adjusted, ensuring that the whole propeller enters below the water surface;

c7, controlling the electric adjustment start by the control panel, and controlling the unmanned aerial vehicle to travel on the sea surface by the propeller and the variable horn according to a sailing mode arm wing cooperative control method;

if the current action state of the unmanned aerial vehicle is a navigation mode and the target action state is a flight mode, switching is performed through the following steps:

d1, the control board determines that the current working mode is a flight mode, and judges whether the path planning conversion time is reached or not;

d2, if the vehicle reaches the preset condition, stopping the unmanned aerial vehicle on the sea surface according to a sailing mode arm wing cooperative control method;

d3, the stepping motor drives the shaft body to five rotations, thereby adjusting 175 degrees to 185 degrees of beta 1

D4, the stepping motor drives the second shaft body to rotate, and then the alpha 1 is adjusted to be more than or equal to 175 degrees and less than or equal to 185 degrees;

and D5, suspending the unmanned aerial vehicle for 1-10 minutes until the viscous liquid on the horn and the rotor wing is completely evaporated;

d6, controlling electric adjustment starting by the control board, and controlling the unmanned aerial vehicle to fly in the air by the propeller and the variable horn according to a flight mode variable pitch control method;

If the current action state of the unmanned aerial vehicle is a navigation mode and the target action state is a traveling mode, switching is performed through the following steps:

e1, converting the unmanned aerial vehicle from a navigation mode to a flight mode according to a method for converting the navigation mode to the flight mode;

e2, converting the unmanned aerial vehicle from the flight mode to the driving mode according to the method of converting the flight mode to the driving mode;

if the current action state of the unmanned aerial vehicle is a running mode and the target action state is a running mode, switching is performed through the following steps:

f1, converting the unmanned aerial vehicle from a driving mode to a flight mode according to a method for converting the driving mode to the flight mode;

and F2, converting the unmanned aerial vehicle from the flight mode to the navigation mode according to the method of converting the flight mode to the navigation mode.

3. The control method of the portable multi-terrain unmanned aerial vehicle according to claim 2, wherein:

the autonomous flight path planning method is used for automatically planning a navigation route of the unmanned aerial vehicle, and comprises the following steps:

g1, determining an origin and a destination, and analyzing a voyage distance and a geographic environment in a path;

g2, if the range distance multiplied by 2 is less than the maximum range of the unmanned aerial vehicle, completing the action task by adopting a whole-course flight mode;

G3, if the range distance is less than the flight duration maximum distance of the unmanned aerial vehicle and less than the range distance multiplied by 2, completing an action task by adopting a whole-course flight mode and a destination charging mode, namely adopting a flight mode to work in the whole process from a starting place to a destination, landing after flying to the destination, entering a charging mode, supplementing electric energy by utilizing solar energy, and taking off and returning after the electric energy is supplemented;

if the range distance is far greater than the maximum range distance of the unmanned aerial vehicle, whether the unmanned aerial vehicle passes through the water surface in the straight-line flight path is further judged, if the water surface exists, the unmanned aerial vehicle can navigate on the water surface by a navigation mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the navigation process, the unmanned aerial vehicle can be stopped on the water surface according to requirements, and the solar energy is utilized to supplement battery electric energy until the unmanned aerial vehicle reaches a destination and returns according to requirements;

if the straight flight path does not pass through the water surface, the unmanned aerial vehicle can be driven on land by a driving mode arm wing cooperative control method, solar energy is utilized to supplement battery electric energy in the driving process, and the unmanned aerial vehicle can be stopped on land according to requirements, and the solar energy is utilized to supplement battery storage electric energy; when the ground running condition is not good, the ground running condition can be converted into a flight mode, the ground is continued to run after the obstacle is surmounted to a place with good terrain, and the ground is returned as required until the ground reaches a destination.

4. A method of controlling a portable multi-terrain unmanned aerial vehicle according to claim 3, wherein:

the variable pitch control method is used for controlling the change of the included angle between the variable horn and the large horn of the unmanned aerial vehicle when the unmanned aerial vehicle is in a flight state, so that the unmanned aerial vehicle can fly more stably; the flight mode variable pitch control method comprises the following steps:

in the variable pitch flight control method, the included angle between the front horn and the horizontal plane of the machine body is unchanged, the input quantity is the included angle beta between the rear horn and the machine body shaft, 175 degrees are set as a flight mode reference angle, actual delta beta = beta-175 degrees, V is the flat flight speed of the unmanned aerial vehicle, H is the flight height of the unmanned aerial vehicle, and delta beta, V and H are set as input signal quantities of the variable pitch flight mode;

h2, according to different aircrafts, obtaining an aerodynamic model by simulating aerodynamic parameters during flight and flight experiments, setting different flight performance targets, and constructing a relation among variable pitch control quantity c, V, H and delta beta of the unmanned aerial vehicle with different flight parameters, wherein the relation can be obtained through iterative calculation of a neural network;

H3, establishing different unmanned aerial vehicle variable pitch control equations, c=f (V, H, Δβ);

and H4, calculating the output quantity of the variable-pitch propeller, namely, the variable quantity of the pitch is implemented on the unmanned aerial vehicle propeller through the variable-pitch motor, so that a flight dynamic process with higher energy efficiency can be realized.

5. The control method of a portable multi-terrain unmanned aerial vehicle according to claim 1, wherein:

the driving mode arm wing cooperative control method is used for controlling the change of the included angle between the variable arm of the unmanned aerial vehicle and the large arm when the unmanned aerial vehicle is in a land driving state, so that the driving state of the unmanned aerial vehicle is more stable; the driving mode arm wing cooperative control method comprises the following steps:

i1, judging whether the vehicle is in a ground running working mode or not through a mode identification method, and if the vehicle is in the ground running working mode, starting a running mode arm-wing cooperative control flow;

i2, numbering the arms into a first arm, a second arm, a third arm and a fourth arm clockwise, setting the first arm and the second arm as front arms, setting the third arm and the fourth arm as rear arms, setting the third arm and the fourth arm as propulsion arms, and providing thrust;

the mechanical arm rotates 90 degrees around the shaft body IV in the horizontal direction after I3, namely _3=45°, the rotary arm rotates 45 ° clockwise around the shaft body three as the center, and the rotation arm is +_>4= -45 °, the two propellers of the rear mechanical arm being located in the same plane;

and I4, steering control of the unmanned aerial vehicle, wherein the steering during ground running of the unmanned aerial vehicle is driven by adjusting the delta gamma value of the two rear locomotive arms, namely adjusting the delta beta of the propulsion arms at the same time.

6. The control method of a portable multi-terrain unmanned aerial vehicle according to claim 1, wherein:

the sailing mode arm wing cooperative control method is used for controlling the change of the included angle between the variable arm of the unmanned aerial vehicle and the large arm when the unmanned aerial vehicle is in a water sailing state, so that the sailing of the unmanned aerial vehicle is more stable; the navigation mode arm wing cooperative control method comprises the following steps:

j1, judging whether the water surface sailing working mode is in the water surface sailing working mode or not through a mode identification method, and if the water surface sailing working mode is in the water surface sailing working mode, starting a sailing mode arm-wing cooperative control flow;

j2, numbering the mechanical arms into a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm clockwise, setting the first mechanical arm and the second mechanical arm as front mechanical arms, setting the third mechanical arm and the fourth mechanical arm as rear mechanical arms, setting the first mechanical arm and the second mechanical arm as pulling arms, providing pulling force, setting the third mechanical arm and the fourth mechanical arm as pushing arms, and providing pushing force;

The first horn of J3 rotates 90 degrees anticlockwise in the vertical direction by taking the second shaft body as the center, namely2=45°, the forearm of the horn being rotated 90 ° clockwise in the vertical direction, i.e. set +.>2= -45 degrees, wherein the plane of the first horn propeller blade and the plane of the second horn propeller blade are the same plane;

the rear horn of the third horn of J4 rotates 90 degrees anticlockwise in the vertical direction, namely is provided withThe rear arm of the fourth arm rotates 90 degrees clockwise in the vertical direction, namely the rear arm is provided with +.>4 = 45 °, the plane of the third horn propeller blade and the plane of the fourth horn propeller blade being the same plane;

and J5, three forward modes including a precursor driving mode, a rear driving mode and a four-driving mode can be adopted: the precursor drives: only the pulling force generated by forward rotation of the first horn propeller and the second horn propeller drives the unmanned aerial vehicle to advance; the rear drive drives: the unmanned aerial vehicle is driven to advance only by the thrust generated by the reverse rotation of the third horn propeller and the fourth horn propeller; the four-wheel drive mode: the unmanned aerial vehicle is driven to advance under the combined action of the pulling force generated by forward rotation of the second horn propeller and the pushing force generated by reverse rotation of the third horn propeller;

and J6, steering control of the unmanned aerial vehicle, namely adjusting the delta gamma of the propelling arm or the pulling arm simultaneously by adjusting the delta gamma of the arms at the same side, wherein the steering is consistent and the size is the same, so that the unmanned aerial vehicle is driven to steer when the water surface of the unmanned aerial vehicle is sailed.

7. The method for controlling a portable multi-terrain unmanned aerial vehicle according to claim 1, wherein the method for controlling escape is used when the unmanned aerial vehicle is deficient in power, and comprises:

when the electric quantity of the unmanned aerial vehicle is lower than twenty percent, the unmanned aerial vehicle control panel performs mode identification at the moment, if the unmanned aerial vehicle is identified to be in a water surface navigation or ground traveling working mode, the unmanned aerial vehicle is parked on site, the solar cell panel charges, if the unmanned aerial vehicle is identified to be in an air flight working mode, mode conversion action is performed, the unmanned aerial vehicle is adjusted to be in a ground traveling mode or a sea surface navigation mode, and then the unmanned aerial vehicle is parked, and the solar cell panel charges.

8. The method of claim 1, wherein the method of controlling the escape is used when the drone is in a land travel state and is turned over, the method further comprising:

and performing mode conversion action, converting a ground running working mode into an air flight working mode, taking off, adjusting the side-turning gesture into a flight gesture, briefly pulling up the body to surmount the obstacle, converting the body into the ground running working mode, and continuing to work.

9. The method for controlling a portable multi-terrain unmanned aerial vehicle according to claim 2, wherein the method for controlling escape is used when the unmanned aerial vehicle has an E0 error, and the method further comprises:

The unmanned aerial vehicle is restarted automatically, the initial state is recovered, whether the angle of the horn can reach the standard is continuously detected, if the angle still does not meet the standard, the unmanned aerial vehicle is judged to be faulty, and the unmanned aerial vehicle does not have the capability of executing action tasks; if the unmanned aerial vehicle has an E0 fault in the course of a mobile task and still cannot solve the fault by restarting to recover the initial state, the unmanned aerial vehicle sends a distress signal to the control center and transmits a position signal to wait for rescue of the control center.