A toy unmanned aerial vehicle with out-of-control protection function and a control method

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically disclosing a toy UAV with runaway protection function and its control method. The UAV includes the following modules: a flight control board, a wireless receiver, an inertial sensor, a power detection circuit, a motor drive circuit, and a rotor motor. The flight control board receives wireless reception status, control command refresh status, aircraft attitude status, and power supply status. When at least two of these statuses meet preset runaway combination conditions, a runaway risk state is determined. Based on the runaway risk state, a protection level and protection control sequence are determined. The motor drive circuit drives the rotor motor, and during execution, subsequent motor outputs are corrected based on the aircraft attitude status and power supply status. When recovery conditions are met, limited recovery control is entered. This invention establishes a control relationship between runaway protection triggering, rotor motor drive, and normal control recovery through associated state determination, hierarchical control, and feedback correction.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a toy UAV with runaway protection function and its control method. Background Technology

[0002] The field of drone control technology typically revolves around controlling flight attitude, flight direction, power output, and the actions of actuators. The flight control board receives control commands from the remote controller or mobile terminal and, in conjunction with status signals from the aircraft's sensors, power detection circuits, and wireless receiving circuits, drives and controls the rotor motors. Traditional toy drones with runaway protection functions and their control methods address flight control in situations such as interrupted remote control signals, abnormal control commands, deviations in aircraft attitude, or abnormal power conditions. Typically, a wireless receiver acquires control signals, the flight control board reads the aircraft's status and power supply status, compares the current status with preset conditions, and then sends control commands such as deceleration, hovering, or stopping to each rotor motor based on the judgment result.

[0003] In traditional toy drones, during the runaway protection process, protection actions are often triggered by a single judgment of the remote control signal, the aircraft's attitude, and the power supply status. After the flight control board obtains the status signal, it compares it with the preset conditions and outputs deceleration and hovering or stopping commands to the rotor motors. The correspondence between the runaway situation and the protection action is relatively fixed. When short-term signal fluctuations, interruption of control commands, attitude deviations, and power supply abnormalities occur, the control basis is easily scattered, the connection between the protection action and the current state of the aircraft is insufficient, and the transition basis when the normal control state is restored is not clear enough. Summary of the Invention

[0004] The purpose of this invention is to provide a toy drone with runaway protection function and a control method, so that when the toy drone has abnormal correlations in wireless reception state, control command refresh state, body attitude state and power supply state, it can enter the corresponding protection control according to the runaway risk state, and in the process of executing the protection control sequence, it can combine the body attitude state and power supply state to correct the subsequent motor output. At the same time, after the recovery conditions are met, it enters the restricted recovery control, so as to form a clear runaway judgment, protection execution and control recovery process.

[0005] To achieve the above objectives, the present invention adopts the following technical solution.

[0006] A toy drone with runaway protection includes a flight control board, a wireless receiver, an inertial sensor, a power detection circuit, a motor drive circuit, and a rotor motor. The wireless receiver, inertial sensor, power detection circuit, and motor drive circuit are connected to the flight control board, and the rotor motor is connected to the motor drive circuit.

[0007] The wireless receiver outputs the wireless reception status and control command refresh status to the flight control board, the inertial sensor outputs the aircraft attitude status, and the power detection circuit outputs the power supply status. The flight control board is configured to determine a runaway risk state when any two or more of the wireless reception status, control command refresh status, aircraft attitude status, and power supply status together meet a preset runaway combination condition, and then determine the protection level and the corresponding protection control sequence based on the runaway risk state; when the wireless reception status, control command refresh status, aircraft attitude status, and power supply status do not together constitute any preset runaway combination condition, normal control is maintained. The motor drive circuit drives the rotor motors according to the protection control sequence. The flight control board is also configured to, during the execution of the protection control sequence, correct subsequent motor outputs based on the real-time acquired aircraft attitude status and power supply status, and enter restricted recovery control when the wireless reception status recovers, the control command refresh status meets the continuity condition, and the aircraft attitude status meets the controllable condition.

[0008] In the scheme that limits the wireless reception status and control command refresh status, the wireless receiver receives control commands from the remote controller or mobile terminal at fixed reception intervals and outputs the wireless reception status and control command refresh status to the flight control board. The wireless reception status includes a valid reception status and a reception interruption status, and the control command refresh status includes a command refresh interval. The flight control board is configured to determine that the wireless reception status and control command refresh status meet a preset combination of loss of control conditions when the reception interruption status lasts for a preset number of cycles and the command refresh interval exceeds a preset interval.

[0009] In the scheme that limits the refresh status of control commands, the flight control board is configured to, when the radio reception status is valid, read the throttle change, pitch change, roll change, and yaw change in the control commands according to adjacent reception cycles, and compare each change with its corresponding preset change range; when any change exceeds the corresponding preset change range and continues to reach a preset number of cycles, the control command refresh status is determined to be an abnormal command status; when all changes are within the corresponding preset change range, normal control is maintained.

[0010] In the scheme for limiting the risk of loss of control, the flight control board is configured to read the aircraft attitude status and power supply status after the control command refresh status is determined to be an abnormal command status; when the aircraft attitude status exceeds the preset attitude range and the power supply status is within the preset power supply range, the risk of loss of control status is determined to be an attitude abnormality protection status; when the aircraft attitude status exceeds the preset attitude range and the power supply status exceeds the preset power supply range, the risk of loss of control status is determined to be a power supply abnormality protection status.

[0011] In the scheme that limits the protection control sequence, the protection control sequence includes a power change limiting command, a power reduction command, and a recovery judgment command executed sequentially. The flight control board is configured to first limit the power output variation of the rotor motors according to the power change limiting command, then reduce the power output of the rotor motors according to the power reduction command at control cycles; and when executing the recovery judgment command, read the radio reception status, control command refresh status, and aircraft attitude status, and exit the protection control sequence when the preset recovery conditions are met.

[0012] In the scheme that limits the execution process of the protection control sequence, the flight control board is configured to read the airframe attitude state and power supply state in control cycles during the execution of the protection control sequence; when the airframe attitude state is within the preset attitude range and the power supply state is within the preset power supply range, the rotor motor power output corresponding to the current control cycle is maintained; when the airframe attitude state exceeds the preset attitude range or the power supply state exceeds the preset power supply range, the rotor motor power output is reduced in the next control cycle.

[0013] In the scheme that limits the execution of the protection control sequence feedback, the flight control board is configured to record the comparison results of the aircraft attitude state and power supply state in adjacent control cycles; when the aircraft attitude state is continuously within the preset attitude range and the power supply state is continuously within the preset power supply range, the recovery judgment command is executed again; when the aircraft attitude state exceeds the preset attitude range again or the power supply state exceeds the preset power supply range again, the power reduction command in the protection control sequence is executed again.

[0014] In the scheme for limiting recovery control, the flight control board is configured to verify the radio reception status, control command refresh status, and aircraft attitude status when executing limited recovery control; when the radio reception status is valid, the control command refresh status meets the continuity condition, and the aircraft attitude status is within the preset attitude range, the protection control sequence's restriction on the reduction of rotor motor power output is lifted, and the variation range of rotor motor power output is limited within the preset recovery period; when any of the radio reception status, control command refresh status, and aircraft attitude status fails to meet the corresponding condition, the protection control sequence continues to be executed.

[0015] In a scheme that limits control commands during restricted recovery control, the flight control panel is configured to receive control commands within a preset recovery period and obtain the corresponding throttle, pitch, roll, and yaw changes; compare the throttle, pitch, roll, and yaw changes with their respective preset recovery ranges; drive the rotor motors according to the control commands when all changes are within their respective preset recovery ranges; and maintain restricted recovery control when any change exceeds its respective preset recovery range.

[0016] This invention also provides a control method for a toy drone with runaway protection function, the control method being executed by the toy drone. The control method includes: acquiring the wireless reception status and control command refresh status output by the wireless receiver, the body attitude status output by the inertial sensor, and the power supply status output by the power detection circuit; determining a runaway risk status when at least two of the wireless reception status, control command refresh status, body attitude status, and power supply status meet preset runaway combination conditions; maintaining normal control when the preset runaway combination conditions are not met; determining a protection level based on the runaway risk status, and determining a protection control sequence for the rotor motor based on the protection level; driving the rotor motor according to the protection control sequence, and correcting subsequent motor outputs based on the body attitude status and power supply status during the execution of the protection control sequence; and entering restricted recovery control when the wireless reception status recovers, the control command refresh status meets the continuity condition, and the body attitude status meets the controllable condition.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, the flight control board receives radio reception status, control command refresh status, aircraft attitude status, and power supply status. It uses at least two of these statuses satisfying a preset runaway combination condition as the basis for forming a runaway risk state, thus transforming the runaway protection trigger basis from a single status to a correlated status. Each runaway risk state corresponds to a protection level, and each protection level corresponds to a protection control sequence, ensuring that the rotor motor drive process corresponds to the degree of runaway. During the execution of the protection control sequence, the aircraft attitude status and power supply status are continuously collected, and subsequent motor outputs are corrected, providing feedback for the protection action. When the radio reception status recovers, the control command refresh status meets the continuity condition, and the aircraft attitude status meets the controllable condition, restricted recovery control is initiated, providing transitional conditions for the recovery of normal control. Attached Figure Description

[0018] Figure 1 This is a flowchart of the runaway protection control process of the present invention; Figure 2 This is a schematic diagram of the control structure of the toy drone of the present invention; Figure 3This is a schematic diagram illustrating the determination of the risk of loss of control in this invention. Figure 4 This is a schematic diagram illustrating the execution of the protection control sequence of the present invention; Figure 5 This is a schematic diagram of the limited recovery control of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0020] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0021] Please see Figures 1 to 5 This embodiment provides a toy drone with runaway protection, including a flight control board, a wireless receiver, an inertial sensor, a power detection circuit, a motor drive circuit, and a rotor motor. The wireless receiver, inertial sensor, power detection circuit, and motor drive circuit are connected to the flight control board, and the rotor motor is connected to the motor drive circuit. The wireless receiver receives control commands from a remote controller or mobile terminal and outputs the wireless reception status and control command refresh status to the flight control board. The inertial sensor detects attitude changes in the toy drone and outputs the drone's attitude status to the flight control board. The power detection circuit detects the power supply status and outputs the power supply status to the flight control board. The motor drive circuit receives the protection control sequence output by the flight control board and drives the rotor motor according to the protection control sequence. In this embodiment, the toy drone has a diagonal dimension of 120mm to 180mm, a weight of 80g to 180g, and four rotor motors. It is powered by a single lithium battery with a nominal voltage of 3.7V, a fully charged voltage of 4.20V, a capacity of 500mAh to 850mAh, and a continuous discharge current of 5A to 8A. The flight control board has a control cycle of 20ms, the inertial sensor's attitude sampling frequency is 50Hz to 100Hz, the motor drive circuit's pulse width modulation frequency is 8kHz to 16kHz, and the rotor motor's power output is expressed using duty cycle, ranging from 0% to 100%.

[0022] The flight control board receives status signals from the wireless receiver, inertial sensor, and power detection circuit, and determines whether to enter the runaway protection control based on these signals. The wireless reception status indicates the receiver's reception of control commands; the control command refresh status indicates the refresh status of control commands within a fixed reception period; the aircraft attitude status indicates whether the toy drone's attitude is within a preset attitude range; and the power supply status indicates whether the power supply is within a preset power supply range. After these status signals enter the flight control board, it makes a judgment based on preset runaway combination conditions. The preset runaway combination conditions are based on at least two of the following states: wireless reception status, control command refresh status, aircraft attitude status, and power supply status. In this embodiment, the fixed reception period is 20ms, the preset attitude range is a pitch angle not exceeding 30° and a roll angle not exceeding 30°, and the preset power supply range is a battery voltage between 3.40V and 4.25V and a discharge current not exceeding 8A. Under normal operation and control, the duty cycle of the rotor motor power output is 15% to 95%; in hovering state, the duty cycle of the rotor motor power output is 45% to 65%; when the protection control sequence is executed, the duty cycle change within a single control cycle does not exceed 5%.

[0023] In terms of structural connections, a control command input link is formed between the wireless receiver and the flight control board; an attitude status input link is formed between the inertial sensor and the flight control board; a power supply status input link is formed between the power detection circuit and the flight control board; a control command output link is formed between the flight control board and the motor drive circuit; and a power execution link is formed between the motor drive circuit and the rotor motor. During operation, the toy drone completes the control command input, status signal acquisition, loss-of-control risk status judgment, protection control sequence output, and rotor motor execution sequentially according to the above links. The control command input link uses a 2.4GHz remote control link or a mobile terminal short-range wireless link, and the control commands include throttle, pitch, roll, and yaw commands. The flight control board completes status reading, condition comparison, and control output within one control cycle.

[0024] In this embodiment, the wireless receiver receives control commands from the remote controller or mobile terminal at fixed reception cycles. Within each fixed reception cycle, the wireless receiver outputs a wireless reception status and a control command refresh status to the flight control panel. The wireless reception status includes a valid reception status and a reception interruption status. The control command refresh status includes a command refresh interval. A valid reception status indicates that the wireless receiver can acquire control commands within the fixed reception cycle, while a reception interruption status indicates that the wireless receiver has not acquired valid control commands within the fixed reception cycle. The command refresh interval represents the time interval or reception cycle interval between two consecutive valid control commands. The fixed reception cycle is denoted as... The number of consecutive cycles in which the receive interrupt status occurs is denoted as The duration of the receive interrupt is denoted as The duration of the interruption in the wireless reception state is determined by the following formula: In the formula, This indicates the fixed reception period for the wireless receiver to receive control commands. This indicates the number of reception cycles in which no valid control command has been received consecutively. This indicates the duration of the receive interruption state. For 20ms and When it is 5, It takes 100ms; For 20ms and At 8 o'clock, It takes 160ms.

[0025] After receiving the wireless reception status and control command refresh status, the flight control board first determines the duration of the reception interruption and then the command refresh interval. If the reception interruption persists for a preset number of cycles and the command refresh interval exceeds a preset interval, the flight control board determines that the wireless reception status and control command refresh status meet a preset failure combination condition. If the reception interruption does not persist for the preset number of cycles, or the command refresh interval does not exceed the preset interval, the flight control board does not enter failure protection control based on this state, and the toy drone maintains normal control. With a fixed reception cycle of 20ms, the preset number of cycles is 5, and the preset interval is 100ms. When the reception interruption lasts for 5 fixed reception cycles and the command refresh interval exceeds 100ms, the flight control board treats the wireless reception status and control command refresh status as two states that meet the preset failure combination condition. When the reception interruption lasts for 1 to 4 fixed reception cycles, or the command refresh interval does not exceed 100ms, the flight control board maintains normal control. When the reception interruption state continues for 8 fixed reception cycles, the flight control board will record the wireless reception state as a continuous reception interruption state.

[0026] When the radio reception status is active, the flight control panel continues to read the throttle, pitch, roll, and yaw changes from the control commands in adjacent reception cycles. Throttle change represents the change in throttle command between adjacent control commands, pitch change represents the change in pitch command between adjacent control commands, roll change represents the change in roll command between adjacent control commands, and yaw change represents the change in yaw command between adjacent control commands. The flight control panel compares the throttle, pitch, roll, and yaw changes with their corresponding preset ranges. Control commands are represented using normalized control values, with the values ​​for throttle, pitch, roll, and yaw commands all corresponding to 0% to 100% of the control input. The change in control commands within adjacent reception cycles is determined using the following formula: In the formula, Indicates the control channel number. A value of 1 corresponds to the throttle command. A value of 2 corresponds to the pitch command. When it is 3, it corresponds to the roll command. The yaw command corresponds to time 4. Indicates the first Within the first receiving cycle, the first The amount of manipulation in each manipulation channel. Indicates the first Within the first receiving cycle, the first The amount of manipulation in each manipulation channel. Indicates the first reception period within an adjacent reception period The amount of change in each manipulation channel.

[0027] When any change in throttle, pitch, roll, or yaw exceeds its corresponding preset range, and this exceedance persists for a preset number of cycles, the flight control panel determines the control command refresh status as an abnormal command state. This abnormal command state serves as one of the inputs for subsequent loss-of-control risk assessment. If the changes in throttle, pitch, roll, and yaw are all within their corresponding preset ranges, the flight control panel maintains normal control and continues to receive subsequent control commands according to a fixed reception cycle. In this embodiment, the preset range for throttle change is no more than 15%, and the preset ranges for pitch, roll, and yaw change are each no more than 20%. When any change exceeds its corresponding preset range for three consecutive fixed reception cycles, the flight control panel determines the control command refresh status as an abnormal command state. When the change exceeds its corresponding preset range but only persists for one or two fixed reception cycles, the flight control panel continues normal control and continues comparison in the next fixed reception cycle. Before the restricted recovery control, the preset recovery range for throttle changes is no more than 10%, and the preset recovery ranges for pitch, roll, and yaw changes are no more than 15%.

[0028] After the control command refresh status is determined to be an abnormal command status, the flight control board reads the aircraft attitude status output by the inertial sensor and the power supply status output by the power detection circuit. The aircraft attitude status is formed by the inertial sensor based on the toy drone's attitude changes, and the flight control board compares the aircraft attitude status with a preset attitude range. The power supply status is formed by the power supply detection circuit based on the power supply detection results, and the flight control board compares the power supply status with a preset power supply range. When the aircraft attitude status exceeds the preset attitude range but the power supply status is within the preset power supply range, the flight control board determines the loss-of-control risk status as an attitude abnormality protection state. The aircraft attitude status is characterized by the pitch and roll angles output by the inertial sensor, and the attitude deviation is recorded as... The pitch angle is denoted as The roll angle is denoted as The attitude deviation is determined by the following formula: In the formula, Indicates the first Pitch angle within a control cycle, Indicates the first Roll angle within each control cycle Indicates the first The attitude deviation used to compare with the preset attitude range within each control cycle. The preset attitude range is... Not exceeding 30°; when When the angle exceeds 30°, the flight control panel determines that the aircraft's attitude state exceeds the preset attitude range. For toy drones weighing 80g to 180g and with a diagonal dimension of 120mm to 180mm, When the angle is between 30° and 40°, it corresponds to an attitude anomaly protection state. When the temperature exceeds 40°C, a higher level of protection is activated.

[0029] Attitude anomaly protection status and power supply anomaly protection status are both different manifestations of runaway risk status. Attitude anomaly protection status corresponds to a situation where the aircraft attitude has deviated from the preset attitude range but the power supply remains within the preset power supply range. Power supply anomaly protection status corresponds to a situation where the aircraft attitude has deviated from the preset attitude range and the power supply has also exceeded the preset power supply range. The flight control board determines the protection level based on the runaway risk status and then determines the corresponding protection control sequence based on the protection level. The protection level is formed by the combination of radio reception status, control command refresh status, aircraft attitude status, and power supply status. The power supply status is formed by the power detection circuit detecting battery voltage and discharge current; the battery output power is denoted as... The battery voltage is recorded as The discharge current is denoted as The battery output power is determined by the following formula: In the formula, Indicates the first The battery voltage detected by the power supply detection circuit within each control cycle. Indicates the first The discharge current detected by the power supply detection circuit within each control cycle. Indicates the first Battery output power within each control cycle. For toy drones powered by a single lithium battery, the preset power supply range is... Between 3.40V and 4.25V and Not exceeding 8A. When Below 3.40V or above 4.25V, or When the power supply exceeds 8A, the flight control panel determines that the power supply status exceeds the preset power supply range. Between 3.40V and 3.55V, but If the angle does not exceed 30°, the flight control panel continues to perform normal control operations and limits the range of power output changes; if Below 3.40V and If the angle exceeds 30°, the flight control panel will determine the loss of control risk status as a power supply anomaly protection state.

[0030] In this embodiment, the protection control sequence includes a power change limiting command, a power reduction command, and a recovery judgment command executed sequentially. After determining the protection level, the flight control board first outputs a power change limiting command to the motor drive circuit, which then limits the power output variation of the rotor motor according to the power change limiting command. Subsequently, the flight control board outputs a power reduction command to the motor drive circuit, which reduces the power output of the rotor motor according to the power reduction command in a control cycle. Afterward, the flight control board executes the recovery judgment command, reading the wireless reception status, control command refresh status, and aircraft attitude status during the execution of the recovery judgment command. When the preset recovery conditions are met, the protection control sequence is exited. The attitude abnormality protection state corresponds to the first protection level, where the rotor motor power output corresponding to the power reduction command is reduced by 5% to 8% per control cycle; the power supply abnormality protection state corresponds to the second protection level, where the rotor motor power output corresponding to the power reduction command is reduced by 8% to 12% per control cycle. When the rotor motor power output is expressed in terms of duty cycle, the lower limit of the duty cycle under the first protection level is 30% to 40%, and the lower limit of the duty cycle under the second protection level is 15% to 25%. When the hovering duty cycle is between 45% and 65%, the lower limit of the aforementioned duty cycle is used to reserve attitude correction margin during the protection control process.

[0031] The power change limiting command, power reduction command, and recovery judgment command have a clear sequential relationship. The power change limiting command is located at the beginning of the protection control sequence and is used to limit the range of change in the rotor motor's power output; the power reduction command is located in the middle of the protection control sequence and is used to reduce the rotor motor's power output according to the control cycle; the recovery judgment command is located at the end of the protection control sequence and is used to determine whether the protection control sequence has the conditions to exit. The flight control panel outputs control commands in the above order, completing protection control through power change limiting, power reduction, and recovery judgment. When the power change limiting command is executed, the target power output is recorded as... The actual power output to the motor drive circuit is denoted as The power output of the previous control cycle is denoted as The maximum change in a single period is denoted as The power output of the rotor motor is determined by the following formula: In the formula, Indicates the first Within each control cycle, the flight control panel determines the target power output based on the protection level. Indicates the first The power output to the motor drive circuit within each control cycle. Indicates the first The power output to the motor drive circuit within each control cycle. This indicates the maximum allowable change in power output within a single control cycle. Represents a symbolic function. This indicates a function that takes the smaller value. For a 5% duty cycle; when 60% and When it is 42%, First, reduce it to 55%, and then continue to approach the target power output within the subsequent control cycle at a duty cycle variation of no more than 5%.

[0032] During the execution of the protection control sequence, the flight control board reads the aircraft attitude and power supply status on a control cycle basis. The flight control board compares the aircraft attitude status with a preset attitude range and the power supply status with a preset power supply range. When both the aircraft attitude and power supply status are within the preset range, the flight control board maintains the rotor motor power output corresponding to the current control cycle. When either the aircraft attitude or power supply status exceeds the preset range, the flight control board reduces the rotor motor power output in the next control cycle. The motor output during the protection control sequence execution is corrected according to the aircraft attitude and power supply status during the protection process. When the control cycle is 20ms, the flight control board reads the aircraft attitude and power supply status every 20ms; when... No more than 30° and When the voltage is between 3.40V and 4.25V, the flight control board maintains the rotor motor power output corresponding to the current control cycle; when... More than 30° or When the voltage drops below 3.40V, the flight control board reduces the rotor motor power output according to the corresponding protection level in the next control cycle. If Within the range of 30° to 40° and The voltage should not be lower than 3.55V; the flight control board should operate at the first protection level. More than 40°, or Below 3.40V, the flight control board operates at the second protection level.

[0033] The flight control board also records the comparison results of the aircraft's attitude and power supply status within adjacent control cycles. The comparison results within adjacent control cycles are used to determine the toy drone's state change after the execution of the protection control sequence. If the aircraft's attitude and power supply status remain within the preset range, the flight control board continues to execute the recovery judgment command. If the aircraft's attitude or power supply status exceeds the preset range again, the flight control board returns to execute the power reduction command in the protection control sequence. The flight control board records the comparison results within 5 consecutive control cycles; when the control cycle is 20ms, this recording window corresponds to 100ms. When within 5 consecutive control cycles... All not exceeding 30° All are between 3.40V and 4.25V, and If none of the values ​​exceed 8A, the flight control panel continues to execute the recovery judgment command; if within any control cycle More than 30° Below 3.40V or If the speed exceeds 8A, the flight control panel returns to execute the power reduction command.

[0034] In the restricted recovery control, the flight control board verifies the radio reception status, control command refresh status, and aircraft attitude status. When the radio reception status is valid, the control command refresh status meets the continuity condition, and the aircraft attitude status is within the preset attitude range, the flight control board removes the protection control sequence's restriction on the rotor motor power output and limits the variation in rotor motor power output within the preset recovery period. If any of the radio reception status, control command refresh status, or aircraft attitude status fails to meet the corresponding condition, the flight control board continues to execute the protection control sequence. Restricted recovery control uses the radio reception status, control command refresh status, and aircraft attitude status together as the recovery entry condition. The preset recovery period is 10 control cycles; when the control cycle is 20ms, the preset recovery period corresponds to 200ms. During restricted recovery control, the variation in rotor motor power output continues according to... A 5% duty cycle limit is applied. The wireless reception status remains active for five consecutive fixed reception cycles, and the command refresh interval does not exceed 40ms for any of the five consecutive fixed reception cycles. If the angle does not exceed 25° for five consecutive control cycles, the flight control panel confirms that the entry condition for restricted recovery control has been met.

[0035] The flight control panel receives control commands within a preset recovery period and obtains the corresponding throttle, pitch, roll, and yaw changes. The flight control panel compares these changes with their respective preset recovery ranges. When all changes are within their preset recovery ranges, the flight control panel drives the rotor motors according to the control commands. When any change exceeds its preset recovery range, the flight control panel maintains restricted recovery control. The comparison of control command changes within the preset recovery period constrains the recovery process of normal control by the magnitude of the control command changes. Within the preset recovery period, the preset recovery range for throttle changes is no more than 10%, and the preset recovery ranges for pitch, roll, and yaw changes are each no more than 15%. When the changes in throttle, pitch, roll, and yaw are all within their respective preset recovery ranges, and the rotor motor power output duty cycle remains between 20% and 70% for 10 consecutive control cycles, the flight control panel drives the rotor motor according to the control commands. When any change exceeds its corresponding preset recovery range, or the rotor motor power output duty cycle exceeds 70% within the recovery cycle, the flight control panel maintains restricted recovery control and continues to limit the magnitude of changes in rotor motor power output.

[0036] Please see Figure 1 This embodiment provides a control method for a toy drone with a runaway protection function, which is executed by the toy drone. The control method includes the following steps.

[0037] S1 acquires the wireless reception status and control command refresh status output by the wireless receiver, the aircraft attitude status output by the inertial sensor, and the power supply status output by the power detection circuit. The wireless reception status and control command refresh status are generated by the wireless receiver within a fixed reception period. The aircraft attitude status is generated by the inertial sensor detecting changes in the toy drone's attitude, and the power supply status is generated by the power detection circuit detecting power supply. All of these statuses are transmitted to the flight control board as input for judging the risk of loss of control. In S1, the fixed reception period is 20ms. The flight control board synchronously reads the wireless reception status and control command refresh status according to this fixed reception period, and reads the aircraft attitude status and power supply status according to the same control period. The inertial sensor's attitude sampling frequency is 100Hz. The flight control board selects the aircraft attitude status corresponding to the current control period's timestamp from two adjacent attitude sampling results. The aircraft attitude status includes at least pitch angle and roll angle, and the power supply status includes at least battery voltage and discharge current.

[0038] S2: When at least two of the following states—radio reception status, control command refresh status, aircraft attitude status, and power supply status—meet preset runaway combination conditions, a runaway risk state is determined; when the preset runaway combination conditions are not met, normal control is maintained. The preset runaway combination conditions include the combination of radio reception status and control command refresh status, as well as the combination judgment conditions between control command refresh status and aircraft attitude status and power supply status. When executing this step, the flight control board first checks the radio reception status and control command refresh status, and then decides whether to read and compare the aircraft attitude status and power supply status based on whether the control command refresh status is an abnormal command status. In S2, when the reception interruption state lasts for 5 fixed reception cycles and the command refresh interval exceeds 100ms, the flight control board determines that the radio reception status and control command refresh status meet the preset runaway risk conditions; when the control command refresh status is determined to be an abnormal command status, and More than 30° or When the voltage exceeds the range of 3.40V to 4.25V, the flight control board determines the corresponding risk of loss of control based on the aircraft's attitude and power supply status. No more than 30° and When the voltage is between 3.40V and 4.25V, the flight control board does not recognize the aircraft attitude state and power supply state as the state that meets the preset runaway combination conditions.

[0039] S3 determines the protection level based on the runaway risk state and then determines the rotor motor protection control sequence based on the protection level. Runaway risk states include attitude anomaly protection state and power supply anomaly protection state. The flight control board determines the corresponding protection level based on different runaway risk states and converts the protection level into a protection control sequence. The protection control sequence includes power change limitation commands, power reduction commands, and recovery judgment commands. The motor drive circuit drives the rotor motor according to the commands output by the flight control board. In S3, the attitude anomaly protection state corresponds to the first protection level, and the power supply anomaly protection state corresponds to the second protection level. Under the first protection level, the rotor motor power output is executed with a duty cycle reduced by 5% to 8% per control cycle; under the second protection level, the rotor motor power output is executed with a duty cycle reduced by 8% to 12% per control cycle. If the rotor motor power output duty cycle is 60% at the start of the protection control sequence, the duty cycle drops to 36% to 45% after 3 control cycles under the first protection level, and to 24% to 36% after 3 control cycles under the second protection level.

[0040] S4: Drive the rotor motors according to the protection control sequence, and correct subsequent motor outputs based on the aircraft attitude and power supply status during the execution of the protection control sequence. In this step, the flight control board continues to read the aircraft attitude and power supply status on a control cycle basis during the execution of the protection control sequence. If the aircraft attitude and power supply status are within the preset attitude and power supply ranges, maintain the rotor motor power output for the corresponding control cycle; if the aircraft attitude or power supply status exceeds the preset attitude or power supply range, reduce the rotor motor power output in the next control cycle. The flight control board also records the comparison results of the aircraft attitude and power supply status in adjacent control cycles, and decides whether to continue executing the recovery judgment command or return to executing the power reduction command. In S4, the flight control board uses... A 5% duty cycle limiting relationship is used to constrain the rotor motor power output in adjacent control cycles, and the data is recorded over five consecutive control cycles. , and The comparison results. If within 5 consecutive control cycles All not exceeding 30° All are between 3.40V and 4.25V and If none of them exceed 8A, the flight control panel will continue to execute the recovery judgment command; if within any control cycle More than 30° Below 3.40V or If the value exceeds 8A, return to execute the power reduction command.

[0041] S5, when the radio reception status is restored, the control command refresh status meets the continuity condition, and the aircraft attitude status meets the controllable condition, the restricted recovery control is initiated. In restricted recovery control, the flight control board first verifies the radio reception status, control command refresh status, and aircraft attitude status. If the radio reception status is valid, the control command refresh status meets the continuity condition, and the aircraft attitude status is within the preset attitude range, the flight control board removes the protection control sequence's restriction on the rotor motor power output and limits the variation in rotor motor power output within the preset recovery period. If any of the radio reception status, control command refresh status, or aircraft attitude status fails to meet the corresponding condition, the flight control board continues to execute the protection control sequence. In S5, the preset recovery period is 10 control cycles, i.e., 200ms corresponds to a 20ms control cycle. After the recovery condition is met, the flight control board still limits the variation in rotor motor power output within 200ms, with the variation not exceeding 5% of the duty cycle within a single control cycle. If the radio reception status changes to a reception interruption state again within the 200ms recovery period, or... If the angle exceeds 30° again, the flight control panel will abort restricted recovery control and continue to execute the protection control sequence.

[0042] S6: Within a preset recovery period, the system receives control commands and obtains the corresponding throttle, pitch, roll, and yaw changes. The flight control board compares these changes with their respective preset recovery ranges. When all changes are within their preset recovery ranges, the flight control board drives the rotor motors according to the control commands. When any change exceeds its preset recovery range, the flight control board maintains restricted recovery control. This step, together with S5, constitutes the transitional judgment process before normal control recovery. In S6, the preset recovery range for throttle changes is no more than 10%, and the preset recovery ranges for pitch, roll, and yaw changes are no more than 15%. The flight control board compares these changes cycle by cycle within the preset recovery period. When all changes meet their corresponding ranges, the command refresh interval is no more than 40ms, and the rotor motor power output duty cycle remains between 20% and 70%, the flight control board resumes driving the rotor motors according to the control commands.

[0043] In the aforementioned toy drone and control method, a continuous control link is formed between status input, loss-of-control risk status judgment, protection control sequence execution, protection process feedback, and restricted recovery control. The connections between the wireless receiver, inertial sensor, power detection circuit, flight control board, motor drive circuit, and rotor motor enable status signals to enter the flight control board, and allow the protection control sequence output by the flight control board to act on the rotor motor through the motor drive circuit. During the execution of the protection control sequence, the flight control board continues to read the aircraft's attitude and power supply status, allowing subsequent motor outputs to be corrected based on status changes during the protection process. After entering restricted recovery control, the flight control board continues to verify the wireless reception status, control command refresh status, and aircraft attitude status, ensuring that the toy drone has clear state conditions when returning from the protection control sequence to normal control. As can be seen from the above parameter relationships, the flight control board, based on a 20ms control cycle, uniformly processes 100ms to 160ms level wireless reception interruptions, abnormal control commands for three consecutive reception cycles, 30° to 40° attitude deviation, 3.40V to 4.25V power supply range, 5A to 8A discharge current, 5% duty cycle single-cycle power limitation, and 200ms restricted recovery control. The loss of control judgment, protection control sequence, and restricted recovery control have clear execution boundaries.

[0044] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A toy drone with runaway protection function, characterized in that, It includes a flight control board, a wireless receiver, an inertial sensor, a power detection circuit, a motor drive circuit, and a rotor motor. The wireless receiver, the inertial sensor, the power detection circuit, and the motor drive circuit are respectively connected to the flight control board, and the rotor motor is connected to the motor drive circuit. The wireless receiver is used to output wireless reception status and control command refresh status to the flight control board; the inertial sensor is used to output the aircraft attitude status to the flight control board; and the power detection circuit is used to output the power supply status to the flight control board. The flight control panel is configured as follows: When any two or more of the wireless reception state, the operation command refresh state, the body attitude state, and the power supply state meet the preset runaway combination conditions, a runaway risk state is determined, and a protection level and corresponding protection control sequence are determined based on the runaway risk state. When the wireless reception state, the control command refresh state, the body attitude state, and the power supply state do not together constitute any of the preset uncontrollable combination conditions, normal control is maintained. The motor drive circuit is used to drive the rotor motor according to the protection control sequence. The flight control board is also configured to correct the subsequent motor output according to the real-time acquired body attitude state and power supply state during the execution of the protection control sequence, and to enter restricted recovery control when the wireless reception state is restored, the control command refresh state meets the continuity condition, and the body attitude state meets the controllable condition.

2. The toy drone with runaway protection function according to claim 1, characterized in that, The wireless receiver receives control commands from the remote controller or mobile terminal at a fixed reception period, and outputs the wireless reception status and control command refresh status to the flight control board. The wireless reception status includes a valid reception status and a reception interruption status, and the control command refresh status includes a command refresh interval. The flight control panel is configured as follows: When the reception interruption state continues for a preset number of cycles and the instruction refresh interval exceeds a preset interval, it is determined that the wireless reception state and the manipulation instruction refresh state satisfy the preset uncontrollable combination condition.

3. The toy drone with runaway protection function according to claim 2, characterized in that, The flight control panel is configured as follows: When the wireless reception state is in the reception valid state, the throttle change, pitch change, roll change and yaw change in the control command are read according to the adjacent reception cycle, and each change is compared with the corresponding preset change range. When any change exceeds the corresponding preset change range and continues to reach the preset number of cycles, the operation command refresh status will be determined as an abnormal command status. When all changes are within their corresponding preset ranges, normal operation control is maintained.

4. The toy drone with runaway protection function according to claim 3, characterized in that, The flight control panel is configured as follows: After the operation command refresh state is determined to be an abnormal command state, the body attitude state and the power supply state are read. When the body attitude state exceeds the preset attitude range and the power supply state is within the preset power supply range, the runaway risk state is determined as an attitude abnormality protection state. When the body attitude state exceeds the preset attitude range and the power supply state exceeds the preset power supply range, the runaway risk state is determined as a power supply abnormality protection state.

5. The toy drone with runaway protection function according to claim 1, characterized in that, The protection control sequence includes a power change limiting command, a power reduction command, and a recovery judgment command executed sequentially. The flight control panel is configured as follows: First, the power output variation of the rotor motor is limited according to the power change limiting command, and then the power output of the rotor motor is reduced according to the power reduction command in a control cycle. When executing the recovery judgment instruction, the wireless reception status, the operation instruction refresh status, and the body attitude status are read. When the preset recovery conditions are met, the protection control sequence is exited.

6. The toy drone with runaway protection function according to claim 5, characterized in that, The flight control panel is configured as follows: When the protection control sequence is executed, the body attitude state and the power supply state are read in control cycles. When the body attitude is within a preset attitude range and the power supply is within a preset power supply range, the rotor motor power output corresponding to this control cycle is maintained. When the body attitude state exceeds the preset attitude range or the power supply state exceeds the preset power supply range, the rotor motor power output is reduced in the next control cycle.

7. The toy drone with runaway protection function according to claim 6, characterized in that, The flight control panel is configured as follows: Record the comparison results of the body attitude state and the power supply state within adjacent control cycles; When the body posture is continuously within a preset posture range and the power supply status is continuously within a preset power supply range, the recovery judgment command continues to be executed; When the body attitude state exceeds the preset attitude range again or the power supply state exceeds the preset power supply range again, the power reduction command in the protection control sequence is executed again.

8. The toy drone with runaway protection function according to claim 1, characterized in that, The flight control panel is configured as follows: When performing the restricted recovery control, the wireless reception status, the control command refresh status, and the body attitude status are verified. When the wireless reception status is valid, the operation command refresh status meets the continuity condition, and the body attitude status is within the preset attitude range, the protection control sequence releases the restriction on the reduction of rotor motor power output, and limits the variation of rotor motor power output within the preset recovery period. If any of the wireless reception status, the manipulation command refresh status, or the body attitude status fails to meet the corresponding conditions, the protection control sequence continues to be executed.

9. The toy drone with runaway protection function according to claim 8, characterized in that, The flight control panel is configured as follows: Within the preset recovery period, control commands are received, and the corresponding throttle, pitch, roll, and yaw changes are obtained. The changes in throttle, pitch, roll, and yaw are compared with their respective preset recovery ranges. When all changes are within the corresponding preset recovery range, the rotor motor is driven according to the control command. When any change exceeds the corresponding preset recovery change range, the restricted recovery control is maintained.

10. A control method for a toy drone with runaway protection function, executed by the toy drone according to any one of claims 1 to 9, characterized in that, include: Acquire the wireless reception status and control command refresh status output by the wireless receiver, the body attitude status output by the inertial sensor, and the power supply status output by the power detection circuit. When any two or more of the wireless reception state, the control command refresh state, the body attitude state, and the power supply state together satisfy a preset loss of control combination condition, a loss of control risk state is determined; when the wireless reception state, the control command refresh state, the body attitude state, and the power supply state do not together constitute any of the preset loss of control combination conditions, normal control is maintained. The protection level is determined based on the runaway risk state, and the protection control sequence of the rotor motor is determined based on the protection level; The rotor motor is driven according to the protection control sequence, and the subsequent motor output is corrected according to the body attitude state and the power supply state during the execution of the protection control sequence. When the wireless reception state is restored, the operation command refresh state meets the continuity condition, and the body attitude state meets the controllable condition, the restricted recovery control is entered.

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