Anti-explosion method and system based on adjusting battery position, unmanned aerial vehicle and medium

Abstract

The application discloses a kind of based on adjusting battery position anti-explosion machine method, system, unmanned aerial vehicle and medium, anti-explosion machine method includes: real-time monitoring is carried out to the motor of all rotor assemblies on unmanned aerial vehicle, obtains the operating state information of each motor and the angular acceleration information of unmanned aerial vehicle, determines fault motor according to operating state information and angular acceleration information;Based on all the motor that does not occur fault calculates first stable position on rectangular coordinate system, moves to first stable position by drive device control battery assembly;The rotational speed of the opposite-angle motor of fault motor is promoted control, and based on all the motor that does not occur fault calculates second stable position on rectangular coordinate system, moves to second stable position by drive device control battery assembly;Optimal safe landing trajectory is obtained, and unmanned aerial vehicle is controlled to land according to optimal safe landing trajectory.The application can guarantee that the motor of the rotor assembly of unmanned aerial vehicle appears fault, so that unmanned aerial vehicle guarantees smooth flight and safe landing.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a method, system, UAV, and computer-readable storage medium for preventing UAV crashes based on adjusting battery position. Background Technology

[0002] With the rapid development of science and technology, in recent years, drone equipment has become increasingly diverse, with products exhibiting various flight modes such as fixed-wing, multi-rotor, helicopters, and drones. Among these, quadcopter drones are the mainstream, as they are equipped with four rotor components that work together to achieve takeoff, landing, and cruising.

[0003] During normal flight, a quadcopter drone's center of gravity is located in the middle of the fuselage, ensuring balance. However, unforeseen circumstances can occur during flight, such as a malfunction of the motors controlling the rotors. In such cases, the drone is highly unbalanced and may crash, falling in an abnormal posture. Current technology typically relies on manual intervention by the pilot, using their experience to control the drone for an emergency landing. However, during descent, the malfunctioning motor means the combined thrust from all the remaining working motors is applied at a point different from the drone's center of gravity, still making it prone to imbalance and crashing. This compromises the stability and safety of the drone's flight.

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

[0005] The main purpose of this application is to provide a method, system, drone, and medium for preventing drone crashes based on adjusting the battery position. This aims to solve the problem in the prior art where, when a rotor assembly motor suddenly fails during drone flight, the point of application of the resultant force of the thrust provided by all the remaining normally operating motors is different from the drone's center of gravity, making the drone prone to attitude imbalance and thus causing drone crashes.

[0006] To achieve the above objectives, this application provides a method for preventing drone crashes based on adjusting the battery position. The method is applied to a drone, which includes: multiple rotor assemblies and a movable battery assembly; each rotor assembly is equipped with an independently controllable motor, and the battery assembly is controlled by a drive device inside the drone's body.

[0007] The explosion-proof method includes:

[0008] The motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor and the angular acceleration information of the UAV. The faulty motor is determined based on the operating status information and the angular acceleration information.

[0009] A Cartesian coordinate system is constructed based on the battery assembly, and a first stable position on the Cartesian coordinate system is calculated based on all motors that have not failed. The battery assembly is then controlled to move to the first stable position by the drive device.

[0010] The speed of the diagonal motor opposite the faulty motor is increased, and a second stable position on the Cartesian coordinate system is calculated based on all the non-faulty motors. The battery assembly is then controlled to move to the second stable position by the drive device.

[0011] Obtain the optimal safe landing trajectory, and control the UAV to land according to the optimal safe landing trajectory.

[0012] Optionally, the step of real-time monitoring of the motors of all rotor components on the UAV, obtaining the operating status information of each motor and the angular acceleration information of the UAV, and determining the faulty motor based on the operating status information and the angular acceleration information, specifically includes:

[0013] The motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor.

[0014] The angular acceleration information of the UAV is obtained based on the inertial measurement unit on the UAV.

[0015] Based on the analysis of all the aforementioned operating status information and angular acceleration information, if there is an anomaly in the operating status information, the faulty motor on the UAV is determined based on the angular acceleration information.

[0016] Optionally, the step of constructing a Cartesian coordinate system based on the battery assembly, calculating a first stable position on the Cartesian coordinate system based on all non-faulty motors, and controlling the battery assembly to move to the first stable position via the drive device specifically includes:

[0017] A Cartesian coordinate system is constructed based on the initial position of the battery assembly. The first stable position on the Cartesian coordinate system is obtained by calculating the mapping of all non-faulty motors on the Cartesian coordinate system.

[0018] A first movement command is generated based on the first stable position, and the battery assembly is controlled to move from the initial position to the first stable position based on the first movement command using the driving device.

[0019] Optionally, the step of constructing a Cartesian coordinate system based on the initial position of the battery assembly, and calculating the first stable position on the Cartesian coordinate system based on the mapping of all non-faulty motors on the Cartesian coordinate system, specifically includes:

[0020] Obtain the initial position of the battery assembly, and use the initial position as the origin to construct a Cartesian coordinate system, wherein the plane containing the Cartesian coordinate system is parallel to the plane containing all the motors;

[0021] Map all the motors to the Cartesian coordinate system to obtain the coordinates corresponding to each motor;

[0022] The coordinates of the center of gravity of all the non-faulty motors are calculated, and the coordinates of the center of gravity are taken as the first stable position.

[0023] Optionally, the step of increasing the speed of the diagonal motor of the faulty motor, calculating a second stable position in the Cartesian coordinate system based on all the non-faulty motors, and controlling the battery assembly to move to the second stable position via the drive device specifically includes:

[0024] Speed ​​boost control is applied to the diagonal motor opposite the faulty motor;

[0025] Obtain the real-time speed of all the motors that have not experienced a fault, and calculate the thrust provided by each of the motors that have not experienced a fault based on each real-time speed;

[0026] The second stable position on the Cartesian coordinate system is obtained by calculating based on all the thrusts.

[0027] A second movement command is generated based on the first stable position and the second stable position, and the battery assembly is controlled to move from the first stable position to the second stable position based on the driving device and the second movement command.

[0028] Optionally, the step of calculating the second stable position in the Cartesian coordinate system based on all the thrusts specifically includes:

[0029] Obtain the coordinates of each of the non-faulty motors in the Cartesian coordinate system;

[0030] Based on the coordinates of each of the non-faulty motors and the corresponding thrust, the coordinates of the resultant force application point of all the thrusts are calculated, and the coordinates of the resultant force application point are taken as the second stable position.

[0031] Optionally, obtaining the optimal safe landing trajectory and controlling the UAV to land according to the optimal safe landing trajectory specifically includes:

[0032] The optimal safe landing point is calculated based on the data returned by the altitude and vision sensors on the drone.

[0033] Generate the optimal safe landing trajectory based on the optimal safe landing point;

[0034] The drone is controlled according to the optimal safe landing trajectory, controlling all the motors that have not malfunctioned to complete the landing.

[0035] Furthermore, to achieve the above objectives, this application also provides a battery-based explosion-proof system, wherein the explosion-proof system is used to implement the explosion-proof method described in any of the above claims, and the explosion-proof system includes:

[0036] The fault confirmation module is used to monitor the motors of all rotor components on the UAV in real time, obtain the operating status information of each motor and the angular acceleration information of the UAV, and determine the faulty motor based on the operating status information and the angular acceleration information.

[0037] A stability control module is used to construct a Cartesian coordinate system based on the battery assembly, calculate a first stable position on the Cartesian coordinate system based on all motors that have not failed, and control the battery assembly to move to the first stable position through the drive device.

[0038] The spin control module is used to increase the speed of the diagonal motor of the faulty motor, and calculate the second stable position on the Cartesian coordinate system based on all the non-faulty motors, and control the battery assembly to move to the second stable position through the drive device;

[0039] The landing control module is used to obtain the optimal safe landing trajectory and control the UAV to land according to the optimal safe landing trajectory.

[0040] In addition, to achieve the above objectives, this application also provides a drone, wherein the drone includes: a memory, a processor, and a crash-proof program stored in the memory and executable on the processor, wherein the crash-proof program, when executed by the processor, implements the steps of the crash-proof method as described in any of the preceding claims.

[0041] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a bomb-proof machine program, which, when executed by a processor, implements the steps of the bomb-proof machine method as described in any of the preceding claims.

[0042] In this application, the anti-crash method is applied to a drone, which includes: multiple rotor assemblies and a movable battery assembly; each rotor assembly is equipped with an independently controllable motor, and the battery assembly is controlled by a drive device inside the drone's body; the anti-crash method includes: real-time monitoring of the motors of all rotor assemblies on the drone, acquiring the operating status information of each motor and the angular acceleration information of the drone, and determining the faulty motor based on the operating status information and the angular acceleration information; constructing a Cartesian coordinate system based on the battery assembly, and calculating a first stable position on the Cartesian coordinate system based on all non-faulty motors, and controlling the battery assembly to move to the first stable position through the drive device; performing speed increase control on the diagonal motors opposite the faulty motor, and calculating a second stable position on the Cartesian coordinate system based on all non-faulty motors, and controlling the battery assembly to move to the second stable position through the drive device; obtaining an optimal safe landing trajectory, and controlling the drone to land according to the optimal safe landing trajectory. This application can ensure that when the rotor motor of the UAV fails, the response speed of the UAV's flight attitude adjustment is improved by controlling and adjusting the center of gravity, so as to avoid the UAV crashing due to torque imbalance, thus ensuring the safety and stability of the UAV flight. This allows the UAV to take emergency measures in time and land safely when encountering emergencies, thereby reducing the maintenance cost and maintenance time of the UAV. Attached Figure Description

[0043] Figure 1 This is a flowchart of a preferred embodiment of the explosion-proof method based on adjusting the battery position provided in this application;

[0044] Figure 2 This is a partial structural diagram of the UAV provided in this application;

[0045] Figure 3 This is a first schematic diagram of the movement control of the battery assembly of the drone provided in this application;

[0046] Figure 4 This is a second schematic diagram of the movement control of the battery assembly of the drone provided in this application;

[0047] Figure 5 This is a schematic diagram of a preferred embodiment of the anti-explosion system based on adjusting the battery position provided in this application;

[0048] Figure 6 This is a schematic diagram of the operating environment of a preferred embodiment of the drone of this application. Detailed Implementation

[0049] 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.

[0050] This application provides a method for preventing drone crashes based on adjusting the battery position. It should be noted that this method is applied to multi-rotor drones, preferably quadcopter drones, which are drones containing four rotor components. Furthermore, this method can also be used in conjunction with the aerodynamic characteristics of fixed-wing drones.

[0051] In embodiments of this application, the drone includes: multiple rotor assemblies and a movable battery assembly, wherein each rotor assembly is equipped with an independently controllable motor, and the battery assembly is controlled by a drive device inside the drone body.

[0052] It should be noted that, as Figure 2 As shown, the battery assembly's range of motion is within the drone's fuselage, and the battery assembly is mounted on a combined guide rail (e.g., Figure 2 The battery pack (composed of a combination of transverse and longitudinal guide rails) allows for lateral movement via the transverse guide rails and longitudinal movement via the longitudinal guide rails. In other words, the drive device can control the battery pack to move along the X and Y axes of a plane. The drive device can be a servo motor drive or a hydraulic drive, as long as it can control the movement of the battery pack; this application does not impose any limitations. Furthermore, in this application, the range of movement of the battery pack is sufficient to implement the explosion-proof method.

[0053] The preferred embodiment of this application describes a method for preventing machine explosions based on adjusting the battery position, such as... Figure 1 As shown, the explosion-proof method based on adjusting the battery position includes the following steps:

[0054] Step S10: Monitor the motors of all rotor components on the UAV in real time, obtain the operating status information of each motor and the angular acceleration information of the UAV, and determine the faulty motor based on the operating status information and the angular acceleration information.

[0055] Specifically, the motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor, including but not limited to speed data, current data, and temperature data. At the same time, the flight attitude of the UAV is also monitored to obtain the angular acceleration information of the UAV, including but not limited to pitch acceleration, yaw acceleration, and roll acceleration.

[0056] Subsequently, based on the operational status information and angular acceleration information, analysis and judgment are performed to identify the faulty motor on the drone, and the fault handling process is triggered immediately upon identification of the faulty motor.

[0057] In one embodiment, the step of real-time monitoring of the motors of all rotor components on the UAV, acquiring the operating status information of each motor and the angular acceleration information of the UAV, and determining the faulty motor based on the operating status information and the angular acceleration information, specifically includes:

[0058] The motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor; the angular acceleration information of the UAV is obtained based on the inertial measurement unit on the UAV; the operating status information and the angular acceleration information are analyzed, and if there is an abnormality in the operating status information, the faulty motor on the UAV is determined based on the angular acceleration information.

[0059] Specifically, the operating status of the motors of all rotor components on the drone is monitored in real time, which allows us to obtain the key parameters corresponding to each motor, namely the operating status information. The operating status information includes, but is not limited to, speed data, current data, and temperature data.

[0060] Furthermore, the drone's flight attitude will be monitored in real time. In fact, the drone's angular acceleration will be monitored by the inertial measurement unit (IMU) on the drone to obtain the drone's angular acceleration information, which includes, but is not limited to, pitch acceleration, yaw acceleration, and roll acceleration.

[0061] Subsequently, all operating status information is analyzed in real time. If there is an anomaly in the operating status information, in other words, if any one or more of the speed data, current data or temperature data in the operating status are abnormal, it is determined that the motor of the rotor assembly has initially malfunctioned.

[0062] It should be noted that abnormal situations include, but are not limited to: a significant decrease or increase in the current value of the speed data corresponding to a certain motor compared to the previous value; or a significant decrease or increase in the current value of the speed data corresponding to a certain motor compared to the current value of the speed data corresponding to other motors (e.g., an increase or decrease exceeding 50%); a significant increase or decrease in the current data corresponding to a certain motor compared to the previous value (e.g., a sudden drop in the current data to 1A, 2A, or even lower); or a significant increase or decrease in the current data corresponding to a certain motor compared to the current data corresponding to other motors; or a significant increase or decrease in the current value of the temperature data corresponding to a certain motor compared to the previous value; or a significant increase or decrease in the current value of the temperature data corresponding to a certain motor compared to the current value of the temperature data corresponding to other motors.

[0063] Once an initial abnormality is detected in the rotor assembly motor, the exact location of the faulty motor is precisely identified by combining the drone's angular acceleration information, thus pinpointing the faulty motor on the drone. In essence, this involves determining the specific location of the malfunctioning motor based on data from the accelerometer sensors included in the inertial measurement unit, thereby obtaining the exact location of the faulty motor.

[0064] For example, taking the drone's flight direction as positive and viewing it from directly above, the motors of the four rotor components can be categorized as: left front motor, left rear motor, right front motor, and right rear motor. When an initial abnormality is detected in the motors based on operational status information, the yaw, roll, and pitch accelerations included in the angular acceleration data can be used to determine which motor is malfunctioning, thus confirming the faulty motor. In this situation, the location of the faulty motor can be quickly pinpointed, and subsequent emergency measures can be effectively implemented, buying time for return to base or emergency landing and reducing the probability of the drone crashing.

[0065] Furthermore, once the faulty motor is identified, the current input to it is immediately cut off, keeping it in a switched-off state. This allows the control focus to be concentrated on the three normally functioning motors. In this configuration, the malfunction of the faulty motor can be prevented from unnecessarily impacting the drone's emergency response, further ensuring the drone's flight safety and stability.

[0066] Step S20: Construct a Cartesian coordinate system based on the battery assembly, calculate the first stable position on the Cartesian coordinate system based on all motors that have not failed, and control the battery assembly to move to the first stable position through the drive device.

[0067] Specifically, when the drone is in normal flight (all four rotor motors are working properly), the drone's battery pack is fixed in its initial position, preferably at the drone's center of gravity.

[0068] When one of the rotor components of a drone fails, the drone's remaining three motors are insufficient to maintain stable flight. Due to the lack of torque, the drone will tilt towards the side of the faulty motor, which can easily lead to a crash. Therefore, it is necessary to first stabilize the drone to ensure that it can maintain a stable flight attitude.

[0069] A Cartesian coordinate system is constructed based on the battery assembly, and the control core is focused on the triangular geometric mechanism formed by the remaining three normally functioning motors (motors that have not failed), and the first stable position on the Cartesian coordinate system is calculated.

[0070] Then, the battery assembly is moved and controlled by the drive device, so that the battery assembly can move from the initial position to the first stable position, thereby completing the stable control of the drone and preventing the drone from tilting and causing a crash.

[0071] In one embodiment, the step of constructing a Cartesian coordinate system based on the battery assembly, calculating a first stable position on the Cartesian coordinate system based on all non-faulty motors, and controlling the battery assembly to move to the first stable position via the drive device specifically includes:

[0072] A Cartesian coordinate system is constructed based on the initial position of the battery assembly. A first stable position on the Cartesian coordinate system is obtained by calculating the mapping of all non-faulty motors on the Cartesian coordinate system. A first movement command is generated based on the first stable position, and the battery assembly is controlled to move from the initial position to the first stable position based on the drive device and the first movement command.

[0073] Specifically, a Cartesian coordinate system is first constructed based on the battery assembly, and the mapping of all non-faulty motors on the Cartesian coordinate system is obtained. In fact, it is the mapping coordinates of all non-faulty motors on the Cartesian coordinate system. Based on all the mapping coordinates, the first stable position on the Cartesian coordinate system can be obtained.

[0074] Subsequently, a first movement command is generated based on the initial position (origin) and the first stable position of the battery assembly. This first movement command controls the battery assembly to move along the X and Y axes. The first movement command is then sent to the drive unit. Based on this, the drive unit controls the battery assembly to move along a preset combined guide rail in the plane of the Cartesian coordinate system along the X and Y axes, allowing the battery assembly to move from the initial position to the first stable position. In this way, by controlling the battery assembly to move to the first stable position, the additional attitude adjustment requirements caused by center of gravity shift can be reduced, and the rotational inertia of the UAV can also be reduced, making the UAV respond faster to control inputs and enhancing its ability to maintain balance.

[0075] Furthermore, during the process of the drive unit controlling the battery assembly to move along the X and Y axes according to the first movement command, the inertial measurement unit simultaneously collects real-time angular acceleration data of the UAV. Based on this real-time angular acceleration data, a closed-loop dynamic calibration is performed on the movement of the battery assembly—that is, fine-tuning the movement of the battery assembly—until both the roll and pitch acceleration in the UAV's real-time angular acceleration data approach zero or are both zero. At this point, movement control of the battery assembly is stopped, and its position is locked. This locked position is then used as the new first stable position, indicating that the UAV can maintain a stable flight attitude in the air. In this scenario, adjusting the position of the UAV's battery assembly through dynamic optimization can quickly enable the UAV to maintain a stable state in the air, reducing the risk of violent shaking or loss of control due to torque loss, and providing effective assurance for subsequent UAV control.

[0076] Furthermore, the step of constructing a Cartesian coordinate system based on the initial position of the battery assembly, and calculating the first stable position on the Cartesian coordinate system based on the mapping of all non-faulty motors on the Cartesian coordinate system, specifically includes:

[0077] The initial position of the battery assembly is obtained, and a Cartesian coordinate system is constructed using the initial position as the origin. The plane containing the Cartesian coordinate system is parallel to the plane containing all the motors. All the motors are mapped to the Cartesian coordinate system to obtain the coordinates corresponding to each motor. The center of gravity coordinates corresponding to all the non-faulty motors are calculated based on the coordinates of all the non-faulty motors, and the center of gravity coordinates are used as the first stable position.

[0078] Specifically, the initial position of the battery assembly is first obtained, and this initial position is used as the origin to construct a Cartesian coordinate system, wherein the plane containing the Cartesian coordinate system is parallel to the plane containing all the motors.

[0079] Secondly, all motors are mapped to a Cartesian coordinate system to obtain the coordinates of each motor. In fact, this means projecting the center point of all motors onto the plane of the Cartesian coordinate system, thereby obtaining the coordinates of the center point of all motors in the Cartesian coordinate system, which is the mapping of each motor in the Cartesian coordinate system.

[0080] Finally, the coordinates of the three motors that did not malfunction are obtained. The coordinates of the three motors that did not malfunction form a triangular geometric structure. The centroid of this triangular geometric structure is calculated based on the coordinates of the three motors that did not malfunction, and the coordinates of the centroid of this triangular geometric structure are obtained. This is the coordinate of the centroid of all the motors that did not malfunction, and this coordinate of the centroid is taken as the first stable position.

[0081] For example, see Figure 3 , Figure 3 In this diagram, 1, 2, 3, and 4 represent the first, second, third, and fourth motors, respectively. The fourth motor is the faulty motor, and the four motors are arranged in a square around the battery pack. The initial position of the battery pack is the origin (0,0) of the Cartesian coordinate system. The center points of the first, second, third, and fourth motors are (-3, 3), (-3, -3), (3, -3), and (3, 3), respectively. Since the first, second, and third motors are not faulty, it is necessary to calculate the centroid of the triangle formed by their coordinates. Figure 3 The center coordinates of A shown are the corresponding centroid coordinates (i.e., the first stable position). The specific calculation method for the center coordinates of A is ((x1+x2+x3) / 3, (y1+y2+y3) / 3), where x1, x2, and x3 are the abscissas of the first motor, the second motor, and the third motor, respectively, and y1, y2, and y3 are the ordinates of the first motor, the second motor, and the third motor, respectively. The final calculated center coordinates of A are (-1, -1). After calculating the center coordinates of A, the battery assembly is moved so that the center of the battery assembly coincides with the center of A.

[0082] Step S30: Perform speed increase control on the diagonal motor of the faulty motor, calculate the second stable position on the Cartesian coordinate system based on all the non-faulty motors, and control the battery assembly to move to the second stable position through the drive device.

[0083] Specifically, once the drone is stabilized, it only means that the drone can maintain stable flight without roll or pitch. However, due to the lack of torque caused by the faulty motor, the drone will still spin in the air, so spin control is required.

[0084] The speed of the diagonal motor opposite the faulty motor is increased to increase the thrust provided by the diagonal motor. Then, the second stable position on the Cartesian coordinate system is calculated based on all the motors that have not failed.

[0085] Then, the battery assembly is moved and controlled by the drive device, so that the battery assembly can move from the first stable position to the second stable position, thereby completing the spin control of the drone, so that the drone can stop spinning and hover at a certain height, which facilitates the subsequent landing control of the drone.

[0086] In one embodiment, the step of increasing the speed of the diagonal motor opposite the faulty motor, calculating a second stable position in the Cartesian coordinate system based on all the non-faulty motors, and controlling the battery assembly to move to the second stable position via the drive device specifically includes:

[0087] The rotational speed of the diagonal motor opposite the faulty motor is increased; the real-time rotational speed of all the non-faulty motors is obtained, and the thrust provided by each non-faulty motor is calculated based on each real-time rotational speed; a second stable position on the Cartesian coordinate system is calculated based on all the thrusts; a second movement command is generated based on the first stable position and the second stable position, and the battery assembly is controlled to move from the first stable position to the second stable position based on the drive device and the second movement command.

[0088] Specifically, when the drone is not malfunctioning, all motors rotate at the same speed, all motors provide the same thrust, and the sum of all thrusts equals the weight of the drone.

[0089] First, the speed of the diagonal motor opposite the faulty motor is increased (by increasing the input current of the diagonal motor), so that the thrust provided by the diagonal motor is increased to a preset multiple, preferably twice the original value. At the same time, the speed of the two adjacent motors of the faulty motor is kept constant, that is, the thrust provided by the two adjacent motors remains constant.

[0090] Secondly, the real-time rotational speeds of all non-faulty motors (the diagonal motor and the two adjacent motors) are obtained, and the thrust currently provided by each non-faulty motor is calculated based on its real-time rotational speed. It should be noted that, based on the above, the specific thrust provided by each non-faulty motor is as follows: the thrust provided by the diagonal motor is twice that of the adjacent motors, and the thrust provided by the two adjacent motors is equal; furthermore, the sum of the thrust provided by all non-faulty motors equals the weight of the drone. In this case, the torque provided by the diagonal motor is equal to the torque provided by the two adjacent motors, thus preventing the drone from spinning.

[0091] Subsequently, the second stable position on the Cartesian coordinate system is obtained by calculating the thrust of all motors that have not failed.

[0092] Finally, a second movement command is generated based on the first and second stable positions of the battery assembly, controlling the battery assembly to move along the X and Y axes. This second movement command is then sent to the drive unit, which, based on the command, controls the battery assembly to move along a preset combined guide rail in the Cartesian coordinate plane along the X and Y axes, allowing the battery assembly to move from the first stable position to the second stable position. This eliminates the drone's spin, enabling it to hover stably in the air without spinning. Reduced spin disturbance also enhances the drone's wind resistance, improving the success rate of subsequent emergency landings and significantly reducing the probability of crashes, thus ensuring the safety of drone flight.

[0093] It is important to emphasize that in the above process, the control of the diagonal motor's rotational speed and the movement of the battery pack are actually performed synchronously. This can be understood as follows: the diagonal motor's rotational speed continuously increases until it reaches the preset speed, while the battery pack moves in coordination with the increase in the diagonal motor's speed until the final second stable position (at which point the diagonal motor's speed also reaches the preset speed). The battery pack's movement strategy is calculated based on the thrust provided by each motor that has not malfunctioned. During this process, the drone's spin continuously decreases, meaning the drone's yaw acceleration continuously decreases until it reaches or approaches zero.

[0094] Furthermore, during the process of the drive unit controlling the battery assembly to move along the XY axis according to the second movement command, the movement of the battery assembly is simultaneously calibrated in a closed loop according to the yaw angle acceleration. That is, the movement of the battery assembly is fine-tuned until the yaw angle acceleration of the UAV approaches zero or is zero. Then, the movement control of the battery assembly is stopped and the position of the battery assembly is locked. The locked position is then used as the new second stable position. At this point, it means that the UAV can maintain non-spinning and stable flight in the air.

[0095] Furthermore, the calculation based on all the thrusts to obtain the second stable position in the Cartesian coordinate system specifically includes:

[0096] Obtain the coordinates of each of the non-faulting motors in the Cartesian coordinate system; calculate the coordinates of the resultant force application point of all the thrusts based on the coordinates of each non-faulting motor and the corresponding thrust, and use the coordinates of the resultant force application point as the second stable position.

[0097] Specifically, first obtain the coordinates of each non-faulty motor in the rectangular coordinate system. Since the direction of the thrust provided by each non-faulty motor is the same (all are vertically upward in the opposite direction of gravity), the resultant force of the thrust provided by all non-faulty motors is parallel to each thrust. Therefore, the position of the point of application of the resultant force can be determined by the principle of the center of the parallel force system.

[0098] The coordinates of the resultant force point of all thrusts are calculated based on the coordinates of each non-faulting motor and its corresponding thrust, and the coordinates of the reasonable point of application are taken as the second stable position.

[0099] Continuing with the examples above, see [link to example]. Figure 4 , Figure 4 In the diagram, 1, 2, 3, and 4 represent the first, second, third, and fourth motors, respectively. The fourth motor is the faulty motor, and the four motors are arranged in a square around the battery pack. Figure 4 The center of the battery module has moved to the first stable position, that is, the center of the battery module is... Figure 3 The centers of A in the diagram coincide. When the speed of the diagonal motor (second motor) opposite the fourth motor (faulty motor) is increased, that is, when the thrust provided by the second motor is increased to twice that of the adjacent motors (first and third motors), while keeping the thrust provided by the adjacent motors unchanged, the actual torque of the second motor is: Figure 4 As shown in Figure 2', 2' represents the actual position of the torque, specifically at coordinates (-6, -6). The thrust provided by the first, second, and third motors is denoted as F1=F, F2=2F, and F3=F, respectively. Subsequent calculations can then be performed using the thrust and coordinates. Figure 4The B shown is the point of application of the resultant force, and the center coordinates of B are the coordinates of the point of application of the resultant force. The specific calculation method for the center coordinates of B is ((F1x1+F2x1) / (F2x1+ ... 2’ +F3x3) / (F1+F2+F3),(F1y1+F2y 2’ +F3y3) / (F1+F2+F3)), where x1, x 2’ x1 and x3 represent the x-coordinates of the first motor, the position of the actual torque, and the third motor, respectively. 2’ y1 and y2 represent the positions of the first motor, the actual torque, and the third motor, respectively. The final calculated center coordinates of B are (-2, -2). After calculating the center coordinates of B, the battery module is moved so that the center of the battery module coincides with the center of B.

[0100] Step S40: Obtain the optimal safe landing trajectory, and control the UAV to land according to the optimal safe landing trajectory.

[0101] Specifically, when the drone completes stabilization and spin control, that is, when the drone can hover in the air in a stable flight attitude without spinning, the optimal safe landing trajectory is planned according to the equipment on the drone, and the drone is controlled to land according to the optimal safe landing trajectory until the drone lands safely.

[0102] In one embodiment, obtaining the optimal safe landing trajectory and controlling the drone to land according to the optimal safe landing trajectory specifically includes:

[0103] The optimal safe landing point is calculated based on the data returned by the altitude and vision sensors on the UAV; the optimal safe landing trajectory is generated based on the optimal safe landing point; and all the motors that have not malfunctioned are controlled according to the optimal safe landing trajectory to complete the landing of the UAV.

[0104] Specifically, based on the data returned by the altitude and vision sensors on the drone, the optimal safe landing point is planned and calculated. The optimal safe landing point is an unobstructed, solid ground, such as an open space or a wide platform.

[0105] Subsequently, path planning is performed based on GPS (Global Navigation System), and the optimal safe landing trajectory is generated by combining the current position of the UAV and the optimal safe landing point. The optimal safe landing trajectory is the trajectory of the UAV flying in the air along the shortest and safest path to fly directly above the optimal safe landing point and then making a vertical landing.

[0106] Finally, all motors that have not malfunctioned are controlled according to the optimal safe landing trajectory, enabling the UAV to fly along the optimal safe landing trajectory and complete the landing, thus completing the UAV landing control.

[0107] It should be noted that during the process of controlling all non-faulty motors according to the optimal safe landing trajectory (including flight on the horizontal plane and vertical landing), it is necessary to maintain the speed ratio of each motor at all times. This ensures that the thrust provided by the diagonal motors is always twice that of the adjacent motors, and that the thrust provided by the adjacent motors is equal, thus ensuring attitude stability during flight. Furthermore, during landing, when the drone approaches the ground (for example, starting at 2m above the ground), the drone's descent speed is gradually reduced to minimize the impact of landing, thereby ensuring a smooth landing and avoiding secondary damage to the drone during landing, which could cause unnecessary losses.

[0108] Furthermore, such as Figure 5 As shown, based on the above-described method for preventing machine explosions by adjusting the battery position, this application also provides a system for preventing machine explosions by adjusting the battery position, wherein the system includes:

[0109] The fault confirmation module 51 is used to monitor the motors of all rotor components on the UAV in real time, obtain the operating status information of each motor and the angular acceleration information of the UAV, and determine the faulty motor based on the operating status information and the angular acceleration information.

[0110] The stability control module 52 is used to construct a Cartesian coordinate system based on the battery assembly, calculate a first stable position on the Cartesian coordinate system based on all motors that have not failed, and control the battery assembly to move to the first stable position through the drive device.

[0111] Spin control module 53 is used to increase the speed of the diagonal motor of the faulty motor, and calculate the second stable position on the rectangular coordinate system based on all the motors that have not failed, and control the battery assembly to move to the second stable position through the drive device;

[0112] The landing control module 54 is used to obtain the optimal safe landing trajectory and control the UAV to land according to the optimal safe landing trajectory.

[0113] Furthermore, such as Figure 6 As shown, based on the above-mentioned anti-crash method and system for adjusting battery position, the UAV provided in this application also includes a processor 701, a memory 702, and a communication interface 703. Figure 6Only some of the components of the drone are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0114] In some embodiments, the memory 702 may be an internal storage unit of the drone, such as a hard drive or memory of the terminal. In other embodiments, the memory 702 may also be an external storage device of the drone, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on the drone.

[0115] Furthermore, the memory 702 may include both internal storage units and external storage devices of the UAV. The memory 702 is used to store application software and various types of data installed on the UAV, such as program code of the installation 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 crash prevention program 704 based on adjusting the battery position. This crash prevention program 704 can be executed by the processor 701, thereby implementing the crash prevention method based on adjusting the battery position as described in this application.

[0116] 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 explosion-proof method based on adjusting the battery position.

[0117] 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 communication between them. 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 categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 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.

[0118] 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.

[0119] In one embodiment, when processor 701 executes anti-explosion program 704 based on adjusting battery position in memory 702, it implements the steps of the anti-explosion method based on adjusting battery position as described above.

[0120] This application also provides a computer-readable storage medium storing a battery position-based anti-explosion program, which, when executed by a processor, implements the steps of the battery position-based anti-explosion method described above.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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 method for preventing explosions by adjusting the battery position, characterized in that, The anti-crash method is applied to a drone, which includes: multiple rotor assemblies and a movable battery assembly; each rotor assembly is equipped with an independently controllable motor, and the battery assembly is controlled by a drive device inside the drone body; The explosion-proof method includes: The motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor and the angular acceleration information of the UAV. The faulty motor is determined based on the operating status information and the angular acceleration information. A Cartesian coordinate system is constructed based on the battery assembly, and a first stable position on the Cartesian coordinate system is calculated based on all motors that have not failed. The battery assembly is then controlled to move to the first stable position by the drive device. The speed of the diagonal motor opposite the faulty motor is increased, and a second stable position on the Cartesian coordinate system is calculated based on all the non-faulty motors. The battery assembly is then controlled to move to the second stable position by the drive device. Obtain the optimal safe landing trajectory, and control the UAV to land according to the optimal safe landing trajectory.

2. The explosion-proof machine method according to claim 1, characterized in that, The step of real-time monitoring of the motors of all rotor components on the UAV, acquiring the operating status information of each motor and the angular acceleration information of the UAV, and determining the faulty motor based on the operating status information and the angular acceleration information, specifically includes: The motors of all rotor components on the UAV are monitored in real time to obtain the operating status information of each motor. The angular acceleration information of the UAV is obtained based on the inertial measurement unit on the UAV. Based on the analysis of all the aforementioned operating status information and angular acceleration information, if there is an anomaly in the operating status information, the faulty motor on the UAV is determined based on the angular acceleration information.

3. The explosion-proof machine method according to claim 1, characterized in that, The step of constructing a Cartesian coordinate system based on the battery assembly, calculating a first stable position on the Cartesian coordinate system based on all non-faulty motors, and controlling the battery assembly to move to the first stable position via the drive device specifically includes: A Cartesian coordinate system is constructed based on the initial position of the battery assembly. The first stable position on the Cartesian coordinate system is obtained by calculating the mapping of all non-faulty motors on the Cartesian coordinate system. A first movement command is generated based on the first stable position, and the battery assembly is controlled to move from the initial position to the first stable position based on the first movement command using the driving device.

4. The explosion-proof machine method according to claim 3, characterized in that, The process of constructing a Cartesian coordinate system based on the initial position of the battery assembly, and calculating the first stable position in the Cartesian coordinate system based on the mapping of all non-faulty motors in the Cartesian coordinate system, specifically includes: Obtain the initial position of the battery assembly, and use the initial position as the origin to construct a Cartesian coordinate system, wherein the plane containing the Cartesian coordinate system is parallel to the plane containing all the motors; Map all the motors to the Cartesian coordinate system to obtain the coordinates corresponding to each motor; The coordinates of the center of gravity of all the non-faulty motors are calculated, and the coordinates of the center of gravity are taken as the first stable position.

5. The explosion-proof machine method according to claim 1, characterized in that, The process of increasing the speed of the diagonal motor of the faulty motor, calculating a second stable position in the Cartesian coordinate system based on all the non-faulty motors, and controlling the battery assembly to move to the second stable position via the drive device specifically includes: Speed ​​boost control is applied to the diagonal motor opposite the faulty motor; Obtain the real-time speed of all the motors that have not experienced a fault, and calculate the thrust provided by each of the motors that have not experienced a fault based on each real-time speed; The second stable position on the Cartesian coordinate system is obtained by calculating based on all the thrusts. A second movement command is generated based on the first stable position and the second stable position, and the battery assembly is controlled to move from the first stable position to the second stable position based on the driving device and the second movement command.

6. The explosion-proof machine method according to claim 5, characterized in that, The step of calculating the second stable position in the Cartesian coordinate system based on all the thrusts specifically includes: Obtain the coordinates of each of the non-faulty motors in the Cartesian coordinate system; Based on the coordinates of each of the non-faulty motors and the corresponding thrust, the coordinates of the resultant force application point of all the thrusts are calculated, and the coordinates of the resultant force application point are taken as the second stable position.

7. The explosion-proof machine method according to claim 1, characterized in that, The process of obtaining the optimal safe landing trajectory and controlling the drone to land based on the optimal safe landing trajectory specifically includes: The optimal safe landing point is calculated based on the data returned by the altitude and vision sensors on the drone. Generate the optimal safe landing trajectory based on the optimal safe landing point; The drone is controlled according to the optimal safe landing trajectory, controlling all the motors that have not malfunctioned to complete the landing.

8. A system for preventing explosions based on adjusting the battery position, characterized in that, The explosion-proof machine system is used to implement the explosion-proof machine method as described in any one of claims 1-7, and the explosion-proof machine system includes: The fault confirmation module is used to monitor the motors of all rotor components on the UAV in real time, obtain the operating status information of each motor and the angular acceleration information of the UAV, and determine the faulty motor based on the operating status information and the angular acceleration information. A stability control module is used to construct a Cartesian coordinate system based on the battery assembly, calculate a first stable position on the Cartesian coordinate system based on all motors that have not failed, and control the battery assembly to move to the first stable position through the drive device. The spin control module is used to increase the speed of the diagonal motor of the faulty motor, and calculate the second stable position on the Cartesian coordinate system based on all the non-faulty motors, and control the battery assembly to move to the second stable position through the drive device; The landing control module is used to obtain the optimal safe landing trajectory and control the UAV to land according to the optimal safe landing trajectory.

9. A drone, characterized in that, The drone includes: a memory, a processor, and a crash protection program stored in the memory and executable on the processor, wherein the crash protection program, when executed by the processor, implements the steps of the crash protection method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a bomb-proof program, which, when executed by a processor, implements the steps of the bomb-proof method as described in any one of claims 1-7.

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