UAV Collision Recovery Control for Attitude Reset and Descent
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Solution Overview
Problem
UAVs can experience abnormal situations such as flipping over and becoming firmly attached to obstacles after collisions, and pitch attitude deviations between the UAV's body and camera system due to wind disturbances or control errors, which affect stability and user control.
Innovation Solution
Implement a flight control method that detects collisions by reducing the rotational speeds of all motors to lower the UAV's altitude and adjust its attitude to a normal state, and adjusts the pitch attitude deviation between the camera and body to maintain a stable reference attitude.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the UAV immediately adjusts its attitude to a normal attitude after collision, then the attitude recovery speed is improved, but the UAV may flip over and become firmly attached to the obstacle
Solution Approach 1:
The patent applies preliminary action by first reducing the flight altitude before adjusting the attitude. The control method detects collision through acceleration data, first commands the UAV to descend to a safe altitude, and then adjusts the attitude to normal. This sequence prevents the UAV from flipping over while recovering from collision, as the altitude reduction is performed before attitude adjustment.
2Speed
If the UAV maintains high motor speeds during flight, then the flight altitude and responsiveness are improved, but the UAV cannot quickly lower its altitude when collision occurs
Solution Approach 1:
The patent applies dynamics by making the motor speed control adaptive rather than static. During normal flight, motors operate at high speeds for responsive flight. Upon collision detection, the control method dynamically reduces motor speeds to enable rapid altitude reduction. This dynamic adjustment allows the UAV to maintain high responsiveness during normal operation while gaining the ability to quickly lower altitude when needed.
3Device complexity
If the pitch attitude deviation between camera and body is not corrected, then the system complexity is reduced, but the photographing stability deteriorates
Solution Approach 1:
The patent applies feedback by implementing a closed-loop control system for pitch attitude. The control method obtains the actual pitch attitude deviation between the photographing device and the body, compares it with the reference deviation, and generates correction commands based on the error signal. This feedback mechanism maintains photographing stability by continuously correcting pitch attitude deviations without requiring complex mechanical stabilization structures.
Data Source
Figure 1~2A
Figure 2B~3
Figure 4~5B
AI summary
A flight control method, device, UAV and storage medium. The method includes: in a flight state, determining whether a UAV has collided (31); when it is determined that a collision has occurred, reducing rotation speeds of all motors in the power system of the UAV to reduce the flight altitude of the UAV, and adjusting the attitude of the UAV to a normal attitude (32). The present application can reduce the occurrence of abnormal situations in which a UAV flips over after colliding with an obstacle and finally firmly attached to the obstacle.