Aircraft control method, device and computer readable storage medium

Abstract

The present application discloses an aircraft control method, device and computer-readable storage medium, the method comprising: if a flight mode switching request of an aircraft is detected, determining whether the aircraft satisfies a first preset condition corresponding to the low-voltage power distribution system; if the aircraft satisfies the first preset condition, determining whether the aircraft satisfies a second preset condition corresponding to the air-land mode switching system; if the aircraft satisfies the second preset condition, controlling the air-land mode switching system to send a first control signal to the locking actuator; and controlling the locking pin corresponding to the rotor based on the first control signal by the locking actuator. The present application can realize automatic locking or unlocking of the rotor through the locking actuator, greatly reducing the operation steps of the switching process between the flight mode and the land mode of the flying car, and improving the intelligence of the aircraft in switching between the flight mode and the land mode.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to an aircraft control method, device and computer-readable storage medium. Background Art

[0002] Since the beginning of the last century, foreign countries have tried to make cars fly, and the development of flying cars has never stopped. As a trend of future transportation, flying cars can alleviate the current situation of traffic congestion and improve transportation efficiency.

[0003] At present, when a flying car switches between land mode and flight, it is necessary to lock or unlock the rotor. In the prior art, the rotor is often locked or unlocked by manual operation through the mechanical structure of the flying car. This locking / unlocking method not only increases the learning cost of the user's operation, but also makes the switching process between the flight mode and the land mode of the flying car cumbersome.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide an aircraft control method, device and computer-readable storage medium, aiming to solve the technical problem of cumbersome operation during the mode switching process of existing flying cars.

[0006] To achieve the above-mentioned purpose, the present application provides an aircraft control method, wherein the aircraft is provided with a low-voltage power distribution system, a ground-to-air mode switching system, and a locking actuator corresponding to a rotor, including:

[0007] If a flight mode switching request of the aircraft is detected, determining whether the aircraft meets a first preset condition corresponding to the low-voltage power distribution system;

[0008] If the aircraft satisfies the first preset condition, determining whether the aircraft satisfies a second preset condition corresponding to the air-ground mode switching system;

[0009] If the aircraft meets the second preset condition, controlling the air-land mode switching system to send a first control signal to the locking actuator;

[0010] The locking actuator controls a locking pin corresponding to the rotor based on the first control signal.

[0011] Furthermore, the step of determining whether the aircraft meets the first preset condition corresponding to the low-voltage power distribution system includes:

[0012] Acquire a current first parameter of the aircraft;

[0013] Based on the first parameter, it is determined whether the aircraft meets the first preset condition.

[0014] Further, the first parameter includes the current speed and current gear of the aircraft;

[0015] The step of determining whether the aircraft meets the first preset condition based on the first parameter includes:

[0016] Based on the current speed and the current gear, determining that the aircraft meets the first preset condition;

[0017] If the current speed is less than or equal to the preset speed and the current gear is the P gear, it is determined that the aircraft meets the first preset condition.

[0018] Furthermore, the first parameter also includes first status information of the electronic parking brake system and second status information of the vehicle body anti-theft.

[0019] The step of determining that the aircraft meets the first preset condition based on the current speed and the current gear position includes:

[0020] Determining that the aircraft meets the first preset condition based on the current speed, the current gear, the first state information, and the second state information:

[0021] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear and the second status information is that the body anti-theft has been released, or the current speed is less than or equal to the preset speed, the second status information is that the electronic parking brake system has been pulled up and the second status information is that the body anti-theft has been released, it is determined that the aircraft meets the first preset condition.

[0022] Furthermore, if the aircraft satisfies the first preset condition, the step of determining whether the aircraft satisfies the second preset condition corresponding to the ground-to-air mode switching system includes:

[0023] If the aircraft meets the first preset condition, controlling the low-voltage power distribution system to switch the power supply mode;

[0024] Acquire a current second parameter of the aircraft;

[0025] Based on the second parameter, it is determined whether the aircraft meets the second preset condition.

[0026] Furthermore, the second parameter includes the current speed and current gear of the aircraft;

[0027] The step of determining whether the aircraft meets the second preset condition based on the second parameter includes:

[0028] Based on the current speed and the current gear, determining whether the aircraft meets the second preset condition;

[0029] If the current speed is less than or equal to the preset speed and the current gear is the P gear, it is determined that the aircraft meets the second preset condition.

[0030] Furthermore, the second parameter also includes the current pitch angle of the aircraft and the rotor angle offset;

[0031] The step of determining whether the aircraft meets the second preset condition based on the current speed and the current gear position comprises:

[0032] Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset;

[0033] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, and the rotor angle offset is less than or equal to the preset offset, it is determined that the aircraft meets the second preset condition.

[0034] Furthermore, the flight mode switching request is a first request for switching the flight mode to a land mode, and the second parameter further includes the land and air information corresponding to the aircraft and the rotation speed of the motor corresponding to the rotor;

[0035] The step of determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset comprises:

[0036] Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, the rotor angle offset, the land-air information, and the rotation speed;

[0037] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the land-to-air information is ground and the rotation speed is less than or equal to the preset rotation speed, it is determined that the aircraft meets the second preset condition.

[0038] Further, the flight mode switching request is a second request for switching the ground mode to the flight mode, and the second parameter further includes the current battery power and charging status information of the aircraft and obstacle information of the current environment;

[0039] The step of determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset comprises:

[0040] Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, the rotor angle offset, the battery power, the charging status information, and the obstacle information;

[0041] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the battery power is greater than or equal to the preset power, the charging status information is that the charging pile is not connected and the obstacle information is that there is no obstacle, then it is determined that the aircraft meets the second preset condition.

[0042] Furthermore, if the aircraft meets the second preset condition, the step of controlling the air-land mode switching system to send a first control signal to the locking actuator includes:

[0043] If the aircraft meets the second preset condition, the ground-to-air mode switching system is controlled to switch the operating mode, and the ground-to-air mode switching system is controlled to send a first control signal to the locking actuator.

[0044] Further, the flight mode switching request is a second request for switching the land mode to the flight mode, and the step of controlling the land-to-air mode switching system to switch the operating mode includes:

[0045] Controlling the land-to-air mode switching system to switch the operating mode to the flight mode;

[0046] The land-to-air mode switching system is controlled to send a second control signal to the locking actuator, and the locking actuator controls the locking pin corresponding to the rotor based on the second control signal to maintain the locking state of the rotor.

[0047] Further, the step of controlling the lock pin corresponding to the rotor by the locking actuator based on the first control signal includes:

[0048] The locking actuator is controlled to drive the locking pin to be pulled out from the corresponding rotor locking hole based on the first control signal to unlock the rotor.

[0049] Further, the flight mode switching request is a first request for switching from the flight mode to the ground mode, and the step of controlling the ground-to-air mode switching system to switch the operating mode includes:

[0050] Controlling the land-to-air mode switching system to switch the operating mode to the land mode;

[0051] The step of controlling the lock pin corresponding to the rotor by the locking actuator based on the first control signal comprises:

[0052] The locking actuator is controlled to drive the locking pin to perform a latching operation based on the first control signal to lock the rotor.

[0053] Further, the flight mode switching request is a first request for switching from the flight mode to the land mode, and if the aircraft satisfies the second preset condition, the step of controlling the land-to-air mode switching system to send a first control signal to the locking actuator comprises:

[0054] If the aircraft meets the second preset condition, detecting the rotor angle deviation corresponding to the rotor;

[0055] If the rotor angle deviation is less than or equal to the preset deviation, the land-to-air mode switching system is controlled to send a first control signal to the locking actuator.

[0056] In addition, to achieve the above-mentioned purpose, the present application also provides an aircraft control device, which includes: a memory, a processor, and an aircraft control program stored in the memory and executable on the processor, and the aircraft control program implements the steps of the aircraft control method as described above when executed by the processor.

[0057] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which an aircraft control program is stored. When the aircraft control program is executed by a processor, the steps of the aircraft control method as described above are implemented.

[0058] The present application determines whether the aircraft satisfies the first preset condition corresponding to the low-voltage power distribution system if a flight mode switching request of the aircraft is detected; then, if the aircraft satisfies the first preset condition, determines whether the aircraft satisfies the second preset condition corresponding to the air-land mode switching system; then, if the aircraft satisfies the second preset condition, controls the air-land mode switching system to send a first control signal to the locking actuator; then, the locking actuator controls the lock pin corresponding to the rotor based on the first control signal, so that when the aircraft satisfies the conditions corresponding to the low-voltage power distribution system and the air-land mode switching system, the locking actuator can realize automatic locking or unlocking of the rotor, greatly reducing the operation steps of the switching process between the flight mode and the land mode of the flying car, and improving the intelligence of the aircraft in switching between the flight mode and the land mode. At the same time, there is no need for users to learn the operation, which greatly reduces the learning cost of the user's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic diagram of the structure of an aircraft control device in the hardware operating environment involved in the embodiment of the present application;

[0060] Figure 2 This is a flow chart of the first embodiment of the aircraft control method of the present application;

[0061] Figure 3 This is a schematic diagram of the functional modules of an aircraft embodiment of the present application.

[0062] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0063] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] like Figure 1 As shown, Figure 1 It is a schematic diagram of the structure of an aircraft control device in the hardware operating environment involved in the embodiment of the present application.

[0065] The aircraft control device of the present application embodiment may be a flying car. Figure 1 As shown, the aircraft control device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0066] Optionally, the aircraft control device may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, etc. Among them, the sensor may be a light sensor, a motion sensor, and other sensors. Of course, the aircraft control device may also be equipped with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be described in detail here.

[0067] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the aircraft control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0068] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an aircraft control program.

[0069] exist Figure 1 In the aircraft control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the aircraft control program stored in the memory 1005.

[0070] In this embodiment, the aircraft control device includes: a memory 1005, a processor 1001, and an aircraft control program stored in the memory 1005 and executable on the processor 1001, wherein when the processor 1001 calls the aircraft control program stored in the memory 1005, the steps of the aircraft control method in each of the following embodiments are executed.

[0071] The present application also provides an aircraft control method, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the aircraft control method of the present application.

[0072] The aircraft is provided with a low-voltage power distribution system, a land-air mode switching system and a locking actuator corresponding to the rotor. The low-voltage power distribution system includes a power mode for the flight mode and a power mode for the ground mode. When the operation mode of the aircraft is the flight mode, the low-voltage power distribution system uses the power mode for the flight mode to supply power to the aircraft. When the operation mode of the aircraft is the ground mode, the low-voltage power distribution system uses the power mode for the ground mode to supply power to the aircraft. The locking actuator is used to drive the locking pin corresponding to the rotor to lock or unlock the rotor.

[0073] The aircraft control method comprises:

[0074] Step S101, if a flight mode switching request of an aircraft is detected, determining whether the aircraft meets a first preset condition corresponding to the low-voltage power distribution system;

[0075] The user (pilot) can trigger a flight mode switching request through a button set in the aircraft, etc. The flight mode switching request includes a first request for switching from the flight mode to the ground mode and a second request for switching from the ground mode to the flight mode.

[0076] When a flight mode switching request of the aircraft is detected, for example, when an operation triggered by a button of the aircraft (such as a mode switching button) is detected, it is determined whether the aircraft meets the first preset condition corresponding to the low-voltage power distribution system. Specifically, each first parameter of the aircraft corresponding to the first preset condition is obtained, and it is determined whether each first parameter satisfies the condition in the first preset condition. If all of them meet the condition, it is determined that the aircraft meets the first preset condition. The first parameter may include the current speed and the current gear of the aircraft. When the current speed is less than or equal to the preset speed and the current gear is P gear, it can be determined that the aircraft meets the first preset condition.

[0077] Step S102, if the aircraft meets the first preset condition, determining whether the aircraft meets the second preset condition corresponding to the air-ground mode switching system;

[0078] When the aircraft meets the first preset condition, it is determined whether the aircraft meets the second preset condition corresponding to the land-to-air mode switching system. Specifically, the low-voltage power distribution system can be controlled to switch the power mode first. For example, when the flight mode switching request is a first request, the aircraft controls the low-voltage power distribution system to switch to the power mode of the land mode. When the flight mode switching request is a second request, the aircraft controls the low-voltage power distribution system to switch to the power mode of the flight mode. Then, it is determined whether the aircraft meets the second preset condition corresponding to the land-to-air mode switching system.

[0079] Specifically, the aircraft obtains each second parameter of the aircraft corresponding to the second preset condition, and determines whether each second parameter satisfies the conditions in the second preset condition. If so, it is determined that the aircraft satisfies the second preset condition, wherein the second parameter may include the current speed and the current gear of the aircraft. When the current speed is less than or equal to the preset speed and the current gear is P gear, it can be determined that the aircraft satisfies the second preset condition.

[0080] Step S103, if the aircraft meets the second preset condition, controlling the ground-to-air mode switching system to send a first control signal to the locking actuator;

[0081] When the aircraft meets the second preset condition, the ground-to-air mode switching system is controlled to send a first control signal to the locking actuator. Specifically, the aircraft may first control the ground-to-air mode switching system to switch the operating mode, for example, when the flight mode switching request is a first request, the aircraft controls the ground-to-air mode switching system to switch the operating mode to the ground mode, and when the flight mode switching request is a second request, the aircraft controls the ground-to-air mode switching system to switch the operating mode to the flight mode, and then controls the ground-to-air mode switching system to send the first control signal to the locking actuator.

[0082] Step S104: controlling a lock pin corresponding to the rotor by the locking actuator based on the first control signal.

[0083] After sending the first control signal, the locking actuator receives the first control signal, and the locking actuator controls the lock pin corresponding to the rotor based on the first control signal to achieve locking or unlocking of the rotor. For example, when the flight mode switching request is the first request, after the locking actuator receives the first control signal, the locking actuator drives the corresponding lock pin to insert upward until the lock pin is inserted into the rotor locking hole, and then controls the locking actuator to perform a power-off operation to lock the rotor; when the flight mode switching request is the second request, after the locking actuator receives the first control signal, the locking actuator drives the lock pin to be pulled out of the rotor locking hole until the lock pin reaches the initial position, and then controls the locking actuator to perform a power-off operation.

[0084] It should be noted that when the flight mode switching request is the first request, after the rotor starts to stop and reaches the designated stop position, the aircraft's arm folding unit AFU sends a rotor locking command to the aircraft's FCU via the CAN bus, and the FCU forwards it to the flight motor control unit FIPU as a gateway. The FIPU sends the rotor locking command to the locking actuator via the LIN bus, and the rotor locking actuator drives the locking pin to insert upward by controlling the travel of the locking pin until it enters the locking hole of the rotor. After completing the above operations, the aircraft's power calculation centralized unit DPU performs a power-off operation on the AFU and the locking actuator. When the flight mode switching request is the second request, the DPU completes the power-on operation for the AFU and the locking actuator. After the arm is unfolded, the AFU sends a rotor unlocking command to the FCU via the CAN bus, and the FCU forwards it to the FIPU as a gateway. The FIPU sends a rotor unlocking command to the locking actuator via the LIN bus, drives the locking pin to be pulled out of the rotor locking hole until it reaches the initial position of the locking pin, and then powers off the actuator.

[0085] If the flight mode switching request of the aircraft is detected, it is determined whether the aircraft meets the first preset condition corresponding to the low-voltage power distribution system; then if the aircraft meets the first preset condition, it is determined whether the aircraft meets the second preset condition corresponding to the air-land mode switching system; then if the aircraft meets the second preset condition, the air-land mode switching system is controlled to send a first control signal to the locking actuator; then the locking actuator controls the lock pin corresponding to the rotor based on the first control signal, so that when the aircraft meets the conditions corresponding to the low-voltage power distribution system and the air-land mode switching system, the locking actuator can realize automatic locking or unlocking of the rotor, greatly reducing the operation steps of the switching process between the flight mode and the land mode of the flying car, and improving the intelligence of the aircraft in switching between the flight mode and the land mode. At the same time, there is no need for users to learn the operation, which greatly reduces the learning cost of user operation.

[0086] Based on the first embodiment, a second embodiment of the aircraft control method of the present application is proposed, wherein step S101 includes:

[0087] Step S201, obtaining the current first parameter of the aircraft;

[0088] Step S202: determining whether the aircraft meets the first preset condition based on the first parameter.

[0089] When a flight mode switching request of the aircraft is detected, for example, when an operation triggered by a button of the aircraft (such as a mode switching button) is detected, the low-voltage power distribution system obtains the current first parameter of the aircraft, which is each parameter of the aircraft corresponding to the first preset condition, and determines whether the aircraft meets the first preset condition based on the first parameter, that is, determines whether each first parameter meets the conditions in the first preset condition. If they all meet the conditions, the low-voltage power distribution system determines that the aircraft meets the first preset condition.

[0090] Further, in a possible implementation, the first parameter may include the current speed and the current gear of the aircraft, and step S202 includes:

[0091] Step a, determining whether the aircraft meets the first preset condition based on the current speed and the current gear position;

[0092] If the current speed is less than or equal to the preset speed and the current gear is the P gear, it is determined that the aircraft meets the first preset condition.

[0093] When a flight mode switching request of an aircraft is detected, the aircraft first obtains the current speed and the current gear through the low-voltage power distribution system, and then the low-voltage power distribution system determines whether the current speed is less than or equal to the preset speed, and whether the current gear is the P gear. If the current speed is less than or equal to the preset speed and the current gear is the P gear, the low-voltage power distribution system determines that the aircraft meets the first preset condition, and can accurately determine whether the aircraft meets the condition of the low-voltage power distribution system based on the current speed and the current gear, thereby improving the accuracy of the aircraft switching between the flight mode and the land mode, and further improving the intelligence of the aircraft switching between the flight mode and the land mode.

[0094] Among them, the preset speed can be 3Km / h, 5Km / h, etc.

[0095] It should be noted that it is also possible to determine whether the current speed is valid. If the current speed is less than or equal to the preset speed, the current speed is valid, and the current gear is P gear, it is determined that the aircraft meets the first preset condition, so as to reduce the safety hazard caused by switching between flight mode and land mode when the current speed detected by the aircraft is invalid.

[0096] Furthermore, in another possible implementation, the first parameter also includes first state information of the electronic parking brake system and second state information of the vehicle body anti-theft, and step a includes:

[0097] Step b, determining that the aircraft meets the first preset condition based on the current speed, the current gear, the first state information, and the second state information:

[0098] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear and the second status information is that the body anti-theft has been released, or the current speed is less than or equal to the preset speed, the second status information is that the electronic parking brake system has been pulled up and the second status information is that the body anti-theft has been released, it is determined that the aircraft meets the first preset condition.

[0099] The low-voltage power distribution system obtains the first state information of the electronic parking brake system and the second state information of the vehicle body anti-theft while obtaining the current speed and the current gear position. Then, the low-voltage power distribution system determines whether the current speed is less than or equal to the preset speed, whether the current gear position is the P gear and / or whether the second state information is that the electronic parking brake system has been pulled up, and whether the second state information is that the vehicle body anti-theft has been released. If the current speed is less than or equal to the preset speed, the second state information is that the vehicle body anti-theft has been released and the current gear position is the P gear, or the current speed is less than or equal to the preset speed, the second state information is that the vehicle body anti-theft has been released and the second state information is that the electronic parking brake system has been pulled up, the low-voltage power distribution system determines that the aircraft meets the first preset condition, and can accurately determine whether the aircraft meets the condition of the low-voltage power distribution system based on the current speed and the current gear position, thereby improving the accuracy of the aircraft switching between the flight mode and the land mode, and further improving the intelligence of the aircraft switching between the flight mode and the land mode.

[0100] It should be noted that if the flight mode switching request is the first request, it can also be determined whether the aircraft is in the process of switching from the flight mode to the land mode. If the aircraft is in the process of switching from the flight mode to the land mode, the current speed is less than or equal to the preset speed, the second state information is that the vehicle body anti-theft has been released, the current gear is the P gear / the second state information is that the electronic parking brake system has been pulled up, then it is determined that the aircraft meets the first preset condition. When the flight mode switching request is the second request, it can also be determined whether the aircraft is in the process of switching from the land mode to the flight mode. If the aircraft is in the process of switching from the land mode to the flight mode, the current speed is less than or equal to the preset speed, the second state information is that the vehicle body anti-theft has been released, the current gear is the P gear / the second state information is that the electronic parking brake system has been pulled up, then it is determined that the aircraft meets the first preset condition.

[0101] By obtaining the current first parameter of the aircraft, and then determining whether the aircraft meets the first preset condition based on the first parameter, it is possible to accurately determine whether the aircraft meets the conditions of the low-voltage power distribution system based on the first parameter, thereby improving the accuracy of the aircraft switching between flight mode and land mode, and further improving the intelligence of the aircraft switching between flight mode and land mode.

[0102] Based on the first embodiment, a third embodiment of the aircraft control method of the present application is proposed, wherein step S102 includes:

[0103] Step S301, if the aircraft meets the first preset condition, controlling the low-voltage power distribution system to switch the power supply mode;

[0104] Step S302, obtaining the current second parameter of the aircraft;

[0105] Step S303: determining whether the aircraft meets the second preset condition based on the second parameter.

[0106] When the aircraft meets the first preset condition, the low-voltage power distribution system is controlled to switch the power mode. For example, when the flight mode switching request is a first request, the aircraft controls the low-voltage power distribution system to switch to the power mode of the land mode. When the flight mode switching request is a second request, the aircraft controls the low-voltage power distribution system to switch to the power mode of the flight mode.

[0107] Next, the land-to-air mode switching system obtains the current second parameter of the aircraft, which is each parameter of the aircraft corresponding to the second preset condition. The land-to-air mode switching system determines whether the aircraft meets the second preset condition based on the second parameter, that is, determines whether each second parameter meets the conditions in the second preset condition. If so, the land-to-air mode switching system determines that the aircraft meets the second preset condition.

[0108] Further, in a possible implementation, the second parameter includes the current speed and the current gear of the aircraft, and step S303 includes:

[0109] Step c, determining whether the aircraft meets the second preset condition based on the current speed and the current gear position;

[0110] If the current speed is less than or equal to the preset speed and the current gear is the P gear, it is determined that the aircraft meets the second preset condition.

[0111] When the current speed and the current gear are obtained, the land-to-air mode switching system determines whether the aircraft meets the second preset condition based on the current speed and the current gear. Specifically, the land-to-air mode switching system determines whether the current speed is less than or equal to the preset speed, and whether the current gear is the P gear. If the current speed is less than or equal to the preset speed and the current gear is the P gear, the land-to-air mode switching system determines that the aircraft meets the second preset condition. It can accurately determine whether the aircraft meets the conditions of the land-to-air mode switching system based on the current speed and the current gear, thereby improving the accuracy of the aircraft switching between flight mode and land mode, and further improving the intelligence of the aircraft switching between flight mode and land mode.

[0112] Among them, the preset speed can be 3Km / h, 5Km / h, etc.

[0113] It should be noted that the land-to-air mode switching system can also determine whether the current speed is valid. If the current speed is less than or equal to the preset speed, the current speed is valid and the current gear is P gear, the land-to-air mode switching system determines that the aircraft meets the second preset condition to reduce the safety hazard caused by switching between flight mode and land mode when the current speed detected by the aircraft is invalid.

[0114] Furthermore, in another possible implementation, the second parameter also includes the current pitch angle of the aircraft and the rotor angle offset, and step c includes:

[0115] Step d, determining whether the aircraft meets the second preset condition based on the current speed, the current gear position, the pitch angle, and the rotor angle offset;

[0116] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, and the rotor angle offset is less than or equal to the preset offset, it is determined that the aircraft meets the second preset condition.

[0117] The air-land mode switching system first obtains the current pitch angle and rotor angle offset, wherein the pitch angle is the angle between the aircraft and the horizontal plane, and the air-land mode switching system obtains the angle between the current position of the rotor and the target position, which is the rotor angle offset, and the target position is the calibrated position when the rotor is locked. If the rotor is a multi-rotor, the rotor angle offset includes the offset of each rotor.

[0118] Next, the land-to-air mode switching system determines whether the current speed is less than or equal to the preset speed, whether the current gear is P gear, whether the pitch angle is less than or equal to the preset pitch angle and whether the rotor angle offset is less than or equal to the preset offset. If the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle and the rotor angle offset is less than or equal to the preset offset, the land-to-air mode switching system determines that the aircraft meets the second preset condition, and can accurately determine whether the aircraft meets the conditions of the land-to-air mode switching system based on the current speed, current gear, pitch angle and rotor angle offset, thereby improving the accuracy of the aircraft switching between flight mode and land mode, and further improving the intelligence of the aircraft switching between flight mode and land mode.

[0119] The preset offset degree may be set to 3°, 5°, etc., and the preset pitch angle may be set to 3%, 5%, etc.

[0120] Furthermore, in another possible implementation, the flight mode switching request is a first request for switching the flight mode to a land mode, and the second parameter further includes the land and air information corresponding to the aircraft and the rotation speed of the motor corresponding to the rotor; step d includes:

[0121] Step e, determining whether the aircraft meets the second preset condition based on the current speed, the current gear position, the pitch angle, the rotor angle offset, the land-air information, and the rotation speed;

[0122] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the land-to-air information is ground and the rotation speed is less than or equal to the preset rotation speed, it is determined that the aircraft meets the second preset condition.

[0123] When the aircraft switches from flight mode to land mode, the land-to-air mode switching system also obtains the land-to-air information corresponding to the aircraft and the rotational speed of the motor corresponding to the rotor, wherein the land-to-air information can be detected through the tires of the aircraft, and the land-to-air information includes the ground and the air. The rotational speed of the motor corresponding to the rotor is the current rotational speed of the motor driving the rotor. If the rotor is a multi-rotor, the rotational speed includes the current rotational speed corresponding to each rotor.

[0124] Next, the land-air mode switching system determines whether the current speed is less than or equal to the preset speed, whether the current gear is P gear, whether the pitch angle is less than or equal to the preset pitch angle, whether the rotor angle offset is less than or equal to the preset offset, whether the land-air information is ground, and whether the rotation speed is less than or equal to the preset rotation speed. If the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the land-air information is ground, and the rotation speed is less than or equal to the preset rotation speed, then the land-air mode switching system determines that the aircraft meets the second preset condition. It is possible to accurately determine whether the aircraft meets the conditions of the land-air mode switching system based on the current speed, current gear, pitch angle, rotor angle offset, land-air information, and rotation speed, thereby improving the accuracy of the aircraft switching between flight mode and land mode, and further improving the intelligence of the aircraft switching between flight mode and land mode. The second preset condition can improve the safety of the aircraft switching from flight mode to land mode, and reduce the interference between the rotor and the arm in the motion envelope.

[0125] The speed can be set to 2r / min, 3r / min, etc.

[0126] It should be noted that the land-to-air mode switching system can also determine whether the aircraft is in the process of switching from flight mode to land mode. If the aircraft is in the process of switching from flight mode to land mode, the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the land-to-air information is ground and the rotation speed is less than or equal to the preset rotation speed, then the land-to-air mode switching system determines that the aircraft meets the second preset condition.

[0127] Furthermore, in another possible implementation, the flight mode switching request is a second request for switching from a land mode to a flight mode, and the second parameter further includes current battery power and charging status information of the aircraft and obstacle information of the current environment; step d includes:

[0128] Step f, determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, the rotor angle offset, the battery power, the charging status information, and the obstacle information;

[0129] Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the battery power is greater than or equal to the preset power, the charging status information is that the charging pile is not connected and the obstacle information is that there is no obstacle, then it is determined that the aircraft meets the second preset condition.

[0130] When the aircraft switches from the land mode to the flight mode, the land-to-air mode switching system also obtains the current battery power and charging status information of the aircraft and the obstacle information of the current environment.

[0131] Next, the air-land mode switching system determines whether the current speed is less than or equal to the preset speed, whether the current gear is the P gear, whether the pitch angle is less than or equal to the preset pitch angle, whether the rotor angle offset is less than or equal to the preset offset, whether the battery power is greater than or equal to the preset power, whether the charging status information is that the charging pile is not connected, and whether the obstacle information is that there is no obstacle. If the current speed is less than or equal to the preset speed, the current gear is the P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the battery power is greater than or equal to the preset power, the charging status information is that the charging pile is not connected, and the obstacle information is that there is no obstacle, then the air-land mode switching system determines that the aircraft meets the second preset condition. It is possible to accurately determine whether the aircraft meets the conditions of the air-land mode switching system based on the current speed, current gear, pitch angle, rotor angle offset, battery power, charging status information, and obstacle information, thereby improving the accuracy of the aircraft switching between the flight mode and the land mode, and further improving the intelligence of the aircraft switching between the flight mode and the land mode. The second preset condition can improve the safety of the aircraft switching from the land mode to the flight mode, and reduce the interference between the rotor and the arm in the motion envelope.

[0132] The preset power level may be 10%, 20%, etc.

[0133] It should be noted that when the flight mode switching request is the second request, it can also be determined whether the aircraft is in the process of switching from land mode to flight mode. If the aircraft is in the process of switching from land mode to flight mode and meets the above conditions, it is determined that the aircraft meets the second preset condition.

[0134] If the aircraft meets the first preset condition, the low-voltage power distribution system is controlled to switch the power supply mode; then the current second parameter of the aircraft is obtained; and then based on the second parameter, it is determined whether the aircraft meets the second preset condition. It is possible to accurately determine whether the aircraft meets the conditions of the air-land mode switching system based on the second parameter, thereby improving the accuracy of the aircraft switching between flight mode and land mode, and further improving the intelligence of the aircraft switching between flight mode and land mode.

[0135] Based on the above embodiments, a fourth embodiment of the aircraft control method of the present application is proposed, wherein step S103 includes:

[0136] Step S401, if the aircraft meets the second preset condition, the ground-to-air mode switching system is controlled to switch the operating mode, and the ground-to-air mode switching system is controlled to send a first control signal to the locking actuator.

[0137] When the aircraft meets the second preset condition, the land-to-air mode switching system can be controlled to switch the operating mode first. For example, when the flight mode switching request is a first request, the aircraft controls the land-to-air mode switching system to switch the operating mode to the land mode. When the flight mode switching request is a second request, the aircraft controls the land-to-air mode switching system to switch the operating mode to the flight mode. Then, the land-to-air mode switching system is controlled to send a first control signal to the locking actuator.

[0138] Further, in a possible implementation, the flight mode switching request is a second request for switching from the ground mode to the flight mode, and step S401 includes:

[0139] Step S4011, controlling the ground-to-air mode switching system to switch the operating mode to the flight mode;

[0140] Step S4012, controlling the ground-to-air mode switching system to send a second control signal to the locking actuator, and the locking actuator controls the locking pin corresponding to the rotor based on the second control signal to maintain the locking state of the rotor.

[0141] When the flight mode switching request is the second request, the aircraft controls the land-to-air mode switching system to switch the operating mode to flight mode, and then the land-to-air mode switching system sends a second control signal to the locking actuator. The locking actuator controls the locking pin corresponding to the rotor based on the second control signal to maintain the locked state of the rotor to ensure that the rotor is in a locked state before the land-to-air mode switching system makes a condition judgment when the land mode is switched to the flight mode, thereby improving the safety of the aircraft.

[0142] In another possible implementation, step S104 includes:

[0143] Step g, controlling the locking actuator to drive the locking pin to be pulled out from the corresponding rotor locking hole based on the first control signal to unlock the rotor.

[0144] When the flight mode switching request is the second request, after the locking actuator receives the first control signal, the locking actuator drives the locking pin to be pulled out of the rotor locking hole until the locking pin reaches its initial position, and then controls the locking actuator to perform a power-off operation.

[0145] Further, in another possible implementation, the flight mode switching request is a first request for switching from the flight mode to the ground mode, and step S401 includes:

[0146] Step h, controlling the land-to-air mode switching system to switch the operating mode to the land mode;

[0147] Step S104 includes:

[0148] Step i: Control the locking actuator to drive the locking pin to perform a latching operation based on the first control signal to lock the rotor.

[0149] When the flight mode switching request is the first request, the air-land mode switching system is controlled to switch the operation mode to the land mode. After the locking actuator receives the first control signal, the locking actuator drives the corresponding locking pin to insert upward until the locking pin is inserted into the rotor locking hole, and then controls the locking actuator to perform a power-off operation to lock the rotor.

[0150] If the aircraft meets the second preset condition, the land-to-air mode switching system is controlled to switch the operating mode, and the land-to-air mode switching system is controlled to send a first control signal to the locking actuator, so as to improve the efficiency of switching between flight mode and land mode by switching the operating mode of the land-to-air mode switching system.

[0151] Based on the above embodiments, a fifth embodiment of the aircraft control method of the present application is proposed, wherein the flight mode switching request is a first request for switching the flight mode to the ground mode, and step S103 includes:

[0152] Step S501, if the aircraft meets the second preset condition, detecting the rotor angle deviation corresponding to the rotor;

[0153] Step S502, if the rotor angle deviation is less than or equal to a preset deviation, control the ground-to-air mode switching system to send a first control signal to the locking actuator.

[0154] If the flight mode switching request is a first request for switching the flight mode to the land mode, and the aircraft meets the second preset condition, the aircraft detects the rotor angle offset corresponding to the rotor and determines whether the rotor angle offset is less than or equal to the preset offset.

[0155] If the rotor angle deviation is less than or equal to the preset deviation, the land-to-air mode switching system is controlled to send a first control signal to the locking actuator to avoid safety hazards caused by the rotor angle deviation being greater than the preset deviation.

[0156] Of course, if the rotor angle offset is greater than the preset offset, the process returns to the step of detecting the rotor angle offset corresponding to the rotor, that is, re-detecting the rotor angle offset.

[0157] If the aircraft meets the second preset condition, the rotor angle deviation corresponding to the rotor is detected; if the rotor angle deviation is less than or equal to the preset deviation, the ground-to-air mode switching system is controlled to send a first control signal to the locking actuator to ensure that the rotor angle deviation is less than or equal to the preset deviation, thereby further improving the safety of the aircraft.

[0158] In addition, the present application also proposes an aircraft, referring to Figure 3 The aircraft is equipped with a low-voltage power distribution system, a ground-to-air mode switching system, and a locking actuator corresponding to the rotor, and the aircraft includes:

[0159] A first determination module, configured to determine whether the aircraft satisfies a first preset condition corresponding to the low-voltage power distribution system if a flight mode switching request of the aircraft is detected;

[0160] A second determination module, configured to determine whether the aircraft satisfies a second preset condition corresponding to the air-ground mode switching system if the aircraft satisfies the first preset condition;

[0161] A first control module, configured to control the air-land mode switching system to send a first control signal to the locking actuator if the aircraft meets the second preset condition;

[0162] The second control module is used to control the locking pin corresponding to the rotor through the locking actuator based on the first control signal.

[0163] The methods executed by the above-mentioned program units can refer to the various embodiments of the aircraft control method of the present application, and will not be repeated here.

[0164] In addition, the present application also proposes a computer-readable storage medium, on which an aircraft control program is stored. When the aircraft control program is executed by a processor, the steps of the aircraft control method as described above are implemented.

[0165] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0166] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0167] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0168] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling an aircraft, characterized in that: The aircraft is provided with a low-voltage power distribution system, a land-to-air mode switching system and a locking actuator corresponding to the rotor, including: If a flight mode switching request of the aircraft is detected, determining whether the aircraft meets a first preset condition corresponding to the low-voltage power distribution system; If the aircraft satisfies the first preset condition, determining whether the aircraft satisfies a second preset condition corresponding to the air-ground mode switching system; If the aircraft meets the second preset condition, controlling the air-land mode switching system to send a first control signal to the locking actuator; Controlling a lock pin corresponding to the rotor by the locking actuator based on the first control signal; Wherein, if the aircraft satisfies the first preset condition, the step of determining whether the aircraft satisfies the second preset condition corresponding to the ground-to-air mode switching system includes: If the aircraft meets the first preset condition, controlling the low-voltage power distribution system to switch the power supply mode; Acquire a current second parameter of the aircraft; Based on the second parameter, determine whether the aircraft meets the second preset condition, the second parameter includes the current speed and the current gear of the aircraft, and based on the current speed and the current gear, determine whether the aircraft meets the second preset condition; wherein, if the current speed is less than or equal to the preset speed and the current gear is P gear, it is determined that the aircraft meets the second preset condition.

2. The aircraft control method according to claim 1, characterized in that: The step of determining whether the aircraft meets the first preset condition corresponding to the low-voltage power distribution system includes: Acquire a current first parameter of the aircraft; Based on the first parameter, it is determined whether the aircraft meets the first preset condition.

3. The aircraft control method according to claim 2, characterized in that: The first parameter includes the current speed and current gear of the aircraft; The step of determining whether the aircraft meets the first preset condition based on the first parameter includes: Based on the current speed and the current gear, determining that the aircraft meets the first preset condition; If the current speed is less than or equal to the preset speed and the current gear is the P gear, it is determined that the aircraft meets the first preset condition.

4. The aircraft control method according to claim 3, characterized in that: The first parameter also includes first status information of the electronic parking brake system and second status information of the vehicle body anti-theft. The step of determining that the aircraft meets the first preset condition based on the current speed and the current gear position includes: Determining that the aircraft meets the first preset condition based on the current speed, the current gear, the first state information, and the second state information: Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear and the second status information is that the body anti-theft has been released, or the current speed is less than or equal to the preset speed, the second status information is that the electronic parking brake system has been pulled up and the second status information is that the body anti-theft has been released, it is determined that the aircraft meets the first preset condition.

5. The aircraft control method according to claim 1, characterized in that: The second parameter also includes the current pitch angle of the aircraft and the rotor angle offset; The step of determining whether the aircraft meets the second preset condition based on the current speed and the current gear position comprises: Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset; Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, and the rotor angle offset is less than or equal to the preset offset, it is determined that the aircraft meets the second preset condition.

6. The aircraft control method according to claim 5, characterized in that: The flight mode switching request is a first request for switching the flight mode to a land mode, and the second parameter further includes the land and air information corresponding to the aircraft and the rotation speed of the motor corresponding to the rotor; The step of determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset comprises: Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, the rotor angle offset, the land-air information, and the rotation speed; Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the land-to-air information is ground and the rotation speed is less than or equal to the preset rotation speed, it is determined that the aircraft meets the second preset condition.

7. The aircraft control method according to claim 5, characterized in that: The flight mode switching request is a second request for switching from a land mode to a flight mode, and the second parameter further includes current battery power and charging status information of the aircraft and obstacle information of the current environment; The step of determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, and the rotor angle offset comprises: Determining whether the aircraft meets the second preset condition based on the current speed, the current gear, the pitch angle, the rotor angle offset, the battery power, the charging status information, and the obstacle information; Among them, if the current speed is less than or equal to the preset speed, the current gear is P gear, the pitch angle is less than or equal to the preset pitch angle, the rotor angle offset is less than or equal to the preset offset, the battery power is greater than or equal to the preset power, the charging status information is that the charging pile is not connected and the obstacle information is that there is no obstacle, then it is determined that the aircraft meets the second preset condition.

8. The aircraft control method according to claim 1, characterized in that: If the aircraft meets the second preset condition, the step of controlling the air-land mode switching system to send a first control signal to the locking actuator comprises: If the aircraft meets the second preset condition, the ground-to-air mode switching system is controlled to switch the operating mode, and the ground-to-air mode switching system is controlled to send a first control signal to the locking actuator.

9. The aircraft control method according to claim 8, characterized in that: The flight mode switching request is a second request for switching the ground mode to the flight mode, and the step of controlling the ground-to-air mode switching system to switch the operating mode includes: Controlling the land-to-air mode switching system to switch the operating mode to the flight mode; The land-to-air mode switching system is controlled to send a second control signal to the locking actuator, and the locking actuator controls the locking pin corresponding to the rotor based on the second control signal to maintain the locking state of the rotor.

10. The aircraft control method according to claim 9, characterized in that: The step of controlling the lock pin corresponding to the rotor by the locking actuator based on the first control signal comprises: The locking actuator is controlled to drive the locking pin to be pulled out from the corresponding rotor locking hole based on the first control signal to unlock the rotor.

11. The aircraft control method according to claim 8, characterized in that: The flight mode switching request is a first request for switching from the flight mode to the ground mode, and the step of controlling the ground-to-air mode switching system to switch the operating mode includes: Controlling the land-to-air mode switching system to switch the operating mode to the land mode; The step of controlling the lock pin corresponding to the rotor by the locking actuator based on the first control signal comprises: The locking actuator is controlled to drive the locking pin to perform a latching operation based on the first control signal to lock the rotor.

12. The aircraft control method according to any one of claims 1 to 11, characterized in that: The flight mode switching request is a first request for switching from the flight mode to the land mode. If the aircraft meets the second preset condition, the step of controlling the land-to-air mode switching system to send a first control signal to the locking actuator includes: If the aircraft meets the second preset condition, detecting the rotor angle deviation corresponding to the rotor; If the rotor angle deviation is less than or equal to the preset deviation, the land-to-air mode switching system is controlled to send a first control signal to the locking actuator.

13. An aircraft control device, characterized in that: The aircraft control device comprises: a memory, a processor, and an aircraft control program stored in the memory and executable on the processor, wherein the aircraft control program implements the steps of the aircraft control method according to any one of claims 1 to 12 when executed by the processor.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an aircraft control program, and when the aircraft control program is executed by a processor, the steps of the aircraft control method according to any one of claims 1 to 13 are implemented.

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