WO2022033305A1 - Procédé et appareil de commande de véhicule aérien sans pilote, et support de stockage - Google Patents

Procédé et appareil de commande de véhicule aérien sans pilote, et support de stockage Download PDF

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Publication number
WO2022033305A1
WO2022033305A1 PCT/CN2021/108890 CN2021108890W WO2022033305A1 WO 2022033305 A1 WO2022033305 A1 WO 2022033305A1 CN 2021108890 W CN2021108890 W CN 2021108890W WO 2022033305 A1 WO2022033305 A1 WO 2022033305A1
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Prior art keywords
wing
mode
wingtip
flight
uav
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Application number
PCT/CN2021/108890
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English (en)
Chinese (zh)
Inventor
梁邦平
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深圳市道通智能航空技术股份有限公司
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Publication of WO2022033305A1 publication Critical patent/WO2022033305A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to the field of unmanned aerial vehicles, in particular to a control method, device and storage medium of an unmanned aerial vehicle.
  • Electronic Speed Control is an important module in the power control link of UAV. It is the core module that controls the rotation of the power motor to provide flight power. The electronic governor controls the flight of the drone by outputting the motor control signal to the power motor.
  • the vertical take-off and landing and high-speed navigation of the UAV are independently controlled by their respective electronic governors, that is, when the UAV switches between different flight stages, it is necessary to coordinate the electronic governors to Control the flight of the UAV, resulting in low stability of the UAV flight.
  • An object of the embodiments of the present invention is to provide a control method, device and storage medium for an unmanned aerial vehicle, which can improve flight stability.
  • the present invention provides the following technical solutions:
  • an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, the method comprising:
  • a target wingtip mode is selected, and the target wingtip mode includes a multi-rotor mode or a fixed-wing mode, wherein the multi-rotor mode is used to control the vertical take-off and landing of the UAV, the fixed-wing mode
  • the wing mode is used to control the high-speed cruise of the UAV
  • the relative angle between the wingtip and the wing is adjusted to control the flight of the drone.
  • the adjustment of the relative angle between the wingtip and the wing includes:
  • the man-machine generates speed in the vertical direction.
  • the adjusting the relative angle between the wingtip and the wing includes:
  • the drone is driven to generate speed in a horizontal direction.
  • the method further includes:
  • the real-time rotation angle of the wingtip is acquired, so as to adjust the flight power generated by the wingtip according to the real-time rotation angle.
  • the obtaining of the flight control instruction it includes:
  • an embodiment of the present invention provides a UAV control device, the device comprising:
  • an instruction acquisition module for acquiring the flight control instructions of the UAV
  • a wingtip mode determination module for selecting a target wingtip mode according to the flight control instruction includes a multi-rotor mode or a fixed-wing mode, wherein the multi-rotor mode is used to control the unmanned aerial vehicle vertical take-off and landing, the fixed-wing mode is used to control the high-speed cruise of the drone;
  • the wing tip rotation module is used to adjust the relative angle between the wing tip and the wing according to the target wing tip mode, so as to control the flight of the drone
  • an embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
  • the wing tip is mounted on the end of the wing and can be rotated relative to the wing, including: a servo steering gear, which is used to install the wing tip on the end of the wing and can drive the The wing tip rotates relative to the wing; a power motor is connected to the propeller for driving the propeller to rotate, so as to provide flying power to the drone; an angle sensor is used to collect the rotation angle;
  • An electronic governor installed in the fuselage, includes: a drive circuit for driving the power motor to drive the propeller to rotate; a sampling circuit, connected with the drive circuit, for sampling the output of the drive circuit The driving signal; and a microprocessor, respectively connected with the driving circuit and the sampling circuit, for executing the UAV control method described in any one of the above.
  • the electronic governor further includes a first power supply circuit and a second power supply circuit;
  • the first power supply circuit is used to convert the input voltage of the external power supply into a first voltage signal, and the first voltage signal provides power signals for the microprocessor and the angle sensor respectively;
  • the second power supply circuit is used to convert the input voltage of the external power supply into a second voltage signal, and the second voltage signal provides a power supply signal for the servo steering gear.
  • an embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by the drone, causes the The drone executes the drone control method described in any one of the above.
  • the UAV control method, device and storage medium provided in the various embodiments of the present invention, by acquiring the flight control instruction of the UAV, and determining the target wingtip mode according to the flight control instruction, according to the The target wingtip mode adjusts the relative angle between the wingtip and the wing, so that the UAV realizes the UAV in the multi-rotor mode and by adjusting the angle of the wingtip relative to the wing.
  • the fixed-wing modes can be switched freely, thereby controlling the flight mode of the UAV, so that the UAV can switch to the target wingtip mode according to different flight stages during flight, so as to adapt to the flight of various flight stages and improve the The stability of drone flight.
  • 1a is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • Fig. 1b is a schematic block diagram of the structure of another unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 2a is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • 2b is a schematic flowchart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present invention
  • 2c is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a UAV control device according to an embodiment of the present invention.
  • the control methods provided in the embodiments of the present application can be applied to various motor-driven movable objects, including but not limited to unmanned aerial vehicles (UAVs), ships, and robots.
  • UAVs unmanned aerial vehicles
  • the structure of the UAV includes a central casing, an arm and a power system.
  • the arm and the central casing are integrally connected or fixedly connected, wherein a typical power system includes an electronic governor, a power motor and a propeller.
  • the electronic governor is located in the cavity formed by the arm or center housing. One end of the electronic governor is electrically connected with the flight controller, and the other end of the electronic governor is electrically connected with the power motor.
  • the electronic governor and the power motor form a motor control system, and the electronic governor outputs a motor drive signal to the power motor to control the operation of the motor.
  • the motor is installed on the arm, the rotating shaft of the motor is connected to the propeller, and the propeller generates the flying power of the UAV under the driving signal, for example, the lift or the
  • the flight controller of the drone When the user inputs a power-on command through the remote control, the flight controller of the drone sends a flight control command to the electronic governor, and the electronic governor receives the flight control command, generates and outputs the motor drive for controlling the operation of the motor to the motor
  • the motor drive signal includes, for example, a signal for controlling the start of the motor, a signal for controlling the rotational speed of the motor, and the like.
  • the flight controller may be a flight control module of the drone.
  • the flight control module senses the environment around the UAV through various sensors, and controls the flight of the UAV.
  • the flight control module can be a processing unit, an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • FIG. 1a is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a speeder 40 is provided, wherein the wings 20 are mounted on the fuselage 10 , and the fuselage 10 is in the shape of a shuttle as a whole.
  • the wing tip 30 is mounted on the end of the wing 20 and can rotate relative to the wing 20.
  • the wing tip 30 is relatively The angles of rotation of the wings 20 are different.
  • the wingtip 30 is controlled to rotate to a first angle relative to the wing 20, so that the wingtip flies in the same direction as the UAV. power; when the UAV 100 is cruising at high speed, control the wingtip 30 to rotate to a second angle relative to the wing 20, so that the wingtip is in phase with the UAV's wing.
  • Parallel flight dynamics are possible to:
  • the wing tip 30 includes a servo steering gear 31, a power motor 32 and an angle sensor 33, wherein the wing tip 30 is installed on the end of the wing 20 through the servo steering gear 31, and the servo
  • the steering gear 31 can receive control commands, and drive the wingtips 30 to rotate relative to the wings according to the control commands;
  • the power motor 31 is connected to the propeller, and is used to drive the propeller to rotate according to the driving signal, so that the The UAV 100 provides flight power;
  • the angle sensor 33 is used to collect the rotation angle of the wingtip 30 relative to the wing 20 .
  • the wing tip 30 includes a first wing tip and a second wing tip, all of which are composed of a servo steering gear 31, a power motor 32 and an angle sensor 33, and the first wing tip and the second wing tip
  • the wing tips are respectively disposed on two opposite sides of the wing 20 .
  • the electronic governor 40 is the power unit of the unmanned aerial vehicle, and is installed in the fuselage 10.
  • the electronic governor 40 receives the flight control instructions sent by the flight controller of the unmanned aerial vehicle, and The drone is controlled to fly according to the flight control instruction.
  • the electronic governor 40 includes a control circuit assembly composed of electronic components such as MCU, and the control circuit assembly includes a plurality of control modules.
  • the electronic governor 40 It includes a driving circuit 41 , a sampling circuit 42 and a microprocessor 43 .
  • the drive circuit 41 is used to drive the power motor 32 to drive the propeller to rotate, so as to provide flight power for the drone.
  • the sampling circuit 42 is connected to the driving circuit 41 and the power motor 32 respectively, and is used for outputting a driving signal to the power motor 32 and collecting the current generated by the power motor 32 under the driving signal. Signal.
  • the microprocessor 43 is respectively connected with the drive circuit 41 and the sampling circuit 42, and the microprocessor 43 is used for receiving the flight control instructions sent by the flight controller of the drone, and according to the flight control instructions.
  • the control command generates a control signal of the drone, and outputs the control signal to the drive circuit 41, so that the drive circuit 41 generates a drive signal according to the control signal, and the drive signal is used to drive the
  • the power motor 32 drives the propeller to rotate; and the current signal from the power motor 32 is sampled by the sampling circuit 42 to form a closed-loop control of the power motor 32; the microprocessor 43 is also connected with the The servo steering gear 31 is connected to the angle sensor 33, the microprocessor 43 sends a rotation command to the servo steering gear 31, the rotation command is generated according to the flight control command, and the servo steering gear 31 is based on the The rotation instruction controls the rotation of the wingtip 30 relative to the wing 20, and collects the rotation angle of the wingtip 20 in real time through the angle
  • the electronic speed governor 40 further includes a first power supply circuit 44 and a second power supply circuit 45, wherein the first power supply circuit 44 is used to convert the input voltage of the external power supply into a first voltage signal , the first voltage signal provides power signals for the microprocessor 43 and the angle sensor 33 respectively.
  • the second power supply circuit 45 is used to convert the input voltage of the external power supply into a second voltage signal, and the second voltage signal provides a power supply signal for the servo steering gear 31 .
  • the first voltage signal and the second voltage signal can be adjusted according to the power supply signal required by the connected device.
  • the first voltage signal is a voltage drop signal of 3.3V
  • the second voltage signal is a voltage drop signal of 5V.
  • the electronic governor in order to save the installation space of the electronic governor on the unmanned aerial vehicle and reduce the body weight of the unmanned aerial vehicle, the electronic governor Each electronic component of the drone is arranged on the same circuit control board, so that the drone can be freely switched between the multi-rotor mode and the fixed-wing mode through one of the electronic governors.
  • a UAV control method provided by an embodiment of the present invention is applied to The electronic governor of the drone, the method comprising:
  • the flight control command is sent by the flight controller to the electronic governor of the UAV to switch and control the flight of the UAV in different flight stages, and the flight stages include but are not limited to: Vertical take-off phase, high-speed sailing phase or vertical landing phase.
  • the target wingtip mode includes a multi-rotor mode or a fixed-wing mode
  • the multi-rotor mode is used to control the vertical take-off and landing of the UAV, and specifically, controlling the UAV to take off and land vertically includes controlling the UAV to take off vertically or to control the UAV to land vertically;
  • the fixed-wing mode is used to control the high-speed cruise of the UAV.
  • the target wingtip mode is determined to be the multi-rotor mode; if the flight control instruction is used to instruct the UAV to perform high-speed navigation flight, Then it is determined that the target wingtip mode is a fixed wing mode.
  • the wingtip is controlled to rotate relative to the wing, so that the wingtip provides the UAV with the flight power in the target wingtip mode. It can be understood that when the UAV flies in different wingtip modes, the wingtips need to generate flight power in different directions.
  • the adjusting the relative angle between the wingtip and the wing includes:
  • the wingtip needs to generate vertical lift to control the UAV to rise to a certain height.
  • the adjustment wing tip is rotated relative to the wing for the first time. At an angle, the first angle approaches 90 degrees, that is, the wingtip is controlled to be perpendicular to the plane on which the wing is located.
  • the UAV controls the wingtip to rotate relative to the wing under the control command of the multi-rotor mode, so that the wingtip produces the same The same flight dynamics as described in the UAV flight direction.
  • the adjusting the relative angle between the wingtip and the wing includes:
  • the target wingtip mode is the fixed-wing mode
  • the wingtip needs to generate a horizontal pulling force to control the UAV to sail at a high speed at a certain height.
  • the adjustment wing tip is rotated relative to the wing for the first time.
  • the second angle is close to 90 degrees, that is, the wing tip is controlled to be parallel to the plane where the wing is located, so as to provide the UAV with a pulling force similar to the flight direction.
  • the UAV controls the wingtip to rotate relative to the wing under the control command of the fixed-wing mode, so that the wingtip generates a The same flight dynamics as described in the UAV flight direction.
  • a real-time rotation angle of the wingtip is acquired, so as to adjust the flight power generated by the wingtip according to the real-time rotation angle.
  • the electronic governor when the electronic governor receives the flight control command issued by the flight controller for multi-rotor mode flight, and controls the servo steering gear to rotate a first angle according to the flight control command, so that the wingtip generates a
  • the flying power of the unmanned aerial vehicle has the same flight direction, so that the unmanned aerial vehicle performs vertical take-off flight; the electronic governor obtains the current real-time acquisition through the angle sensor in the process of controlling the rotation of the servo steering gear.
  • the rotation angle is fed back to the microcontroller, so that the microcontroller controls the rotation of the servo steering gear according to the rotation angle, so as to realize the closed-loop control of the rotation of the wing tip.
  • the electronic governor When the electronic governor receives the flight control command sent by the flight controller to switch to the fixed-wing mode flight, and controls the servo steering gear to rotate a second angle according to the flight control command, so that the wingtip generates a
  • the wings of the UAV are parallel to the flight power, so that the UAV performs the flight mission of high-speed sailing.
  • the electronic governor obtains the current rotation angle in real time through the angle sensor and feeds it back to the microcontroller, so that the microcontroller can control the rotation angle according to the rotation angle.
  • the rotation of the servo steering gear is realized, so as to realize the closed-loop control of the rotation of the wing tip.
  • the current rotation angle is obtained in real time through the angle sensor and fed back to the microcontroller, so that the microcontroller controls the rotation of the servo servo according to the rotation angle, thereby realizing the rotation of the wing tip
  • the closed-loop control of the UAV improves the control accuracy of the UAV.
  • the flight control instruction carries a preset navigation path. After the UAV is powered on and started, it takes off in a multi-rotor mode, and when it flies to a certain height, it switches to a fixed-wing mode and enters high-speed sailing. , the UAV switches to the multi-rotor mode again to land. It can be understood that during the sailing phase, the UAV can automatically switch flight between the multi-rotor mode and the fixed-wing mode, thereby improving the degree of intelligent control of the UAV.
  • the drone by acquiring the flight control instruction of the UAV, determining the target wingtip mode according to the flight control instruction, and adjusting the relative angle between the wingtip and the wing according to the target wingtip mode , so that the drone can switch freely between the multi-rotor mode and the fixed-wing mode by adjusting the angle of the wing tip relative to the wing, thereby controlling the flight of the drone
  • the method enables the UAV to switch to the target wingtip mode according to different flight stages during flight, so as to adapt to the flight of various flight stages and improve the flight stability of the UAV.
  • FIG. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present invention, and the method further includes:
  • the electronic governor of the UAV will perform an initialization self-check operation on the entire power system, and feed back the self-check result to the flight control center,
  • the self-check of the power system of the wingtip part includes the self-check of the state of the ESC microprocessor, the self-check of the power motor drive closed-loop control circuit, the self-check of the power motor status and the closed-loop control status of the servo steering gear.
  • the UAV is further controlled to perform the flight mission; if the power system of the UAV cannot pass the self-check operation, for example, the driving of the power motor The closed-loop control cannot be realized, or the power motor cannot be driven to rotate, etc.
  • the UAV will send alarm information to remind the operator to further check the failure of the UAV.
  • the alarm information includes but is not limited to the alarm issued by the UAV beeping sound, or, blinking LED lights, etc.
  • the control center before the UAV starts to fly, it is checked whether the power system of the UAV is normal, if so, the step of obtaining the flight control instruction is performed, and if not, an alarm message is sent to the UAV.
  • the control center thereby ensuring the flight safety of the drone.
  • the following describes the flight control process of the UAV by taking the flight process of the UAV switching from the multi-rotor mode to the fixed-wing mode as an example:
  • the UAV control unit will perform an initialization self-check operation on the entire power system and inform the flight control center of the result of the self-check, wherein the self-check of the drone includes electronic speed regulation
  • the state self-test of the microprocessor in the device the self-test of the drive closed-loop control circuit of the power motor, the state of the power motor and the closed-loop control of the servo steering gear.
  • the electronic governor receives the flight control command issued by the flight controller for multi-rotor mode flight, and controls the servo steering gear to rotate a first angle according to the flight control command, so that the wing tip The same flying power as the flying direction of the UAV is generated, so that the UAV performs vertical take-off flight.
  • the electronic governor receives the flight control command issued by the flight controller to switch to the fixed-wing mode flight, and controls the servo steering gear to rotate according to the flight control command
  • the second angle is such that the wingtips generate flying power parallel to the wings of the UAV, so that the UAV performs the flight mission of high-speed sailing.
  • the electronic governor obtains the current rotation angle in real time through the angle sensor and feeds it back to the microcontroller, so that the microcontroller can control the rotation angle according to the rotation angle.
  • the rotation of the servo steering gear is realized, so as to realize the closed-loop control of the rotation of the wing tip.
  • the power motor works normally to provide the UAV with flight power.
  • an embodiment of the present invention provides a drone control device, and the device 500 includes:
  • an instruction acquisition module 51 used to acquire the flight control instruction of the UAV
  • the wingtip mode determination module 52 is configured to select a target wingtip mode according to the flight control instruction, and the target wingtip mode includes a multi-rotor mode or a fixed-wing mode, wherein the multi-rotor mode is used to control the The man-machine vertical take-off and landing, the fixed-wing mode is used to control the high-speed cruise of the UAV;
  • the wing tip rotation module 53 is configured to adjust the relative angle between the wing tip and the wing according to the target wing tip mode, so as to control the UAV to fly.
  • the drone by acquiring the flight control instruction of the UAV, determining the target wingtip mode according to the flight control instruction, and adjusting the relative angle between the wingtip and the wing according to the target wingtip mode , so that the drone can switch freely between the multi-rotor mode and the fixed-wing mode by adjusting the angle of the wing tip relative to the wing, thereby controlling the flight of the drone
  • the method enables the UAV to switch to the target wingtip mode according to different flight stages during flight, so as to adapt to the flight of various flight stages and improve the flight stability of the UAV.
  • the apparatus or device embodiments described above are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and components shown as modular units may or may not be physical units , that is, it can be located in one place, or it can be distributed to multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each embodiment can implement the UAV control device by means of software plus a general hardware platform, and of course can also be implemented by hardware.
  • the embodiments of the drone control device can refer to the contents of the above-mentioned various embodiments if the contents do not conflict with each other. , which will not be repeated here.
  • Embodiments of the present invention provide a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, to execute the above The method steps of Figures 2a-3 are described.
  • An embodiment of the present invention provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the The computer executes the random encoding method in any of the above method embodiments, for example, executes the method steps of Fig. 2a-Fig. 3 described above.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande d'un véhicule aérien sans pilote, et un support de stockage. Le procédé comprend les étapes consistant à : acquérir une instruction de commande de vol d'un véhicule aérien sans pilote ; déterminer un mode de bout d'aile cible selon l'instruction de commande de vol ; et ajuster l'angle relatif entre un bout d'aile (30) et une aile (20) selon le mode de bout d'aile cible. Par conséquent, un véhicule aérien sans pilote peut commuter librement entre un mode à rotors multiples et un mode à aile fixe au moyen de l'ajustement d'un angle d'un bout d'aile (30) par rapport à une aile (20) du véhicule aérien sans pilote, ce qui permet de commander le mode de vol du véhicule aérien sans pilote, de telle sorte que le véhicule aérien sans pilote peut commuter vers un mode de bout d'aile cible selon différents stades de vol pendant le vol, de manière à s'adapter au vol dans divers stades de vol, améliorant ainsi la stabilité de vol du véhicule aérien sans pilote.
PCT/CN2021/108890 2020-08-14 2021-07-28 Procédé et appareil de commande de véhicule aérien sans pilote, et support de stockage WO2022033305A1 (fr)

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CN202010817162.XA CN111976981A (zh) 2020-08-14 2020-08-14 一种无人机控制方法、装置及存储介质
CN202010817162.X 2020-08-14

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116107793A (zh) * 2023-04-03 2023-05-12 深圳市好盈科技股份有限公司 一种无人机动力系统故障的存储方法和装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976981A (zh) * 2020-08-14 2020-11-24 深圳市道通智能航空技术有限公司 一种无人机控制方法、装置及存储介质

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