An automatic flight control method, apparatus, electronic device, and storage medium

Abstract

This application discloses an automatic flight control method, apparatus, electronic device, and storage medium. The method and apparatus are applied to the electronic device of an unmanned helicopter. Specifically, in response to a user's takeoff command, the method controls the unmanned helicopter to perform takeoff maneuvers by executing an automatic takeoff control algorithm based on a cascaded PID algorithm. In response to a user's route flight command, the method controls the unmanned helicopter to perform route flight maneuvers by executing a route flight control algorithm based on the type of waypoints on the route. In response to a user's landing command, the method controls the unmanned helicopter to perform landing maneuvers by executing an automatic landing control algorithm based on a cascaded PID algorithm. Through this scheme, the entire process of takeoff, mission flight, and landing of a cross-rotor unmanned helicopter can be automatically controlled with minimal human intervention, thereby improving flight efficiency.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and more specifically, to an automatic flight control method, apparatus, electronic device, and storage medium. Background Technology

[0002] As we all know, the ultimate goal of designing an unmanned helicopter is to enable it to perform a range of tasks autonomously, such as firefighting and rescue, material transport, and long-range reconnaissance. Therefore, for unmanned helicopters, the ability to fly autonomously is the best embodiment of the "unmanned" aspect. Currently, however, autonomous flight of unmanned helicopters still requires excessive human intervention, leading to reduced flight efficiency. Summary of the Invention

[0003] In view of this, this application provides an automatic flight control method, apparatus, electronic device, and storage medium for improving the flight efficiency of unmanned helicopters.

[0004] To achieve the above objectives, the following solution is proposed:

[0005] An automatic flight control method is applied to electronic equipment on an unmanned helicopter, the automatic flight control method comprising the following steps:

[0006] In response to the user's takeoff command, the unmanned helicopter is controlled to perform takeoff actions by executing an automatic takeoff control algorithm based on a cascaded PID algorithm.

[0007] In response to the user's flight route instructions, the unmanned helicopter is controlled to perform flight route actions by executing a flight route control algorithm based on the cascaded PID algorithm, according to the type of waypoints on the route.

[0008] In response to the user's landing command, the unmanned helicopter is controlled to perform a landing maneuver by executing an automatic landing control algorithm based on the cascaded PID algorithm.

[0009] Optionally, the cascaded PID algorithm includes an inner loop control algorithm and an outer loop control algorithm, wherein:

[0010] The inner loop control algorithm is used to achieve attitude control of the unmanned helicopter;

[0011] The external loop control algorithm is used to achieve position control of the unmanned helicopter.

[0012] Optionally, the external loop control algorithm includes a height control algorithm and a horizontal position control algorithm.

[0013] Optionally, the type includes hovering waypoints and fast waypoints, and controlling the unmanned helicopter to perform the flight path maneuver includes the following steps:

[0014] When passing the hovering waypoint, control the unmanned helicopter to perform a turning maneuver by hovering and turning.

[0015] When passing the fast waypoint, the unmanned helicopter is controlled to make a turn at a preset yaw angle within a preset distance from the fast waypoint, so that the unmanned helicopter can fly to the next waypoint.

[0016] An automatic flight control device is provided for use in electronic equipment on an unmanned helicopter, the automatic flight control device comprising:

[0017] The takeoff control module is configured to respond to the user's takeoff command and control the unmanned helicopter to perform takeoff actions by executing an automatic takeoff control algorithm based on a cascaded PID algorithm.

[0018] The route control module is configured to respond to the user's route flight command and, based on the type of waypoints on the route, execute a route flight control algorithm with the cascaded PID algorithm as its core to control the unmanned helicopter to perform route flight actions.

[0019] The landing control module is configured to respond to the user's landing command and control the unmanned helicopter to perform a landing action by executing an automatic landing control algorithm based on the cascaded PID algorithm.

[0020] Optionally, the cascaded PID algorithm includes an inner loop control algorithm and an outer loop control algorithm, wherein:

[0021] The inner loop control algorithm is used to achieve attitude control of the unmanned helicopter;

[0022] The external loop control algorithm is used to achieve position control of the unmanned helicopter.

[0023] Optionally, the external loop control algorithm includes a height control algorithm and a horizontal position control algorithm.

[0024] Optionally, the types include hovering waypoints and fast waypoints, and the route control module includes:

[0025] The first control unit is configured to control the unmanned helicopter to perform a turning maneuver by hovering and turning when passing the hovering waypoint;

[0026] The second control unit is configured to, when passing the fast waypoint, control the unmanned helicopter to make a turn at a preset yaw angle within a preset distance from the fast waypoint, so that the unmanned helicopter can fly to the next waypoint.

[0027] An electronic device for use in an unmanned helicopter, the electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0028] The memory is used to store one or more computer programs or instructions;

[0029] The processor is used to execute one or more computer programs or instructions to enable the electronic device to implement the automatic flight control method as described above.

[0030] A storage medium for use in an electronic device, the storage medium carrying one or more computer programs that can be executed by the electronic device to enable the electronic device to implement the automatic flight control method described above.

[0031] As can be seen from the above technical solution, this application discloses an automatic flight control method, device, electronic equipment, and storage medium. This method and device are applied to the electronic equipment on an unmanned helicopter. Specifically, in response to a user's takeoff command, the unmanned helicopter is controlled to perform takeoff maneuvers by executing an automatic takeoff control algorithm based on a cascaded PID algorithm. In response to a user's route flight command, the unmanned helicopter is controlled to perform route flight maneuvers by executing a route flight control algorithm based on the type of waypoints on the route. In response to a user's landing command, the unmanned helicopter is controlled to perform landing maneuvers by executing an automatic landing control algorithm based on a cascaded PID algorithm. Through this solution, the entire process of takeoff, mission flight, and landing of a cross-rotor unmanned helicopter can be automatically controlled with minimal human intervention, thereby improving flight efficiency. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of an automatic flight control method according to an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the automatic flight control algorithm according to an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of the automatic takeoff operation in an embodiment of this application.

[0036] Figure 4 This is a diagram of the automatic takeoff control algorithm according to an embodiment of this application;

[0037] Figure 5 This is a flight path operation logic diagram of an embodiment of this application;

[0038] Figure 6 This is a working logic diagram of turning waypoints in an embodiment of this application;

[0039] Figure 7 This is a logic diagram of the automatic landing operation in an embodiment of this application;

[0040] Figure 8 This is a diagram of the automatic landing control algorithm according to an embodiment of this application;

[0041] Figure 9 This is a schematic diagram of the automatic landing control algorithm stages in an embodiment of this application;

[0042] Figure 10 This is a block diagram of an automatic flight control device according to an embodiment of this application;

[0043] Figure 11 This is a block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0045] Example 1

[0046] Figure 1 This is a flowchart of an automatic flight control method according to an embodiment of this application.

[0047] The automatic flight control method provided in this embodiment is applied to an electronic device installed on a cross-rotor unmanned helicopter. This electronic device can be understood as the electronic control equipment of the unmanned helicopter, or as a separate computer or embedded device with data computing and information processing capabilities.

[0048] Please refer to Figure 2As shown, it is a schematic diagram of the automatic flight control algorithm for a cross-rotor unmanned helicopter. The unmanned helicopter position calculation unit calculates the horizontal position deviation ΔX and ΔY, yaw angle deviation Δψ and altitude deviation ΔH of the helicopter based on the given target waypoint position, heading and altitude, as well as the actual position, heading and altitude of the unmanned helicopter. Based on position control, heading control and altitude control, the automatic flight control of the unmanned helicopter is realized.

[0049] like Figure 1 As shown, based on the above technical foundation, the automatic flight control method provided in this embodiment includes the following steps:

[0050] S1. Control the unmanned helicopter to perform takeoff maneuvers according to the takeoff command.

[0051] In other words, in response to the user's takeoff command or a preset takeoff command, the unmanned helicopter is controlled to perform takeoff maneuvers by executing an automatic takeoff control algorithm with cascaded PID algorithm as its core.

[0052] Please refer to Figure 3 The automatic takeoff logic diagram shown below includes the following steps:

[0053] 1) Determine if the flight control system is unlocked;

[0054] 2) Determine if the current rotational speed of the unmanned helicopter has reached the speed required for takeoff;

[0055] 3) Yaw during takeoff can be controlled by an external remote controller;

[0056] 4) Determine if the automatic takeoff occurred under normal GPS conditions;

[0057] 5) If the automatic takeoff is under normal GPS conditions, determine whether the designated altitude has been reached. If the designated altitude has been reached, hover at this point. If the designated altitude has not been reached, continue to climb.

[0058] 6) If the automatic takeoff is not performed under normal GPS conditions, only altitude control will be performed, not horizontal position control. The horizontal position can only be maintained by attitude control.

[0059] Please refer to Figure 4 The diagram shown illustrates the automatic takeoff control algorithm for unmanned helicopters. The automatic takeoff of the unmanned helicopter employs a dual-layer control algorithm consisting of attitude control and position control. The inner loop is the attitude control loop for the unmanned helicopter, which mainly maintains the stability of the unmanned helicopter's attitude during takeoff. The outer loop is the position control loop for the unmanned helicopter, which mainly maintains the stability of the horizontal position of the unmanned helicopter during takeoff. In addition, it also includes an altitude control algorithm. The altitude control of the unmanned helicopter is mainly to achieve the unmanned helicopter ascend to a specified altitude and maintain hovering according to a given collective control amount.

[0060] Figure 4 Pos ex Pos represents the desired position, and Vel represents the current actual position. ex represents the desired velocity, Vel represents the current velocity, att represents the desired attitude, and thr represents the desired lift.

[0061] S2. Control the unmanned helicopter to perform flight maneuvers according to the flight route instructions.

[0062] In other words, it responds to user flight route commands or preset flight route commands, and controls the unmanned helicopter to perform flight route actions by executing a flight route control algorithm based on the type of waypoints on the route, using a cascaded PID algorithm as the core.

[0063] Please refer to Figure 5 The flight path operation logic diagram shown below includes the following steps:

[0064] 1) Check if the flight control system has uploaded the flight path;

[0065] 2) Determine the waypoint type, which is determined by takeoff and landing waypoints, turning waypoints, and mission waypoints;

[0066] 3) Enter the mission waypoint execution procedure;

[0067] 4) Check if the current rotor speed is normal;

[0068] 5) Obtain GPS information for waypoints;

[0069] 6) Based on waypoint information, perform horizontal position control and altitude control respectively;

[0070] 7) Horizontal position control: Calculate the desired horizontal velocity by subtracting the target waypoint position from the current position; calculate the desired horizontal acceleration by subtracting the desired velocity from the current velocity; decompose the desired acceleration horizontally and convert it into the desired angle.

[0071] 8) Altitude control: Calculate the desired speed in the altitude direction by subtracting the target waypoint altitude from the current altitude; calculate the desired acceleration in the altitude direction by subtracting the desired speed in the altitude direction from the current speed; calculate the throttle control amount based on the desired acceleration in the altitude direction.

[0072] Please refer to Figure 6The diagram shown illustrates the working logic of turning waypoints, which are divided into two types: fast waypoints and hovering waypoints. Based on this, this embodiment selects different turning methods according to the type of waypoint. Specifically, when the waypoint is a hovering waypoint, the unmanned helicopter, upon reaching the waypoint, begins to hover and turns at a certain angular velocity; when the waypoint is a fast waypoint, the unmanned helicopter, upon reaching the waypoint radius area, turns at a certain yaw angular velocity, thereby enabling the unmanned helicopter to complete the turn and point towards the next waypoint.

[0073] S3. Control the unmanned helicopter to perform landing operations according to the landing command.

[0074] In response to a user's landing request or when preset landing conditions are met, the unmanned helicopter is controlled to perform a landing maneuver by executing an automatic landing control algorithm based on a cascaded PID algorithm.

[0075] Please refer to Figure 7 The automatic landing logic diagram shown in this embodiment includes the following steps in the landing operation:

[0076] 1) First, determine whether the unmanned helicopter has already landed on the ground;

[0077] 2) Check if the current rotation speed of the unmanned helicopter is normal;

[0078] 3) After completing the above two steps, begin automatic descent. Automatic descent of the unmanned helicopter is divided into horizontal control and altitude control.

[0079] 4) Horizontal position control: The pitch channel maintains the forward and backward horizontal position of the unmanned helicopter, and the roll channel maintains the left and right horizontal position. Then, it determines whether the altitude has reached the set deceleration altitude. If it has, the desired pitch and roll angles are limited, and finally, the unmanned helicopter's attitude control is used for landing.

[0080] 5) Altitude control: First, conventional altitude control is used. The altitude value returned by the sensor is used to determine whether the unmanned helicopter has entered the set altitude. When the landing distance is relatively far, the unmanned helicopter descends at a higher speed. When the altitude drops to the set deceleration altitude, the descent speed of the unmanned helicopter is reduced until the landing is completed.

[0081] Please refer to Figure 8The diagram shows the automatic landing control algorithm for an unmanned helicopter. During landing, the control algorithm is similar to that during automatic takeoff. Both require consideration of horizontal position holding, heading holding, and altitude control algorithms during automatic landing. However, the altitude control algorithm during landing needs to consider the ground effect zone. Horizontal control is similar to that during takeoff, employing a two-layer control algorithm with inner and outer loops. The inner loop is the attitude control loop, primarily responsible for maintaining attitude stability during landing; the outer loop is the position control loop, primarily responsible for maintaining position stability during landing.

[0082] The altitude control algorithm during the landing of the unmanned helicopter adopts a three-loop control system consisting of altitude, speed, and acceleration. The altitude loop is controlled by taking the square root of the difference between the altitude values. The speed loop is controlled by taking the difference between the speed value integrated by the acceleration sensor and the desired speed. The acceleration loop is controlled by taking the difference between the acceleration sensor measurement and the desired acceleration.

[0083] Figure 8 Alt ex Alt represents the desired altitude, while Velocity represents the current actual altitude. ex The desired speed is represented by Vel, the current speed by acc. ex 'acc' represents the expected acceleration, 'acc' represents the current actual acceleration, and 'thr' represents the expected lift.

[0084] The altitude control algorithm for the automatic descent control system is a cascaded PID control with inner and outer loops. The outermost loop uses square root control based on the altitude error, the middle loop uses PI control based on the descent speed error, and the innermost loop uses PID control based on the descent acceleration error. The proportional control formula for the square root controller is as follows:

[0085] v = k p error pos

[0086] Where v is the desired velocity, k p For proportionality coefficients, error pos This represents the positional error between the current position and the desired position.

[0087] Differentiating the above equation, we obtain the acceleration a as:

[0088] a = -k p ·v

[0089] a =-k p 2 error pos

[0090] It can be seen that when the error converges to a constant value, the accelerations a and kp 2 Proportional.

[0091] In actual flight, the acceleration of an aircraft has an upper limit; it's not that the entire system can meet a set acceleration limit. Let's assume the maximum safe acceleration the aircraft can achieve is 'a'. max Therefore, we expect that during the entire flight, the acceleration a will not exceed the maximum acceleration a. max Therefore, the critical value of the position error can be obtained.

[0092]

[0093] When position error | error pos |<a max / k p 2 When the position error is |error|, the acceleration is a change in magnitude; when the position error is |error|, the acceleration is a change in magnitude. pos |≥a max / k p 2 At this time, the acceleration is constant, and the motion is uniformly accelerated.

[0094] v tar 2 -v0 2 =2a max x

[0095] Where v0 is the initial velocity, x is the distance, and are respectively,

[0096]

[0097]

[0098] The relationship between the desired velocity and the position error is obtained as follows:

[0099]

[0100] By combining a standard proportional controller, a complete square root controller can be obtained as follows:

[0101]

[0102] Preferably, k is taken. p =1, a max =5m / s 2 Then the critical position error is

[0103] Please refer to Figure 9The diagram illustrates the stages of the automatic landing control algorithm. The algorithm consists of two stages: the first stage involves the unmanned helicopter (UHV) reaching the designated location and executing the landing, during which the UHV descends at a relatively high speed; the second stage occurs after the UHV reaches a certain altitude and enters the ground effect zone, at which point the descent speed is adjusted to ensure a stable landing. This prevents instability caused by lift in the ground effect zone, especially for cross-rotor UHVs, where the rotors are tilted and closer to the ground than in ordinary single-rotor UHVs. Attitude and position control in the ground effect zone ensure a smooth landing and prevent rotor collisions. The automatic landing control algorithm determines the completion of automatic landing based on the following criteria: collective pitch is less than zero lift collective pitch; descent speed is less than 0.3 meters per second; and horizontal speed is less than 1 meter per second.

[0104] As can be seen from the above technical solution, this embodiment provides an automatic flight control method. This method is applied to the electronic equipment on an unmanned helicopter. Specifically, in response to the user's takeoff command, it controls the unmanned helicopter to perform takeoff actions by executing an automatic takeoff control algorithm based on a cascaded PID algorithm; in response to the user's route flight command, it controls the unmanned helicopter to perform route flight actions by executing a route flight control algorithm based on a cascaded PID algorithm, according to the type of waypoints on the route; in response to the user's landing command, it controls the unmanned helicopter to perform landing actions by executing an automatic landing control algorithm based on a cascaded PID algorithm. Through the above solution, the cross-rotor unmanned helicopter can complete the entire process of automatic control from takeoff, mission flight to landing with minimal human intervention, thereby improving flight efficiency.

[0105] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0106] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.

[0107] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0108] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer.

[0109] Example 2

[0110] Figure 10 This is a block diagram of an automatic flight control device according to an embodiment of this application.

[0111] like Figure 10 As shown, the automatic flight control device provided in this embodiment is applied to an electronic device installed on a cross-rotor unmanned helicopter. This electronic device can be understood as the electronic control equipment of the unmanned helicopter, or as a separate computer or embedded device with data computing and information processing capabilities. The automatic flight control device provided in this embodiment includes a takeoff control module 10, a route control module 20, and a landing control module 30.

[0112] The takeoff control module is used to control the unmanned helicopter to perform takeoff actions according to the takeoff command.

[0113] In other words, in response to the user's takeoff command or a preset takeoff command, the unmanned helicopter is controlled to perform takeoff maneuvers by executing an automatic takeoff control algorithm with cascaded PID algorithm as its core.

[0114] Please refer to Figure 3 The automatic takeoff logic diagram shown below includes the following steps:

[0115] 1) Determine if the flight control system is unlocked;

[0116] 2) Determine if the current rotational speed of the unmanned helicopter has reached the speed required for takeoff;

[0117] 3) Yaw during takeoff can be controlled by an external remote controller;

[0118] 4) Determine if the automatic takeoff occurred under normal GPS conditions;

[0119] 5) If the automatic takeoff is under normal GPS conditions, determine whether the designated altitude has been reached. If the designated altitude has been reached, hover at this point. If the designated altitude has not been reached, continue to climb.

[0120] 6) If the automatic takeoff is not performed under normal GPS conditions, only altitude control will be performed, not horizontal position control. The horizontal position can only be maintained by attitude control.

[0121] Please refer to Figure 4 The diagram shown illustrates the automatic takeoff control algorithm for unmanned helicopters. The automatic takeoff of the unmanned helicopter employs a dual-layer control algorithm consisting of attitude control and position control. The inner loop is the attitude control loop for the unmanned helicopter, which mainly maintains the stability of the unmanned helicopter's attitude during takeoff. The outer loop is the position control loop for the unmanned helicopter, which mainly maintains the stability of the horizontal position of the unmanned helicopter during takeoff. In addition, it also includes an altitude control algorithm. The altitude control of the unmanned helicopter is mainly to achieve the unmanned helicopter ascend to a specified altitude and maintain hovering according to a given collective control amount.

[0122] Figure 4 Pos ex Pos represents the desired position, and Vel represents the current actual position. ex represents the desired velocity, Vel represents the current velocity, att represents the desired attitude, and thr represents the desired lift.

[0123] The route control module is used to control the unmanned helicopter to perform route flight maneuvers according to the route flight instructions.

[0124] In other words, it responds to user flight route commands or preset flight route commands, and controls the unmanned helicopter to perform flight route actions by executing a flight route control algorithm based on the type of waypoints on the route, using a cascaded PID algorithm as the core.

[0125] Please refer to Figure 5 The flight path operation logic diagram shown below includes the following steps:

[0126] 1) Check if the flight control system has uploaded the flight path;

[0127] 2) Determine the waypoint type, which is determined by takeoff and landing waypoints, turning waypoints, and mission waypoints;

[0128] 3) Enter the mission waypoint execution procedure;

[0129] 4) Check if the current rotor speed is normal;

[0130] 5) Obtain GPS information for waypoints;

[0131] 6) Based on waypoint information, perform horizontal position control and altitude control respectively;

[0132] 7) Horizontal position control: Calculate the desired horizontal velocity by subtracting the target waypoint position from the current position; calculate the desired horizontal acceleration by subtracting the desired velocity from the current velocity; decompose the desired acceleration horizontally and convert it into the desired angle.

[0133] 8) Altitude control: Calculate the desired speed in the altitude direction by subtracting the target waypoint altitude from the current altitude; calculate the desired acceleration in the altitude direction by subtracting the desired speed in the altitude direction from the current speed; calculate the throttle control amount based on the desired acceleration in the altitude direction.

[0134] refer to Figure 6 The diagram shown illustrates the working logic of turning waypoints, which are divided into two types: fast waypoints and hovering waypoints. Based on this, the route control module includes a first control unit and a second control unit, each used to select different turning methods according to the type of waypoint. Specifically, when the waypoint is a hovering waypoint, the first control unit, upon reaching the hovering waypoint, initiates hovering and turns at a certain angular velocity. When the waypoint is a fast waypoint, the second control unit controls the unmanned helicopter to turn at a certain yaw angular velocity when flying into the waypoint radius area, thus enabling the unmanned helicopter to complete the turn and head towards the next waypoint.

[0135] The landing control module is used to control the unmanned helicopter to perform landing operations according to landing commands.

[0136] In response to a user's landing request or when preset landing conditions are met, the unmanned helicopter is controlled to perform a landing maneuver by executing an automatic landing control algorithm based on a cascaded PID algorithm.

[0137] Please refer to Figure 7 The automatic landing logic diagram shown in this embodiment includes the following steps in the landing operation:

[0138] 1) First, determine whether the unmanned helicopter has already landed on the ground;

[0139] 2) Check if the current rotation speed of the unmanned helicopter is normal;

[0140] 3) After completing the above two steps, begin automatic descent. Automatic descent of the unmanned helicopter is divided into horizontal control and altitude control.

[0141] 4) Horizontal position control: The pitch channel maintains the forward and backward horizontal position of the unmanned helicopter, and the roll channel maintains the left and right horizontal position. Then, it determines whether the altitude has reached the set deceleration altitude. If it has, the desired pitch and roll angles are limited, and finally, the unmanned helicopter's attitude control is used for landing.

[0142] 5) Altitude control: First, conventional altitude control is used. The altitude value returned by the sensor is used to determine whether the unmanned helicopter has entered the set altitude. When the landing distance is relatively far, the unmanned helicopter descends at a higher speed. When the altitude drops to the set deceleration altitude, the descent speed of the unmanned helicopter is reduced until the landing is completed.

[0143] Please refer to Figure 8 The diagram shows the automatic landing control algorithm for an unmanned helicopter. During landing, the control algorithm is similar to that during automatic takeoff. Both require consideration of horizontal position holding, heading holding, and altitude control algorithms during automatic landing. However, the altitude control algorithm during landing needs to consider the ground effect zone. Horizontal control is similar to that during takeoff, employing a two-layer control algorithm with inner and outer loops. The inner loop is the attitude control loop, primarily responsible for maintaining attitude stability during landing; the outer loop is the position control loop, primarily responsible for maintaining position stability during landing.

[0144] The altitude control algorithm during the landing of the unmanned helicopter adopts a three-loop control system consisting of altitude, speed, and acceleration. The altitude loop is controlled by taking the square root of the difference between the altitude values. The speed loop is controlled by taking the difference between the speed value integrated by the acceleration sensor and the desired speed. The acceleration loop is controlled by taking the difference between the acceleration sensor measurement and the desired acceleration. Figure 8 Alt ex Alt represents the desired altitude, while Velocity represents the current actual altitude. ex The desired speed is represented by Vel, the current speed by acc. ex 'acc' represents the expected acceleration, 'acc' represents the current actual acceleration, and 'thr' represents the expected lift.

[0145] Please refer to Figure 9The diagram illustrates the stages of the automatic landing control algorithm. The algorithm consists of two stages: the first stage involves the unmanned helicopter (UHV) reaching the designated location and executing the landing, during which the UHV descends at a relatively high speed; the second stage occurs after the UHV reaches a certain altitude and enters the ground effect zone, at which point the descent speed is adjusted to ensure a stable landing. This prevents instability caused by lift in the ground effect zone, especially for cross-rotor UHVs, where the rotors are tilted and closer to the ground than in ordinary single-rotor UHVs. Attitude and position control in the ground effect zone ensure a smooth landing and prevent rotor collisions. The automatic landing control algorithm determines the completion of automatic landing based on the following criteria: collective pitch is less than zero lift collective pitch; descent speed is less than 0.3 meters per second; and horizontal speed is less than 1 meter per second.

[0146] As can be seen from the above technical solution, this embodiment provides an automatic flight control device. This device is applied to the electronic equipment on an unmanned helicopter. Specifically, in response to the user's takeoff command, it controls the unmanned helicopter to perform takeoff actions by executing an automatic takeoff control algorithm based on a cascaded PID algorithm; in response to the user's route flight command, it controls the unmanned helicopter to perform route flight actions by executing a route flight control algorithm based on a cascaded PID algorithm, according to the type of waypoints on the route; in response to the user's landing command, it controls the unmanned helicopter to perform landing actions by executing an automatic landing control algorithm based on a cascaded PID algorithm. Through the above solution, the cross-rotor unmanned helicopter can complete the entire process of automatic control from takeoff, mission flight to landing with minimal human intervention, thereby improving flight efficiency.

[0147] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0148] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0149] Example 3

[0150] Figure 11 This is a block diagram of an electronic device according to an embodiment of this application.

[0151] refer to Figure 11 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this disclosure. The terminal device in the embodiments of this disclosure may include, but is not limited to, airborne terminals, fixed terminals such as desktop computers, or embedded devices. This electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0152] The electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from an input device 1106 into a random access memory (RAM) 1103. The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0153] Typically, the following devices can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 1107 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1108 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1109. Communication device 1109 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various devices are shown in the figures, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0154] Example 4

[0155] This embodiment provides a computer-readable storage medium carrying one or more programs. When these programs are executed by an electronic device, the device can respond to a user's takeoff command by executing an automatic takeoff control algorithm based on a cascaded PID algorithm to control the unmanned helicopter to perform takeoff maneuvers; respond to a user's flight path command by executing a flight path control algorithm based on a cascaded PID algorithm to control the unmanned helicopter to perform flight path maneuvers according to the type of waypoints on the flight path; and respond to a user's landing command by executing an automatic landing control algorithm based on a cascaded PID algorithm to control the unmanned helicopter to perform landing maneuvers. Through this scheme, the cross-rotor unmanned helicopter can complete the entire process of automatic control from takeoff and mission flight to landing with minimal human intervention, thereby improving flight efficiency.

[0156] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0157] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0158] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0159] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0160] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic flight control method applied to an electronic device on an unmanned helicopter, characterized by, The automatic flight control method comprises the steps of: in response to a take-off instruction of a user, controlling the unmanned helicopter to perform a take-off action by executing an automatic take-off control algorithm taking a cascade PID algorithm as a core; the cascade PID algorithm comprises an inner loop control algorithm and an outer loop control algorithm, wherein: the inner loop control algorithm is used to realize attitude control of the unmanned helicopter; the outer loop control algorithm is used to realize position control of the unmanned helicopter; in response to a route flight instruction of a user, controlling the unmanned helicopter to perform a route flight action according to the type of a waypoint on a route by executing a route flight control algorithm taking the cascade PID algorithm as a core; the type comprises a hovering waypoint and a fast waypoint, and the step of controlling the unmanned helicopter to perform a route flight action comprises the steps of: when passing through the hovering waypoint, controlling the unmanned helicopter to perform a turning action by means of hovering turning; and when passing through the fast waypoint, controlling the unmanned helicopter to turn at a preset distance from the fast waypoint at a preset yaw angle, so as to fly the unmanned helicopter to a next waypoint; in response to a landing instruction of a user, controlling the unmanned helicopter to perform a landing action by executing an automatic landing control algorithm taking the cascade PID algorithm as a core; the control algorithm of the unmanned helicopter in a height direction in a landing process adopts a three-loop control of height, speed and acceleration, the height loop is controlled by taking the difference of height values, the speed loop is controlled by taking the difference of the speed value integrated from the acceleration sensor and the expected speed, and the acceleration loop is controlled by taking the difference of the measured value of the acceleration sensor and the expected acceleration.

2. The automatic flight control method according to claim 1, characterized by, The outer loop control algorithm comprises a height control algorithm and a horizontal position control algorithm.

3. An automatic flight control device applied to an electronic device on an unmanned helicopter, characterized by, The automatic flight control device comprises: a take-off control module configured to, in response to a take-off instruction of a user, control the unmanned helicopter to perform a take-off action by executing an automatic take-off control algorithm taking a cascade PID algorithm as a core; the cascade PID algorithm comprises an inner loop control algorithm and an outer loop control algorithm, wherein: the inner loop control algorithm is used to realize attitude control of the unmanned helicopter; the outer loop control algorithm is used to realize position control of the unmanned helicopter; a route control module configured to, in response to a route flight instruction of a user, control the unmanned helicopter to perform a route flight action according to the type of a waypoint on a route by executing a route flight control algorithm taking the cascade PID algorithm as a core; the type comprises a hovering waypoint and a fast waypoint, and the route control module comprises: a first control unit configured to, when passing through the hovering waypoint, control the unmanned helicopter to perform a turning action by means of hovering turning; and a second control unit configured to, when passing through the fast waypoint, control the unmanned helicopter to turn at a preset distance from the fast waypoint at a preset yaw angle, so as to fly the unmanned helicopter to a next waypoint; The landing control module is configured to control the unmanned helicopter to perform a landing action by executing an automatic landing control algorithm with the cascade PID algorithm as the core in response to a landing instruction of a user; the control algorithm in the height direction during the landing of the unmanned helicopter adopts a three-loop control of height, speed and acceleration, the height loop is controlled by taking the difference of the height value and performing square root, the speed loop is controlled by taking the difference of the speed value integrated by the acceleration sensor and the expected speed and performing PI control, and the acceleration loop is controlled by taking the difference of the measurement value of the acceleration sensor and the expected acceleration and performing PID control.

4. The automatic flight control apparatus according to claim 3, characterized by The outer loop control algorithm comprises a height control algorithm and a horizontal position control algorithm.

5. An electronic device applied to an unmanned helicopter, characterized by, The electronic device comprises at least one processor and a memory connected with the processor, wherein: The memory is used to store one or more computer programs or instructions; The processor is used to execute the one or more computer programs or instructions, so that the electronic device implements the automatic flight control method according to any one of claims 1-2.

6. A storage medium for use in an electronic device, the storage medium comprising: The storage medium carries one or more computer programs, which can be executed by the electronic device to enable the electronic device to implement the automatic flight control method according to any one of claims 1-2.

Images