WO2018072693A1 - 飞行器的控制方法、装置及飞行器 - Google Patents

飞行器的控制方法、装置及飞行器 Download PDF

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Publication number
WO2018072693A1
WO2018072693A1 PCT/CN2017/106565 CN2017106565W WO2018072693A1 WO 2018072693 A1 WO2018072693 A1 WO 2018072693A1 CN 2017106565 W CN2017106565 W CN 2017106565W WO 2018072693 A1 WO2018072693 A1 WO 2018072693A1
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WIPO (PCT)
Prior art keywords
motor
control
flight
aircraft
control information
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PCT/CN2017/106565
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English (en)
French (fr)
Inventor
陈毅东
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication of WO2018072693A1 publication Critical patent/WO2018072693A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method, an apparatus, and an aircraft for controlling an aircraft.
  • the flight controller and the electronic governor in the multi-rotor aircraft adopt a separate structure, that is, the multi-rotor aircraft includes: a flight controller, a plurality of electronic governors, and a plurality of motors, each of which is electronic governor Corresponding to control a motor.
  • the flight controller sends a pulse command to the electronic governor according to the current flight attitude and the state of the remote control.
  • the technical problem to be solved by the embodiments of the present application is to provide a method, a device and an aircraft for controlling an aircraft, which can reduce the manufacturing cost of the aircraft, achieve volume miniaturization, and improve anti-interference ability and reliability.
  • an embodiment of the present application provides a method for controlling an aircraft, the aircraft being equipped with at least one motor, the method comprising:
  • an embodiment of the present application provides a control device for an aircraft, including:
  • An acquisition module configured to acquire flight control information of the aircraft, where the flight control information is used to control flight of the aircraft;
  • a signal determining module configured to determine, according to the flight control information, a control signal of the at least one motor of the aircraft to control a rotational speed of the at least one motor.
  • an embodiment of the present application further provides an aircraft, including a controller disposed on the aircraft, at least one motor communicatively coupled to the controller, and connected to and driven by the motor.
  • a propeller the controller including a body, a flight controller disposed on the body, and a motor controller for controlling at least one of the motors;
  • the flight controller is configured to acquire flight control information of the aircraft, and determine a control signal of the at least one motor according to the flight control information, where the motor controller is configured to control according to a control signal of the at least one motor The rotational speed of the at least one motor.
  • the motor controller includes at least one motor control unit disposed on the main body for controlling the motor, and each of the motor control units is configured to control at least one of the motors Speed.
  • the motor controller includes at least one motor control unit disposed on the main body for controlling the motor, and each of the motor control units is configured to control at least two of the The speed of the motor.
  • the aircraft is further provided with an LED lamp
  • the controller further includes an LED lamp control unit disposed on the main body for controlling the LED lamp.
  • the method, device and aircraft for controlling an aircraft may obtain flight control information for controlling flight of an aircraft, and determine a control signal of at least one motor according to flight control information to control at least one motor.
  • the speed can be used to control the flight of the aircraft and improve the reliability of the aircraft.
  • an aircraft provided by the embodiment of the present application can realize miniaturization of the volume, reduce the manufacturing cost of the aircraft, and improve the anti-interference ability.
  • FIG. 1 is a flowchart of a method for controlling an aircraft provided by an embodiment of the present application
  • Figure 2 is a schematic view of an aircraft performing steering
  • Figure 3 is a schematic view of an aircraft in an inclined state
  • Figure 4 is a schematic view of an aircraft adjusted to be in a parallel state
  • FIG. 5 is a flowchart of a method for controlling an aircraft according to another embodiment of the present application.
  • Figure 6 is a flow chart of the method of step S52 shown in Figure 5;
  • FIG. 7 is a functional block diagram of a control device for an aircraft provided by an embodiment of the present application.
  • FIG. 8 is a functional block diagram of a control device for an aircraft provided by another embodiment of the present application.
  • Figure 9 is a functional block diagram of the motor determination module 82 shown in Figure 8.
  • FIG. 10 is a schematic diagram showing the hardware structure of a control device for an aircraft provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of hardware of an aircraft provided by an embodiment of the present application.
  • Figure 12 is a block diagram showing the structure of the controller of Figure 11.
  • an embodiment of the present application provides a method for controlling an aircraft, where the aircraft is equipped with at least one motor, and the method includes:
  • Step S11 Obtain flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the flight control information may be based on the acceleration configured on the aircraft.
  • Control information generated by at least one of a sensor such as a meter, a gyroscope, a magnetometer, and a barometer.
  • the flight control information may also be control information sent to the aircraft through the remote controller, including but not limited to instructions such as steering, acceleration, hovering, ascending, descending, and the like.
  • Step S13 Determine, according to the flight control information, a control signal of the at least one motor to control the rotation speed of the at least one motor.
  • control signal may include a square wave signal, and may also include a sine wave signal, and the square wave signal or the sine wave signal has a certain frequency, and the motor is controlled by controlling the frequency of the square wave signal or the sine wave signal.
  • the speed of the speed may also include a pulse signal having a certain frequency, and controlling the rotation speed of the motor by controlling the frequency of the pulse signal.
  • the flight control information may include remote control information of the flight steering
  • the remote control information of the flight steering may be remote control information that is sent by the remote controller to the aircraft and used to control the steering of the aircraft, where the flight steering includes It is not limited to turning to the left, turning to the right, and the like.
  • the step S13 specifically includes determining, according to the remote control information of the flight steering, a control signal of the at least one motor to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering.
  • the aircraft 210 is a quadrotor aircraft, and the quadrotor is equipped with four motors, namely, a first motor 211, a second motor 212, a third motor 213, and a fourth.
  • the motor 214 is connected to each of the motor drives with a propeller.
  • a control signal of at least one motor is determined to control the first motor 211 and the first side of the flight steering 220.
  • the rotational speed of the second motor 212 is lower than the rotational speed of the third motor 213 and the fourth motor 214 on the side of the flight steering 220, thereby enabling the aircraft 210 to steer along the flight steering 220.
  • the aircraft may be a single-rotor, a double-rotor, or a multi-rotor, which is not limited in this embodiment of the present application.
  • the flight control information may include attitude information of the aircraft tilting, and the aircraft is provided with a gyroscope, and the attitude information of the tilting of the aircraft may be posture information or an aircraft of the aircraft that is tilted according to the gyroscope detection. Pour Oblique angle attitude information.
  • the step S13 specifically includes determining a control signal of the at least one motor according to the attitude information of the tilt of the aircraft, so as to control the rotation speed of the motor on the inclined lower side to be higher than the rotation speed of the motor on the inclined high side.
  • the aircraft 310 is provided with a gyroscope (not shown in FIG. 3), and according to the posture information of the aircraft tilt detected by the gyroscope, the control signal of at least one motor is determined to control the tilting.
  • the rotation speed of the motor 311 on the lower side is higher than the rotation speed of the motor 312 on the side of the inclined high position, thereby realizing that the motor on both sides of the aircraft 310 is adjusted from the inclined state of the relative horizontal plane 320 as shown in FIG. 3 to the relative horizontal plane as shown in FIG. Parallel state of 320.
  • the control method of the aircraft provided by the embodiment of the present application can acquire flight control information for controlling flight of the aircraft, and determine a control signal of at least one motor according to the flight control information to control the rotation speed of the at least one motor, thereby being convenient Control the flight of the aircraft to improve the reliability of the aircraft.
  • another embodiment of the present application provides a method for controlling an aircraft, the aircraft is equipped with at least one motor, and the method includes:
  • Step S51 Acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • step S51 for the explanation of the step S51, please refer to the explanation of the above step S11.
  • Step S52 Determine, according to the flight control information, a motor that requires speed regulation from at least one motor.
  • Step S53 Determine, according to the flight control information, a control signal of the motor that needs to be adjusted to control the rotation speed of the motor that needs speed regulation.
  • the aircraft for the flight control of the multi-rotor aircraft, generally, it is first determined which one or more motors need to increase the rotation speed, and which one or more motors need to be adjusted to reduce the rotation speed to form a difference in the rotation speed. Therefore, the aircraft is controlled to perform steering, from the tilt state to the parallel state, acceleration, deceleration and the like, or to determine whether all the motors need to increase the speed or reduce the speed, thereby controlling the aircraft to perform ascending and descending flight operations.
  • step S52 specifically includes:
  • Step S521 respectively detecting a current value and a voltage value corresponding to the at least one motor.
  • Step S522 Determine, according to the flight control information and the current value and the voltage value corresponding to the at least one motor, the motor that needs speed regulation from the at least one motor.
  • the current speed of the motor can be estimated by detecting the current value and the voltage value corresponding to the motor, and the motor that needs speed regulation is further determined according to the flight control information and the current speed of the at least one motor, thereby realizing the need
  • the speed of the regulated motor is automatically adjusted.
  • the flight control information includes a command to descend.
  • the aircraft is guaranteed to be in a parallel state with respect to the horizontal plane to facilitate the safe landing of the aircraft. Therefore, during the descending process of the aircraft, the current value corresponding to the detected motor can be The voltage value determines the motor that needs speed regulation from at least one motor.
  • an embodiment of the present application provides a control device 70 for an aircraft.
  • the device 70 may include an acquisition module 71 and a signal determination module 73 .
  • the acquisition module 71 is configured to acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the aircraft may be equipped with at least one motor, and each motor may drive one propeller correspondingly.
  • the flight control information may be control information generated based on at least one of an accelerometer, a gyroscope, a magnetometer, a barometer, and the like configured on the aircraft.
  • the flight control information may also be control information sent to the aircraft through the remote controller, including but not limited to instructions such as steering, acceleration, hovering, ascending, descending, and the like.
  • the signal determining module 73 is configured to determine a control signal of the at least one motor of the aircraft according to the flight control information to control the rotational speed of the at least one motor.
  • control signal may include a square wave signal, and may also include a sine wave signal, and the square wave signal or the sine wave signal has a certain frequency, and the motor is controlled by controlling the frequency of the square wave signal or the sine wave signal.
  • the speed of the speed may also include a pulse signal having a certain frequency, and controlling the rotation speed of the motor by controlling the frequency of the pulse signal.
  • the flight control information may include remote control information of the flight steering, the flight steering
  • the remote control information may be remote control information that is transmitted to the aircraft by the remote control and used to control the steering of the aircraft, including but not limited to steering to the left, steering to the right, and the like.
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the remote control information of the flight steering, so as to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering. .
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the remote control information of the flight steering, so as to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering.
  • the aircraft 210 is a quadrotor aircraft configured with four motors, namely a first motor 211, a second motor 212, a third motor 213, and a fourth motor 214, each The motor drive is coupled to a propeller, and the control signal of the at least one motor is determined according to the remote control information of the flight steering 220 sent by the remote controller to the aircraft 210 to control the rotational speeds of the first motor 211 and the second motor 212 on the side of the flight steering 220.
  • the rotational speeds of the third motor 213 and the fourth motor 214 that are facing away from one side of the flight steering 220 are achieved, thereby enabling the aircraft 210 to steer along the flight steering 220.
  • the flight control information may include posture information of the aircraft tilting, and the aircraft is provided with a gyroscope, and the posture information of the tilting of the aircraft may be posture information of the aircraft in an inclined state or a tilt angle of the aircraft according to the gyroscope detection. information.
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the attitude information of the tilt of the aircraft, so as to control the rotation speed of the motor on the inclined lower side to be higher than the rotation speed of the motor on the inclined high side.
  • the aircraft 310 is provided with a gyroscope (not shown in FIG. 3), and according to the posture information of the aircraft tilt detected by the gyroscope, the control signal of at least one motor is determined to control the tilting.
  • the rotation speed of the motor 311 on the lower side is higher than the rotation speed of the motor 312 on the side of the inclined high position, thereby realizing that the motor on both sides of the aircraft 310 is adjusted from the inclined state of the relative horizontal plane 320 as shown in FIG. 3 to the relative horizontal plane as shown in FIG. Parallel state of 320.
  • the control device for an aircraft acquires flight control information for controlling flight of an aircraft by an acquisition module, and the signal determination module determines a control signal of at least one motor according to the flight control information to control at least one motor.
  • the speed can easily control the flight of the aircraft and improve the reliability of the aircraft.
  • an aircraft control device 80 which may include an acquisition module 81 , a motor determination module 82 , and a letter. No. determination module 83.
  • the acquisition module 81 is configured to acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the motor determining module 82 is configured to determine, from the at least one motor, a motor that requires speed regulation according to the flight control information.
  • the signal determining module 83 is configured to determine, according to the flight control information, a control signal of the motor that needs speed regulation to control the rotation speed of the motor that needs speed regulation.
  • the aircraft for the flight control of the multi-rotor aircraft, generally, it is first determined which one or more motors need to increase the rotation speed, and which one or more motors need to be adjusted to reduce the rotation speed to form a difference in the rotation speed. Therefore, the aircraft is controlled to perform steering, from the tilt state to the parallel state, acceleration, deceleration and the like, or to determine whether all the motors need to increase the speed or reduce the speed, thereby controlling the aircraft to perform ascending and descending flight operations.
  • the motor determination module 82 may include a detection unit 821 and a motor determination unit 822.
  • the detecting unit 821 is configured to respectively detect a current value and a voltage value corresponding to the at least one motor
  • the motor determining unit 822 is configured to determine, from the at least one motor, a motor that requires speed regulation according to the flight control information and the current value and the voltage value corresponding to the at least one motor.
  • the current speed of the motor can be estimated by detecting the current value and the voltage value corresponding to the motor, and the motor that needs speed regulation is further determined according to the flight control information and the current speed of the at least one motor, thereby realizing the need
  • the speed of the regulated motor is automatically adjusted.
  • the flight control information includes a command to descend.
  • the aircraft is guaranteed to be in a parallel state with respect to the horizontal plane to facilitate the safe landing of the aircraft. Therefore, during the descending process of the aircraft, the current value corresponding to the detected motor can be The voltage value determines the motor that needs speed regulation from at least one motor.
  • the embodiment of the present application provides a control device 90 for an aircraft.
  • a schematic diagram of the hardware structure, as shown in FIG. 10, the apparatus 90 may include:
  • One or more processors 91, a memory 92, and at least one motor 93 are exemplified by a processor 91 in FIG.
  • the processor 91, the memory 92, and the motor 93 can be connected by a bus or the like, and the bus connection is taken as an example in FIG.
  • the memory 92 is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer executable program, and a module, such as a control method for executing an aircraft in the embodiment of the present application.
  • Corresponding program instructions/modules for example, acquisition module 71 and signal determination module 73 shown in FIG. 7, acquisition module 81, motor determination module 82, and signal determination module 83 in FIG. 8, detection unit in FIG. 821 and motor determination unit 822).
  • the processor 91 executes various functional applications and data processing of the control device of the aircraft by executing non-volatile software programs, instructions, and modules stored in the memory 92, that is, the control method of the aircraft in the above-described method embodiments.
  • the memory 92 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the control device of the aircraft, and the like.
  • memory 92 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 92 may optionally include memory remotely located relative to processor 91, which may be connected to the aircraft's control device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 92, and when executed by the one or more processors 91, the control method of the aircraft in any of the above method embodiments is performed, for example, performing the above described FIG. Method step S11 and step S13, method step S51, step S52 and step S53 in Fig. 5, method step S521 and step S522 shown in Fig. 6, the obtaining module 71 and the signal determining module 73 shown in Fig. 7, The acquisition module 81, the motor determination module 82, and the signal determination module 83 in FIG. The functions of the detecting unit 821 and the motor determining unit 822 in FIG.
  • the above device can execute the control method of the aircraft provided by the embodiment of the present application, and has a corresponding functional module and a beneficial effect of executing the control method of the aircraft.
  • a corresponding functional module and a beneficial effect of executing the control method of the aircraft For the technical details that are not described in detail in this embodiment, reference may be made to the control method of the aircraft provided by the embodiments of the present application.
  • an embodiment of the present application provides an aircraft 100 .
  • the aircraft 100 may include: a controller 110 , at least one motor 120 communicatively coupled to the controller 110 , and a propeller coupled to the motor 120 and driven to rotate by the motor ( Not shown), in FIG. 11, four motors 120 are taken as an example, and the controller 110 is communicably connected to four motors 120, respectively.
  • the controller 110 includes a main body 111, a flight controller 112 disposed on the main body 111, and a motor controller 113 for controlling the four motors 120.
  • the flight controller 112 is configured to acquire flight control information of the aircraft 100, and determine a control signal of the at least one motor 120 according to the flight control information.
  • the motor controller 113 is configured to control the rotational speed of the at least one motor 120 based on a control signal acquired by the flight controller 112.
  • the motor controller 113 includes two motor control units 114, each of which is configured to control the rotational speeds of the two motors 120 in accordance with control signals.
  • the motor controller 113 may also include only one motor control unit for simultaneously controlling the rotational speeds of the four motors 120.
  • the motor controller 113 may further include four motor control units, and the four motor control units are respectively used to control the rotational speeds of the four motors.
  • the aircraft is further provided with an LED lamp (not shown) for indicating the flight state of the aircraft
  • the controller 110 may further include an LED lamp for controlling the LED lamp disposed on the main body 111.
  • the control unit has the same number of LED light control units as the number of LED lights, that is, one LED light control unit controls one LED light, or one LED light control unit controls at least two LED lights.
  • the controller 110 is integrated with a flight controller 112 for controlling aircraft flight and a motor controller 113 for controlling motor speed, so that flight control is performed.
  • the device 112 and the motor controller 113 are integrated on one chip, thereby overcoming the conventional separation structure of the two, which can save cost and reduce the volume of the aircraft.
  • step S11, step S13 in FIG. 1, step S51, step S52, step S53 in FIG. 5, and step S521 and step S522 in FIG. I will not repeat them here.
  • Embodiments of the present application provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, such as in FIG. a processor 91, wherein the one or more processors may perform the control method of the aircraft in any of the above method embodiments, for example, perform the method steps S11 and S13 in FIG. 1 described above, in FIG. Method step S51, step S52 and step S53, method step S521 and step S522 shown in FIG. 6, acquisition module 71 and signal determination module 73 shown in FIG. 7, acquisition module 81 and motor determination module 82 in FIG. And the function of the signal determination module 83, the detection unit 821 and the motor determination unit 822 in FIG.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Physics & Mathematics (AREA)
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Abstract

一种飞行器的控制方法，包括：获取用于控制飞行器飞行的飞控信息；根据该飞控信息，确定飞行器上至少一个电机的控制信号，以控制上述至少一个电机的转速。该方法能够方便控制飞行器飞行，提高飞行器的可靠性，且能够使飞行器实现体积小型化、降低制造成本，提高抗干扰能力。还公开了一种飞行器的控制装置以及一种飞行器。

Description

飞行器的控制方法、装置及飞行器 技术领域
本申请实施方式涉及飞行器技术领域，特别是涉及一种飞行器的控制方法、装置及飞行器。
背景技术
目前，市场上主要存在有四旋翼飞行器、六旋翼飞行器、八旋翼飞行器等几种类型的多旋翼飞行器。现有技术中，多旋翼飞行器中的飞行控制器和电子调速器采用分离结构，即，多旋翼飞行器包括：飞行控制器、多个电子调速器以及多个电机，每个电子调速器对应控制一个电机。飞行控制器根据当前的飞行姿态、遥控的状态，发送脉冲指令给电子调速器。
发明人在实现本申请实施例的过程中发现：采用分离结构的飞行控制器和电子调速器导致成本高昂、体积较大、抗干扰能力弱、可靠性不高。
申请内容
本申请实施方式主要解决的技术问题是提供一种飞行器的控制方法、装置及飞行器，能够降低飞行器的制造成本，实现体积小型化，提高抗干扰能力和可靠性。
第一方面，本申请实施例提供了一种飞行器的控制方法，所述飞行器装配有至少一个电机，所述方法包括：
获取所述飞行器的飞控信息，所述飞控信息用于控制所述飞行器的飞行；
根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速。
第二方面，本申请实施例提供了一种飞行器的控制装置，包括：
获取模块，用于获取所述飞行器的飞控信息，所述飞控信息用于控制所述飞行器的飞行；
信号确定模块，用于根据所述飞控信息，确定所述飞行器的至少一个电机的控制信号，以控制所述至少一个电机的转速。
第三方面，本申请实施例还提供了一种飞行器，包括设置在所述飞行器上的控制器、至少一个与所述控制器通信连接的电机以及与所述电机相连并由所述电机驱动旋转的螺旋桨，所述控制器包括主体、设置在所述主体上的飞行控制器和用于控制至少一个所述电机的电机控制器；
所述飞行控制器用于获取所述飞行器的飞控信息，并根据所述飞控信息，确定所述至少一个电机的控制信号，所述电机控制器用于根据所述至少一个电机的控制信号，控制所述至少一个电机的转速。
在本申请的一实施例中，所述电机控制器包括设置在所述主体上的至少一个用于控制所述电机的电机控制单元，每一个所述电机控制单元用于控制至少一个所述电机的转速。
在本申请的一实施例中，所述电机控制器包括设置在所述主体上的至少一个用于控制所述电机的电机控制单元，每一个所述电机控制单元用于控制至少两个所述电机的转速。
在本申请的一实施例中，该飞行器还设有LED灯，所述控制器还包括设置在所述主体上的用于控制所述LED灯的LED灯控制单元。
本申请实施例提供的一种飞行器的控制方法、装置及飞行器，可以通过获取用于控制飞行器飞行的飞控信息，并根据飞控信息，确定至少一个电机的控制信号，以控制至少一个电机的转速，从而能够方便控制飞行器飞行、提高飞行器的可靠性。此外，本申请实施例提供的一种飞行器，能够实现体积小型化、降低了飞行器的制造成本，提高抗干扰能力。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的 附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种飞行器的控制方法的流程图；
图2是进行转向的飞行器的示意图；
图3是处于倾斜状态的飞行器的示意图；
图4是被调整为平行状态的飞行器的示意图；
图5是本申请又一实施例提供的一种飞行器的控制方法的流程图；
图6是图5中所示步骤S52的方法流程图；
图7是本申请实施例提供的一种飞行器的控制装置的功能框图；
图8是本申请又一实施例提供的一种飞行器的控制装置的功能框图；
图9是图8中所示电机确定模块82的功能框图；
图10是本申请实施例提供的一种飞行器的控制装置的硬件结构示意图；
图11是本申请实施例提供的一种飞行器的硬件结构示意图；
图12是图11中控制器的结构框图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
如图1所示，本申请实施例提供了一种飞行器的控制方法，所述飞行器装配有至少一个电机，所述方法包括：
步骤S11、获取飞行器的飞控信息，飞控信息用于控制飞行器的飞行。
在本申请实施例中，飞控信息可以是根据飞行器上配置的加速度 计、陀螺仪、磁力计、气压计等传感器中的至少一种生成的控制信息。飞控信息也可以是通过遥控器发送给飞行器的控制信息，该控制信息包括但不限于转向、加速、悬停、上升、下降等指令。
步骤S13、根据飞控信息，确定至少一个电机的控制信号，以控制至少一个电机的转速。
在本申请实施例中，控制信号可以包括方波信号，也可以包括正弦波信号，方波信号或者正弦波信号具有一定的频率，通过控制方波信号或者正弦波信号的频率大小来控制电机的转速的高低。在其他实施例中，控制信号也可以包括脉冲信号，脉冲信号具有一定的频率，通过控制脉冲信号的频率大小来控制电机的转速的高低。
作为一种可选的实施方式，飞控信息可以包括飞行转向的遥控信息，该飞行转向的遥控信息可以是遥控器发送给飞行器且用于控制飞行器进行转向的遥控信息，所述飞行转向包括但不限于向左转向、向右转向等。
其中，步骤S13具体包括根据飞行转向的遥控信息，确定至少一个电机的控制信号，以控制飞行转向所指向一侧的电机的转速低于飞行转向所背向一侧的电机的转速。以四旋翼飞行器为例进行说明，如图2所示，飞行器210为四旋翼飞行器，该四旋翼飞行器配置有四个电机，即第一电机211、第二电机212、第三电机213以及第四电机214，每一电机驱动连接有一螺旋桨，根据遥控器发送给飞行器210的飞行转向220的遥控信息，确定至少一个电机的控制信号，以控制飞行转向220所指向一侧的第一电机211和第二电机212的转速低于飞行转向220所背向一侧的第三电机213和第四电机214的转速，从而实现飞行器210沿飞行转向220进行转向。本申请实施例中，飞行器可以是单旋翼的、双旋翼的、多旋翼的，本申请实施例对此不作限定。
作为一种可选的实施方式，飞控信息可以包括飞行器倾斜的姿态信息，飞行器上配置有陀螺仪，该飞行器倾斜的姿态信息可以是根据陀螺仪检测得到的飞行器处于倾斜状态的姿态信息或者飞行器的倾 斜角度的姿态信息。
其中，步骤S13具体包括根据飞行器倾斜的姿态信息，确定至少一个电机的控制信号，以控制处于倾斜低位一侧的电机的转速高于处于倾斜高位一侧的电机的转速。举例来说，如图3所示，飞行器310上配置有陀螺仪(图3中未示出)，根据陀螺仪检测得到的飞行器倾斜的姿态信息，确定至少一个电机的控制信号，以控制处于倾斜低位一侧的电机311的转速高于处于倾斜高位一侧的电机312的转速，从而实现飞行器310两侧的电机从如图3所示相对水平面320的倾斜状态调整为如图4所示相对水平面320的平行状态。
本申请实施例提供的一种飞行器的控制方法，可以获取用于控制飞行器飞行的飞控信息，并根据飞控信息，确定至少一个电机的控制信号，以控制至少一个电机的转速，从而能够方便控制飞行器的飞行，提高飞行器的可靠性。
如图5所示，本申请又一实施例提供了一种飞行器的控制方法，所述飞行器装配有至少一个电机，所述方法包括：
步骤S51、获取飞行器的飞控信息，飞控信息用于控制飞行器的飞行。
在本申请实施例中，对步骤S51的解释说明请参考对上述步骤S11的解释说明。
步骤S52、根据飞控信息，从至少一个电机中确定需要调速的电机。
步骤S53、根据飞控信息，确定需要调速的电机的控制信号，以控制需要调速的电机的转速。
在本申请实施例中，对于多旋翼的飞行器的飞行控制来说，一般先确定哪一个或多个电机需要调高转速，哪一个或多个电机需要调低转速，以形成转速的高低差异，从而控制飞行器进行转向、从倾斜状态调正为平行状态、加速、减速等飞行动作；或者，先确定所有的电机需要调高转速还是调低转速，从而控制飞行器进行上升、下降等飞行动作。
如图6所示，步骤S52具体包括：
步骤S521、分别检测至少一个电机对应的电流值和电压值。
步骤S522、根据飞控信息以及至少一个电机对应的电流值和电压值，从至少一个电机中确定需要调速的电机。
在本申请实施例中，可以通过检测电机对应的电流值和电压值来估算出电机当前的转速，并进一步根据飞控信息以及至少一个电机当前的转速来确定需要调速的电机，实现对需要调节的电机的转速进行自动调节。例如，飞控信息包括下降的指令，在飞行器着陆的瞬间，尽量保证飞行器相对水平面处于平行状态，以便于飞行器安全着陆，因此，在飞行器下降过程中，可以根据检测得到的电机对应的电流值和电压值，从至少一个电机中确定出需要调速的电机。
如图7所示，本申请实施例提供了一种飞行器的控制装置70，所述装置70可以包括：获取模块71和信号确定模块73。
获取模块71用于获取飞行器的飞控信息，飞控信息用于控制飞行器的飞行。
在本申请实施例中，飞行器可以装配有至少一个电机，且每一个电机可以对应驱动一个螺旋桨。飞控信息可以是根据飞行器上配置的加速度计、陀螺仪、磁力计、气压计等传感器中的至少一种生成的控制信息。飞控信息也可以是通过遥控器发送给飞行器的控制信息，该控制信息包括但不限于转向、加速、悬停、上升、下降等指令。
信号确定模块73用于根据飞控信息，确定飞行器的至少一个电机的控制信号，以控制至少一个电机的转速。
在本申请实施例中，控制信号可以包括方波信号，也可以包括正弦波信号，方波信号或者正弦波信号具有一定的频率，通过控制方波信号或者正弦波信号的频率大小来控制电机的转速的高低。在其他实施例中，控制信号也可以包括脉冲信号，脉冲信号具有一定的频率，通过控制脉冲信号的频率大小来控制电机的转速的高低。
可选的，飞控信息可以包括飞行转向的遥控信息，该飞行转向的 遥控信息可以是遥控器发送给飞行器且用于控制飞行器进行转向的遥控信息，所述飞行转向包括但不限于向左转向、向右转向等。
相应地，信号确定模块73具体用于根据飞行转向的遥控信息，确定至少一个电机的控制信号，以控制飞行转向所指向一侧的电机的转速低于飞行转向所背向一侧的电机的转速。举例来说，如图2所示，飞行器210为四旋翼飞行器，该四旋翼飞行器配置有四个电机，即第一电机211、第二电机212、第三电机213以及第四电机214，每一电机驱动连接有一螺旋桨，根据遥控器发送给飞行器210的飞行转向220的遥控信息，确定至少一个电机的控制信号，以控制飞行转向220所指向一侧的第一电机211和第二电机212的转速低于飞行转向220所背向一侧的第三电机213和第四电机214的转速，从而实现飞行器210沿飞行转向220进行转向。
可选的，飞控信息可以包括飞行器倾斜的姿态信息，飞行器上配置有陀螺仪，该飞行器倾斜的姿态信息可以是根据陀螺仪检测得到的飞行器处于倾斜状态的姿态信息或者飞行器的倾斜角度的姿态信息。
相应地，信号确定模块73具体用于根据飞行器倾斜的姿态信息，确定至少一个电机的控制信号，以控制处于倾斜低位一侧的电机的转速高于处于倾斜高位一侧的电机的转速。举例来说，如图3所示，飞行器310上配置有陀螺仪(图3中未示出)，根据陀螺仪检测得到的飞行器倾斜的姿态信息，确定至少一个电机的控制信号，以控制处于倾斜低位一侧的电机311的转速高于处于倾斜高位一侧的电机312的转速，从而实现飞行器310两侧的电机从如图3所示相对水平面320的倾斜状态调整为如图4所示相对水平面320的平行状态。
本申请实施例提供的一种飞行器的控制装置，通过获取模块获取用于控制飞行器飞行的飞控信息，进而信号确定模块根据飞控信息，确定至少一个电机的控制信号，以控制至少一个电机的转速，从而能够方便控制飞行器的飞行，提高飞行器的可靠性。
如图8所示，本申请又一实施例提供了一种飞行器的控制装置80，所述装置80可以包括：获取模块81、电机确定模块82以及信 号确定模块83。
获取模块81用于获取飞行器的飞控信息，飞控信息用于控制飞行器的飞行。
在本申请实施例中，对获取模块81的解释说明请参考对上述获取模块71的解释说明。
电机确定模块82用于根据所述飞控信息，从所述至少一个电机中确定需要调速的电机。
信号确定模块83用于根据所述飞控信息，确定所述需要调速的电机的控制信号，以控制所述需要调速的电机的转速。
在本申请实施例中，对于多旋翼的飞行器的飞行控制来说，一般先确定哪一个或多个电机需要调高转速，哪一个或多个电机需要调低转速，以形成转速的高低差异，从而控制飞行器进行转向、从倾斜状态调正为平行状态、加速、减速等飞行动作；或者，先确定所有的电机需要调高转速还是调低转速，从而控制飞行器进行上升、下降等飞行动作。
如图9所示，电机确定模块82可以包括：检测单元821和电机确定单元822。
检测单元821用于分别检测至少一个电机对应的电流值和电压值；
电机确定单元822用于根据飞控信息以及至少一个电机对应的电流值和电压值，从至少一个电机中确定需要调速的电机。
在本申请实施例中，可以通过检测电机对应的电流值和电压值来估算出电机当前的转速，并进一步根据飞控信息以及至少一个电机当前的转速来确定需要调速的电机，实现对需要调节的电机的转速进行自动调节。例如，飞控信息包括下降的指令，在飞行器着陆的瞬间，尽量保证飞行器相对水平面处于平行状态，以便于飞行器安全着陆，因此，在飞行器下降过程中，可以根据检测得到的电机对应的电流值和电压值，从至少一个电机中确定出需要调速的电机。
如图10所示，本申请实施例提供了一种飞行器的控制装置90的 硬件结构示意图，如图10所示，该装置90可以包括：
一个或多个处理器91、存储器92以及至少一个电机93，图10中以一个处理器91为例。
处理器91、存储器92以及电机93可以通过总线或者其他方式连接，图10中以通过总线连接为例。
存储器92作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的用于执行飞行器的控制方法对应的程序指令/模块(例如，附图7所示的获取模块71和信号确定模块73，附图8中的获取模块81、电机确定模块82以及信号确定模块83，附图9中的检测单元821和电机确定单元822)。处理器91通过运行存储在存储器92中的非易失性软件程序、指令以及模块，从而执行飞行器的控制装置的各种功能应用以及数据处理，即实现上述方法实施例中的飞行器的控制方法。
存储器92可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据飞行器的控制装置的使用所创建的数据等。此外，存储器92可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器92可选包括相对于处理器91远程设置的存储器，这些远程存储器可以通过网络连接至飞行器的控制装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器92中，当被所述一个或者多个处理器91执行时，执行上述任意方法实施例中的飞行器的控制方法，例如，执行以上描述的图1中的方法步骤S11和步骤S13，图5中的方法步骤S51、步骤S52和步骤S53，图6所示的方法步骤S521和步骤S522，附图7所示的获取模块71和信号确定模块73，附图8中的获取模块81、电机确定模块82以及信号确定模块83，附 图9中的检测单元821和电机确定单元822的功能。
上述装置可执行本申请实施例所提供的飞行器的控制方法，具备执行飞行器的控制方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的飞行器的控制方法。
如图11所示，本申请实施例提供了一种飞行器100，飞行器100可以包括：控制器110、至少一个与控制器110通信连接的电机120以及与电机120相连并由电机驱动旋转的螺旋桨(未示出)，图11中以四个电机120为例，控制器110分别与四个电机120通信连接。
如图12所示，在本申请的一实施例中，控制器110包括主体111、设置在主体111上的飞行控制器112以及用于控制四个电机120的电机控制器113。其中，飞行控制器112用于获取飞行器100的飞控信息，并根据飞控信息，确定至少一个电机120的控制信号。电机控制器113用于根据飞行控制器112获取的控制信号控制至少一个电机120的转速。
在本申请的一实施例中，电机控制器113包括两个电机控制单元114，每个电机控制单元114分别用于根据控制信号控制两个电机120的转速。在其他可能的实施例中，电机控制器113也可以只包括一个电机控制单元，该电机控制单元用于同时控制4个电机120的转速。或者，电机控制器113还可以包括4个电机控制单元，4个电机控制单元分别用于控制4个电机的转速。
在本申请的一实施例中，该飞行器还设有LED灯(未示出)，用于指示飞行器的飞行状态，控制器110还可以包括设置在主体111上的用于控制LED灯的LED灯控制单元，该LED灯控制单元的数量可以与LED灯的数量相等，即一个LED灯控制单元控制一个LED灯，或者由一个LED灯控制单元控制至少两个LED灯。
在本申请实施例中，控制器110同时集成有控制飞行器飞行的飞行控制器112以及控制电机转速的电机控制器113，使得飞行控制 器112与电机控制器113集成在一个芯片上，从而克服了传统上两者的分离布置结构，能够较好的节约成本，减小飞行器的体积。
对控制器110的功能实现的解释说明请参考对附图1中步骤S11、步骤S13，附图5中步骤S51、步骤S52、步骤S53，以及附图6中步骤S521、步骤S522的解释说明，在此不再赘述。
本申请实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图10中的一个处理器91，可使得上述一个或多个处理器可执行上述任意方法实施例中的飞行器的控制方法，例如，执行以上描述的图1中的方法步骤S11和步骤S13，图5中的方法步骤S51、步骤S52和步骤S53，图6所示的方法步骤S521和步骤S522，附图7所示的获取模块71和信号确定模块73，附图8中的获取模块81、电机确定模块82以及信号确定模块83，附图9中的检测单元821和电机确定单元822的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技 术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (16)

  1. 一种飞行器的控制方法，其特征在于，所述飞行器装配有至少一个电机，所述方法包括：
    获取所述飞行器的飞控信息，所述飞控信息用于控制所述飞行器的飞行；
    根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速。
  2. 根据权利要求1所述的方法，其特征在于，根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速之前，还包括：
    根据所述飞控信息，从所述至少一个电机中确定需要调速的电机；
    其中，根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速，包括：
    根据所述飞控信息，确定所述需要调速的电机的控制信号，以控制所述需要调速的电机的转速。
  3. 根据权利要求2所述的方法，其特征在于，根据所述飞控信息，从所述至少一个电机中确定需要调速的电机，包括：
    分别检测所述至少一个电机对应的电流值和电压值；
    根据所述飞控信息以及所述至少一个电机对应的电流值和电压值，从所述至少一个电机中确定需要调速的电机。
  4. 根据权利要求1-3中任一所述的方法，其特征在于，所述飞控信息包括飞行转向的遥控信息；根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速，包括：
    根据所述飞行转向的遥控信息，确定所述至少一个电机的控制信号，以控制所述飞行转向所指向一侧的电机的转速低于所述飞行转向所背向一侧的电机的转速。
  5. 根据权利要求1-3中任一所述的方法，其特征在于，所述飞控 信息包括飞行器倾斜的姿态信息；根据所述飞控信息，确定所述至少一个电机的控制信号，以控制所述至少一个电机的转速，包括：
    根据所述飞行器倾斜的姿态信息，确定所述至少一个电机的控制信号，以控制处于倾斜低位一侧的电机的转速高于处于倾斜高位一侧的电机的转速。
  6. 根据权利要求1-5中任一所述的方法，其特征在于，所述控制信号包括方波信号或正弦波信号。
  7. 一种飞行器的控制装置，其特征在于，所述装置包括：
    获取模块，用于获取所述飞行器的飞控信息，所述飞控信息用于控制所述飞行器的飞行；
    信号确定模块，用于根据所述飞控信息，确定所述飞行器的至少一个电机的控制信号，以控制所述至少一个电机的转速。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    电机确定模块，用于根据所述飞控信息，从所述至少一个电机中确定需要调速的电机；
    其中，所述信号确定模块用于根据所述飞控信息，确定所述需要调速的电机的控制信号，以控制所述需要调速的电机的转速。
  9. 根据权利要求8所述的装置，其特征在于，所述电机确定模块包括：
    检测单元，用于分别检测所述至少一个电机对应的电流值和电压值；
    电机确定单元，用于根据所述飞控信息以及所述至少一个电机对应的电流值和电压值，从所述至少一个电机中确定需要调速的电机。
  10. 根据权利要求7-9中任一所述的装置，其特征在于，所述飞控信息包括飞行转向的遥控信息；
    所述信号确定模块用于根据所述飞行转向的遥控信息，确定所述至少一个电机的控制信号，以控制所述飞行转向所指向一侧的电机的转速低于所述飞行转向所背向一侧的电机的转速。
  11. 根据权利要求7-9中任一所述的装置，其特征在于，所述飞控 信息包括飞行器倾斜的姿态信息；
    所述信号确定模块用于根据所述飞行器倾斜的姿态信息，确定所述至少一个电机的控制信号，以控制处于倾斜低位一侧的电机的转速高于处于倾斜高位一侧的电机的转速。
  12. 根据权利要求7-11中任一所述的装置，其特征在于，所述控制信号包括方波信号或正弦波信号。
  13. 一种飞行器，包括设置在所述飞行器上的控制器、至少一个与所述控制器通信连接的电机以及与所述电机相连并由所述电机驱动旋转的螺旋桨，其特征在于，所述控制器包括主体、设置在所述主体上的飞行控制器和用于控制至少一个所述电机的电机控制器；
    所述飞行控制器用于获取所述飞行器的飞控信息，并根据所述飞控信息，确定所述至少一个电机的控制信号，所述电机控制器用于根据所述至少一个电机的控制信号，控制所述至少一个电机的转速。
  14. 根据权利要求13所述的飞行器，其特征在于，所述电机控制器包括设置在所述主体上的至少一个用于控制所述电机的电机控制单元，每一个所述电机控制单元用于控制至少一个所述电机的转速。
  15. 根据权利要求13所述的飞行器，其特征在于，所述电机控制器包括设置在所述主体上的至少一个用于控制所述电机的电机控制单元，每一个所述电机控制单元用于控制至少两个所述电机的转速。
  16. 根据权利要求13-15任一项所述的飞行器，其特征在于，该飞行器还设有LED灯，所述控制器还包括设置在所述主体上的用于控制所述LED灯的LED灯控制单元。
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