Water-air vehicle control method, device, equipment and storage medium

Abstract

The present application provides a method, device, equipment and storage medium for controlling a water-aircraft, and specifically relates to the technical field of water-aircraft control. The method includes: obtaining the first motor angle of the t-th wheel; calculating the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the first motor angle of the t-th wheel; if the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor is on the lower surface of the water-aircraft, then the propeller is controlled to stop working, and the first connecting rod and the second connecting rod are controlled to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, and the first angle threshold is less than the second angle threshold; if the first motor angle of the t-th wheel is equal to 90° and the rotor is on the upper surface of the water-aircraft, then the rotor is controlled to start working. The blades of the rotor in the method remain stationary during the process of exiting the water, and will not be damaged by high-speed rotation and hitting the water surface.

Description

Technical Field

[0001] The present application relates to the technical field of water-aircraft control, and in particular to a water-aircraft control method, device, equipment and storage medium. Background Art

[0002] Water-air vehicles are widely used in military and civilian fields due to their high concealment and high maneuverability in the air. The military fields include: maritime reconnaissance, surveillance, communication relay and air defense countermeasures, and the civilian fields include: environmental monitoring, power inspection, agricultural plant protection, aerial photography and photogrammetry, etc. Existing water-air vehicles use a single propulsion power unit, which includes a hinge connection mechanism, an active blade and a driven blade. The active blade is connected to the motor output shaft, and the driven blade is movably connected to the active blade through a hinge connection mechanism. When flying in the air, the propulsion power unit is used as the rotor of the water-air vehicle, and when sailing on the water, the propulsion power unit is used as the propeller of the water-air vehicle; wherein, the hinge connection mechanism is made of waterproof material.

[0003] However, due to the low strength of the hinge connection mechanism made of waterproof material, the hinge connection mechanism is prone to breakage when the water-air vehicle switches from the water surface navigation state to the air flight state. In addition, the active blades and driven blades of some propulsion power units are long. When the water-air vehicle switches from the water surface navigation state to the air flight state, the active blades and driven blades are unevenly stressed when they are out of the water, and are also prone to breakage.

[0004] Therefore, it is an existing problem that the propulsion power unit of the water-air vehicle is easily damaged when entering the air from the water. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a water-air vehicle control method, device, equipment and storage medium to solve the above-mentioned problems and ensure that the propulsion power unit is not damaged when the water-air vehicle enters the air from the water.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a water-air aircraft, wherein a group of power controllers are respectively arranged on both sides of the wings of the water-air aircraft, and each group of the power controllers includes: a motor, a fixed rod, two groups of first servos, a second servos and a control frame symmetrically arranged relative to the fixed rod; each group of the control frame is provided with a first connecting rod, a second connecting rod and a third connecting rod; the first ends of the first connecting rod and the second connecting rod are respectively hinged to the two ends of the third connecting rod; the two ends of the fixed rod are respectively fixedly connected to the third connecting rod and the third connecting rods are perpendicular to each other, and the fixed rod is used to fix the motor; the first end of the output shaft of the motor is provided with a rotor, and the second end of the output shaft of the motor is provided with a propeller; the motor axial direction is perpendicular to the fixed rod and parallel to the third connecting rod; the second end of the first connecting rod is connected to the first servo, and the second end of the second connecting rod is connected to the second servo; the first servo is used to control the rotation of the first connecting rod, and the second servo is used to control the rotation of the second connecting rod; the method includes:

[0007] Obtaining a first motor angle of the t-th wheel, the first motor angle of the t-th wheel being an angle between the third link and the plane where the wing is located after the first link and the second link are controlled through the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel, the first control angle being an angle between the first link and the plane where the wing is located, and the second control angle being an angle between the second link and the plane where the wing is located;

[0008] The first control angle of the t-th wheel and the second control angle of the t-th wheel are calculated according to the first motor angle of the t-th wheel;

[0009] If the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor is on the lower surface of the water-air vehicle, the propeller is controlled to stop working, and the first connecting rod and the second connecting rod are controlled to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, and the first angle threshold is less than the second angle threshold;

[0010] If the first motor angle of the tth wheel is equal to 90° and the rotor is on the upper surface of the water-air vehicle, the rotor is controlled to start working.

[0011] Preferably, the method further comprises:

[0012] If the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor is on the upper surface of the water-air vehicle, the rotor is controlled to stop working, and the first connecting rod and the second connecting rod are controlled to rotate toward the lower surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel;

[0013] If the first motor angle of the tth wheel is less than or equal to the second angle threshold, the first motor angle of the tth wheel is greater than or equal to the first angle threshold and the propeller is on the lower surface of the water-air vehicle, the propeller is controlled to start working.

[0014] Preferably, after controlling the rotor to start working, the method further comprises:

[0015] Controlling the first connecting rod and the second connecting rod to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel;

[0016] If the first motor angle of the tth wheel is equal to 0° and the rotor and the propeller are both on the upper surface of the water-air vehicle, the first connecting rod and the second connecting rod are controlled to stop rotating.

[0017] Preferably, the step of obtaining the first motor angle of the t-th wheel includes:

[0018] Acquire the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel of the water-air vehicle; wherein the attitude angle of the t-1th wheel includes: the pitch angle of the t-1th wheel, the roll angle of the t-1th wheel and the yaw angle of the t-1th wheel, and the target attitude angle of the tth wheel includes: the target pitch angle of the tth wheel, the target roll angle of the tth wheel and the target yaw angle of the tth wheel;

[0019] The first motor angle of the t-th wheel is calculated based on the PID algorithm according to the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel.

[0020] Preferably, the method further comprises:

[0021] If the drag of the power controller in the air is greater than a threshold, the rotor and the propeller are controlled to rotate together.

[0022] Preferably, the method further comprises:

[0023] If the resistance of the power controller in water is greater than a threshold, the rotor and the propeller are controlled to rotate together.

[0024] Preferably, the step of calculating the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the first motor angle of the t-th wheel comprises:

[0025]

[0026] in, is the first control angle of the t-th wheel, is the second control angle of the t-th wheel, l1 is the length of the first connecting rod, l2 is the length of the second connecting rod, l3 is the length of the third connecting rod, is the first motor angle of the tth wheel.

[0027] The water-air vehicle control method provided in this application brings the following beneficial effects:

[0028] The present application provides a method for controlling a water-aircraft, in which the rotor is stationary during the process of moving from underwater to the water surface, and does not start to rotate until it is completely on the water surface (the upper surface of the water-aircraft). Compared with the prior art, in which the active blades and transmission blades of the propulsion power unit suddenly move above the water surface under high-speed rotation, the blades of the rotor in this method remain stationary during the process of exiting the water, are evenly stressed, and will not be damaged by high-speed rotation and hitting the water surface. In addition, the rotor in this method is a counter-rotating coaxial rotor, and the blades are a whole, which is different from the structure of the hinge connection mechanism, active blades and driven blades included in the propulsion power unit in the prior art. The hinge connection mechanism will not be damaged, which extends the service life of the rotor. And no additional auxiliary device is required to assist the water-aircraft in converting from the water surface navigation state to the air flight state, which reduces the load of the water-aircraft.

[0029] In the second aspect, the present application also provides a water-air aircraft control device, wherein a group of power controllers are respectively arranged on both sides of the wings of the water-air aircraft, and each group of the power controllers includes: a motor, a fixed rod, two groups of first servos, second servos and a control frame symmetrically arranged relative to the fixed rod; each group of the control frame is provided with a first connecting rod, a second connecting rod and a third connecting rod; the first ends of the first connecting rod and the second connecting rod are respectively hinged to the two ends of the third connecting rod; the two ends of the fixed rod are respectively fixedly connected to the third connecting rod and are perpendicular to the third connecting rod, and the fixed rod is used to fix the motor; the first end of the output shaft of the motor is provided with a rotor, and the second end of the output shaft of the motor is provided with a propeller; the motor axis is perpendicular to the fixed rod and parallel to the third connecting rod; the second end of the first connecting rod is connected to the first servo, and the second end of the second connecting rod is connected to the second servo; the first servo is used to control the rotation of the first connecting rod, and the second servo is used to control the rotation of the second connecting rod; the device includes:

[0030] an acquisition module, used for acquiring a first motor angle of a t-th wheel, wherein the first motor angle of the t-th wheel is an angle between the third connecting rod and the plane where the wing is located after the first connecting rod and the second connecting rod are controlled through the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel, wherein the first control angle is an angle between the first connecting rod and the plane where the wing is located, and the second control angle is an angle between the second connecting rod and the plane where the wing is located;

[0031] A data processing module, used for calculating a first control angle of the t-th wheel and a second control angle of the t-th wheel according to the first motor angle of the t-th wheel;

[0032] a control module, configured to control the propeller to stop working, and control the first connecting rod and the second connecting rod to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, if the first motor angle of the t-th wheel is less than a first angle threshold, the first motor angle of the t-th wheel is greater than a second angle threshold, and the rotor is on the lower surface of the water-aircraft, and the first angle threshold is less than the second angle threshold;

[0033] The control module is also used to control the rotor to start working if the first motor angle of the tth wheel is equal to 90° and the rotor is on the upper surface of the water-air vehicle.

[0034] The water-air vehicle control device provided in the embodiment of the present application has the same technical features as the water-air vehicle control method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0035] In a third aspect, the present application provides a computing device, including a memory and a processor;

[0036] One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method as described in any one of the first aspects.

[0038] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0039] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the structure of a power controller for a water-air vehicle provided in an embodiment of the present application;

[0042] Figure 2 A schematic flow chart of a water-air vehicle control method provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of a process for converting a water-air vehicle from a surface navigation state to an air flight state provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the power controller structure when the first motor angle provided in the embodiment of the present application is equal to 90° and the rotor is on the upper surface of the water-air vehicle;

[0045] Figure 5 A schematic diagram of a process for converting a water-air vehicle from an airborne flight state to a water-surface navigation state provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a power controller for a water-air vehicle provided in an embodiment of the present application when the water-air vehicle is in a state of sailing on the water surface;

[0047] Figure 7 A schematic diagram of the aerial flight state flow of a water-air vehicle provided in an embodiment of the present application;

[0048] Figure 8 A schematic diagram of the structure of a power controller of the water-air vehicle provided in an embodiment of the present application when the water-air vehicle is in an airborne flight state;

[0049] Fig. 9 A schematic diagram of the structure of a power controller when the first motor angle is equal to the second control angle when the water-air vehicle provided by an embodiment of the present application is in an airborne state;

[0050] Fig.10 A schematic diagram of the structure of a water-air vehicle control device provided in an embodiment of the present application;

[0051] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0052] Reference numerals

[0053] 201-motor; 202-fixed rod; 203-first connecting rod; 204-second connecting rod; 205-third connecting rod; 206-rotor; 207-propeller. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0055] To facilitate understanding of this embodiment, the embodiments of the present application are described in detail below.

[0056] The present application embodiment provides a method for controlling a water-air vehicle, such as Figure 1 As shown, Figure 1 A schematic diagram of the power controller structure of a water-air vehicle provided in an embodiment of the present application. A group of power controllers are respectively arranged on both sides of the wings of the water-air vehicle, and each group of power controllers includes: a motor 201, a fixed rod 202, two groups of first servos (not shown in the figure), a second servo (not shown in the figure) and a control frame (not shown in the figure) symmetrically arranged relative to the fixed rod 202; each group of control frames is provided with a first connecting rod 203, a second connecting rod 204 and a third connecting rod 205; the first ends of the first connecting rod 203 and the second connecting rod 204 are respectively hinged to the two ends of the third connecting rod 205; the two ends of the fixed rod 202 are respectively fixedly connected to the third connecting rod 205 and are in contact with the third connecting rod 205. The fixing rod 202 is perpendicular to each other, and is used to fix the motor 201; the first end of the output shaft of the motor 201 is provided with a rotor 206, and the second end of the output shaft of the motor 201 is provided with a propeller 207; the motor 201 is axially perpendicular to the fixing rod 202 and parallel to the third connecting rod 205; the second end of the first connecting rod 203 is connected to the first steering gear (not shown in the figure), and the second end of the second connecting rod 204 is connected to the second steering gear (not shown in the figure); the first steering gear (not shown in the figure) is used to control the rotation of the first connecting rod 203, and the second steering gear (not shown in the figure) is used to control the rotation of the second connecting rod 204; Figure 2 As shown, Figure 2 A schematic flow chart of a method for controlling a water-air vehicle provided in an embodiment of the present application. The method comprises the following steps:

[0057] S101, the water-air vehicle obtains a first motor angle of the tth wheel.

[0058] Among them, the first motor angle of the t-th wheel is the angle between the third link 205 and the plane where the wing is located after the first link 203 and the second link 204 are controlled through the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel. The first control angle is the angle between the first link 203 and the plane where the wing is located, and the second control angle is the angle between the second link 204 and the plane where the wing is located.

[0059] Specifically, the water-air vehicle can control the first connecting rod 203 to rotate according to the first control angle of the t-1th wheel, and control the second connecting rod 204 to rotate according to the second control angle of the t-1th wheel. Then, the first connecting rod 203 and the second connecting rod 204 control the third connecting rod 205 to rotate, so as to change the first motor angle and obtain the first motor angle of the tth wheel.

[0060] S102, the water-air vehicle calculates a first control angle of the t-th wheel and a second control angle of the t-th wheel according to the first motor angle of the t-th wheel.

[0061] Specifically, the purpose of the water-aircraft obtaining the first motor angle of the t-th wheel is to calculate the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the first motor angle of the t-th wheel, and then continue to control the first connecting rod 203 to continue to rotate according to the first control angle of the t-th wheel, and control the second connecting rod 204 to continue to rotate according to the second control angle of the t-th wheel, and then control the third connecting rod 205 to continue to rotate through the first connecting rod 203 and the second connecting rod 204. Since the motor 201 is fixed to the third connecting rod 205 through a fixing plate, the motor 201 will rotate synchronously with the third connecting rod 205. The first end of the output shaft of the motor 201 is provided with a rotor 206, and the second end of the output shaft of the motor 201 is provided with a propeller 207. The motor 201 rotates to change the position of the rotor 206 and the propeller 207. With such a configuration, the water-aircraft can realize the continuous change of the position of the control rotor 206 and the propeller 207.

[0062] S103, if the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold and the rotor is on the lower surface of the water-aircraft, the water-aircraft controls the propeller to stop working, and controls the first connecting rod and the second connecting rod to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel.

[0063] The first angle threshold is smaller than the second angle threshold.

[0064] Specifically, the first angle threshold is -15°, and the second angle threshold is 15°. Figure 3 As shown, Figure 3A schematic diagram of a process flow of a water-aircraft provided in an embodiment of the present application for converting from a surface navigation state to an air flight state. If the first motor angle of the t-th wheel is <-15°, the first motor angle of the t-th wheel is >15°, and the rotor 206 is on the lower surface of the water-aircraft, that is, the rotor 206 is above the water surface, the water-aircraft controls the blades of the propeller 207 to stop rotating. At this time, the water-aircraft is in a transition state from a surface navigation state to an air flight state. The water-aircraft gradually stops sailing on the water surface and floats on the water surface. The water-aircraft controls the first connecting rod 203 and the second connecting rod 204 to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel. When the first connecting rod 203 and the second connecting rod 204 rotate toward the upper surface of the water-aircraft, they will also drive the third connecting rod 205 to rotate toward the upper surface of the water-aircraft, thereby driving the rotor 206 on the motor 201 to move toward the upper surface of the water-aircraft.

[0065] S104, if the first motor angle of the tth wheel is equal to 90° and the rotor is on the upper surface of the water-aircraft, the water-aircraft controls the rotor to start working.

[0066] Specifically, Figure 4 As shown, Figure 4 A schematic diagram of the power controller structure when the first motor angle provided in the embodiment of the present application is equal to 90° and the rotor 206 is on the upper surface of the water-air vehicle. When the first motor angle of the t-th wheel is equal to 90° (the third connecting rod 205 rotates to a vertical state) and the rotor 206 is on the upper surface of the water-air vehicle, the rotor 206 starts to rotate to make the water-air vehicle enter a hovering state on the water surface. At this time, the bottom of the water-air vehicle is in contact with the water surface, but there is no force between them.

[0067] With such a configuration, when the water-air vehicle is changing from a water-surface navigation state to an air-flight state, that is, when the rotor 206 moves from under the water surface to above the water surface, the rotor 206 remains stationary, and the blades of the rotor 206 will not be damaged by high-speed rotation and hitting the water surface. In this manner, the blades of the rotor 206 are evenly stressed, greatly reducing the risk of damage to the rotor 206.

[0068] The control method of the water-aircraft provided in the embodiment of the present application is that the wings of the water-aircraft are delta wings, and the power is provided by the motors 201 on both sides of the wings. The motor 201 controls the rotation of the output shaft through the brushless inner rotor. The first end and the second end of the output shaft respectively control the start and stop of the electromagnetic clutch. The electromagnetic clutch controls the start and stop of the differential through the gear transmission device. The differential controls the rotation of the blades of the rotor 206 and the propeller 207 through the bevel gear. The rotor 206 is a counter-rotating coaxial rotor, and the propeller 207 is a single-rotation propeller. The motor 201 is equipped with an encoder, which can accurately control the speed of the inner rotor of the motor 201.

[0069] When the water-air vehicle is converted from the surface navigation state to the air flight state, the water-air vehicle controls the first connecting rod 203 and the second connecting rod 204 to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, thereby driving the rotor 206 on the motor 201 to move toward the upper surface of the water-air vehicle, until the first motor angle of the t-th wheel is equal to 90° and the rotor 206 is on the upper surface of the water-air vehicle, the rotor 206 starts to rotate. In this method, the rotor 206 is stationary during the process of moving from underwater to the water surface, and does not start to rotate until it is completely on the water surface (the upper surface of the water-air vehicle). Compared with the prior art, in which the active blades and transmission blades of the propulsion power unit suddenly move above the water surface under high-speed rotation, the blades of the rotor 206 in this method remain stationary during the process of leaving the water, and are evenly stressed, and will not be damaged due to high-speed rotation and hitting the water surface. In addition, the rotor 206 in the method is a counter-rotating coaxial rotor, and the blades are an integral body, which is different from the structure of the hinge connection mechanism, the active blades and the driven blades included in the propulsion power unit in the prior art, and the hinge connection mechanism will not be damaged, thereby extending the service life of the rotor 206. In addition, no additional auxiliary device is required to assist the water-air vehicle in converting from the water surface navigation state to the air flight state, thereby reducing the load of the water-air vehicle.

[0070] The following is an introduction to the process of a water-air vehicle switching from an airborne flight state to a water-surface navigation state. Figure 5 As shown, Figure 5 A schematic diagram of a process flow of a water-air vehicle switching from an airborne flight state to a water-surface navigation state provided in an embodiment of the present application. If the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor 206 is on the upper surface of the water-air vehicle, the water-air vehicle controls the rotor 206 to stop working, and controls the first connecting rod 203 and the second connecting rod 204 to rotate toward the lower surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel; if Figure 6 As shown, Figure 6 A schematic diagram of the power controller structure of the water-air vehicle provided in an embodiment of the present application when the water-air vehicle is in a water-surface navigation state. If the first motor angle of the t-th wheel is less than or equal to the second angle threshold, the first motor angle of the t-th wheel is greater than or equal to the first angle threshold, and the propeller 207 is on the lower surface of the water-air vehicle, the water-air vehicle controls the propeller 207 to start working.

[0071] Specifically, the first angle threshold is -15°, and the second angle threshold is 15°. If the first motor angle of the t-th wheel is <-15°, the first motor angle of the t-th wheel is >15°, and the rotor 206 is on the upper surface of the water-aircraft, that is, the rotor 206 is above the water surface, the water-aircraft controls the blades of the rotor 206 to stop rotating. At this time, the water-aircraft is in a transition state from an air flight state to a water surface navigation state. The water-aircraft gradually descends to the water surface and floats on the water surface. The water-aircraft controls the first connecting rod 203 and the second connecting rod 204 to rotate toward the lower surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel. When the first connecting rod 203 and the second connecting rod 204 rotate toward the lower surface of the water-aircraft, they will also drive the third connecting rod 205 to rotate toward the lower surface of the water-aircraft, thereby driving the propeller 207 on the motor 201 to move toward the lower surface of the water-aircraft.

[0072] In this way, when the water-air vehicle is converted from an airborne flight state to a water-surface navigation state, that is, when the rotor 206 moves from the water surface to under the water surface, the rotor 206 remains stationary, and the blades of the rotor 206 will not be damaged by high-speed rotation and hitting the water surface. In this way, the blades of the rotor 206 are evenly stressed, which greatly reduces the risk of damage to the rotor 206 and prolongs the service life of the rotor 206.

[0073] The following is an introduction to the process of the water-air vehicle's aerial flight state. Figure 7 As shown, Figure 7 A schematic diagram of the aerial flight state of the water-air vehicle provided in the embodiment of the present application. After the control rotor 206 starts to work, the first connecting rod 203 and the second connecting rod 204 are controlled to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel; Figure 8 As shown, Figure 8 A schematic diagram of the power controller structure of the water-air vehicle provided in an embodiment of the present application when the water-air vehicle is in an airborne state. If the first motor angle of the t-th wheel is equal to 0° and the rotor 206 and the propeller 207 are both on the upper surface of the water-air vehicle, the first connecting rod 203 and the second connecting rod 204 are controlled to stop rotating.

[0074] Specifically, after the water-aircraft is in a hovering state, the first connecting rod 203 and the second connecting rod 204 are controlled to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel. While the first connecting rod 203 and the second connecting rod 204 are rotating toward the upper surface of the water-aircraft, the third connecting rod 205 will also be driven to rotate toward the upper surface of the water-aircraft until the first motor angle of the t-th wheel is equal to 0° (the third connecting rod 205 is parallel to the plane where the water-aircraft is located) and the rotor 206 and the propeller 207 are both on the upper surface of the water-aircraft. At this time, the water-aircraft maintains horizontal flight in the air. In particular, during the process of the first connecting rod 203 and the second connecting rod 204 rotating toward the upper surface of the water-aircraft, in order to save power, the water-aircraft controls the first connecting rod 203 to rotate toward the upper surface of the water-aircraft alone through the first servo (not shown in the figure), such as Fig. 9 As shown, Fig. 9 A schematic diagram of the power controller structure when the first motor angle is equal to the second control angle when the water-air vehicle provided in the embodiment of the present application is in the air flight state. If the first motor angle is equal to the second control angle, the second connecting rod 204 and the third connecting rod 205 will be stuck, and at this time, the first steering gear (not shown in the figure) is controlled to stop working, and the second connecting rod 204 is controlled to rotate toward the upper surface of the water-air vehicle through the second steering gear (not shown in the figure) alone, so that the third connecting rod 205 continues to rotate toward the upper surface of the water-air vehicle.

[0075] In this way, the water-aircraft gradually takes off from the hovering state, and maintains horizontal flight in the air by continuously adjusting the first motor angle. When the water-aircraft is flying in the air, since the motor 201 is equipped with an electromagnetic clutch, the propeller 207 stops rotating, which does not affect the operation of the rotor 206. In addition, the motor 201 is small in size, which reduces the load of the water-aircraft when it is flying in the air.

[0076] In one embodiment, the water-air vehicle obtains the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel of the water-air vehicle; wherein the attitude angle of the t-1th wheel includes: the pitch angle of the t-1th wheel, the roll angle of the t-1th wheel and the yaw angle of the t-1th wheel, and the target attitude angle of the tth wheel includes: the target pitch angle of the tth wheel, the target roll angle of the tth wheel and the target yaw angle of the tth wheel; the first motor angle of the tth wheel is calculated based on the PID algorithm according to the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel.

[0077] Specifically, the PID (Proportional-Integral-Derivative) algorithm is a control strategy in industrial control systems. The water-air vehicle obtains the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel through the gyroscope, processes the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel through the PID algorithm, obtains the first motor angle of the tth wheel, and then calculates the first control angle of the t+1th wheel (next wheel) and the second control angle of the t+1th wheel based on the first motor angle of the tth wheel.

[0078] In this way, the PID algorithm can reduce the error of the first motor angle of the t-th wheel, thereby reducing the error of the first control angle of the t+1 wheel (next wheel) and the second control angle of the t+1 wheel. This facilitates the water-air vehicle to accurately control the first connecting rod 203 and the second connecting rod 204, thereby accurately adjusting the first motor angle of the t+1 wheel.

[0079] In one embodiment, if the drag of the power controller in the air is greater than a threshold, the rotor 206 and the propeller 207 are controlled to rotate together. If the drag of the power controller in the water is greater than a threshold, the rotor 206 and the propeller 207 are controlled to rotate together.

[0080] Specifically, since the propeller 207 and the rotor 206 are coaxially connected to the motor 201, when in the air flight state, if the air resistance is greater than the threshold, the water-aircraft controls the rotor 206 and the propeller 207 to rotate together to increase power; when in the water surface navigation state, if the water resistance is greater than the threshold, the water-aircraft controls the rotor 206 and the propeller 207 to rotate together to increase power.

[0081] In this mode, the water-air vehicle controls the rotor 206 and the propeller 207 to rotate together to overcome the air resistance of the air flight to ensure the stability of the flight; and overcomes the water resistance of the power controller to ensure the stability of the surface navigation.

[0082] In one embodiment, the step of calculating the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the first motor angle of the t-th wheel by the water-air vehicle comprises:

[0083]

[0084] in, is the first control angle of the t-th wheel, is the second control angle of the t-th wheel, l1 is the length of the first connecting rod 203, l2 is the length of the second connecting rod 204, l3 is the length of the third connecting rod 205, is the first motor angle of the tth wheel.

[0085] In this method, the water-air vehicle calculates the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the above formula. This method has the same technical effect as the above step S102, and will not be repeated here.

[0086] Based on the above method embodiment, the present application embodiment provides a water-air vehicle control device, such as Fig.10 As shown, Fig.10 A schematic diagram of the structure of a water-aircraft control device provided in an embodiment of the present application. A group of power controllers are respectively arranged on both sides of the wings of the water-aircraft, and each group of power controllers includes: a motor 201, a fixed rod 202, two groups of first servos (not shown in the figure) and second servos (not shown in the figure) symmetrically arranged relative to the fixed rod 202, and a control frame; each group of control frames is provided with a first connecting rod 203, a second connecting rod 204 and a third connecting rod 205; the first ends of the first connecting rod 203 and the second connecting rod 204 are respectively hinged to the two ends of the third connecting rod 205; the two ends of the fixed rod 202 are respectively fixedly connected to the third connecting rod 205 and are perpendicular to the third connecting rod 205, and the fixed rod 202 is used to fix the motor 201; the motor 201 The first end of the output shaft is provided with a rotor 206, and the second end of the output shaft of the motor 201 is provided with a propeller 207; the motor 201 is axially perpendicular to the fixed rod 202 and parallel to the third connecting rod 205; the second end of the first connecting rod 203 is connected to the first steering gear (not shown in the figure), and the second end of the second connecting rod 204 is connected to the second steering gear (not shown in the figure); the first steering gear (not shown in the figure) is used to control the rotation of the first connecting rod 203, and the second steering gear (not shown in the figure) is used to control the rotation of the second connecting rod 204; the device includes an acquisition module 1001, a data processing module 1002 and a control module 1003; wherein the functions of each module are as follows:

[0087] An acquisition module 1001 is used to acquire a first motor angle of the t-th wheel, where the first motor angle of the t-th wheel is the angle between the third link 205 and the plane where the wing is located after the first link 203 and the second link 204 are controlled by the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel, where the first control angle is the angle between the first link 203 and the plane where the wing is located, and the second control angle is the angle between the second link 204 and the plane where the wing is located;

[0088] A data processing module 1002 is used to calculate a first control angle of the t-th wheel and a second control angle of the t-th wheel according to the first motor angle of the t-th wheel;

[0089] The control module 1003 is used to control the propeller 207 to stop working, and control the first connecting rod 203 and the second connecting rod 204 to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, if the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor 206 is on the lower surface of the water-air vehicle, and the first angle threshold is less than the second angle threshold;

[0090] The control module 1003 is also used to control the rotor 206 to start working if the first motor angle of the tth wheel is equal to 90° and the rotor 206 is on the upper surface of the water-air vehicle.

[0091] Preferably, the control module 1003 is further configured to control the rotor 206 to stop working if the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor 206 is on the upper surface of the water-air vehicle, and control the first connecting rod 203 and the second connecting rod 204 to rotate toward the lower surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel;

[0092] The control module 1003 is also used to control the propeller 207 to start working if the first motor angle of the tth wheel is less than or equal to the second angle threshold, the first motor angle of the tth wheel is greater than or equal to the first angle threshold, and the propeller 207 is on the lower surface of the water-air vehicle.

[0093] Preferably, the control module 1003 is further used to control the first connecting rod 203 and the second connecting rod 204 to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel after the control rotor 206 starts to work;

[0094] The control module 1003 is also used to control the first connecting rod 203 and the second connecting rod 204 to stop rotating if the first motor angle of the tth wheel is equal to 0° and the rotor 206 and the propeller 207 are both on the upper surface of the water-air vehicle.

[0095] Preferably, the acquisition module 1001 is specifically used to acquire the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel of the water-air vehicle; wherein the attitude angle of the t-1th wheel includes: the pitch angle of the t-1th wheel, the roll angle of the t-1th wheel and the yaw angle of the t-1th wheel, and the target attitude angle of the tth wheel includes: the target pitch angle of the tth wheel, the target roll angle of the tth wheel and the target yaw angle of the tth wheel;

[0096] The data processing module 1002 is specifically used to calculate the first motor angle of the t-th wheel based on the PID algorithm according to the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel.

[0097] Preferably, the control module 1003 is also used to control the rotor 206 and the propeller 207 to rotate together if the resistance of the power controller in the air is greater than a threshold.

[0098] Preferably, the control module 1003 is also used to control the rotor 206 and the propeller 207 to rotate together if the resistance of the power controller in water is greater than a threshold.

[0099] Preferably, the data processing module 1002 is specifically configured to obtain the first control angle of the t-th wheel and the second control angle of the t-th wheel according to the following formula:

[0100]

[0101] in, is the first control angle of the t-th wheel, is the second control angle of the t-th wheel, l1 is the length of the first connecting rod 203, l2 is the length of the second connecting rod 204, l3 is the length of the third connecting rod 205, is the first motor angle of the tth wheel.

[0102] The water-air vehicle control device provided in the embodiment of the present application has the same technical features as the water-air vehicle control method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0103] The present application also provides a computing device. Fig.11 As shown, this figure is a schematic diagram of a computing device provided in an embodiment of the present application, and the computing device 700 includes a bus 701, a processor 702, a communication interface 703 and a memory 704. The processor 702, the memory 704 and the communication interface 703 communicate with each other through the bus 701.

[0104] The bus 701 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0105] The processor 702 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0106] The communication interface 703 is used for communicating with the outside. The memory 704 may include a volatile memory, such as a random access memory (RAM). The memory 704 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD).

[0107] The memory 704 stores executable codes, and the processor 702 executes the executable codes to perform the aforementioned method.

[0108] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the computing device to execute the above method.

[0109] The embodiment of the present application further provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0110] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0111] When the computer program product is executed by a computer, the computer executes any of the aforementioned methods. The computer program product may be a software installation package, and when any of the aforementioned methods is needed, the computer program product may be downloaded and executed on a computer.

[0112] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0113] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling a water-air vehicle, characterized in that: A group of power controllers are respectively arranged on both sides of the wings of the water-air aircraft, and each group of the power controllers includes: a motor, a fixed rod, two groups of first steering gears, second steering gears and a control frame symmetrically arranged relative to the fixed rod; each group of the control frame is provided with a first connecting rod, a second connecting rod and a third connecting rod; the first ends of the first connecting rod and the second connecting rod are respectively hinged at the two ends of the third connecting rod; the two ends of the fixed rod are respectively fixedly connected to the third connecting rod and are perpendicular to the third connecting rod, and the fixed rod is used to fix the motor; the first end of the output shaft of the motor is provided with a rotor, and the second end of the output shaft of the motor is provided with a propeller; the motor axial direction is perpendicular to the fixed rod and parallel to the third connecting rod; the second end of the first connecting rod is connected to the first steering gear, and the second end of the second connecting rod is connected to the second steering gear; the first steering gear is used to control the rotation of the first connecting rod, and the second steering gear is used to control the rotation of the second connecting rod; the method includes: Obtaining a first motor angle of the t-th wheel, the first motor angle of the t-th wheel being an angle between the third link and the plane where the wing is located after the first link and the second link are controlled through the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel, the first control angle being an angle between the first link and the plane where the wing is located, and the second control angle being an angle between the second link and the plane where the wing is located; The first control angle of the t-th wheel and the second control angle of the t-th wheel are calculated according to the first motor angle of the t-th wheel; If the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor is on the lower surface of the water-air vehicle, the propeller is controlled to stop working, and the first connecting rod and the second connecting rod are controlled to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, and the first angle threshold is less than the second angle threshold; If the first motor angle of the tth wheel is equal to 90° and the rotor is on the upper surface of the water-air vehicle, the rotor is controlled to start working.

2. The water-air vehicle control method according to claim 1, characterized in that: The method further comprises: If the first motor angle of the t-th wheel is less than the first angle threshold, the first motor angle of the t-th wheel is greater than the second angle threshold, and the rotor is on the upper surface of the water-air vehicle, the rotor is controlled to stop working, and the first connecting rod and the second connecting rod are controlled to rotate toward the lower surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel; If the first motor angle of the tth wheel is less than or equal to the second angle threshold, the first motor angle of the tth wheel is greater than or equal to the first angle threshold and the propeller is on the lower surface of the water-air vehicle, the propeller is controlled to start working.

3. The water-air vehicle control method according to claim 1, characterized in that: After controlling the rotor to start working, the method further includes: Controlling the first connecting rod and the second connecting rod to rotate toward the upper surface of the water-air vehicle according to the first control angle of the t-th wheel and the second control angle of the t-th wheel; If the first motor angle of the tth wheel is equal to 0° and the rotor and the propeller are both on the upper surface of the water-air vehicle, the first connecting rod and the second connecting rod are controlled to stop rotating.

4. The water-air vehicle control method according to claim 1, characterized in that: The step of obtaining the first motor angle of the t-th wheel comprises: Acquire the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel of the water-air vehicle; wherein the attitude angle of the t-1th wheel includes: the pitch angle of the t-1th wheel, the roll angle of the t-1th wheel and the yaw angle of the t-1th wheel, and the target attitude angle of the tth wheel includes: the target pitch angle of the tth wheel, the target roll angle of the tth wheel and the target yaw angle of the tth wheel; The first motor angle of the t-th wheel is calculated based on the PID algorithm according to the attitude angle of the t-1th wheel and the target attitude angle of the tth wheel.

5. The water-air vehicle control method according to claim 2, characterized in that: The method further comprises: If the drag of the power controller in the air is greater than a threshold, the rotor and the propeller are controlled to rotate together.

6. The water-air vehicle control method according to claim 1, characterized in that: The method further comprises: If the resistance of the power controller in water is greater than a threshold, the rotor and the propeller are controlled to rotate together.

7. The water-air vehicle control method according to any one of claims 1 to 5, characterized in that: The step of calculating a first control angle of the t-th wheel and a second control angle of the t-th wheel according to the first motor angle of the t-th wheel comprises: in, is the first control angle of the t-th wheel, is the second control angle of the t-th wheel, l1 is the length of the first connecting rod, l2 is the length of the second connecting rod, l3 is the length of the third connecting rod, is the first motor angle of the tth wheel.

8. A water-air vehicle control device, characterized in that: A group of power controllers are respectively arranged on both sides of the wings of the water-air aircraft, and each group of the power controllers includes: a motor, a fixed rod, two groups of first steering gears, second steering gears and a control frame symmetrically arranged relative to the fixed rod; each group of the control frame is provided with a first connecting rod, a second connecting rod and a third connecting rod; the first ends of the first connecting rod and the second connecting rod are respectively hinged at the two ends of the third connecting rod; the two ends of the fixed rod are respectively fixedly connected to the third connecting rod and are perpendicular to the third connecting rod, and the fixed rod is used to fix the motor; the first end of the output shaft of the motor is provided with a rotor, and the second end of the output shaft of the motor is provided with a propeller; the motor axial direction is perpendicular to the fixed rod and parallel to the third connecting rod; the second end of the first connecting rod is connected to the first steering gear, and the second end of the second connecting rod is connected to the second steering gear; the first steering gear is used to control the rotation of the first connecting rod, and the second steering gear is used to control the rotation of the second connecting rod; the device includes: an acquisition module, used for acquiring a first motor angle of a t-th wheel, wherein the first motor angle of the t-th wheel is an angle between the third connecting rod and the plane where the wing is located after the first connecting rod and the second connecting rod are controlled through the first control angle of the t-1-th wheel and the second control angle of the t-1-th wheel, wherein the first control angle is an angle between the first connecting rod and the plane where the wing is located, and the second control angle is an angle between the second connecting rod and the plane where the wing is located; A data processing module, used for calculating a first control angle of the t-th wheel and a second control angle of the t-th wheel according to the first motor angle of the t-th wheel; a control module, configured to control the propeller to stop working, and control the first connecting rod and the second connecting rod to rotate toward the upper surface of the water-aircraft according to the first control angle of the t-th wheel and the second control angle of the t-th wheel, if the first motor angle of the t-th wheel is less than a first angle threshold, the first motor angle of the t-th wheel is greater than a second angle threshold, and the rotor is on the lower surface of the water-aircraft, and the first angle threshold is less than the second angle threshold; The control module is also used to control the rotor to start working if the first motor angle of the tth wheel is equal to 90° and the rotor is on the upper surface of the water-air vehicle.

9. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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