A method for controlling take-off, landing and take-off and landing of a tilt-rotor drone

Abstract

The application discloses a method for controlling take-off, landing and take-off and landing of a tilt-rotor unmanned aerial vehicle, and relates to the technical field of automatic take-off and landing control of unmanned aerial vehicles. The method for controlling take-off of a tilt-rotor unmanned aerial vehicle comprises the following steps: acquiring take-off airport information; the take-off airport information comprises weather of a take-off airport and a take-off and landing position; the take-off and landing position is a runway or a take-off and landing point; determining a current take-off mode according to the take-off and landing position; the current take-off mode is a vertical take-off mode or a taxiing take-off mode; when the weather of the take-off airport meets preset take-off weather conditions, sending a test command to a flight control surface actuator and receiving an actuation signal of the flight control surface actuator; when the actuation signal is consistent with the test command, sending a take-off operation request to a ground station; and when receiving an instruction for allowing take-off from the ground station, performing a take-off operation corresponding to the current take-off mode, and completing take-off. The application realizes automatic selection of a take-off and landing mode of a tilt-rotor unmanned aerial vehicle, and improves work efficiency and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic take-off and landing control of unmanned aerial vehicles, and particularly relates to a method for controlling take-off, landing and take-off and landing of a tilt-rotor unmanned aerial vehicle. BACKGROUND

[0002] The tilt-rotor unmanned aerial vehicle combines the advantages of vertical take-off and landing of a rotorcraft and long-time flight of a fixed-wing aircraft, and can fly long distances at a high speed like a fixed-wing aircraft and has the ability of vertical take-off and landing and hovering in the air like an ordinary helicopter. The cruising flight speed of a common tilt-rotor unmanned aerial vehicle can reach 400 km / h-500 km / h. Wind tunnel tests have proved that the flight resistance of an aircraft increases with the increase of flight speed. If the aircraft uses a retractable landing gear, compared with a non-retractable landing gear, the resistance can be reduced by 6% when the flight speed is 250 km / h, and the resistance can be reduced by 8%-10% when the speed reaches 400 km / h. Therefore, most tilt-rotor unmanned aerial vehicles are equipped with retractable landing gears. In addition, the tilt-rotor unmanned aerial vehicle, which combines the advantages of a fixed-wing aircraft and a rotorcraft, is a variable flight mode aircraft. Compared with a fixed-wing aircraft, it has low requirements for runways and better site adaptability. Compared with a conventional helicopter, it has a faster cruising speed, a longer range, less vibration, a lower fuel consumption rate and a larger load capacity.

[0003] The tilt-rotor unmanned aerial vehicle can select a vertical take-off mode or a taxiing take-off mode during take-off and landing. For the current tilt-rotor unmanned aerial vehicle landing gear system, different take-off modes cannot be automatically selected for different working conditions, and manual operation is required to correct the take-off mode. With the diversification of tilt-rotor unmanned aerial vehicle tasks, manual modification of the take-off mode will greatly limit the operating performance of the tilt-rotor unmanned aerial vehicle, resulting in low work efficiency of the unmanned aerial vehicle. In addition, if an emergency occurs, the ground personnel have not handled it properly in the first time, and even a crash accident may occur. SUMMARY

[0004] The purpose of the present application is to provide a method for controlling take-off, landing and take-off and landing of a tilt-rotor unmanned aerial vehicle, which realizes automatic selection of the take-off and landing mode of the tilt-rotor unmanned aerial vehicle and improves work efficiency and safety.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] A method for controlling take-off of a tilt-rotor unmanned aerial vehicle, the method for controlling take-off of the tilt-rotor unmanned aerial vehicle comprising:

[0007] acquiring take-off airport information; the take-off airport information comprising weather and a take-off and landing position of a take-off airport; the take-off and landing position being a runway or a take-off and landing point;

[0008] determine a current take-off mode according to the take-off position; the current take-off mode is a vertical take-off mode or a sliding take-off mode;

[0009] when the weather of the take-off airport meets preset take-off weather conditions, sending a test command to a flight control surface actuator and receiving an actuation signal of the flight control surface actuator;

[0010] when the actuation signal is consistent with the test command, sending a take-off operation request to a ground station;

[0011] when receiving a take-off permission instruction from the ground station, performing a take-off operation corresponding to the current take-off mode, and completing take-off of the tilt-rotor unmanned aerial vehicle.

[0012] Optionally, when the current take-off mode is the vertical take-off mode, the take-off operation corresponding to the current take-off mode is performed, and specifically includes:

[0013] controlling the tilt-rotor unmanned aerial vehicle to take off vertically, and acquiring a flight height and a flight speed of the tilt-rotor unmanned aerial vehicle in real time;

[0014] when the flight height reaches a first preset height, controlling the rotors of the tilt-rotor unmanned aerial vehicle to tilt forward;

[0015] calculating a climb rate according to the flight height, and when the climb rate reaches a first preset climb rate and the flight speed reaches a first preset flight speed, issuing a landing gear retracting instruction, and monitoring landing gear information;

[0016] when receiving correct landing gear retracting information, take-off is successfully completed;

[0017] when not receiving correct landing gear retracting information, controlling the tilt-rotor unmanned aerial vehicle to return to the take-off airport, and take-off fails.

[0018] Optionally, when the current take-off mode is the sliding take-off mode, the take-off operation corresponding to the current take-off mode is performed, and specifically includes:

[0019] controlling the tilt-rotor unmanned aerial vehicle to take off by sliding, acquiring a flight height and a flight speed of the tilt-rotor unmanned aerial vehicle in real time, and calculating a climb rate according to the flight height;

[0020] when the flight height reaches a second preset height, the flight speed reaches a second preset flight speed, and the climb rate reaches a second preset climb rate, issuing a landing gear retracting instruction, and monitoring landing gear retracting information;

[0021] when receiving correct landing gear retracting information, take-off is successfully completed;

[0022] When the correct landing gear stowing information is not received, the tilt-rotor unmanned aerial vehicle is controlled to return to the take-off airport, and the take-off fails.

[0023] A method for controlling landing of a tilt-rotor unmanned aerial vehicle, comprising:

[0024] Obtaining weather of a first landing airport and remaining energy of the tilt-rotor unmanned aerial vehicle; the remaining energy is remaining charged amount or remaining fuel amount;

[0025] When the remaining energy is greater than a first energy and the weather of the first landing airport meets a preset landing weather condition, the first landing airport is determined as a target landing airport; the first energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the first landing airport;

[0026] When the remaining energy is less than the first energy, a set of alternative landing airports is determined according to the remaining energy; an alternative landing airport in the set of alternative landing airports is an airport whose second energy is less than the remaining energy; the second energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the alternative landing airport;

[0027] According to weather of each of the alternative landing airports and the preset landing weather condition, an alternative landing airport whose weather meets the preset landing weather condition and which is closest in distance is determined as the target landing airport, and a take-off and landing position of the target landing airport is determined; the distance is distance between the tilt-rotor unmanned aerial vehicle and the alternative landing airport;

[0028] A current landing mode is determined according to the take-off and landing position of the target landing airport; the current landing mode is vertical landing mode or running take-off and landing mode;

[0029] At the target landing airport, a landing operation corresponding to the current landing mode is performed, and landing of the tilt-rotor unmanned aerial vehicle is completed.

[0030] Optionally, when the current landing mode is the vertical landing mode, the landing operation corresponding to the current landing mode is performed, and specifically includes:

[0031] The flight height of the tilt-rotor unmanned aerial vehicle is obtained in real time;

[0032] When the flight height reaches a third preset height, a landing gear lowering instruction is issued, and landing gear lowering information is monitored;

[0033] When the correct landing gear lowering information is received, landing is successfully completed;

[0034] When the correct landing gear lowering information is not received, a landing gear lowering program is forcibly executed, the landing gear is controlled to be lowered, and landing is successfully completed.

[0035] Optionally, when the current landing mode is a sliding landing mode, performing a landing operation corresponding to the current landing mode, specifically comprising:

[0036] Real-time acquisition of the flight height and flight speed of the tilt-rotor UAV, and calculation of the descent rate according to the flight height;

[0037] When the flight height reaches a fourth preset height, the flight speed reaches a third preset flight speed, and the descent rate reaches a preset descent rate, an undercarriage descent instruction is issued, and undercarriage lowering information is monitored;

[0038] When correct undercarriage lowering information is received, the landing is successfully completed;

[0039] When correct undercarriage lowering information is not received, the undercarriage lowering program is forcibly executed, the undercarriage is controlled to be lowered, and the landing is successfully completed.

[0040] A method for controlling the take-off and landing of a tilt-rotor UAV, the method for controlling the take-off and landing of a tilt-rotor UAV comprising:

[0041] Controlling the tilt-rotor UAV to take off;

[0042] When the tilt-rotor UAV needs to land, controlling the tilt-rotor UAV to land;

[0043] When controlling the tilt-rotor UAV to take off:

[0044] Acquiring take-off airport information; the take-off airport information includes the weather and the take-off and landing position of the take-off airport; the take-off and landing position is a runway or a take-off and landing point;

[0045] Determining a current take-off mode according to the take-off and landing position of the take-off airport; the current take-off mode is a vertical take-off mode or a sliding take-off mode;

[0046] When the weather of the take-off airport meets a preset take-off weather condition, sending a test command to a flight control surface actuator and receiving an actuation signal of the flight control surface actuator;

[0047] When the actuation signal is consistent with the test command, sending a take-off operation request to a ground station;

[0048] When receiving a take-off permission instruction from the ground station, performing a take-off operation corresponding to the current take-off mode, and completing the take-off of the tilt-rotor UAV;

[0049] When controlling the tilt-rotor UAV to land:

[0050] Acquiring the weather of a first landing airport and the remaining energy of the tilt-rotor UAV; the remaining energy is the remaining charge or the remaining fuel;

[0051] determining the first landing airport as a target landing airport when the remaining energy is greater than a first energy and weather of the first landing airport meets preset landing weather conditions; the first energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the first landing airport;

[0052] determining a set of alternative landing airports according to the remaining energy when the remaining energy is less than the first energy; an alternative landing airport in the set of alternative landing airports is an airport whose second energy is less than the remaining energy; the second energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the alternative landing airport;

[0053] determining an alternative landing airport closest to the tilt-rotor unmanned aerial vehicle in the set of alternative landing airports as the target landing airport according to weather of each of the alternative landing airports and the preset landing weather conditions, and determining a take-off and landing position of the target landing airport; the distance is a distance between the tilt-rotor unmanned aerial vehicle and the alternative landing airport;

[0054] determining a current landing mode according to the take-off and landing position of the target landing airport; the current landing mode is a vertical landing mode or a running landing mode;

[0055] performing a landing operation corresponding to the current landing mode at the target landing airport, and completing landing of the tilt-rotor unmanned aerial vehicle.

[0056] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0057] The application discloses a method for controlling take-off, landing and take-off and landing of a tilt-rotor unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0059] Figure 1 A method flowchart for controlling take-off of a tilt-rotor unmanned aerial vehicle is provided for Embodiment 1 of the present application.

[0060] Figure 2 A method flow diagram for controlling the landing of a tilt-rotor unmanned aerial vehicle is provided for embodiment 2 of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0062] The purpose of the present application is to provide a method for controlling the take-off, landing and take-off and landing of a tilt-rotor unmanned aerial vehicle, aiming to realize the automatic selection of the take-off and landing mode of the tilt-rotor unmanned aerial vehicle, and improve the work efficiency and safety.

[0063] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0064] Embodiment 1

[0065] Figure 1 A method flow diagram for controlling the take-off of a tilt-rotor unmanned aerial vehicle is provided for embodiment 1 of the present application. As shown in the figure, Figure 1 the method for controlling the take-off of a tilt-rotor unmanned aerial vehicle in the present embodiment includes:

[0066] Step 101: Obtain take-off airport information; the take-off airport information includes: the weather of the take-off airport and the take-off and landing position; the take-off and landing position is a runway or a take-off and landing point.

[0067] Specifically, the ground personnel enters the take-off airport information into the unmanned aerial vehicle flight control system, and the subsequent steps are autonomously determined by the flight control system to determine the take-off mode and executed.

[0068] Step 102: Determine the current take-off mode according to the take-off and landing position; the current take-off mode is vertical take-off mode or sliding take-off mode.

[0069] Specifically, when the take-off and landing position is a runway, the current take-off mode is sliding take-off mode; when the take-off and landing position is a take-off and landing point, the current take-off mode is vertical take-off mode.

[0070] Step 103: When the weather of the take-off airport meets the preset take-off weather condition, send a test command to the flight control surface actuator and receive the actuation signal of the flight control surface actuator.

[0071] Specifically, when the weather condition does not meet the take-off condition, the flight control system defaults to set the state of the unmanned aerial vehicle to a take-off waiting state, and updates the weather of the take-off airport every 2 minutes (a general form is adopted at present, and different time can be set for different models); when the weather of the take-off airport meets the preset take-off condition, the flight control system sends a test command to all flight rudder actuators, and the flight rudder sensor receives the actuation signal of the flight rudder and feeds back the actuation signal to the flight control system.

[0072] Step 104: When the actuation signal is consistent with the test command, a take-off operation request is sent to the ground station.

[0073] Specifically, when the flight control system judges that the actuation of the flight rudder and the test command are inconsistent, the flight control system sends an abnormity of rudder self-checking instruction to the ground station, informs the ground station that the automatic cancellation of this flight is caused by the abnormity of rudder self-checking, the flight control system automatically cancels this flight, and sets the state of the unmanned aerial vehicle to a take-off waiting state; when the flight control system judges that the actuation of all flight rudders and the test command are consistent (the purpose is to ensure that the flight rudder is actuated according to the test command sent by the flight control system, and to ensure that the control instruction sent by the flight control system can be correctly executed), the flight control system sends an execution take-off operation request to the ground station.

[0074] Step 105: When receiving the take-off permission instruction sent by the ground station, the take-off operation corresponding to the current take-off mode is executed, and the take-off of the tilt-rotor unmanned aerial vehicle is completed.

[0075] Specifically, after the flight control system receives the take-off permission instruction sent by the ground station, the flight control system executes the take-off operation of the unmanned aerial vehicle; if the flight control system does not receive the instruction sent by the ground station within 3 minutes (a general form is adopted at present, and different time can be set for different models), the flight control system will send an execution take-off operation request again; if the flight control system does not receive the instruction of the ground station within 3 minutes (a general form is adopted at present, and different time can be set for different models) after the second request instruction is sent, the flight control system will default to execute a take-off interruption instruction, that is, the flight control system starts the engine or motor to control the unmanned aerial vehicle to exit the runway or landing point.

[0076] As an optional implementation, when the current take-off mode is a vertical take-off mode, step 105 specifically includes:

[0077] The tilt-rotor unmanned aerial vehicle is controlled to vertically take off, and the flight height and flight speed of the tilt-rotor unmanned aerial vehicle are acquired in real time.

[0078] When the flight height reaches a first preset height, the rotors of the tilt-rotor unmanned aerial vehicle are controlled to be forwardly inclined.

[0079] Specifically, when the onboard air pressure altimeter detects that the UAV's flight altitude reaches H_CC1, the flight control system controls the rotor to tilt forward.

[0080] The climb rate is calculated according to the flight altitude. When the climb rate reaches a first preset climb rate and the flight speed reaches a first preset flight speed, a landing gear retraction command is issued, and the landing gear retraction information is monitored.

[0081] Specifically, when the flight control system calculates that the climb rate of the UAV per unit time reaches Q_CC and the flight speed reaches V_CC, a landing gear retraction command is issued and the landing gear retraction status is monitored.

[0082] When the landing gear is correctly retracted, the takeoff is successfully completed.

[0083] When the landing gear retraction information is not received, the tilt-rotor UAV is controlled to return to the take-off airport and the take-off fails.

[0084] Specifically, if the flight control system does not receive the correct landing gear retraction information from the landing gear retraction sensor within 5 seconds (this is the current general form, and different times can also be set for different models), the flight control system will send the landing gear retraction command again. If the flight control system still does not receive the correct landing gear retraction information within 5 seconds, the flight control system will send a return request to the ground station. If the flight control system does not receive the flight return command sent by the ground station within 5 minutes (this is the current general form, and different times can also be set for different models), the flight control system will default to executing the automatic return command, that is, the flight control system will operate the drone to return to the take-off airport. The ground station has the authority to decide whether the drone needs to return. When the flight mission is very important, the ground station can cancel the return.

[0085] As an optional implementation, when the current takeoff mode is the rolling takeoff mode, step 105 specifically includes:

[0086] Control the tilt-rotor UAV to take off, obtain the flight altitude and flight speed of the tilt-rotor UAV in real time, and calculate the climb rate based on the flight altitude.

[0087] When the flight altitude reaches a second preset altitude, the flight speed reaches a second preset flight speed, and the climb rate reaches a second preset climb rate, a landing gear retraction instruction is issued, and landing gear retraction information is monitored.

[0088] Specifically, when the drone's airspeed indicator monitors that the drone's flight speed reaches speed V_CH, the onboard air pressure altimeter monitors that the flight altitude reaches H_CH, and the flight control system calculates that the drone's climb rate per unit time reaches Q_CH, the flight control system issues a landing gear retraction command.

[0089] When the landing gear is correctly stowed, the take-off is successfully completed.

[0090] When the landing gear is not correctly stowed, the tilt-rotor unmanned aerial vehicle is controlled to return to the take-off airport, and the take-off fails.

[0091] Specifically, if the flight control system does not receive the landing gear stowing sensor information within 5 seconds (the current general form is adopted, and different time periods can be set for different models), the flight control system will send a landing gear stowing command again. If the flight control system still does not receive the landing gear stowing information within 5 seconds, the flight control system sends a return request to the ground station. If the flight control system does not receive the flight return command sent by the ground station within 5 minutes (the current general form is adopted, and different time periods can be set for different models), the flight control system will automatically execute the return command, that is, the flight control system operates the unmanned aerial vehicle to return to the take-off airport. The ground station has the right to decide whether the unmanned aerial vehicle needs to return, and can cancel the return when the flight task is important.

[0092] Embodiment 2

[0093] Figure 2 The method for controlling the landing of the tilt-rotor unmanned aerial vehicle provided in Embodiment 2 of the present application is shown in the flowchart. As shown in the figure, the method for controlling the landing of the tilt-rotor unmanned aerial vehicle in the present embodiment comprises: Figure 2

[0094] Step 201: Obtain the weather of the first landing airport and the remaining energy of the tilt-rotor unmanned aerial vehicle; the remaining energy is the remaining charge or the remaining fuel.

[0095] Step 202: When the remaining energy is greater than the first energy and the weather of the first landing airport meets the preset landing weather condition, the first landing airport is determined as the target landing airport. The first energy is the energy required for the tilt-rotor unmanned aerial vehicle to reach the first landing airport.

[0096] Step 203: When the remaining energy is less than the first energy, determine the set of alternative landing airports according to the remaining energy. The alternative landing airport in the set of alternative landing airports is an airport whose second energy is less than the remaining energy; the second energy is the energy required for the tilt-rotor unmanned aerial vehicle to reach the alternative landing airport.

[0097] Step 204: According to the weather of each alternative landing airport and the preset landing weather condition, determine the alternative landing airport closest to the target landing airport as the target landing airport, and determine the take-off and landing position of the target landing airport. The distance is the distance between the tilt-rotor unmanned aerial vehicle and the alternative landing airport.

[0098] ​Step 205: determining a current landing mode according to a take-off and landing position of the target landing airport; the current landing mode is a vertical landing mode or a taxiing landing mode.

[0099] Step 206: performing a landing operation corresponding to the current landing mode at the target landing airport, to complete the landing of the tilt-rotor unmanned aerial vehicle.

[0100] Specifically, the flight control system performs self-checking on the power / oil information of the unmanned aerial vehicle, calculates the distance between the unmanned aerial vehicle and the landing airport according to the current GPS positioning of the unmanned aerial vehicle, estimates the required power / oil for the unmanned aerial vehicle to fly from the current position to the landing airport according to the historical oil consumption, and sends a request for changing the landing site to the ground station if the estimated required power / oil is greater than the power / oil of the unmanned aerial vehicle. If the flight control system does not receive an instruction from the ground station within 5 minutes (the general form is adopted at present, and different time can be set for different models), the flight control system defaults to changing the landing site to the airport AL. If the estimated required power / oil is less than the power / oil of the unmanned aerial vehicle, the flight control system searches the weather information of the landing airport from the network database, and if the weather of the landing site does not meet the landing conditions, the flight control system selects the landing airport AL closest to the current position of the unmanned aerial vehicle and meeting the landing weather conditions from the airport database, and sends a request for changing the landing site to the ground station. If the flight control system does not receive an instruction from the ground station within 5 minutes (the general form is adopted at present, and different time can be set for different models), the flight control system defaults to changing the landing site to the airport AL. If the estimated required power / oil is less than the power / oil of the unmanned aerial vehicle and the weather of the landing site meets the landing conditions, the flight control system defaults to performing the subsequent steps.

[0101] As an optional implementation, when the current landing mode is the vertical landing mode, step 206 specifically includes:

[0102] Real-time acquisition of the flight height of the tilt-rotor unmanned aerial vehicle.

[0103] When the flight height reaches the third preset height, an undercarriage lowering instruction is issued, and the undercarriage lowering information is monitored.

[0104] Specifically, when the flight control system monitors that the height of the aircraft from the ground is H LC, an undercarriage lowering instruction is issued, and the undercarriage lowering state is monitored.

[0105] The landing was successfully completed when the landing gear was correctly extended.

[0106] When the landing gear is not correctly lowered, the landing gear lowering procedure is forced to be executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

[0107] Specifically, if the flight control system does not receive a correct landing gear down command within 5 seconds (this is the current standard, but different time periods can be set for different aircraft models), it will resend the landing gear down command. If it does not receive a correct landing gear down command within 5 seconds (this is the current standard, but different time periods can be set for different aircraft models), it will send a request to the ground station to execute the forced landing gear down procedure. If the flight control system does not receive a permission command from the ground station within 2 minutes (this is the current standard, but different time periods can be set for different aircraft models), it will default to executing the forced landing gear down procedure. The significance of sending a request to the ground station to execute the forced landing gear down procedure is that executing the forced landing gear down procedure will result in a longer maintenance time for the drone. To avoid this, ground station personnel can use this opportunity to consult with the control tower at the landing site to confirm that the drone's landing gear has been properly lowered. If local airport personnel confirm that the drone's landing gear has indeed been lowered, the flight control system does not need to execute the forced landing gear down procedure.

[0108] As an optional implementation, when the current landing mode is the rolling landing mode, step 206 specifically includes:

[0109] Obtain the flight altitude and speed of the tilt-rotor UAV in real time, and calculate the descent rate based on the flight altitude.

[0110] When the flight altitude reaches a fourth preset altitude, the flight speed reaches a third preset flight speed, and the descent rate reaches a preset descent rate, a landing gear lowering instruction is issued, and the landing gear lowering information is monitored.

[0111] Specifically, when the flight control system monitors that the UAV's flight speed reaches V_LH, the flight altitude reaches H_LH, and the UAV's descent rate per unit time reaches Q_LH, the flight control system issues a landing gear lowering command and monitors the landing gear lowering status.

[0112] The landing was successfully completed when the landing gear was correctly extended.

[0113] When the landing gear is not correctly lowered, the landing gear lowering procedure is forced to be executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

[0114] Specifically, if the flight control system does not receive the correct landing gear lowering information within 5s (the current general form is adopted, and different time can be set for different models), the flight control system will send the landing gear component lowering instruction again. If the flight control system does not receive the correct landing gear lowering information within 5s (the current general form is adopted, and different time can be set for different models), the flight control system sends a request to execute the landing gear forced lowering program to the ground station. If the flight control system does not receive the permission instruction sent by the ground station within 2 minutes (the current general form is adopted, and different time can be set for different models), the flight control system will execute the landing gear forced lowering program by default.

[0115] Embodiment 3

[0116] The method for controlling the take-off and landing of the tilt-rotor unmanned aerial vehicle in this embodiment comprises:

[0117] The tilt-rotor unmanned aerial vehicle is controlled to take off.

[0118] When the tilt-rotor unmanned aerial vehicle needs to land, the tilt-rotor unmanned aerial vehicle is controlled to land.

[0119] When the tilt-rotor unmanned aerial vehicle is controlled to take off:

[0120] The take-off airport information is obtained; the take-off airport information includes the weather of the take-off airport and the take-off and landing position; the take-off and landing position is a runway or a take-off and landing point.

[0121] The current take-off mode is determined according to the take-off and landing position of the take-off airport; the current take-off mode is a vertical take-off mode or a taxiing take-off mode.

[0122] When the weather of the take-off airport meets the preset take-off weather condition, a test command is sent to the flight control surface actuator, and an actuation signal of the flight control surface actuator is received.

[0123] When the actuation signal is consistent with the test command, a take-off operation request is sent to the ground station.

[0124] When the permission take-off instruction of the ground station is received, the take-off operation corresponding to the current take-off mode is executed, and the take-off of the tilt-rotor unmanned aerial vehicle is completed.

[0125] When the tilt-rotor unmanned aerial vehicle is controlled to land:

[0126] The first landing airport information is obtained; the first landing airport information includes the weather of the first landing airport and the take-off and landing position; the take-off and landing position is a runway or a take-off and landing point.

[0127] The remaining energy of the tilt-rotor unmanned aerial vehicle is obtained; the remaining energy is the remaining charged quantity or the remaining oil quantity.

[0128] determine the first landing airport as the target landing airport when the remaining energy is greater than the first energy and weather of the first landing airport meets preset landing weather conditions; the first energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the first landing airport.

[0129] determine a set of candidate landing airports according to the remaining energy when the remaining energy is less than the first energy; a candidate landing airport in the set of candidate landing airports is an airport whose second energy is less than the remaining energy; the second energy is energy required for the tilt-rotor unmanned aerial vehicle to reach the candidate landing airport.

[0130] determine the candidate landing airport closest to the tilt-rotor unmanned aerial vehicle in the set of candidate landing airports as the target landing airport according to weather of each candidate landing airport and the preset landing weather conditions, and determine a take-off and landing position of the target landing airport; the distance is a distance between the tilt-rotor unmanned aerial vehicle and the candidate landing airport.

[0131] determine a current landing mode according to the take-off and landing position of the target landing airport; the current landing mode is a vertical landing mode or a running take-off mode.

[0132] perform a landing operation corresponding to the current landing mode at the target landing airport, and complete landing of the tilt-rotor unmanned aerial vehicle.

[0133] As an optional implementation, when the current take-off mode is the vertical take-off mode, the take-off operation corresponding to the current take-off mode is performed, specifically including:

[0134] control the tilt-rotor unmanned aerial vehicle to take off vertically, and acquire a flight height and a flight speed of the tilt-rotor unmanned aerial vehicle in real time.

[0135] when the flight height reaches a first preset height, control the rotor of the tilt-rotor unmanned aerial vehicle to tilt forward.

[0136] calculate a climbing rate according to the flight height, and when the climbing rate reaches a first preset climbing rate and the flight speed reaches a first preset flight speed, issue a landing gear retracting instruction, and monitor the landing gear information.

[0137] when the correct landing gear retracting information is received, the take-off is successfully completed.

[0138] when the correct landing gear retracting information is not received, control the tilt-rotor unmanned aerial vehicle to return to the take-off airport, and the take-off fails.

[0139] As an optional implementation, when the current take-off mode is the running take-off mode, the take-off operation corresponding to the current take-off mode is performed, specifically including:

[0140] control the tilt-rotor unmanned aerial vehicle to take off by running, acquire a flight height and a flight speed of the tilt-rotor unmanned aerial vehicle in real time, and calculate a climbing rate according to the flight height.

[0141] When the flight height reaches the second preset height, the flight speed reaches the second preset flight speed, and the climb rate reaches the second preset climb rate, a landing gear retracting instruction is sent, and landing gear retracting information is monitored.

[0142] When the correct landing gear retracting information is received, the takeoff is successfully completed.

[0143] When the correct landing gear retracting information is not received, the tilt-rotor unmanned aerial vehicle is controlled to return to the takeoff airport, and the takeoff fails.

[0144] As an optional implementation, when the current landing mode is the vertical landing mode, the landing operation corresponding to the current landing mode is performed, specifically including:

[0145] The flight height of the tilt-rotor unmanned aerial vehicle is acquired in real time.

[0146] When the flight height reaches the third preset height, a landing gear lowering instruction is sent, and landing gear lowering information is monitored.

[0147] When the correct landing gear lowering information is received, the landing is successfully completed.

[0148] When the correct landing gear lowering information is not received, the landing gear lowering program is forcibly executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

[0149] As an optional implementation, when the current landing mode is the sliding landing mode, the landing operation corresponding to the current landing mode is performed, specifically including:

[0150] The flight height and the flight speed of the tilt-rotor unmanned aerial vehicle are acquired in real time, and the descent rate is calculated according to the flight height.

[0151] When the flight height reaches the fourth preset height, the flight speed reaches the third preset flight speed, and the descent rate reaches the preset descent rate, a landing gear lowering instruction is sent, and landing gear lowering information is monitored.

[0152] When the correct landing gear lowering information is received, the landing is successfully completed.

[0153] When the correct landing gear lowering information is not received, the landing gear lowering program is forcibly executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

[0154] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0155] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A method for controlling the takeoff of a tilt-rotor UAV, characterized in that: The method for controlling the takeoff of a tilt-rotor UAV comprises: Obtaining departure airport information; the departure airport information includes: departure airport weather and take-off and landing locations; the take-off and landing locations are runways or take-off and landing points; determining a current take-off mode according to the take-off and landing position; wherein the current take-off mode is a vertical take-off mode or a rolling take-off mode; When the weather at the takeoff airport meets the preset takeoff weather conditions, sending a test command to the flight control surface actuator and receiving an actuation signal from the flight control surface actuator; When the actuation signal is consistent with the test command, sending a takeoff operation request to the ground station; When receiving a takeoff permission instruction from the ground station, executing a takeoff operation corresponding to the current takeoff mode to complete the takeoff of the tilt-rotor UAV; When the current takeoff mode is a vertical takeoff mode, performing a takeoff operation corresponding to the current takeoff mode specifically includes: Controlling the tilt-rotor UAV to take off vertically and obtaining the flight altitude and flight speed of the tilt-rotor UAV in real time; When the flight altitude reaches a first preset altitude, controlling the rotor of the tilt-rotor UAV to tilt forward; calculating a climb rate according to the flight altitude, issuing a landing gear retraction command when the climb rate reaches a first preset climb rate and the flight speed reaches a first preset flight speed, and monitoring landing gear information; When the landing gear is correctly retracted, the takeoff is successfully completed; When the landing gear is not correctly retracted information is not received, the tilt-rotor UAV is controlled to return to the take-off airport, and the take-off fails.

2. The method for controlling the takeoff of a tilt-rotor UAV according to claim 1, characterized in that: When the current takeoff mode is the rolling takeoff mode, executing a takeoff operation corresponding to the current takeoff mode specifically includes: Controlling the tilt-rotor UAV to taxi and take off, obtaining the flight altitude and flight speed of the tilt-rotor UAV in real time, and calculating the climb rate according to the flight altitude; When the flight altitude reaches a second preset altitude, the flight speed reaches a second preset flight speed, and the climb rate reaches a second preset climb rate, issuing a landing gear retraction command and monitoring landing gear retraction information; When the landing gear is correctly retracted, the takeoff is successfully completed; When the landing gear is not correctly retracted information is not received, the tilt-rotor UAV is controlled to return to the take-off airport, and the take-off fails.

3. A method for controlling the landing of a tilt-rotor UAV, characterized in that: The method for controlling the landing of a tilt-rotor UAV comprises: Obtaining the weather at the first landing airport and the remaining energy of the tilt-rotor UAV; the remaining energy is the remaining charge or the remaining fuel; When the remaining energy is greater than the first energy and the weather at the first landing airport meets the preset landing weather conditions, the first landing airport is determined as the target landing airport; the first energy is the energy required for the tilt-rotor UAV to reach the first landing airport; When the remaining energy is less than the first energy, determining a set of alternative landing airports based on the remaining energy; the alternative landing airports in the set of alternative landing airports are airports whose second energy is less than the remaining energy; the second energy is the energy required for the tilt-rotor UAV to reach the alternative landing airports; Based on the weather conditions at each of the alternative landing airports and the preset landing weather conditions, the closest alternative landing airport that meets the preset landing weather conditions is determined as the target landing airport, and the take-off and landing position of the target landing airport is determined; the distance is the distance between the tilt-rotor UAV and the alternative landing airport; determining a current landing mode according to the take-off and landing position of the target landing airport; wherein the current landing mode is a vertical landing mode or a rolling landing mode; At the target landing airport, executing a landing operation corresponding to the current landing mode to complete the landing of the tilt-rotor UAV; When the current landing mode is the rolling landing mode, executing a landing operation corresponding to the current landing mode specifically includes: Acquiring the flight altitude and flight speed of the tilt-rotor UAV in real time, and calculating the descent rate based on the flight altitude; When the flight altitude reaches a fourth preset altitude, the flight speed reaches a third preset flight speed, and the descent rate reaches a preset descent rate, issuing a landing gear lowering command and monitoring landing gear lowering information; When the landing gear is correctly lowered, the landing is successfully completed; When the landing gear is not correctly lowered, the landing gear lowering procedure is forced to be executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

4. The method for controlling the landing of a tilt-rotor UAV according to claim 3, wherein: When the current landing mode is a vertical landing mode, executing a landing operation corresponding to the current landing mode specifically includes: Acquiring the flight altitude of the tilt-rotor UAV in real time; When the flight altitude reaches a third preset altitude, issuing a landing gear lowering command and monitoring landing gear lowering information; When the landing gear is correctly lowered, the landing is successfully completed; When the landing gear is not correctly lowered, the landing gear lowering procedure is forced to be executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

5. A method for controlling the take-off and landing of a tilt-rotor UAV, characterized in that: The method for controlling the take-off and landing of a tilt-rotor UAV comprises: Control the takeoff of tilt-rotor drones; When the tilt-rotor UAV needs to land, control the tilt-rotor UAV to land; Among them, when controlling the tilt-rotor drone to take off: Obtaining departure airport information; the departure airport information includes: departure airport weather and take-off and landing locations; the take-off and landing locations are runways or take-off and landing points; determining a current takeoff mode according to the takeoff and landing position of the takeoff airport; the current takeoff mode being a vertical takeoff mode or a rolling takeoff mode; When the weather at the takeoff airport meets the preset takeoff weather conditions, sending a test command to the flight control surface actuator and receiving an actuation signal from the flight control surface actuator; When the actuation signal is consistent with the test command, sending a takeoff operation request to the ground station; When receiving a takeoff permission instruction from the ground station, executing a takeoff operation corresponding to the current takeoff mode to complete the takeoff of the tilt-rotor UAV; When controlling a tilt-rotor drone to land: Obtaining the weather at the first landing airport and the remaining energy of the tilt-rotor UAV; the remaining energy is the remaining charge or the remaining fuel; When the remaining energy is greater than the first energy and the weather at the first landing airport meets the preset landing weather conditions, the first landing airport is determined as the target landing airport; the first energy is the energy required for the tilt-rotor UAV to reach the first landing airport; When the remaining energy is less than the first energy, determining a set of alternative landing airports based on the remaining energy; the alternative landing airports in the set of alternative landing airports are airports whose second energy is less than the remaining energy; the second energy is the energy required for the tilt-rotor UAV to reach the alternative landing airports; Based on the weather conditions at each of the alternative landing airports and the preset landing weather conditions, the closest alternative landing airport that meets the preset landing weather conditions is determined as the target landing airport, and the take-off and landing position of the target landing airport is determined; the distance is the distance between the tilt-rotor UAV and the alternative landing airport; determining a current landing mode according to the take-off and landing position of the target landing airport; wherein the current landing mode is a vertical landing mode or a rolling landing mode; At the target landing airport, executing a landing operation corresponding to the current landing mode to complete the landing of the tilt-rotor UAV; When the current takeoff mode is a vertical takeoff mode, performing a takeoff operation corresponding to the current takeoff mode specifically includes: Controlling the tilt-rotor UAV to take off vertically and obtaining the flight altitude and flight speed of the tilt-rotor UAV in real time; When the flight altitude reaches a first preset altitude, controlling the rotor of the tilt-rotor UAV to tilt forward; calculating a climb rate according to the flight altitude, issuing a landing gear retraction command when the climb rate reaches a first preset climb rate and the flight speed reaches a first preset flight speed, and monitoring landing gear information; When the landing gear is correctly retracted, the takeoff is successfully completed; When the landing gear is not correctly retracted information is not received, the tilt-rotor UAV is controlled to return to the take-off airport, and the take-off fails.

6. The method for controlling the take-off and landing of a tilt-rotor UAV according to claim 5, characterized in that: When the current takeoff mode is the rolling takeoff mode, executing a takeoff operation corresponding to the current takeoff mode specifically includes: Controlling the tilt-rotor UAV to taxi and take off, obtaining the flight altitude and flight speed of the tilt-rotor UAV in real time, and calculating the climb rate according to the flight altitude; When the flight altitude reaches a second preset altitude, the flight speed reaches a second preset flight speed, and the climb rate reaches a second preset climb rate, issuing a landing gear retraction command and monitoring landing gear retraction information; When the landing gear is correctly retracted, the takeoff is successfully completed; When the landing gear is not correctly retracted information is not received, the tilt-rotor UAV is controlled to return to the take-off airport, and the take-off fails.

7. The method for controlling the take-off and landing of a tilt-rotor UAV according to claim 5, wherein: When the current landing mode is a vertical landing mode, executing a landing operation corresponding to the current landing mode specifically includes: Acquiring the flight altitude of the tilt-rotor UAV in real time; When the flight altitude reaches a third preset altitude, issuing a landing gear lowering command and monitoring landing gear lowering information; When the landing gear is correctly lowered, the landing is successfully completed; When the landing gear is not correctly lowered, the landing gear lowering procedure is forced to be executed, the landing gear is controlled to be lowered, and the landing is successfully completed.

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