Suspension control method based on unmanned aerial vehicle, vehicle and suspension control system

Abstract

According to the suspension control method based on the unmanned aerial vehicle, the vehicle and the suspension control system, a suspension of the vehicle is controlled through obtained suspension control information, the suspension control information comprises attitude data of the unmanned aerial vehicle or a suspension control command generated according to the attitude data, and therefore the attitude of the vehicle is matched with the attitude of the unmanned aerial vehicle; the effect that the suspension moves along with the attitude of the unmanned aerial vehicle is achieved, the suspension of the vehicle is controlled through the attitude data of the unmanned aerial vehicle, the attitude of the vehicle and the attitude of the unmanned aerial vehicle can be relatively unified, a better visual effect can be achieved in a demonstration scene, and user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a suspension control method, vehicle, and suspension control system based on a drone. Background Art

[0002] The vehicle chassis suspension is an important component of the vehicle chassis, used to connect the wheels and the body and support the weight of the vehicle. The vehicle chassis suspension consists of elastic elements, shock absorbers, guide mechanisms and anti-roll bars. Its main function is to absorb the impact caused by uneven road surface, improve the vehicle's handling and comfort, and ensure stable contact between the wheels and the ground.

[0003] Currently, vehicle chassis suspension adjustment methods are overly simplistic, mostly based on vehicle driving data, and lack support for diverse demonstration scenarios. For example, when performing demonstrations based on drones and vehicles, vehicle suspension adjustments are not linked to the drone used for demonstrations. The drone and vehicle demonstrations are independent, making it impossible to create a unified visual effect. Therefore, it is necessary to explore a new suspension control method that can enable the vehicle chassis suspension to follow the drone's posture in demonstration scenarios. Summary of the Invention

[0004] Based on this, a suspension control method, a vehicle and a suspension control system based on a drone are provided to solve the above technical problems.

[0005] In a first aspect, a suspension control method based on a drone is provided, which is applied to a vehicle, and the method comprises:

[0006] Acquiring suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data;

[0007] The suspension of the vehicle is controlled according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

[0008] In one embodiment, the attitude data includes rotation information sent by the drone during movement to characterize its own rotation. When the suspension control information includes the attitude data, controlling the suspension of the vehicle according to the suspension control information to adapt the attitude of the vehicle to the attitude of the drone includes:

[0009] determining a motion parameter of the suspension according to the rotation information;

[0010] The suspension movement is controlled according to the movement parameters of the suspension so that the movement posture of the vehicle is adapted to the movement posture of the UAV.

[0011] In one embodiment, the rotation information includes a rotation direction and a rotation angle of a body coordinate system of the UAV relative to a reference coordinate system, and determining the motion parameters of the suspension based on the rotation information includes:

[0012] determining a movement direction and a movement distance of the suspension according to the rotation direction and the rotation angle; the movement parameters of the suspension include the movement direction and the movement distance of the suspension;

[0013] The controlling the suspension motion according to the motion parameters of the suspension comprises:

[0014] generating a first control signal for the suspension according to a movement direction and a movement distance of the suspension;

[0015] The suspension movement is controlled according to a first control signal of the suspension.

[0016] In one embodiment, determining the movement direction and movement distance of the suspension according to the rotation direction and the rotation angle includes:

[0017] Determining a target height position of the suspension according to the rotation direction and the rotation angle; obtaining a current height position of the suspension; and determining a movement direction and a movement distance of the suspension according to the target height position and the current height position;

[0018] or,

[0019] The movement direction of the suspension is determined according to the rotation direction, and the movement distance of the suspension is calculated according to the rotation angle and a preset angle-distance conversion parameter.

[0020] In one embodiment, the rotation information includes a rotation direction and a rotation angle of a body coordinate system of the UAV relative to a reference coordinate system, and determining the motion parameters of the suspension based on the rotation information includes:

[0021] determining a target height position of the suspension according to the rotation direction and the rotation angle; the motion parameters including the target height position;

[0022] The controlling the suspension motion according to the motion parameter comprises:

[0023] Obtaining the current height position of the suspension;

[0024] generating a second control signal according to the target height position and the current height position;

[0025] The suspension movement is controlled according to the second control signal.

[0026] In one embodiment, the suspension comprises a first orientation suspension, and after controlling the motion of the suspension according to the motion parameters of the suspension, the method comprises:

[0027] Upon receiving new rotation information of the UAV, determining new motion parameters of the first azimuth suspension according to the new rotation information;

[0028] When it is determined that the motion trajectory of the first-position suspension indicated by the new motion parameters includes a trajectory outside the position range of the first-position suspension, determining motion parameters of a second-position suspension of the vehicle based on the new rotation information; the second-position suspension is a suspension located opposite to the first-position suspension;

[0029] The movement of the second-azimuth suspension is controlled according to the movement parameters of the second-azimuth suspension.

[0030] In one embodiment, the rotation angle includes a pitch angle θ and a roll angle Determining a target height position of the suspension according to the rotation direction and the rotation angle includes:

[0031] According to the formula Calculating a first target height position Poistion1 of a first suspension of the vehicle, where Poistion0 represents a preset reference height position, a represents a first preset length parameter, and b represents a second preset length parameter;

[0032] According to the formula Calculating a second target height position Poistion2 of a second suspension of the vehicle;

[0033] According to the formula Calculating a third target height position Poistion3 of a third suspension of the vehicle;

[0034] According to the formula A fourth target height position Poistion4 of a fourth suspension of the vehicle is calculated.

[0035] In a second aspect, the present application provides a suspension control method based on a drone, which is applied to a drone, and the method includes:

[0036] Acquiring suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data;

[0037] The suspension control information is sent to the vehicle so that the vehicle controls the suspension according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

[0038] In a third aspect, the present application provides a vehicle comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the drone-based suspension control method of the first aspect.

[0039] In a fourth aspect, the present application provides a suspension control system, comprising the vehicle described in the third aspect above and a drone that sends the suspension control information.

[0040] The drone-based suspension control method, vehicle, and suspension control system provided in the present application control the vehicle's suspension through the acquired suspension control information, wherein the suspension control information includes the drone's attitude data or suspension control commands generated based on the attitude data, so that the vehicle's attitude is adapted to the drone's attitude, achieving the effect of the suspension following the drone's attitude movement. By controlling the vehicle's suspension through the drone's attitude data, the vehicle's attitude and the drone's attitude can be relatively unified, which can achieve better visual effects in demonstration scenarios and enhance user experience.

[0041] Other features and advantages of the present application will be described in the following description and, in part, will become apparent from the description or may be learned through practice of the present application. The objectives and other advantages of the present application may be achieved and obtained through the structures particularly pointed out in the written description, claims, and drawings. It should be understood that the above general description and the detailed description that follow are merely exemplary and explanatory and do not limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0043] Figure 1 1 is a schematic diagram of a first flow chart of a suspension control method based on a drone in one embodiment;

[0044] Figure 2 A schematic diagram of a first posture of a drone and a vehicle in one embodiment;

[0045] Figure 3 FIG1 is a schematic diagram of a flow chart of controlling a vehicle suspension according to suspension control information in one embodiment;

[0046] Figure 4 A schematic diagram of a second posture of a drone and a vehicle in one embodiment;

[0047] Figure 5 1 is a second flow chart of a suspension control method based on a drone in one embodiment;

[0048] Figure 6 1 is a schematic diagram of a third flow chart of a suspension control method based on a drone in one embodiment;

[0049] Figure 7 is a schematic structural diagram of a vehicle in one embodiment;

[0050] Figure 8 FIG. 1 is a schematic structural diagram of a suspension control system in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] The present application provides a method for controlling the suspension of a vehicle based on a drone. Figure 1 Shown, including:

[0053] S11: Acquire suspension control information; the suspension control information includes attitude data of the UAV or suspension control commands generated based on the attitude data.

[0054] S12: Control the suspension of the vehicle according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

[0055] The following is a detailed introduction to the above steps.

[0056] In step S11, in one embodiment, the vehicle may receive suspension control information transmitted by an external device, which may be a drone. For example, the drone may obtain its own attitude data and then transmit the attitude data to the vehicle, or the drone may generate corresponding suspension control commands based on the obtained attitude data and transmit the suspension control commands to the vehicle. In this embodiment, since the suspension control information is generated and transmitted by the drone, the generated suspension control information is more accurate than if it were generated by a device other than the drone, thereby improving the accuracy of suspension control.

[0057] Exemplarily, the vehicle can receive suspension control information sent by the drone through wireless communication technology, which includes but is not limited to one of Bluetooth communication technology, Wi-Fi (Wireless Fidelity) communication technology, cellular network communication technology and Zigbee (Zigbee Protocol) communication technology.

[0058] For example, when Bluetooth communication technology is used, RFCOMM (Radio Frequency Communication) protocol can be used for serial data communication. When Wi-Fi communication technology is used, a reliable communication connection can be established through TCP (Transmission Control Protocol) or IP (Internet Protocol).

[0059] Of course, the external device can also be other devices. The other devices collect images of the drone through an image acquisition module, analyze the collected images through image analysis technology, obtain the attitude data of the drone, and then send the attitude data to the vehicle, or other devices generate suspension control commands based on the acquired drone attitude data, and then send the suspension control commands to the vehicle.

[0060] In one embodiment, a vehicle can capture images of a drone using its own high-definition camera module, determine the drone's attitude data based on the captured images, or generate corresponding suspension control commands based on the attitude data. In this embodiment, directly acquiring suspension control information from the vehicle's high-definition camera module improves control efficiency compared to receiving suspension control information from an external device because data transmission is unnecessary, enabling faster suspension response and reducing control delays.

[0061] In one embodiment, the attitude data may include static attitude data. That is, the suspension control information may include static attitude data of the UAV in a static state or suspension control commands generated based on the static attitude data. The static attitude data reflects the attitude of the UAV in a static state.

[0062] It should be noted that in the embodiments of the present application, after obtaining the static posture data, the drone can send the static posture data to the vehicle. The vehicle generates corresponding suspension control commands based on the received static posture data and implements suspension control based on the suspension control commands. Of course, the drone can also generate suspension control commands based on the static posture data after obtaining the static posture data, and then send the suspension control commands to the vehicle. In this case, the vehicle only needs to control the suspension movement according to the received suspension control commands.

[0063] For example, the static posture data may include a first angle between the bottom plane of the cabin and the horizontal plane. In this case, a corresponding suspension control command may be generated based on the first angle, and then the suspension of the vehicle may be controlled based on the suspension control command. By adjusting the position of the suspension, a second angle between the bottom plane of the cabin and the horizontal plane of the vehicle may be adapted to the first angle, for example, the second angle may be equal to the first angle. For example, see Figure 2 As shown, when the drone presents Figure 2 In the posture shown on the left, the vehicle can assume Figure 2 The posture shown in the middle right.

[0064] In one embodiment, the attitude data may include dynamic attitude data of the drone during motion. For example, the dynamic attitude data may include rotation information sent by the drone during motion to characterize its own rotation. When the suspension control information includes rotation information, please refer to Figure 3 As shown, step S12 may include the following steps:

[0065] S121: Determine the motion parameters of the suspension according to the rotation information.

[0066] S122: Control the suspension movement according to the suspension movement parameters to make the vehicle's movement posture match the UAV's movement posture.

[0067] The rotation information of the drone during movement may include at least one of the rotation direction and rotation angle of the drone's body coordinate system relative to the reference coordinate system, wherein the rotation angle may include at least one of the roll angle, yaw angle, and pitch angle.

[0068] The body coordinate system in the embodiment of the present application can be established according to the structure of the drone. For example, the center of mass of the drone can be used as the origin, and the body coordinate system can be established according to the right-hand rule. For example, the direction from the origin to the top of the body can be used as the Z-axis, and the direction from the origin to the head of the body can be used as the Y-axis, and the direction of the X-axis can be determined according to the right-hand rule.

[0069] The reference coordinate system in the embodiments of the present application can be a pre-set coordinate system used as a reference. For example, a pre-set geographic coordinate system can be used as the reference coordinate system. Specifically, the center of mass of the drone can be used as the origin, the direction along the geographic vertical line, that is, the direction of gravity acceleration, can be used as the Z axis, a direction in the horizontal plane can be used as the X axis, and the Y axis can be determined according to the right-hand rule. Of course, the coordinate system of the drone at the last moment during its motion can also be used as the reference coordinate system.

[0070] When the rotation information includes the rotation direction, the movement direction of the suspension can be determined according to the rotation direction of the UAV, and the suspension movement can be controlled according to the movement direction to make the movement direction of the vehicle match the movement direction of the UAV. For example, see Figure 4 As shown, when Figure 4 The drone on the left rotates counterclockwise and can be controlled Figure 4 The right side suspension of the vehicle in the middle right is raised, giving the vehicle the visual effect of rotating counterclockwise.

[0071] It should be noted that, since the projection of the yaw angle on the geographic vertical line is 0, preferably, the pitch angle and / or the roll angle may be selected to calculate the motion parameters.

[0072] When the rotation information includes the rotation direction and the rotation angle, the movement direction and the movement distance of the suspension can be determined based on the rotation direction and the rotation angle; in this case, the movement parameters of the suspension include the movement direction and the movement distance of the suspension. Correspondingly, step S122 in this case includes:

[0073] Sub-step 1: generating a first control signal of the suspension according to the movement direction and movement distance of the suspension;

[0074] Sub-step 2: controlling the movement of the suspension according to the first control signal of the suspension, so that the suspension moves the movement distance along the movement direction.

[0075] It should be noted that, in the embodiment of the present application, one suspension may be controlled, or multiple suspensions may be controlled, for example, two suspensions may be controlled, or four suspensions may be controlled.

[0076] The following describes a method for determining the movement direction and movement distance of the suspension based on the rotation direction and rotation angle.

[0077] In one embodiment, the movement direction of the suspension can be determined according to the rotation direction, and the movement distance of the suspension can be calculated according to the rotation angle and a preset angle-to-distance conversion parameter, wherein the angle-to-distance conversion parameter is used to convert the angle dimension into the distance (length) dimension, and the size of the value can be flexibly set by the developer.

[0078] For example, a predefined correspondence between the drone's rotation direction and the suspension's movement direction can be used. In practical applications, when determining the drone's rotation direction, the suspension's movement direction can be determined based on this correspondence. For example, when the drone's rotation direction is nose-up and tail-down, the vehicle's front suspension is controlled to raise and its rear suspension is controlled to lower, creating a visual effect of the vehicle rotating with its nose up and its tail down. For example, when the drone's rotation direction is with its left wing up and its right wing down, the vehicle's left suspension is controlled to raise and its right suspension is controlled to lower, creating a visual effect of the vehicle rotating with its left side up and its right side down.

[0079] Exemplarily, the reference coordinate system is the body coordinate system of the drone at the previous moment. The angle-distance conversion parameter in this example represents the adjustment distance corresponding to the unit angle. Assuming that the adjustment distance corresponding to the unit angle is ε1, when the rotation angle of the drone relative to the previous moment is δ, the movement distance of the suspension can be determined based on δε1.

[0080] Taking the pitch angle θ as an example, when the pitch angle of the drone relative to the previous moment is θ, and the rotation direction of the drone is nose down and tail up, the front suspension of the vehicle can be controlled to drop ε1θ and the rear suspension of the vehicle can be raised ε1θ.

[0081] When the rotation angle includes the pitch angle θ and the roll angle When, we can use the formula Calculate the displacement of the first suspension according to the formula Calculate the displacement of the second suspension according to the formula Calculate the displacement of the third suspension according to the formula Calculate the displacement of the fourth suspension.

[0082] For example, if the drone rotates in the direction of θ with its nose down and its tail up, while keeping the left wing up and the right wing down The left front suspension displacement of the vehicle is controlled Right front suspension displacement Left rear suspension displacement Right rear suspension displacement Among them, the downward movement of the suspension is -, and the upward movement of the suspension is +.

[0083] Exemplarily, when the rotation angle of the UAV relative to the previous moment is δ, the movement distance of the suspension can be determined according to asinδ and / or bsinδ, where a represents the first preset length parameter, b represents the second preset length parameter, and the specific values of the first preset length parameter and the second preset length parameter can be flexibly set by the developer. For example, the first preset length parameter and the second preset length parameter can be set based on two of the vehicle body length, vehicle body width, front and rear wheelbase, left and right wheelbase, and the difference between the highest height position and the lowest height position that the suspension can reach.

[0084] As an example, Where L represents the distance between the front and rear axles of the vehicle, and W represents the width of the vehicle.

[0085] Taking the pitch angle θ as an example, when the pitch angle of the drone relative to the previous moment is θ, and the drone's rotation direction is with the nose facing up and the tail facing down, the front suspension of the vehicle can be controlled to lift up by a sinθ, and the rear suspension of the vehicle can be controlled to lower by a sinθ.

[0086] The rotation angle is the roll angle For example, when the roll angle of the drone relative to the previous moment is When the drone rotates in the direction of the left wing facing down and the right wing facing up, the left suspension of the vehicle can be controlled to descend. The right suspension of the vehicle is lifted

[0087] When the rotation angle includes the pitch angle θ and the roll angle When, we can use the formula Calculate the displacement of the first suspension according to the formula Calculate the displacement of the second suspension according to the formula Calculate the displacement of the third suspension according to the formula Calculate the displacement of the fourth suspension. Exemplarily, the first suspension here is the left front suspension, the second suspension is the right front suspension, the third suspension is the left rear suspension, and the fourth suspension is the right rear suspension.

[0088] For example, when the drone rotates in the direction of θ with the nose pointing up and the tail pointing down, it also keeps the left wing pointing up and the right wing rotating down. The left front suspension displacement of the vehicle is controlled Right front suspension displacement Left rear suspension displacement Right rear suspension displacement Among them, the downward movement of the suspension is -, and the upward movement of the suspension is +.

[0089] In one embodiment, the target height position of the suspension can be determined according to the rotation direction and the rotation angle; the current height position of the suspension can be obtained; and the movement direction and movement distance of the suspension can be determined according to the target height position and the current height position.

[0090] For example, the rotation angle includes the pitch angle θ and the roll angle The reference coordinate system at this time can be a pre-set reference coordinate system, and the target height position of the suspension can be calculated as follows:

[0091] According to the formula Calculating a first target height position Poistion1 of a first suspension of the vehicle, where Poistion0 represents a preset reference height position, a represents a first preset length parameter, and b represents a second preset length parameter;

[0092] According to the formula Calculating a second target height position Poistion2 of a second suspension of the vehicle;

[0093] According to the formula Calculating a third target height position Poistion3 of a third suspension of the vehicle;

[0094] According to the formula A fourth target height position Poistion4 of a fourth suspension of the vehicle is calculated.

[0095] Exemplarily, the first suspension is the left front suspension, the second suspension is the right front suspension, the third suspension is the left rear suspension, and the fourth suspension is the right rear suspension.

[0096] The method for setting the first preset length parameter and the second preset parameter in this embodiment can be referred to the above description and will not be repeated here. For example, a height position midway between the maximum and minimum height positions that the suspension can reach can be used as the preset reference height position. For simplicity of calculation, the above formula uses the same preset reference height position for each suspension. In other embodiments, the preset reference height position used to calculate the target height position of each suspension in the above formula may also be different.

[0097] The above content can determine the motion parameters of each suspension, so that each suspension moves independently according to the rotation angle, achieving the effect of synchronizing the vehicle posture with the drone posture, enhancing the demonstration effect and improving the user experience.

[0098] For the above sub-steps one and two, a PID (proportional-integral-differential) controller, a fuzzy logic controller, an adaptive control or a model predictive control, etc. can be used to output an ideal control output according to the movement direction and movement distance of the suspension, and then generate a corresponding first control signal based on the control output.

[0099] In one embodiment, when the rotation information includes a rotation direction and a rotation angle, the target height position of the suspension can be determined based on the rotation direction and the rotation angle; in this case, the motion parameter of the suspension includes the target height position of the suspension. Accordingly, step S122 in this case includes:

[0100] Sub-step 1: Get the current height position of the suspension.

[0101] Sub-step 2: generating a second control signal according to the target height position and the current height position;

[0102] Sub-step three: controlling the suspension movement according to the second control signal to move the suspension to a target height position.

[0103] In this embodiment, the method for calculating the target height position of the suspension according to the rotation direction and the rotation angle can refer to the method described in the above embodiment, and will not be repeated here.

[0104] To ensure the accuracy and stability of the generated second control signal, in some embodiments, the second control signal may be generated in the following manner:

[0105] Determining a target control sequence that minimizes the value of an objective function based on the current height position and a preset suspension state prediction model; the suspension state prediction model is a model that predicts the height position of the suspension at a next moment based on the current height position of the suspension and the control input vector at the current moment; the objective function is a function used to represent the error between the target height position of the suspension at a future time point and the height position predicted by the suspension state prediction model;

[0106] Determine that a signal corresponding to the first control input vector in the target control sequence is the second control signal.

[0107] Exemplarily, the suspension state prediction model may be:

[0108] x k+1 =Ax k +Bu k

[0109] Among them, A represents the state transfer matrix, B represents the control input matrix, x k+1 represents the state vector of the suspension at time k+1, that is, the height position of the suspension at time k+1, x k represents the state vector of the suspension at time k, that is, the height position of the suspension at time k, u k represents the control input vector of the suspension at time k, that is, the second control signal of the suspension at time k.

[0110] For example, the objective function may be:

[0111]

[0112]

[0113] For example, the constraint is: 0≤x i (j)≤120,u min ≤u i (j)≤u max ;

[0114] Among them, "T" represents the transpose operation, Q and Q N is the state weight matrix, that is, a diagonal positive definite matrix, R represents the input weight matrix, N represents the prediction time domain, x(j) represents the state vector of the suspension at time j predicted by the suspension state prediction model, x(N) represents the state vector of the suspension at time N predicted by the suspension state prediction model, x ref (j) represents the target height position of the suspension at time j, x ref(N) represents the target height position of the suspension at time N, which can be obtained by calculating the target height position of the suspension according to the rotation angle described above. u(j) represents the control input vector of the suspension at time j.

[0115] By solving the above objective function, a series of optimal control input vectors when the objective function takes the minimum value are obtained to form a target control sequence. The signal corresponding to the optimal control input vector u1 at the first moment is used as the second control signal of the suspension and output to the corresponding suspension to complete the control of the suspension.

[0116] In the embodiment of the present application, the second control signal of the suspension is generated by the above-mentioned suspension state prediction model and objective function to ensure that the suspension can move accurately and synchronously, ensure smooth transition of the suspension, and avoid sudden movement.

[0117] In one embodiment, the suspension comprises a first orientation suspension, see Figure 5 As shown, after controlling the suspension motion according to the motion parameters of the suspension, the following steps may also be included:

[0118] S51: When receiving new rotation information of the UAV, determine new motion parameters of the first azimuth suspension according to the new rotation information.

[0119] S52: When it is determined that the motion trajectory of the first-position suspension indicated by the new motion parameters includes a trajectory outside the position range of the first-position suspension, the motion parameters of the second-position suspension of the vehicle are determined according to the new rotation information; the second-position suspension is a suspension opposite to the position of the first-position suspension.

[0120] S53: Control the movement of the second-position suspension according to the movement parameters of the second-position suspension.

[0121] In the embodiment of the present application, the suspension of the vehicle has a corresponding position range, and the position range refers to the range between the highest position and the lowest position of the suspension, and the suspension can move within the position range.

[0122] In the embodiments of the present application, the second-position suspension and the first-position suspension are positioned opposite each other. For example, when the first-position suspension is the front suspension, the second-position suspension is the rear suspension; when the first-position suspension is the left suspension, the second-position suspension is the right suspension. It is understood that when the first-position suspension is the front suspension, the front suspension includes at least one of a left front suspension and a right front suspension. Similarly, when the first-position suspension is the left suspension, the left suspension includes at least one of a left front suspension and a left rear suspension.

[0123] In step S51 and step S52, the content of step S121 described above may be referred to, and new motion parameters of the first orientation suspension may be determined according to the new rotation information, or motion parameters of the second orientation suspension may be determined according to the new rotation information.

[0124] In this embodiment, when the UAV is moving, the movement posture of the vehicle is preferentially adapted to the movement posture of the UAV by controlling the movement of the first-position suspension. When the movement of the first-position suspension reaches its limit and the movement posture of the vehicle can no longer be adapted to the movement posture of the UAV by adjusting the position of the first-position suspension, the movement of the second-position suspension is then controlled to adapt the movement posture of the vehicle to the movement posture of the UAV. In this way, in the early stage of control, it is only necessary to control the first-position suspension to achieve the adaptation of the movement posture of the vehicle and the UAV, thereby improving the control efficiency.

[0125] For ease of understanding, let's use an example. When the front suspension reaches its lowest position, if newly received rotation information indicates that the front suspension needs to continue descending, the front suspension can be kept stationary while the rear suspension is raised to align the vehicle's motion with that of the drone.

[0126] The above content introduces the specific method of controlling the vehicle's suspension according to the attitude data of the drone when the suspension control information includes the attitude data of the drone.

[0127] It should be noted that when the suspension control information includes a suspension control command generated according to the attitude data of the drone, for the vehicle, the suspension is controlled according to the suspension control command. In this case, the suspension control command can be generated by the drone.

[0128] For example, the drone can generate the movement direction and movement distance of the suspension based on the rotation information, and then package the movement direction and movement distance as a suspension control command and send it to the vehicle. For the vehicle, the first control signal of the suspension is generated according to the movement direction and movement distance, and then the suspension movement is controlled according to the first control signal of the suspension.

[0129] For example, the drone can generate a target height position of the suspension based on the rotation information, and then package the target height position as a suspension control command and send it to the vehicle. For the vehicle, a second control signal is generated based on the target height position and the current height position of the suspension obtained, and then the suspension movement is controlled according to the second control signal of the suspension.

[0130] The way in which the drone generates the movement direction and movement distance of the suspension based on the rotation information can refer to the way in which the vehicle generates the movement direction and movement distance of the suspension based on the rotation information introduced above. The way in which the drone generates the target height position of the suspension can refer to the way in which the vehicle generates the target height position of the suspension described above, and will not be repeated here.

[0131] In one embodiment, see Figure 6 As shown, a suspension control method based on a UAV is also provided, which is applied to the UAV, and the method includes:

[0132] S61: Acquire suspension control information; the suspension control information includes attitude data of the UAV or suspension control commands generated based on the attitude data.

[0133] S62: Sending suspension control information to the vehicle, so that the vehicle controls the suspension according to the suspension control information, so that the posture of the vehicle is adapted to the posture of the UAV.

[0134] In step S61, the drone can obtain its own attitude data, for example, it can obtain its own rotation information through an accelerometer or gyroscope, where the rotation information includes a rotation direction and / or a rotation angle, where the rotation angle includes at least one of a roll angle, a yaw angle, and a pitch angle.

[0135] For example, the rotation information may be collected once every preset time interval, for example, once every 10 ms.

[0136] The UAV can directly send the attitude data as suspension control information to the vehicle, or it can generate suspension control commands based on the attitude data and send the suspension control commands as suspension control information to the vehicle.

[0137] The drone can package the suspension control information into a string or binary format data packet and send it to the vehicle. After receiving the data packet corresponding to the suspension control information sent by the drone, the vehicle can verify the data packet to ensure the integrity and validity of the data. If it is confirmed that the data is incomplete or invalid, it can request the drone to retransmit the suspension control information.

[0138] It should be understood that, although the various steps in the above flow chart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above flow chart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0139] Based on the same inventive concept, in one embodiment, a vehicle is provided, including a processor 701 and a memory 702, wherein the memory 702 stores a computer program, and the processor 701 executes the computer program. The processor executes the computer program to implement the steps of the above-described method applied to the vehicle side, which will not be repeated here.

[0140] The processor 701 can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 701 can be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc.; it can also be a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0141] The memory 702 may include, but is not limited to, RAM (Random Access Memory), ROM (Read Only Memory), PROM (Programmable Read Only Memory), EPROM (Erasable Programmable Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory).

[0142] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the application of the solution of the present application. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0143] In one embodiment, see Figure 8 As shown, a suspension control system is provided, comprising any vehicle 81 described above and a corresponding drone 82 for sending the suspension control information.

[0144] Based on the same inventive concept, in one embodiment, a suspension control device based on a drone is also provided, which is applied to a vehicle and includes:

[0145] A first acquisition module is configured to acquire suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data;

[0146] A control module is used to control the suspension of the vehicle according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

[0147] In one embodiment, a suspension control device based on a drone is provided, which is applied to the drone and includes:

[0148] A second acquisition module is configured to acquire suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data;

[0149] The sending module is used to send the suspension control information to the vehicle, so that the vehicle controls the suspension according to the suspension control information to make the posture of the vehicle adapt to the posture of the UAV.

[0150] It should be understood that for the sake of brevity, the contents described in some embodiments will not be repeated in this embodiment.

[0151] Based on the same inventive concept, in one embodiment, a computer-readable storage medium is also provided, such as a floppy disk, a CD-ROM, a hard disk, a flash memory, a USB flash drive, an SD (Secure Digital) card, an MMC (Multi-Media Card) card, etc., in which one or more programs for implementing the above steps are stored. These one or more programs can be executed by one or more processors to implement the steps of the methods in the above embodiments, which will not be repeated here.

[0152] Based on the same inventive concept, in one embodiment, a computer program product is further provided, including a computer program, wherein the computer program implements any of the above methods when executed by a processor.

[0153] The program code for executing the computer program product of the present application may be written in any combination of one or more programming languages, and the program code may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0154] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, optical storage, etc.) that contain computer-usable program code.

[0155] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer-readable storage media according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of user-operated steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0158] It should be noted that the diagrams provided in the present embodiment are only schematic illustrations of the basic concept of the present application. The diagrams only show the components related to the present application rather than the number, shape and size of the components when actually implemented. The type, quantity and ratio of each component can be changed at will during actual implementation, and the component layout pattern may also be more complicated. The structures, ratios, sizes, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the restrictive conditions that can be implemented in this application. Therefore, they have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in this application without affecting the effect and purpose that can be achieved by this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this application. The change or adjustment of their relative relationship should also be considered as the scope of the implementation of this application without substantial change in the technical content.

[0159] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places herein does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0160] As used herein, unless the context clearly indicates otherwise, the terms "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include additional steps or elements.

[0161] The definition of inclusion herein, such as the terms “having”, “may have”, “include” or “may include” as used herein, indicates the existence of the corresponding functions, operations, elements, etc. herein, and does not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that the terms “including” or “having” as used herein indicate the existence of the features, numbers, steps, operations, elements, components or their combination described in the specification, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, components or their combination.

[0162] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. In the embodiments of the present application, the use of prefixes such as ordinal numbers to distinguish description objects does not constitute a restriction on the described objects. For the statement of the described + object, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of such prefixes. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0163] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A suspension control method based on an unmanned aerial vehicle, characterized in that: Applied to a vehicle, the method comprises: Acquiring suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data; The suspension of the vehicle is controlled according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

2. The suspension control method based on a UAV according to claim 1, characterized in that: The attitude data includes rotation information sent by the UAV during movement to characterize its own rotation. When the suspension control information includes the attitude data, controlling the suspension of the vehicle according to the suspension control information to adapt the attitude of the vehicle to the attitude of the UAV includes: determining a motion parameter of the suspension according to the rotation information; The suspension movement is controlled according to the movement parameters of the suspension so that the movement posture of the vehicle is adapted to the movement posture of the UAV.

3. The suspension control method based on a UAV according to claim 2, characterized in that: The rotation information includes a rotation direction and a rotation angle of a body coordinate system of the UAV relative to a reference coordinate system. Determining the motion parameters of the suspension according to the rotation information includes: determining a movement direction and a movement distance of the suspension according to the rotation direction and the rotation angle; the movement parameters of the suspension include the movement direction and the movement distance of the suspension; The controlling the suspension motion according to the motion parameters of the suspension comprises: generating a first control signal for the suspension according to a movement direction and a movement distance of the suspension; The suspension movement is controlled according to a first control signal of the suspension.

4. The suspension control method based on a UAV according to claim 3, characterized in that: The determining the movement direction and movement distance of the suspension according to the rotation direction and the rotation angle includes: Determining a target height position of the suspension according to the rotation direction and the rotation angle; obtaining a current height position of the suspension; and determining a movement direction and a movement distance of the suspension according to the target height position and the current height position; or, The movement direction of the suspension is determined according to the rotation direction, and the movement distance of the suspension is calculated according to the rotation angle and a preset angle-distance conversion parameter.

5. The suspension control method based on a UAV according to claim 2, characterized in that: The rotation information includes a rotation direction and a rotation angle of a body coordinate system of the UAV relative to a reference coordinate system. Determining the motion parameters of the suspension according to the rotation information includes: determining a target height position of the suspension according to the rotation direction and the rotation angle; the motion parameters including the target height position; The controlling the suspension motion according to the motion parameter comprises: Obtaining the current height position of the suspension; generating a second control signal according to the target height position and the current height position; The suspension movement is controlled according to the second control signal.

6. The suspension control method based on a UAV according to claim 2, characterized in that: The suspension includes a first orientation suspension, and after controlling the suspension movement according to the movement parameters of the suspension, the method includes: Upon receiving new rotation information of the UAV, determining new motion parameters of the first azimuth suspension according to the new rotation information; When it is determined that the motion trajectory of the first-position suspension indicated by the new motion parameters includes a trajectory outside the position range of the first-position suspension, determining motion parameters of a second-position suspension of the vehicle based on the new rotation information; the second-position suspension is a suspension located opposite to the first-position suspension; The movement of the second-azimuth suspension is controlled according to the movement parameters of the second-azimuth suspension.

7. The suspension control method based on a UAV according to claim 4 or 5, characterized in that: The rotation angle includes a pitch angle θ and a roll angle φ, and determining a target height position of the suspension according to the rotation direction and the rotation angle includes: Calculating a first target height position Poistion1 of the first suspension of the vehicle according to the formula Poistion1=asinθ+bsinφ+Poistion0, where Poistion0 represents a preset reference height position, a represents a first preset length parameter, and b represents a second preset length parameter; Calculate a second target height position Poistion2 of the second suspension of the vehicle according to the formula Poistion2=asinθ-bsinφ+Poistion0; Calculating a third target height position Poistion3 of the third suspension of the vehicle according to the formula Poistion3=-asinθ+bsinφ+Poistion0; The fourth target height position Poistion4 of the fourth suspension of the vehicle is calculated according to the formula Poistion4=-asinθ-bsinφ+Poistion0.

8. A suspension control method based on an unmanned aerial vehicle, characterized in that: Applied to a drone, the method comprises: Acquiring suspension control information; the suspension control information includes attitude data of the UAV or a suspension control command generated based on the attitude data; The suspension control information is sent to the vehicle so that the vehicle controls the suspension according to the suspension control information so that the posture of the vehicle is adapted to the posture of the UAV.

9. A vehicle, characterized in that: The system comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method according to any one of claims 1 to 7.

10. A suspension control system, characterized in that: The method comprises the vehicle as claimed in claim 9 and a drone that transmits the suspension control information.

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