WO2020237566A1

WO2020237566A1 - Unmanned aerial vehicle, control terminal thereof and attitude adjusting method therefor, and storage medium

Info

Publication number: WO2020237566A1
Application number: PCT/CN2019/089252
Authority: WO
Inventors: 丘力; 黄永结
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-12-03
Also published as: CN111566011A; CN111566011B

Abstract

Provided are an unmanned aerial vehicle, a control terminal (2) of the unmanned aerial vehicle, an attitude adjusting method for the unmanned aerial vehicle, an attitude adjusting method for the control terminal (2) of the unmanned aerial vehicle, and a computer-readable storage medium; the unmanned aerial vehicle comprises a center body (12), a plurality of arms (14), a first sensor and a controller (204). The plurality of arms (14) are rotatably connected to the center body (12), and the angles between the arms (14) and the roll axis of the unmanned aerial vehicle may be changed. The first sensor is used to acquire current attitude information of the unmanned aerial vehicle (S102); the controller (204) is communicably connected to the first sensor, wherein the first sensor sends the acquired current attitude information to the controller (204); according to the current attitude information, the controller (204) determines whether the unmanned aerial vehicle is in a preset stable attitude (S104); and when the unmanned aerial vehicle is not in a preset stable attitude, a prompt message is sent to adjust the angle (S106). The present unmanned aerial vehicle tends to be more stable, the cruising capabilities of the unmanned aerial vehicle are improved, and the unmanned aerial vehicle is adapted for more loads.

Description

Unmanned aerial vehicle and its control terminal, attitude adjustment method and storage medium

Technical field

This application relates to unmanned remote control equipment, specifically, to an unmanned aerial vehicle, an unmanned aerial vehicle control terminal, an unmanned aerial vehicle attitude adjustment method, and an unmanned aerial vehicle control terminal attitude adjustment method And a computer-readable storage medium.

Background technique

The multiple power motors of the unmanned aerial vehicle each generate driving force, and the combined force of all the driving forces provides power for the flight of the unmanned aerial vehicle. At present, the development and application of multi-rotor unmanned aerial vehicles with different loads are gradually increasing. When unmanned aerial vehicles carry different loads, the center of gravity of unmanned aerial vehicles will shift to varying degrees, making the center of gravity and power of unmanned aerial vehicles The point centers do not coincide in the vertical direction, or even have a large deviation, which affects the endurance of the UAV.

Summary of the invention

This application aims to solve at least one of the technical problems existing in the prior art or related technologies.

For this reason, the first aspect of this application proposes an unmanned aerial vehicle.

The second aspect of this application proposes a control terminal for an unmanned aerial vehicle.

The third aspect of this application proposes an attitude adjustment method of an unmanned aerial vehicle.

The fourth aspect of the application proposes a method for adjusting the attitude of the control terminal of the unmanned aerial vehicle.

The fifth aspect of this application provides a computer-readable storage medium.

In view of this, according to the first aspect of the present application, an unmanned aerial vehicle is provided, which includes a central body, a plurality of arms, a first sensor, and a controller. The multiple arms are rotatably connected to the central body, and the aircraft The angle between the arm and the roll axis of the unmanned aerial vehicle can be changed; the first sensor is used to obtain the current attitude information of the unmanned aerial vehicle; the controller is communicatively connected with the first sensor, and the first sensor will acquire the current attitude The information is sent to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information; when the unmanned aerial vehicle is not in the preset stable attitude, it sends a prompt message to adjust the included angle.

In the unmanned aerial vehicle provided by the embodiment of the present application, each arm is rotatably connected with the central body, and the arm can rotate forward or backward relative to the central body. For the arms connected at different positions of the central body, When turning forward or backward relative to the central body, it also turns left or right. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the unmanned aerial vehicle is relatively large, the change in the center of gravity of the unmanned aerial vehicle by rotating the arm is relatively small. At the same time, the multiple power motors of the unmanned aerial vehicle are respectively arranged on the multiple arms, so that the action point of each power motor also changes according to the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, by setting the first sensor, the current attitude information of the UAV can be obtained, such as steady, forward, backward, left, and right. The controller then determines whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information. If it is not stable, it can send out a prompt message to adjust the included angle, so as to prompt to control the corresponding rotation of the arm and change the relationship between the arm and the roll axis. Therefore, the gravity center and the power point center of the UAV can be adjusted at the same time, so that the gravity center of the UAV and the power point center of the power motor are on the same vertical line as much as possible. The UAV tends to be stable, and each power motor outputs power. Achieving balance will help improve the endurance of unmanned aerial vehicles. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is suitable, the unmanned aerial vehicle provided in the embodiment of the present application can adapt to more loads, which expands the application range.

In addition, the unmanned aerial vehicle in the above technical solution provided by this application may also have the following additional technical features:

In the above technical solution, preferably, the controller sends the adjustment information for adjusting the included angle when the UAV is not in a preset stable attitude.

In this technical solution, the controller can also send adjustment information when the UAV is not in a preset stable attitude, so as to directly control the rotation of the arm relative to the central body and change the angle between the arm and the roll axis.

In any of the above technical solutions, preferably, the adjustment information is associated with the current posture information.

In this technical solution, it is specifically limited that the adjustment information is associated with the current attitude information, so that the controller can obtain the adjustment information needed to restore the balanced attitude according to the current attitude information, so as to be targeted, shorten the adjustment time, and make the UAV quickly recover The balance attitude can further improve the endurance of the unmanned aerial vehicle, and at the same time enable the unmanned aerial vehicle to adapt to more loads.

In any of the above technical solutions, preferably, the adjustment information includes the rotation direction and the desired angle of each arm.

In this technical solution, the adjustment information is specifically defined to include the rotation direction and desired angle of each arm, where the desired angle can represent the angle between each arm and the roll axis that is expected to be achieved by this adjustment. The angle does not have directivity and is less than or equal to 90 degrees. Therefore, when the desired angle is less than 90 degrees, the corresponding arm positions include two positions, namely the position at the front of the center body and the position at the back of the center body. When adding the direction of rotation to the adjustment information, for example, it can be represented by turning forward and turning backward to clarify the accurate target position of the arm and ensure the accuracy of control. In addition to this, the desired angle can also represent the angle that each arm has turned, which can be matched with the direction of rotation to achieve the same control effect.

In any of the above technical solutions, preferably, the controller controls the arm to rotate to a desired angle according to the rotation direction according to the adjustment information, so as to adjust the current attitude of the unmanned aerial vehicle.

In this technical solution, it is specifically defined how the controller adjusts the current attitude of the UAV according to the adjustment information. The adjustment information includes the rotation direction and the desired angle of each arm. When the desired angle represents each aircraft that the adjustment is expected to achieve. When the angle between the arm and the roll axis is the angle, the controller first controls the arms to rotate according to the direction of rotation, while continuing to detect the angle between the arm and the roll axis, when the angle reaches the desired angle, it is completed This adjustment. It is understandable that from the perspective of an unmanned aerial vehicle, it can be adjusted to a balanced attitude at one time based on one piece of adjustment information, or it can be adjusted multiple times based on multiple pieces of adjustment information. Furthermore, coarse adjustment can be performed first when multiple adjustments are made. Then make fine adjustments according to the results of the coarse adjustments. The specifics are determined according to the adjustment information. The controller only needs to complete the adjustment according to the current adjustment information.

In any of the above technical solutions, preferably, the adjustment information further includes the preset telescopic length of each arm.

In this technical solution, the arm can also be telescopic to change its length, adding an adjustment dimension. Adding the preset telescopic length to the entire information, by simultaneously changing the length and included angle of the arm, will help strengthen the ability to adjust the UAV's attitude and achieve a better adjustment effect.

In any of the above technical solutions, preferably, the adjustment information is calculated by the control terminal of the UAV.

In this technical solution, it is specifically limited that the adjustment information is calculated by the control terminal of the UAV, that is, the UAV sends the current attitude information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information , That is, the data processing is performed by the control terminal, which can reduce the computing load of the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle can be equipped with a lighter controller, which helps to reduce the weight of the unmanned aerial vehicle and improve the endurance. In addition, the adjustment information is directly calculated, which can simplify manual operation, avoid the problem of low accuracy during manual operation, and improve the efficiency of posture adjustment.

In any of the above technical solutions, preferably, the adjustment information is calculated by the controller.

In this technical solution, if the adjustment information is directly calculated by the controller of the UAV, there is no need to send data back and forth between the UAV and the control terminal, which reduces the amount of information exchange.

It is understandable that no matter whether the calculation is performed by the control terminal or the UAV, an accurate adjustment information can be directly calculated to realize the adjustment in place at one time; it can also be roughly calculated to quickly adjust the UAV to a relative position. The stable attitude makes the output of each power motor relatively balanced, and then combines the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, the actuarial calculation is performed to adjust the unmanned aerial vehicle to the preset stable attitude. Adjusting and then fine-tuning can reduce the calculation burden and improve the adjustment efficiency.

In any of the above technical solutions, preferably, the unmanned aerial vehicle further includes a communication device communicatively connected with the controller, and the communication device sends current attitude information to the control terminal of the unmanned aerial vehicle; and receives adjustment information fed back by the control terminal.

In this technical solution, it is specifically limited that the adjustment information is fed back from the control terminal to the UAV. This not only includes the aforementioned solution of calculating the adjustment information by the control terminal, but also includes the control terminal acquiring the adjustment information manually input by the user. At this time, the control terminal can output the current posture information by broadcasting voice or displaying text when receiving the current posture information. And prompt information to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle. There is no need to perform the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal can be equipped with software and hardware devices with lower computing capabilities to reduce the cost and selling price of the product , To meet the needs of low-consumption users. It is conceivable that the control terminal may also have the rough calculation capability to prompt the user of a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Correspondingly, the unmanned aerial vehicle further includes a communication device to send current attitude information to the control terminal and receive adjustment information fed back by the control terminal.

In any of the above technical solutions, preferably, the controller determines whether the unmanned aerial vehicle is in a preset stable attitude during take-off and/or flight of the unmanned aerial vehicle.

In this technical solution, the time to determine whether the UAV is in the preset equilibrium attitude is specifically defined as the take-off and/or flight process. Every time the load carried by the UAV changes, the center of gravity and The deviation of the center of the power point, by adjusting its attitude during takeoff, can make the adjustment more timely and improve the endurance effect. Afterwards, during the flight, affected by the airflow, the center of gravity and power point of the UAV may also change. At this time, the attitude of the UAV can be adjusted to keep the power motor in balance during the flight, which is helpful. To further improve battery life.

In any of the above technical solutions, preferably, the UAV further includes an adjustment mechanism for adjusting the rotation angle of the arm, and the controller controls the adjustment mechanism to adjust the rotation angle of the arm according to the adjustment information.

In this technical solution, the unmanned aerial vehicle is further equipped with an adjustment mechanism that can adjust the rotation angle of the arm, which can be specifically arranged at the root of the arm. Accordingly, the controller controls the action of the adjustment mechanism according to the adjustment information to realize the adjustment of the arm Adjustment of rotation angle.

In any of the above technical solutions, preferably, the adjustment mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.

In this technical solution, it is specifically defined that the adjustment mechanism includes an electric device for providing adjustment power and a connecting mechanism for transmitting power. The connecting mechanism is connected to the arm. The electric device first drives the connecting mechanism to move, and then drives the arm to rotate, realizing the alignment of the machine. Adjustment of the rotation angle of the arm. Optionally, the arm can be locked at any position to maintain the current posture. At this time, a locking mechanism can be configured, or the connecting mechanism can no longer move when the electric device stops outputting power to achieve locking.

In any of the above technical solutions, preferably, the connecting mechanism includes at least one of the following: a screw mechanism, a connecting rod mechanism, a worm gear mechanism, and a gear mechanism.

In this technical solution, it is specifically limited that the connecting mechanism can be at least one of the above four mechanisms, that is, it can be used alone or in combination. Among them, the screw mechanism and the worm gear mechanism can realize the conversion between rotation and linear motion, the linkage mechanism can realize the point-to-point transmission, and the gear mechanism can realize the transmission between the rotating parts.

In any of the above technical solutions, preferably, the electric device includes at least one of the following: a motor and a telescopic cylinder.

In this technical solution, it is specifically limited that the electric device can be a motor or a telescopic cylinder, which realizes rotary drive and linear drive respectively, and the electric device cooperates with the connecting mechanism to realize the rotation of the arm.

In any of the above technical solutions, preferably, the controller obtains the angle between the arm and the roll axis of the UAV in real time.

In this technical solution, the controller can also obtain the angle between the machine arm and the roll axis in real time, which helps to confirm whether the machine arm is rotated to the desired position, so that it can intervene in time when the rotation is not in place or excessive rotation to ensure adjustment effect.

In any of the above technical solutions, preferably, the controller prompts the information of the currently detected included angle in real time.

In this technical solution, after acquiring the included angle between the arm and the roll axis in real time, a corresponding information prompting the included angle is sent out, and the information can be sent to the control terminal so that the control terminal or the user can understand the adjustment progress in time. When the control terminal is used to adjust the attitude of the unmanned aerial vehicle, it can ensure the synchronization of information and ensure the adjustment effect.

In any of the above technical solutions, preferably, when the machine arm rotates to a desired angle, the controller sends out corresponding prompt information.

In this technical solution, by issuing a prompt message that the arm rotates to a desired angle, it can be sent to the control terminal, so that the control terminal or the user can clearly understand that the adjustment has been completed, and there is no need to continue adjustments, ensuring information synchronization and ensuring Adjust the effect. Optionally, this solution can be combined with a solution that the controller prompts the currently detected angle information in real time, so that the control terminal or user can obtain sufficient information; this solution can also be combined with the controller that prompts the currently detected angle information in real time. Choose one plan to use to reduce the amount of information transfer.

In any of the above technical solutions, preferably, the included angle is detected by an angle sensor.

In this technical solution, the hardware device for detecting the included angle is specifically defined as an angle sensor, which can accurately obtain the included angle between the arm and the roll axis and ensure the smooth progress of the posture adjustment process.

In any of the above technical solutions, preferably, the angle sensor includes at least one of the following: a Hall sensor and a potentiometer.

In any of the above technical solutions, preferably, the first sensor includes at least one of the following: IMU (Inertial Measurement Unit), gyroscope, and vision sensor.

According to a second aspect of the present application, there is provided a control terminal for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body, and a plurality of arms rotatably connected to the central body, and the arms are connected to the horizontal The included angle between the rollers can be changed. The control terminal includes a communication device and a controller. The communication device is used to receive the current attitude information of the center body and the prompt information for adjusting the included angle sent by the UAV; the controller communicates with the communication device. , The controller obtains the adjustment information of the included angle and sends it to the communication device, and the communication device feeds back the adjustment information to the UAV for the UAV to adjust the current attitude.

The control terminal of the unmanned aerial vehicle provided by the embodiment of the present application includes a communication device and a controller. When the communication device receives the current attitude information sent by the unmanned aerial vehicle and the prompt information for adjusting the included angle, the controller obtains the adjustment information of the included angle , And feedback to the UAV via the communication device, allowing the UAV to adjust its current attitude according to the adjustment information, and finally make the center of gravity of the UAV and the center of the power point of the power motor lie on the same vertical line as much as possible. In order to stabilize, the output of each power motor is balanced, which helps to improve the endurance of the UAV. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is appropriate, the unmanned aerial vehicle controlled by the control terminal provided in the embodiment of the present application can adapt to more loads, expanding the application range.

Specifically, each arm of the UAV controlled by the control terminal is rotatably connected with the central body, and the arm can be rotated forward or backward relative to the central body. For the arms connected to different positions of the central body , It will also turn left or right when turning forward or backward relative to the center body. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the UAV is relatively large, the change in the center of gravity of the UAV by turning the arm is relatively small. At the same time, the multiple power motors of the unmanned aerial vehicle are respectively arranged on the multiple arms, so that the action point of each power motor also changes according to the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable attitude by detecting the current attitude information, such as steady, forward, backward, left, and right. If it is not stable, it can send out an adjustment angle To prompt the control terminal to control the rotation of the UAV’s arm, change the angle between the arm and the roll axis, and adjust the UAV’s center of gravity and power point at the same time to make the UAV reach a stable attitude .

In addition, the control terminal of the unmanned aerial vehicle in the aforementioned technical solution provided by this application may also have the following additional technical features:

In the above technical solution, preferably, the adjustment information is associated with the current posture information.

In this technical solution, the arm can also be telescopic to change its length, adding an adjustment dimension. Adding a preset telescopic length to the entire information, by simultaneously changing the length and included angle of the arm, helps strengthen the ability to adjust the UAV's attitude and achieve a better adjustment effect.

In any of the above technical solutions, preferably, the controller calculates the adjustment information according to the current posture information.

In this technical solution, the adjustment information is specifically limited to be calculated by the controller, which can realize automatic adjustment, which not only simplifies manual operation, but also avoids the problem of low accuracy during manual operation, and can improve the efficiency of posture adjustment. In addition, the calculation performed by the control terminal instead of the unmanned aerial vehicle can reduce the computational load of the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps to reduce the weight of the unmanned aerial vehicle and improve Endurance.

It is understandable that when the controller calculates, it can directly calculate an accurate adjustment information to realize the adjustment in place; it can also perform a rough calculation first to quickly adjust the UAV to a relatively stable attitude, so that each power motor The output is relatively balanced, and then combined with the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, perform actuarial calculations to adjust the unmanned aerial vehicle to the preset stable attitude. The coarse adjustment and then the fine adjustment can be realized to reduce the calculation. Burden and improve the efficiency of adjustment.

In any of the above technical solutions, preferably, the control terminal further includes an input device communicatively connected with the controller, and the input device receives the adjustment information.

In this technical solution, the control terminal further includes an input device to receive the adjustment information manually input by the user. At this time, the control terminal can output the current posture information and prompt information by broadcasting voice or displaying text when receiving the current posture information. In order to prompt the user to manually adjust the current attitude of the UAV, there is no need to perform the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal can be equipped with software and hardware equipment with lower computing power, reducing the cost and selling price of the product, and meeting low consumption User needs. It is conceivable that the control terminal may also have the rough calculation capability to prompt the user of a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the input device includes at least one of the following: a joystick, a keyboard, and a touch screen.

In any of the above technical solutions, preferably, the communication device receives the angle information sent by the UAV in real time.

In this technical solution, by receiving the information of the angle between the arm and the roll axis sent by the unmanned aerial vehicle in real time, it is helpful to confirm whether the arm is rotated to the desired position, so that it can be timely when the rotation is not in place or excessive. Intervention to ensure the adjustment effect.

In any of the above technical solutions, preferably, the communication device receives the prompt information sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.

In this technical solution, through the prompt message that the receiver arm rotates to the desired angle, it can be clearly understood that the adjustment has been completed, and there is no need to continue adjustment, which ensures information synchronization and ensures the adjustment effect. Optionally, this scheme can be combined with the scheme of receiving angle information sent by unmanned aerial vehicles in real time to obtain sufficient information; this scheme can also be used alternatively with the scheme of receiving angle information sent by unmanned aerial vehicles in real time To reduce the amount of information transfer.

According to the third aspect of the present application, a method for adjusting the attitude of an unmanned aerial vehicle is provided, which is suitable for an unmanned aerial vehicle. The unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body. The angle between the arm and the roll axis of the unmanned aerial vehicle can be changed. The attitude adjustment method of the unmanned aerial vehicle includes: obtaining the current attitude information of the unmanned aerial vehicle; according to the current attitude information, determine whether the unmanned aerial vehicle is in a preset stable state Attitude: When the unmanned aerial vehicle is not in a preset stable attitude, a prompt message to adjust the included angle is issued.

The method for adjusting the attitude of the unmanned aerial vehicle provided by the embodiments of the present application is applicable to the unmanned aerial vehicle. Each arm of the unmanned aerial vehicle is rotatably connected with the central body, and the arm can be rotated forward or backward relative to the central body , For the arms connected at different positions of the central body, when turning forward or backward relative to the central body, they will also turn left or right. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the unmanned aerial vehicle is relatively large, the change in the center of gravity of the unmanned aerial vehicle by rotating the arm is relatively small. At the same time, the multiple power motors of the unmanned aerial vehicle are respectively arranged on the multiple arms, so that the action point of each power motor also changes according to the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, the attitude adjustment method can determine whether the UAV is in a preset stable attitude by obtaining the current attitude information of the UAV, such as steady, forward, backward, left, and right. A prompt message for adjusting the included angle is issued so as to prompt to control the corresponding rotation of the aircraft arm and change the included angle between the aircraft arm and the roll axis, thereby simultaneously adjusting the UAV's center of gravity and power point center, and finally make the UAV's center of gravity and The power point centers of the power motors are on the same vertical line as much as possible, the UAV tends to be stable, and the output of each power motor is balanced, which helps to improve the endurance of the UAV. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is suitable, the unmanned aerial vehicle provided in the embodiment of the present application can adapt to more loads, which expands the application range.

In addition, the method for adjusting the attitude of the unmanned aerial vehicle in the above technical solution provided by this application may also have the following additional technical features:

In the above technical solution, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: when the unmanned aerial vehicle is not in a preset stable attitude, sending out adjustment information for adjusting the included angle.

In this technical solution, adjustment information can also be sent when the unmanned aerial vehicle is not in a preset stable attitude to directly control the rotation of the arm relative to the central body and change the angle between the arm and the roll axis.

In this technical solution, it is specifically limited that the adjustment information is associated with the current attitude information, so the adjustment information needed to restore the balance attitude can be obtained according to the current attitude information, so that it can be targeted, shorten the adjustment time, and quickly restore the unmanned aerial vehicle to balance. The attitude can further improve the endurance of the unmanned aerial vehicle, and at the same time enable the unmanned aerial vehicle to adapt to more loads.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: according to the adjustment information, controlling the arm to rotate to a desired angle according to the rotation direction to adjust the current attitude of the unmanned aerial vehicle.

In this technical solution, how to adjust the current attitude of the UAV according to the adjustment information is specifically defined. The adjustment information includes the rotation direction and the desired angle of each arm. When the desired angle represents the expected adjustment of each arm and the For the angle of the roll axis, first control each arm to rotate in the direction of rotation, while continuing to detect the angle between the machine arm and the roll axis, when the angle reaches the desired angle, the adjustment is completed. It is understandable that from the perspective of an unmanned aerial vehicle, it can be adjusted to a balanced attitude at one time based on one piece of adjustment information, or it can be adjusted multiple times based on multiple pieces of adjustment information. Furthermore, coarse adjustment can be performed first when multiple adjustments are made. Then make fine adjustments according to the results of the coarse adjustments, and the specifics are determined according to the adjustment information.

In this technical solution, it is specifically limited that the adjustment information is calculated by the control terminal of the UAV, that is, the UAV sends the current attitude information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information , That is, the data processing is performed by the control terminal, which can reduce the computing load of the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps to reduce the weight of the unmanned aerial vehicle and improve the endurance. In addition, the adjustment information is directly calculated, which can simplify manual operation, avoid the problem of low accuracy during manual operation, and improve the efficiency of posture adjustment.

In any of the above technical solutions, preferably, the adjustment information is calculated by the onboard controller of the UAV.

In this technical solution, there is a limitation that the adjustment information is directly calculated by the UAV, specifically calculated by its onboard controller, so there is no need to send data back and forth between the UAV and the control terminal, reducing the amount of information exchange.

It is understandable that no matter whether the calculation is performed by the control terminal or the UAV, an accurate adjustment information can be directly calculated to realize the adjustment in place at one time; it can also be roughly calculated to quickly adjust the UAV to a relative position. The stable attitude makes the output of each power motor relatively balanced, and then combines the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, the actuarial calculation is carried out to adjust the unmanned aerial vehicle to the preset stable attitude. Adjusting and then fine-tuning can reduce the calculation burden and improve the adjustment efficiency.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: sending current attitude information to the control terminal of the unmanned aerial vehicle; and receiving adjustment information fed back by the control terminal.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: determining whether the unmanned aerial vehicle is in a preset stable attitude during the take-off and/or flight process of the unmanned aerial vehicle.

In any of the above technical solutions, preferably, the unmanned aerial vehicle further includes an adjustment mechanism for adjusting the rotation angle of the arm, and the attitude adjustment method of the unmanned aerial vehicle further includes: controlling the adjustment mechanism to adjust the arm according to the adjustment information The angle of rotation.

In this technical solution, the UAV is further equipped with an adjustment mechanism that can adjust the rotation angle of the arm, which can be specifically set at the root of the arm. Accordingly, the specific solution for controlling the rotation of the arm is to control the action of the adjustment mechanism according to the adjustment information. , To achieve the adjustment of the rotation angle of the arm.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: real-time detection of the angle between the arm and the roll axis of the unmanned aerial vehicle.

In this technical solution, the posture adjustment method also includes real-time acquisition of the angle between the machine arm and the roll axis, which helps to confirm whether the machine arm is rotated to the desired position, so as to intervene in time when the rotation is not in place or the rotation is excessive. Adjust the effect.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: prompting information of the currently detected included angle in real time.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the unmanned aerial vehicle further includes: when the arm rotates to a desired angle, sending out a corresponding prompt message.

In this technical solution, the hardware device for detecting the included angle is specifically defined as an angle sensor, which can accurately obtain the included angle between the machine arm and the roll axis to ensure the smooth progress of the posture adjustment process.

In any of the above technical solutions, preferably, the current attitude information is detected by a sensor carried by the unmanned aerial vehicle.

In this technical solution, the hardware device that detects the current attitude information is specifically limited to the sensor carried by the unmanned aerial vehicle, which can accurately adjust the current attitude information of the unmanned aerial vehicle to help improve the unmanned aerial vehicle's current attitude. The endurance of the aircraft expands the range of its adapted load.

In any of the above technical solutions, preferably, the sensor includes at least one of the following: IMU, gyroscope, and vision sensor.

According to the fourth aspect of the present application, a method for adjusting the attitude of an unmanned aerial vehicle control terminal is provided, which is suitable for an unmanned aerial vehicle control terminal. The unmanned aerial vehicle includes a central body and a rotatably connected with the central body. Multiple arms, the angle between the arms and the roll axis of the unmanned aerial vehicle can be changed. The attitude adjustment method of the control terminal of the unmanned aerial vehicle includes: receiving the current attitude information of the central body sent by the unmanned aerial vehicle and the adjustment clamp Angle prompt information; obtain the adjustment information of the included angle; feedback the adjustment information to the unmanned aerial vehicle for the unmanned aerial vehicle to adjust the current attitude.

The method for adjusting the attitude of the control terminal of the unmanned aerial vehicle provided by the embodiment of the present application, upon receiving the current attitude information sent by the unmanned aerial vehicle and the prompt information for adjusting the included angle, obtains the adjustment information of the included angle and feeds it back to the unmanned aerial vehicle , The UAV can adjust its current attitude according to the adjustment information, so that the center of gravity of the UAV and the center of the power point of the power motor are on the same vertical line as much as possible, the UAV tends to be stable, and the output of each power motor is balanced. Helps improve the endurance of unmanned aerial vehicles. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is appropriate, the unmanned aerial vehicle controlled by the control terminal provided in the embodiment of the present application can adapt to more loads, expanding the application range.

Specifically, each arm of the UAV controlled by the control terminal is rotatably connected with the central body, and the arm can be rotated forward or backward relative to the central body. For the arms connected to different positions of the central body , It will also turn left or right when turning forward or backward relative to the center body. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the unmanned aerial vehicle is relatively large, the change in the center of gravity of the unmanned aerial vehicle by rotating the arm is relatively small. At the same time, the multiple power motors of the unmanned aerial vehicle are respectively arranged on the multiple arms, so that the action point of each power motor also changes according to the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable attitude by detecting the current attitude information, such as steady, forward, backward, left, and right. If it is not stable, it can send out an adjustment angle To prompt the control terminal to control the rotation of the UAV’s arm, change the angle between the arm and the roll axis, and adjust the UAV’s center of gravity and power point at the same time to make the UAV reach a stable attitude .

In addition, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle in the aforementioned technical solution provided by this application may also have the following additional technical features:

In this technical solution, it is specifically limited that the adjustment information is associated with the current attitude information, so the adjustment information required to restore the balanced attitude can be obtained according to the current attitude information, so that it can be targeted, shorten the adjustment time, and quickly restore the unmanned aerial vehicle to balance. The attitude can further improve the endurance of the unmanned aerial vehicle, and at the same time enable the unmanned aerial vehicle to adapt to more loads.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: calculating adjustment information according to the current attitude information.

In this technical solution, it is specifically restricted that the adjustment information is calculated based on the current posture information, which can realize automatic adjustment, which not only simplifies manual operation, but also avoids the problem of low accuracy during manual operation, and can improve the efficiency of posture adjustment. In addition, the calculation performed by the control terminal instead of the unmanned aerial vehicle can reduce the computational load of the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps to reduce the weight of the unmanned aerial vehicle and improve Endurance.

It is understandable that an accurate adjustment information can be directly calculated during calculation to achieve the adjustment in place at one time; a rough calculation can also be performed first to quickly adjust the UAV to a relatively stable attitude, so that the power of each power motor is relatively Balance, and then combine the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, perform actuarial calculations to adjust the UAV to the preset stable attitude. The coarse adjustment and then the fine adjustment can be realized, which can reduce the computational burden. Improve adjustment efficiency.

In any of the above technical solutions, preferably, the attitude adjustment method of the control terminal of the unmanned aerial vehicle further includes: receiving input adjustment information.

In this technical solution, the posture adjustment method further includes receiving adjustment information manually input by the user. At this time, the control terminal can output the current posture information and prompt information by broadcasting voice or displaying text when receiving the current posture information to remind the user Manually adjust the current attitude of the unmanned aerial vehicle. It is unnecessary to perform the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal can be equipped with software and hardware equipment with lower computing power, reducing the cost and selling price of the product, and meeting the needs of low-consumption users . It is conceivable that the control terminal may also have the rough calculation capability to prompt the user of a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the control terminal is equipped with a corresponding input device for the user to input adjustment information. The input device includes at least one of the following: a joystick, a keyboard, and a touch screen.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: receiving the angle information sent by the unmanned aerial vehicle in real time.

In any of the above technical solutions, preferably, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: receiving a prompt message sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.

According to a fifth aspect of the present application, there is provided a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the unmanned operation described in any of the technical solutions in the third aspect is implemented. The steps of the method for adjusting the attitude of an aerial vehicle, or the steps of the method for adjusting the attitude of an unmanned aerial vehicle control terminal as described in any one of the technical solutions in the fourth aspect above, and thus the attitude adjustment method of the unmanned aerial vehicle or the unmanned aerial vehicle is provided. All the beneficial effects of the method for adjusting the attitude of the control terminal of the aircraft will not be repeated here.

The additional aspects and advantages of this application will become apparent in the following description, or be learned through the practice of this application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

Fig. 2 shows a schematic block diagram of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 3 shows a schematic flowchart of an attitude adjustment method of an unmanned aerial vehicle according to an embodiment of the present application;

Fig. 4 shows a schematic flowchart of a method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application.

Among them, the corresponding relationship between the reference signs and component names in Figure 1 is:

12 central body, 14 arm, 14a first arm, 14b second arm, 14c third arm, 14d fourth arm, 16 power motors, 18 paddles.

Detailed ways

In order to be able to understand the above objectives, features and advantages of the application more clearly, the application will be further described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are set forth in order to fully understand this application. However, this application can also be implemented in other ways different from those described here. Therefore, the scope of protection of this application is not covered by the specific details disclosed below. Limitations of the embodiment.

As shown in Figure 1, the embodiment of the first aspect of the present application provides an unmanned aerial vehicle, including a central body 12, a plurality of arms 14, a first sensor (not shown in the figure) and a controller (in the figure) Not shown), a plurality of arms 14 are rotatably connected with the central body 12, and the arms 14 are rotatably connected with the roll axis of the unmanned aerial vehicle (the roll axis is the axis of rotation of the unmanned aerial vehicle when it rolls left and right, that is, along the The angle between the axis extending in the front and rear direction of the unmanned aerial vehicle can be changed; the first sensor is used to obtain the current attitude information of the unmanned aerial vehicle; the controller is in communication connection with the first sensor, and the first sensor will obtain the current The attitude information is sent to the controller; the controller determines whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information; when the unmanned aerial vehicle is not in the preset stable attitude, it sends a prompt message to adjust the included angle.

In the unmanned aerial vehicle provided by the embodiment of the present application, each arm 14 is rotatably connected with the central body 12, and the arm 14 can be rotated forward or backward relative to the central body 12. The arm 14 will also turn left or right when turning forward or backward relative to the central body 12. Specifically, as shown in Figure 1, the first arm 14a located on the front left side of the center body will turn right while turning forward, and the second arm 14b located on the left rear side of the center body will turn forward. The third arm 14c located on the front right side of the center body will also turn left while turning forward. The fourth arm 14d located on the right rear side of the center body will turn forward. Will also turn right at the same time. This causes the angle between the arm 14 and the roll axis of the UAV to change during the rotation of the UAV, resulting in a change in the center of gravity of the UAV. It is understandable that when the load carried by the UAV is relatively large, the change in the center of gravity of the UAV by rotating the arm 14 is relatively small. At the same time, a plurality of power motors 16 of the unmanned aerial vehicle are respectively arranged on the plurality of arms 14 for driving the propeller to rotate (the paddle 18 as shown in FIG. 1 is a virtual disc-shaped structure formed by the rotation of the propeller) to provide For the flight power, the action point of each power motor 16 will change according to the rotation of the arm 14, and the power point center of the UAV will change accordingly. On this basis, by setting the first sensor, the current attitude information of the UAV can be obtained, such as steady, forward, backward, left, and right. The controller then determines whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information. If it is not stable, it can send out a prompt message to adjust the included angle to prompt to control the corresponding rotation of the arm 14 and change the arm 14 and the roll axis. Adjust the center of gravity and power point center of the UAV at the same time, and finally make the center of gravity of the UAV and the center of the power point of the power motor 16 lie on the same vertical line as far as possible, and the UAV tends to be stable. The power output of the power motor 16 is balanced, which helps to improve the endurance of the UAV. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is suitable, the unmanned aerial vehicle provided in the embodiment of the present application can adapt to more loads, which expands the application range.

In some embodiments, the controller sends adjustment information for adjusting the included angle when the UAV is not in a preset stable attitude.

In this embodiment, the controller can also send an adjustment message when the UAV is not in a preset stable attitude, so as to directly control the rotation of the arm 14 relative to the central body 12 and change the angle between the arm 14 and the roll axis. .

In some embodiments, the adjustment information is associated with current posture information.

In this embodiment, it is specifically limited that the adjustment information is associated with the current attitude information, so that the controller can obtain the adjustment information required to restore the balance attitude according to the current attitude information, so as to have a target, shorten the adjustment time, and make the UAV quickly recover The balance attitude can further improve the endurance of the unmanned aerial vehicle, and at the same time enable the unmanned aerial vehicle to adapt to more loads.

In some embodiments, the adjustment information includes the rotation direction and the desired angle of each arm 14.

In this embodiment, it is specifically defined that the adjustment information includes the rotation direction and desired angle of each arm 14, where the desired angle can represent the angle of the included angle between each arm 14 and the roll axis that is expected to be achieved in this adjustment. Since the included angle is not directional and less than or equal to 90 degrees, when the desired angle is less than 90 degrees, the corresponding position of the arm 14 includes two positions, namely the position on the front side of the center body 12 and the position on the back side of the center body 12 At this time, the rotation direction is added to the adjustment information at this time. For example, it can be represented by forward rotation and backward rotation, so as to clarify the accurate target position of the arm 14 and ensure the accuracy of control. In addition, the desired angle can also represent the angle that each arm 14 has rotated, which can be matched with the direction of rotation to achieve the same control effect.

In some embodiments, the controller controls the arm 14 to rotate to a desired angle according to the rotation direction according to the adjustment information, so as to adjust the current attitude of the UAV.

In this embodiment, it specifically defines how the controller adjusts the current attitude of the UAV according to the adjustment information. The adjustment information includes the rotation direction and the desired angle of each arm 14. When the desired angle represents each of the expected adjustments When the angle of the angle between the arm 14 and the roll axis, the controller first controls each arm 14 to rotate in the direction of rotation, while continuing to detect the angle between the arm 14 and the roll axis, when the angle reaches the desired angle , The adjustment is completed. It is understandable that from the perspective of an unmanned aerial vehicle, it can be adjusted to a balanced attitude at one time based on one piece of adjustment information, or it can be adjusted multiple times based on multiple pieces of adjustment information. Furthermore, coarse adjustment can be performed first when multiple adjustments are made. Then make fine adjustments according to the results of the coarse adjustments. The specifics are determined according to the adjustment information. The controller only needs to complete the adjustment according to the current adjustment information.

In some embodiments, the adjustment information further includes the preset telescopic length of each arm 14.

In this embodiment, the arm 14 can also be expanded and contracted to change the length, which adds an adjustment dimension. Adding the preset telescopic length to the entire information, by simultaneously changing the length and included angle of the arm 14, helps to strengthen the ability to adjust the UAV's attitude and achieve a better adjustment effect.

In some embodiments, the adjustment information is calculated by the control terminal of the UAV.

In this embodiment, it is specifically limited that the adjustment information is calculated by the control terminal of the UAV, that is, the UAV sends the current attitude information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information. , That is, the data processing is performed by the control terminal, which can reduce the computing load of the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle can be equipped with a lighter controller, which helps to reduce the weight of the unmanned aerial vehicle and improve the endurance. In addition, the adjustment information is directly calculated, which can simplify manual operation, avoid the problem of low accuracy during manual operation, and improve the efficiency of posture adjustment.

In some embodiments, the adjustment information is calculated by the controller.

In this embodiment, if the adjustment information is directly calculated by the controller of the UAV, there is no need to send data back and forth between the UAV and the control terminal, which reduces the amount of information exchange.

It is understandable that no matter whether the calculation is performed by the control terminal or the UAV, an accurate adjustment information can be directly calculated to realize the adjustment in place at one time; it can also be roughly calculated to quickly adjust the UAV to a relative position. The stable attitude makes the output of each power motor 16 relatively balanced, and then combines the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, the actuarial calculation is performed to adjust the unmanned aerial vehicle to the preset stable attitude. Rough adjustment and then fine adjustment can reduce calculation burden and improve adjustment efficiency.

In some embodiments, the unmanned aerial vehicle further includes a communication device communicatively connected with the controller. The communication device sends current attitude information to the control terminal of the unmanned aerial vehicle; and receives adjustment information fed back by the control terminal.

In this embodiment, it is specifically limited that the adjustment information is fed back from the control terminal to the UAV. This not only includes the aforementioned solution of calculating the adjustment information by the control terminal, but also includes the control terminal acquiring the adjustment information manually input by the user. At this time, the control terminal can output the current posture information by broadcasting voice or displaying text when receiving the current posture information. And prompt information to prompt the user to manually adjust the current attitude of the unmanned aerial vehicle. There is no need to perform the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal can be equipped with software and hardware devices with lower computing capabilities to reduce the cost and selling price of the product , To meet the needs of low-consumption users. It is conceivable that the control terminal may also have the rough calculation capability to prompt the user of a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Correspondingly, the unmanned aerial vehicle further includes a communication device to send current attitude information to the control terminal and receive adjustment information fed back by the control terminal.

In some embodiments, the controller determines whether the unmanned aerial vehicle is in a preset stable attitude during take-off and/or flight of the unmanned aerial vehicle.

In this embodiment, it is specifically defined that the time to determine whether the UAV is in the preset equilibrium attitude is during takeoff and/or during flight. Every time the load carried by the UAV changes, the center of gravity and The deviation of the center of the power point, by adjusting its attitude during takeoff, can make the adjustment more timely and improve the endurance effect. Thereafter, during the flight, affected by the airflow, the center of gravity and the center of the power point of the UAV may also change. At this time, the attitude of the UAV can be adjusted to make the power motor 16 maintain a balance of output during the flight. Helps further enhance the endurance.

In some embodiments, the UAV further includes an adjustment mechanism. The adjustment mechanism is used to adjust the rotation angle of the arm 14. The controller controls the adjustment mechanism to adjust the rotation angle of the arm 14 according to the adjustment information.

In this embodiment, the unmanned aerial vehicle is further equipped with an adjustment mechanism that can adjust the rotation angle of the arm 14, which can be specifically arranged at the root of the arm 14. Accordingly, the controller controls the adjustment mechanism according to the adjustment information to realize the alignment of the aircraft. Adjustment of the rotation angle of the arm 14.

In some embodiments, the adjustment mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm 14 to rotate through the connecting mechanism.

In this embodiment, it is specifically defined that the adjustment mechanism includes an electric device for providing adjustment power and a connecting mechanism for transmitting power. The connecting mechanism is connected to the arm 14, and the electric device first drives the connecting mechanism to move, and then drives the arm 14 to rotate. Adjustment of the rotation angle of the arm 14. Optionally, the arm 14 can be locked at any position to maintain the current posture. At this time, a locking mechanism can be configured, or the connecting mechanism can no longer move when the electric device stops outputting power to achieve locking.

In some embodiments, the connecting mechanism includes at least one of the following: a screw mechanism, a connecting rod mechanism, a worm gear mechanism, and a gear mechanism.

In this embodiment, it is specifically limited that the connecting mechanism can be at least one of the above four mechanisms, that is, it can be used alone or in combination. Among them, the screw mechanism and the worm gear mechanism can realize the conversion between rotation and linear motion, the linkage mechanism can realize the point-to-point transmission, and the gear mechanism can realize the transmission between the rotating parts.

In some embodiments, the electric device includes at least one of the following: a motor and a telescopic cylinder.

In this embodiment, it is specifically limited that the electric device can be a motor or a telescopic cylinder, which realizes rotational drive and linear drive, respectively, and the electric device cooperates with the connecting mechanism to realize the rotation of the arm 14.

Next, several specific embodiments of the adjustment mechanism are introduced:

Specific embodiment one:

The electric device is a motor, and the connecting mechanism includes a worm gear mechanism and a connecting rod mechanism. Among them, the link mechanism includes a first link with one end fixed on the central body 12, a second link with one end fixed on the rotation center point of the arm 14, and a third link. The third link is simultaneously connected to the first link. The other end of the rod and the other end of the second connecting rod; the worm gear is sleeved on the output shaft of the motor, the end of the worm not meshed with the worm gear is connected to the first connecting rod, and the second connecting rod is connected to the arm 14. When the motor outputs a rotating torque, the first connecting rod is pushed by the worm to rotate around its fixed point, and the second connecting rod is pushed to rotate around its fixed point via the third connecting rod, thereby driving the motor arm 14 to rotate. It is understandable that, at this time, the second link and the arm 14 may be an integral structure, or the arm 14 itself can be used as the second link, and the third link and the arm 14 need only be rotationally connected.

Specific embodiment two:

The difference between this embodiment and the first embodiment is that the worm gear mechanism is replaced with a lead screw mechanism, except for this, the rest of the structure is completely the same, and will not be repeated here.

Specific embodiment three:

The electric device is a motor, and the connecting mechanism is a gear mechanism. Among them, the gear mechanism includes two gears that mesh, one gear is sleeved on the output shaft of the motor, the other gear is connected to the arm 14, and the rotation axis of the other gear coincides with the rotation axis of the arm 14, then The motor arm 14 can be driven to rotate when the motor outputs a rotating torque.

Specific embodiment four:

The electric device is a telescopic cylinder, and the connecting mechanism is a linkage mechanism. Among them, the link mechanism includes a first link with one end fixed on the central body 12, a second link with one end fixed on the rotation center point of the arm 14, and a third link. The third link is simultaneously connected to the first link. The other end of the rod and the other end of the second connecting rod, the output shaft of the telescopic cylinder is connected with the first connecting rod, and the second connecting rod is connected with the arm 14. When the telescopic cylinder outputs power, the first connecting rod rotates around its fixed point under the push of the output shaft, and the second connecting rod is pushed to rotate around its fixed point via the third connecting rod, thereby driving the motor arm 14 to rotate. It is understandable that, at this time, the second link and the arm 14 may be an integral structure, or the arm 14 itself can be used as the second link, and the third link and the arm 14 need only be rotationally connected.

Specific embodiment five:

The electric device is a telescopic cylinder, and the connecting rod mechanism is a worm gear mechanism. The output shaft of the telescopic cylinder is connected with the worm, the rotating shaft of the worm gear meshing with the worm is connected to the arm 14, and the rotation axis of the worm wheel coincides with the rotation axis of the arm 14. When the telescopic cylinder outputs power, the output shaft pushes the worm to move, thereby driving the worm wheel to rotate, and the arm 14 rotates synchronously.

Specific embodiment six:

The difference between this embodiment and the fifth embodiment is that the worm gear mechanism is replaced with a lead screw mechanism, except for this, the rest of the structure is completely the same, and will not be repeated here.

Specific embodiment seven:

The electric device is a telescopic cylinder, and the connecting rod mechanism includes a worm gear mechanism and a gear mechanism. The gear mechanism includes two gears that mesh with each other, one gear meshes with the worm gear, the other gear is connected to the arm 14, and the rotation axis of the other gear coincides with the rotation axis of the arm 14. When the telescopic cylinder outputs power, the output shaft pushes the worm to move, thereby driving the worm wheel and gear mechanism to rotate one by one, and the arm 14 rotates synchronously with the gear connected to it.

Specific embodiment eight:

The difference between this embodiment and the seventh embodiment is that the worm gear mechanism is replaced with a lead screw mechanism, except for this, the rest of the structure is completely the same, and will not be repeated here.

In some embodiments, the controller obtains the angle between the arm 14 and the roll axis of the UAV in real time.

In this embodiment, the controller can also obtain the angle between the arm 14 and the roll axis in real time, which helps to confirm whether the arm 14 is rotated to the desired position, so as to intervene in time when the rotation is not in place or the rotation is excessive. Ensure the adjustment effect.

In some embodiments, the controller prompts information about the currently detected included angle in real time.

In this embodiment, after real-time acquisition of the included angle between the arm 14 and the roll axis, a corresponding information prompting the included angle is sent out, which can be sent to the control terminal so that the control terminal or the user can understand the adjustment progress in time. When using the control terminal to adjust the attitude of the unmanned aerial vehicle, the information synchronization can be ensured and the adjustment effect can be ensured.

In some embodiments, when the arm 14 rotates to a desired angle, the controller sends out corresponding prompt information.

In this embodiment, by issuing a prompt message that the arm 14 is rotated to a desired angle, it can be specifically sent to the control terminal, so that the control terminal or the user can clearly understand that the adjustment has been completed, and there is no need to continue adjustments, ensuring information synchronization and ensuring The adjustment effect. Optionally, this solution can be combined with a solution that the controller prompts the currently detected angle information in real time, so that the control terminal or user can obtain sufficient information; this solution can also be combined with the controller that prompts the currently detected angle information in real time. Choose one plan to use to reduce the amount of information transfer.

In some embodiments, the included angle is detected by an angle sensor.

In this embodiment, the hardware device for detecting the included angle is specifically defined as an angle sensor, which can accurately obtain the included angle between the arm 14 and the roll axis, and ensure the smooth progress of the posture adjustment process.

In some embodiments, the angle sensor includes at least one of the following: a Hall sensor and a potentiometer.

In some embodiments, the first sensor includes at least one of the following: IMU, gyroscope, and vision sensor.

The embodiment of the second aspect of the present application provides a control terminal for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, and the arms are connected to the horizontal The angle between the rollers can be changed.

Fig. 2 shows a schematic block diagram of a control terminal of an unmanned aerial vehicle according to an embodiment of the present application. As shown in FIG. 2, the control terminal 2 includes a communication device 202 and a controller 204. The communication device 202 is used to receive the current attitude information of the center body and the prompt information for adjusting the included angle sent by the UAV; the controller 204 and the communication device 202 Communication connection, the controller 204 obtains the adjustment information of the included angle and sends it to the communication device 202, and the communication device 202 feeds back the adjustment information to the UAV for the UAV to adjust the current attitude.

The control terminal 2 of the unmanned aerial vehicle provided by the embodiment of the present application includes a communication device 202 and a controller 204. When the communication device 202 receives the current attitude information sent by the unmanned aerial vehicle and the prompt information for adjusting the included angle, the controller 204 obtains The adjustment information of the included angle is fed back to the UAV via the communication device 202, so that the UAV can adjust its current attitude according to the adjustment information, and finally make the center of gravity of the UAV and the power point center of the power motor lie on the same vertical line as much as possible The UAV tends to be stable, and the output of each power motor is balanced, which helps to improve the endurance of the UAV. Correspondingly, under the condition that the thrust-to-weight ratio of the unmanned aerial vehicle is suitable, the unmanned aerial vehicle controlled by the control terminal 2 provided in the embodiment of the present application can adapt to more loads, which expands the application range.

Specifically, each arm of the unmanned aerial vehicle controlled by the control terminal 2 is rotatably connected with the central body, and the arm can be rotated forward or backward relative to the central body. For aircraft connected at different positions of the central body, The arm also turns left or right when turning forward or backward relative to the central body. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the unmanned aerial vehicle is relatively large, the change in the center of gravity of the unmanned aerial vehicle by rotating the arm is relatively small. At the same time, the multiple power motors of the unmanned aerial vehicle are respectively arranged on the multiple arms, so that the action point of each power motor also changes according to the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable attitude by detecting the current attitude information, such as steady, forward, backward, left, and right. If it is not stable, it can send out an adjustment angle To prompt the control terminal 2 to control the rotation of the UAV's arm, change the angle between the arm and the roll axis, and adjust the UAV's center of gravity and power point at the same time, so that the UAV can achieve stability attitude.

In this embodiment, it is specifically limited that the adjustment information is associated with the current attitude information, so that the controller 204 can obtain the adjustment information required to restore the balanced attitude according to the current attitude information, so that it can be targeted, shorten the adjustment time, and make the unmanned aerial vehicle faster Restoring to a balanced attitude can further improve the endurance of the unmanned aerial vehicle and at the same time allow the unmanned aerial vehicle to adapt to more loads.

In some embodiments, the adjustment information includes the rotation direction and the desired angle of each arm.

In this embodiment, it is specifically defined that the adjustment information includes the rotation direction and desired angle of each arm, where the desired angle can represent the angle between each arm and the roll axis that is expected to be achieved in this adjustment. The angle does not have directivity and is less than or equal to 90 degrees. Therefore, when the desired angle is less than 90 degrees, the corresponding arm positions include two positions, namely the position at the front of the center body and the position at the back of the center body. When adding the direction of rotation to the adjustment information, for example, it can be represented by turning forward and turning backward to clarify the accurate target position of the arm and ensure the accuracy of control. In addition to this, the desired angle can also represent the angle that each arm has turned, which can be matched with the direction of rotation to achieve the same control effect.

In some embodiments, the adjustment information further includes the preset telescopic length of each arm.

In this embodiment, the arm can be extended and contracted to change the length, which adds an adjustment dimension. Adding a preset telescopic length to the entire information, by simultaneously changing the length and included angle of the arm, helps strengthen the ability to adjust the UAV's attitude and achieve a better adjustment effect.

In some embodiments, the controller 204 calculates adjustment information based on the current posture information.

In this embodiment, it is specifically limited that the adjustment information is calculated by the controller 204, which can realize automatic adjustment, which not only simplifies manual operation, but also avoids the problem of low accuracy during manual operation, and improves the efficiency of posture adjustment. In addition, the calculation performed by the control terminal 2 instead of the unmanned aerial vehicle can reduce the computational load of the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps reduce the weight of the unmanned aerial vehicle. Improve endurance.

It is understandable that when the controller 204 calculates, it can directly calculate an accurate adjustment information to realize the adjustment in place at one time; it can also perform a rough calculation first to quickly adjust the UAV to a relatively stable attitude, so that each power The motor output is relatively balanced, and the updated current attitude information is used to confirm the adjustment effect. When the attitude is optimized, an actuarial calculation is performed to adjust the UAV to the preset stable attitude. The coarse adjustment and then the fine adjustment can be realized. Calculate burden and improve adjustment efficiency.

In some embodiments, the control terminal 2 further includes an input device communicatively connected with the controller 204, and the input device receives adjustment information.

In this embodiment, the control terminal 2 also includes an input device to receive the adjustment information manually input by the user. At this time, the control terminal 2 can output current posture information and prompts by broadcasting voice or displaying text when receiving the current posture information. Information to prompt the user to manually adjust the current attitude of the UAV, without performing the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal 2 can be equipped with software and hardware equipment with lower computing capabilities to reduce the cost and selling price of the product. Meet the needs of low-consumption users. It is conceivable that the control terminal 2 may also have a rough calculation capability to prompt the user of a reasonable adjustment range, improve adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the input device includes at least one of the following: a joystick, a keyboard, and a touch screen.

In some embodiments, the communication device 202 receives the angle information sent by the UAV in real time.

In this embodiment, by receiving the information of the angle between the arm and the roll axis sent by the UAV in real time, it is helpful to confirm whether the arm is rotated to the desired position, so that it can be timely when the rotation is not in place or excessive. Intervention to ensure the adjustment effect.

In some embodiments, the communication device 202 receives the prompt information sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.

In this embodiment, through the prompt message that the receiver arm rotates to a desired angle, it can be clearly understood that the adjustment has been completed, and no further adjustment is necessary, which ensures information synchronization and ensures the adjustment effect. Optionally, this scheme can be combined with the scheme of receiving angle information sent by unmanned aerial vehicles in real time to obtain sufficient information; this scheme can also be used alternatively with the scheme of receiving angle information sent by unmanned aerial vehicles in real time To reduce the amount of information transfer.

The embodiment of the third aspect of the present application provides an attitude adjustment method of an unmanned aerial vehicle, which is suitable for an unmanned aerial vehicle. The unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body. The angle between the arm and the roll axis of the UAV can be changed.

Fig. 3 shows a schematic flow chart of an unmanned aerial vehicle attitude adjustment method according to an embodiment of the present application.

As shown in Fig. 3, the method for adjusting the attitude of an unmanned aerial vehicle in an embodiment of the present application includes:

S102: Obtain current attitude information of the unmanned aerial vehicle;

S104: Determine whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information;

S106: When the unmanned aerial vehicle is not in a preset stable attitude, a prompt message for adjusting the included angle is issued.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: when the unmanned aerial vehicle is not in a preset stable attitude, sending out adjustment information for adjusting the included angle.

In this embodiment, an adjustment message can also be sent when the UAV is not in a preset stable attitude to directly control the rotation of the arm relative to the central body and change the angle between the arm and the roll axis.

In this embodiment, it is specifically limited that the adjustment information is associated with the current attitude information, so the adjustment information needed to restore the balance attitude can be obtained according to the current attitude information, so that it can be targeted, shorten the adjustment time, and quickly restore the unmanned aerial vehicle to balance. The attitude can further improve the endurance of the unmanned aerial vehicle, and at the same time enable the unmanned aerial vehicle to adapt to more loads.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: according to the adjustment information, controlling the arm to rotate to a desired angle according to the rotation direction to adjust the current attitude of the unmanned aerial vehicle.

In this embodiment, it specifically defines how to adjust the current attitude of the UAV according to the adjustment information. The adjustment information includes the rotation direction and the desired angle of each arm. When the desired angle represents the expected adjustment of each arm and For the angle of the roll axis, first control each arm to rotate in the direction of rotation, while continuing to detect the angle between the machine arm and the roll axis, when the angle reaches the desired angle, the adjustment is completed. It is understandable that from the perspective of an unmanned aerial vehicle, it can be adjusted to a balanced attitude at one time based on one piece of adjustment information, or it can be adjusted multiple times based on multiple pieces of adjustment information. Furthermore, coarse adjustment can be performed first when multiple adjustments are made. Then make fine adjustments according to the results of the coarse adjustments, and the specifics are determined according to the adjustment information.

In this embodiment, it is specifically limited that the adjustment information is calculated by the control terminal of the UAV, that is, the UAV sends the current attitude information and the prompt information of the adjustment angle to the control terminal, and the control terminal calculates the required adjustment information. , That is, the data processing is performed by the control terminal, which can reduce the computing load of the unmanned aerial vehicle. Correspondingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps to reduce the weight of the unmanned aerial vehicle and improve the endurance. In addition, the adjustment information is directly calculated, which can simplify manual operation, avoid the problem of low accuracy during manual operation, and improve the efficiency of posture adjustment.

In some embodiments, the adjustment information is calculated by the onboard controller of the UAV.

In this embodiment, it is limited that the adjustment information is directly calculated by the UAV, specifically calculated by its onboard controller, so there is no need to send data back and forth between the UAV and the control terminal, which reduces the amount of information exchange.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: sending the current attitude information to the control terminal of the unmanned aerial vehicle; and receiving the adjustment information fed back by the control terminal.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: determining whether the unmanned aerial vehicle is in a preset stable attitude during takeoff and/or flight of the unmanned aerial vehicle.

In this embodiment, it is specifically defined that the time to determine whether the UAV is in the preset equilibrium attitude is during takeoff and/or during flight. Every time the load carried by the UAV changes, the center of gravity and The deviation of the center of the power point, by adjusting its attitude during takeoff, can make the adjustment more timely and improve the endurance effect. Thereafter, during the flight, affected by the airflow, the UAV's center of gravity and power point center may also change. At this time, the attitude of the UAV can be adjusted to maintain the power output balance of the power motor during the flight, which is helpful. To further improve battery life.

In some embodiments, the unmanned aerial vehicle further includes an adjustment mechanism for adjusting the rotation angle of the arm. The attitude adjustment method of the unmanned aerial vehicle further includes: controlling the adjustment mechanism to adjust the rotation angle of the arm according to the adjustment information.

In this embodiment, the UAV is further equipped with an adjustment mechanism that can adjust the rotation angle of the arm, which can be specifically set at the root of the arm. Accordingly, the specific solution for controlling the rotation of the arm is to control the action of the adjustment mechanism according to the adjustment information. , To achieve the adjustment of the rotation angle of the arm.

In some embodiments, the adjustment mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.

In this embodiment, it is specifically defined that the adjustment mechanism includes an electric device for providing adjustment power and a connecting mechanism for transmitting power. The connecting mechanism is connected to the arm. The electric device first drives the connecting mechanism to move, and then drives the arm to rotate, realizing the adjustment of the machine. Adjustment of the rotation angle of the arm. Optionally, the arm can be locked at any position to maintain the current posture. At this time, a locking mechanism can be configured, or the connecting mechanism can no longer move when the electric device stops outputting power to achieve locking.

In this embodiment, it is specifically limited that the electric device can be a motor or a telescopic cylinder, which realizes rotary drive and linear drive respectively, and the electric device cooperates with the connecting mechanism to realize the rotation of the arm.

In some embodiments, the method for adjusting the attitude of the UAV further includes: real-time detecting the angle between the arm and the roll axis of the UAV.

In this embodiment, the posture adjustment method further includes real-time acquisition of the angle between the arm and the roll axis, which helps to confirm whether the arm is rotated to the desired position, so as to intervene in time when the rotation is not in place or excessive rotation to ensure Adjust the effect.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: prompting the information of the currently detected included angle in real time.

In this embodiment, after real-time acquisition of the included angle between the arm and the roll axis, a corresponding information prompting the included angle is sent out, and this information can be sent to the control terminal so that the control terminal or the user can understand the adjustment progress in time. When the control terminal is used to adjust the attitude of the unmanned aerial vehicle, it can ensure the synchronization of information and ensure the adjustment effect.

In some embodiments, the method for adjusting the attitude of the unmanned aerial vehicle further includes: when the arm rotates to a desired angle, sending out a corresponding prompt message.

In this embodiment, by issuing a prompt message that the arm is rotated to a desired angle, it can be specifically sent to the control terminal, so that the control terminal or the user can clearly understand that the adjustment has been completed, and there is no need to continue adjustments, ensuring information synchronization and ensuring Adjust the effect. Optionally, this solution can be combined with a solution that the controller prompts the currently detected angle information in real time, so that the control terminal or user can obtain sufficient information; this solution can also be combined with the controller that prompts the currently detected angle information in real time. Choose one plan to use to reduce the amount of information transfer.

In some embodiments, the included angle is detected by an angle sensor.

In this embodiment, the hardware device for detecting the included angle is specifically defined as an angle sensor, which can accurately obtain the included angle between the arm and the roll axis, and ensure the smooth progress of the posture adjustment process.

In some embodiments, the current attitude information is detected by sensors carried by the UAV.

In this embodiment, the hardware device for detecting current attitude information is specifically defined as the sensor carried by the unmanned aerial vehicle, which can accurately adjust the current attitude information of the unmanned aerial vehicle to help improve the unmanned aerial vehicle's current attitude. The endurance of the aircraft expands the range of its adapted load.

In some embodiments, the sensor includes at least one of the following: IMU, gyroscope, and vision sensor.

The embodiment of the fourth aspect of this application provides an attitude adjustment method of a control terminal of an unmanned aerial vehicle, which is suitable for a control terminal of an unmanned aerial vehicle. The unmanned aerial vehicle includes a central body and a rotatably connected to the central body. With multiple arms, the angle between the arms and the roll axis of the UAV can be changed.

As shown in FIG. 4, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to an embodiment of the present application includes:

S202: Receive current attitude information of the center body and prompt information for adjusting the included angle sent by the unmanned aerial vehicle;

S204: Acquire adjustment information of the included angle;

S206: Feedback the adjustment information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can adjust the current attitude.

Specifically, each arm of the UAV controlled by the control terminal is rotatably connected with the central body, and the arm can be rotated forward or backward relative to the central body. For the arms connected to different positions of the central body , It will also turn left or right when turning forward or backward relative to the center body. Specifically, the arm located on the front left side of the center body will turn right when turning forward, and the arm located on the left rear side of the center body will turn left when turning forward, and it is located in the center body. The arm on the front right side will also turn left when turning forward, and the arm on the right rear side of the center body will also turn right when turning forward. This makes the angle between the arm and the roll axis of the unmanned aerial vehicle change during the rotation of the arm, resulting in a change in the center of gravity of the unmanned aerial vehicle. It is understandable that when the load carried by the unmanned aerial vehicle is relatively large, the change in the center of gravity of the unmanned aerial vehicle by rotating the arm is relatively small. At the same time, multiple power motors of the unmanned aerial vehicle are respectively arranged on multiple arms, so that the point of action of each power motor also changes with the rotation of the arm, and the power point center of the unmanned aerial vehicle changes accordingly. On this basis, the unmanned aerial vehicle can determine whether the unmanned aerial vehicle is in a preset stable attitude by detecting the current attitude information, such as steady, forward, backward, left, and right. If it is not stable, it can send out an adjustment angle To prompt the control terminal to control the rotation of the UAV’s arm, change the angle between the arm and the roll axis, and adjust the UAV’s center of gravity and power point at the same time to make the UAV reach a stable attitude .

In some embodiments, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: calculating adjustment information according to the current attitude information.

In this embodiment, it is specifically limited that the adjustment information is calculated based on the current posture information, which can realize automatic adjustment, which not only simplifies manual operation, but also avoids the problem of low accuracy during manual operation, and improves the efficiency of posture adjustment. In addition, the calculation performed by the control terminal instead of the unmanned aerial vehicle can reduce the computational load of the unmanned aerial vehicle. Accordingly, the unmanned aerial vehicle can be equipped with lighter hardware equipment, which helps to reduce the weight of the unmanned aerial vehicle and improve Endurance.

It is understandable that an accurate adjustment information can be directly calculated during the calculation to realize the adjustment in place at one time; a rough calculation can also be performed first to quickly adjust the UAV to a relatively stable attitude, so that the power of each power motor is relatively Balance, and then combine the updated current attitude information to confirm the adjustment effect. When the attitude is optimized, perform actuarial calculations to adjust the unmanned aerial vehicle to the preset stable attitude. The coarse adjustment and then the fine adjustment can be realized, which can reduce the computational burden. Improve adjustment efficiency.

In some embodiments, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: receiving inputted adjustment information.

In this embodiment, the posture adjustment method further includes receiving adjustment information manually input by the user. At this time, the control terminal can output the current posture information and prompt information by broadcasting voice or displaying text when receiving the current posture information to remind the user Manually adjust the current attitude of the unmanned aerial vehicle. It is unnecessary to perform the calculation of the adjustment information, thereby reducing the amount of calculation. The control terminal can be equipped with software and hardware equipment with lower computing power, reducing the cost and selling price of the product, and meeting the needs of low-consumption users . It is conceivable that the control terminal may also have the rough calculation capability to prompt the user of a reasonable adjustment range, improve the adjustment efficiency, and achieve a balance between cost and adjustment efficiency. Optionally, the control terminal is equipped with a corresponding input device for the user to input adjustment information. The input device includes at least one of the following: a joystick, a keyboard, and a touch screen.

In some embodiments, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: receiving the angle information sent by the unmanned aerial vehicle in real time.

In some embodiments, the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further includes: receiving a prompt message sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.

The embodiment of the fifth aspect of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the unmanned operation as described in any of the embodiments of the third aspect is implemented. The steps of the method for adjusting the attitude of the aircraft, or the steps of the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle as described in any one of the above-mentioned fourth aspects, thus the method for adjusting the attitude of the unmanned aerial vehicle or the unmanned aerial vehicle is provided. All the beneficial effects of the method for adjusting the attitude of the control terminal of the aircraft will not be repeated here.

Specifically, a computer-readable storage medium may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

In this application, the term "plurality" refers to two or more than two, unless specifically defined otherwise. The terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in this application In at least one embodiment or example. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

The above descriptions are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

An unmanned aerial vehicle, which includes:

The central body;

A plurality of arms are rotatably connected with the central body, and the angle between the arms and the roll axis of the UAV can be changed;

The first sensor is used to obtain the current attitude information of the unmanned aerial vehicle; and

A controller, in communication connection with the first sensor,

Wherein, the first sensor sends the acquired current attitude information to the controller; the controller determines whether the UAV is in a preset stable attitude according to the current attitude information; When the human aircraft is not in the preset stable posture, a prompt message for adjusting the included angle is issued.
The unmanned aerial vehicle according to claim 1, wherein:

The controller sends adjustment information for adjusting the included angle when the unmanned aerial vehicle is not in the preset stable attitude.
The unmanned aerial vehicle according to claim 2, wherein:

The adjustment information is associated with the current posture information.
The unmanned aerial vehicle according to claim 2, wherein:

The adjustment information includes the rotation direction and the desired angle of each arm.
The unmanned aerial vehicle according to claim 4, wherein:

The controller controls the aircraft arm to rotate to the desired angle according to the rotation direction according to the adjustment information, so as to adjust the current attitude of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 4, wherein:

The adjustment information also includes the preset telescopic length of each arm.
The unmanned aerial vehicle according to claim 2, wherein:

The adjustment information is calculated by the control terminal of the unmanned aerial vehicle;

Or, the adjustment information is calculated by the controller.
The unmanned aerial vehicle according to claim 2, wherein:

The unmanned aerial vehicle further includes a communication device communicatively connected with the controller, and the communication device sends the current attitude information to the control terminal of the unmanned aerial vehicle; and receives the adjustment information fed back by the control terminal.
The unmanned aerial vehicle according to claim 1, wherein:

The controller determines whether the unmanned aerial vehicle is in a preset stable attitude during takeoff and/or flight of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 2, wherein:

The unmanned aerial vehicle further includes an adjustment mechanism for adjusting the rotation angle of the arm, and the controller controls the adjustment mechanism to adjust the rotation angle of the arm according to the adjustment information.
The unmanned aerial vehicle according to claim 10, wherein:

The adjustment mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.
The unmanned aerial vehicle according to claim 11, wherein:

The connecting mechanism includes at least one of the following: a screw mechanism, a connecting rod mechanism, a worm gear mechanism, and a gear mechanism.
The unmanned aerial vehicle according to claim 11, wherein:

The electric device includes at least one of the following: a motor and a telescopic cylinder.
The unmanned aerial vehicle according to claim 1, wherein:

The controller obtains the angle between the arm and the roll axis of the UAV in real time.
The unmanned aerial vehicle according to claim 14, wherein:

The controller prompts the information of the currently detected included angle in real time.
The unmanned aerial vehicle according to claim 14, wherein:

When the machine arm rotates to a desired angle, the controller sends out corresponding prompt information.
The unmanned aerial vehicle according to claim 14, wherein:

The included angle is detected by an angle sensor.
The unmanned aerial vehicle according to claim 17, wherein:

The angle sensor includes at least one of the following: a Hall sensor and a potentiometer.
The unmanned aerial vehicle according to claim 1, wherein:

The first sensor includes at least one of the following: IMU, gyroscope, and vision sensor.
A control terminal for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body, and a plurality of arms rotatably connected to the central body, and the arms are connected to the roll axis of the unmanned aerial vehicle. The angle between the two can be changed, and the control terminal includes:

A communication device for receiving the current attitude information of the central body and the prompt information for adjusting the included angle sent by the unmanned aerial vehicle;

The controller is communicatively connected with the communication device, the controller obtains the adjustment information of the included angle and sends it to the communication device, and the communication device feeds back the adjustment information to the unmanned aerial vehicle to For the UAV to adjust the current attitude.
The control terminal of an unmanned aerial vehicle according to claim 20, wherein:

The adjustment information is associated with the current posture information.
The control terminal of an unmanned aerial vehicle according to claim 21, wherein:

The adjustment information includes the rotation direction and the desired angle of each arm.
The control terminal of an unmanned aerial vehicle according to claim 22, wherein:

The adjustment information also includes the preset telescopic length of each arm.
The control terminal of an unmanned aerial vehicle according to claim 20, wherein:

The controller calculates the adjustment information according to the current posture information;

Or, the control terminal further includes an input device communicatively connected with the controller, and the input device receives the adjustment information.
The control terminal of an unmanned aerial vehicle according to claim 20, wherein:

The communication device receives the information of the included angle sent by the UAV in real time.
The control terminal of an unmanned aerial vehicle according to claim 20, wherein:

The communication device receives the prompt information sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.
A method for adjusting the attitude of an unmanned aerial vehicle is suitable for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body, and a plurality of arms rotatably connected to the central body, and the arm and the aerial The angle between the roll axes of the human aircraft can be changed, and the method for adjusting the attitude of the unmanned aircraft includes:

Acquiring current attitude information of the unmanned aerial vehicle;

Determining whether the unmanned aerial vehicle is in a preset stable attitude according to the current attitude information;

When the unmanned aerial vehicle is not in the preset stable attitude, a prompt message for adjusting the included angle is issued.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 27, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

When the unmanned aerial vehicle is not in the preset stable attitude, an adjustment message for adjusting the included angle is sent.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 28, wherein:

The adjustment information is associated with the current posture information.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 28, wherein:

The adjustment information includes the rotation direction and the desired angle of each arm.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 30, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

According to the adjustment information, controlling the arm to rotate to the desired angle according to the rotation direction to adjust the current attitude of the unmanned aerial vehicle.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 30, wherein:

The adjustment information also includes the preset telescopic length of each arm.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 28, wherein:

The adjustment information is calculated by the control terminal of the unmanned aerial vehicle;

Or, the adjustment information is calculated by the onboard controller of the UAV.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 27, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

Sending the current attitude information to the control terminal of the unmanned aerial vehicle;

Receiving the adjustment information fed back by the control terminal.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 27, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

During takeoff and/or flight of the unmanned aerial vehicle, it is determined whether the unmanned aerial vehicle is in a preset stable attitude.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 28, wherein the unmanned aerial vehicle further comprises an adjustment mechanism for adjusting the rotation angle of the arm, and the attitude adjustment of the unmanned aerial vehicle Methods also include:

According to the adjustment information, the adjustment mechanism is controlled to adjust the rotation angle of the arm.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 36, wherein:

The adjustment mechanism includes an electric device and a connecting mechanism, and the electric device drives the arm to rotate through the connecting mechanism.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 37, wherein:

The connecting mechanism includes at least one of the following: a screw mechanism, a connecting rod mechanism, a worm gear mechanism, and a gear mechanism.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 37, wherein:

The electric device includes at least one of the following: a motor and a telescopic cylinder.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 27, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

Real-time detection of the angle between the arm and the roll axis of the UAV.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 40, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

It prompts the information of the currently detected included angle in real time.
The method for adjusting the attitude of the unmanned aerial vehicle according to claim 40, wherein the method for adjusting the attitude of the unmanned aerial vehicle further comprises:

When the machine arm rotates to a desired angle, a corresponding prompt message is issued.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 40, wherein:

The included angle is detected by an angle sensor.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 43, wherein:

The angle sensor includes at least one of the following: a Hall sensor and a potentiometer.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 27, wherein:

The current attitude information is detected by a sensor carried by the UAV.
The method for adjusting the attitude of an unmanned aerial vehicle according to claim 45, wherein:

The sensor includes at least one of the following: IMU, gyroscope, and vision sensor.
A method for adjusting the attitude of a control terminal of an unmanned aerial vehicle is suitable for the control terminal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a central body and a plurality of arms rotatably connected to the central body, and The angle between the arm and the roll axis of the UAV can be changed, and the method for adjusting the attitude of the control terminal of the UAV includes:

Receiving the current attitude information of the central body and the prompt information for adjusting the included angle sent by the unmanned aerial vehicle;

Obtaining adjustment information of the included angle;

The adjustment information is fed back to the unmanned aerial vehicle, so that the unmanned aerial vehicle can adjust the current attitude.
The method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to claim 47, wherein the adjustment information is associated with the current attitude information.
The method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to claim 48, wherein the adjustment information includes a rotation direction and a desired angle of each of the arms.
The method for adjusting the attitude of a control terminal of an unmanned aerial vehicle according to claim 49, wherein the adjustment information further includes a preset telescopic length of each arm.
The method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to claim 47, wherein the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further comprises:

Calculating the adjustment information according to the current posture information;

Or, receive the input adjustment information.
The method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to claim 47, wherein the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further comprises:

Receiving the information of the included angle sent by the unmanned aerial vehicle in real time.
The method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to claim 47, wherein the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle further comprises:

Receiving a prompt message sent by the unmanned aerial vehicle that the arm is rotated to a desired angle.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method for adjusting the attitude of an unmanned aerial vehicle according to any one of claims 27 to 46 when the computer program is executed by a processor. Step, or step of the method for adjusting the attitude of the control terminal of the unmanned aerial vehicle according to any one of claims 47 to 53.