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WO2020191647A1 - Procédé de commande d'atterrissage et dispositif de commande de vol pour véhicule aérien sans pilote et véhicule aérien sans pilote - Google Patents

Procédé de commande d'atterrissage et dispositif de commande de vol pour véhicule aérien sans pilote et véhicule aérien sans pilote Download PDF

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Publication number
WO2020191647A1
WO2020191647A1 PCT/CN2019/079832 CN2019079832W WO2020191647A1 WO 2020191647 A1 WO2020191647 A1 WO 2020191647A1 CN 2019079832 W CN2019079832 W CN 2019079832W WO 2020191647 A1 WO2020191647 A1 WO 2020191647A1
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WO
WIPO (PCT)
Prior art keywords
mode
drone
flight
landing
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/079832
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English (en)
Chinese (zh)
Inventor
张奕烜
段武阳
王立
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/079832 priority Critical patent/WO2020191647A1/fr
Priority to CN201980004949.XA priority patent/CN111213106B/zh
Publication of WO2020191647A1 publication Critical patent/WO2020191647A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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

Definitions

  • the present invention relates to the field of control technology, and in particular to a landing control method of an unmanned aerial vehicle, flight control equipment and an unmanned aerial vehicle.
  • Automatic landing is one of the common functions in the UAV flight control system. Its purpose is to control the UAV to gradually descend from any height to the ground.
  • the existing automatic landing function is designed solely for rotary-wing drones or fixed-wing drones, and the changes in the flight characteristics of the drones are not considered when controlling the drones to land.
  • this design cannot achieve better performance in terms of landing time and landing energy consumption. Therefore, how to control drone landing more effectively and reduce energy consumption is of great significance.
  • the embodiments of the present invention provide a landing control method, flight control equipment and the UAV, which can realize the high-speed and safe landing of the UAV and save the energy consumption during the landing of the UAV.
  • an embodiment of the present invention provides a landing control method for a drone, including:
  • the drone When it is detected that the drone meets the landing conditions, acquiring the current flight mode and flight status information of the drone, where the current flight mode of the drone includes a rotor flight mode or a fixed wing flight mode;
  • the landing mode of the UAV is determined according to the current flight mode of the UAV and the flight status information, so that the UAV can land according to the landing mode.
  • an embodiment of the present invention provides a flight control device, including a memory and a processor;
  • the memory is used to store program instructions
  • the processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • the drone When it is detected that the drone meets the landing conditions, acquiring the current flight mode and flight status information of the drone, where the current flight mode of the drone includes a rotor flight mode or a fixed wing flight mode;
  • the landing mode of the UAV is determined according to the current flight mode of the UAV and the flight status information, so that the UAV can land according to the landing mode.
  • an embodiment of the present invention provides a drone.
  • the drone has a rotor flight mode and a fixed wing flight mode.
  • the drone includes:
  • the power system configured on the fuselage is used to provide mobile power for the UAV;
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.
  • the flight control device when the flight control device detects that the drone meets the landing conditions, it can obtain the current flight mode and flight status information of the drone, and according to the current flight mode and flight status of the drone The information determines the landing mode of the UAV, so that the UAV can land according to the landing mode, so as to realize the high-speed and safe landing of the UAV, and save the energy consumption during the landing of the UAV.
  • FIG. 1 is a schematic structural diagram of a landing control system for a drone provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a landing control method for a drone provided by an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a circling circle of a drone provided by an embodiment of the present invention.
  • Figure 4a is a schematic diagram of a landing mode of a drone provided by an embodiment of the present invention.
  • FIG. 4b is a schematic diagram of another drone landing mode provided by an embodiment of the present invention.
  • Figure 5a is a schematic diagram of another drone landing mode provided by an embodiment of the present invention.
  • Figure 5b is a schematic diagram of another drone landing mode provided by an embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a flight control device provided by an embodiment of the present invention.
  • the landing control method of the drone provided in the embodiment of the present invention can be executed by a landing control system of the drone.
  • the landing control system of the drone includes a flight control device and a drone.
  • the flight control device may be installed on the drone.
  • the flight control device The device may be spatially independent of the drone.
  • the flight control device may be a component of the drone, that is, the drone includes a flight control device.
  • the landing control method of the drone can also be applied to other movable devices, such as robots that can move autonomously, unmanned vehicles, unmanned ships and other movable devices.
  • the flight control device in the landing control system of the UAV can obtain the current flight mode and flight status information of the UAV when it detects that the UAV meets the landing conditions, and according to the current flight mode and flight status of the UAV.
  • the flight status information determines the landing mode of the UAV, so that the UAV can land according to the landing mode.
  • the current flight mode of the drone includes a rotor flight mode or a fixed wing flight mode.
  • FIG. 1 is a schematic structural diagram of a landing control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the landing control system of the drone includes: a flight control device 11 and a drone 12.
  • the drone 12 includes a power system 121, and the power system 121 is used to provide power for the drone 12 to move.
  • the flight control device 11 is set in the drone 12, and can establish a communication connection with other devices (such as the power system 121) in the drone through a wired communication connection.
  • the drone 12 and the flight control device 11 are independent of each other.
  • the flight control device 11 is set in a cloud server and establishes a communication connection with the drone 12 through a wireless communication connection.
  • the flight control device 11 may be a flight controller.
  • the drone 12 has a rotor flight mode and a fixed wing flight mode.
  • the flight control device 11 can detect in real time whether the drone 12 meets the landing conditions, and if it detects that the drone 12 meets the landing conditions, it can obtain the current flight mode and flight status information of the drone 12 .
  • the current flight mode of the drone 12 includes a rotary wing flight mode or a fixed wing flight mode.
  • the UAV 12 includes a rotor assembly and a fixed-wing assembly. The rotor assembly provides the flight power of the UAV 12 in the rotor flight mode, and the fixed-wing assembly provides the flight of the UAV 12 in the fixed-wing flight mode. power.
  • the flight status information includes positioning information and/or flight altitude, and the positioning information may be Global Positioning System (GPS) information, for example.
  • GPS Global Positioning System
  • the flight control device 11 may determine the landing mode of the UAV 12 according to the current flight mode of the UAV 12 and the flight status information, so that the UAV 12 can land according to the landing mode. .
  • the landing control method of the unmanned aerial vehicle provided by the embodiments of the present invention will be schematically described below with reference to FIG. 2 to FIG. 6.
  • FIG. 2 is a schematic flow chart of a landing control method for a drone provided by an embodiment of the present invention.
  • the method can be executed by a flight control device.
  • the specific explanation of the flight control device is as described above. .
  • the method of the embodiment of the present invention includes the following steps.
  • the flight control device can detect in real time whether the drone meets the landing conditions. When it is detected that the drone meets the landing conditions, the flight control device can obtain the current flight mode and flight status information of the drone.
  • the flight mode of the drone includes a rotary wing flight mode or a fixed wing flight mode.
  • the flight status information includes positioning information and/or flight altitude. The flight control device obtains the current flight mode and flight status information of the drone to determine the landing mode of the drone according to the flight mode and flight status information.
  • the drone meets the landing condition, including that the difference between the remaining power of the drone's battery and the power required for landing is less than a preset power threshold.
  • the flight control device is provided with a battery power detector and a landing power estimator, and the flight control device can measure and calculate the current remaining battery power of the drone in real time through the battery power detector, And through the landing power estimator according to the current flight mode and flight status information of the drone, the power required for the drone to land is calculated.
  • the flight control device detects that the difference between the remaining power of the battery of the drone and the power required for landing of the drone is less than a preset power threshold, it can be determined that the drone meets the landing condition.
  • the preset power threshold is a safe power threshold for landing the drone set by a user. It should be noted that the actual landing point of the UAV may be different from the UAV's relative altitude reference point. Therefore, the actual landing height of the UAV may be greater than the UAV's relative altitude during landing. Altitude, which requires the user to set the preset power threshold according to the operating scenario (such as the altitude difference between the lowest point of the flight altitude and the take-off point in the flight range).
  • the drone meets the landing conditions, including acquiring a landing instruction sent by a remote control device communicatively connected with the drone.
  • the remote control device establishes a communication connection with the drone, and the remote control device can send remote control instructions to the drone to control the drone to fly.
  • the flight control device may be provided with a remote control signal detector, and the flight control device may detect the received remote control command in real time through the remote control signal detector.
  • the remote control device may include, but is not limited to, a landing button or a landing button, so that the user can send a landing instruction to the drone through the landing button or the landing button.
  • the drone meets the landing conditions, including a hardware device failure of the drone.
  • a hardware detector can be provided in the flight control device, and the flight control device can monitor the integrity of each hardware in the landing control system of the drone in real time through the hardware detector. If the flight control device determines that the hardware in the landing control system of the drone is faulty (for example, GPS star is lost), it can be determined that the drone meets the landing conditions.
  • the drone meets the landing conditions, including that the current wind speed is greater than a preset wind speed threshold for safe flight of the drone.
  • a wind speed detector may be provided in the flight control device, and the flight control device may calculate the current wind speed in real time through the wind speed detector. If it is detected that the current wind speed is greater than the preset value for safe flight of the drone The wind speed threshold can determine that the drone meets the landing conditions.
  • the flight control device detects that the current wind speed is 10m/s, it can be determined that the current wind speed of 10m/s is greater than the preset wind speed threshold of 8m/s for the safe flight of the drone. Therefore, it can be determined that the drone meets the landing conditions.
  • the landing mode includes a forward transition mode, a backward transition mode, a fixed-wing strong cutting rotor mode, a fixed-wing straight flight mode, a fixed-wing fixed-point hovering mode, a rotor deceleration hovering mode, and a rotor landing mode , One or more of the rotor attitude landing modes.
  • the forward transition mode is used to instruct the drone to smoothly transition from the rotor flight mode to the fixed wing flight mode, and the flight altitude of the drone does not change during the transition.
  • the smooth transition of the drone from the rotor flight mode to the fixed-wing flight mode refers to controlling the drone's heading along the drone during the transition from the rotor flight mode to the fixed-wing flight mode.
  • the nose of the aircraft is facing toward the flight, and the rotor flight mode is automatically turned off and the fixed-wing flight mode is turned on to achieve a smooth transition from the rotor flight mode to the fixed-wing flight mode to ensure the stability of the drone during the transition and save the time during the transition. energy consumption.
  • the backward transition mode is used to instruct the drone to smoothly transition from a fixed-wing flight mode to a rotary-wing flight mode, and the flight altitude of the drone does not change during the transition.
  • the smooth transition of the drone from the fixed-wing flight mode to the rotary-wing flight mode means that when the drone reaches a preset safe altitude, the fixed-wing flight mode is automatically turned off and the rotor flight mode is turned on, and During the switching process, the drone is controlled to fly at the preset safe altitude, so as to realize a smooth transition from a fixed-wing flight mode to a rotary-wing flight mode, and save energy consumption during the transition process.
  • the fixed-wing strong cutting rotor mode is used to instruct the drone to directly transform from the fixed-wing flight mode to the rotary-wing flight mode, and the flying height of the drone does not change during the transition.
  • the direct transition of the drone from the fixed-wing flight mode to the rotary-wing flight mode refers to directly turning off the fixed-wing flight mode of the drone at the current altitude of the drone, and turning on the rotary-wing flight mode , There is no transition process.
  • the fixed-wing straight flight mode is used to instruct the UAV to fly with a roll angle of 0 degrees in the fixed-wing flight mode, and the flying height of the UAV does not change during the flight. change.
  • the fixed-wing fixed-point hovering mode is used to instruct the UAV to descend in the fixed-wing flight mode around a circle determined by a designated center position and radius.
  • the center position and radius of the circle are set by the user through a parameter table, which is not specifically limited in the embodiment of the present invention.
  • the position of the center of the circle is automatically calculated according to the actual position of the drone when the drone is turned into a fixed-wing circling mode.
  • the specific calculation method includes but is not limited to the radius set by the user and using the drone
  • the current position point in the track is determined by the tangent point.
  • Fig. 3 is a schematic diagram of a circling circle of a drone provided by an embodiment of the present invention. Assuming that the current position point 31 of the drone is point m and the radius 32 set by the user is R, the flight control The device can determine the center position 33 of the circle according to the current position point 31 and the radius 32, thereby determining the circle 34 in which the drone hovering and descending tangent to the current position point 31.
  • the rotor deceleration hovering mode is used to instruct the drone to decelerate to hover in the rotor flight mode.
  • the rotor landing mode is used to instruct the drone to maintain the current horizontal position in the rotor flight mode and land to the ground at a horizontal speed of zero.
  • the rotor attitude landing mode is used to instruct the UAV to keep the attitude and level down to the ground in the rotor flight mode.
  • S202 Determine the landing mode of the UAV according to the current flight mode of the UAV and the flight status information, so that the UAV can land according to the landing mode.
  • the flight control device may determine the landing mode of the UAV according to the current flight mode of the UAV and the flight status information, so that the UAV can land according to the landing mode .
  • the flight status information may include positioning information, and when the flight control device determines the landing mode of the drone according to the current flight mode of the drone and the flight status information, The state of the positioning information of the drone is detected, and the landing mode of the drone is determined according to the state of the positioning information of the drone.
  • the state of the positioning information of the drone may include an abnormal state or a normal state.
  • the positioning information includes at least one of position information, posture information, and speed information.
  • the positioning system of the drone includes, but is not limited to, a global positioning system (GPS) positioning system, a Beidou positioning system, or a real-time kinematic (RTK) carrier phase differential positioning system.
  • GPS global positioning system
  • RTK real-time kinematic
  • the flight control device if it detects that the status of the positioning information of the drone is abnormal, and the current flight mode of the drone is the rotor flight mode, it can determine that the drone The landing mode of the aircraft is the rotor attitude landing mode, so that the drone will land according to the rotor attitude landing mode.
  • the explanation of the rotor attitude landing mode is as described above, and will not be repeated here.
  • the flight control device when it is detected that the status of the positioning information of the drone is in an abnormal state, the flight control device cannot obtain the positioning information such as the horizontal position and horizontal speed of the drone.
  • an air pressure device may be provided in the flight control device, and the flight control device may obtain information on the vertical direction such as the height of the drone from the ground and the vertical speed perpendicular to the ground through the air pressure device. Therefore, when the positioning information of the drone is in an abnormal state, if the current flight mode of the drone is the rotor flight mode, the flight control device can determine that the landing mode of the drone is the rotor attitude landing mode . In some embodiments, when the drone is landed according to the rotor attitude landing mode, it can land on the ground while maintaining the attitude in the rotor flight mode.
  • the flight control device detects that the status of the positioning information of the drone is abnormal, and the current flight mode of the drone is the rotor flight mode, it can determine the landing mode of the drone It is the rotor attitude landing mode, so that the UAV can keep the attitude and level down to the ground in the rotor flight mode.
  • the flight control device detects that the status of the positioning information of the drone is in an abnormal state, and the current flight mode of the drone is a fixed-wing flight mode, it can determine that the drone
  • the landing mode of the man-machine is a fixed-wing strong-cut rotor mode and a rotor attitude landing mode, so that the UAV can land according to the fixed-wing strong-cut rotor mode and the rotor attitude landing mode, the fixed-wing strong-cut rotor mode
  • the explanation of the landing mode and rotor attitude is as described above, so I won’t repeat them here.
  • the drone when the drone is landing according to the fixed-wing strong-cut rotor mode and the rotor attitude landing mode, the drone may first be converted from the fixed-wing flight mode through the fixed-wing strong cut rotor mode It is a rotor flight mode, and the flying height of the drone does not change during the transition process, and then in the rotor flight mode of the drone, the rotor attitude landing mode maintains the attitude to land horizontally to the ground.
  • the flight status information may include positioning information and altitude information
  • the flight control device determines the landing mode of the drone according to the current flight mode of the drone and the flight status information. At this time, the status of the positioning information of the drone and the flying height of the drone can be detected, and the landing mode of the drone can be determined according to the status and flying height of the drone's positioning information.
  • the flight control device may be further based on the drone The flying height of the drone determines the landing mode of the drone.
  • the aircraft determines the landing mode of the drone according to the flying height of the drone, it can determine whether the flying height of the drone is greater than the preset energy-saving altitude, and when the flying height of the drone is greater than the preset energy-saving altitude, When the energy-saving altitude is set, the landing mode of the UAV can be determined to be the rotor deceleration hovering mode, the forward transition mode, the fixed-wing straight flight mode, the fixed-wing fixed-point hovering mode, the backward transition mode, and the rotor landing mode. When the flying height of the drone is less than or equal to the preset energy-saving height, it may be determined that the landing mode of the drone is the rotor deceleration hovering mode and the rotor landing mode. Among them, the explanation of each landing mode is as described above, and will not be repeated here.
  • the preset energy-saving height is determined according to a preset safe height and an energy-saving threshold; in some embodiments, the preset safe height includes, but is not limited to, the unmanned height set by the user through the parameter table.
  • the minimum flying height of the aircraft in the fixed-wing flight mode is used to ensure the flight safety of the drone, such as 20m; in some embodiments, the energy-saving threshold includes, but is not limited to, the drone slave set by the user through the parameter table.
  • the minimum height difference before and after descent when the rotor flight mode is switched to the fixed wing flight mode is used to ensure that the UAV can save energy consumption after switching from the rotor flight mode to the fixed wing flight mode and then descend.
  • the energy saving threshold may be It is 50m.
  • the flight control device determines that the landing mode of the drone is the rotor deceleration hovering mode, the forward transition mode, the fixed-wing straight flight mode, the fixed-wing fixed-point hovering mode, and the backward transition mode. And after the rotor landing mode, the drone can be controlled to land in the order of rotor deceleration hovering mode, forward transition mode, fixed-wing straight flight mode, fixed-wing fixed-point hovering mode, backward transition mode and rotor landing mode.
  • Figure 4a is used as an example for illustration.
  • Figure 4a is a schematic diagram of a drone landing mode provided by an embodiment of the present invention. Assuming that the preset energy-saving altitude is 50m and the preset safety altitude is 20m, if the drone is flying When the altitude is 100m, and when flying to waypoint A at a speed of 5m/s in the rotor flight mode, the flight control device detects that the drone meets the landing conditions, then the flight control device can detect the The status and flight altitude of the positioning information of the man-machine.
  • the landing mode of the UAV is rotor deceleration hovering mode, forward transition mode, and fixed Wing straight flight mode, fixed-wing fixed-point hovering mode, backward transition mode, and rotor landing mode.
  • the flight control device can control the drone to start from the A waypoint 41 and control the drone to decelerate to the B waypoint 42 in the rotor flight mode according to the rotor deceleration hovering mode. Then follow the forward transition mode to control the drone from waypoint B 42, keep the drone's flying height unchanged and fly along the nose of the drone.
  • the drone When the drone flies from waypoint B 42 to waypoint C At 43 o'clock, the drone completed its switch from rotor flight mode to fixed wing flight mode.
  • the UAV maintains the same altitude in fixed-wing flight mode, and flies for a preset time (such as 3s) to D waypoint 44 with a roll angle of 0 degrees.
  • the drone starts from D waypoint 44 and descends in a fixed-wing flight mode around a circle 47 determined by the designated center position 45 and radius 46.
  • the flight control device can control The UAV keeps the flying height unchanged at a preset safe height of 20m, and changes from a fixed-wing flying mode to a rotary-wing flying mode. Then control the UAV to maintain the current horizontal position in the rotor flight mode and land to the ground at a horizontal speed of 0.
  • the flight control device controls the drone to decelerate to hover in the rotor deceleration hovering mode, and the drone starts to keep flying from the hovering position.
  • the drone is switched from rotor flight mode to fixed-wing flight mode through the forward transition mode.
  • the flight control device controls the drone to fly straight in the fixed-wing flight mode for a preset time to ensure The stability of the drone's landing process.
  • the flight control device controls the drone to hover and descend to a preset safe altitude in a fixed-wing fixed-wing hovering mode, and finally, controls the drone to fly from the fixed-wing at the preset safe altitude
  • the mode is switched to the rotor flight mode, and the current horizontal position is maintained in the rotor flight mode and landed to the ground at a horizontal speed of 0, which can save energy consumption during the landing of the drone.
  • the landing mode of the drone is the rotor deceleration hovering mode and the rotor landing mode.
  • the flight control device can control the drone to land in the order of the deceleration hover mode and the rotor landing mode. .
  • the drone has a wind speed when landing according to the rotor attitude landing mode, the horizontal speed of the drone under the influence of the wind speed may not be zero at this time.
  • Figure 4b is used as an example for illustration.
  • Figure 4b is a schematic diagram of another drone landing mode provided by an embodiment of the present invention. Assuming that the preset energy-saving height is 50m and the preset safety height is 20m, if the drone's When flying at a height of 40m and flying to E waypoint 48 at a flight speed of 5m/s in the rotor flight mode, the flight control device detects that the drone meets the landing conditions, then the flight control device can detect the The status and flight altitude of the drone's positioning information.
  • the landing mode of the drone is the rotor deceleration hovering mode and the rotor landing mode.
  • the flight control device can control the drone to start from the E waypoint 48, and control the drone to decelerate to F waypoint 49 in the rotor flight mode according to the rotor deceleration hovering mode, and then the drone will land according to the rotor Mode In rotor flight mode, keep the current horizontal position from F waypoint 49, and land to the ground with a horizontal speed of 0.
  • the flight control device controls the drone to land to hover in the rotor deceleration hovering mode, which can ensure the safety of the drone landing and save energy consumption.
  • the drone starts from the hovering position, by controlling the drone to maintain the current horizontal position in the rotor flight mode, and landing to the ground with a horizontal speed of 0, it can save energy during the landing process and increase the landing speed.
  • the flight control device may be further based on the drone's The flight altitude determines the landing mode of the drone.
  • the flight control device can determine whether the flying height of the drone is greater than the preset safe altitude, and when the flying altitude is greater than the preset safe altitude , It can be determined that the landing mode of the drone is a fixed-wing straight flight mode, a fixed-wing fixed-point hovering mode, a backward transition mode, and a rotor landing mode.
  • the landing mode of the UAV is the fixed-wing strong cutting rotor mode and the rotor landing mode.
  • the drone after the flight control device determines that the landing mode of the drone is the fixed-wing straight flight mode, the fixed-wing fixed-point hovering mode, the backward transition mode, and the rotor landing mode, the drone can be controlled The aircraft will land in the order of fixed-wing straight flight mode, fixed-wing fixed-point hovering mode, backward transition mode, and rotor landing mode.
  • Figure 5a is used as an example to illustrate.
  • Figure 5a is a schematic diagram of another drone landing mode provided by an embodiment of the present invention. It is assumed that the preset safe altitude is 20m. If the drone's flying altitude is 50m and When flying to a waypoint 51 at a flight speed of 15m/s in the fixed-wing flight mode, the flight control device detects that the drone meets the landing conditions, then the flight control device can detect the positioning information of the drone Status and flight altitude.
  • the landing mode of the drone is fixed-wing straight flight mode and fixed-wing fixed-point hovering mode , Backward transition mode and rotor landing mode.
  • the flight control device can control the drone from the a waypoint 51, according to the fixed-wing straight flight mode, and control the drone to maintain a constant flight height of 50m in the fixed-wing flight mode, with a roll angle of 0 degrees Fly the preset time (such as 3s) to b waypoint 52.
  • the UAV controls the UAV to start from waypoint b 52, and control the UAV to hover around the circle 55 determined by the designated center position 53 and radius 54 in the fixed-wing flight mode.
  • the UAV is controlled through the backward transition mode to maintain the preset safe altitude of 20m unchanged, and it changes from the fixed-wing flight mode to the rotary-wing flight mode.
  • the drone is controlled to maintain the current horizontal position in the rotor flight mode from a preset safety height of 20m, and land to the ground at a horizontal speed of 0.
  • the roll angle of the drone at waypoint a is not 0 degrees, the roll angle of the drone can be first converted to 0 degrees, and then fly to the preset time b Waypoint 52.
  • the flight control device controls the drone to fly in a fixed-wing straight flight mode in a fixed-wing straight flight mode for a preset time. It can ensure the stability of the drone landing process to save energy. Between the end point of parallel direct flight and the preset safe altitude, the drone can be controlled by controlling the drone to descend to the preset safe altitude in a fixed-wing circling mode.
  • the drone can be controlled when it lands at a flight altitude less than the preset safe altitude
  • the drone switches from the fixed-wing flight mode to the rotor-wing flight mode, and maintains the current horizontal position in the rotor-wing flight mode, and lands to the ground at a horizontal speed of 0 to save energy consumption during the landing of the drone.
  • the flight control device after the flight control device determines that the landing mode of the drone is the fixed-wing strong-cut rotor mode and the rotor landing mode, it can control the drone to land according to the fixed-wing strong-cut rotor mode and rotor landing mode. Landing in the order of patterns.
  • Figure 5b is used as an example to illustrate.
  • Figure 5b is a schematic diagram of another drone landing mode provided by an embodiment of the present invention. Assuming that the preset safe altitude is 20m, if the drone's flying altitude is 10m and When flying to c waypoint 55 at a flight speed of 15m/s in the fixed-wing flight mode, the flight control device detects that the drone meets the landing conditions, then the flight control device can detect the positioning information of the drone If it is detected that the status of the positioning information is normal, and the flying height of 10m is less than the preset safe height of 20m, it can be determined that the landing mode of the drone is the fixed-wing strong-cut rotor mode And rotor landing mode.
  • the flight control device can control the drone to start from the c waypoint 55, keep the current flying height of 10m unchanged, and control the drone to switch from the fixed-wing flight mode to the rotor-wing flight mode according to the fixed-wing strong-cut rotor mode. Then control the UAV to maintain the current horizontal position in the rotor flight mode from the current flying height of 10m, and land to the ground with a horizontal speed of 0.
  • the drone when the drone starts to land at a flying height less than the preset safety height, the drone is controlled to remain at the current flying height by controlling the drone in the fixed-wing strong-cut rotor mode to switch from the fixed-wing flight mode In the rotor flight mode, the drone is controlled to maintain the current horizontal position in the rotor flight mode from the current flight height, and land to the ground at a horizontal speed of 0, thereby increasing the landing speed and saving energy during the landing of the drone Consumption to ensure the safety of the drone's descent.
  • the flight control device when the flight control device detects that the drone meets the landing conditions, it can obtain the current flight mode and flight status information of the drone, and according to the current flight mode and flight status of the drone The information determines the landing mode of the UAV, so that the UAV can land according to the landing mode, so as to realize the high-speed and safe landing of the UAV, and save the energy consumption during the landing of the UAV.
  • FIG. 6 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.
  • the flight control device includes: a memory 601 and a processor 602.
  • the flight control device further includes a data interface 603, and the data interface 603 is used to transfer data information between the flight control device and other devices.
  • the memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories.
  • the processor 602 may be a central processing unit (CPU).
  • the processor 602 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 601 is used to store program instructions, and the processor 602 can call the program instructions stored in the memory 601 to perform the following steps:
  • the drone When it is detected that the drone meets the landing conditions, acquiring the current flight mode and flight status information of the drone, where the current flight mode of the drone includes a rotor flight mode or a fixed wing flight mode;
  • the landing mode of the UAV is determined according to the current flight mode of the UAV and the flight status information, so that the UAV can land according to the landing mode.
  • the flight status information includes positioning information and/or flight altitude.
  • the landing modes include forward transition mode, backward transition mode, fixed-wing strong cutting rotor mode, fixed-wing straight flight mode, fixed-wing fixed-point hovering mode, rotor deceleration hovering mode, rotor landing mode, rotor attitude One or more of the landing modes.
  • the forward transition mode is used to instruct the drone to smoothly transition from the rotor flight mode to the fixed wing flight mode, and the flight height of the drone remains unchanged during the transition.
  • the backward transition mode is used to instruct the drone to smoothly transition from the fixed-wing flight mode to the rotary-wing flight mode, and the flight height of the drone does not change during the transition.
  • the fixed-wing strong cutting rotor mode is used to instruct the drone to directly transform from the fixed-wing flight mode to the rotary-wing flight mode, and the flying height of the drone remains unchanged during the transition.
  • the fixed-wing straight flight mode is used to instruct the UAV to fly with a roll angle of 0 degrees in the fixed-wing flight mode, and the flying height of the UAV remains unchanged during the flight.
  • the fixed-wing fixed-point hovering mode is used to instruct the UAV to descend and hover around a circle determined by the designated center position and radius in the fixed-wing flight mode.
  • the rotor deceleration hovering mode is used to instruct the drone to decelerate to hover in the rotor flight mode.
  • the rotor landing mode is used to instruct the drone to maintain the current horizontal position in the rotor flight mode, and land to the ground at a horizontal speed of 0.
  • the rotor attitude landing mode is used to instruct the drone to keep the attitude and level down to the ground in the rotor flight mode.
  • the flight status information includes positioning information, and when the processor 602 determines the landing mode of the drone according to the current flight mode of the drone and the flight status information, it is specifically configured to:
  • the status of the positioning information of the drone is in an abnormal state, and the current flight mode of the drone is the rotor flight mode, determining that the landing mode of the drone is the rotor attitude landing mode;
  • the landing mode of the drone is the fixed-wing strong cutting rotor mode and the rotor Attitude landing mode.
  • the flight status information includes positioning information and flight altitude; when the processor 602 determines the landing mode of the drone according to the current flight mode of the drone and the flight status information, it is specifically used for :
  • the status of the positioning information of the drone is in a normal state, and the current flight mode of the drone is the rotor flight mode, determining whether the flying height of the drone is greater than a preset energy-saving height;
  • the landing mode of the drone is the rotor deceleration hover mode, the forward transition mode, the fixed-wing straight flight mode, and the fixed-wing fixed-point hovering mode , Backward transition mode and rotor landing mode;
  • the landing mode of the drone is the rotor deceleration hovering mode and the rotor landing mode.
  • the flight status information includes positioning information and flight altitude; when the processor 602 determines the landing mode of the drone according to the current flight mode of the drone and the flight status information, it is specifically used for :
  • the status of the positioning information of the drone is in a normal state, and the current flight mode of the drone is a fixed-wing flight mode, determining whether the flying height of the drone is greater than a preset safety height;
  • the landing mode of the drone is a fixed-wing straight flight mode, a fixed-wing fixed-point hovering mode, a backward transition mode, and a rotor landing mode
  • the landing mode of the drone is the fixed-wing strong cutting rotor mode and the rotor landing mode.
  • the drone satisfies the landing condition, including that the difference between the remaining power of the battery of the drone and the power required for landing is less than a preset power threshold.
  • that the drone meets a landing condition includes acquiring a landing instruction sent by a remote control device communicatively connected with the drone.
  • the drone meets the landing conditions, including the failure of hardware equipment of the drone.
  • the drone satisfies the landing conditions, including that the current wind speed is greater than a preset wind speed threshold for safe flight of the drone.
  • the flight control device when the flight control device detects that the drone meets the landing conditions, it can obtain the current flight mode and flight status information of the drone, and according to the current flight mode and flight status of the drone The information determines the landing mode of the UAV, so that the UAV can land according to the landing mode, so as to realize the high-speed and safe landing of the UAV, and save the energy consumption during the landing of the UAV.
  • the embodiment of the present invention also provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle has a rotor flight mode and a fixed-wing flight mode.
  • the drone includes: a fuselage; and a power system configured on the fuselage for UAVs provide power to move; and the above-mentioned flight control equipment.
  • the drone when the drone detects that the drone meets the landing conditions, it can obtain the current flight mode and flight status information of the drone, and according to the current flight mode and flight status of the drone The information determines the landing mode of the UAV, so that the UAV can land according to the landing mode, so as to realize the high-speed and safe landing of the UAV, and save the energy consumption during the landing of the UAV.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method described in the embodiment corresponding to FIG. 2 of the present invention ,
  • the device corresponding to the embodiment of the present invention described in FIG. 5 can also be implemented, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé de commande d'atterrissage et un dispositif de commande de vol pour un véhicule aérien sans pilote, ainsi qu'un véhicule aérien sans pilote, aptes à permettre au véhicule aérien sans pilote d'atterrir rapidement et en toute sécurité et de réduire la consommation d'énergie pendant le processus d'atterrissage du véhicule aérien sans pilote. Le procédé consiste à : lorsqu'il est détecté que le véhicule aérien sans pilote satisfait une condition d'atterrissage, acquérir un mode de vol actuel et des informations d'état de vol du véhicule aérien sans pilote (S201), le mode de vol actuel du véhicule aérien sans pilote comprenant un mode de vol à aile de rotor ou un mode de vol à aile fixe ; et, sur la base du mode de vol actuel et des informations d'état de vol du véhicule aérien sans pilote, déterminer un mode d'atterrissage pour le véhicule aérien sans pilote, de façon à amener le véhicule aérien sans pilote à atterrir selon le mode d'atterrissage (S202).
PCT/CN2019/079832 2019-03-27 2019-03-27 Procédé de commande d'atterrissage et dispositif de commande de vol pour véhicule aérien sans pilote et véhicule aérien sans pilote Ceased WO2020191647A1 (fr)

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PCT/CN2019/079832 WO2020191647A1 (fr) 2019-03-27 2019-03-27 Procédé de commande d'atterrissage et dispositif de commande de vol pour véhicule aérien sans pilote et véhicule aérien sans pilote
CN201980004949.XA CN111213106B (zh) 2019-03-27 2019-03-27 一种无人机的降落控制方法、飞行控制设备及无人机

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PCT/CN2019/079832 WO2020191647A1 (fr) 2019-03-27 2019-03-27 Procédé de commande d'atterrissage et dispositif de commande de vol pour véhicule aérien sans pilote et véhicule aérien sans pilote

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