CN114115303A - Aircraft control method and device, and storage medium - Google Patents
Aircraft control method and device, and storage medium Download PDFInfo
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- CN114115303A CN114115303A CN202111209693.1A CN202111209693A CN114115303A CN 114115303 A CN114115303 A CN 114115303A CN 202111209693 A CN202111209693 A CN 202111209693A CN 114115303 A CN114115303 A CN 114115303A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application provides a control method and device of an aircraft and a storage medium, and solves the problem that the unmanned aerial vehicle is easy to damage in the landing process after the rotor of a fixed-wing unmanned aerial vehicle is hung up in the prior art. The control method comprises the following steps: acquiring flight state information of an aircraft; if the rotor of the aircraft is determined to be in fault according to the flight state information, switching the aircraft from a rotor mode to a fixed wing mode; and controlling the aircraft to land along a sliding landing track in the fixed wing mode.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control method and device of an aircraft and a storage medium.
Background
Vertical fixed wing drones typically rely on a rotor mode for vertical landing after performing a mission. If the rotor at descending in-process unmanned aerial vehicle had broken down, then unmanned aerial vehicle will be direct crash out of control under the rotor mode. Some unmanned aerial vehicles have set up the emergency treatment scheme to this kind of situation, for example when the rotor broke down, can give the flyer with unmanned aerial vehicle's the control authority at once, carry out the manual control by the flyer, but this flight technical requirement to the flyer is very high, very easily leads to unmanned aerial vehicle to damage because the misoperation of flyer.
Disclosure of Invention
In view of this, the embodiment of the present application provides a control method and apparatus for an aircraft, a computer device, and a storage medium, so as to solve the problem in the prior art that a landing process is prone to cause damage to an unmanned aerial vehicle after a rotor of a fixed-wing unmanned aerial vehicle has a fault.
A first aspect of the present application provides a method of controlling an aircraft, comprising: acquiring flight state information of an aircraft; determining that the rotor of the aircraft has a fault according to the flight state information, and switching the aircraft from a rotor mode to a fixed wing mode; and controlling the aircraft to land along the sliding descent track in a fixed wing mode.
In one embodiment, the flight status information includes the speed of the rotor's motor and/or the attitude of the aircraft.
In one embodiment, the flight status information includes the rotational speed of the rotor's motor. Determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises: and if the rotating speed is not within the target rotating speed range, determining that the rotor of the aircraft is in fault.
In one embodiment, the flight status information includes the rotational speed of the rotor's motor and the aircraft's flight attitude; determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises: and if the rotating speed is not in the target rotating speed range and the flight attitude is not in the target attitude range, determining that the rotor of the aircraft breaks down.
In one embodiment, the flight status information includes a flight attitude of the aircraft. Determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises: and if the flight attitude is not within the target attitude range, determining that the rotor of the aircraft breaks down.
In one embodiment, the toboggan track is specified by a user through a control terminal.
In one embodiment, before controlling the aircraft to land along the toboggan rail in the fixed-wing mode, the method further comprises: sending fault information to a control terminal; acquiring track planning information determined by a user aiming at fault information; a toboggan trajectory is determined based on the trajectory planning information.
In one embodiment, obtaining the track planning information determined by the user for the fault information comprises: and acquiring the position information of two points appointed by a user on a display screen of the control terminal aiming at the fault information, and displaying a mapping map and the real-time position of the aircraft in the mapping map on the display screen.
In one embodiment, the toboggan rail is obtained by performing image recognition on at least one frame of image acquired by the drone.
In one embodiment, before controlling the aircraft to land along the toboggan rail in the fixed-wing mode, the method further comprises: and controlling the aircraft to fly in a hovering mode.
In one embodiment, after controlling the aircraft to hover, the method further comprises: and controlling the aircraft to fly along the transition track to fly out of the hovering track and enter the toboggan track, wherein the transition track is determined by the toboggan track and the hovering track.
A second aspect of the present application provides a control method of an aircraft, comprising: the aircraft acquires current flight state information; if the rotor wing is determined to have a fault according to the flight state information, switching from the rotor wing mode to the fixed wing mode, and sending fault information to the control terminal; the control terminal acquires the track planning information input by the user after receiving the fault information and sends the track planning information to the aircraft; the aircraft determines a toboggan trajectory based on the trajectory planning information and lands along the toboggan trajectory in a fixed-wing mode.
In one embodiment, the flight status information includes the speed of the rotor's motor and/or the attitude of the aircraft.
In one embodiment, after switching from the rotor mode to the fixed-wing mode, the method further comprises: the aircraft flies in a hovering manner.
In one embodiment, after the aircraft determines the toboggan trajectory based on the trajectory planning information, the method further includes: the aircraft determines a transition orbit based on the toboggan orbit; before falling along the sliding down track through the fixed wing mode, the method further comprises the following steps: the aircraft flies out of the spiral orbit in a fixed wing mode, and enters the descent orbit after passing through the transition orbit.
In one embodiment, the track planning information includes a start point and an end point of the toboggan track, and acquiring the track planning information input by the user includes: acquiring a starting point designated by a user in a mapping map; generating a circle which takes the starting point as the center of a circle and takes the preset length as the radius on the surveying and mapping map; and acquiring the end point specified by the user on the circle.
A third aspect of the present application provides a control device for an aircraft, comprising: the acquiring module is used for acquiring flight state information of the aircraft; the switching module is used for switching the aircraft from a rotor wing mode to a fixed wing mode if the rotor wing of the aircraft is determined to be in fault according to the flight state information; and the control module is used for controlling the aircraft to land along the sliding landing track in a fixed wing mode.
A fourth aspect of the present application provides a control device for an aircraft, including a memory, a processor, and a computer program stored in the memory and executed by the processor, where the processor implements the steps of the control method for an aircraft provided in any one of the above embodiments when executing the computer program.
A fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of controlling an aircraft provided in any one of the embodiments described above.
According to the control method and device of the aircraft and the storage medium, the flight state information of the aircraft is obtained in real time, if the rotor of the aircraft is determined to have a fault according to the flight state information, the aircraft is switched from the rotor mode to the fixed wing mode, and the aircraft is controlled to land along the descent track in the fixed wing mode. This scheme can be when VTOL unmanned aerial vehicle's rotor breaks down, and the flight mode of fast control unmanned aerial vehicle switching to the stationary vane to can control unmanned aerial vehicle and carry out the smooth landing with the stationary vane mode, thereby realized VTOL unmanned aerial vehicle safety, steady descending when the rotor trouble, greatly reduced explodes quick-witted risk.
Drawings
Fig. 1 is a block diagram of an unmanned aerial vehicle system according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a control method of an aircraft according to a first embodiment of the present application.
Fig. 3 is a flowchart illustrating a control method according to a second embodiment of the present application.
Fig. 4 is a flowchart illustrating a control method according to a third embodiment of the present application.
Fig. 5 is a flowchart illustrating a control method according to a fourth embodiment of the present application.
FIG. 6 is a schematic diagram of a forced landing trajectory of an aircraft according to an embodiment of the present application.
Fig. 7 is a flowchart illustrating a control method according to a fifth embodiment of the present application.
Fig. 8 is a block diagram of a control device of an aircraft according to an embodiment of the present application.
Fig. 9 is a block diagram of a control device according to an exemplary embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Summary of the application
A vertical take-off and landing fixed-wing unmanned aerial vehicle, called a vertical take-off and landing fixed-wing unmanned aerial vehicle for short, is a new type obtained by superposing a rotor system peculiar to a multi-rotor aircraft on the basis of a fixed-wing fuselage. It can utilize rotor system to provide lift-off power, reaches the height of taking off after, with the help of the aileron, the air current flow direction is guided to the wing flap, changes unmanned aerial vehicle flight mode, finally adopts the flight of fixed wing mode.
As described in the background, when a rotor of a vertical fixed-wing drone fails, the drone is highly likely to crash. In view of this, embodiments of the present application provide a method and an apparatus for controlling an aircraft, a computer device, and a storage medium, which acquire flight state information of the aircraft in real time, switch the aircraft from a rotor mode to a fixed-wing mode when it is determined that a rotor has a fault according to the flight state information, and control the aircraft to land along a descent track in the fixed-wing mode. This scheme can be when VTOL unmanned aerial vehicle's rotor breaks down, and the flight mode of fast control unmanned aerial vehicle switching to the stationary vane to can control unmanned aerial vehicle and carry out the smooth landing with the stationary vane mode, thereby realized VTOL unmanned aerial vehicle safety, steady descending when the rotor trouble, greatly reduced explodes quick-witted risk.
Exemplary System
Fig. 1 is a block diagram of an unmanned aerial vehicle system according to an embodiment of the present application. The unmanned aerial vehicle system exemplarily shows an application scenario of the control method and the control device for the aircraft provided by the embodiment of the application. As shown in fig. 1, the drone system 10 includes an aircraft 11 and a control terminal 12, and the aircraft 11 and the control terminal 12 are communicatively connected. The aircraft can send control commands to the aircraft 11 through the control terminal 12, and the aircraft 11 receives and executes the control commands. In one embodiment, the control terminal 12 includes a display screen 120 for displaying the survey map and the real-time location information of the aircraft 11 in the survey map. The mapping map may be stored in the aircraft 11 in advance, or may be constructed in real time during the flight of the aircraft 11.
The aircraft control method provided by the embodiment of the application can be implemented as a computer program and stored in a memory carried by the aircraft 11 for execution by a processor, so that stable landing in a fixed wing mode can be ensured after a rotor of the aircraft breaks down. Accordingly, the control device of the aircraft provided by the embodiment of the application is installed on the aircraft 11.
Exemplary method
Fig. 2 is a schematic flow chart of a control method of an aircraft according to a first embodiment of the present application. As shown in fig. 2, the control method 200 includes the steps of:
and step S210, acquiring flight state information of the aircraft.
The flight state information refers to various parameter information in the flight process of the aircraft and is used for indicating the flight condition of the aircraft. The flight state information includes the rotation speed of the rotor motor, the flight attitude, and the like.
And step S220, if the rotor of the aircraft is determined to be in fault according to the flight state information, switching the aircraft from the rotor mode to the fixed wing mode.
The rotor mode refers to the lift that relies on a plurality of rotors to produce as unmanned aerial vehicle's power, controls the flight mode of unmanned aerial vehicle gesture through the rotational speed that changes every rotor, is used for hovering and VTOL of unmanned aerial vehicle more. The fixed wing mode refers to a flight mode which depends on thrust generated by a propeller or a turbine engine as flight power and adjusts the attitude of the unmanned aerial vehicle by means of airflow, and is used for cruising of the unmanned aerial vehicle.
Rotor faults are characterized in various ways and may include, for example, a rotor motor fault, a rotor blade damage, and the like. Wherein, rotor motor trouble can be measured through motor speed and/or flight attitude, and rotor blade damage can be measured through flight attitude. Of course, there are other ways to detect whether the blade is damaged, for example, the corresponding relationship between the rotation speed of the rotor and the lift force provided can be obtained, and by comparing the corresponding relationship with the corresponding relationship calibrated in advance, it can be determined whether the rotor blade is damaged.
And step S230, controlling the aircraft to land along the sliding down track in a fixed wing mode.
The landing orbit refers to an orbit for landing the aircraft, namely the aircraft lands and flies along the landing orbit. The toboggan track can be designated by a user through a control terminal and can also be obtained by unmanned aerial vehicle autonomous planning.
According to the control method of the aircraft provided by the embodiment, by acquiring the flight state information of the aircraft in real time, if the flight state information indicates that the rotor of the aircraft breaks down, the aircraft is switched from the rotor mode to the fixed wing mode, and the aircraft is controlled to land along the sliding landing track in the fixed wing mode, so that the unmanned aerial vehicle is ensured to land safely and stably. Meanwhile, the whole control process is realized only by software or by combining simple human-computer interaction, and the requirement on the flying level of the flyer is reduced.
In one embodiment, the flight status information includes the rotational speed of the rotor's motor. In this case, step S220 is specifically executed as: and if the rotating speed is not within the target rotating speed range, determining that the rotor of the aircraft is in fault, and switching the aircraft from the rotor mode to the fixed wing mode. Namely, the rotating speed of the rotor motor is used for measuring whether the rotor is in fault or not.
Considering that when whether the rotor is in fault is determined by only depending on the rotating speed of the rotor motor, misjudgment can be caused by poor communication of the motor and the flight control. Thus, in one embodiment, the flight status information includes the rotational speed of the rotor's motor and the attitude of the aircraft. In this case, step S220 is specifically executed as: and if the rotating speed is not in the target rotating speed range and the flight attitude is not in the target attitude range, determining that the rotor of the aircraft breaks down, and switching the aircraft from the rotor mode to the fixed wing mode. In one example, the attitude comprises at least one of a pitch angle, a roll angle, and a heading angle of the aircraft; and if at least one of the pitch angle, the roll angle and the course angle is not within the allowable error range of the current set value, determining that the rotor of the aircraft has a fault. Specifically, in the flying process of the aircraft, the actual pitch angle, the actual roll angle and the actual course angle of the aircraft are acquired in real time and are respectively compared with the current set pitch angle, set roll angle and set course angle, and if the actual pitch angle is not within the allowable error range of the set pitch angle, or the actual roll angle is not within the allowable error range of the set roll angle, or the actual course angle is not within the allowable error range of the set course angle, the rotor fault is determined. Therefore, whether the rotor is in fault or not is determined by combining the rotating speed of the rotor motor and the flight attitude, and the accuracy of fault detection is improved.
In one example, it may be determined whether the speed is within a target speed range, and if not, then determining whether the attitude of the aircraft is within a target attitude range. It can be understood that if the flight attitude of the aircraft is within the target attitude range, it can be determined that the abnormality of the rotor rotation speed is only caused by poor communication of the electric and flight controls. This poor communication is not a rotor failure, as it is usually automatically recovered in a short time. On the contrary, if the flight attitude of the aircraft is not within the target attitude range when the rotation speed of the rotor motor is not within the target rotation speed range, it can be determined that the rotor of the aircraft has a fault.
Considering that the rotor blades are damaged, the rotation speed of the rotor motor may be normal (i.e., within the target rotation speed range), and at this time, the rotor of the drone may not be detected to have a fault through the rotation speed of the rotor motor. Thus, in one example, it may be determined whether the rotor mode is malfunctioning based directly on the flight attitude. For example, the flight attitude includes at least one of a pitch angle, a roll angle, and a heading angle of the aircraft; and if at least one of the pitch angle, the roll angle and the course angle is not within the allowable error range of the current set value, determining that the rotor wing is in fault, and switching the aircraft from the rotor wing mode to the fixed wing mode.
Fig. 3 is a flowchart illustrating a control method according to a second embodiment of the present application. In this embodiment, the toboggan track is designated by the user through the control terminal. In this case, as shown in fig. 3, before step S230, the control method 300 further includes:
step S310, sending failure information to the control terminal.
When unmanned aerial vehicle confirms rotor trouble, send trouble information to control terminal. The control terminal receives the fault information and issues an alarm based on the fault information.
Step S320, receiving the track planning information determined by the user for the fault information.
And displaying the surveying and mapping map and the real-time position of the unmanned aerial vehicle in the surveying and mapping map on a display screen of the control terminal. In one embodiment, after the control terminal issues the alarm, the flyer may specify two points in the mapping map as the track information. And the control terminal sends the position information of the two points to the aircraft, and the aircraft receives the position information of the two points. In another embodiment, after the control terminal receives the fault information, the control terminal may prompt the flying hand to designate a starting point of the toboggan track in the mapping map, and after the starting point designated by the flying hand in the mapping map is obtained, a circle with the designated starting point as a center and a preset length as a radius may be generated on the mapping map, at this time, the clicking operation of the flying hand may be limited to fall on the edge of the generated circle, so as to ensure that the planned toboggan track has a sufficient length for the flying hand to toboggan. After the terminal point specified by the flyer on the circle is obtained, the track planning information formed by the starting point and the terminal point can be sent to the aircraft, so that the aircraft plans the toboggan track according to the track planning information. In other embodiments, the flyer may also draw a straight line directly in the mapping map as trajectory planning information.
Step S330, determining a toboggan orbit based on the orbit planning information.
Taking the track planning information as the position information of two points as an example, based on the principle of two points and one line, the linear type sliding down track is determined according to the position information of the two points. The sliding and landing track displays a straight line on a mapping map, the three-dimensional track actually comprises a straight line section of the aircraft descending from high altitude and a straight line section of the aircraft sliding on the ground, and the two straight line sections are smoothly connected.
Fig. 4 is a flowchart illustrating a control method according to a third embodiment of the present application. In this embodiment, the toboggan trajectory is obtained by autonomous planning by the drone. In this case, as shown in fig. 4, before step S230, the control method 400 further includes:
and S410, identifying at least one straight path based on at least one frame of image acquired by the unmanned aerial vehicle and sending the straight path to the control terminal.
And identifying at least one barrier-free straight line path from at least one frame of image by adopting an image identification technology, wherein the length of the straight line path is greater than or equal to a preset length, and the preset length depends on the sliding distance of the unmanned aerial vehicle on the ground. And after the aircraft determines at least one straight line path, the parameter information of the at least one straight line path is sent to the control terminal.
Step S420, receiving selection information of the user at the control terminal for the at least one straight path to determine the toboggan track.
And after the control terminal receives the parameter information of at least one path, displaying the at least one path through the display screen. At the moment, the flyer can select one of the straight paths on the display screen, and the aircraft acquires the selection information of the flyer to determine the toboggan track from at least one straight path.
According to the control method of the aircraft provided by the embodiment, the toboggan track is automatically planned by using a software program, and compared with the implementation mode that the control method 300 shown in fig. 3 needs to determine the toboggan track by a flyer, the degree of automation is higher.
Fig. 5 is a flowchart illustrating a control method according to a fourth embodiment of the present application. The control method 500 shown in fig. 5 further includes, before the step S230:
and step S510, controlling the aircraft to fly in a hovering mode.
After the mode is switched to the fixed wing mode, the rotating speed of the tail pushing motor can be adjusted to be combined with control surface control, and the unmanned aerial vehicle is ensured to fly in a circling mode according to a preset radius at a preset airspeed. Wherein, adjust the rotational speed that the tail pushed away the motor, can promote airspeed, make unmanned aerial vehicle reach and preset the airspeed. And the control surface is started, so that the attitude can be ensured to return to be stable. The track that unmanned aerial vehicle hovered can be circular, "8" font etc, and this application does not do the restriction to the track that unmanned aerial vehicle hovered. It should be noted that, because the unmanned aerial vehicle flies off along the tangent line of the spiral track when sliding down, when the spiral track is in the shape of an "8", compared with a circular track, the positions of selectable tangent points when the unmanned aerial vehicle flies off are more, so that the planning of the sliding down track is more flexible.
According to the control method provided by the embodiment, the aircraft is controlled to hover for flight before the aircraft is controlled to slide down, on one hand, preparation can be made for the sliding down stage, and sufficient airspeed and stable flight attitude are ensured; on the other hand, time may be reserved for planning of the toboggan trajectory.
In one embodiment, after step S510, the method further includes:
and step S520, controlling the aircraft to fly along the transition orbit so as to fly out of the hovering orbit and enter the downhill orbit.
The transition orbit is used for ensuring that the aircraft smoothly enters the downhill orbit from the spiral orbit. FIG. 6 is a schematic diagram of a forced landing trajectory of an aircraft according to an embodiment of the present application. As shown in fig. 6, the forced landing track includes a spiral track O, a transition track and a sliding landing track L which are connected in sequence. Wherein the transition track can be determined by the hovering track O and the sliding down track L.
Specifically, first, a straight line segment L perpendicular to the toboggan trajectory L and tangential to the circle trajectory O is determined, and the drone is at a tangent point Q1Is directed towards the toboggan trajectory L.
Two straight lines perpendicular to the sliding track L and tangent to the spiral track O, namely a straight line L21And a straight line L22. Unmanned plane is in straight line L21The flight direction of the corresponding tangent point points to the sliding landing track L, and the unmanned aerial vehicle is positioned on the straight line L22The flight direction at the corresponding tangent point deviates from the toboggan trajectory L. Thus, the straight line L is determined21Is a straight line segment l.
Secondly, determining an arc line segment S tangent to the toboggan track L and the straight line segment L respectively based on the preset turning radius R, wherein the straight line segment L and the arc line segment S form a transition track.
Taking the forced landing orbit as an example in fig. 6, the process of controlling the aircraft to land includes: and controlling the aircraft to fly at the fixed height of the hovering orbit O. And controlling the aircraft to fly out of the transition orbit along the tangent line of the spiral orbit O and fly along the transition orbit at the same height. When the aircraft flies out of the transition track and enters the sliding landing track L, the pitch angle of the aircraft is controlled to be lowered for height reduction, the aircraft starts to gradually lift the aircraft head after the aircraft descends to the designated height, and the landing speed and the flying speed are reduced, so that the aircraft contacts the ground along a smooth curve. When the airplane approaches the ground, the airplane body is leveled, the accelerator output is closed, and the airplane slides to brake by being attached to the ground, so that the landing is finished.
It should be noted that steps S310-S330 and steps S410-S430 may be respectively incorporated into the control method 500 and executed between step S510 and step S520.
According to the control method of the aircraft provided by the embodiment, the transition track is arranged, so that the aircraft can stably enter the landing track from the spiral track, and the damage to the unmanned aerial vehicle in the forced landing process is further reduced.
Fig. 7 is a flowchart illustrating a control method for an aircraft according to a fifth embodiment of the present application. The control method is suitable for the unmanned aerial vehicle system shown in figure 1. As shown in fig. 7, the control method 700 includes:
step S710, the aircraft obtains current flight status information. And if the rotor wing is determined to have a fault according to the flight state information, switching from the rotor wing mode to the fixed wing mode, and sending fault information to the control terminal.
In one embodiment, the flight status information includes the speed of the rotor's motor and/or the attitude of the aircraft.
In one embodiment, the aircraft is flown in hover when it determines that the rotor is malfunctioning.
And step S720, after receiving the fault information, the control terminal acquires the track planning information input by the user and sends the track planning information to the aircraft.
And displaying the surveying and mapping map and the real-time position of the unmanned aerial vehicle in the surveying and mapping map on a display screen of the control terminal. After receiving the fault information, the control terminal can send out an alarm and display a prompt box on a display screen to prompt the flying hand to plan the sliding and descending track. At this time, the flyer may specify two points in the mapping map as the orbit information. And the control terminal sends the position information of the two points to the aircraft.
In one embodiment, the track planning information includes a start point and an end point of the toboggan track. The acquiring of the track planning information input by the user comprises: acquiring a starting point designated by a user in a mapping map; generating a circle which takes the starting point as the center of a circle and takes the preset length as the radius on the surveying and mapping map; and acquiring the end point specified by the user on the circle.
And step S730, determining a sliding down track by the aircraft based on the track planning information, and landing along the sliding down track in a fixed wing mode.
In one embodiment, after the aircraft determines the toboggan trajectory based on the trajectory planning information, the method further includes: the aircraft determines a transition trajectory based on the toboggan trajectory. In this case, before landing along the downhill path in the fixed wing mode, the method further includes: the aircraft flies out of the spiral orbit in a fixed wing mode, and enters the descent orbit after passing through the transition orbit.
The aircraft control method provided by this embodiment and the aircraft control method provided by any of the above embodiments belong to the same inventive concept, and relevant details that are not mentioned in this embodiment can be referred to the above corresponding embodiments, and are not described herein again.
Exemplary devices
Fig. 8 is a block diagram of a control device of an aircraft according to an embodiment of the present application. As shown in fig. 8, the control device 80 includes an acquisition module 81, a switching module 82, and a control module 83. The obtaining module 81 is configured to obtain flight status information of the aircraft. The switching module 82 is configured to switch the aircraft from the rotor mode to the fixed-wing mode if it is determined from the flight status information that the rotor of the aircraft is malfunctioning. The control module 83 is used to control the aircraft to land along the toboggan track in a fixed wing mode.
According to the controlling means of the aircraft that this embodiment provided, through the flight state information who acquires the aircraft in real time, when the flight state information instructs the rotor of aircraft to break down, switch the aircraft from the rotor mode to the fixed wing mode to control the aircraft and descend along the toboggan track with the fixed wing mode, ensure unmanned aerial vehicle safety, steady landing. Meanwhile, the whole control process is realized only by software or by combining simple human-computer interaction, and the requirement on the flying level of the flyer is reduced.
In one embodiment, the acquisition module 81 is specifically configured to acquire the rotational speed of the rotor's motor. The switching module 82 is specifically configured to determine that the rotor is malfunctioning if the speed is not within the normal speed range, and switch the aircraft from the rotor mode to the fixed wing mode.
In one embodiment, the acquisition module 81 is specifically configured to acquire the rotational speed of the rotor's motor and the attitude of the aircraft. The switching module 82 is specifically configured to determine that a rotor of the aircraft is malfunctioning if the rotational speed is not within the target rotational speed range and the flight attitude is not within the target attitude range, and switch the aircraft from the rotor mode to the fixed-wing mode.
In one embodiment, the acquisition module 81 is specifically configured to acquire the flight attitude of the aircraft. The switching module 82 is specifically configured to determine that a rotor of the aircraft is malfunctioning if the flight attitude is not within the target attitude range, and switch the aircraft from the rotor mode to the fixed-wing mode.
In one embodiment, the toboggan track is specified by a user through a control terminal. In this case, in one embodiment, the control device 80 further comprises a sending module and a determining module. The sending module is used for sending fault information to the control terminal. The obtaining module 81 is further configured to obtain track planning information determined by the user for the fault information. The determination module is configured to determine a toboggan trajectory based on the trajectory planning information.
In one embodiment, the toboggan rail is obtained by performing image recognition on at least one frame of image acquired by the drone.
In one embodiment, the control module 83 is also used to control the aircraft in hover flight. In this case, in one embodiment, the control module 83 is further configured to control the vehicle to fly along the transition trajectory to fly out of the hover trajectory and into the toboggan trajectory, the transition trajectory being defined by the toboggan trajectory and the hover trajectory.
The forced landing control device for the unmanned aerial vehicle provided by the embodiment belongs to the same application concept with the forced landing control method for the unmanned aerial vehicle provided by the embodiment of the application, can execute the forced landing control method for the unmanned aerial vehicle provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects for executing the forced landing control method for the unmanned aerial vehicle. The details of the technology that are not described in detail in this embodiment can be referred to the method for controlling forced landing of an unmanned aerial vehicle provided in the embodiment of the present application, and are not described herein again.
Exemplary electronic device
Fig. 9 is a block diagram of a control device of an aircraft according to an exemplary embodiment of the present application. As shown in fig. 9, the electronic device 9 includes one or more processors 91 and a memory 92.
The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 9 to perform desired functions.
Memory 92 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer readable storage medium and executed by the processor 91 to implement the drone forced landing control method of the various embodiments of the present application described above and/or other desired functionality. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 9 may further include: an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 93 may be a sensor of various functions, such as a three-axis gyroscope for detecting the rotational angular velocity of the rotor motor; or an accelerometer for detecting the acceleration of the rotor motor; or a distance measuring sensor for detecting the hovering height of the unmanned aerial vehicle and the like. The input device 93 may also be a communication network connector for receiving a control instruction input by a user through the control terminal when the electronic device is a stand-alone device. The input device 93 may also include, for example, a keyboard, a mouse, and the like.
The output device 94 may output various information to the outside, including the determined mapping map, the hovering trajectory, the toboggan track, and the like. Output devices 94 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for the sake of simplicity, only some of the components of the electronic device 9 relevant to the present application are shown in fig. 9, and components such as a bus, an input/output interface, and the like are omitted. In addition, the electronic device 9 may comprise any other suitable components, depending on the specific application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for forced landing of a drone according to various embodiments of the present application described in the above section "exemplary methods" of this specification.
The computer program product may include program code for carrying out operations for embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor 91 to perform the steps in the method for forced landing of a drone according to various embodiments of the present application described in the section "exemplary method" above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (18)
1. A method of controlling an aircraft, comprising:
acquiring flight state information of an aircraft;
if the rotor of the aircraft is determined to be in fault according to the flight state information, switching the aircraft from a rotor mode to a fixed wing mode;
and controlling the aircraft to land along a sliding landing track in the fixed wing mode.
2. The method for controlling an aircraft according to claim 1, characterized in that said flight status information comprises the rotation speed of the motor of said rotor and/or the flight attitude of said aircraft.
3. The control method of an aircraft according to claim 2, characterized in that the flight status information comprises the rotation speed of a motor of the rotor; the determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises:
and if the rotating speed is not in the target rotating speed range, determining that the rotor of the aircraft is in fault.
4. The control method for an aircraft according to claim 2, characterized in that the flight status information comprises a rotation speed of a motor of the rotor and a flight attitude of the aircraft; the determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises:
and if the rotating speed is not in the target rotating speed range and the flight attitude is not in the target attitude range, determining that the rotor of the aircraft breaks down.
5. The control method for an aircraft according to claim 2, characterized in that the flight status information comprises a flight attitude of the aircraft; the determining that a rotor of the aircraft is malfunctioning based on the flight status information comprises:
and if the flight attitude is not within the range of the target attitude, determining that the rotor of the aircraft breaks down.
6. The method for controlling an aircraft according to claim 1, wherein the toboggan trajectory is specified by a user through a control terminal.
7. The method of controlling an aircraft according to claim 6, further comprising, prior to the controlling the aircraft to land along a toboggan track in the fixed-wing mode:
sending fault information to a control terminal;
acquiring track planning information determined by the user aiming at the fault information;
determining the toboggan trajectory based on the trajectory planning information.
8. The method of claim 1, wherein the toboggan trajectory is obtained by image recognition of at least one frame of image acquired by the drone.
9. The method of controlling an aircraft according to claim 1, further comprising, prior to the controlling the aircraft to land along a toboggan track in the fixed-wing mode:
and controlling the aircraft to fly in a hovering mode.
10. The method of controlling an aircraft of claim 9, further comprising, after said controlling said aircraft to hover for flight:
controlling the aircraft to fly along a transition orbit to fly out of a hover orbit and into the toboggan orbit, the transition orbit being determined by the toboggan orbit and the hover orbit.
11. A method of controlling an aircraft, comprising:
the aircraft acquires current flight state information; if the rotor wing is determined to have a fault according to the flight state information, switching from a rotor wing mode to a fixed wing mode, and sending fault information to a control terminal;
the control terminal acquires the track planning information input by the user after receiving the fault information and sends the track planning information to the aircraft;
and the aircraft determines a downhill track based on the track planning information and lands along the downhill track through the fixed wing mode.
12. The method for controlling an aircraft according to claim 11, characterized in that the flight status information comprises the speed of rotation of a motor of the rotor and/or the attitude of the aircraft.
13. The method of controlling an aircraft according to claim 11, further comprising, after said switching from rotor mode to fixed-wing mode:
the aircraft is flying in hover.
14. The method of controlling an aircraft of claim 13, after the aircraft determines a toboggan trajectory based on the trajectory planning information, further comprising:
the aircraft determining a transition trajectory based on the toboggan trajectory;
before the landing along the downhill track through the fixed wing mode, further comprising:
the aircraft flies out of the spiral orbit through the fixed wing mode, and enters the sliding descending orbit after passing through the transition orbit.
15. The method for controlling an aircraft according to claim 11, wherein the trajectory planning information includes a start point and an end point of the toboggan trajectory, and the obtaining the trajectory planning information input by the user includes:
acquiring a starting point designated by a user in a mapping map;
generating a circle on the mapping map, wherein the circle takes the starting point as the center of the circle and takes a preset length as the radius;
and acquiring the end point appointed by the user on the circle.
16. A control device for an aircraft, comprising:
the acquiring module is used for acquiring flight state information of the aircraft;
the switching module is used for switching the aircraft from a rotor mode to a fixed wing mode if the rotor of the aircraft is determined to be in fault according to the flight state information;
and the control module is used for controlling the aircraft to land along the sliding landing track in the fixed wing mode.
17. A control device of an aircraft comprising a memory, a processor and a computer program stored on the memory for execution by the processor, characterized in that the steps of the control method of the aircraft according to any one of claims 1 to 10 are implemented when the processor executes the computer program.
18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method of controlling an aircraft according to any one of claims 1 to 10.
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| CN202111209693.1A CN114115303A (en) | 2021-10-18 | 2021-10-18 | Aircraft control method and device, and storage medium |
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| CN202111209693.1A CN114115303A (en) | 2021-10-18 | 2021-10-18 | Aircraft control method and device, and storage medium |
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