Flight device control method and device, electronic equipment and readable storage medium

Abstract

The application provides a flight device control method and device, electronic equipment and a readable storage medium. The method comprises the following steps: determining a current motion state of a flight device according to a current environment of the flight device, wherein the current environment is one of a water surface environment, an air environment and a ground environment; determining body state information of the flight device according to the current motion state; and controlling the action of a rotor and / or a wheel propeller of the flight device according to the body state information. The current motion state of the flight device is determined according to the current environment of the flight device, and the body state information of the flight device is further determined to control the motion of the flight device in the water surface environment, the ground environment or the air environment, so that the motion control of the flight device in the three environments of water, land and air is realized, the flight device can move in the three environments of water, land and air, and the application scene of the flight device is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft, in particular to a flight device control method and device, an electronic device and a readable storage medium. BACKGROUND

[0002] An aircraft is a machine that flies in the atmosphere, which relies on the static buoyancy of air or the air power generated by the relative movement of air to take off and fly.

[0003] With the development of aircraft related technology, flight devices are gradually applied to various scenes. For example, cargo handling scenes, disaster rescue scenes, reconnaissance patrol scenes, etc. In the current field of aircraft, the current application or use of the scene is relatively single. For more complex use scenarios, such as scenes that include both air and complex road conditions on land and scenes that include both air and water surface conditions, the current flight device is difficult to adapt to such complex scenes, thereby limiting the application of the flight device. SUMMARY

[0004] Therefore, the purpose of the embodiments of the present application is to provide a flight device control method and device, an electronic device and a readable storage medium, which can control the flight device to move in water, land and air environments, and increase the application scenarios of the flight device.

[0005] In a first aspect, the embodiments of the present application provide a flight device control method, which is applied to a flight device with a rotor and a wheel propeller; the method comprises: determining a current motion state of the flight device according to a current environment of the flight device, the current environment being one of a water surface environment, an air environment and a ground environment; determining body state information of the flight device according to the current motion state; and controlling the rotor and / or the wheel propeller of the flight device to act according to the body state information.

[0006] In the above implementation process, by determining the current motion state of the flight device according to the current environment of the flight device, and further determining the body state information of the flight device, the movement control of the flight device in the water, land and air environments is realized, so that the flight device can move in the water, land and air environments, and the application scenarios of the flight device are increased.

[0007] In one embodiment, the current motion state includes an air mode, and the body state information includes roll angle information, pitch angle information and a body attitude; the determination of the body state information of the flight device according to the current motion state comprises: determining the roll angle information, the pitch angle information and the body attitude according to the air mode.

[0008] In the implementation process, when the flight device is in the air mode, the body posture of the flight device when moving in the air affects the movement state of the flight device in the air. Therefore, when it is determined that the current movement state of the flight device is the air mode, the rotor lift of the flight device can be further determined by determining the body posture, the roll angle information and the pitch angle information of the flight device to control the rotation of the corresponding rotor, so as to simplify the determination of the body state information and improve the body state information determination efficiency while achieving the control of the flight device moving in the air.

[0009] In one embodiment, the air mode includes an air rotor mode; the determination of the roll angle information, the pitch angle information and the body posture according to the air mode includes: if the air mode is the air rotor mode, the angle of the roll angle and the angle of the pitch angle are determined to be within a first preset range, and the body posture is determined to be a horizontal posture or the body posture is determined to be an inclined posture.

[0010] In the implementation process, when the flight device is in the air rotor mode, the flight device can maintain a horizontal posture or an inclined posture in the air, so that the roll angle and the pitch angle of the flight device can be set within the first preset range, so that the flight device in the air rotor mode can switch between the horizontal posture and the inclined posture, thereby increasing the movement diversity of the flight device in the air rotor mode.

[0011] In one embodiment, the first preset range is -25° to +25°.

[0012] In one embodiment, the air mode includes an air forward mode; the determination of the roll angle information, the pitch angle information and the body posture according to the air mode includes: if the air mode is the air forward mode, the angle of the roll angle is determined to be 0° and the angle of the pitch angle is determined to be a negative value, and the body posture is determined to be an inclined posture; and the lift wing of the flight device generates lift.

[0013] In the implementation process, when the flight device is in the air forward mode, the flight device needs to provide forward flight power and upward flight lift. The posture of the flight device is set to an inclined posture, so that the lift wing of the flight device is in a positive lift coefficient when the flight device moves forward in the air, generates positive lift, reduces air resistance, and further reduces the lift generated by the rotor, thereby reducing the power loss of the flight device.

[0014] In one embodiment, the aerial mode includes an aerial wing lift-increasing mode; the determining the roll angle information, the pitch angle information and the body attitude according to the aerial mode includes: if the aerial mode is the wing lift-increasing mode, determining that the flight speed is greater than a speed threshold, the angle of the roll angle is within a second preset range and the angle of the pitch angle is negative, and determining that the body attitude is a tilt attitude; and the lift-increasing wing of the flight device generates lift.

[0015] In the above implementation process, when the flight device is in the wing lift-increasing mode, the flight device needs to provide forward flight power. By setting the roll angle of the flight device within the second preset range, the attitude of the flight device can be set to a low head tilt attitude, and the lift-increasing wing of the flight device is in a positive lift coefficient when the flight device moves forward in the air, thereby generating positive lift, and the lift generated by the rotor can be reduced, and the power loss of the flight device can be reduced. In addition, by setting the flight speed of the flight device to be greater than the speed threshold, the flight device can fly quickly in the wing lift-increasing mode, and the flight speed of the flight device can be improved.

[0016] In one embodiment, the speed threshold is 10 m / s, and the second preset range is -15° to +15°.

[0017] In one embodiment, the controlling the rotor and / or the wheel propeller of the flight device according to the body state information includes: determining the rotor lift of the rotor according to the body state information and the force condition of the flight device; controlling the rotation speed of the rotor according to the rotor lift; and controlling the wheel propeller to be inaction.

[0018] In the above implementation process, after the current attitude information of the flight device is determined, the rotor lift of each rotor of the flight device is determined according to the current attitude information and force analysis, and then the rotation speed of the corresponding rotor is controlled according to the rotor lift, so as to control the flight device to complete multiple attitudes in the aerial mode, increase the multiple actions of the flight device in the air, and improve the motion speed and obstacle crossing ability of the flight device.

[0019] In one embodiment, the calculation formula of the rotor lift of the rotor according to the body state information and the force condition of the flight device is: φ＝β＝0 T ;

[0020]

[0021] wherein θ is the pitch angle, μ is the track inclination angle, and ε is the angle of attack. T ​is the installation angle, φ is the roll angle, α is the attack angle, β is the side slip angle, m is the mass of the flying device, V is the velocity vector of the flying device, F i is the rotor lift of the i-th rotor, L is the wing lift of the flying device, D is the body drag of the flying device, Y is the side force of the airflow on the body of the flying device, G xa is the first component of the gravity of the flying device in the airflow coordinate system, G ya is the second component of the gravity of the flying device in the airflow coordinate system, G za is the third component of the gravity of the flying device in the airflow coordinate system, r w is the yaw angle rate in the airflow coordinate system, q w is the roll angle rate in the airflow coordinate system, i is the i-th rotor, and n is the total number of rotors.

[0022] In the above implementation process, by respectively establishing the force balance relationship of the flying device in three directions in the aerodynamic coordinate system, the rotor lift required to be increased by each rotor can be more accurately determined, and the accuracy of calculating the rotor lift is improved.

[0023] In an embodiment, the current motion state includes a ground mode and a water mode, and the body state information includes rotor lift information, wheel and propeller rotation information, and a body attitude; and the determining the body state information of the flying device according to the current motion state includes: determining the rotor lift information, the wheel and propeller rotation information, and the body attitude of the flying device according to the ground mode or the water mode.

[0024] In the above implementation process, when the flying device is in the ground mode or the water mode, the rotors and the wheels and propellers of the flying device are involved in the motion of the flying device. Therefore, when it is determined that the current motion state of the flying device is the ground mode or the water mode, the rotor lift information and the wheel and propeller rotation information of the flying device need to be further determined to control the corresponding rotors and wheels and propellers to rotate, so as to control the flying device to move on the ground or the water, thereby increasing the practical scenarios of the flying device.

[0025] In an embodiment, the determining the rotor lift information, the wheel and propeller rotation information, and the body attitude of the flying device according to the ground mode or the water mode includes: if the current motion state is the ground mode, determining the rotor lift information according to the gravity of the flying device and the support force of the wheels and propellers, determining the wheel and propeller rotation information according to the forward speed and the friction of the flying device, and determining that the body is in a horizontal attitude.

[0026] In the aforementioned implementation process, when the flight device is in ground motion, the rotor lift and propeller rotation information can be determined based on the forces acting on the device on the ground. This information is then used to control the flight device's movement on the ground. Since the flight device only needs to overcome relatively small frictional forces on the ground, while in the air it needs to overcome air resistance and its own weight, and on water it needs to overcome significant water flow resistance, the flight device faces less resistance on the ground compared to water and air. Therefore, it possesses better carrying capacity and endurance, thus improving the flight device's carrying capacity and endurance.

[0027] In one embodiment, the flight device includes a length direction and a width direction; the formula for determining the rotor lift information based on the gravity of the flight device and the supporting force of the propeller is: The formula for determining the propeller rotation information based on the forward speed and friction of the flight device is as follows: The formula for determining that the machine body is in a horizontal posture is: F 11 d 11 + 21 d 21 +…+ i1 d i1 = 12 d 12 +F 22 d 22 +…+ i2 d i2 Where i is the i-th rotor, n is the total number of rotors, and F i Let F be the rotor lift of the i-th rotor, D be the drag of the flight device, G be the weight of the flight device, N1 be the rotor support force of the first side rotor along the length direction, N2 be the rotor support force of the second side rotor along the length direction, T1 be the rotor driving force of the first side rotor along the length direction, T2 be the rotor driving force of the second side rotor along the length direction, and F be the rotor lift of the i-th rotor. i1 Let d be the rotor lift of the i-th rotor on the first side along the length direction. i1 Let F be the lever arm of the i-th rotor on the first side along the length direction with respect to the center of mass. i2 Let d be the rotor lift of the i-th rotor on the second side along the length direction. i2 Let be the lever arm of the i-th rotor on the second side along the length direction with respect to the center of mass.

[0028] In the above implementation process, since the flight device is mainly subjected to forces along the length and height directions on the ground, by establishing the force balance relationship of the flight device along the length and height directions in the aerodynamic coordinate system, the rotor lift required by each rotor and the driving force required by each propeller can be determined more accurately, thereby improving the accuracy of calculating rotor lift and driving force.

[0029] In one embodiment, the determining the rotor lift information, the wheel rotation information and the body attitude of the flight device according to the ground mode or the water mode further comprises: if the current motion state is the water mode, determining the rotor lift information according to the gravity and the water buoyancy of the flight device, determining the wheel rotation information according to the forward speed and the water flow resistance of the flight device, and determining that the body is in a horizontal attitude.

[0030] In the above implementation process, when the flight device is in water motion, the rotor lift and the wheel rotation information of the flight device can be determined according to the force condition of the flight device on the water surface, and the flight device in water motion is controlled, thereby increasing the use scenarios of the flight device.

[0031] In one embodiment, the flight device comprises a length direction and a width direction; the formula for determining the rotor lift information according to the gravity and the water buoyancy of the flight device is: The formula for determining the wheel rotation information according to the forward speed and the water flow resistance of the flight device is: The formula for determining that the body is in a horizontal attitude is: 11 d 11 +F 21 d 21 +…+F i1 d i1 +F 12 d 12 +F 22 d 22 +…+F i2 d i2 +F L ΔL; wherein i is the i-th rotor, n is the total number of rotors, F i is the rotor lift of the i-th rotor, D is the body resistance of the flight device, G is the gravity of the flight device, F L is the body buoyancy, θ is the pitch angle, Fw1 is the wheel drive force of the first side wheel along the length direction, Fw2 is the wheel drive force of the second side wheel along the length direction, ΔL is the offset of the center of mass from the wheel axis, F i1 is the rotor lift of the i-th rotor on the first side along the length direction, d i1 is the force arm of the i-th rotor on the first side along the length direction to the center of mass, F i2 is the rotor lift of the i-th rotor on the second side along the length direction, d i2 is the force arm of the i-th rotor on the second side along the length direction to the center of mass.

[0032] In the implementation process, since the flight device is mainly subjected to forces in the length direction and the height direction on the water surface, the rotor lift required by each rotor and the driving force required by each wheel propeller can be more accurately determined by respectively establishing force balance relations of the flight device in the length direction and the height direction in the aerodynamic coordinate system, and the accuracy of calculating the rotor lift and the driving force is improved.

[0033] In a second aspect, the embodiments of the present application further provide a flight device control device, comprising: a first determination module configured to determine a current motion state of the flight device according to a current environment of the flight device, the current environment being one of a water surface environment, an air environment and a ground environment; a second determination module configured to determine body state information of the flight device according to the current motion state; and a control module configured to control actions of rotors and / or wheel propellers of the flight device according to the body state information.

[0034] In a third aspect, the embodiments of the present application further provide an electronic device, comprising: a processor and a memory, the memory storing machine readable instructions executable by the processor, when the electronic device is running, the machine readable instructions are executed by the processor to perform the steps of the method of the first aspect or any possible implementation manner of the first aspect.

[0035] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, the computer readable storage medium storing a computer program, when the computer program is run by a processor, the steps of the flight device control method of the first aspect or any possible implementation manner of the first aspect are executed.

[0036] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0038] Figure 1 A three-dimensional schematic diagram of a flight device provided by the embodiments of the present application is provided.

[0039] Figure 2 A block schematic diagram of an electronic device provided by the embodiments of the present application is provided.

[0040] Figure 3A flowchart of a flight device control method provided by an embodiment of the present application is shown in FIG. 1.

[0041] Figure 4 A force diagram of a flight device in an air rotor mode provided by an embodiment of the present application is shown in FIG. 2.

[0042] Figure 5 A force diagram of a flight device in an air forward mode provided by an embodiment of the present application is shown in FIG. 3.

[0043] Figure 6 A force diagram of a flight device in a ground mode provided by an embodiment of the present application is shown in FIG. 4.

[0044] Figure 7 A force diagram of a flight device in a water surface mode provided by an embodiment of the present application is shown in FIG. 5.

[0045] Figure 8 A functional module diagram of a flight device control device provided by an embodiment of the present application is shown in FIG. 6.

[0046] BRIEF DESCRIPTION OF DRAWINGS: 10-rotor, 20-rotor arm, 30-wheel propeller, 40-airframe, C-length direction, K-width direction, H-height direction, 100-electronic device, 111-memory, 113-processor, 301-first determination module, 302-second determination module, 303-control module. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0048] It should be noted that similar reference numerals and letters refer to similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0049] With the deterioration of the environment, various disasters occur frequently, such as mudslides and earthquakes. These disasters seriously threaten people's life safety and cause significant loss of life and property. After the occurrence of flood and mudslide disasters, building tilting deformation or mountain landslide and other dangerous situations often occur, which in turn causes road congestion, rescue difficulties, and other problems. In particular, mountain landslides, due to the ruggedness of mountain roads and the presence of rivers in some mountainous areas, the environment of the disaster site is usually complex. Therefore, it is necessary to control the flight device to perform corresponding search and rescue, rescue and other tasks in various complex areas such as water surface movement, ground movement and air movement according to different environments of the disaster site. However, the existing flight device can only control it to perform corresponding tasks in two environments, and cannot adapt to complex environments.

[0050] Therefore, the application provides a flight device control method, which comprises the following steps: determining a current motion state of the flight device according to a current environment of the flight device, determining body state information of the flight device according to the current motion state of the flight device, and controlling the action of the rotor and / or the wheel propeller of the flight device based on the body state information, so as to control the motion of the flight device in a water environment, a ground environment or an air environment. The flight device control method can realize the motion control of the flight device in the three environments of water, land and air, so that the flight device can move in the three environments of water, land and air, and the application scenarios of the flight device are increased.

[0051] To make the embodiment of the application be understood easily, the flight device for executing the flight device control method disclosed by the embodiment of the application is introduced in detail.

[0052] As shown in Figure 1 , it is a three-dimensional schematic view of the flight device provided by the embodiment of the application. The flight device comprises a rotor 10, a rotor arm 20, a wheel propeller 30 and a body 40.

[0053] The rotor 10 is used to rotate to generate lift, and the wheel propeller 30 is used to rotate to generate driving force. The flight device keeps the body 40 balanced under the action of the lift and moves in the air to overcome the gravity of the body 40. The flight device moves on the ground or the water surface under the action of the driving force.

[0054] The body 40 herein can be a wing-shaped body or a common body. The body 40 can be selected according to actual conditions.

[0055] The flight device described above can comprise a length direction C, a width direction K and a height direction H. The length direction C and the width direction K are parallel to the ground plane, and the width direction K is orthogonal to the length direction C, and the height direction H intersects the plane in which the length and width directions K are located.

[0056] In some embodiments, the flight device can further be provided with an information acquisition device. The information acquisition device can comprise one or more of a positioning device, an image acquisition device, an infrared sensor, a laser device and the like. The information acquisition device can be selected according to actual conditions.

[0057] The electronic device for executing the flight device control method disclosed by the embodiment of the application is introduced in detail below.

[0058] As shown in Figure 2 , it is a block schematic view of the electronic device. The electronic device 100 can comprise a memory 111 and a processor 113. Those skilled in the art can understand that Figure 2 The structure shown in the figure is only schematic, and it does not limit the structure of the electronic device 100. For example, the electronic device 100 can further comprise more or fewer components than those shown in the figure, or combine some components, or have different component arrangements. Figure 2more or less components than those shown, or configurations of components having different configurations and / or Figure 2

[0059] The memory 111 and the processor 113 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the elements can be electrically connected to each other through one or more communication buses or signal lines. The processor 113 is used to execute the executable modules stored in the memory.

[0060] The memory 111 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM), etc. The memory 111 is used to store programs, and the processor 113 executes the programs after receiving execution instructions. The method executed by the electronic device 100 defined by the processes disclosed in any of the embodiments of the present application can be applied to the processor 113 or implemented by the processor 113.

[0061] The processor 113 can be an integrated circuit chip with a signal processing capability. The processor 113 can be a general purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The processor 113 can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The processor 113 can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0062] Optionally, the electronic device 100 can be arranged on the flight device, or arranged outside the flight device. The arrangement position and manner of the electronic device 100 can be adjusted according to actual conditions. ​

[0063] The electronic device 100 in this embodiment can be used to execute each step in each method provided in the embodiments of the present application.

[0064] Please refer to Figure 3 is a flowchart of the flight device control method provided in the embodiments of the present application. The specific flowchart shown in FIG. 2 will be described in detail below. Figure 3

[0065] Step 201: Determine the current motion state of the flight device according to the current environment of the flight device.

[0066] The current environment is one of a water surface environment, an air environment and a ground environment. The current environment can be determined according to an information collection device, or can be determined according to the historical motion of the flight device. The specific determination method of the current environment can be selected according to actual conditions.

[0067] For example, if the information collection device is a positioning device, the positioning device is arranged on the flight device, and the positioning device can acquire the position information of the flight device in real time, so as to determine the current environment of the flight device according to the position information of the flight device.

[0068] For example, if the information collection device is an image collection device, the image collection device is arranged on the flight device, and the image collection device can acquire the surrounding environment information of the flight device in real time, so as to determine the current environment of the flight device according to the surrounding environment information of the flight device.

[0069] In some embodiments, the motion route of the flight device before performing a certain task is a path planned in advance. The flight device can move according to the route planned in advance when performing a certain task. In this case, the current environment of the flight device can be determined according to the historical motion route of the flight device.

[0070] It can be understood that the motion state of the flight device is different in different environments. For example, the flight state of the flight device in the water surface environment can include horizontal forward movement, horizontal backward movement, horizontal left turn, horizontal right turn, etc. The flight state of the flight device in the ground environment can include horizontal forward movement, horizontal backward movement, horizontal left turn, horizontal right turn, etc. The flight state of the flight device in the air environment can include vertical take-off, vertical landing, hovering, horizontal forward flight, sliding landing, etc.

[0071] Of course, the current environment of the flight device can be further determined. For example, when it is determined that the flight device is in the water surface environment, the surrounding environment information (such as obstacles, shallow water area, deep water area, etc.) of the flight device can be acquired. The current motion state of the flight device is determined according to the surrounding environment information of the flight device and the water surface environment. Of course, the current environment of the flight device can be further determined. For example, when it is determined that the flight device is in the water surface environment, the surrounding environment information (such as obstacles, shallow water area, deep water area, etc.) of the flight device can be acquired. The current motion state of the flight device is determined according to the surrounding environment information of the flight device and the water surface environment.

[0072] Step 202, determining the body state information of the flight device according to the current motion state.

[0073] The current motion state here can include: air mode, ground mode and water mode. Among them, the air mode includes air rotor mode, wing lift mode and air forward mode.

[0074] The above-mentioned body state information can include attitude control information, height control information, speed control information, etc.

[0075] Optionally, the body state information can be roll angle information, pitch angle information, rotor lift information, wheel propeller rotation information and body attitude, etc.

[0076] It can be understood that the flight device has different attitudes corresponding to different motion states. For example, when the current motion state of the flight device is ground mode, the corresponding attitude includes horizontal forward, horizontal backward, horizontal left turn, horizontal right turn, etc. When the current motion state of the flight device is water mode, the corresponding attitude includes horizontal forward, horizontal backward, horizontal left turn, horizontal right turn, etc. When the current motion state of the flight device is air mode, the corresponding attitude includes vertical take-off, vertical landing, vertical turning, hovering, horizontal forward flight, taxiing landing, etc.

[0077] The flight device in different attitudes can determine different body state information according to the force condition of the flight device in different attitudes.

[0078] For example, if the attitude of the flight device is horizontal forward, the rotor lift information can be determined according to the gravity of the flight device and the support force of the wheel propeller 30, and the wheel propeller rotation information can be determined according to the forward speed of the flight device and the friction.

[0079] If the attitude of the flight device is horizontal left turn, the rotor lift information can be determined according to the gravity of the flight device and the support force of the wheel propeller 30, and the wheel propeller rotation information can be determined according to the turning speed, turning angle and friction of the flight device.

[0080] If the attitude of the flight device is horizontal forward flight, the angle of the roll angle of the flight device can be determined as 0° and the angle of the pitch angle as negative, and the body attitude can be determined as inclined attitude, etc.

[0081] The above-mentioned attitude of the flight device and body state information are only illustrative, which do not limit the attitude of the flight device and body state information. In the actual application of the flight device, more or less motion state and body state information can also be included.

[0082] Step 203, controlling the rotor 10 and / or wheel propeller 30 of the flight device to act according to the body state information.

[0083] It can be understood that, when the body state information of the flight device is determined according to the current motion state of the flight device, the rotor lift generated by the rotor 10 and the driving force generated by the wheel propeller 30 of the flight device can also be determined according to the current body state information and the force condition corresponding to each attitude, and the corresponding rotor 10 is controlled to rotate based on the rotor lift, and the corresponding wheel propeller 30 is controlled to rotate based on the driving force.

[0084] In the above implementation process, the current motion state of the flight device is determined according to the current environment of the flight device, and the body state information of the flight device is further determined to control the motion of the flight device in the water environment, the ground environment or the air environment, which realizes the motion control of the flight device in the water, land and air three environments, so that the flight device can move in the water, land and air three environments, and the application scene of the flight device is increased.

[0085] In a possible implementation, step 202 comprises: determining the roll angle information, the pitch angle information and the body attitude according to the air mode.

[0086] It can be understood that, as shown in Figure 4 and Figure 5 When the flight device is in the air mode, the rotor 10 of the flight device needs to generate a certain rotor lift to overcome the gravity and air resistance of the body 40 of the flight device, so that the flight device can easily cross the ground and water obstacles. Thus, when in the air mode, only the rotor 10 of the flight device works, and the wheel propeller 30 can not work.

[0087] In some embodiments, when the flight device is in the air rotor mode, the flight device needs to keep the body 40 in a horizontal attitude or an inclined attitude.

[0088] When the flight device keeps the body 40 in a horizontal attitude, the rotor lift generated by the rotor 10 of the flight device needs to be the same. When the flight device keeps the body 40 in an inclined attitude, the rotor lift generated by the rotor 10 close to the head of the flight device should be slightly lower than the rotor lift generated by the rotor 10 close to the tail of the flight device.

[0089] When the flight device is in the horizontal forward flight mode, the flight device needs to fly forward with the head down. At this time, the rotor lift generated by the rotor 10 close to the head of the flight device should be slightly lower than the rotor lift generated by the rotor 10 close to the tail of the flight device.

[0090] Generally, the corresponding roll angle, pitch angle and the like of the flight device in different body postures of the air mode are within a certain range, i.e., the roll angle, pitch angle and the like of the flight device in different body postures of the air mode are fixed. For example, the corresponding roll angle and pitch angle of the flight device in the air rotor mode are within a first preset range. The corresponding roll angle of the flight device in the horizontal forward flight mode is 0°, and the corresponding pitch angle is -10° to 0°, and the like. Thus, when it is determined that the current motion state of the flight device is the air mode, the rotor lift of each rotor 10 of the flight device can be determined by determining the rotation angle information, the pitch angle information and the body posture of the flight device.

[0091] In the above implementation process, when the flight device is in the air mode, the body posture of the flight device when moving in the air will affect the motion state of the flight device in the air. Thus, when it is determined that the current motion state of the flight device is the air mode, the rotor lift of the flight device can be further determined by determining the body posture, the roll angle information and the pitch angle information of the flight device to control the rotation of the corresponding rotor 10, so as to simplify the determination of the body state information and improve the efficiency of the determination of the body state information while controlling the motion of the flight device in the air.

[0092] In a possible implementation, the determination of the roll angle information, the pitch angle information and the body posture according to the air mode includes: if the air mode is the air rotor mode, it is determined that the angle of the roll angle and the angle of the pitch angle are within a first preset range, and it is determined that the body posture is a horizontal posture or the body posture is an inclined posture.

[0093] The air rotor mode herein includes but is not limited to vertical take-off, vertical landing, hovering, rotary flight and hovering steering, and the like.

[0094] Optionally, the specific air rotor mode of the flight device can be determined according to the current air position of the flight device, can be determined according to the historical motion route of the flight device, or can be directly determined according to the externally input control information. The specific air rotor mode of the flight device can be adjusted according to actual conditions.

[0095] It can be understood that when the flight device is in the air rotor mode, the flight device is in a horizontal state or an inclined posture, the angles of the pitch angle and the roll angle are within a first preset range, and the heading angle of the flight device changes randomly with the steering of the body 40. Thus, the posture of the flight device can be adjusted by adjusting the angles of the pitch angle and the roll angle of the flight device.

[0096] The first preset range herein can be -25° to +25°. For example, the angles of the pitch angle and the roll angle can be 0°, 10°, 15°, 20°, 25°, -10°, -5°, -15°, -20°, -25°, etc. The angles of the pitch angle and the roll angle can be adjusted according to actual conditions. In some embodiments, the angles of the roll angle, the angles of the pitch angle, and the determination of the body attitude corresponding to each air rotor mode of the flight device can be stored in the storage device in advance, or the information inputted in real time can be obtained externally.

[0097] In the implementation process described above, when the flight device is in the air rotor mode, the flight device can maintain a horizontal attitude or an inclined attitude in the air, so that the roll angle and the pitch angle of the flight device can be set in the first preset range, so that the flight device in the air rotor mode can switch between maintaining a horizontal attitude and an inclined attitude, and the diversity of the movement of the flight device in the air rotor mode is increased. In a possible implementation, the roll angle information, the pitch angle information, and the body attitude are determined according to the air mode, including: if the air mode is an air forward mode, the angle of the roll angle is determined to be 0° and the angle of the pitch angle is determined to be a negative value, and the body attitude is determined to be an inclined attitude; the lift wing of the flight device generates lift.

[0098] The air forward mode herein includes but is not limited to horizontal forward flight movement, sliding landing, etc. The horizontal forward flight movement includes high-speed horizontal forward flight movement and low-speed horizontal forward flight movement.

[0099] In the horizontal forward flight movement, the body 40 is lowered, the pitch angle is -10° to 0°, and the roll angle is 0°. The horizontal forward component of the rotor lift provides forward flight power, and the vertical component of the rotor lift and the vertical component of the lift wing of the flight device provide flight lift.

[0100] When the flight device is in the high-speed horizontal forward flight movement, the pitch angle of the flight device is -10° to 0°, and the roll angle is 0°. When the flight device is in the low-speed horizontal forward flight movement, the pitch angle of the flight device is -10° to -5°, and the roll angle is 0°.

[0101] When the flight device is in the sliding landing state, the body 40 of the flight device is raised, the pitch angle is gradually positive, the rotor 10 speed is increased, and the lift generated by the lift wing is reduced.

[0102] Optionally, the specific air forward mode of the flight device can be determined according to the current air position of the flight device, or can be determined according to the historical movement route of the flight device, or can be directly determined according to the externally input control information. The specific air forward mode of the flight device can be adjusted according to actual conditions.

[0103] It can be understood that when the flight device is in the air forward flight mode, the flight device is in a tilted posture, the roll angle of the flight device is 0°, but the pitch angle of the flight device is a negative value, so that the head of the flight device is slightly lower than the tail, and the heading angle of the flight device changes with the turning of the body 40.

[0104] In some embodiments, the angle of the roll angle, the angle of the pitch angle, and the determined body posture corresponding to each air rotor mode of the flight device can be stored in the storage device in advance, or the information can be obtained in real time.

[0105] In the above implementation process, when the flight device is in the air forward flight mode, the flight device needs to provide forward flight power and upward flight lift. The posture of the flight device is set to a tilted posture, and the high-lift wing of the flight device is in a positive lift coefficient when the flight device moves forward in the air, to generate a positive lift, reduce air resistance, and thus the lift generated by the rotor 10 can be reduced, and the power loss of the flight device can be reduced.

[0106] In a possible implementation, the roll angle information, the pitch angle information, and the body posture are determined according to the air mode, including: if the air mode is the wing high-lift mode, the flight speed is greater than the speed threshold, the angle of the roll angle is in a second preset range, and the angle of the pitch angle is a negative value, and the body posture is determined to be a tilted posture; and the high-lift wing of the flight device generates lift.

[0107] The wing high-lift mode herein includes but is not limited to low-speed horizontal forward flight and the like.

[0108] The speed threshold described above can be 10 m / s. Of course, the speed threshold can also be adjusted according to actual conditions. For example, the speed threshold can be 15 m / s, 8 m / s, 7 m / s, 5 m / s, 20 m / s, 18 m / s, etc. The second preset range can be -15° to +15°. For example, the angle of the roll angle can be 0°, 10°, 15°, 5°, 8°, -10°, -5°, -15°, -8°, -13°, etc. The angle of the roll angle can be adjusted according to actual conditions.

[0109] For example, if the body 40 is low in the horizontal forward flight, the pitch angle can be set to -10° to 0°, and the roll angle is 0°. The horizontal forward component of the rotor lift and the horizontal forward component of the lift generated by the high-lift wing provide forward flight power, and the vertical component of the rotor lift and the vertical component of the lift of the high-lift wing of the flight device provide flight lift.

[0110] Optionally, the specific wing lift mode of the flight device can be determined according to the current air position of the flight device, can be determined according to the historical motion route of the flight device, or can be directly determined according to the externally input control information. The specific wing lift mode of the flight device can be adjusted according to actual conditions.

[0111] In the implementation process described above, when the flight device is in the wing lift mode, the flight device needs to provide forward flight power. By setting the roll angle of the flight device within the second preset range, the attitude of the flight device can be set to a low head forward attitude, so that the wing lift wing of the flight device is in a positive lift coefficient when the flight device moves forward in the air, a positive lift is generated, and the power loss of the flight device can be reduced. In addition, by setting the flight speed of the flight device to be greater than the speed threshold, the flight device can fly quickly in the wing lift mode, and the flight speed of the flight device can be improved. In a possible implementation, step 203 comprises: determining the rotor lift of the rotor 10 according to the body state information and the force condition of the flight device; controlling the rotation speed of the rotor 10 according to the rotor lift; and controlling the wheel propeller 30 to be inoperative.

[0112] It can be understood that the corresponding force of the flight device will be different when the flight device is in different flight attitudes.

[0113] For example, if the flight device is in a take-off attitude, the moments generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are equal, the rotor lifts generated by the rotors 10 on the first side and the second side of the flight device along the length direction C are equal, the rotor lifts generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are equal, and the sum of the rotor lifts of the flight device is greater than the gravity G of the body 40 of the flight device. The body 40 takes off.

[0114] If the flight device is in an air hovering attitude, the moments generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are equal, the rotor lifts generated by all the rotors 10 of the flight device are equal, and the sum of the rotor lifts of the flight device is equal to the gravity G of the body 40 of the flight device. The body 40 hovers.

[0115] If the flight device is in a vertical landing attitude, the moments generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are equal, the rotor lifts generated by the rotors 10 on the first side and the second side of the flight device along the length direction C are equal, the rotor lifts generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are equal, and the sum of the rotor lifts of the flight device is less than the gravity G of the body 40 of the flight device. The body 40 hovers.

[0116] If the flight device is in the hovering steering posture, the moments generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are not equal, the rotor lift generated by the rotors 10 on the first side and the second side of the flight device along the length direction C is equal, the rotor lift generated by the rotors 10 on the first side and the second side of the flight device along the width direction K is equal, and the sum of the rotor lift of the flight device is equal to the gravity G of the body 40 of the flight device, and the body 40 hovers and steers.

[0117] If the flight device is in the forward flight posture, the moments generated by the rotors 10 on the first side and the second side of the flight device along the width direction K are balanced with each other, the sum of the rotor lift generated by the rotors 10 on the first side of the flight device along the width direction K is less than the sum of the rotor lift generated by the rotors 10 on the second side of the flight device along the width direction K, and the resultant force of the rotor lift of the flight device in the vertical direction is equal to the gravity G of the body 40 of the flight device, and the body 40 flies forward.

[0118] If the flight device is in the air cruising flight posture, the rotors 10 and the lift-augmenting wings of the flight device jointly provide the lift, and the body 40 adjusts the pitch posture, the roll posture and the heading. The rotor lift provided by the rotors 10 can be reduced, and the body posture can be adjusted without relying on the rudder surface.

[0119] At this time, the moments generated by all the rotors 10 of the flight device are balanced at the nose-down pitch point of the flight device. The horizontal component of the rotor lift generated by the rotors 10 and the horizontal component of the lift-augmenting wings jointly act to generate the driving force of the body 40 forward. The sum of the vertical component of the rotor lift of the flight device and the vertical component of the lift-augmenting wings is equal to the gravity G of the body 40 of the flight device, and the body 40 flies forward.

[0120] After the different postures of the flight device are determined, the rotor lift that should be provided by each rotor 10 can be solved according to the force condition of the flight device in the posture, and then the corresponding rotor 10 is controlled to generate the corresponding rotor lift through rotation.

[0121] In the implementation process, after the current posture information of the flight device is determined, the rotor lift of each rotor 10 of the flight device is determined according to the current posture information and force analysis, and then the rotation speed of the corresponding rotor 10 is controlled according to the rotor lift, so as to control the flight device to complete various postures in the air mode by controlling the rotation speed of the rotor 10, increase the execution of various actions of the flight device in the air, and improve the motion speed and obstacle crossing ability of the flight device.

[0122] In a possible implementation, the calculation formula of the rotor lift of the rotor 10 according to the body state information and the force condition of the flight device is as follows:

[0123] θ| φ＝β＝0 =μ+α-ε T ;

[0124]

[0125]

[0126]

[0127] Where θ is the pitch angle, μ is the track inclination angle, and ε T φ is the installation angle, α is the roll angle, β is the angle of attack, m is the mass of the flight device, V is the velocity vector of the flight device, and F is the velocity vector of the flight device. i Let L be the rotor lift of the i-th rotor 10, L be the wing lift of the flight device, D be the drag of the fuselage 40 of the flight device, Y be the lateral force of the airflow on the fuselage 40 of the flight device, and G be the drag force of the i-th rotor 10. xa G represents the first component of the gravity of the flight device in the airflow coordinate system. ya G is the second component of the gravity of the flight device in the airflow coordinate system. za Let r be the third component of the gravity of the flight device in the airflow coordinate system. w Let q be the yaw rate in the airflow coordinate system. w Let be the roll rate in the airflow coordinate system, i be the i-th rotor 10, and n be the total number of rotors 10.

[0128] In the above implementation process, by establishing the force balance relationship of the flight device in three directions in the aerodynamic coordinate system, the required increase in rotor lift for each rotor 10 can be determined more accurately, thereby improving the accuracy of rotor lift calculation.

[0129] In one possible implementation, step 202 includes: determining the rotor lift information, propeller rotation information, and airframe attitude of the flight device based on the ground mode or the water mode.

[0130] Understandably, such as Figure 6 As shown, when the flight device is in ground mode, its rotor 10 needs to generate a certain amount of rotor lift to achieve pitch stability of the fuselage 40, since the flight device needs to move on the ground. The propeller 30 needs to provide driving force for ground movement. Therefore, in ground mode, both the rotor 10 and the propeller 30 of the flight device need to operate.

[0131] like Figure 7 As shown, when the flight device is in water surface mode, its rotor 10 needs to generate a certain amount of rotor lift to achieve pitch stability of the fuselage 40, since the flight device needs to move on the water surface. The propeller 30 needs to provide driving force for movement on the water surface. Therefore, in water surface mode, both the rotor 10 and the propeller 30 of the flight device need to operate.

[0132] It can be understood that when the flying device is in the water surface mode or the ground mode, the rotor 10 of the flying device only needs to provide the rotor lift for keeping the pitch attitude of the body 40 of the flying device stable. Thus, the rotor 10 of the flying device rotates at a low speed, and the moment generated by the rotor 10 is balanced around the support point of the wheel 30 and the ground (or the water surface) under the horizontal condition of the body 40. The wheel 30 symmetrically arranged along the length direction C rotates differentially to generate forward, backward, left turn and right turn movements. The wheel 30 symmetrically arranged along the length direction C rotates synchronously forward, and the body 40 moves forward. The wheel 30 symmetrically arranged along the length direction C rotates synchronously backward, and the body 40 moves backward. The wheel 30 symmetrically arranged along the length direction C rotates asynchronously, and the body 40 turns left or right.

[0133] In the above implementation process, when the flying device is in the ground mode or the water surface mode, the rotor 10 and the wheel 30 of the flying device both participate in the movement of the flying device. Thus, when the current movement state of the flying device is determined to be the ground mode or the water surface mode, the rotor lift information and the wheel rotation information of the flying device need to be further determined to control the rotation of the corresponding rotor 10 and the wheel 30, so as to control the movement of the flying device on the ground or the water surface, thereby increasing the practical scene of the flying device.

[0134] In a possible implementation, according to the ground mode or the water surface mode, the rotor lift information, the wheel rotation information and the body attitude of the flying device are determined, including: if the current movement state is the ground mode, the rotor lift information is determined according to the gravity of the flying device and the support force of the wheel 30, the wheel rotation information is determined according to the forward speed and the friction of the flying device, and the body 40 is determined to be in a horizontal attitude.

[0135] It can be understood that when the flying device moves on the ground, the forces acting on it in the height direction H include gravity, wheel support force 30 and rotor lift. The forces acting on it in the length direction C include wheel driving force, friction and the like.

[0136] Since the attitude of the flying device on the ground is a horizontal attitude, the forces acting on the flying device in the length direction C and the height direction H should be balanced. Thus, the driving force of the wheel 30 can be determined according to the force balance relationship of the flying device in the length direction C, and the rotor lift of the rotor 10 can be determined according to the force balance relationship of the flying device in the height direction.

[0137] In the implementation process, when the flying device is in ground movement, the rotor lift and the wheel propeller rotation information of the flying device can be determined according to the force condition of the flying device on the ground, and then the flying device is controlled to move on the ground. Since the flying device only needs to overcome a small friction force on the ground, and needs to overcome air resistance and gravity of the body itself in the air, and needs to overcome a large water flow resistance on the water surface. Therefore, compared with the water surface and the air, the flying device needs to overcome less resistance on the ground, so it has good carrying capacity and endurance, and thus the carrying capacity and endurance of the flying device can be improved.

[0138] In a possible implementation, the formula for determining the rotor lift information according to the gravity of the flying device and the support force of the wheel propeller 30 is:

[0139]

[0140] The formula for determining the wheel propeller rotation information according to the forward speed of the flying device and the friction force is:

[0141]

[0142] The formula for determining that the body 40 is in a horizontal posture is:

[0143] F 11 d 11 +F 21 d 21 +…+F i1 d i1 =F 12 d 12 +F 22 d 22 +…+F i2 d i2 ;

[0144] Wherein, i is the i th rotor 10, n is the total number of rotors 10, F i is the rotor lift of the i th rotor 10, D is the resistance of the body 40 of the flying device, G is the gravity of the flying device, N1 is the wheel propeller 30 support force of the first side wheel propeller 30 along the length direction C, N2 is the wheel propeller 30 support force of the second side wheel propeller 30 along the length direction C, T1 is the wheel propeller 30 driving force of the first side wheel propeller 30 along the length direction C, T2 is the wheel propeller 30 driving force of the second side wheel propeller 30 along the length direction C, F i1 is the rotor lift of the i th rotor 10 along the length direction C of the first side, d i1 is the force arm of the i th rotor 10 along the length direction C of the first side to the center of mass, F i2 is the rotor lift of the i th rotor 10 along the length direction C of the second side, d i2 is the force arm of the i th rotor 10 along the length direction C of the second side to the center of mass.

[0145] In the implementation process, since the flight device is mainly subjected to forces in the length direction C and the height direction H on the ground, the rotor lift provided by each rotor 10 and the driving force provided by each wheel propeller 30 can be determined more accurately by respectively establishing force balance relationships of the flight device in the length direction C and the height direction H in the aerodynamic coordinate system, thereby improving the accuracy of calculating the rotor lift and the driving force.

[0146] In a possible implementation, the rotor lift information, the wheel propeller rotation information, and the body posture of the flight device are determined according to the ground mode or the water mode, and the method further includes: if the current motion state is the water mode, determining the rotor lift information according to the gravity and the water buoyancy of the flight device, determining the wheel propeller rotation information according to the forward speed and the water flow resistance of the flight device, and determining that the body 40 is in a horizontal posture.

[0147] It can be understood that, when the flight device moves on the water surface, the force in the height direction H of the flight device includes the gravity, the buoyancy, and the rotor lift. The force in the length direction C of the flight device includes the driving force of the wheel propeller 30 and the water flow resistance.

[0148] Since the posture of the flight device on the water surface is a horizontal posture, the forces in the length direction C and the height direction H of the flight device should be balanced. Therefore, the driving force of the wheel propeller 30 can be determined according to the force balance relationship of the flight device in the length direction C, and the rotor lift of the rotor 10 can be determined according to the force balance relationship of the flight device in the height direction.

[0149] In the implementation process, when the flight device moves on the water surface, the rotor lift and the wheel propeller rotation information of the flight device can be determined according to the force of the flight device on the water surface, and the flight device is controlled to move on the water surface, thereby increasing the use scenarios of the flight device.

[0150] In a possible implementation, the formula for determining the rotor lift information according to the gravity and the water buoyancy of the flight device is:

[0151]

[0152] The formula for determining the wheel propeller rotation information according to the forward speed and the water flow resistance of the flight device is:

[0153]

[0154] The formula for determining that the body 40 is in a horizontal posture is:

[0155] F 11 d 11 +F 21 d 21+…+F i1 d i1 =F 12 d 12 +F 22 d 22 +…+F i2 d i2 +F L ΔL;

[0156] Wherein, i is the i-th rotor 10, n is the total number of rotors 10, F i is the i-th rotor lift, D is the body 40 resistance of the flight device, G is the gravity of the flight device, F L is the body 40 buoyancy, θ is the pitch angle, Fw1 is the wheel 30 driving force of the first side wheel 30 along the length direction C, Fw2 is the wheel 30 driving force of the second side wheel 30 along the length direction C, ΔL is the offset of the center of mass offset from the wheel 30 axis, F i1 is the i-th rotor 10 along the length direction C on the first side rotor lift, d i1 is the i-th rotor 10 along the length direction C on the first side force arm of the center of mass, F i2 is the i-th rotor 10 along the length direction C on the second side rotor lift, d i2 is the i-th rotor 10 along the length direction C on the second side force arm of the center of mass.

[0157] In the above implementation process, since the flight device is mainly subjected to the force along the length direction C and the force along the height direction H on the water surface, by respectively establishing the force balance relationship of the flight device along the length direction C and the height direction H in the aerodynamic coordinate system, the rotor lift required to be provided by each rotor 10 and the driving force required to be provided by each wheel 30 can be more accurately determined, and the accuracy of calculating the rotor lift and the driving force is improved.

[0158] Based on the same application concept, the flight device control method is also provided in the embodiment of the application. Since the principle of solving the problem in the device of the embodiment of the application is similar to the flight device control method embodiment, the implementation of the device in the embodiment can be referred to the description in the method embodiment, and the repeated parts will not be described herein.

[0159] Please refer to Figure 8 , which is a functional module schematic diagram of the flight device control device provided in the embodiment of the application. Each module in the flight device control device in the embodiment is used to execute each step in the method embodiment. The flight device control device comprises a first determination module 301, a second determination module 302 and a control module 303; wherein,

[0160] The first determining module 301 is configured to determine a current motion state of the flight device according to a current environment of the flight device, the current environment being one of a water surface environment, an air environment and a ground environment.

[0161] The second determining module 302 is configured to determine body state information of the flight device according to the current motion state.

[0162] The control module 303 is configured to control the rotor 10 and / or the wheel propeller 30 of the flight device to act according to the body state information.

[0163] In a possible implementation, the second determining module 302 is further configured to determine the roll angle information, the pitch angle information and the body posture according to the air mode.

[0164] In a possible implementation, the second determining module 302 is specifically configured to, if the air mode is the air rotor mode, determine that the angle of the roll angle and the angle of the pitch angle are both within a first preset range, and determine that the body posture is a horizontal posture or the body posture is an inclined posture.

[0165] In a possible implementation, the second determining module 302 is specifically configured to, if the air mode is the air forward mode, determine that the angle of the roll angle is 0° and the angle of the pitch angle is a negative value, and determine that the body posture is an inclined posture; and the lift wing of the flight device generates lift.

[0166] In a possible implementation, the second determining module 302 is specifically configured to, if the air mode is the wing lift mode, determine that the flight speed is greater than a speed threshold, the angle of the roll angle is within a second preset range and the angle of the pitch angle is a negative value, and determine that the body posture is an inclined posture; and the lift wing of the flight device generates lift.

[0167] In a possible implementation, the control module 303 is further configured to determine rotor lift of the rotor 10 according to the body state information and a force condition of the flight device, control a rotation speed of the rotor 10 according to the rotor lift, and control the wheel propeller 30 not to act.

[0168] In a possible implementation, the second determining module 302 is further configured to determine the rotor lift information, the wheel propeller rotation information and the body posture of the flight device according to the ground mode or the water surface mode.

[0169] In a possible implementation, the second determining module 302 is specifically configured to: if the current motion state is the ground mode, determine the rotor lift information according to the gravity of the flight device and the supporting force of the wheel propeller 30, determine the wheel propeller rotation information according to the forward speed of the flight device and the friction, and determine that the machine body 40 is in a horizontal posture.

[0170] In a possible implementation, the second determining module 302 is specifically configured to: if the current motion state is the water surface mode, determine the rotor lift information according to the gravity of the flight device and the water surface buoyancy, determine the wheel propeller rotation information according to the forward speed of the flight device and the water flow resistance, and determine that the machine body 40 is in a horizontal posture.

[0171] In addition, the embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the steps of the flight device control method described in the method embodiment are executed.

[0172] The computer program product of the flight device control method provided by the embodiment of the present application includes a computer readable storage medium storing program codes. The instructions included in the program codes can be used to execute the steps of the flight device control method described in the method embodiment. For details, refer to the method embodiment described above, which will not be described here.

[0173] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented by other means. The device embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0174] In addition, each functional module in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0175] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the part that contributes to the prior art, or part of the technical solutions. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes. It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0176] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0177] The above is only the specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of controlling a flying device, characterized by, The method is applied to a flight device with rotors and wheels; the method comprises: determining a current motion state of the flight device according to a current environment of the flight device, the current environment being one of a water surface environment, an air environment and a ground environment; determining body state information of the flight device according to the current motion state; controlling the rotors and / or wheels of the flight device to act according to the body state information; the current motion state comprises an air mode, and the body state information comprises roll angle information, pitch angle information and body posture; the determining of the body state information of the flight device according to the current motion state comprises: determining the roll angle information, the pitch angle information and the body posture according to the air mode; the controlling of the rotors and / or wheels of the flight device to act according to the body state information comprises: determining rotor lift of the rotors according to the body state information and force conditions of the flight device; controlling rotation speed of the rotors according to the rotor lift; and controlling the wheels to be inaction. wherein the formula for determining the rotor lift of the rotors according to the body state information and the force conditions of the flight device is: in, The pitch angle, For the inclination angle of the flight path, For installation angle, For roll angle, For the angle of attack, Sideslip angle, For the mass of the flight device, The velocity vector of the flight device, For the first The rotor lift of each rotor, For the lift of the wings of the flight device and The sum of the components of the force in the direction of lift. For the airframe drag of the flight device, The lateral force of airflow on the fuselage of the flight device. Let be the first component of the gravity of the flight device in the airflow coordinate system. This represents the second component of the gravity of the flight device in the airflow coordinate system. This is the third component of the gravity of the flight device in the airflow coordinate system. The yaw rate in the airflow coordinate system. The roll rate in the airflow coordinate system. For the first One rotor, This represents the total number of rotors.

2. The method of claim 1, wherein, wherein the air mode comprises an air rotor mode; the determining of the roll angle information, the pitch angle information and the body posture according to the air mode comprises: if the air mode is the air rotor mode, determining that the angle of the roll angle and the angle of the pitch angle are both within a first preset range, and determining that the body posture is a horizontal posture or the body posture is an inclined posture.

3. The method of claim 2, wherein, the first preset range is -25°~+25°.

4. The method of claim 1, wherein, wherein the air mode comprises an air forward mode; the determining of the roll angle information, the pitch angle information and the body posture according to the air mode comprises: if the air mode is the air forward mode, determining that the angle of the roll angle is 0° and the angle of the pitch angle is a negative value, and determining that the body posture is an inclined posture; the flight device has a high-lift wing to generate lift.

5. The method of claim 1, wherein, wherein the air mode comprises an air wing high-lift mode; the determining of the roll angle information, the pitch angle information and the body posture according to the air mode comprises: if the air mode is the wing high-lift mode, determining that the flight speed is greater than a speed threshold, the angle of the roll angle is within a second preset range and the angle of the pitch angle is a negative value, and determining that the body posture is an inclined posture; the flight device has a high-lift wing to generate lift.

6. The method of claim 5, wherein, the speed threshold is 10 m / s, and the second preset range is -15°~+15°.

7. The method of claim 1, wherein, wherein the current motion state comprises a ground mode and a water surface mode, and the body state information comprises rotor lift information, wheel rotation information and body posture; the determining of the body state information of the flight device according to the current motion state comprises: determining the rotor lift information, the wheel rotation information and the body posture of the flight device according to the ground mode or the water surface mode.

8. The method of claim 7, wherein, The rotor lift information, the wheel rotation information and the body attitude of the flying device are determined according to the ground mode or the water mode, and the method comprises the steps of: If the current motion state is the ground mode, the rotor lift information is determined according to the gravity of the flying device and the support force of the wheel, the wheel rotation information is determined according to the forward speed and the friction of the flying device, and the body is determined to be in a horizontal attitude.

9. The method of claim 8, wherein, The flying device comprises a length direction and a width direction; The formula for determining the rotor lift information according to the gravity of the flying device and the support force of the wheel is: ； The formula for determining the wheel rotation information according to the forward speed and the friction of the flying device is: ； The formula for determining the body to be in a horizontal attitude is: ； in, For the first One rotor, Total number of rotors The rotor lift is the force generated by the rotor blade. For body resistance, For the gravity of the flight device, The propeller support force is the first side propeller along the length direction. This refers to the propeller support force of the second side propeller along the length direction. The propeller driving force is the first side propeller along the length direction. The propeller driving force is the second side propeller along the length direction. For the first side along the length direction The rotor lift of each rotor, For the first side along the length direction The lever arm of each rotor about its center of mass. For the second side along the length direction The rotor lift of each rotor, For the second side along the length direction The lever arm of each rotor relative to its center of mass.

10. The method of claim 8, wherein, The rotor lift information, the wheel rotation information and the body attitude of the flying device are determined according to the ground mode or the water mode, and the method comprises the steps of: If the current motion state is the water mode, the rotor lift information is determined according to the gravity of the flying device and the water buoyancy, the wheel rotation information is determined according to the forward speed and the water flow resistance of the flying device, and the body is determined to be in a horizontal attitude.

11. The method of claim 10, wherein, The flying device comprises a length direction and a width direction; The formula for determining the rotor lift information according to the gravity of the flying device and the water buoyancy is: ； The formula for determining the wheel rotation information according to the forward speed and the water flow resistance of the flying device is: ； The formula for determining the body to be in a horizontal attitude is: ； in, For the first One rotor, Total number of rotors For rotor The rotor lift, For body resistance, For the gravity of the flight device, For the buoyancy of the body, The pitch angle, The propeller driving force is the first side propeller along the length direction. The propeller driving force is the second side propeller along the length direction. This represents the offset of the center of mass from the propeller axis. For the first side along the length direction The rotor lift of each rotor, For the first side along the length direction The lever arm of each rotor about its center of mass. For the second side along the length direction The rotor lift of each rotor, For the second side along the length direction The lever arm of each rotor relative to its center of mass.

12. An aerial device control apparatus, comprising: The method comprises the steps of: A first determining module is configured to determine a current motion state of a flying device according to a current environment of the flying device, wherein the current environment is one of a water environment, an air environment and a ground environment; A second determining module is configured to determine body state information of the flying device according to the current motion state; A control module is configured to control the rotor and / or the wheel of the flying device according to the body state information, wherein the current motion state comprises an air mode, and the body state information comprises roll angle information, pitch angle information and a body attitude; The second determining module is further configured to determine the roll angle information, the pitch angle information and the body attitude according to the air mode; The control module is further configured to determine rotor lift of the rotor according to the body state information and a force condition of the flying device, to control a rotation speed of the rotor according to the rotor lift, and to control the wheel to be in a non-action state, wherein a calculation formula for determining the rotor lift of the rotor according to the body state information and the force condition of the flying device is: in, The pitch angle, For the inclination angle of the flight path, For installation angle, For roll angle, For the angle of attack, Sideslip angle, For the mass of the flight device, The velocity vector of the flight device, For the first The rotor lift of each rotor, For the lift of the wings of the flight device and The sum of the components of the force in the direction of lift. For the airframe drag of the flight device, The lateral force of airflow on the fuselage of the flight device. Let be the first component of the gravity of the flight device in the airflow coordinate system. This represents the second component of the aircraft's gravity in the airflow coordinate system. This is the third component of the gravity of the flight device in the airflow coordinate system. The yaw rate in the airflow coordinate system. The roll rate in the airflow coordinate system. For the first One rotor, This represents the total number of rotors.

13. An electronic device, comprising: The method comprises the steps of: A processor and a memory are provided, and the memory stores machine readable instructions executable by the processor, wherein when the electronic device is running, the machine readable instructions are executed by the processor to perform the steps of the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium, and when the computer program is run by the processor, the steps of the method according to any one of claims 1 to 11 are performed.

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