Wind vane-based unmanned aerial vehicle flight control method and device, medium and unmanned aerial vehicle

Abstract

This invention discloses a wind vane-based drone flight control method, device, medium, and drone. The method includes: when a multi-rotor high-speed drone is cruising, acquiring the orientation of a wind vane mounted on the drone's fuselage in real time, and then determining the angle between the drone's flight speed direction and its central axis; determining whether the drone's flight speed direction and the central axis are aligned based on this angle; if so, maintaining the angle of the drone's rotatable wings unchanged; if not, adjusting the angle of the drone's rotatable wings based on the angle, and then performing a wind vane detection step. This invention solves the problem of existing multi-rotor high-speed drones being unable to quickly and accurately track targets during high-speed cruising.

Description

Technical Field

[0001] This invention relates to the field of multi-rotor high-speed unmanned aerial vehicle (UAV) control, and more particularly to a weather vane-based UAV flight control method, device, medium, and UAV. Background Technology

[0002] Currently, the flight direction control of multi-rotor high-speed drones is generally achieved by the operator or the drone's onboard control chip acquiring continuous images in real time through the drone's camera module and analyzing the feature changes in these images. When the flight control program or the pilot needs to control the drone's flight attitude to track a target, the inability to accurately determine the drone's flight direction and the relationship between the drone's flight speed and the imaging axis of the monitoring camera prevents real-time tracking of the target. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a weather vane-based drone flight control method, which can solve the problem that existing multi-rotor high-speed drones cannot accurately determine the direction of flight speed, thus preventing them from automatically and in real-time tracking of highly maneuverable targets by capturing images with cameras.

[0004] The second objective of this invention is to provide a weather vane-based drone flight control device, which can solve the problem that existing multi-rotor high-speed drones cannot accurately determine the direction of flight speed, thus preventing them from automatically and in real-time tracking of highly maneuverable targets by capturing images with cameras.

[0005] The third objective of this invention is to provide a computer-readable storage medium that can solve the problem that existing multi-rotor high-speed drones cannot accurately determine the direction of flight speed, thus preventing them from automatically and in real-time tracking highly maneuverable targets by capturing images with cameras.

[0006] The fourth objective of this invention is to provide a multi-rotor high-speed drone that can solve the problem that existing multi-rotor high-speed drones cannot accurately determine the direction of flight speed, thus preventing them from automatically and in real-time tracking highly maneuverable targets by capturing images with cameras.

[0007] One of the objectives of this invention is achieved through the following technical solution:

[0008] A weather vane-based UAV flight control method, comprising:

[0009] Wind vane detection steps: When the multi-rotor high-speed drone is in cruise mode, the orientation of the wind vane installed on the drone body is acquired in real time, and then the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the central axis of the drone body is determined based on the orientation of the wind vane; the multi-rotor high-speed drone includes a drone body, a multi-rotor base, a rotatable wing, and a wind vane, wherein the multi-rotor base is installed at the bottom of the drone body, and the rotatable wing and the wind vane are sequentially installed on the drone body of the multi-rotor high-speed drone, and the orientation of the wind vane is always consistent with the flight speed direction of the multi-rotor high-speed drone;

[0010] Judgment Step: Determine whether the flight speed direction of the multi-rotor high-speed UAV is consistent with the direction of the fuselage centerline based on the angle between the flight speed direction and the direction of the fuselage centerline; if yes, keep the angle of the rotatable wings of the multi-rotor high-speed UAV unchanged; if no, perform the adjustment step.

[0011] Adjustment steps: Adjust the angle of the rotatable wings of the multi-rotor high-speed UAV according to the angle between the flight speed direction of the multi-rotor high-speed UAV and the direction of the fuselage centerline, and then perform the wind vane detection step.

[0012] Furthermore, the weather vane detection step specifically includes: when the multi-rotor high-speed UAV is in cruise mode, acquiring the rotation angle of the weather vane installed in real time, and determining the orientation of the weather vane based on the rotation angle and the initial installation angle of the weather vane, and then determining the angle between the orientation of the weather vane and the direction of the central axis of the multi-rotor high-speed UAV.

[0013] Furthermore, the determination step specifically includes: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage central axis is within a preset angle range, the flight speed direction of the multi-rotor high-speed drone is consistent with the direction of the fuselage central axis; when the angle between the orientation of the weathervane and the fuselage central axis of the multi-rotor high-speed drone is not within the preset angle range, the flight speed direction of the multi-rotor high-speed drone is inconsistent with the direction of the fuselage central axis.

[0014] Furthermore, the adjustment steps specifically include: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage centerline is less than a first preset angle, controlling the rotatable wings of the multi-rotor high-speed drone to rotate in the first direction to increase the positive lift of the drone fuselage or reduce the negative lift of the drone fuselage.

[0015] When the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage centerline is greater than the second preset angle, the rotatable wings of the multi-rotor high-speed drone are controlled to rotate in the second direction to reduce the positive lift of the drone fuselage or increase the negative lift of the drone fuselage.

[0016] The preset angle has a range of [-A, +A], where -A is the first preset angle and +A is the second preset angle. The preset angle is an angle in the XOY coordinate system, where the X-axis in the XOY coordinate system is the direction of the fuselage centerline of the multi-rotor high-speed UAV, and the Y-axis is the direction of the component along the direction of gravity and perpendicular to the X-axis.

[0017] Furthermore, the adjustment step of adjusting the angle of attack of the rotatable wing of the multi-rotor high-speed UAV according to the included angle specifically includes: firstly, determining the rotation direction of the rotatable wing according to the flight speed direction of the multi-rotor high-speed UAV; then, calculating the current rotation angle of the rotatable wing of the multi-rotor high-speed UAV according to the rotation angle of the wind vane collected each time and the control algorithm; and then controlling the rotatable wing of the multi-rotor high-speed UAV to rotate towards the corresponding rotation direction by the corresponding rotation angle according to the rotation direction of the rotatable wing and the calculated rotation angle, so as to adjust the angle of attack of the rotatable wing.

[0018] Specifically, the calculation of the rotation angle of the rotatable wing of the multi-rotor high-speed UAV based on the rotation angle of the wind vane collected each time and the control algorithm includes: based on the previous... The rotation angle of the wind vane collected at each moment, the rotation angle of the wind vane collected at the current moment, and the PID control formula are used to calculate the rotation angle of the rotatable wing of the multi-rotor high-speed UAV from the current moment to the next moment.

[0019] The PID control formula is as follows:

[0020] ;

[0021] In the formula: , , These are the PID control parameters, which are given in advance through testing.

[0022] For the first The rotation angle of the weather vane, collected in real time;

[0023] For the first The rotation angle of the weather vane, collected in real time;

[0024] For the first The rotation angle of the weather vane, collected in real time;

[0025] For from the first Time's up The rotation angle of the rotatable wing of the multi-rotor high-speed UAV at a given moment.

[0026] The second objective of this invention is achieved by the following technical solution:

[0027] A weather vane-based drone flight control device includes a memory and a processor. The memory stores a drone flight control program that runs on the processor. The drone flight control program is a computer program. When the processor executes the drone flight control program, it implements the steps of a weather vane-based drone flight control method as one of the objectives of this invention.

[0028] The third objective of this invention is achieved by the following technical solution:

[0029] A computer-readable storage medium storing a drone flight control program thereon, the drone flight control program being a computer program, wherein when executed by a processor, the drone flight control program implements the steps of a weathervane-based drone flight control method as one of the objectives of this invention.

[0030] The fourth objective of this invention is achieved by the following technical solution:

[0031] A multi-rotor high-speed unmanned aerial vehicle (UAV) includes a UAV fuselage, a multi-rotor base, two rotatable wing assemblies, and a weathervane assembly. The multi-rotor base is mounted on the bottom of the UAV fuselage, and each rotor of the multi-rotor base is equipped with a first motor. A main control board is located inside the UAV fuselage and is electrically connected to each first motor, used to control the flight attitude of the multi-rotor high-speed UAV by driving the operation of each first motor.

[0032] Two rotatable wing assemblies are respectively located on both sides of the drone fuselage. Each rotatable wing assembly includes a rotatable wing, a rotating shaft, and a second motor located inside the drone fuselage. One end of the rotating shaft is located inside the drone fuselage and connected to the second motor gear, while the other end passes through the drone fuselage and extends to the outside of the drone fuselage, where it is fixedly connected to the rotatable wing. The second motor is electrically connected to the main control board. The main control board is used to drive the corresponding second motor to rotate the corresponding rotating shaft, thereby rotating the corresponding rotatable wing.

[0033] The weather vane assembly includes a weather vane, a connecting rod, and an encoder. One end of the connecting rod is fixed inside the drone fuselage and connected to the encoder, while the other end extends to the outside of the drone fuselage and is fitted with the weather vane. The encoder is electrically connected to the main control board. When the weather vane rotates, the encoder rotates via the connecting rod.

[0034] The main control board is used to acquire the rotation angle of the weather vane in real time through the encoder when the multi-rotor high-speed UAV is in cruise mode, and send drive signals to each second motor using the weather vane-based UAV flight control method adopted according to one of the purposes of this invention, so as to drive and control the rotation of each rotatable wing, thereby adjusting the lift of the UAV fuselage of the multi-rotor high-speed UAV so that the fuselage centerline of the multi-rotor high-speed UAV is aligned with the direction of flight speed.

[0035] Furthermore, two rotatable wing assemblies are symmetrically arranged on both sides of the drone fuselage, and the rotation shaft of the two rotatable wing assemblies is an integral design, which runs through the inside of the drone fuselage. The second motor of the two rotatable wing assemblies is one; both rotatable wings are connected to the second motor gear through the rotation shaft; the operation of the second motor is controlled by the main control board to drive the rotation of the rotation shaft, thereby mobilizing the two rotatable wings to rotate synchronously.

[0036] Furthermore, there are two wind vane components, which are respectively located on both sides of the UAV fuselage; the main control board is electrically connected to the encoders of the two wind vane components to obtain the rotation angle of the two wind vanes, and then calculates the rotation angle of the wind vane of the multi-rotor high-speed UAV according to a preset averaging algorithm.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] This invention acquires the drone's flight speed and direction in real time by installing a weather vane on the fuselage of a multi-rotor high-speed drone. By controlling the rotation angle of the rotatable wings mounted on the drone's fuselage, the lift-drag ratio of the multi-rotor high-speed drone is adjusted, ensuring that the drone's flight speed direction is aligned with the drone's central axis. When tracking a target, since the angle between the camera's imaging axis and the drone's central axis is known, adjusting the flight attitude ensures that the drone's central axis points towards the tracked object. This invention ensures that the drone flies along its central axis, thus achieving fast and accurate target tracking. Furthermore, this invention aligns the drone's flight speed direction with its fuselage axis, resulting in a superior lift-drag ratio. During cruise, the drone only needs to overcome less drag, and the motor can output consistent power, thereby reducing battery consumption and increasing the drone's endurance. Attached Figure Description

[0039] Figure 1 Flowchart of the wind vane-based UAV flight control method provided by the present invention;

[0040] Figure 2 A schematic diagram showing the relationship between the lift coefficient and the angle of attack of a rotatable wing of a multi-rotor high-speed unmanned aerial vehicle provided by the present invention.

[0041] Figure 3 A schematic diagram showing the angle when the flight speed direction of a multi-rotor high-speed unmanned aerial vehicle is inconsistent with the direction of the fuselage central axis, provided by the present invention;

[0042] Figure 4 A schematic diagram showing the angle when the flight speed direction of a multi-rotor high-speed unmanned aerial vehicle (UAV) is aligned with the direction of the fuselage's central axis, as provided by this invention.

[0043] Figure 5 This is a schematic diagram of the overall structure of a multi-rotor high-speed unmanned aerial vehicle provided by the present invention;

[0044] Figure 6 for Figure 5 A schematic diagram of the internal structure of a multi-rotor high-speed drone.

[0045] In the diagram: 1. UAV fuselage; 2. Multi-rotor base; 31. Rotatable wing; 32. Rotating shaft; 33. Gear; 34. Second motor; 41. Weather vane; 42. Connecting rod; 43. Encoder; 5. Main control board. Detailed Implementation

[0046] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0047] Example 1

[0048] Addressing the shortcomings of existing multi-rotor high-speed drones in accurately determining the direction of flight speed, this invention installs a weather vane on the drone's fuselage to detect the direction of flight speed. Furthermore, by adjusting the rotatable wings on the drone's fuselage, the direction of flight speed is aligned with the drone's central axis, enabling the high-speed drone to achieve rapid, accurate, and continuous tracking of targets while cruising at high speed.

[0049] Specifically, such as Figure 1 As shown, the present invention provides a preferred embodiment of a weather vane-based drone flight control method, comprising:

[0050] Step S1: When the multi-rotor high-speed drone is in cruise mode, the orientation of the weather vane installed on the drone body is obtained in real time, and then the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the central axis of the drone body is determined based on the orientation of the weather vane; wherein, the orientation of the weather vane is always consistent with the flight speed direction of the multi-rotor high-speed drone.

[0051] In this embodiment, the high-speed drone refers to a multi-rotor high-speed drone, including a multi-rotor base and a drone fuselage. The multi-rotor base is installed at the bottom of the drone fuselage. A main control board is installed inside the drone fuselage, and multiple first motors are installed on the multi-rotor base. The main control board drives the first motors to control the flight speed of the multi-rotor high-speed drone. More preferably, the multi-rotor high-speed drone in this invention is a quadcopter, including a quadcopter base and a drone fuselage. The quadcopter base houses the first motors, and the drone fuselage houses the main control board. The main control board drives the first motors to control the flight speed of the quadcopter high-speed drone.

[0052] Because existing methods for determining the flight speed and direction of drones are inaccurate, this invention addresses this issue by installing a wind vane on a multi-rotor high-speed drone. By measuring the orientation of the wind vane, the drone's flight speed and direction can be determined. For high-speed drones, due to their high speeds (typically 174 km / h or higher), wind speed is relatively negligible. Therefore, this invention utilizes the wind vane's ability to indicate wind direction, ensuring that, even with negligible wind speed, the wind vane will always point in the direction of the drone's flight speed. Thus, by continuously monitoring the wind vane's orientation during the multi-rotor high-speed drone's cruise phase, this invention can determine the drone's flight speed and direction.

[0053] More preferably, the weather vane is mounted on the drone's fuselage. Specifically, initially, the weather vane is parallel to the drone's central axis; once the multi-rotor high-speed drone is flying at high speed and its flight speed direction is not aligned with the fuselage's central axis, the weather vane's orientation changes and becomes aligned with the flight speed direction. Since this application obtains the drone's flight speed direction through a weather vane, compared to existing methods that use continuous image feature changes to determine the drone's flight speed direction, the result is more accurate and avoids the problem of inaccurate results due to unclear scene changes in the drone's flight environment.

[0054] More specifically, to detect the orientation of the weather vane, this invention also determines the orientation by measuring the rotation angle of the weather vane. The weather vane always faces the direction of the multi-rotor high-speed UAV's flight speed. When the flight speed direction of the multi-rotor high-speed UAV is aligned with the direction of its fuselage's central axis, the weather vane's orientation is also aligned with the fuselage's central axis; conversely, when the weather vane's orientation is aligned with the fuselage's central axis, the flight speed direction of the multi-rotor high-speed UAV is aligned with the fuselage's central axis. More preferably, since the weather vane is mounted on the UAV's fuselage, whether the weather vane's orientation is aligned with the fuselage's central axis can be determined by judging the angle between the line segment containing the weather vane's orientation and the line segment containing the fuselage's central axis.

[0055] Preferably, during initial installation, the weathervane is aligned with the fuselage's central axis, resulting in a zero angle between the line segment pointing towards the weathervane and the line segment pointing towards the fuselage's central axis. When the multi-rotor high-speed UAV's flight speed direction deviates from the fuselage's central axis, the weathervane will rotate and align with the UAV's flight speed direction. At this point, an angle exists between the line segment pointing towards the weathervane and the line segment pointing towards the fuselage's central axis. By measuring the weathervane's rotation angle, the angle between the line segment pointing towards the weathervane and the line segment pointing towards the fuselage's central axis can be determined, thus allowing the calculation of the angle between the multi-rotor high-speed UAV's flight speed direction and the fuselage's central axis.

[0056] Further, step S1 specifically includes: when the multi-rotor high-speed UAV is in cruise mode, by acquiring the rotation angle of the weather vane in real time, and combining it with the initial installation angle of the weather vane to obtain the orientation of the weather vane, and then obtaining the angle between the line segment where the weather vane is oriented and the line segment where the central axis of the multi-rotor high-speed UAV is oriented.

[0057] Step S2: Determine whether the flight speed direction of the multi-rotor high-speed UAV is consistent with the direction of the fuselage centerline based on the angle between the flight speed direction and the direction of the fuselage centerline. If yes, proceed to step S3; otherwise, proceed to step S4.

[0058] Step S3: Keep the angle of the rotatable wings of the multi-rotor high-speed UAV unchanged.

[0059] Step S4: Adjust the angle of the rotatable wings of the multi-rotor high-speed UAV according to the angle between the flight speed direction of the multi-rotor high-speed UAV and the direction of the fuselage centerline, and then execute step S1.

[0060] Through the aforementioned cyclical real-time adjustments, the flight speed direction of the multi-rotor high-speed UAV can always remain consistent with the direction of its fuselage central axis, which is beneficial for real-time tracking of targets. In this embodiment, "the flight speed direction of the multi-rotor high-speed UAV is consistent with the direction of its fuselage central axis" means that the UAV's flight speed direction is parallel to the fuselage central axis. Simultaneously, maintaining consistency between the UAV's flight speed direction and the fuselage central axis ensures that the output power of the four motors within the multi-rotor base is uniform, saving motor power and extending the flight time of the multi-rotor high-speed UAV. Furthermore, when tracking targets, by installing a camera at the head of the multi-rotor high-speed UAV's fuselage, the angle between the camera's imaging axis and the UAV's central axis is known. By adjusting the flight attitude, it can be ensured that the UAV's central axis points towards the tracked object. According to the method provided by this invention, the UAV's flight speed direction can be quickly adjusted to align with the fuselage central axis, thereby achieving rapid target tracking. Specifically, for example, if the camera is placed in front of the fuselage of a multi-rotor high-speed drone, and the imaging axis has a non-zero angle with the central axis of the multi-rotor high-speed drone (for example, the angle is set to D), then by controlling the drone's attitude, the tracked object can be positioned at the imaging position with an angle of -D with the imaging axis. This ensures that the angle between the tracked object and the central axis of the multi-rotor high-speed drone is 0. In this way, by using the technical solution provided by this invention to make the drone's flight speed parallel to the central axis of the multi-rotor high-speed drone, the drone can fly along the direction of the multi-rotor high-speed drone, thereby causing the multi-rotor high-speed drone to fly towards the tracked object.

[0061] Specifically, when the flight speed direction of a multi-rotor high-speed drone is not consistent with the direction of its fuselage central axis, such as... Figure 3 As shown, by adjusting the angle of attack of the rotatable wings of the multi-rotor high-speed UAV, the flight attitude of the multi-rotor high-speed UAV can be adjusted so that the direction of the flight speed of the multi-rotor high-speed UAV is consistent with the direction of the fuselage central axis, such as... Figure 4 As shown.

[0062] By using a weather vane and rotating wings, the multi-rotor high-speed drone maintains its flight speed direction aligned with its central axis during cruise. This ensures stable output from the motors of the four rotors, extending cruise time. Furthermore, when tracking targets, the drone's flight speed direction remains aligned with its central axis, allowing for continuous tracking as long as the target is within the field of view of the camera module at the drone's nose. For example, if the camera is positioned directly in front of the drone with its imaging axis aligned with the central axis, the operator or pilot can adjust the drone's flight attitude to center the target within the camera's field of view. This invention ensures the drone flies directly towards the target, enabling effective tracking.

[0063] Preferably, and more specifically, step S2 further includes: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage central axis is within a preset angle range, the flight speed direction of the multi-rotor high-speed drone is consistent with the direction of the fuselage central axis.

[0064] When the angle between the direction of the weather vane and the central axis of the multi-rotor high-speed drone is not within the preset angle range, the direction of the multi-rotor high-speed drone's flight speed is inconsistent with the direction of the central axis of the drone.

[0065] The preset angle range is [-A, +A]. Specifically, this invention constructs an XOY coordinate system using the fuselage of a multi-rotor high-speed UAV, where the X-axis is the direction of the fuselage's central axis and the Y-axis is the direction of the component of gravity perpendicular to the X-axis. Mathematically, an angle is generally defined as a counterclockwise rotation along the positive X-axis direction; therefore, the angle between the flight speed direction of the multi-rotor high-speed UAV and the fuselage's central axis direction is either negative or positive. Therefore, by obtaining the angle between the fuselage's central axis and the X-axis, it can be determined whether the drone is diving upwards or downwards. Based on the principle that diving upwards requires increasing positive lift or decreasing negative lift, while diving downwards requires decreasing positive lift or increasing negative lift, the angle of the rotatable wing can be adjusted to regulate the drone's lift, ensuring that the fuselage's central axis aligns with the drone's flight speed direction. For example, if the camera is positioned directly in front of the drone and its imaging axis aligns with the central axis, the drone's flight speed direction will align with the central axis of the camera module mounted on the drone's nose. The drone only needs to ensure that the target object remains in the exact center of the camera module to achieve real-time tracking of the target object.

[0066] like Figure 3As shown, using the fuselage of a multi-rotor high-speed UAV to construct a coordinate system, it is known that the orientation of the weathervane is consistent with the direction of flight speed, while the direction of flight speed is inconsistent with the direction of the fuselage's central axis. That is, the angle between the line segment containing the weathervane's orientation and the line segment containing the direction of the fuselage's central axis is... Assuming the weathervane's orientation aligns with the flight speed direction, the angle between the flight speed direction and the fuselage's central axis is also [value missing]. ,and = .

[0067] Additionally, when the direction of flight speed is aligned with the direction of the fuselage's central axis, the included angle... =0; Conversely, when the direction of flight speed is not consistent with the direction of the fuselage centerline, the included angle can be determined based on the direction of flight speed. It can be a negative or positive number. Therefore, by observing the direction of the weather vane, we can calculate whether the angle between the weather vane's direction and the direction of the fuselage's central axis is zero, and thus determine whether the angle between the direction of the flight speed and the direction of the fuselage's central axis is zero, that is, whether the direction of the flight speed and the direction of the fuselage's central axis are consistent.

[0068] However, in actual use, external factors may cause the angle between the wind vane and the central axis of the multi-rotor high-speed drone to be not exactly zero. In other words, an error range is allowed. That is, when the angle meets the preset angle range, the flight speed direction of the multi-rotor high-speed drone can be considered to be consistent with the central axis of the drone. Specifically, the angle range in this embodiment is set to [-A, A].

[0069] More specifically, step S4 includes: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of its fuselage centerline is less than a first preset angle, controlling the rotatable wings of the multi-rotor high-speed drone to rotate in the first direction to increase the drone's fuselage lift (i.e., increase positive lift or decrease negative lift); conversely, when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of its fuselage centerline is greater than a second preset angle, controlling the rotatable wings of the multi-rotor high-speed drone to rotate in the second direction to decrease the drone's fuselage lift (i.e., decrease positive lift or increase negative lift). Here, the first preset angle is the minimum value within a preset angle range, i.e., -A; the second preset angle is the maximum value within a preset angle range, i.e., +A. For example, when a multi-rotor high-speed drone is flying away from the ground, adjusting the rotation of its rotatable wings can increase positive lift or decrease negative lift, thereby adjusting the drone's orientation so that its fuselage axis is aligned with its flight direction. Conversely, when the multi-rotor high-speed drone is flying away from the ground, adjusting the rotation of its rotatable wings can increase negative lift or decrease positive lift, thereby adjusting the drone's orientation so that its fuselage axis is aligned with its flight direction.

[0070] When a multi-rotor high-speed drone has its fuselage centerline as the X-axis and its gravity direction as the Y-axis, and a coordinate system XOY is constructed with the center point of the drone fuselage as the origin: when the flight speed direction of the multi-rotor high-speed drone is the direction of counterclockwise rotation of the fuselage centerline, that is, when the flight speed direction of the multi-rotor high-speed drone is flying in a direction away from the ground, the angle of attack of the rotatable wings installed on the multi-rotor high-speed drone is adjusted by rotating them. In other words, by increasing the angle of attack of the rotatable wings, the lift of the multi-rotor high-speed drone is adjusted so that the fuselage centerline of the multi-rotor high-speed drone is aligned with the direction of flight speed.

[0071] Similarly, when the flight speed direction of a multi-rotor high-speed drone is in the same direction as the central axis of the fuselage rotating clockwise, that is, when the flight speed direction of the multi-rotor high-speed drone is towards the ground, the rotation of the rotatable wings installed on the multi-rotor high-speed drone is used to adjust the angle of attack of the rotatable wings. In other words, by reducing the angle of attack of the rotatable wings, the lift of the multi-rotor high-speed drone is adjusted, and the flight attitude of the multi-rotor high-speed drone is changed so that the central axis of the fuselage of the multi-rotor high-speed drone is aligned with the direction of flight speed.

[0072] Specifically, such as Figure 2 The diagram illustrates the relationship between the overall lift coefficient of a multi-rotor high-speed UAV and the angle of attack of its rotatable wing. Within the rotatable wing's angle of attack range: increasing the rotatable wing's angle of attack increases the positive lift of the multi-rotor high-speed UAV or decreases its negative lift; conversely, decreasing the rotatable wing's angle of attack decreases the positive lift or increases the negative lift. That is, based on this principle, when the angle between the weathervane's direction and the fuselage's central axis is greater than 0, the rotatable wing's angle of attack needs to be increased to enhance the multi-rotor high-speed UAV's positive lift or decrease its negative lift; conversely, when the angle between the weathervane's direction and the fuselage's central axis is less than 0, the rotatable wing's angle of attack needs to be decreased to reduce the multi-rotor high-speed UAV's positive lift or increase its negative lift.

[0073] The relationship between the rotation direction and the included angle of the rotatable wing is not limited to that given in this embodiment. It needs to be set according to the direction of the drone's flight speed and the design of the drone.

[0074] This invention uses a weather vane to detect the flight speed direction of a multi-rotor high-speed drone in real time, thereby detecting the consistency between the flight speed direction and the central axis of the drone's fuselage. Then, by adjusting the rotation angle of the rotatable wings, the lift-drag ratio of the entire drone fuselage is adjusted, thus adjusting the angle between the flight speed direction and the central axis of the drone's fuselage, until the multi-rotor high-speed drone reaches equilibrium, that is, the flight speed direction and the central axis of the drone's fuselage are consistent.

[0075] More preferably, in actual design, the rotatable wing cannot rotate 360 ​​degrees, that is, the angle of attack of the rotatable wing has the maximum angle.

[0076] More preferably, when adjusting the angle of attack of the rotatable wing, the present invention also employs an adaptive algorithm to calculate the rotation angle of the rotatable wing each time. Specifically, the time when the rotation angle of the wind vane is collected each time is set as a time, and the first... The angle between the weathervane's orientation and the direction of the fuselage's central axis at that moment is: , No. The angle of attack of the rotatable wing at that moment is ,from That time The rotation angle of the rotatable wing during each moment is Based on the control algorithm, the following formula can be derived:

[0077] (1).

[0078] In the formula: , , The parameters for controlling the algorithm are specifically related to the weight of the aircraft and the size and shape of the wings, and can be obtained through testing experiments.

[0079] For the first The rotation angle of the weather vane is collected at all times.

[0080] For the first The angle between the direction of the weather vane and the direction of the fuselage's central axis at any given moment.

[0081] For the first The rotation angle of the weather vane is collected at all times.

[0082] For from the first Time's up The rotation angle of the rotatable wing of the multi-rotor high-speed UAV at a given moment.

[0083] In addition, when the flight speed direction of the multi-rotor high-speed drone is aligned with the direction of the fuselage's central axis, the system will clean up the data and redefine a new time 0.

[0084] As can be seen from formula (3), the calculation of the rotation angle of the rotatable wing in this invention is independent of the initial angle of the rotatable wing. Therefore, it is not necessary to record or measure the initial angle of the rotatable wing; it is only necessary to control the rotatable wing based on the calculated rotation angle. Therefore, the multi-rotor high-speed UAV of this invention does not require zero-point calibration of the rotatable wing angle at the time of manufacture, thereby improving the production efficiency of the UAV and reducing the equipment production cost.

[0085] Example 2

[0086] Based on Embodiment 1, the present invention also provides another embodiment, a multi-rotor high-speed unmanned aerial vehicle, such as... Figure 5 and Figure 6 As shown, the multi-rotor high-speed drone includes a drone fuselage 1, a multi-rotor base 2, a rotatable wing assembly, and a weathervane assembly.

[0087] Specifically, the multi-rotor base 2 is installed at the bottom of the drone fuselage 1, and each rotor of the multi-rotor base 2 is equipped with a first motor. A main control board 5 is located inside the drone fuselage 1, and the main control board 5 is electrically connected to each first motor. It is used to control the flight attitude of the multi-rotor high-speed drone by driving the operation of the first motors, including the magnitude and direction of the drone's flight speed. Furthermore, the control of the drone's flight attitude is a technology well-known to those skilled in the art, and this invention does not involve improvements to this technology.

[0088] Preferably, the rotatable wing assembly comprises two components, respectively located on both sides of the UAV fuselage 1. Each rotatable wing assembly includes a rotatable wing 31, a rotating shaft 32, and a second motor 34 located within the UAV fuselage 1. One end of the rotating shaft 32 is located inside the UAV fuselage 1 and geared to the second motor 34; the other end passes through the UAV fuselage 1 and extends to the outside of the UAV fuselage 1, where it is fixedly connected to the rotatable wing 31. The second motor 34 is electrically connected to the main control board 5. More preferably, the two rotatable wings 31 are located near the center of gravity of the UAV fuselage 1. The main control board 5 drives the second motor 34 to rotate the rotating shaft 32, thereby rotating the rotatable wing 31 to adjust its pitch angle. This provides lift to the multi-rotor high-speed UAV, adjusting its flight attitude so that the fuselage centerline of the multi-rotor high-speed UAV aligns with its flight speed direction.

[0089] Furthermore, a weather vane component is also mounted on the drone fuselage 1. This component detects the flight speed direction of the multi-rotor high-speed drone, thereby determining the consistency between the flight speed direction and the fuselage's central axis. Specifically, the weather vane component includes a weather vane 41, a connecting rod 42, and an encoder 43. One end of the connecting rod 42 is located inside the drone fuselage 1 and connected to the encoder 43, while the other end extends to the outside of the drone fuselage 1 and is fixedly connected to the weather vane 41. When the weather vane 41 rotates, it drives the connecting rod 42 to rotate, which in turn drives the encoder 43 to rotate. The encoder 43 can then determine the rotation angle of the weather vane 41. Therefore, based on the rotation angle of the weather vane 41, the angle between the flight speed direction of the multi-rotor high-speed drone and the fuselage's central axis can be determined. In the initial state, the orientation of the weather vane 41 is consistent with the direction of the fuselage centerline. Therefore, once the orientation of the weather vane 41 changes, that is, the direction of the flight speed of the multi-rotor high-speed UAV is inconsistent with the direction of the fuselage centerline, the angle between the direction of the flight speed of the multi-rotor high-speed UAV and the direction of the fuselage centerline can be obtained based on the rotation angle of the weather vane 41.

[0090] In other words, the main control board 5 can obtain the rotation angle of the weather vane 41 through the encoder 43, and then determine the orientation of the weather vane 41. Based on the rotation angle of the weather vane 41, the angle between its orientation and the fuselage's central axis can be calculated, thus determining the angle between the flight speed direction of the multi-rotor high-speed drone and the fuselage's central axis, and thus whether the flight speed direction of the multi-rotor high-speed drone is consistent with the fuselage's central axis. By installing the weather vane 41 on the drone's fuselage 1 and detecting its orientation, the flight speed direction of the multi-rotor high-speed drone can be determined accurately and clearly. This solves the problem of inaccurate determination of the flight speed direction of multi-rotor high-speed drones in existing technologies that rely on the surrounding environment captured by the camera module.

[0091] Furthermore, when it is determined that the direction of the drone's flight speed is inconsistent with the direction of the fuselage's central axis, the main control board 5 sends a drive signal to the second motor 34 to drive the control rotating shaft 32 to rotate, thereby driving the rotation of the rotatable wing 31 to adjust the angle of attack of the rotatable wing 31, thereby adjusting the lift of the entire multi-rotor high-speed drone, so as to change the orientation of the drone fuselage 1 of the multi-rotor high-speed drone and achieve consistency between the direction of the flight speed of the multi-rotor high-speed drone and the direction of the fuselage's central axis.

[0092] Furthermore, two rotatable wing assemblies are symmetrically arranged on both sides of the UAV fuselage 1, and the rotation shaft 32 of the two rotatable wing assemblies is a single integrated design. Since the rotation shaft 32 is a single integrated design, only one second motor 34 is required.

[0093] A rotating shaft 32 extends through the fuselage 1 of the UAV, with one end fixedly connected to one rotatable wing 31 and the other end fixedly connected to another rotatable wing 31. A gear 33 is fixed to the rotating shaft 32 inside the UAV fuselage 1. The gear 33 is geared to a second motor 34, which is electrically connected to the main control board 5. The main control board 5 drives and controls the operation of the second motor 34, which in turn drives the rotating shaft 32 to rotate via the gear 33, thereby synchronously driving the rotation of the two rotatable wings 31 and adjusting the angle of attack of the rotatable wings 31.

[0094] Furthermore, there are two weather vane components, one on each side of the UAV fuselage 1. The main control board 5 is electrically connected to the encoder 43 of each weather vane component to acquire the rotation angle of the two weather vanes 41, and then calculates the final rotation angle of the weather vanes 41 of the multi-rotor high-speed UAV according to a preset averaging algorithm. This invention improves the accuracy of flight speed direction determination by setting two weather vane components to compensate for the flight speed direction determination of the multi-rotor high-speed UAV.

[0095] Example 3

[0096] Based on Embodiment 1, the present invention provides a weather vane-based drone flight control device, including a memory and a processor. The memory stores a drone flight control program that runs on the processor. The drone flight control program is a computer program. When the processor executes the drone flight control program, it implements the steps of a weather vane-based drone flight control method provided by the present invention.

[0097] Example 4

[0098] Based on Embodiment 1, the present invention also provides a computer-readable storage medium storing a drone flight control program thereon. The drone flight control program is a computer program, and when executed by a processor, it implements the steps of a weathervane-based drone flight control method provided by the present invention.

[0099] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A weather vane-based UAV flight control method, characterized in that, The UAV flight control method includes: Wind vane detection steps: When the multi-rotor high-speed drone is in cruise mode, the orientation of the wind vane installed on the drone body is acquired in real time, and then the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the central axis of the drone body is determined based on the orientation of the wind vane; the multi-rotor high-speed drone includes a drone body, a multi-rotor base, a rotatable wing, and a wind vane, wherein the multi-rotor base is installed at the bottom of the drone body, and the rotatable wing and the wind vane are sequentially installed on the drone body of the multi-rotor high-speed drone, and the orientation of the wind vane is always consistent with the flight speed direction of the multi-rotor high-speed drone; Judgment Step: Determine whether the flight speed direction of the multi-rotor high-speed UAV is consistent with the direction of the fuselage centerline based on the angle between the flight speed direction and the direction of the fuselage centerline; if yes, keep the angle of the rotatable wings of the multi-rotor high-speed UAV unchanged; if no, perform the adjustment step. Adjustment steps: Adjust the angle of the rotatable wing of the multi-rotor high-speed UAV according to the angle between the flight speed direction of the multi-rotor high-speed UAV and the direction of the fuselage centerline, and then execute the wind vane detection step; The adjustment step of adjusting the angle of attack of the rotatable wing of the multi-rotor high-speed UAV according to the angle specifically includes: First, determine the rotation direction of the rotatable wing according to the flight speed direction of the multi-rotor high-speed UAV, then calculate the current rotation angle of the rotatable wing of the multi-rotor high-speed UAV according to the rotation angle of the wind vane collected each time and the control algorithm, and then control the rotatable wing of the multi-rotor high-speed UAV to rotate towards the corresponding rotation direction by the corresponding rotation angle according to the rotation direction of the rotatable wing and the calculated rotation angle, so as to adjust the angle of attack of the rotatable wing; Specifically, the calculation of the rotation angle of the rotatable wing of the multi-rotor high-speed UAV based on the rotation angle of the wind vane collected each time and the control algorithm includes: based on the previous... The rotation angle of the wind vane collected at each moment, the rotation angle of the wind vane collected at the current moment, and the PID control formula are used to calculate the rotation angle of the rotatable wing of the multi-rotor high-speed UAV from the current moment to the next moment. The PID control formula is as follows: ； In the formula: , , These are the PID control parameters, which are given in advance through testing. For the first The rotation angle of the weather vane, collected in real time; For the first The rotation angle of the weather vane, collected in real time; For the first The rotation angle of the weather vane, collected in real time; For from the first Time's up The rotation angle of the rotatable wing of the multi-rotor high-speed UAV at a given moment.

2. The weathervane-based UAV flight control method according to claim 1, characterized in that, The wind vane detection step specifically includes: when the multi-rotor high-speed UAV is in cruise mode, acquiring the rotation angle of the wind vane in real time, and determining the orientation of the wind vane based on the rotation angle and the initial installation angle of the wind vane, and then determining the angle between the orientation of the wind vane and the direction of the central axis of the multi-rotor high-speed UAV.

3. The weathervane-based UAV flight control method according to claim 1, characterized in that, The determination step specifically includes: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage central axis is within a preset angle range, the flight speed direction of the multi-rotor high-speed drone is consistent with the direction of the fuselage central axis; when the angle between the orientation of the weathervane and the fuselage central axis of the multi-rotor high-speed drone is not within the preset angle range, the flight speed direction of the multi-rotor high-speed drone is inconsistent with the direction of the fuselage central axis.

4. The weathervane-based UAV flight control method according to claim 3, characterized in that, The adjustment steps specifically include: when the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage centerline is less than a first preset angle, controlling the rotatable wings of the multi-rotor high-speed drone to rotate in the first direction to increase the positive lift of the drone fuselage or reduce the negative lift of the drone fuselage. When the angle between the flight speed direction of the multi-rotor high-speed drone and the direction of the fuselage centerline is greater than the second preset angle, the rotatable wings of the multi-rotor high-speed drone are controlled to rotate in the second direction to reduce the positive lift of the drone fuselage or increase the negative lift of the drone fuselage. The preset angle has a range of [-A, +A], where -A is the first preset angle and +A is the second preset angle. The preset angle is an angle in the XOY coordinate system, where the X-axis in the XOY coordinate system is the direction of the fuselage centerline of the multi-rotor high-speed UAV, and the Y-axis is the direction of the component along the direction of gravity and perpendicular to the X-axis.

5. A weather vane-based unmanned aerial vehicle (UAV) flight control device, characterized in that, The system includes a memory and a processor. The memory stores a drone flight control program that runs on the processor. The drone flight control program is a computer program. When the processor executes the drone flight control program, it implements the steps of the weathervane-based drone flight control method as described in any one of claims 1-4.

6. A computer-readable storage medium storing a flight control program for an unmanned aerial vehicle (UAV), characterized in that, The UAV flight control program is a computer program, and when the UAV flight control program is executed by the processor, it implements the steps of the weathervane-based UAV flight control method as described in any one of claims 1-4.

7. A multi-rotor high-speed unmanned aerial vehicle, characterized in that, The multi-rotor high-speed drone includes a drone fuselage, a multi-rotor base, two rotatable wing assemblies, and a weathervane assembly. The multi-rotor base is mounted on the bottom of the drone fuselage, and each rotor of the multi-rotor base is equipped with a first motor. A main control board is located inside the drone fuselage and is electrically connected to each first motor to control the flight attitude of the multi-rotor high-speed drone by driving the operation of each first motor. Two rotatable wing assemblies are respectively located on both sides of the drone fuselage. Each rotatable wing assembly includes a rotatable wing, a rotating shaft, and a second motor located inside the drone fuselage. One end of the rotating shaft is located inside the drone fuselage and connected to the second motor gear, while the other end passes through the drone fuselage and extends to the outside of the drone fuselage, where it is fixedly connected to the rotatable wing. The second motor is electrically connected to the main control board. The main control board is used to drive the corresponding second motor to rotate the corresponding rotating shaft, thereby rotating the corresponding rotatable wing. The weather vane assembly includes a weather vane, a connecting rod, and an encoder. One end of the connecting rod is fixed inside the drone fuselage and connected to the encoder, while the other end extends to the outside of the drone fuselage and is fitted with the weather vane. The encoder is electrically connected to the main control board. When the weather vane rotates, the encoder rotates via the connecting rod. The main control board is used to acquire the rotation angle of the weather vane in real time through the encoder when the multi-rotor high-speed UAV is in cruise mode, and send a drive signal to each second motor according to the weather vane-based UAV flight control method according to any one of claims 1-4, so as to drive and control the rotation of each rotatable wing, thereby adjusting the lift of the UAV fuselage of the multi-rotor high-speed UAV so that the fuselage centerline of the multi-rotor high-speed UAV is consistent with the direction of flight speed.

8. The multi-rotor high-speed unmanned aerial vehicle according to claim 7, characterized in that, Two rotatable wing assemblies are symmetrically arranged on both sides of the drone fuselage, and the rotation shaft of the two rotatable wing assemblies is an integral design that runs through the inside of the drone fuselage. The two rotatable wing assemblies have a single second motor. Both rotatable wings are connected to the second motor via the rotation shaft and gears. The main control board controls the operation of the second motor to drive the rotation shaft, thereby synchronizing the rotation of the two rotatable wings.

9. The multi-rotor high-speed unmanned aerial vehicle according to claim 7, characterized in that, There are two wind vane components, which are respectively located on both sides of the drone's fuselage. The main control board is electrically connected to the encoders of the two wind vane components to obtain the rotation angles of the two wind vanes, and then calculates the rotation angle of the wind vanes of the multi-rotor high-speed drone according to a preset averaging algorithm.

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