Quadcopter toy with automatic retreat and control method thereof

Abstract

Provided is an automatic retracting four-axis aircraft toy. A horizontal range finder is mounted on a frame; after the four-axis aircraft toy enters an automatic retreating mode, a central controllercontrols the four-axis aircraft toy to continuously perform a horizontal self-rotation movement, in the process of horizontal rotation, the horizontal range finder continuously detects the horizontaldistance from an object in front, when the horizontal range finder detects that the horizontal distance obtained is less than a set horizontal distance threshold, and the central controller controls the four-axis aircraft toy to also perform horizontal translational movement for a certain length of time on the basis of maintaining the horizontal self-rotation movement; horizontal translational movement direction parameters at various moments are continuously corrected and changed. The invention also provides a control method for the automatic retracting four-axis aircraft toy. The toy is capable of detecting objects around and performing automatic retreating to maintain a set distance range from the surrounding objects, and there is no blind zone or overlapping zone in the detection process.

Description

technical field [0001] The invention belongs to the technical field of aircraft toys, and in particular relates to a four-axis aircraft toy that can automatically retreat after being approached and a control method thereof. Background technique [0002] figure 1 As shown, the four-axis aircraft toy is provided with a frame 2 and four rotor units, and each rotor unit includes a rotor 1 and a motor that drives the rotor to rotate; from the horizontal projection position, the projection points of the vertical shafts of the four rotor units are respectively Located in the four directions of front, back, left, and right of the center point of the frame, such as figure 1 As shown, that is, on the vertical and horizontal axes. [0003] The quadcopter toy is provided with a central controller for controlling the rotational speeds of the motors at the central part of the frame. When the quadcopter toy is flying, one part of the rotors rotates clockwise, and the other part rotates ...

AI Technical Summary

Problems solved by technology

However, if figure 2 As shown, among the eight horizontal range finders 3, every two adjacent horizontal range finders still exist in the detection blind zone 41 that cannot be detected, and there is an overlapping area 42 that is detected by the two horizontal range finders, The existence of the blind zone 41 makes the quadcopter toy fail to ensure that objects in any direction can be detected, while the existence of the overlapping zone 42 makes the quadcopter toy at a loss, or the algorithm is complicated, or the distance measurement of the horizontal distance meter is accurate. Accuracy requirements are greatly improved (in order to be able to distinguish the distance difference between the object and the two horizontal range finders)

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