Control method and system of vertical take-off ring-wing unmanned aerial vehicle and vertical take-off ring-wing unmanned aerial vehicle

Abstract

The application discloses a control method and system of a vertical take-off ring-wing unmanned aerial vehicle and the vertical take-off ring-wing unmanned aerial vehicle. The control method comprises the following steps: performing gyro correction on the vertical take-off ring-wing unmanned aerial vehicle based on a three-axis gyroscope of a flight detection module, and controlling the vertical take-off ring-wing unmanned aerial vehicle to take off in a multi-rotor mode after the correction is completed; when the vertical take-off ring-wing unmanned aerial vehicle vertically climbs to a preset height in the multi-rotor mode, controlling the vertical take-off ring-wing unmanned aerial vehicle to switch modes, so that the vertical take-off ring-wing unmanned aerial vehicle is switched from the multi-rotor mode to a fixed-wing mode; controlling the vertical take-off ring-wing unmanned aerial vehicle to cruise in the fixed-wing mode, and receiving navigation monitoring information returned by the flight detection module; performing attitude adjustment processing on the vertical take-off ring-wing unmanned aerial vehicle according to first angle monitoring information and motor rotating speed information; and re-distributing motor control logic of the vertical take-off ring-wing unmanned aerial vehicle, so as to complete control on the vertical take-off ring-wing unmanned aerial vehicle. The application can reduce the difficulty of a pilot in controlling the unmanned aerial vehicle and improve the flexibility of unmanned aerial vehicle flight.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a control method, system, and UAV for a vertical take-off and landing (VTOL) ring-wing UAV. Background Technology

[0002] With the rapid development of science and technology, in recent years, the types of drones have become increasingly diverse, including products with various flight modes such as fixed-wing, multi-rotor, helicopter, and vertical take-off and landing (VTOL) drones. Among them, VTOL drones are drones that combine the capabilities of vertical take-off and landing with those of fixed-wing drones, integrating the flexibility of multi-rotor drones with the advantages of long endurance and high-efficiency cruising of fixed-wing drones.

[0003] Existing vertical takeoff and landing (VTOL) drone designs include hybrid VTOL drones and rudder-controlled flying-wing tail-seat VTOL drones. Hybrid VTOL drones typically have two power systems, performing vertical takeoff in multi-rotor mode and then cruise in fixed-wing mode, with the multi-rotor motors or tilting structures becoming dead weight during cruise. Rudder-controlled flying-wing tail-seat VTOL drones have only one power system, eliminating dead weight during cruise. However, both types of VTOL drones are not very agile in terms of control. Pilots need to constantly monitor the drone's attitude in the air and judge how to control it to perform corresponding pitch, yaw, and roll movements, placing high demands on the pilot and making it difficult to achieve flexible and accurate control.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this application is to provide a control method, system, and VTOL ring-wing UAV, aiming to solve the technical problem that the existing technology does not allow for flexible and accurate control of UAVs.

[0006] To achieve the above objectives, this application provides a control method for a vertical take-off and landing (VTOL) ring-wing unmanned aerial vehicle (UAV), the control method comprising the following steps:

[0007] The three-axis gyroscope based on the flight detection module performs gyroscope correction on the vertical take-off and landing ring-wing UAV, and controls the vertical take-off and landing ring-wing UAV to take off in multi-rotor mode after the correction is completed.

[0008] After the vertical take-off and landing ring-wing UAV climbs vertically to a preset height in multi-rotor mode, the UAV is controlled to switch modes to switch from multi-rotor mode to fixed-wing mode.

[0009] The system controls the vertical take-off and landing ring-wing UAV to cruise in fixed-wing mode and receives navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information includes first angle monitoring information and motor speed information;

[0010] The attitude adjustment process for the vertical take-off and landing ring-wing UAV is performed based on the first angle monitoring information and the motor speed information.

[0011] The motor control logic of the vertical take-off and landing ring-wing UAV is redistributed to complete the control of the vertical take-off and landing ring-wing UAV.

[0012] Optionally, the three-axis gyroscope based on the flight detection module performs gyroscope calibration on the VTOL ring-wing UAV, and after calibration, controls the VTOL ring-wing UAV to take off in multi-rotor mode, specifically including:

[0013] The vertical take-off and landing ring-wing UAV is placed on a take-off platform, and the x-axis, y-axis and z-axis of the vertical take-off and landing ring-wing UAV are set by the three-axis gyroscope;

[0014] Zero-bias correction is performed based on the x-axis, y-axis, and z-axis to complete the gyroscope correction of the vertical take-off and landing ring-wing UAV.

[0015] The motors of all the power components on the vertical take-off and landing ring-wing UAV are controlled to operate, so that the thrust provided by all the power components is greater than the weight of the vertical take-off and landing ring-wing UAV, thereby enabling the vertical take-off of the vertical take-off and landing ring-wing UAV in multi-rotor mode.

[0016] Optionally, after the VTOL ring-wing UAV climbs vertically to a preset height in multi-rotor mode, controlling the VTOL ring-wing UAV to switch modes specifically includes:

[0017] The flight altitude of the vertical take-off and landing ring-wing UAV is detected based on the altitude sensor of the flight detection module;

[0018] After the vertical take-off and landing ring-wing UAV climbs vertically to a preset height in multi-rotor mode, control the vertical take-off and landing ring-wing UAV to hover at the preset height;

[0019] The rotational speeds of the first and second pitch motor units of the vertical take-off and landing ring-wing UAV are controlled respectively, so that the thrust of the first pitch motor unit is greater than the thrust of the second pitch motor unit.

[0020] When the z-axis of the vertical takeoff and landing ring-wing UAV is parallel to the takeoff platform and the speed of the vertical takeoff and landing ring-wing UAV reaches the preset conversion critical speed range, the second pitch motor group is controlled to provide the same thrust as the first pitch motor group.

[0021] The first pitch motor unit consists of motors from a pair of adjacent power components on the VTOL ring-wing UAV, and the second pitch motor unit consists of motors from another pair of adjacent power components on the VTOL ring-wing UAV.

[0022] Optionally, controlling the VTOL ring-wing UAV to cruise in fixed-wing mode and receiving navigation monitoring information returned by the flight detection module specifically includes:

[0023] Receive flight control commands sent by the user, wherein the flight control commands are issued by the user through the remote control device of the vertical take-off and landing ring-wing UAV;

[0024] The flight control commands are analyzed to obtain the cruise fixed speed;

[0025] The motors of all power components of the VTOL ring-wing UAV are controlled according to the cruise fixed speed to make the horizontal flight speed of the VTOL ring-wing UAV reach the cruise fixed speed and maintain the cruise fixed speed.

[0026] The flight detection module performs real-time monitoring of the flight status of the vertical take-off and landing ring-wing UAV and receives navigation monitoring information returned by the flight detection module.

[0027] Optionally, the attitude adjustment process for the vertical take-off and landing ring-wing UAV based on the first angle monitoring information and the motor speed information specifically includes:

[0028] Horizontal tilt data is obtained based on the first angle monitoring information, and the horizontal tilt data is analyzed in real time.

[0029] When the horizontal tilt angle in the horizontal tilt data is greater than a preset threshold and the duration is greater than a preset time, the target attitude of the vertical take-off and landing ring-wing UAV is generated according to the tilt direction of the horizontal tilt angle.

[0030] The current horizontal tilt angle is obtained based on the horizontal tilt data, and the error horizontal tilt angle is calculated based on the target attitude and the current horizontal tilt angle.

[0031] The current rotational speed of all motors in the power components of the vertical take-off and landing ring-wing UAV is obtained based on the motor speed information, and the current rotational speed is controlled according to the error horizontal tilt angle to control the vertical take-off and landing ring-wing UAV to reach the target attitude.

[0032] Optionally, the reallocation of the motor control logic for the VTOL ring-wing UAV to complete the control of the VTOL ring-wing UAV specifically includes:

[0033] Based on the flight detection module, the second angle monitoring information of the vertical take-off and landing ring-wing UAV after completing attitude adjustment processing is obtained;

[0034] The current motor position distribution of the vertical take-off and landing ring-wing UAV is obtained based on the second angle monitoring information;

[0035] Based on the motor position distribution, a motor control logic allocation scheme is generated to complete the control of the vertical take-off and landing ring-wing UAV.

[0036] Optionally, generating a motor control logic allocation scheme based on the motor position distribution specifically includes:

[0037] The two motors located at the bottom in the vertical direction are designated as the third pitch motor group, and the two motors located at the top in the vertical direction are designated as the fourth pitch motor group.

[0038] Two motors located on the same side in the horizontal direction are designated as the first yaw motor group, and two motors located on the other side are designated as the second yaw motor group.

[0039] Furthermore, to achieve the above objectives, this application also provides a control system for a vertical takeoff and landing ring-wing unmanned aerial vehicle (UAV), wherein the control system is used to implement the control method described in any of the above claims, and the control system includes:

[0040] The vertical take-off module is used to perform gyroscope correction on the vertical take-off ring-wing UAV based on the three-axis gyroscope of the flight detection module, and to control the vertical take-off ring-wing UAV to take off in multi-rotor mode after the correction is completed.

[0041] The mode switching module is used to control the VTOL ring-wing UAV to switch modes after the VTOL ring-wing UAV has climbed vertically to a preset height in multi-rotor mode, so as to switch the VTOL ring-wing UAV from multi-rotor mode to fixed-wing mode.

[0042] The cruise monitoring module is used to control the vertical take-off and landing ring-wing UAV to cruise in fixed-wing mode and to receive the navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information includes first angle monitoring information and motor speed information;

[0043] The attitude adjustment module is used to perform attitude adjustment processing on the vertical take-off and landing ring-wing UAV based on the first angle monitoring information and the motor speed information.

[0044] The motor distribution module is used to redistribute the motor control logic of the VTOL ring-wing UAV in order to complete the control of the VTOL ring-wing UAV.

[0045] Furthermore, to achieve the above objectives, this application also provides a vertical take-off and landing (VTOL) ring-wing unmanned aerial vehicle (UAV), wherein the VTOL ring-wing UAV comprises:

[0046] The fuselage includes a nose and a tail.

[0047] A ring-shaped wing, which is connected to the fuselage by multiple symmetrically distributed arms, each of which is equipped with a power unit;

[0048] A stabilizing structure, comprising multiple symmetrically and intersecting stabilizing surfaces, is connected to the tail section and the annular wing, respectively.

[0049] A memory, a processor, and a control program for a vertical take-off and landing ring-wing UAV stored in the memory and executable on the processor, wherein the control program, when executed by the processor, implements the steps of the control method described above.

[0050] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a control program for a vertical take-off and landing ring-wing unmanned aerial vehicle, and the control program, when executed by a processor, implements the steps of the control method described above.

[0051] In this application, the VTOL ring-wing UAV includes four power components, each equipped with an independently controllable motor. The control method includes: performing gyroscope calibration on the VTOL ring-wing UAV based on the three-axis gyroscope of the flight detection module, and controlling the VTOL ring-wing UAV to take off in multi-rotor mode after calibration; after the VTOL ring-wing UAV climbs vertically to a preset height in multi-rotor mode, controlling the VTOL ring-wing UAV to switch modes from multi-rotor mode to fixed-wing mode; controlling the VTOL ring-wing UAV to cruise in fixed-wing mode and receiving navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information includes first angle monitoring information and motor speed information; performing attitude adjustment processing on the VTOL ring-wing UAV based on the first angle monitoring information and the motor speed information; and reallocating the motor control logic of the VTOL ring-wing UAV to complete the control of the VTOL ring-wing UAV. This application can reduce the difficulty of piloting UAVs, improve the flexibility of UAV flight, expand the operating range of UAVs, and improve the efficiency of UAV operations. Attached Figure Description

[0052] Figure 1 This is a flowchart of a preferred embodiment of the control method for the vertical take-off and landing ring-wing unmanned aerial vehicle provided in this application;

[0053] Figure 2 This is a schematic diagram of the structure of the vertical take-off and landing ring-wing UAV provided in this application;

[0054] Figure 3This is a first schematic diagram of the mode switching of the vertical take-off and landing ring-wing UAV provided in this application;

[0055] Figure 4 This is a second schematic diagram of the mode switching of the vertical take-off and landing ring-wing UAV provided in this application;

[0056] Figure 5 This is a rear view of the vertical take-off and landing ring-wing UAV provided in this application flying in fixed-wing mode;

[0057] Figure 6 This is a first schematic diagram of the attitude adjustment of the vertical take-off and landing ring-wing UAV provided in this application;

[0058] Figure 7 This is a second schematic diagram of the attitude adjustment of the vertical take-off and landing ring-wing UAV provided in this application;

[0059] Figure 8 This is a third schematic diagram of the mode switching of the vertical take-off and landing ring-wing UAV provided in this application;

[0060] Figure 9 This is a schematic diagram of a preferred embodiment of the control system of the vertical take-off and landing ring-wing UAV of this application;

[0061] Figure 10 This is a schematic diagram of the operating environment of a preferred embodiment of the vertical take-off and landing ring-wing UAV of this application.

[0062] The meanings of the numbers in the diagram are as follows: 10. Fuselage; 11. Nose; 12. Tail; 20. Annular wing; 30. Arm; 40. Power unit; 41. First pitch motor; 42. Second pitch motor; 401. First motor; 402. Second motor; 403. Third motor; 404. Fourth motor; 50. Stabilizer; 60. Landing gear. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer and more explicit, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0064] This application provides a control method for a vertical take-off and landing (VTOL) ring-wing unmanned aerial vehicle (UAV). It should be noted that the control method provided in this application is applied to a VTOL ring-wing UAV, which includes four power components, and each power component is equipped with an independently controllable motor. By controlling the speed of each motor, the thrust generated by each power component can be controlled, thereby achieving control of the UAV.

[0065] The control method for a vertical take-off and landing ring-wing unmanned aerial vehicle described in the preferred embodiment of this application, such as Figure 1As shown, the control method for the vertical take-off and landing ring-wing UAV includes the following steps:

[0066] Step S10: Perform gyroscope calibration on the vertical take-off and landing ring-wing UAV based on the three-axis gyroscope of the flight detection module, and control the vertical take-off and landing ring-wing UAV to take off in multi-rotor mode after calibration.

[0067] Specifically, the flight detection module is a detection component on a vertical take-off and landing ring-wing UAV. It can be a sensor, including a three-axis gyroscope, a three-axis accelerometer, an altitude sensor, a three-axis magnetometer, etc. The flight detection module can measure the first angle monitoring information of the UAV in various states. The first angle monitoring information includes pitch angle data, roll angle data, and yaw angle data.

[0068] Before a vertical takeoff and landing (VTOL) ring-wing UAV takes off, its gyroscope needs to be calibrated to ensure the accuracy of flight attitude measurement during flight, eliminate accumulated errors, and guarantee the stability and safety of the VTOL ring-wing UAV's flight.

[0069] Once the VTOL ring-wing drone has completed gyroscope calibration, the user can send a takeoff command via remote control to control the VTOL ring-wing drone to take off in multi-rotor mode.

[0070] It should be noted that the gyroscope calibration of the VTOL ring-wing UAV can be performed by receiving gyroscope calibration commands sent by the user. Before performing gyroscope calibration, the VTOL ring-wing UAV needs to be placed on a flat surface (take-off platform or flat ground) and the power components of the VTOL UAV should be perpendicular to the flat surface.

[0071] In one embodiment, the three-axis gyroscope based on the flight detection module performs gyroscope calibration on the VTOL ring-wing UAV, and after calibration, controls the VTOL ring-wing UAV to take off in multi-rotor mode, specifically including:

[0072] The vertical takeoff and landing (VTOL) ring-wing UAV is placed on a takeoff platform, and the x, y, and z axes of the VTOL ring-wing UAV are set using the three-axis gyroscope. Zero-bias correction is performed based on the x, y, and z axes to complete the gyroscope correction of the VTOL ring-wing UAV. The motors of all the power components on the VTOL ring-wing UAV are controlled to operate, so that the thrust provided by all the power components is greater than the weight of the VTOL ring-wing UAV, thereby enabling the VTOL ring-wing UAV to take off vertically in multi-rotor mode.

[0073] Specifically, the VTOL annular drone is placed on a takeoff platform (not shown in the attached diagram). The takeoff platform is a flat surface, and the VTOL annular drone also includes landing gear, which is in direct contact with the takeoff platform. The x, y, and z axes of the VTOL annular drone are set using a three-axis gyroscope, such as... Figure 2 As shown, the z-axis is the axis opposite to the direction of gravity, that is, the z-axis points vertically upward; the y-axis points from right to left through the fuselage; the x-axis points forward through the fuselage. In this case, the x-axis can be understood as the axis pointing in the direction of the UAV's forward flight in multi-rotor mode. Note that the directions of the x, y, and z axes mentioned above are for illustrative purposes only and are not intended to limit the direction of the x, y, and z axes in this application. Users can set the direction of each axis as needed.

[0074] Zero-bias correction is performed based on the x, y, and z axes respectively. During this process, data from the three-axis gyroscope is acquired. The gyroscope output represents the angular velocity of the drone's rotation around the three axes, expressed in degrees per second (°C / s) or radians per second (RBF / s). In a stationary state, the gyroscope output should be [0,0,0]. However, due to manufacturing processes, temperature variations, stress, and other factors, even when the drone is placed on a level surface, the gyroscope will output a non-zero constant value. Therefore, zero-bias correction is necessary for the gyroscope. The specific steps are as follows:

[0075] (1) Acquire the raw values ​​output by the three-axis gyroscope;

[0076] (2) Collect three-axis gyroscope data over five consecutive seconds and calculate the corresponding average value;

[0077] (3) Apply the corresponding compensation value to the three-axis gyroscope according to the average value, and record the value output by the three-axis gyroscope after the compensation is applied, and then use it as the new original value;

[0078] (4) Repeat the above steps a preset number of times to complete the zero bias correction process.

[0079] The preset number of times is preferably 5, but it can also be set by the user.

[0080] Once the zero-bias calibration of the three-axis gyroscope is completed, the gyroscope calibration of the VTOL ring-wing UAV is considered complete. Subsequently, the system receives takeoff commands from the user via remote control and controls the motors of all power components on the VTOL ring-wing UAV to operate, ensuring that the combined thrust of all power components exceeds the weight of the VTOL ring-wing UAV. At this point, the VTOL ring-wing UAV takes off vertically in multi-rotor mode.

[0081] It should be noted that multi-rotor mode refers to a VTOL ring-wing UAV whose power components are perpendicular to the takeoff platform. The downward thrust provided by each power component enables the VTOL ring-wing UAV to fly with its nose pointing vertically upwards. Figure 3 As shown in ① to ②.

[0082] Step S20: After the vertical take-off and landing ring-wing UAV climbs vertically to a preset height in multi-rotor mode, control the vertical take-off and landing ring-wing UAV to switch modes, so as to switch the vertical take-off and landing ring-wing UAV from multi-rotor mode to fixed-wing mode.

[0083] Specifically, during the vertical climb of the VTOL ring-wing UAV in multi-rotor mode, the flight altitude of the VTOL ring-wing UAV is monitored. When the VTOL ring-wing UAV reaches the preset altitude, the flight mode is switched, from multi-rotor mode to fixed-wing mode. Figure 3 As shown in ② to ⑤.

[0084] It should be noted that fixed-wing mode refers to a vertical takeoff and landing (VTOL) drone whose power unit is parallel to the takeoff platform / ground. The thrust provided by the power unit in the opposite direction to the flight direction allows the VTOL drone to fly with its nose pointing in the flight direction. Figure 3 As shown in ⑤.

[0085] In one embodiment, the step of controlling the VTOL ring-wing UAV to switch modes after it has climbed vertically to a preset height in multi-rotor mode specifically includes:

[0086] The flight altitude of the VTOL ring-wing UAV is detected by the altitude sensor of the flight detection module; after the VTOL ring-wing UAV climbs vertically to a preset altitude in multi-rotor mode, the VTOL ring-wing UAV is controlled to hover at the preset altitude (e.g., Figure 3 As shown in ②), the rotational speeds of the first and second pitch motor groups of the VTOL ring-wing UAV are controlled respectively, so that the thrust (rotational speed) of the first pitch motor group is greater than that of the second pitch motor group; when the z-axis of the VTOL ring-wing UAV is parallel to the takeoff platform and the speed of the VTOL ring-wing UAV reaches the preset conversion critical speed range, the second pitch motor group is controlled to provide the same thrust as the first pitch motor group; wherein, the first pitch motor group is composed of motors from a pair of adjacent power components on the VTOL ring-wing UAV, and the second pitch motor group is composed of motors from another pair of adjacent power components on the VTOL ring-wing UAV, and the motors included in the two pitch motor groups are not duplicated.

[0087] Specifically, the flight altitude of the vertical take-off and landing ring-wing UAV is detected by the altitude sensor of the flight detection module, and it is determined whether the current flight altitude of the UAV has reached the preset altitude, wherein the preset altitude is 5 to 20 meters, preferably 10 meters.

[0088] Once the VTOL ring-wing drone reaches the preset altitude, the drone is controlled, which means controlling the motor speeds of all the power components on the drone. This ensures that the total thrust provided by all the power components in the vertical direction equals the weight of the drone, allowing it to hover at the preset altitude.

[0089] Subsequently, the rotational speeds of the first pitch motor assembly 41 and the second pitch motor assembly 42 of the VTOL ring-wing UAV are controlled respectively. The first pitch motor assembly 41 consists of motors from a pair of adjacent power components on the VTOL ring-wing UAV, and the second pitch motor assembly 42 consists of motors from another pair of adjacent power components on the VTOL ring-wing UAV, as shown below. Figure 4 As shown, Figure 4 The two motors located to the left of the y-axis constitute the first pitch motor group 41, and the two motors located to the right of the y-axis constitute the second pitch motor group 42. It should be noted that the pitch motor groups consist of a pair of adjacent motors, preferably a pair of motors on one side of the y-axis and a pair of motors on the other side of the y-axis. Furthermore, it should be emphasized that the first pitch motor group 41 and the second pitch motor group 42 are used to control the pitch of the VTOL ring-wing UAV in multi-rotor mode.

[0090] The rotational speed of the first pitch motor assembly 41 is increased, while the rotational speed of the second pitch motor assembly 42 is decreased, so that the thrust of the first pitch motor assembly 41 is greater than the thrust of the second pitch motor assembly 42, thereby causing the VTOL ring-wing UAV to rotate around the y-axis. When the z-axis of the VTOL ring-wing UAV is parallel to the takeoff platform, and the current speed of the VTOL ring-wing UAV reaches the preset transition critical speed range, the rotational speed of the second pitch motor assembly 42 is increased, so that the rotational speed of the second pitch motor assembly 42 is equal to the rotational speed of the first pitch motor assembly 41, thereby causing the second pitch motor assembly 42 to provide the same thrust as the first pitch motor assembly 41, thus enabling the VTOL ring-wing UAV to maintain an attitude where the z-axis is parallel to the flight platform. Furthermore, in this state, the x-axis points vertically downwards (i.e., in the same direction as gravity), and the z-axis points in the forward direction of the VTOL ring-wing UAV flying in fixed-wing mode, as shown below. Figure 5 As shown, Figure 5 The z-axis points inwards from the paper. Preferably, the preset critical conversion speed range is 16~18m / s.

[0091] It should be noted that the vertical take-off and landing ring-wing UAV provided in this application can also cruise in multi-rotor mode, and can also achieve yaw, roll and pitch in multi-rotor mode by controlling the speed of each motor.

[0092] Step S30: Control the vertical take-off and landing ring-wing UAV to cruise in fixed-wing mode and receive the navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information includes first angle monitoring information and motor speed information.

[0093] Specifically, after the VTOL ring-wing UAV completes the flight mode switch, it is necessary to control the motor speed of each power component so that the VTOL ring-wing UAV can maintain fixed-wing mode for cruise flight.

[0094] During cruise flight in fixed-wing mode, the VTOL annular UAV receives navigation monitoring information returned by the flight detection module. This navigation monitoring information includes first angle monitoring information and motor speed information. The first angle monitoring information includes roll angle, pitch angle, and yaw angle data of the VTOL annular UAV in fixed-wing mode. Each angle data includes timestamps distributed at preset time intervals and the angle corresponding to each timestamp. The motor speed information includes timestamps distributed at preset time intervals for each motor and the motor speed corresponding to each timestamp. Preferably, the preset time interval is 10ms.

[0095] It should be noted that the specific angle values ​​of roll, pitch, and yaw in the first angle monitoring information of the VTOL ring-wing UAV are calculated based on data from a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Furthermore, because the three axes point in different directions in multi-rotor and fixed-wing modes, the three angles in multi-rotor mode are relative to different axes than those in fixed-wing mode, but they still represent the flight attitude of the VTOL ring-wing UAV.

[0096] In one embodiment, controlling the vertical take-off and landing ring-wing UAV to cruise in fixed-wing mode and receiving navigation monitoring information returned by the flight detection module specifically includes:

[0097] The system receives flight control commands sent by the user through the remote control device of the VTOL ring-wing UAV; analyzes the flight control commands to obtain a fixed cruise speed; controls the motors of all power components of the VTOL ring-wing UAV according to the fixed cruise speed, so that the horizontal flight speed of the VTOL ring-wing UAV reaches the fixed cruise speed and maintains the fixed cruise speed; monitors the flight status of the VTOL ring-wing UAV in real time based on the flight detection module, and receives the navigation monitoring information returned by the flight detection module.

[0098] Specifically, it receives flight control commands sent by the user, which are issued by the user through the remote control device of the vertical take-off and landing ring-wing UAV. The flight control commands include the fixed cruising speed set by the user.

[0099] The flight control commands are analyzed to obtain the user-set cruise speed. Based on the cruise speed, the motors corresponding to all power components are controlled to make the horizontal flight speed of the VTOL ring-wing UAV reach the cruise speed and maintain the cruise speed.

[0100] Subsequently, the flight status of the VTOL ring-wing UAV is monitored in real time based on the flight detection module, and the navigation monitoring information returned by the flight detection module is received. During the flight of the VTOL ring-wing UAV, the flight detection module continuously records the first angle monitoring information and motor speed information, and uploads the first angle monitoring information and motor speed information.

[0101] Step S40: Adjust the attitude of the vertical take-off ring-wing UAV according to the first angle monitoring information and the motor speed information.

[0102] Specifically, the roll flight attitude of the VTOL ring-wing UAV is judged based on the roll angle data in the first angle monitoring information. When the roll flight attitude of the VTOL ring-wing UAV is judged to be adjustable, the motor speed of all power components will be adjusted accordingly based on the motor speed information, thereby realizing the attitude adjustment of the VTOL ring-wing UAV.

[0103] It should be noted that the above-mentioned attitude adjustments for the vertical take-off and landing ring-wing UAV are mainly made in the roll dimension, thereby ensuring that the UAV can maintain a positive attitude during flight and ensure flight stability.

[0104] In one embodiment, the attitude adjustment processing of the vertical take-off and landing ring-wing UAV based on the first angle monitoring information and the motor speed information specifically includes:

[0105] Horizontal tilt data is acquired based on the first angle monitoring information, and the horizontal tilt data is analyzed in real time. When the horizontal tilt angle in the horizontal tilt data is greater than a preset threshold and the duration is greater than a preset time, the target attitude of the VTOL ring-wing UAV is generated based on the tilt direction of the horizontal tilt angle. A horizontal tilt compensation value is calculated based on the target attitude, and the horizontal tilt compensation value is applied to the three-axis gyroscope. The current speed of the motors of all power components of the VTOL ring-wing UAV is acquired based on the motor speed information, and the current speed is controlled based on the horizontal tilt compensation value to control the VTOL ring-wing UAV to reach the target attitude. The preset threshold is 30°~60°, preferably 45°; the preset time is 5~20s, preferably 10s.

[0106] Specifically, the roll angle data in the first angle monitoring information is acquired, and the roll angle data is used as the horizontal tilt data. The horizontal tilt data refers to the horizontal plane of the takeoff platform, and the horizontal tilt data includes timestamps distributed at preset time intervals and the horizontal tilt angle (roll angle) corresponding to each timestamp.

[0107] Real-time analysis of horizontal tilt data, specifically monitoring the horizontal tilt angle, is performed. When the horizontal tilt angle exceeds a preset threshold, and the duration of this excess exceeds a preset time, it is determined that attitude adjustment is required for the VTOL ring-wing UAV. Figure 6 As shown in (a). At this point, the tilt direction of the horizontal tilt angle is first obtained, which is the direction of the roll angle. Then, the target attitude of the vertical take-off and landing ring-wing UAV is generated according to the tilt direction.

[0108] It should be noted that the target attitude refers to the final attitude of the VTOL annular drone after attitude adjustment. When the VTOL annular drone switches from multi-rotor mode to fixed-wing mode, there will be a positive attitude, such as... Figure 5 As shown, Figure 5 This is a rear view of a vertical takeoff and landing (VTOL) ring-wing UAV in its initial attitude after transitioning from multi-rotor to fixed-wing mode and entering cruise mode. The nose (z-axis) points inwards, indicating the flight direction. The target attitude is a 90° roll in the tilt direction from its initial attitude. Figure 6 As shown in (b), the target pose is usually presented in the form of angles. For example, Figure 6 The target attitude value corresponding to (b) relative to the positive attitude is [0,0,90], and the three numbers correspond to the yaw angle, pitch angle and roll angle respectively.

[0109] Subsequently, the current horizontal tilt angle (current roll angle) of the VTOL ring-wing UAV is obtained based on the horizontal tilt data. Then, based on the current horizontal tilt angle and the target attitude, the error horizontal tilt angle between the current flight attitude of the VTOL ring-wing UAV and the target attitude to be adjusted is calculated, such as... Figure 6 As shown in (a), angle M is the error horizontal tilt angle.

[0110] Finally, based on the motor speed information, the current speed of all motors in the power components of the VTOL ring-wing UAV is obtained, and the speed of each motor is controlled (increased or decreased accordingly) according to the error horizontal tilt angle, thereby enabling the VTOL ring-wing UAV to change from its current flight attitude. Figure 6 (a) The movement to the target posture ( Figure 6 (b) achieves attitude adjustment of the vertical take-off and landing ring-wing UAV. After the attitude adjustment is completed, the directions of the x-axis and y-axis also change accordingly. At this time, the x-axis and z-axis are parallel to the horizontal plane, the y-axis points vertically upward, and the z-axis still points in the paper.

[0111] For example, see Figure 6 , Figure 6 (a) represents the current flight attitude of the vertical take-off and landing ring-wing UAV. Figure 6 (b) represents the target attitude of the vertical take-off and landing ring-wing UAV. Figure 6 The vertical take-off and landing (VTOL) UAV shown in (a) includes a first motor 401, a second motor 402, a third motor 403, and a fourth motor 404. The first motor 401 and the second motor 402 rotate counterclockwise, while the third motor 403 and the fourth motor 404 rotate clockwise. When the combined rotational speed of the first motor 401 and the second motor 402 is greater than the combined rotational speed of the third motor 403 and the fourth motor 404, the VTOL UAV will generate a clockwise rolling torque, which can then control the VTOL UAV to change from its current flight attitude to the target attitude.

[0112] Further, see Figure 7 , Figure 7 A vertical take-off and landing (VTOL) ring-wing UAV with an elliptical ring wing is demonstrated. This VTOL ring-wing UAV can achieve stable "blade flight" through the method provided in this application, thereby making the control of the UAV more flexible, better adaptable to different flight missions, and improving the operational capabilities of the UAV.

[0113] Step S50: Redistribute the motor control logic of the vertical take-off and landing ring-wing UAV to complete the control of the vertical take-off and landing ring-wing UAV.

[0114] Specifically, such as Figure 6As shown in (b), after the vertical take-off and landing ring-wing UAV changes to the target attitude, it will continue to cruise in the target attitude until the pilot executes the next attitude change control. In this case, the motor control logic of ordinary UAVs is fixed. That is, the pitch motor group originally used to control the UAV to pitch needs to be used to control the UAV to yaw, and the motor group originally used to control the UAV to yaw needs to be used to control the UAV to pitch. This requires the pilot to have extremely strong control ability. The pilot needs to pay attention to the attitude of the UAV at all times and make the correct control measures.

[0115] The control method for the VTOL ring-wing UAV provided in this application redistributes the motor control logic of the VTOL ring-wing UAV after the UAV changes attitude, thereby ensuring that the control logic of the VTOL ring-wing UAV remains unchanged and is still operated with normal control logic, lowering the threshold for pilots and enabling pilots to operate the VTOL ring-wing UAV more flexibly.

[0116] In one embodiment, the reallocation of the motor control logic for the VTOL annular drone to complete the control of the VTOL annular drone specifically includes:

[0117] Based on the flight detection module, the second angle monitoring information of the VTOL ring-wing UAV after completing attitude adjustment processing is obtained; the current motor position distribution of the VTOL ring-wing UAV is obtained according to the second angle monitoring information; based on the motor position distribution, a motor control logic allocation scheme is generated to complete the control of the VTOL ring-wing UAV.

[0118] Specifically, based on the flight detection module, the second angle monitoring information of the VTOL ring-wing UAV after completing attitude adjustment is obtained. The second angle monitoring information is actually the rotation angle data of the current x-axis, y-axis and z-axis of the three-axis gyroscope of the VTOL ring-wing UAV after completing attitude adjustment, relative to the x-axis, y-axis and z-axis of the three-axis gyroscope before attitude adjustment. That is, the rotation angle between the x-axis, y-axis and z-axis of the target attitude and the x-axis, y-axis and z-axis of the positive attitude.

[0119] Furthermore, when the vertical take-off and landing ring-wing UAV is in a positive attitude, the positional distribution of all motors is clearly defined. For example, such as Figure 5 As shown, specifically: the first motor 401 and the third motor 403 are located at the top in the vertical direction, and the second motor 402 and the fourth motor 404 are located at the bottom in the vertical direction.

[0120] Correspondingly, the first motor 401 and the third motor 403 constitute the first pitch motor group 41, and the second motor 402 and the fourth motor 404 constitute the second pitch motor group 42. The first pitch motor group 41 and the second pitch motor group 42 control the pitch of the UAV. If the sum of the rotational speeds of the first pitch motor group 41 is greater than the sum of the rotational speeds of the second pitch motor group 42, the UAV nose pitches down; otherwise, it pitches up. The first motor 401 and the fourth motor 404 constitute a yaw motor group, and the second motor 402 and the third motor 403 constitute another yaw motor group. The two yaw motor groups are used to control the yaw of the UAV. If the yaw is on the left... If the sum of the rotational speeds of the motor sets is greater than the sum of the rotational speeds of the yaw motor sets on the right, the drone will yaw to the left (relative to the z-axis, i.e., relative to the plane of the paper), and vice versa. The first motor 401 and the second motor 402 form a roll motor set, and the third motor 403 and the fourth motor 404 form another roll motor set. The two roll motor sets are used to control the roll of the drone. If the sum of the rotational speeds of the roll motor set composed of the first motor 401 and the second motor 402 (both motors rotate counterclockwise) is less than the sum of the rotational speeds of the other roll motor set, the drone will roll counterclockwise (relative to the plane of the paper), and vice versa.

[0121] After the VTOL ring-wing UAV changes from the normal attitude to the target attitude, the current motor position distribution of the VTOL ring-wing UAV can be obtained based on the second angle monitoring information (rotation angle data corresponding to the x-axis, y-axis and z-axis), that is, the motor position distribution under the target attitude. Continuing the example above, specifically: the fourth motor 404 and the first motor 401 are located at the top in the vertical direction, and the second motor 402 and the third motor 403 are located at the bottom in the vertical direction.

[0122] Subsequently, a motor control logic allocation scheme is generated based on the current motor position distribution, ensuring that the drone's control logic remains unchanged. The pilot can still control the drone using the original flight control logic: pitch operation still controls pitch operation, yaw operation still controls yaw operation, and roll operation still controls roll operation. This provides the pilot with a seamless control experience, reduces operational complexity, improves operational portability, lowers the pilot's learning cost, and thus improves mission completion efficiency.

[0123] Furthermore, the step of generating a motor control logic allocation scheme based on the motor position distribution specifically includes:

[0124] The two motors located at the bottom in the vertical direction are designated as the third pitch motor group, and the two motors located at the top in the vertical direction are designated as the fourth pitch motor group; the two motors located on the same side in the horizontal direction are designated as the first yaw motor group, and the two motors located on the other side are designated as the second yaw motor group.

[0125] Specifically, see Figure 6 (b) Figure 6 (b) shows the VTOL ring-wing UAV adjusted to the target attitude. At this point, the two motors at the bottom of the vertical direction (third motor 403 and second motor 402) are used as the third pitch motor group, and the two motors at the top of the vertical direction (first motor 401 and fourth motor 404) are used as the fourth pitch motor group. The third and fourth pitch motor groups are used to control the pitch of the VTOL ring-wing UAV. When the sum of the speeds of the third pitch motors is greater than the sum of the speeds of the fourth pitch motors, the nose of the VTOL ring-wing UAV pitches up; conversely, when the sum of the speeds of the third pitch motors is less than the sum of the speeds of the fourth pitch motors, the nose of the VTOL ring-wing UAV pitches up. The nose of the drone is tilted down; two motors located on the same side in the horizontal direction (first motor 401 and third motor 403) are used as the first yaw motor group, and two motors located on the other side (second motor 402 and fourth motor 404) are used as the second yaw motor group. The first and second yaw motor groups are used to control the left and right yaw of the VTOL ring-wing UAV. The specific yaw direction is as follows: when the sum of the rotational speeds of the first yaw motor group is greater than the sum of the rotational speeds of the second yaw motor group, the nose of the VTOL ring-wing UAV yaws to the left, and vice versa.

[0126] Furthermore, the roll motor assembly remains unchanged. The first motor 401 and the second motor 402 form one roll motor assembly (both motors rotate counterclockwise), while the third motor 403 and the fourth motor 404 form another roll motor assembly (both motors rotate clockwise). The two roll motor assemblies are used to control the roll of the drone. If the combined speed of the roll motor assembly formed by the first motor 401 and the second motor 402 is less than that of the other roll motor assembly, the drone will roll counterclockwise (relative to the plane of the paper), and vice versa.

[0127] It should be emphasized that when the VTOL ring-wing UAV provided in this application undergoes attitude changes—converting from multi-rotor mode to fixed-wing mode and adjusting attitude within fixed-wing mode—the flight detection module calculates the corresponding roll angle, pitch angle, and yaw angle based on the current attitude of the VTOL ring-wing UAV. In other words, the relative axes of the roll angle, pitch angle, and yaw angle corresponding to each attitude are actually different. The flight detection module automatically acquires and processes this information to calculate the various angle information of the current attitude.

[0128] In one embodiment, the control method for a vertical take-off and landing (VTOL) ring-wing UAV also includes how to control the VTOL ring-wing UAV to land, specifically as follows: Figure 8 As shown, first, control the vertical take-off and landing ring-wing UAV to decelerate to a preset critical speed range in fixed-wing mode; then, control the speed of the pitch motor located at the bottom of the UAV in the vertical direction to be greater than the speed of the pitch motor located at the top of the vertical direction, so that the UAV's nose tilts up until the z-axis is perpendicular to the ground and points vertically upward (e.g., Figure 8(As shown in ② to ④); increase the speed of the four motors of the drone to the speed required to maintain the drone's vertical hovering (e.g., Figure 8 (As shown in ④), then slowly control the speed of the four motors to reduce it so that the thrust provided by the four motors is less than the weight of the drone. The drone will then slowly descend until it makes contact with the flight platform (as shown in ④). Figure 8 (As shown in ⑤), stop all motors.

[0129] Furthermore, such as Figure 9 As shown, based on the above-described control method for a vertical take-off and landing (VTOL) ring-wing UAV, this application also provides a corresponding control system for a VTOL ring-wing UAV, wherein the control system of the VTOL ring-wing UAV includes:

[0130] The vertical take-off module 51 is used to perform gyroscope correction on the vertical take-off ring-wing UAV based on the three-axis gyroscope of the flight detection module, and control the vertical take-off ring-wing UAV to take off in multi-rotor mode after the correction is completed.

[0131] The mode switching module 52 is used to control the VTOL ring-wing UAV to switch modes after the VTOL ring-wing UAV has climbed vertically to a preset height in multi-rotor mode, so as to switch the VTOL ring-wing UAV from multi-rotor mode to fixed-wing mode.

[0132] The cruise monitoring module 53 is used to control the vertical take-off and landing ring-wing UAV to cruise in fixed-wing mode and receive the navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information includes first angle monitoring information and motor speed information;

[0133] Attitude adjustment module 54 is used to perform attitude adjustment processing on the vertical take-off ring-wing UAV based on the first angle monitoring information and the motor speed information;

[0134] The motor distribution module 55 is used to redistribute the motor control logic of the vertical take-off and landing ring-wing UAV in order to complete the control of the vertical take-off and landing ring-wing UAV.

[0135] Furthermore, such as Figure 2 As shown, based on the above-described control method for a vertical take-off and landing (VTOL) ring-wing UAV, this application also provides a corresponding VTOL ring-wing UAV, which is controlled using the above-described control method, wherein the VTOL ring-wing UAV includes:

[0136] The fuselage includes a nose and a tail; an annular wing is connected to the fuselage by multiple symmetrically intersecting arms, each arm of which is equipped with a power unit; and a stabilizing structure is composed of multiple symmetrically intersecting stabilizing surfaces, which are connected to the tail and the annular wing respectively.

[0137] Specifically, the vertical takeoff and landing (VTOL) ring-wing UAV includes a fuselage 10, a ring-shaped wing 20, multiple arms 30, multiple power units 40 respectively mounted on each arm 30, and a stabilizing structure 50. The fuselage 10 includes a nose 11 and a tail 12. The ring-shaped wing 20 is connected to the fuselage 10 through multiple symmetrically distributed arms 30, and each arm 30 is equipped with a power unit 40.

[0138] The vertical takeoff ring-wing UAV also includes landing gear 60, which is used to mount the UAV on the ground or takeoff platform, so that all power components 40 can be perpendicular to the ground or takeoff platform, thereby enabling vertical takeoff in multi-rotor mode.

[0139] Furthermore, the stabilizing structure 50 is composed of multiple symmetrically distributed stabilizing surfaces. One end of each stabilizing surface is connected to the tail 12, and the other end is connected to the annular wing 20. In other words, the stabilizing structure 50 is connected to both the tail 12 and the annular wing 20. It should be emphasized that each stabilizing surface 51 in this application is connected to the tail 12 and the annular wing 20 through wing-body blending technology.

[0140] Furthermore, such as Figure 10 As shown, based on the above-mentioned control method and system for vertical take-off and landing (VTOL) ring-wing UAVs, the VTOL ring-wing UAV provided in this application also includes a processor 701, a memory 702, and a communication interface 703. Figure 10 Only some components of the vertical take-off and landing ring-wing UAV are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0141] In some embodiments, the memory 702 may be an internal storage unit of the VTOL animatronic drone, such as a hard drive or memory of a terminal. In other embodiments, the memory 702 may be an external storage device of the VTOL animatronic drone, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the VTOL animatronic drone. Further, the memory 702 may include both internal and external storage units of the VTOL animatronic drone. The memory 702 is used to store application software and various types of data installed on the VTOL animatronic drone, such as program code of the terminal. The memory 702 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 702 stores a control program 704 for the VTOL animatronic drone, which can be executed by the processor 701 to implement the control method for the VTOL animatronic drone described in this application.

[0142] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 702 or process data, such as executing the control method of the vertical take-off and landing ring-wing UAV.

[0143] The communication interface 703 is used for communication between the processor 701 and the memory 702. If the memory 702, processor 701, and communication interface 703 are implemented independently, the communication interface 703, memory 702, and processor 701 can be interconnected via a bus to complete mutual communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 10 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0144] Optionally, in a specific implementation, if the memory 702, processor 701, and communication interface 703 are integrated on a single chip, then the memory 702, processor 701, and communication interface 703 can communicate with each other through an internal interface.

[0145] In one embodiment, when the processor 701 executes the control program 704 of the VTOL annular drone in the memory 702, it implements the steps of the VTOL annular drone control method as described above.

[0146] This application also provides a computer-readable storage medium storing a control program for a vertical take-off and landing (VTOL) ring-wing unmanned aerial vehicle (UAV), which, when executed by a processor, implements the steps of the VTOL ring-wing UAV control method described above.

[0147] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0148] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0149] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0150] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A control method for a vertical take-off and landing (VTOL) ring-wing unmanned aerial vehicle (UAV), characterized in that, The vertical take-off ring-wing unmanned aerial vehicle comprises four power assemblies, each of which is provided with an independently controllable motor, and the control method comprises the following steps: The three-axis gyroscope of the flight detection module is used to correct the gyroscope of the vertical take-off ring-wing unmanned aerial vehicle, and after the correction is completed, the vertical take-off ring-wing unmanned aerial vehicle is controlled to take off in a multi-rotor mode; After the vertical take-off ring-wing unmanned aerial vehicle vertically climbs to a preset height in the multi-rotor mode, the vertical take-off ring-wing unmanned aerial vehicle is controlled to switch modes to switch the vertical take-off ring-wing unmanned aerial vehicle from the multi-rotor mode to the fixed-wing mode; The vertical take-off ring-wing unmanned aerial vehicle is controlled to cruise in the fixed-wing mode, and navigation monitoring information returned by the flight detection module is received, wherein the navigation monitoring information comprises first angle monitoring information and motor speed information; According to the first angle monitoring information and the motor speed information, the attitude of the vertical take-off ring-wing unmanned aerial vehicle is adjusted; The attitude adjustment of the vertical take-off ring-wing unmanned aerial vehicle according to the first angle monitoring information and the motor speed information specifically comprises the following steps: Horizontal tilting data is obtained according to the first angle monitoring information, and the horizontal tilting data is analyzed in real time; When the horizontal tilting angle in the horizontal tilting data is greater than a preset threshold value and the duration is greater than a preset time, a target attitude of the vertical take-off ring-wing unmanned aerial vehicle is generated according to the tilting direction of the horizontal tilting angle, wherein the target attitude is a 90° roll of the vertical take-off ring-wing unmanned aerial vehicle flying in the positive attitude to the tilting direction; A current horizontal tilting angle is obtained according to the horizontal tilting data, and an error horizontal tilting angle is obtained by calculating the target attitude and the current horizontal tilting angle; The current speed of the motor of all power assemblies of the vertical take-off ring-wing unmanned aerial vehicle is obtained according to the motor speed information, and the current speed is controlled according to the error horizontal tilting angle to control the vertical take-off ring-wing unmanned aerial vehicle to reach the target attitude; The motor control logic of the vertical take-off ring-wing unmanned aerial vehicle is redistributed to complete the control of the vertical take-off ring-wing unmanned aerial vehicle.

2. The control method of the vertical take-off ring wing drone according to claim 1, wherein, The three-axis gyroscope of the flight detection module is used to correct the gyroscope of the vertical take-off ring-wing unmanned aerial vehicle, and after the correction is completed, the vertical take-off ring-wing unmanned aerial vehicle is controlled to take off in a multi-rotor mode, specifically comprising the following steps: The vertical take-off ring-wing unmanned aerial vehicle is placed on a take-off platform, and the x-axis, y-axis and z-axis of the vertical take-off ring-wing unmanned aerial vehicle are set by the three-axis gyroscope; Zero offset correction processing is performed based on the x-axis, y-axis and z-axis to complete the gyroscope correction of the vertical take-off ring-wing unmanned aerial vehicle; The motors of all the power assemblies carried on the vertical take-off ring-wing unmanned aerial vehicle are controlled to operate, so that the total thrust provided by all the power assemblies is greater than the gravity of the vertical take-off ring-wing unmanned aerial vehicle, and the vertical take-off ring-wing unmanned aerial vehicle is vertically taken off in a multi-rotor mode.

3. The control method of the vertical take-off ring wing drone according to claim 2, wherein, After the vertical take-off ring-wing unmanned aerial vehicle vertically climbs to a preset height in the multi-rotor mode, the vertical take-off ring-wing unmanned aerial vehicle is controlled to switch modes, specifically comprising the following steps: The flight height of the vertical take-off ring-wing unmanned aerial vehicle is detected by the height sensor of the flight detection module; When the vertical take-off and ring-wing UAV vertically climbs to a preset height in the multi-rotor mode, the vertical take-off and ring-wing UAV is controlled to hover at the preset height; The rotation speeds of the first and second pitch motor groups of the vertical take-off and ring-wing UAV are controlled respectively, so that the thrust of the first pitch motor group is greater than that of the second pitch motor group; When the z-axis of the vertical take-off and ring-wing UAV is parallel to the take-off platform and the speed of the vertical take-off and ring-wing UAV reaches a preset conversion critical speed range, the second pitch motor group is controlled to provide the same thrust as the first pitch motor group. The first pitch motor group is composed of a pair of adjacent power components on the vertical take-off and ring-wing UAV, and the second pitch motor group is composed of another pair of adjacent power components on the vertical take-off and ring-wing UAV.

4. The control method of the vertical take-off ring wing drone according to claim 1, wherein, The control of the vertical take-off and ring-wing UAV in the fixed-wing mode for cruising and the receiving of the navigation monitoring information returned by the flight detection module specifically include: Receiving a flight control instruction sent by a user, wherein the flight control instruction is sent by the user through a remote control device of the vertical take-off and ring-wing UAV; Analyzing the flight control instruction to obtain a cruising fixed speed; Controlling the motors of all power components of the vertical take-off and ring-wing UAV according to the cruising fixed speed, so that the horizontal flight speed of the vertical take-off and ring-wing UAV reaches the cruising fixed speed and maintains flight at the cruising fixed speed; Based on the flight detection module, the flight state of the vertical take-off and ring-wing UAV is monitored in real time, and the navigation monitoring information returned by the flight detection module is received.

5. The control method of the vertical take-off ring wing drone according to claim 1, wherein, The motor control logic of the vertical take-off and ring-wing UAV is redistributed to complete the control of the vertical take-off and ring-wing UAV, specifically including: Based on the flight detection module, second angle monitoring information of the vertical take-off and ring-wing UAV after completing the attitude adjustment process is obtained; According to the second angle monitoring information, the current motor position distribution of the vertical take-off and ring-wing UAV is obtained; Based on the motor position distribution, a motor control logic distribution scheme is generated to complete the control of the vertical take-off and ring-wing UAV.

6. The control method of the vertical take-off ring wing drone according to claim 5, wherein, Based on the motor position distribution, a motor control logic distribution scheme is generated, specifically including: Two motors located at the bottom in the vertical direction are taken as a third pitch motor group, and two motors located at the top in the vertical direction are taken as a fourth pitch motor group; Two motors located on the same side in the horizontal direction are taken as a first yaw motor group, and two motors located on the other side are taken as a second yaw motor group.

7. A control system for a vertical take-off ring-wing drone, characterized in that, The control system is used to implement the control method of any one of claims 1-6, and the control system includes: A vertical take-off module is configured to correct the vertical take-off and ring-wing UAV based on the three-axis gyroscope of the flight detection module, and control the vertical take-off and ring-wing UAV to take off in the multi-rotor mode after the correction is completed; a mode switching module, configured to control the vertical take-off and ring-wing UAV to switch from the multi-rotor mode to the fixed-wing mode when the vertical take-off and ring-wing UAV vertically climbs to a preset height in the multi-rotor mode; a cruising monitoring module, configured to control the vertical take-off and ring-wing UAV to cruise in the fixed-wing mode and receive the navigation monitoring information returned by the flight detection module, wherein the navigation monitoring information comprises first angle monitoring information and motor speed information; an attitude adjustment module, configured to perform attitude adjustment processing on the vertical take-off and ring-wing UAV according to the first angle monitoring information and the motor speed information; the attitude adjustment processing on the vertical take-off and ring-wing UAV according to the first angle monitoring information and the motor speed information specifically comprises: obtaining horizontal tilting data according to the first angle monitoring information and performing real-time analysis on the horizontal tilting data; generating a target attitude of the vertical take-off and ring-wing UAV according to the tilting direction of the horizontal tilting angle when the horizontal tilting angle in the horizontal tilting data is greater than a preset threshold and the duration is greater than a preset time, wherein the target attitude is a 90° roll in the tilting direction of the positive attitude of the vertical take-off and ring-wing UAV; obtaining a current horizontal tilting angle according to the horizontal tilting data, calculating an error horizontal tilting angle according to the target attitude and the current horizontal tilting angle; obtaining the current speed of the motor of all power components of the vertical take-off and ring-wing UAV according to the motor speed information and controlling the current speed according to the error horizontal tilting angle to control the vertical take-off and ring-wing UAV to reach the target attitude; a motor distribution module, configured to re-distribute the motor control logic of the vertical take-off and ring-wing UAV to complete the control of the vertical take-off and ring-wing UAV.

8. A vertical take-off ring-wing drone, characterized in that, the vertical take-off and ring-wing UAV comprises: a fuselage comprising a nose and a tail; a ring-shaped wing connected to the fuselage through a plurality of symmetrically intersecting arms, wherein each of the arms is provided with a power component; a stabilizer structure composed of a plurality of symmetrically intersecting stabilizer surfaces, the stabilizer structure being connected to the tail and the ring-shaped wing, respectively; a memory, a processor and a control program stored in the memory and executable on the processor, the control program being executed by the processor to implement the steps of the control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, the computer readable storage medium stores a control program of the vertical take-off and ring-wing UAV, the control program being executed by the processor to implement the steps of the control method according to any one of claims 1-6.

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