Anti-crash methods, systems, drones and media for multi-rotor drones

Abstract

This application discloses a method, system, drone, and medium for preventing multi-rotor drones from crashing. The method includes: real-time monitoring of the motors of all rotor components on the drone to identify the faulty motor; controlling the arm corresponding to the faulty motor to perform swing control, controlling the arm corresponding to the adjacent motor of the faulty motor to perform a first rotation control, and performing a first speed increase control on all non-faulty motors; based on a drive device, controlling the diagonal motor of the faulty motor to perform a second rotation control, and performing a second speed increase control on the diagonal motor; obtaining the current flight altitude, and executing emergency landing control based on the current flight altitude. This application can accurately identify and locate the faulty motor, and through the control of the arms and rotor components, enables the drone to maintain stability in the air and land stably on the ground, effectively preventing drone crashes and ensuring the safety and stability of drone landing.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, system, UAV, and computer-readable storage medium for preventing multi-rotor UAVs from crashing. Background Technology

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

[0003] During flight, if any motor on a multi-rotor drone malfunctions, the drone is highly likely to lose its balance and crash, resulting in an abnormal fall and compromising flight safety and stability. Current technology struggles to provide emergency handling for drones experiencing sudden malfunctions. Typically, external protective measures such as crash barriers and parachutes are used to reduce the probability of crash damage, but these cannot guarantee a safe and efficient emergency landing in the event of a motor failure.

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

[0005] The main objective of this application is to provide a method, system, drone, and medium for preventing multi-rotor drones from crashing, aiming to solve the technical problem in the prior art where, when a multi-rotor drone is performing a flight mission, if the rotor motor fails, it is difficult to locate the faulty motor and take effective emergency measures, which leads to the drone being prone to crashing.

[0006] To achieve the above objectives, this application provides a method for preventing the multi-rotor unmanned aerial vehicle (UAV) from crashing. The UAV includes: multiple rotor assemblies, multiple arms, and a fuselage. Each arm is rotatably connected to the fuselage and can rotate in the plane of the fuselage. Each arm is also swingable in a first direction and a second direction. Each rotor assembly is rotatably connected to the end of each arm and is equipped with an independently controllable motor. The swinging or rotating of each arm and the rotating of each rotor assembly are controlled by a drive device inside the UAV.

[0007] The explosion-proof method includes:

[0008] Based on preset sensors, the motors of all rotor components on the UAV are monitored in real time to obtain the real-time operating status of each motor, and the faulty motor is determined based on all the real-time operating statuses.

[0009] Based on the drive device, the arm corresponding to the faulty motor is controlled to swing, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate for the first time, and the first speed increase control is performed on all motors that have not experienced a fault.

[0010] Based on the drive device, the diagonal motor of the faulty motor is controlled to perform a second rotation control, and the diagonal motor is controlled to perform a second speed increase control.

[0011] Obtain the current flight altitude and execute emergency landing control based on the current flight altitude until the drone lands on the ground.

[0012] Optionally, the step of real-time monitoring of the motors of all rotor components on the UAV based on preset sensors to obtain the real-time operating status of each motor, and determining the faulty motor based on all the real-time operating statuses, specifically includes:

[0013] The sensor receives sensing data sent by the preset sensor in real time, wherein the preset sensor includes a current sensor, a speed sensor and a vibration sensor;

[0014] Based on the analysis of the sensor data, the real-time operating status of each motor on the UAV is obtained;

[0015] If an anomaly is detected in the real-time operating status, the faulty motor is determined based on the real-time operating status and designated as the faulty motor.

[0016] Optionally, based on the driving device, controlling the arm corresponding to the faulty motor to perform swing control, controlling the arm corresponding to the adjacent motor of the faulty motor to perform first rotation control, and performing first speed increase control on all motors that have not experienced a fault, specifically includes:

[0017] Obtain the fault location relationship between the arm containing the faulty motor and the UAV;

[0018] Based on the relationship between the drive device and the fault location, the arm corresponding to the faulty motor is controlled to swing in a first direction at a first preset angle, wherein the first direction is a vertically downward direction and the first preset angle is 90°.

[0019] The arm of the adjacent motor of the faulty motor is controlled to rotate at a preset angle toward the faulty motor to complete the first rotation control;

[0020] A first speed increase control is applied to all motors that have not malfunctioned, so that the sum of the thrust provided by all motors that have not malfunctioned is equal to the weight of the UAV.

[0021] Optionally, the step of controlling the arm corresponding to the adjacent motor of the faulty motor to rotate towards the faulty motor by a preset angle specifically includes:

[0022] Obtain the default quadcopter flight scheme of the drone, as well as the pre-set triaxial flight scheme;

[0023] The quadcopter angle relationship between the arms of all motors is obtained according to the default quadcopter flight scheme, and the triaxial angle relationship between the arms of all motors that have not failed is obtained according to the triaxial flight scheme.

[0024] Based on the three-axis angle relationship and the four-axis angle relationship, the preset angle for the arm to rotate corresponding to each adjacent motor is obtained;

[0025] According to each preset angle, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate toward the faulty motor.

[0026] Optionally, the step of controlling the diagonal motor of the faulty motor to perform a second rotation control based on the drive device, and performing a second speed increase control on the diagonal motor, specifically includes:

[0027] Obtain the rotation direction of the faulty motor, obtain the rotor assembly corresponding to the diagonal motor of the faulty motor, and use it as the rotor assembly to be rotated;

[0028] The rotor assembly to be rotated is controlled to rotate around the arm according to the rotation direction, so as to complete the second rotation control of the diagonal motor;

[0029] The diagonal motors are subjected to a second speed increase control until the drone stops rotating.

[0030] Optionally, the second speed increase control of the diagonal motor until the drone stops rotating specifically includes:

[0031] Obtain the preset speed increase step size;

[0032] The diagonal motor is subjected to a second speed increase control according to the preset speed increase step size;

[0033] When the vertical thrust provided by the diagonal motor in the vertical direction is equal to the vertical thrust provided by the adjacent motor, and the horizontal thrust provided by the diagonal motor in the horizontal direction is equal to the sum of the counter-torques provided by all the adjacent motors, the second speed increase control of the diagonal motor is stopped.

[0034] Optionally, obtaining the current flight altitude and performing emergency landing control based on the current flight altitude until the drone lands on the ground specifically includes:

[0035] The current flight altitude of the drone is obtained based on a preset altitude sensor;

[0036] Based on the current flight altitude, control the drone to land at a first preset landing speed;

[0037] When the current flight altitude of the drone is detected to be lower than a preset altitude threshold, the drone is controlled to descend at a second preset descent speed until it lands on the ground, wherein the second preset descent speed is less than the first preset descent speed.

[0038] Furthermore, to achieve the above objectives, this application also provides a crash protection system for a multi-rotor unmanned aerial vehicle (UAV), wherein the crash protection system is used to implement the crash protection method described in any of the above claims, and the crash protection system includes:

[0039] The fault determination module is used to monitor the motors of all rotor components on the UAV in real time based on preset sensors, obtain the real-time operating status of each motor, and determine the faulty motor based on all the real-time operating statuses.

[0040] The first control module is used to control the arm corresponding to the faulty motor to swing, control the arm corresponding to the adjacent motor of the faulty motor to rotate, and control the first speed increase of all motors that have not failed to perform first speed increase control based on the drive device.

[0041] The second control module is used to control the diagonal motor of the faulty motor to perform a second rotation control based on the drive device, and to perform a second speed increase control on the diagonal motor.

[0042] The emergency landing module is used to obtain the current flight altitude and perform emergency landing control based on the current flight altitude until the drone lands on the ground.

[0043] 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.

[0044] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an anti-explosion machine program, which, when executed by a processor, implements the steps of the anti-explosion machine method as described above.

[0045] In this application, the drone includes: multiple rotor assemblies, multiple arms, and a fuselage. Each arm is rotatably connected to the fuselage, and each arm is rotatable in the plane of the fuselage. Each arm is also oscillating in a first direction and a second direction. Each rotor assembly is rotatably connected to the end of each arm, and each rotor assembly is equipped with an independently controllable motor. The oscillation or rotation of each arm, and the rotation of each rotor assembly, are controlled by a drive device inside the drone. The anti-crash method includes: monitoring the motors of all rotor assemblies on the drone based on preset sensors. Real-time monitoring is performed to obtain the real-time operating status of each motor, and the faulty motor is identified based on all the real-time operating statuses. Based on the drive device, the arm corresponding to the faulty motor is controlled to swing, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate, and the speed of all non-faulty motors is increased. Based on the drive device, the diagonal motor of the faulty motor is controlled to rotate, and the speed of the diagonal motor is increased. The current flight altitude is obtained, and emergency landing control is executed based on the current flight altitude until the UAV lands on the ground. This application can accurately identify and locate the faulty motor during the UAV landing process and execute corresponding emergency measures based on the positional relationship of the faulty motor, enabling the UAV to maintain stability in the air and land stably on the ground. This effectively avoids the phenomenon of UAV crashing and ensures that the UAV can land safely and smoothly when the rotor motor fails, further guaranteeing the safety and stability of UAV landing. Attached Figure Description

[0046] Figure 1 This is a flowchart of a preferred embodiment of the anti-crash method for multi-rotor UAVs provided in this application;

[0047] Figure 2 This is a structural schematic diagram of the UAV provided in this application;

[0048] Figure 3 This is a schematic diagram of the swing control of the unmanned aerial vehicle (UAV) arm provided in this application;

[0049] Figure 4 This is a schematic diagram of the first rotation control of the unmanned aerial vehicle arm provided in this application;

[0050] Figure 5 This is a first schematic diagram of the second rotation control of the rotor assembly of the UAV provided in this application;

[0051] Figure 6 This is a second schematic diagram of the second rotation control of the rotor assembly of the UAV provided in this application;

[0052] Figure 7 This is a schematic diagram of a preferred embodiment of the anti-crash system for multi-rotor UAVs provided in this application;

[0053] Figure 8 This is a schematic diagram of the operating environment of a preferred embodiment of the drone of this application.

[0054] The meanings of the numbers in the diagram are as follows: 10, fuselage; 20, arm; 30, rotor assembly. Detailed Implementation

[0055] 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.

[0056] This application provides a method for preventing multi-rotor drones from crashing. It should be noted that the method provided in this application is applied to multi-rotor drones. In the embodiments of this application, the drone (hereinafter, "drone" refers to a multi-rotor drone) includes: multiple rotor assemblies, multiple arms, and a fuselage. Each arm is rotatably connected to the fuselage, and each arm can rotate in the plane on which the fuselage is located. Each arm is swingable in both a first direction and a second direction. Each rotor assembly is rotatably connected to the end of each arm, and each rotor assembly is equipped with an independently controllable motor. The swinging or rotating of each arm and the rotating of each rotor assembly are controlled by a drive device inside the drone.

[0057] Specifically, such as Figure 2 As shown, Figure 2 The diagram illustrates the structure of the UAV provided in this application. The UAV includes multiple rotor assemblies 30 that provide flight power, multiple arms 20 for supporting the rotor assemblies 30, and a fuselage 10 that houses core components such as flight control and drive systems. The fuselage 10 is preferably circular or elliptical in shape. Furthermore, for ease of explanation, the term "multi-rotor UAV" in this application specifically refers to a quadcopter UAV, and does not imply that the anti-crash method provided in this application is limited to quadcopter UAVs. In fact, it can also be applied to hexacopter UAVs, octacopter UAVs, etc., without limitation.

[0058] Each rotor assembly 30 and each arm 20 are in one-to-one correspondence. The arm 20 is connected to the fuselage 10 through rotatable components around the fuselage 10. Furthermore, each arm 20 is provided with a folding mechanism (such as a hinge, actuator, etc.) at the connection point between it and the fuselage 10, so that the arm 20 can rotate around the fuselage 10 under the control of the drive device, or swing in a first direction and a second direction. The first direction refers to the vertically downward direction, and the second direction refers to the vertically upward direction.

[0059] As an example, the arm 20 can be rotated around the circular fuselage 10 within a limited range (the range between two adjacent arms 20) under the control of the drive device, so that the included angle between multiple arms 20 on the multi-rotor drone can be adjusted as needed, and is not limited to the traditional quadcopter drone layout (90° included angle configuration); and, under the control of the drive device, any one arm 20 can be controlled to fold in the first direction (vertical downward direction) to a position of 90° with the fuselage 10, that is, this arm 20 points in the vertical downward direction, or any one arm 20 can be controlled to fold to a preset angle position, and controlled according to actual needs.

[0060] Furthermore, each rotor assembly 30 is rotatably connected to its corresponding arm 20 via a rotating mechanism. Under the control of the drive unit, each rotor assembly 30 can rotate 360° around its corresponding arm 20. For example, the rotor assembly 30 can rotate around the arm 20, changing its orientation from vertically upward to obliquely upward. This transforms the rotor assembly 30 from providing vertically upward thrust to providing obliquely upward thrust. The obliquely upward thrust provides both vertically upward thrust and a horizontal component, with the horizontal component acting as a counter-torque force. In this configuration, the UAV can achieve dynamic balance adjustment through control of the arms and rotor assemblies, effectively and efficiently stabilizing its flight attitude in the event of motor failure, thus preventing crashes.

[0061] The preferred embodiment of this application describes a method for preventing multi-rotor drones from crashing, such as... Figure 1 As shown, the anti-crash method for the multi-rotor UAV includes the following steps:

[0062] Step S10: Based on preset sensors, monitor the motors of all rotor components on the UAV in real time to obtain the real-time operating status of each motor, and determine the faulty motor based on all the real-time operating statuses.

[0063] Specifically, the drone is equipped with multiple preset sensors. Each preset sensor collects and detects relevant sensing data of each rotor assembly in real time, and analyzes all the sensing data to obtain the real-time operating status of the motor of each rotor assembly. The real-time operating status can reflect whether the motor is operating normally.

[0064] Subsequently, by monitoring each real-time operating status, the faulty motor on the drone can be identified immediately when an anomaly occurs.

[0065] In one embodiment, the step of real-time monitoring of the motors of all rotor components on the UAV based on preset sensors to obtain the real-time operating status of each motor, and determining the faulty motor based on all the real-time operating statuses, specifically includes:

[0066] The system receives sensor data sent by the preset sensors in real time, including a current sensor, a speed sensor, and a vibration sensor; it analyzes the sensor data to obtain the real-time operating status of each motor on the UAV; if an anomaly is detected in the real-time operating status, the system identifies the faulty motor based on the real-time operating status and designates it as the faulty motor.

[0067] Specifically, the system receives real-time sensor data from various preset sensors. These sensors, used on the UAV to monitor the rotor assembly, include, but are not limited to, current sensors, speed sensors, and vibration sensors. It should be noted that the preset sensors may also include an inertial measurement unit.

[0068] By analyzing all the sensor data sent by all the preset sensors, the real-time operating status of the motors of each rotor component on the drone can be obtained. The real-time operating status includes: whether there are any abnormalities in the various sensor data, such as: whether the motor is rotating normally or has stopped; whether the input and output currents are normal; and whether the motor vibration is normal.

[0069] The real-time operating status of all motors is monitored. If any abnormality is detected in any real-time operating status, the motor with the abnormality is identified and designated as the faulty motor. All subsequent steps are executed around this faulty motor.

[0070] In this context, this application enables real-time fault monitoring and precise fault location of UAVs during flight. By fusing and judging data from three types of sensors, the problem of false alarms from a single sensor can be eliminated, making the location of faulty motors more accurate and providing favorable preconditions for subsequent anti-crash procedures.

[0071] Furthermore, once the faulty motor is identified, the drone's mission will be interrupted, and the corresponding anti-crash procedures will be immediately executed. This means maintaining the drone in a stable flight attitude and taking emergency landing control measures.

[0072] Step S20: Based on the drive device, control the arm corresponding to the faulty motor to swing, control the arm corresponding to the adjacent motor of the faulty motor to perform first rotation control, and perform first speed increase control on all motors that have not experienced a fault.

[0073] Specifically, once the faulty motor on the drone is located, subsequent crash prevention (anti-crash) steps need to be initiated.

[0074] First, by controlling the swing of the arm corresponding to the faulty motor, the aerodynamic interference of the faulty motor (rotor assembly) with the other rotor assemblies that are still working normally can be avoided.

[0075] Secondly, the first speed increase control is applied to all motors that have not malfunctioned to keep the drone in flight.

[0076] In one embodiment, based on the driving device, controlling the arm corresponding to the faulty motor to perform swing control, controlling the arms corresponding to the adjacent motors of the faulty motor to perform first rotation control, and performing first speed increase control on all motors that have not experienced a fault, specifically includes:

[0077] The system obtains the fault location relationship between the arm containing the faulty motor and the UAV; based on the drive device and the fault location relationship, it controls the arm corresponding to the faulty motor to swing in a first direction by a first preset angle, wherein the first direction is vertically downward and the first preset angle is 90°; it controls the arms corresponding to the adjacent motors of the faulty motor to rotate in the direction of the faulty motor by a preset angle to complete the first rotation control; it performs a first speed increase control on all non-faulty motors so that the thrust provided by all non-faulty motors is equal to the weight of the UAV.

[0078] Specifically, the first step is to obtain the positional relationship of the arm containing the faulty motor on the drone, i.e., the fault location relationship. It should be noted that the drone has four rotor assemblies, and correspondingly four arms. In this step, it is necessary to first determine which arm corresponds to the faulty motor before performing the appropriate control operations on that arm based on the drive device.

[0079] After obtaining the fault location relationship, the swing control of the arm corresponding to the faulty motor is performed through the drive device, such as... Figure 3As shown, the arm corresponding to the faulty motor is controlled to swing in a first direction (vertically downward) by a first preset angle, wherein the first preset angle is preferably 90°. In other words, the faulty motor is folded downward by 90° through a folding mechanism, which converts the quadcopter drone layout into a preliminary tricopter drone layout.

[0080] Simultaneously, based on the drive unit controlling the adjacent motors of the faulty motor (that is, the two adjacent motors of the downward-folding motor) to rotate around the fuselage by a preset angle, the drone is transformed into a complete tri-rotor drone layout, such as... Figure 4 As shown, Figure 4 The drone shown has rotated the arm of the adjacent motor of the faulty motor to the preset angle.

[0081] Furthermore, a first-stage speed boost control is simultaneously applied to all non-faulty motors, synchronously increasing their speeds so that the combined vertical thrust provided by all non-faulty motors equals the weight of the drone, thereby enabling the drone to hover in the air. Preferably, the vertical thrust provided by each non-faulty motor is equal, meaning the vertical thrust provided by each non-faulty motor is equal to one-third of the drone's weight.

[0082] It is important to emphasize that the aforementioned swing control of the arm corresponding to the faulty motor, the rotation control of the arm corresponding to the adjacent motor, and the speed increase control of all motors that are not faulty are all performed simultaneously. This ensures that the drone effectively maintains a stable hovering attitude in the air, preventing instability and crashes due to motor failure, thus improving flight safety and reducing the risk of property damage.

[0083] Furthermore, the step of controlling the arm corresponding to the adjacent motor of the faulty motor to rotate towards the faulty motor by a preset angle specifically includes:

[0084] Obtain the default quadcopter flight scheme of the UAV and the pre-set triaxial flight scheme; obtain the quadcopter angle relationship between the arms of all motors according to the default quadcopter flight scheme, and obtain the triaxial angle relationship between the arms of all motors that have not failed according to the triaxial flight scheme; calculate the preset angle to be rotated for the arms corresponding to each adjacent motor according to the three-axis angle relationship and the quadcopter angle relationship; control the arms corresponding to the adjacent motors of the failed motor to rotate towards the failed motor according to each preset angle.

[0085] Specifically, since the multi-rotor UAV provided in this application is a quadcopter UAV, the default quadcopter flight scheme corresponding to the UAV can be obtained first, and the four-axis angle relationship between all motors of the UAV during normal flight can be obtained from the default quadcopter flight scheme. For example, assuming the default quadcopter flight scheme corresponding to the UAV is: the four arms have the same included angle, the obtained four-axis angle relationship is: the included angle between all arms is 90°. It should be noted that since the included angle relationship between the arms of the UAV provided in this application can be changed, those skilled in the art can adjust the included angle relationship according to actual needs, for example, the included angle between any two adjacent arms can be 30° or 60°, without limitation.

[0086] Next, a pre-set three-axis flight plan is obtained. This plan refers to the angle allocation scheme of each arm when the drone flies in a three-axis attitude after a faulty motor is folded downwards. Based on this plan, the three-axis angle relationships between the arms of all the malfunctioning motors are obtained when the drone is flying in a three-axis attitude. For example, a pre-set three-axis flight plan could have all three arms sharing the same angle, resulting in a three-axis angle relationship of 120° between all arms.

[0087] Subsequently, calculations can be performed based on the three-axis and four-axis angle relationships to obtain the preset angles required for the rotation of each of the two arms that need to rotate (the two arms corresponding to the two adjacent motors). In other words, each arm that needs to rotate has a corresponding preset angle. Finally, based on the drive unit control and each preset angle, the arms corresponding to the two adjacent motors of the faulty motor are controlled to rotate towards the faulty motor, enabling the UAV to transition from a quadcopter flight attitude to a tricopter flight attitude (e.g.,...). Figure 3 (As shown).

[0088] Continuing with the two examples above, when a drone transitions from a quadcopter flight attitude with all four arms at equal angles to a triaxial flight attitude with three arms at equal angles, it can be calculated that the preset angles corresponding to the arms of the two adjacent motors of the faulty motor are both 15°, and the rotation directions are both towards the faulty motor, one clockwise and one counterclockwise. Therefore, the actual rotation control steps are as follows: keep the arm corresponding to the diagonal motor of the faulty motor stationary, and simultaneously control the arm of the adjacent motor of the faulty motor to rotate 15° in the corresponding direction, so that the angle between the arms of the three non-faulty motors of the drone is 120°. It should be noted that during this process, the motor speed will also be increased accordingly.

[0089] In this situation, the present application can maintain the stable flight attitude of the UAV by using the remaining working motors, preventing the UAV from crashing immediately, and also buying time for subsequent emergency landing control, thus maximizing the flight safety of the UAV.

[0090] Step S30: Based on the drive device, control the diagonal motor of the faulty motor to perform a second rotation control, and perform a second speed increase control on the diagonal motor.

[0091] Specifically, after completing the control of all arms and the speed increase control of all motors that have not malfunctioned, the drone achieves hovering flight in the air. However, at this time, due to the drone's triaxial flight, the horizontal anti-torque generated by the three rotor components is unbalanced, which will cause the drone to rotate. Therefore, it is necessary to eliminate the drone's rotation.

[0092] The second rotation control is based on the diagonal motor of the faulty motor controlled by the drive device. In fact, the rotor assembly where the diagonal motor is located is controlled to rotate, and at the same time, the second speed increase control of the diagonal motor is performed to eliminate the self-rotation phenomenon of the UAV.

[0093] In one embodiment, the step of controlling the diagonal motor of the faulty motor to perform a second rotation control based on the drive device, and performing a second speed increase control on the diagonal motor, specifically includes:

[0094] Obtain the rotation direction of the faulty motor, obtain the rotor assembly corresponding to the diagonal motor of the faulty motor, and use it as the rotor assembly to be rotated; control the rotor assembly to be rotated to rotate around the arm according to the rotation direction to complete the second rotation control of the diagonal motor; perform a second speed increase control on the diagonal motor until the UAV stops rotating.

[0095] Specifically, drones fly mainly by the vertical downward thrust generated by the rotor. When the rotor on the rotor assembly is driven to rotate by the motor through the rotating shaft, the rotor exerts a torque on the air. The air will inevitably act on the rotor with an equal and opposite reaction torque at the same time (or anti-torque). This anti-torque is then transmitted to the drone through the rotor. If no measures are taken to balance it, this anti-torque will cause the drone to spin.

[0096] On a quadcopter drone, each motor has a corresponding direction of rotation. In order to ensure the stability of the drone's flight, when the drone is flying in balance, the gyroscopic effect and aerodynamic torque effect are canceled out. At this time, the rotation directions of the four motors are configured as two clockwise and two counterclockwise, with the diagonal motors rotating in the same direction.

[0097] Therefore, when a faulty motor occurs, the balance between the counter-torques generated by the two pairs of diagonal motors, which were originally able to cancel each other out, is broken. The diagonal motor of the faulty motor alone bears the responsibility of canceling out the sum of the counter-torques of the two adjacent motors of the faulty motor.

[0098] First, the rotation direction of the faulty motor is obtained. Based on the rotation direction of the faulty motor, the rotation directions of the diagonal motor and the two adjacent motors can be determined, as well as the direction of the counter-torque provided by the two adjacent motors. Then, the rotor assembly corresponding to the diagonal motor of the faulty motor is obtained, which will be used as the rotor assembly to be rotated when the second rotation control is applied subsequently.

[0099] Subsequently, based on the rotation direction of the diagonal motor, the direction of the counter-torque provided by the two adjacent motors can be determined. This allows us to determine which direction the rotor assembly to be rotated can rotate in order to compensate for the missing counter-torque through the horizontal thrust (horizontal component) in the horizontal direction. In other words, the pre-rotation direction of the rotor assembly to be rotated is determined. Based on the drive device, the rotor assembly to be rotated is controlled to rotate in the pre-rotation direction to complete the second rotation control of the rotor assembly to be rotated, i.e., the diagonal motor.

[0100] For example, such as Figure 5 and Figure 6 As shown, the faulty motor rotates counterclockwise, so the two adjacent motors both rotate clockwise. When the two adjacent motors drive the rotor to rotate, the drone will experience a counterclockwise counter-torque. Without second rotation control, the diagonal motor opposite the faulty motor also rotates counterclockwise, providing a clockwise counter-torque to the drone, but insufficient to offset the sum of the counter-clockwise counter-torques from the two adjacent motors. In this case, if the rotor assembly to be rotated (the diagonal motor) is rotated clockwise, the original vertical upward thrust is converted into an oblique upward thrust. This oblique upward thrust can be further divided into a vertical component (vertical upward thrust) and a horizontal component (horizontal thrust), thus compensating for the clockwise counter-torque through the horizontal thrust. In other words, the pre-rotation direction of the rotor assembly to be rotated can be determined to be clockwise based on the counterclockwise rotation direction of the diagonal motor. Subsequently, the rotor assembly to be rotated is controlled clockwise based on the drive device, thereby completing the second rotation control of the diagonal motor.

[0101] In this case, the present application can achieve torque balance of the three-axis flight attitude of the UAV through the rotatable rotor assembly, so that the UAV can not spin in the air, further reducing the possibility of UAV crash. Moreover, the rotatable rotor assembly can achieve this without relying on additional physical devices such as control surfaces or wings, which can effectively reduce the production cost of UAV.

[0102] Furthermore, the second speed increase control of the diagonal motor until the drone stops rotating specifically includes:

[0103] Obtain a preset speed increase step size; perform a second speed increase control on the diagonal motor according to the preset speed increase step size; stop the second speed increase control on the diagonal motor when the vertical thrust provided by the diagonal motor in the vertical direction is equal to the vertical thrust provided by the adjacent motor, and the horizontal thrust provided by the diagonal motor in the horizontal direction is equal to the sum of the anti-torque provided by all the adjacent motors.

[0104] Specifically, first obtain the preset speed increase step size. It should be noted that the preset speed increase step size refers to the value of speed increase per unit time, such as how many revolutions per second. Technicians can set it according to actual needs, and it is not limited here.

[0105] It is important to emphasize that the second rotation control and the second speed increase control are synchronized. In other words, when the second rotation control is applied to the rotor assembly to be rotated, the second speed increase control is applied to the motor (diagonal motor) of the rotor assembly to be rotated simultaneously.

[0106] The speed of the diagonal motor is increased according to the preset speed increase step size, which is the second speed increase control. During the rotation of the rotor assembly to be rotated, the speed of the diagonal motor is gradually increased until the vertical thrust provided by the diagonal motor in the vertical upward direction (that is, the vertical upward component force) is equal to the vertical thrust provided by the adjacent motor (that is, one-third of the drone's weight after the first speed increase control), and the horizontal thrust provided by the diagonal motor in the horizontal direction (actually the resultant force of the horizontal component force and the anti-torque) is equal to the sum of the anti-torque forces provided by the two adjacent motors. At this time, the drone will stop rotating. At this time, the second speed increase control of the diagonal motor is also stopped, and the second rotation control of the rotor assembly to be rotated is also stopped.

[0107] Step S40: Obtain the current flight altitude and execute emergency landing control based on the current flight altitude until the drone lands on the ground.

[0108] Specifically, once the drone is able to hover in the air without rotating, it will be controlled to make an emergency landing.

[0109] The system obtains the drone's current flight altitude and then executes corresponding emergency landing control based on the current flight altitude, enabling the drone to slowly descend at a preset descent rate until it lands at a safe location.

[0110] In one embodiment, obtaining the current flight altitude and performing emergency landing control based on the current flight altitude until the drone lands on the ground specifically includes:

[0111] Based on a preset altitude sensor, the current flight altitude of the drone is obtained; according to the current flight altitude, the drone is controlled to land at a first preset landing speed; when the current flight altitude of the drone is detected to be lower than a preset altitude threshold, the drone is controlled to land at a second preset landing speed until the drone lands on the ground, wherein the second preset landing speed is less than the first preset landing speed.

[0112] Specifically, the drone is equipped with an altitude sensor that can obtain the drone's current flight altitude in real time. The altitude sensor includes, but is not limited to, ultrasonic sensors, visual sensors, etc. Any sensor that can obtain the drone's current flight altitude is acceptable and is not limited in this application.

[0113] The system acquires the current flight altitude of the drone from the altitude sensor and controls the drone to land at a first preset landing speed based on this altitude. Preferably, the first preset landing speed is 3 m / s. It should be noted that controlling the drone to land at the first preset landing speed essentially involves reducing the rotational speed of the motors of the normally operating rotor components according to a preset ratio. This ensures that the thrust provided by the rotor components in the vertical upward direction is less than the drone's weight, thereby controlling the drone's descent.

[0114] Furthermore, during the descent, the descent speed is adjusted in real time based on the drone's current flight altitude. When the drone's current flight altitude is lower than a preset altitude threshold, the drone is controlled to descend at a second preset descent speed until it hits the ground. The second preset descent speed is lower than the first preset descent speed, preferably 1 m / s.

[0115] Furthermore, after the drone lands, it automatically performs fault detection and processing. The fault detection and processing includes, but is not limited to, checking whether the drone has rolled over and whether any parts on the drone are damaged. Specifically, whether the drone has rolled over is monitored by an inertial measurement unit, and whether any parts on the drone are damaged is detected by checking the drone's current.

[0116] After the fault detection and handling of the UAV is completed, a fault handling process record is generated. The fault handling process record records a series of operation procedures from the detection of a sudden drop in current and confirmation of a faulty motor to the control of the UAV to land. The specific form can be presented in the form of tables, text, or graphics, and there is no limitation in this application.

[0117] Finally, the troubleshooting process record is sent to the user's client for review. The user's client may include, but is not limited to, computers, tablets, mobile phones, and remote controls with on-screen displays.

[0118] It should be noted that users can also export and store the fault handling process records, which is beneficial for users to carry out corresponding data analysis processes later.

[0119] Furthermore, such as Figure 7 As shown, based on the above-mentioned anti-crash method for multi-rotor UAVs, this application also provides a corresponding anti-crash system for multi-rotor UAVs, wherein the anti-crash system for multi-rotor UAVs includes:

[0120] The fault determination module 51 is used to monitor the motors of all rotor components on the UAV in real time based on preset sensors, obtain the real-time operating status of each motor, and determine the faulty motor based on all the real-time operating statuses.

[0121] The first control module 52 is used to control the arm corresponding to the faulty motor to swing based on the drive device, control the arm corresponding to the adjacent motor of the faulty motor to rotate for the first time, and control the first speed increase of all motors that have not failed to perform first speed increase control.

[0122] The second control module 53 is used to control the diagonal motor of the faulty motor to perform a second rotation control based on the drive device, and to perform a second speed increase control on the diagonal motor.

[0123] Emergency landing module 54 is used to obtain the current flight altitude and perform emergency landing control based on the current flight altitude until the UAV lands on the ground.

[0124] Furthermore, such as Figure 8 As shown, based on the above-mentioned anti-crash method and system for multi-rotor UAVs, the multi-rotor UAV provided in this application also includes a processor 701, a memory 702, and a communication interface 703. Figure 8 Only some components of the multi-rotor drone are shown; however, it should be understood that implementation of all shown components is not required, and more or fewer components may be implemented instead.

[0125] In some embodiments, the memory 702 may be an internal storage unit of the multi-rotor 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 multi-rotor drone, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on the multi-rotor drone.

[0126] Furthermore, the memory 702 may include both internal storage units and external storage devices of the multi-rotor UAV. The memory 702 is used to store application software and various types of data installed on the multi-rotor 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 multi-rotor UAV anti-crash program 704, which can be executed by the processor 701 to implement the multi-rotor UAV anti-crash method of this application.

[0127] 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 anti-crash method of the multi-rotor UAV.

[0128] 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 8 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.

[0129] 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.

[0130] In one embodiment, when the processor 701 executes the anti-crash program 704 for the multi-rotor drone in the memory 702, it implements the steps of the anti-crash method for the multi-rotor drone as described above.

[0131] This application also provides a computer-readable storage medium storing a crash protection program for a multi-rotor unmanned aerial vehicle (UAV), which, when executed by a processor, implements the steps of the crash protection method for a multi-rotor UAV as described above.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 the multi-rotor unmanned aerial vehicle from crashing, characterized in that, The drone includes: multiple rotor assemblies, multiple arms, and a fuselage. Each arm is rotatably connected to the fuselage and can rotate in the plane of the fuselage. Each arm is also swingable in a first direction and a second direction. Each rotor assembly is rotatably connected to the end of each arm and is equipped with an independently controllable motor. The swinging or rotating of each arm and the rotating of each rotor assembly are controlled by a drive device inside the drone. The explosion-proof method includes: Based on preset sensors, the motors of all rotor components on the UAV are monitored in real time to obtain the real-time operating status of each motor, and the faulty motor is determined based on all the real-time operating statuses. Based on the drive device, the arm corresponding to the faulty motor is controlled to swing, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate for the first time, and the first speed increase control is performed on all motors that have not experienced a fault. Based on the driving device, the arm corresponding to the faulty motor is controlled to swing, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate, and the first speed increase control is performed on all motors that have not experienced a fault. Specifically, this includes: Obtain the fault location relationship between the arm containing the faulty motor and the UAV; Based on the relationship between the drive device and the fault location, the arm corresponding to the faulty motor is controlled to swing in a first direction at a first preset angle, wherein the first direction is a vertically downward direction and the first preset angle is 90°. The arm of the adjacent motor of the faulty motor is controlled to rotate at a preset angle toward the faulty motor to complete the first rotation control; The first speed increase control is applied to all motors that have not failed, so that the total thrust provided by all motors that have not failed is equal to the weight of the UAV; Based on the drive device, the diagonal motor of the faulty motor is controlled to perform a second rotation control, and the diagonal motor is controlled to perform a second speed increase control. The second rotation control of the diagonal motor of the faulty motor based on the drive device, and the second speed increase control of the diagonal motor, specifically include: Obtain the rotation direction of the faulty motor, obtain the rotor assembly corresponding to the diagonal motor of the faulty motor, and use it as the rotor assembly to be rotated; The rotor assembly to be rotated is controlled to rotate around the arm according to the rotation direction, so as to complete the second rotation control of the diagonal motor; The diagonal motor is subjected to a second speed increase control until the UAV stops rotating. Obtain the current flight altitude and execute emergency landing control based on the current flight altitude until the drone lands on the ground.

2. The explosion-proof machine method according to claim 1, characterized in that, The step of real-time monitoring of all rotor assembly motors on the UAV based on preset sensors to obtain the real-time operating status of each motor, and determining the faulty motor based on all the real-time operating statuses, specifically includes: The sensor receives sensing data sent by the preset sensor in real time, wherein the preset sensor includes a current sensor, a speed sensor and a vibration sensor; Based on the analysis of the sensor data, the real-time operating status of each motor on the UAV is obtained; If an anomaly is detected in the real-time operating status, the faulty motor is determined based on the real-time operating status and designated as the faulty motor.

3. The explosion-proof machine method according to claim 1, characterized in that, The control of rotating the arm of the adjacent motor to the faulty motor by a preset angle toward the faulty motor specifically includes: Obtain the default quadcopter flight scheme of the drone, as well as the pre-set triaxial flight scheme; The quadcopter angle relationship between the arms of all motors is obtained according to the default quadcopter flight scheme, and the triaxial angle relationship between the arms of all motors that have not failed is obtained according to the triaxial flight scheme. Based on the three-axis angle relationship and the four-axis angle relationship, the preset angle for the arm to rotate corresponding to each adjacent motor is obtained; According to each preset angle, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate toward the faulty motor.

4. The explosion-proof machine method according to claim 1, characterized in that, The second speed increase control of the diagonal motor until the drone stops rotating specifically includes: Obtain the preset speed increase step size; The diagonal motor is subjected to a second speed increase control according to the preset speed increase step size; When the vertical thrust provided by the diagonal motor in the vertical direction is equal to the vertical thrust provided by the adjacent motor, and the horizontal thrust provided by the diagonal motor in the horizontal direction is equal to the sum of the counter-torques provided by all the adjacent motors, the second speed increase control of the diagonal motor is stopped.

5. The explosion-proof machine method according to claim 1, characterized in that, The process of obtaining the current flight altitude and executing emergency landing control based on the current flight altitude until the drone lands on the ground specifically includes: The current flight altitude of the drone is obtained based on a preset altitude sensor; Based on the current flight altitude, control the drone to land at a first preset landing speed; When the current flight altitude of the drone is detected to be lower than a preset altitude threshold, the drone is controlled to descend at a second preset descent speed until it lands on the ground, wherein the second preset descent speed is less than the first preset descent speed.

6. A crash protection system for a multi-rotor unmanned aerial vehicle (UAV), characterized in that, The explosion-proof machine system is used to implement the explosion-proof machine method as described in any one of claims 1-5, and the explosion-proof machine system includes: The fault determination module is used to monitor the motors of all rotor components on the UAV in real time based on preset sensors, obtain the real-time operating status of each motor, and determine the faulty motor based on all the real-time operating statuses. The first control module is used to control the arm corresponding to the faulty motor to swing, control the arm corresponding to the adjacent motor of the faulty motor to rotate, and control the first speed increase of all motors that have not failed to perform first speed increase control based on the drive device. Based on the driving device, the arm corresponding to the faulty motor is controlled to swing, the arm corresponding to the adjacent motor of the faulty motor is controlled to rotate, and the first speed increase control is performed on all motors that have not experienced a fault. Specifically, this includes: Obtain the fault location relationship between the arm containing the faulty motor and the UAV; Based on the relationship between the drive device and the fault location, the arm corresponding to the faulty motor is controlled to swing in a first direction at a first preset angle, wherein the first direction is a vertically downward direction and the first preset angle is 90°. The arm of the adjacent motor of the faulty motor is controlled to rotate at a preset angle toward the faulty motor to complete the first rotation control; The first speed increase control is applied to all motors that have not failed, so that the total thrust provided by all motors that have not failed is equal to the weight of the UAV; The second control module is used to control the diagonal motor of the faulty motor to perform a second rotation control based on the drive device, and to perform a second speed increase control on the diagonal motor. The second rotation control of the diagonal motor of the faulty motor based on the drive device, and the second speed increase control of the diagonal motor, specifically include: Obtain the rotation direction of the faulty motor, obtain the rotor assembly corresponding to the diagonal motor of the faulty motor, and use it as the rotor assembly to be rotated; The rotor assembly to be rotated is controlled to rotate around the arm according to the rotation direction, so as to complete the second rotation control of the diagonal motor; The diagonal motor is subjected to a second speed increase control until the UAV stops rotating. The emergency landing module is used to obtain the current flight altitude and perform emergency landing control based on the current flight altitude until the drone lands on the ground.

7. 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 1-5.

8. 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 1-5.

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