Unmanned aerial vehicle propeller locking control method, device and equipment, storage medium and program product

Abstract

The invention provides an unmanned aerial vehicle propeller locking control method and device, equipment, a storage medium and a program product, and relates to the technical field of unmanned aerial vehicles. The target fixed angle matrix is determined based on the structure size of the unmanned aerial vehicle and the size of a compartment of the loading vehicle; determining a current angle matrix of the propeller; based on the target fixed angle matrix and the current angle matrix, determining an angle difference matrix of the propeller; and based on the angle difference matrix, performing two-closed-loop propeller locking control on the propeller. By means of the mode, the propeller locking control over the large-load vehicle-mounted take-off and landing mooring unmanned aerial vehicle can be achieved without complex structural transformation of the unmanned aerial vehicle, increase of the weight of the unmanned aerial vehicle and use of an encoder prone to interference, safety accidents can be effectively avoided, and the safety and reliability of the vehicle-mounted take-off and landing mooring unmanned aerial vehicle are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV propeller control method, apparatus, equipment, storage medium, and program product. Background Technology

[0002] The high-power brushless motors and large-diameter propellers of rotary-wing drones may pose safety risks. Issues such as leakage in the motor wiring, short circuits in the control circuit, or communication malfunctions can cause the propellers to rotate unexpectedly. Traditional remote control unlocking methods cannot completely prevent such situations, especially for tethered drones mounted on vehicles. During takeoff or landing on a vehicle, the angle at which the propellers stop may be random. If the propeller angle is not adjusted in time, it may get stuck in the vehicle's cover or break, leading to a safety accident. Therefore, how to safely and effectively lock and control the propellers of tethered drones mounted on vehicles has become an urgent problem to be solved.

[0003] Currently, UAV propeller locking control methods mainly include attitude-triggered control, electromagnetic propeller locking, mechanical structure control, and three-loop control. Attitude-triggered control is suitable for small-payload UAVs, offering advantages such as simple operation and safe recovery, but it is not suitable for large-payload vehicle-mounted tethered UAVs. Electromagnetic propeller locking is typically suitable for compound-wing UAVs capable of vertical takeoff and landing. Mechanical structure control is suitable for medium and large industrial UAVs, but it requires complex structural design and easily increases the UAV's weight, making it unsuitable for multi-rotor vehicle-mounted tethered UAVs. The three-loop control method mainly achieves propeller positioning and locking through three closed loops, but the encoder required for this method is susceptible to interference, easily leading to angular errors.

[0004] In summary, existing drone propeller locking control methods are insufficient to solve the propeller locking control problem of vehicle-mounted tethered drones, and cannot guarantee the safety and reliability of vehicle-mounted tethered drones. Summary of the Invention

[0005] This invention provides a method, apparatus, device, storage medium, and program product for controlling drone propeller lock, which solves the shortcomings of existing drone propeller lock control methods in that they are unable to solve the propeller lock control problem of vehicle-mounted tethered drones and thus cannot guarantee the safety and reliability of vehicle-mounted tethered drones.

[0006] This invention provides a method for controlling the propeller lock of an unmanned aerial vehicle (UAV), comprising: determining a target fixed angle matrix of the propeller; the target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the cargo box of the loading vehicle; determining the current angle matrix of the propeller; determining the angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; and performing two-loop propeller lock control based on the angle difference matrix.

[0007] According to the present invention, a UAV propeller locking control method is provided, which performs two-loop propeller locking control based on an angle difference matrix, including: determining the target speed and the actual speed of the propeller; determining the target current of the motor based on the difference between the target speed and the actual speed; determining the control voltage of the motor based on the difference between the target current and the actual current of the motor; driving the motor to adjust the propeller based on the control voltage until the angle difference matrix is ​​less than a preset error range; triggering the motor to perform three-phase short-circuit braking and fixing the position of the propeller.

[0008] According to the present invention, before performing two-loop propeller locking control on the propeller based on the angle difference matrix, the method further includes: determining whether the propeller has stopped based on the control mode of the flight control computer; if it is determined that the propeller has stopped, generating a propeller stop braking command; and preparing to perform two-loop propeller locking control based on the propeller stop braking command.

[0009] According to the present invention, before determining the target fixed angle of the propeller, the method further includes: opening the cargo box of the loading vehicle and completing the power-on preparation of the drone; controlling the drone to unlock and take off, and controlling the drone to perform the mission; and controlling the drone to return and land in the cargo box after the mission is completed.

[0010] According to the present invention, after performing two closed-loop propeller locking control on the propeller based on the angle difference, the method further includes: controlling the drone to power down; and closing the cargo box of the loading vehicle.

[0011] According to the UAV propeller locking control method provided by the present invention, the current angle matrix and the actual rotational speed are both obtained by measuring the slid diaphragm observer, and the actual current is obtained by collecting data based on the Hall sensor.

[0012] The present invention also provides a drone propeller locking control device, comprising: a first determining module for determining a target fixed angle matrix of the propeller; the target fixed angle matrix is ​​determined based on the structural dimensions of the drone and the dimensions of the cargo box of the loading vehicle; a second determining module for determining a current angle matrix of the propeller; a third determining module for determining an angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; and a propeller locking control module for performing two-loop propeller locking control based on the angle difference matrix.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described drone propeller control methods.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described UAV propeller lock control methods.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the above-described UAV propeller lock control methods.

[0016] The present invention provides a method, apparatus, device, storage medium, and program product for controlling drone propellers. First, the target fixed angle matrix of the drone propellers is determined based on the structural dimensions of the drone and the dimensions of the vehicle's cargo box. Then, the current angle matrix of the propellers is determined. Based on the target fixed angle matrix and the current angle matrix, the angle difference matrix of the propellers is determined, and two-loop closed-loop propeller control is performed based on the angle difference matrix. This method achieves propeller control for heavy-duty vehicle-mounted tethered drones without requiring complex structural modifications to the drone, without increasing the drone's weight, and without using easily interfered encoders. This effectively avoids safety accidents and ensures the safety and reliability of vehicle-mounted tethered drones. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is one of the flowcharts of the drone propeller locking control method provided by the present invention.

[0019] Figure 2 This is one of the schematic diagrams of the vehicle-mounted take-off and landing tethered drone provided by the present invention.

[0020] Figure 3 This is the second schematic diagram of the vehicle-mounted take-off and landing tethered drone provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the hardware composition of the vehicle-mounted take-off and landing tethered drone provided by the present invention.

[0022] Figure 5 This is the second flowchart of the UAV propeller locking control method provided by the present invention.

[0023] Figure 6 This is a schematic diagram of the two-closed-loop propeller locking control provided by the present invention.

[0024] Figure 7This is the third flowchart of the UAV propeller locking control method provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the structure of the drone propeller control device provided by the present invention.

[0026] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] In the description of the embodiments of this application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0030] Please see Figures 1 to 5 , Figure 1 This is one of the flowcharts illustrating the UAV propeller locking control method provided by the present invention. Figure 2 This is one of the schematic diagrams of the vehicle-mounted tethered drone provided by the present invention. Figure 3 This is the second schematic diagram of the vehicle-mounted tethered drone provided by the present invention. Figure 4This is a schematic diagram of the hardware composition of the vehicle-mounted tethered drone provided by the present invention. Figure 5 This is the second flowchart of the UAV propeller locking control method provided by the present invention.

[0031] like Figures 1 to 4 As shown, in this embodiment, the UAV propeller lock control method is applied to a heavy-load vehicle-mounted tethered UAV. A vehicle-mounted tethered UAV refers to a tethered UAV capable of supporting vehicle transportation, takeoff, and landing. The hardware of a vehicle-mounted tethered UAV mainly includes a flight control computer, at least one electronic speed controller (ESC), at least one motor, and at least one propeller.

[0032] The number of electronic speed controllers, motors, and propellers is the same, and they correspond one-to-one, meaning one electronic speed controller controls one motor, and one motor controls one propeller.

[0033] The flight control computer can send control commands (including start commands, acceleration commands, stop commands, etc.) to all electronic speed controllers according to a fixed protocol via control signals (usually RS422 / CAN / PWM). Each electronic speed controller can control the corresponding motor to drive the corresponding propeller through three-phase lines. When locking the propeller, each electronic speed controller can perform angle feedback and speed estimation through data from the sensorless diaphragm observer to complete the propeller stop and lock.

[0034] The propeller locking process for vehicle-mounted tethered drones mainly includes the switching of control modes by the flight control computer and the closed-loop control of the electronic speed controller. The control modes of the flight control computer include unlocking the electronic speed controller, starting the motor, taking off, landing, and stopping the propeller. The control actions related to propeller locking are unlocking the electronic speed controller, starting the motor, and stopping the propeller.

[0035] like Figure 1 As shown, the UAV propeller locking control method includes steps S110 to S140, and the specific steps are as follows: S110: Determine the target fixed angle matrix of the propeller.

[0036] The target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the loading vehicle's cargo box.

[0037] Specifically, such as Figure 1 and Figure 5As shown, assuming that the vehicle-mounted tethered drone includes N motors and N propellers (N is a positive integer), the target fixed angle of each propeller can be determined according to the structural dimensions of the vehicle-mounted tethered drone and the dimensions of the vehicle body. The target fixed angle refers to the angle at which the propeller needs to be fixed when the vehicle-mounted tethered drone is on the vehicle body, and a target fixed angle matrix is ​​constructed based on the target fixed angle of each propeller.

[0038] The expression for the target fixed angle matrix is ​​as follows: ; Among them, the The target fixed angle of the propeller is , to These represent the target fixed angles of the first propeller to the Nth propeller, respectively.

[0039] S120: Determine the current angle matrix of the propeller.

[0040] Furthermore, the current angle of each propeller is measured by a synovial observer, and a current angle matrix is ​​constructed based on the current angle of each propeller.

[0041] The expression for the current angle matrix is ​​as follows: ; Among them, the The current angle of each propeller is , to These represent the current angles of the first propeller to the Nth propeller, respectively.

[0042] S130: Determine the propeller angle difference matrix based on the target fixed angle matrix and the current angle matrix.

[0043] Furthermore, based on the target fixed angle of each propeller in the target fixed angle matrix and the current angle of each propeller in the current angle matrix, combined with the angle difference calculation formula... Calculate the difference between the target fixed angle and the current angle for each propeller, and construct an angle difference matrix based on the difference between the target fixed angle and the current angle for each propeller.

[0044] The expression for the angle difference matrix is ​​as follows: ; Among them, the The difference between the target fixed angle and the current angle of each propeller is , to These represent the differences between the target fixed angle and the current angle of the first to Nth propellers, respectively.

[0045] S140: Based on the angle difference matrix, the propeller is controlled by two closed-loop propeller locking.

[0046] Furthermore, after determining the difference between the target fixed angle and the current angle for each propeller, the flight control computer can issue a propeller lock command. Based on the angle difference matrix, it controls each high-voltage electronic speed controller to perform two-loop propeller lock control on all propellers. At this time, each electronic speed controller can control the corresponding motor to rotate, thereby rotating the corresponding propeller for position control, and thus completing the propeller lock at the target fixed angle for each propeller.

[0047] The drone propeller locking control method provided in this embodiment first determines the target fixed angle matrix of the drone propellers based on the structural dimensions of the drone and the dimensions of the vehicle's cargo box. Then, it determines the current angle matrix of the propellers. Based on the target fixed angle matrix and the current angle matrix, it determines the angle difference matrix of the propellers and performs two-loop closed-loop propeller locking control based on the angle difference matrix. This method achieves propeller locking control for heavy-duty vehicle-mounted tethered drones without requiring complex structural modifications to the drone, without increasing the drone's weight, and without using easily interfered encoders. This effectively avoids safety accidents and ensures the safety and reliability of vehicle-mounted tethered drones.

[0048] In some embodiments, the propeller is subjected to two-loop closed-loop propeller locking control based on the angle difference matrix, including: determining the target speed and the actual speed of the propeller; determining the target current of the motor based on the difference between the target speed and the actual speed; determining the control voltage of the motor based on the difference between the target current and the actual current of the motor; driving the motor to adjust the propeller based on the control voltage until the angle difference matrix is ​​less than a preset error range; triggering the motor to perform three-phase short-circuit braking and fixing the position of the propeller.

[0049] Please see Figure 6 , Figure 6 This is a schematic diagram of the two-closed-loop propeller locking control provided by the present invention.

[0050] like Figure 6 As shown in this embodiment, the entire propeller locking process of the vehicle-mounted take-off and landing tethered UAV is based on the two-loop dynamic control principle. The two loops are the inner loop current loop and the outer loop speed loop. The outer loop speed loop is used to control the speed, and the inner loop current loop is used to control the current.

[0051] Specifically, after determining the angle difference matrix, the vehicle-mounted tethered UAV can determine the target rotational speed of each propeller based on the outer ring rotational speed ring, and measure the actual rotational speed of each propeller through the slicker membrane observer.

[0052] Furthermore, based on the difference between the target speed and the actual speed of each propeller, the target current of each motor is determined to ensure that the response speed of each motor can match the position adjustment requirements of the corresponding propeller.

[0053] Furthermore, the control voltage for each motor is determined based on the difference between the target current and the actual current of each motor.

[0054] Furthermore, based on the control voltage of each motor, each motor is driven to fine-tune the corresponding propeller until the difference between the target fixed angle and the current angle of each propeller in the angle difference matrix is ​​less than the preset error range.

[0055] Furthermore, after determining that the difference between the target fixed angle and the current angle of each propeller is less than the preset error range, each motor is triggered to perform a three-phase short-circuit brake, and the position of each propeller is fixed.

[0056] In some embodiments, before performing two-loop propeller locking control based on the angle difference matrix, the method further includes: determining whether the propeller has stopped based on the control mode of the flight control computer; if it is determined that the propeller has stopped, generating a propeller braking command; and preparing to perform two-loop propeller locking control based on the propeller braking command.

[0057] Understandably, before officially implementing the two-loop rotor lock control, the vehicle-mounted tethered drone needs to switch modes to ensure that the vehicle-mounted tethered drone has completed its relevant tasks, landed, and is about to engage rotor lock.

[0058] Specifically, the control mode of the flight control computer determines whether the propeller has stopped.

[0059] Generally, if the control mode of a vehicle-mounted tethered drone is propeller stopped, then it can be determined that the propeller is stopped.

[0060] If it is determined that the propeller has stopped, a propeller stop brake command is generated, and based on the propeller stop brake command, preparations are made to perform two-loop propeller lock control.

[0061] It should be noted that after the vehicle-mounted tethered drone enters the propeller stop mode, it can use the synovial observer to measure the current angle and actual rotation speed of each propeller in real time, and perform real-time angle feedback and speed estimation.

[0062] Optionally, the difference between the target fixed angle and the current angle of each propeller can also be used as a stop-propeller judgment condition to generate a stop-propeller braking command.

[0063] For example, if the difference between the target fixed angle and the current angle of any propeller is greater than or equal to the preset error range, a propeller stop braking command can be generated, and based on the propeller stop braking command, two-loop propeller lock control can be prepared.

[0064] The UAV propeller locking control method provided in this embodiment uses a non-sensory slid observer to observe the current angle and actual rotation speed of each propeller in real time, which can improve the anti-interference of angle and speed observation. At the same time, the non-sensory slid observer collects the current angle of each propeller in real time and provides angle feedback in real time, which can prepare for subsequent closed-loop and algorithm coordination.

[0065] In some embodiments, before determining the target fixed angle of the propeller, the method further includes: opening the cargo box of the loading vehicle and completing the power-on preparation of the drone; controlling the drone to unlock and take off, and controlling the drone to perform the mission; and controlling the drone to return and land in the cargo box after the mission is completed.

[0066] Understandably, the vehicle-mounted tethered drone needs to perform certain tasks before it can land and lock its propellers.

[0067] Please see Figure 7 , Figure 7 This is the third flowchart of the UAV propeller locking control method provided by the present invention.

[0068] like Figure 7 As shown in this embodiment, before locking the propellers of the vehicle-mounted tethered drone, the cargo box of the loading vehicle needs to be opened. After the cargo box of the loading vehicle is opened, the vehicle-mounted tethered drone begins to prepare for power supply and load the payload.

[0069] Furthermore, the vehicle-mounted tethered drone begins power-on preparation. After completing the positioning and self-test of the vehicle-mounted tethered drone, it indicates that the power-on preparation of the drone is complete.

[0070] Furthermore, operators can send remote control commands to the vehicle-mounted tethered drone via a remote controller or controller; after receiving the remote control command, the vehicle-mounted tethered drone will respond to the command, begin to unlock and take off, and gradually fly higher to perform relevant tasks, such as inspection and patrol missions, transportation missions, scanning missions, and navigation missions.

[0071] Furthermore, after the vehicle-mounted tethered drone completes its mission, the operator can send a return command to the drone via a remote control or controller. Upon receiving the return command, the drone will respond by returning and landing on the cargo box of the vehicle.

[0072] Further, it enters the propeller lock mode, performs two closed-loop propeller lock control, and completes propeller lock.

[0073] In some embodiments, after performing two-loop propeller locking control based on the angle difference, the method further includes: controlling the drone to power down; and closing the cargo box of the loading vehicle.

[0074] Please continue reading. Figure 7 After completing the two closed-loop propeller control, the vehicle-mounted take-off and landing tethered drone is powered down and the cargo box of the vehicle is closed. This indicates that the vehicle-mounted take-off and landing tethered drone has completed all relevant tasks.

[0075] In some embodiments, the current angle matrix and the actual rotational speed are both measured by a slid observer, and the actual current is acquired based on a Hall sensor.

[0076] Please continue reading. Figure 6 In this embodiment, the current angle matrix and the actual rotational speed are both measured by the slid diaphragm observer, and the actual current is collected based on the Hall sensor. Optionally, for heavy-load vehicle-mounted tethered UAVs, the propeller locking control scheme of this embodiment can be replaced by a photoelectric encoder or a power system integrated design scheme with a built-in encoder in some areas to achieve higher precision propeller stopping for heavy-load vehicle-mounted tethered UAVs.

[0077] The unmanned aerial vehicle (UAV) propeller locking control method provided in this embodiment has good reference value in the system engineering design and product application stages of heavy-payload vehicle-mounted tethered UAVs. After using this method, the operation process of heavy-payload vehicle-mounted tethered UAVs can be simplified, the deployment time of heavy-payload vehicle-mounted tethered UAVs can be optimized, and the overall operating efficiency and portability of heavy-payload vehicle-mounted tethered UAVs can be improved. This is conducive to the efficient operation of heavy-payload vehicle-mounted tethered UAVs, and solves the problems of automatic recovery and safe propeller locking of heavy-payload vehicle-mounted tethered UAVs. It is beneficial to improve the safety and convenience of heavy-payload vehicle-mounted tethered UAVs, and can quickly build an efficient control system for heavy-payload vehicle-mounted tethered UAVs, ensuring the efficient operation of the heavy-payload vehicle-mounted tethered UAV platform. At the same time, the use of a non-sensory sliding diaphragm observer can reduce the cost of encoders and improve the ease of operation and use of heavy-payload vehicle-mounted tethered UAVs.

[0078] This invention also provides a drone propeller locking control device. Please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram of the structure of the drone propeller locking control device provided by the present invention. In this embodiment, the drone propeller locking control device includes a first determining module 810, a second determining module 820, a third determining module 830, and a propeller locking control module 840.

[0079] The first determining module 810 is used to determine the target fixed angle matrix of the propeller.

[0080] The target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the loading vehicle's cargo box.

[0081] The second determining module 820 is used to determine the current angle matrix of the propeller.

[0082] The third determining module 830 is used to determine the propeller angle difference matrix based on the target fixed angle matrix and the current angle matrix.

[0083] The propeller lock control module 840 is used to perform two-loop propeller lock control based on the angle difference matrix.

[0084] In some embodiments, the propeller locking control module 840 is used to determine the target speed and the actual speed of the propeller; determine the target current of the motor based on the difference between the target speed and the actual speed; determine the control voltage of the motor based on the difference between the target current and the actual current of the motor; drive the motor to adjust the propeller based on the control voltage until the angle difference matrix is ​​less than a preset error range; trigger the motor to perform three-phase short-circuit braking and fix the position of the propeller.

[0085] In some embodiments, the propeller lock control module 840 is used to determine whether the propeller has stopped based on the control mode of the flight control computer; if it is determined that the propeller has stopped, a propeller stop braking command is generated; and based on the propeller stop braking command, two closed-loop propeller lock control is prepared.

[0086] In some embodiments, the drone propeller control device further includes a mission execution module.

[0087] The mission execution module is used to open the cargo box of the loading vehicle and complete the power-on preparation of the drone; control the drone to unlock and take off, and control the drone to perform the mission; after the mission is completed, control the drone to return and land in the cargo box.

[0088] In some embodiments, the task execution module is used to control the drone to power down and close the cargo box of the loading vehicle.

[0089] In some embodiments, the current angle matrix and the actual rotational speed are both measured by a slid observer, and the actual current is acquired based on a Hall sensor.

[0090] The present invention also provides an electronic device. Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 9As shown, the electronic device may include a processor 910, a communication interface 920, a memory 930, and a communication bus 940. The processor 910, communication interface 920, and memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute a UAV propeller locking control method. The UAV propeller locking control method includes: determining a target fixed angle matrix for the propellers; the target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the loading vehicle's cargo box; determining the current angle matrix of the propellers; determining the angle difference matrix of the propellers based on the target fixed angle matrix and the current angle matrix; and performing two-loop closed-loop propeller locking control based on the angle difference matrix.

[0091] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] The present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the UAV propeller locking control method provided by the above methods. The UAV propeller locking control method includes: determining a target fixed angle matrix of the propeller; the target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the cargo box of the loading vehicle; determining the current angle matrix of the propeller; determining the angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; and performing two-loop closed-loop propeller locking control based on the angle difference matrix.

[0093] This invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the UAV propeller locking control method provided by the above methods. The UAV propeller locking control method includes: determining a target fixed angle matrix of the propeller; the target fixed angle matrix is ​​determined based on the structural dimensions of the UAV and the dimensions of the cargo box of the loading vehicle; determining the current angle matrix of the propeller; determining the angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; and performing two-loop closed-loop propeller locking control based on the angle difference matrix.

[0094] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the locking of the propeller of an unmanned aerial vehicle, characterized in that, The method comprises the following steps: determining a target fixed angle matrix of the propeller; the target fixed angle matrix is determined based on the structural size of the UAV and the size of the vehicle cabin of the loading vehicle; determining a current angle matrix of the propeller; determining an angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; controlling the propeller based on the angle difference matrix.

2. The unmanned aerial vehicle propeller locking control method of claim 1, wherein, The controlling the propeller based on the angle difference matrix comprises the following steps: determining a target rotating speed of the propeller and an actual rotating speed of the propeller; determining a target current of the motor based on the difference between the target rotating speed and the actual rotating speed; determining a control voltage of the motor based on the difference between the target current and an actual current of the motor; driving the motor to adjust the propeller based on the control voltage until the angle difference matrix is less than a preset error range; triggering the motor to perform three-phase short-circuit braking and fixing the position of the propeller.

3. The unmanned aerial vehicle propeller locking control method of claim 1, wherein, Before the controlling the propeller based on the angle difference matrix, the method further comprises the following steps: judging whether the propeller is stopped based on the control mode of the flight control computer; if it is determined that the propeller is stopped, generating a stop-braking instruction; preparing for the two-closed-loop propeller locking control based on the stop-braking instruction.

4. The unmanned aerial vehicle propeller locking control method of claim 1, wherein, Before the determining the target fixed angle of the propeller, the method further comprises the following steps: opening the vehicle cabin of the loading vehicle and completing the power-on preparation of the UAV; controlling the UAV to perform an unlock take-off and controlling the UAV to perform a task; after the task is completed, controlling the UAV to return and land in the vehicle cabin.

5. The unmanned aerial vehicle propeller locking control method of claim 1, wherein, After the controlling the propeller based on the angle difference, the method further comprises the following steps: controlling the UAV to power off; closing the vehicle cabin of the loading vehicle.

6. The unmanned aerial vehicle propeller locking control method of claim 2, wherein, The current angle matrix and the actual rotating speed are measured by a sliding film observer, and the actual current is collected based on a Hall sensor.

7. An unmanned aerial vehicle lockout control device, comprising: The method comprises the following steps: a first determining module for determining a target fixed angle matrix of the propeller; the target fixed angle matrix is determined based on the structural size of the UAV and the size of the vehicle cabin of the loading vehicle; a second determining module for determining a current angle matrix of the propeller; a third determining module for determining an angle difference matrix of the propeller based on the target fixed angle matrix and the current angle matrix; a propeller locking control module for controlling the propeller based on the angle difference matrix.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor executes the computer program to realize the UAV propeller locking control method according to any one of claims 1 to 6. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the UAV propeller locking control method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the UAV propeller locking control method according to any one of claims 1 to 6.

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