A method and device for controlling the rear thrust of a drone, and a drone

Abstract

The application discloses a kind of unmanned aerial vehicle rear thrust control method, device and unmanned aerial vehicle, including real-time acquisition unmanned aerial vehicle current attitude information;The deviation value between the size of current attitude information of unmanned aerial vehicle and the preset attitude information of unmanned aerial vehicle is compared;According to the size of deviation value, the first control signal of the operating parameter of control unmanned aerial vehicle on duct fan is generated;Real-time acquisition duct fan speed and steering information;The speed and steering information of real-time feedback duct fan and the first control signal of control duct fan operating parameter are carried out data fusion processing, the second control signal of control duct fan speed and steering is generated, and the operating parameter of duct fan is controlled according to second control signal to adjust the rear thrust of unmanned aerial vehicle.The method is based on the use of duct fan to generate the force opposite to the direction of rear thrust to eliminate the rear thrust, combined with encoder real-time data fusion processing, realize the accurate control of rear thrust, so that unmanned aerial vehicle can keep attitude stable.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV recoil control method, device, and UAV. Background Technology

[0002] Drones are subject to various interferences during mission execution, especially those equipped with launch or jet propulsion systems. The recoil from launch or jet propulsion can cause instability, hindering the completion of missions and even leading to loss of control. For example, a drone with a jet propulsion system will gradually deviate from its intended flight path due to recoil, resulting in attitude deviations and reduced operational efficiency. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that drones are prone to deviating from the predetermined route or even losing control when subjected to recoil, thereby providing a drone recoil control method, device and drone.

[0004] In a first aspect, embodiments of the present invention provide a method for controlling the recoil of a UAV, comprising:

[0005] Real-time acquisition of the drone's current attitude information;

[0006] Compare the deviation between the current attitude information of the UAV and the preset attitude information of the UAV to see if it is within the allowable error range;

[0007] If the deviation value exceeds the allowable error range, a first control signal is generated based on the magnitude of the deviation value to control the operating parameters of the ducted fan on the UAV.

[0008] The rotational speed and direction of the ducted fan are collected in real time.

[0009] Compare the deviation between the speed and direction information of the ducted fan collected at the current time point and the speed and direction information of the ducted fan collected at the previous time point to see if it is within a preset range;

[0010] If the deviation is within a preset range, a nominal control signal for controlling the speed and direction of the ducted fan is directly generated; if the deviation is not within the preset range, the nominal control signal is updated by statistically analyzing the speed and direction information of the ducted fan collected in the previous time period using a Kalman filter algorithm and fitting it with the speed and direction information of the ducted fan collected at the current time point. Based on the magnitude of the deviation and the current final control signal, a second control signal for controlling the speed and direction of the ducted fan is generated.

[0011] Furthermore, prior to the step of acquiring the current attitude information of the UAV in real time, the following is also included:

[0012] Check if an external command has been received. If an external command is detected, proceed to the next step; otherwise, continue checking for external commands.

[0013] Furthermore, the current attitude information of the UAV includes the current motion acceleration information of the UAV, the current motion angular velocity information of the UAV, and the magnetic component information of the current position of the UAV.

[0014] Furthermore, the preset attitude information of the UAV includes the preset motion acceleration information, the preset motion angular velocity information, and the magnetic component information of the preset location of the UAV; the preset motion acceleration information of the UAV is an acceleration range obtained by filtering out outliers from the historical motion acceleration information of multiple sets of UAVs, the preset motion angular velocity information of the UAV is a motion angular velocity range obtained by filtering out outliers from the historical motion angular velocity information of multiple sets of UAVs, and the magnetic component information of the preset location of the UAV is a position magnetic component information range obtained by filtering out outliers from the magnetic component information of the historical location of multiple sets of UAVs.

[0015] Further, the step of comparing the deviation between the current attitude information of the UAV and the preset attitude information of the UAV, and generating a first control signal for controlling the operating parameters of the ducted fan of the UAV based on the magnitude of the deviation if the deviation exceeds the allowable error range, includes:

[0016] Compare the current acceleration information of the drone with the preset acceleration information of the drone to see if the acceleration deviation value is greater than ±1.5m / s2;

[0017] If the acceleration deviation exceeds ±1.5 m / s², a first control signal is generated based on the magnitude of the acceleration deviation to control the operating parameters of the ducted fan on the UAV.

[0018] If the acceleration deviation value does not exceed ±1.5m / s2, then continue to compare whether the angular velocity deviation value between the current angular velocity information of the UAV and the preset angular velocity information of the UAV is greater than ±0.02rad / s;

[0019] If the angular velocity deviation value exceeds ±0.02 rad / s, a first control signal is generated based on the angular velocity deviation value to control the operating parameters of the ducted fan on the UAV.

[0020] If the angular velocity deviation does not exceed ±0.02 rad / s, then continue to compare whether the magnetic component deviation between the magnetic component information of the current location of the UAV and the magnetic component information of the preset location of the UAV is greater than ±0.03 gauss.

[0021] If the magnetic component deviation value exceeds ±0.03 gauss, a first control signal is generated based on the magnetic component deviation value to control the operating parameters of the ducted fan on the UAV.

[0022] If the magnetic component deviation value does not exceed ±0.03 gauss, proceed directly to the next step.

[0023] Secondly, embodiments of the present invention provide a drone recoil control device, applied to a drone, comprising:

[0024] An inertial measurement module is used to collect the current attitude information of the UAV in real time;

[0025] A ducted fan is used to generate a first force on the drone, the direction of which is opposite to the direction of the recoil force generated by the jet device on the drone.

[0026] An encoder, installed on the ducted fan, is used to collect the fan's rotational speed and direction of rotation information.

[0027] The microcontroller, electrically connected to the inertial measurement module and the encoder, includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the UAV recoil control method as described above.

[0028] Furthermore, the inertial measurement module includes an acceleration measurement module, an angular velocity measurement module, and an electronic compass.

[0029] Thirdly, embodiments of the present invention provide a drone, including a body, and a detection device, a flight control device, a satellite navigation device, a jetting device, and a recoil control device as described above, all disposed on the body. The recoil control device is mounted on the center plane where the jetting device is located. The force generated by the recoil control device is opposite in direction to the force generated by the jetting device, and is used to overcome the recoil generated by the jetting device on the drone.

[0030] Fourthly, embodiments of the present invention provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing the computer to execute the UAV recoil control method described above.

[0031] 1. The UAV recoil control method provided by the present invention adjusts the operating parameters of the ducted fan according to the current motion attitude change of the UAV, so that the ducted fan generates a force opposite to the recoil direction to adjust the UAV attitude. Furthermore, it combines the real-time feedback of the speed and direction information of the ducted fan from the encoder and performs data fusion processing. Through algorithm processing, it can achieve precise control of recoil, so that the UAV can maintain attitude stability and improve the working efficiency of the UAV.

[0032] 2. The UAV recoil control device provided by the present invention can overcome the recoil generated by the UAV's jet device by using a ducted fan to generate a force opposite to the recoil direction, thereby eliminating the influence of recoil on the UAV's flight path. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating the implementation of the UAV recoil control method in Embodiment 1 of the present invention.

[0035] Figure 2 This is a schematic diagram of the UAV recoil control algorithm in Embodiment 1 of the present invention;

[0036] Figure 3 This is a schematic diagram of the hardware structure of the UAV recoil control device in Embodiment 2 of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] This application provides a method and apparatus for controlling the recoil of a drone. This method and apparatus can be applied to various drones, which include a fuselage and detection devices, flight control devices, satellite navigation devices, and jet propulsion devices mounted on the fuselage. The recoil control device is mounted on the center plane of the jet propulsion device; the force generated by the recoil control device is opposite in direction to the force generated by the jet propulsion device, and is used to overcome the recoil force generated by the jet propulsion device on the drone.

[0039] Reference Figure 1 -2. Embodiment 1 of the present invention provides a method for controlling the recoil of a UAV, specifically including the following steps:

[0040] Step S10: Collect the current attitude information of the UAV in real time.

[0041] In this embodiment, before the step of collecting the current attitude information of the UAV in real time, the method further includes: detecting whether an external command has been received; if an external command is detected, step S10 is executed; if no external command is detected, the detection of external commands continues.

[0042] The current attitude information of the UAV includes its current acceleration, current angular velocity, and magnetic component information of its current location. This information is collected using an inertial measurement unit (IMU), which includes an acceleration measurement module, an angular velocity measurement module, and an electronic compass. The IMU collects data including acceleration, angular velocity, and magnetic components along the X, Y, and Z axes. One hundred sets of data for the X, Y, and Z axes are collected in the order of acceleration, angular velocity, and magnetic components. After filtering out outliers, the standard deviation of each axis is calculated and saved as default parameters.

[0043] Step S20: Compare the deviation between the current attitude information of the UAV and the preset attitude information of the UAV to see if it is within the allowable error range.

[0044] In this embodiment, the preset attitude information of the UAV includes the preset motion acceleration information, the preset motion angular velocity information, and the magnetic component information of the preset location of the UAV. The preset motion acceleration information of the UAV is the acceleration range obtained by filtering out outliers from the historical motion acceleration information of multiple sets of UAVs. The preset motion angular velocity information of the UAV is the motion angular velocity range obtained by filtering out outliers from the historical motion angular velocity information of multiple sets of UAVs. The magnetic component information of the preset location of the UAV is the magnetic component information range obtained by filtering out outliers from the magnetic component information of the historical location of multiple sets of UAVs.

[0045] Step S30: If the deviation value exceeds the allowable error range, a first control signal is generated to control the operating parameters of the ducted fan on the UAV based on the magnitude of the deviation value. Figure 2 The step of calculating the output parameters before the encoder feedback step is step S30. The calculation of output parameters is essentially the calculation of output parameters, which are the first control signals for controlling the operating parameters of the ducted fan.

[0046] In steps S20-S30, the acceleration deviation between the current acceleration information of the drone and the preset acceleration information of the drone is compared to see if it is greater than ±1.5 m / s². If the acceleration deviation exceeds ±1.5 m / s², a first control signal is generated to control the operating parameters of the ducted fan of the drone based on the magnitude of the acceleration deviation. If the acceleration deviation does not exceed ±1.5 m / s², the angular velocity deviation between the current angular velocity information of the drone and the preset angular velocity information of the drone is further compared to see if it is greater than ±0.02 rad / s. If the angular velocity deviation exceeds ±0.02 rad / s... If the angular velocity deviation value is less than ±0.02 rad / s, then the first control signal for controlling the operating parameters of the ducted fan on the UAV is generated based on the angular velocity deviation value. If the angular velocity deviation value is less than ±0.02 rad / s, then the magnetic component deviation value between the magnetic component information of the current position of the UAV and the magnetic component information of the preset position of the UAV is compared to whether it is greater than ±0.03 gauss. If the magnetic component deviation value is greater than ±0.03 gauss, then the first control signal for controlling the operating parameters of the ducted fan on the UAV is generated based on the magnetic component deviation value. If the magnetic component deviation value is less than ±0.03 gauss, then the next step is executed directly.

[0047] Step S40: Collect the rotational speed and direction information of the ducted fan in real time.

[0048] In this embodiment, an absolute encoder is specifically used to collect the rotational speed and direction information of the ducted fan in real time.

[0049] Step S50: Compare the deviation between the rotational speed and direction information of the ducted fan collected at the current time point and the rotational speed and direction information of the ducted fan collected at the previous time point to see if it is within a preset range.

[0050] Step S60: If the deviation is within a preset range, a nominal control signal for controlling the speed and direction of the ducted fan is directly generated; if the deviation is not within the preset range, the nominal control signal is updated by statistically analyzing the speed and direction information of the ducted fan collected in the previous time period using a Kalman filter algorithm and fitting it with the speed and direction information of the ducted fan collected at the current time point. Based on the magnitude of the deviation and the current final control signal, a second control signal for controlling the speed and direction of the ducted fan is generated. Figure 2 The control parameter output of the next step in the data fusion processing step is essentially the output control parameter, which is the second control signal that controls the speed and direction of the ducted fan.

[0051] This drone recoil control method adjusts the drone's attitude by regulating the ducted fan's operating parameters based on the drone's current attitude changes. This allows the ducted fan to generate a force opposite to the recoil direction, thus adjusting the drone's attitude. Furthermore, it combines real-time feedback from the encoder regarding the ducted fan's speed and direction information with data fusion processing. Through algorithmic processing, it achieves precise recoil control, enabling the drone to maintain attitude stability and improving its operational efficiency.

[0052] Embodiment 2 of the present invention provides a recoil control device for a drone, the device comprising:

[0053] An inertial measurement module is used to collect the current attitude information of the UAV in real time;

[0054] A ducted fan is used to generate a first force on the drone, the direction of which is opposite to the direction of the recoil force generated by the jet device on the drone.

[0055] An encoder, installed on the ducted fan, is used to collect the fan's rotational speed and direction of rotation information.

[0056] The microcontroller, electrically connected to the inertial measurement module and the encoder, includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the UAV recoil control method as described in Embodiment 1 above.

[0057] This drone recoil control device uses a ducted fan to generate a force opposite to the recoil, which can overcome the recoil generated by the drone's jets and eliminate the impact of recoil on the drone's flight path.

[0058] The processor can be a central processing unit (CPU). The processor 51 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0059] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the UAV recoil control method in the embodiments of the present invention. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the UAV recoil control method in the above method embodiments.

[0060] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0061] The one or more modules are stored in the memory, and when executed by the processor, they perform actions such as... Figure 1 The drone recoil control method in the illustrated embodiment.

[0062] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0063] Embodiment 3 of the present invention provides a drone, which may include, but is not limited to, a body, a detection device, a flight control device, a satellite navigation device, a jetting device, and the recoil device described in Embodiment 2 above.

[0064] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling the recoil of a drone, characterized in that, include: Real-time acquisition of the drone's current attitude information; Compare the deviation between the current attitude information of the UAV and the preset attitude information of the UAV to see if it is within the allowable error range; If the deviation value exceeds the allowable error range, a first control signal is generated based on the magnitude of the deviation value to control the operating parameters of the ducted fan on the UAV. The rotational speed and direction of the ducted fan are collected in real time. Compare the deviation between the speed and direction information of the ducted fan collected at the current time point and the speed and direction information of the ducted fan collected at the previous time point to see if it is within a preset range; If the deviation is within the preset range, a nominal control signal for controlling the speed and direction of the ducted fan is directly generated; If the deviation is not within the preset range, the nominal control signal is updated by statistically analyzing the speed and direction information of the ducted fan collected in the previous time period using the Kalman filter algorithm and matching it with the speed and direction information of the ducted fan collected at the current time point. Based on the magnitude of the deviation and the current final control signal, a second control signal is generated to control the speed and direction of the ducted fan.

2. The UAV recoil control method according to claim 1, characterized in that, The procedure prior to the step of acquiring the current attitude information of the UAV in real time also includes: Check if an external command has been received. If an external command is detected, proceed to the next step; otherwise, continue checking for external commands.

3. The UAV recoil control method according to claim 1, characterized in that, The current attitude information of the UAV includes the current acceleration information of the UAV, the current angular velocity information of the UAV, and the magnetic component information of the current location of the UAV.

4. The UAV recoil control method according to claim 3, characterized in that, The preset attitude information of the UAV includes the preset motion acceleration information, the preset motion angular velocity information, and the magnetic component information of the preset location of the UAV. The preset motion acceleration information is the acceleration range obtained by filtering out outliers from the historical motion acceleration information of multiple UAVs. The preset motion angular velocity information is the motion angular velocity range obtained by filtering out outliers from the historical motion angular velocity information of multiple UAVs. The magnetic component information of the preset location of the UAV is the location magnetic component information range obtained by filtering out outliers from the historical location magnetic component information of multiple UAVs.

5. The UAV recoil control method according to claim 4, characterized in that, The step of comparing the deviation between the current attitude information of the UAV and the preset attitude information of the UAV, and generating a first control signal for controlling the operating parameters of the ducted fan of the UAV based on the magnitude of the deviation if the deviation exceeds the allowable error range, includes: Compare the current acceleration information of the drone with the preset acceleration information of the drone to see if the acceleration deviation value is greater than ±1.5m / s2; If the acceleration deviation exceeds ±1.5 m / s², a first control signal is generated based on the magnitude of the acceleration deviation to control the operating parameters of the ducted fan on the UAV. If the acceleration deviation value does not exceed ±1.5m / s2, then continue to compare whether the angular velocity deviation value between the current angular velocity information of the UAV and the preset angular velocity information of the UAV is greater than ±0.02rad / s; If the angular velocity deviation value exceeds ±0.02 rad / s, a first control signal is generated based on the angular velocity deviation value to control the operating parameters of the ducted fan on the UAV. If the angular velocity deviation does not exceed ±0.02 rad / s, then continue to compare whether the magnetic component deviation between the magnetic component information of the current location of the UAV and the magnetic component information of the preset location of the UAV is greater than ±0.03 gauss. If the magnetic component deviation value exceeds ±0.03 gauss, a first control signal is generated based on the magnetic component deviation value to control the operating parameters of the ducted fan on the UAV. If the magnetic component deviation value does not exceed ±0.03 gauss, proceed directly to the next step.

6. A recoil control device, applied to a drone, characterized in that, include: An inertial measurement module is used to collect the current attitude information of the UAV in real time; A ducted fan is used to generate a first force on the drone, the direction of which is opposite to the direction of the recoil force generated by the jet device on the drone. An encoder, installed on the ducted fan, is used to collect the fan's rotational speed and direction of rotation information. The microcontroller, electrically connected to the inertial measurement module and the encoder, includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the UAV recoil control method as described in any one of claims 1-5.

7. The recoil control device according to claim 6, characterized in that, The inertial measurement module includes an acceleration measurement module, an angular velocity measurement module, and an electronic compass.

8. A drone, characterized in that, It includes an airframe, and a detection device, a flight control device, a satellite navigation device, a jetting device, and a recoil control device as described in claim 6, all mounted on the airframe. The recoil control device is installed on the center plane where the jetting device is located. The force generated by the recoil control device is opposite in direction to the force generated by the jetting device, and is used to overcome the recoil generated by the jetting device on the UAV.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the UAV recoil control method according to any one of claims 1-5.

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