CN109481943B - Automatic concession quadrotor toy and control method thereof - Google Patents
Automatic concession quadrotor toy and control method thereof Download PDFInfo
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- CN109481943B CN109481943B CN201810520118.5A CN201810520118A CN109481943B CN 109481943 B CN109481943 B CN 109481943B CN 201810520118 A CN201810520118 A CN 201810520118A CN 109481943 B CN109481943 B CN 109481943B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/12—Helicopters ; Flying tops
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/002—Means for manipulating kites or other captive flying toys, e.g. kite-reels
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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Abstract
A four-axis aircraft toy capable of giving way automatically is characterized in that a horizontal range finder is further mounted on a frame of the four-axis aircraft toy; after the four-axis aircraft toy enters the automatic conceding mode, the central controller controls the four-axis aircraft toy to continuously perform horizontal autorotation motion, the horizontal distance meter continuously detects the horizontal distance between the four-axis aircraft toy and an object in front in the horizontal autorotation motion process, and when the horizontal distance detected by the horizontal distance meter is smaller than a set horizontal distance threshold value, the central controller controls the four-axis aircraft toy to perform horizontal translation motion for a period of time on the basis of maintaining the horizontal autorotation motion; the parameter value of the horizontal translation motion direction at each moment is continuously corrected and changed. The invention further provides a control method of the four-axis aircraft toy capable of automatically giving way. The invention can detect the surrounding objects and automatically give way so as to keep a set distance range with the surrounding objects, and no blind area or overlapping area exists in the detection process.
Description
Technical Field
The invention belongs to the technical field of aircraft toys, and particularly relates to a quadrotor toy capable of automatically yielding after being approached and a control method thereof.
Background
As shown in fig. 1, the quadcopter toy is provided with a frame 2 and four rotor wing units, wherein each rotor wing unit comprises a rotor wing 1 and a motor for driving the rotor wing to rotate; from the horizontal projection position, the projection points of the vertical rotating shafts of the four rotor wing units are respectively positioned in the front, back, left and right directions of the central point of the frame, as shown in fig. 1, namely on the vertical and horizontal axes.
The four-shaft aircraft toy is provided with a central controller for controlling the rotating speed of each motor at the central part of the frame. When the four-axis aircraft toy flies, one part of the rotor wings rotate clockwise, the other part of the rotor wings rotate anticlockwise, and the central controller coordinates the rotating speed of each motor to control the flying action of the whole aircraft. Different states among the rotors can form a plurality of combination modes, so that the flight mode of the aircraft is rich and diverse, and various flight actions can be freely made. Common basic motions include vertical motion, horizontal rotation motion, horizontal translation motion and the like, and different basic motions can be simultaneously carried out to form composite superposition.
So-called vertical movement, colloquially called raising or lowering, can be achieved by a simultaneous increase or decrease in the rotational speed of the four rotors. When the rotating speed of the four rotary wings is increased, so that the total tension is greater than the weight of the whole aircraft, the whole aircraft vertically ascends; otherwise, the vertical drop is realized. The vertical motion has only two directional parameter values, either rising or falling.
When the four motors are not completely same in rotating speed, the reaction torques generated by the four rotors to the airframe are inconsistent and unbalanced, and the unbalanced reaction torques can cause the whole aircraft to rotate around the central point of the frame, namely, the rotation is realized. The rotation direction parameter value is only two, either the positive rotation or the reverse rotation.
The horizontal translation motion is commonly called translation, when the rotating speeds of the rotors are inconsistent and the lift force is unbalanced, the whole aircraft tilts to a certain degree, so that the pulling force of the rotors generates a horizontal component, and the aircraft can perform the horizontal translation motion. The direction of the horizontal translational movement may be in any direction within 360 ° of the full circumference, and thus there are an infinite number of directional parameter values for the horizontal translational movement.
In order to control the direction of the horizontal translation motion, the central controller must determine the direction parameter value of the horizontal translation motion, then carry out calculation according to the direction parameter value to coordinate and control the rotating speed of each motor, and finally realize the horizontal translation direction of the whole toy by depending on the rotating speed of each motor. Obviously, the direction parameter value of the horizontal translational movement determined by the central controller is not a geographical direction parameter value, because the quadrotor toy cannot identify a geographical direction. In other words, the central controller determines the values of the directional parameters for the horizontal translational movements, based on the orientation of the various components of the aircraft itself, without necessarily having a geographic relation to the directions, but with reference to the longitudinal and transverse axes of the quadcopter toy. The direction reference system based on the longitudinal and transverse axial directions of the quadcopter toy is called an aircraft direction reference system. The aircraft direction reference system takes the frame center point as the center, and the longitudinal and transverse axial directions of the quadcopter toy are taken as the references, so that the parameter values of each specific direction in the 360-degree direction of the whole circumference are defined, for example, if the direction parameter value of the direction in which one rotor wing unit is located on the horizontal axis is defined as 0, the direction parameter value of the direction in which the other rotor wing unit is located on the horizontal axis is pi, the direction parameter values of the direction in which the two rotor wing units are located on the vertical axis are pi/2 and 3 pi/2 respectively, and the rest are the same. In summary, since the motors of the various rotor units of the aircraft are arranged, managed and controlled in correspondence with the aircraft directional reference frame, the conventional aircraft toy performs the corresponding horizontal translational flight movements according to the parameter values of the aircraft directional reference frame, instead of performing the horizontal translational flight movements according to the geographical directional parameter values.
In order to enhance the interest of the quadcopter toy, special automatic control flight modes are designed besides the traditional remote control flight mode, for example, CN103861291A discloses an automatic tracking flight mode, which uses a horizontal range finder to automatically detect the surrounding objects and further track the surrounding objects, so that the quadcopter toy cannot be thrown away regardless of the change of the orientation of the objects. However, since objects may be located in any horizontal direction around the quadcopter toy and each horizontal range finder can only detect objects in a certain angular range in front of it, CN103861291A needs to have eight horizontal range finders 3 mounted on the frame as shown in fig. 1. However, as shown in fig. 2, among the eight horizontal distance meters 3, every two adjacent horizontal distance meters still exist in the blind detection area 41 which cannot be detected, and the overlapping area 42 which is detected by both the two horizontal distance meters exists, the existence of the blind area 41 makes the quadcopter toy unable to ensure that objects in any direction can be detected, and the existence of the overlapping area 42 makes the quadcopter toy useless, or the algorithm is complex, or the distance measurement accuracy requirement of the horizontal distance meters is greatly improved (only the distance difference between the object and the two horizontal distance meters can be distinguished).
Disclosure of Invention
The present invention has been made to overcome the above-mentioned disadvantages and provides an auto-concession four-axis aircraft toy and a control method thereof, which can detect objects around the toy and perform auto-concession so as to maintain a set distance range from the objects around, and which does not have a blind area or an overlapping area in the detection process.
The purpose can be realized according to the following scheme: an automatic concession four-axis aircraft toy comprises a frame, wherein four rotor wing units are arranged on the frame, and each rotor wing unit comprises a rotor wing and a motor for driving the rotor wing to rotate; the central controller controls the motor rotating speed of each rotor wing unit to realize the vertical motion, the horizontal rotation motion and the horizontal translation motion of the quadcopter toy, determines the direction parameter value of the horizontal translation motion based on the aircraft direction reference system, and controls the direction of the horizontal translation motion according to the direction parameter value; the frame is also provided with a horizontal distance meter, and the installation direction of the horizontal distance meter is back to the central area of the frame; the horizontal distance meter is connected to the central controller; characterised in that the number of said horizontal distance meters is only one, the value of the directional parameter of the orientation of the horizontal distance meter in the reference frame of the aircraft direction being defined as theta0(ii) a After the quadcopter toy enters the automatic conceding mode, the central controller controls the quadcopter toy to continuously perform horizontal rotation motion with the angular velocity of omega, in the process of the horizontal rotation motion, the horizontal distance meter continuously detects the horizontal distance between the quadcopter toy and an object in front, and transmits the detected horizontal distance value to the central controller, and the central controller compares the detected horizontal distance value with a set horizontal distance threshold value m; when the horizontal distance detected by the horizontal distance meter is smaller than a set horizontal distance threshold value m, the central controller controls the quadcopter toy to perform horizontal translation motion for a period of time T on the basis of maintaining horizontal rotation motion with angular velocity omega, the moving speed of the horizontal translation motion is v, and T is larger than or equal to m/v; and in the process of horizontal translation motion, the central controller continuously corrects and changes the parameter value theta of the horizontal translation motion direction at each moment, and the parameter value theta of the horizontal translation motion direction at each moment is determined according to the following formula: theta = pi + theta0- ω t, where t is the length of time between the point in time and the point in time at which the horizontal translational movement is just started.
The lower part of the frame is also provided with a first vertical distance meter for detecting the vertical distance with an object below, and the direction of the first vertical distance meter faces downwards; in the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits a vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H; when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value H, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept as the first vertical distance threshold value H.
The upper part of the frame is also provided with a second vertical distance meter for detecting the vertical distance with an object above, and the direction of the second vertical distance meter faces upwards; in the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h; when the vertical distance value detected by the second vertical distance meter is smaller than a second vertical distance threshold value h, the central controller controls the aircraft to vertically move downwards, so that the vertical distance between the second vertical distance meter and an object above the second vertical distance meter is kept as the second vertical distance threshold value h.
The time length T of the horizontal translational movement complies with the following relationship: t is more than or equal to 2m/v and more than or equal to m/v, wherein m is a set horizontal distance threshold value, and v is a moving speed value of horizontal translation motion.
A flight control method of an automatic concession four-axis aircraft toy adopts the automatic concession four-axis aircraft toy; after the four-axis aircraft toy enters the automatic conceding mode, the central controller controls the four-axis aircraft toy to continuously perform horizontal rotation movement with the angular velocity of omega, in the process of the horizontal rotation movement, the horizontal distance meter continuously detects the horizontal distance between the horizontal distance meter and the front object, the detected horizontal distance value is conveyed to the central controller, and the central controller detects the detected horizontal distance value and the detected horizontal distance valueSetting a horizontal distance threshold value m for comparison; when the horizontal distance detected by the horizontal distance meter is smaller than a set horizontal distance threshold value m, the central controller controls the quadcopter toy to perform horizontal translation motion for a period of time T on the basis of maintaining horizontal rotation motion with angular velocity omega, the moving speed of the horizontal translation motion is v, and T is larger than or equal to m/v; and in the process of horizontal translation motion, the central controller continuously corrects the parameter value theta of the horizontal translation motion direction at each moment, and the parameter value theta of the horizontal translation motion direction at each moment is determined according to the following formula: theta = pi + theta0- ω t, where t is the length of time between the point in time and the point in time when the horizontal translational movement is just started.
In the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits a vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H; when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value H, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept as the first vertical distance threshold value H.
In the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h; when the vertical distance value detected by the second vertical distance meter is smaller than a second vertical distance threshold value h, the central controller controls the aircraft to vertically move downwards, so that the vertical distance between the second vertical distance meter and an object above the second vertical distance meter is kept at the second vertical distance threshold value h.
The time length T of the horizontal translational movement complies with the following relationship: t is more than or equal to 2m/v and more than or equal to m/v, wherein m is a set horizontal distance threshold value, and v is a moving speed value of horizontal translation motion.
The object in front of the horizontal rangefinder is an object in the forward range to which the horizontal rangefinder is directed. When the quadcopter toy autorotates, the front direction of the horizontal range finder changes along with the autorotation.
The invention has the following advantages and effects:
firstly, the invention only needs one horizontal distance meter, and uses the mode of 360-degree continuous scanning in the whole circumference to detect the surrounding objects, so as to realize 360-degree non-blind area scanning detection in the whole circumference; and because only one horizontal distance meter is arranged, the overlapping area of detection does not exist, so that the analysis process of the detection result of the horizontal distance meter is simple, and the requirement on the detection precision is low.
In the automatic concession mode, when the horizontal distance meter detects that an object exists around the quadcopter toy within the range of the set horizontal distance threshold value m, the central controller enables the quadcopter toy to move away along the direction far away from the object, although the quadcopter toy keeps rotating in the moving away process and cannot identify the geographical direction, the quadcopter toy can still keep the geographical moving direction unchanged in the moving away process, the quadcopter toy can leave and leave in a straight line as soon as possible, the leaving direction is accurate, and the quadcopter toy cannot return blindly after leaving; when the quadcopter toy rotates 360 degrees and the horizontal distance meter is aligned with the object for the second time, the horizontal distance between the horizontal distance meter and the object is larger than the set horizontal distance threshold value m. Therefore, in the auto-escape mode, if the approaching quadcopter toy is actively moved by hand or other object, the quadcopter toy will automatically recede, and if the approaching quadcopter toy is continuously moved by hand or other object after the receding, the quadcopter toy will continue to recede, which seems to push the quadcopter toy to recede by hand or other object, enhancing the interest.
In the same way, in the automatic concession mode, when the vertical distance meter detects that an object exists in the set vertical distance range above and below the quadcopter toy, the central controller automatically enables the quadcopter toy to be vertically moved away along the direction far away from the object, so that concession in the vertical direction is realized, the quadcopter toy is pushed to vertically retreat by hands or other objects as if, and interestingness is enhanced.
Drawings
Fig. 1 is a schematic view showing the overall structure of a conventional quadcopter toy.
FIG. 2 is a schematic illustration of the dead zone and overlap zone of the detection range of the structure shown in FIG. 1.
Fig. 3 is a schematic diagram of the overall structure of the embodiment of the present invention.
Fig. 4 is a diagram illustrating a state where the horizontal translational movement is just started in the auto-evacuation mode according to the embodiment of the present invention.
Fig. 5 is a diagram illustrating a state after a horizontal translational movement after a period of time in an auto-evacuation mode in accordance with an embodiment of the present invention.
Detailed Description
Example one
A four-axis aircraft toy capable of automatically giving way comprises a frame 2, wherein four rotor wing units are arranged on the frame 2, and each rotor wing unit comprises a rotor wing 1 and a motor for driving the rotor wing to rotate; the central controller controls the motor rotating speed of each rotor wing unit to realize the vertical motion, the horizontal rotation motion and the horizontal translation motion of the quadcopter toy, wherein the direction parameter value of the horizontal translation motion is based on an aircraft direction reference system, the central controller determines the direction parameter value of the horizontal translation motion based on the aircraft direction reference system, and the direction of the horizontal translation motion is controlled according to the direction parameter value; the frame 2 is also provided with a horizontal distance meter 3, and the installation direction of the horizontal distance meter 3 is back to the central area of the frame 2; the horizontal distance meter 3 is connected to the central controller; the number of the horizontal distance meters is only one; as shown in FIG. 3, the orientation of the horizontal range finder is defined by a directional parameter value θ in the aircraft directional reference frame0In each embodiment, θ0Not a variable but a fixed value, which is stored in the horizontal rangefinder direction parameter value storage unit of the central controller, specifically taking a value of 0 in this embodiment one; after the four-shaft aircraft toy enters the automatic conceding mode, the central control unitThe controller controls the quadcopter toy to continuously perform horizontal rotation movement with angular velocity omega, in each specific embodiment, omega is not a variable but a fixed value, the fixed value is stored in an angular velocity value storage unit of the central controller, in the first embodiment, the specific value is 0.5 pi/second (four seconds are needed for one rotation), in the process of horizontal rotation movement, the horizontal distance meter continuously detects the horizontal distance between the quadcopter toy and a front object, the detected horizontal distance value is transmitted to the central controller, the central controller compares the detected horizontal distance value with a set horizontal distance threshold value m (in each specific embodiment, m is not a variable but a fixed value, the fixed value is stored in a horizontal distance threshold value storage unit of the central controller, in the first embodiment, the fixed value is 0.3 meters), when the horizontal distance detected by the horizontal distance meter is smaller than 0.3 meters, the central controller controls the quadcopter toy to continuously perform horizontal rotation movement at the horizontal rotation movement time point of 0.5 pi/second, the central controller continuously performs translation movement at the horizontal movement time point of 0.5 pi/second, the horizontal movement point is equal to or longer than 0.2 meters, and the horizontal movement time point is stored in each specific horizontal movement time point, wherein the horizontal movement time point is stored in the central controller, the horizontal movement of the horizontal movement, the horizontal movement is not less than 0.5 pi/T2, the horizontal movement point, the horizontal movement time point, the horizontal movement is stored in each specific value, the horizontal movement time point, the horizontal movement point is stored in each specific value stored in the horizontal movement time point, the horizontal movement of the central controller, the horizontal movement of the central controller is stored in the horizontal movement point, the horizontal movement point is not less than 0.3 meters, the horizontal movement point is stored in the horizontal movement point, the horizontal.
The lower part of the frame is also provided with a first vertical distance meter for detecting the vertical distance with an object below, and the direction of the first vertical distance meter faces downwards; in the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits the vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H (in each specific embodiment, H is not a variable but a fixed value, and the fixed value is stored in a first vertical distance threshold value storage unit of the central controller, and in the first embodiment, the specific value of the first vertical distance threshold value H is 0.35 m); when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value by 0.35 m, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept to be the first vertical distance threshold value by 0.35 m.
The upper part of the frame is also provided with a second vertical distance meter for detecting the vertical distance with an object above, and the direction of the second vertical distance meter faces upwards; in the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h (in each specific embodiment, h is not a variable but a fixed value, and the fixed value is stored in a second vertical distance threshold value storage unit of the central controller, and in the first embodiment, the specific value of the second vertical distance threshold value h is 0.40 m); when the vertical distance value detected by the second vertical distance meter is smaller than a second vertical distance threshold value h (0.40 m), the central controller controls the aircraft to move vertically downwards, so that the vertical distance between the second vertical distance meter and an object above the aircraft is kept to be the second vertical distance threshold value h (0.40 m).
In the first embodiment, the time length T of the horizontal translational movement can be changed to be just equal to m/v, i.e. 1.5 seconds, or can be changed to be just equal to 2m/v, i.e. 3 seconds.
In the first embodiment, specific parameters such as the time length T of the horizontal translational motion, the horizontal distance threshold m, the moving speed value v of the horizontal translational motion, the horizontal automatic rotational angular velocity ω, the first vertical distance threshold H, and the second vertical distance threshold H may be changed, that is, specific settings may be performed according to specific performances of the quadcopter toy. The values of the directional parameters of the orientation of the horizontal range finder in the aircraft directional reference frame can also be defined as other angular values.
The quadrotor toy of the embodiment can be provided with two flight modes for selection, wherein the first mode is an automatic yielding mode; the second is a conventional remote control flight mode.
Example two
A flight control method of an automatic concession four-axis aircraft toy adopts the automatic concession four-axis aircraft toy of the first embodiment; after the quadcopter toy enters the automatic conceding mode, the central controller controls the quadcopter toy to continuously perform horizontal rotation movement with an angular velocity omega (the specific value of the embodiment is 0.5 pi/s, and four seconds are needed for one rotation), in the process of the horizontal rotation movement, the horizontal distance meter continuously detects the horizontal distance between the quadcopter toy and the front object, the detected horizontal distance value is transmitted to the central controller, and the central controller compares the detected horizontal distance value with a set horizontal distance threshold value m (the specific value of the embodiment is 0.3 m); when the horizontal distance obtained by the detection of the horizontal distance meter is smaller than a set horizontal distance threshold value m (0.3 m), the central controller controls the four-axis aircraft toy to perform horizontal translation motion with a time length of T (the specific value of the embodiment is 2 seconds) on the basis of maintaining horizontal rotation motion with an angular velocity of 0.5 pi/second, the moving speed of the horizontal translation motion is v (the specific value of the embodiment is 0.2 m/second), and T is more than or equal to 2m/v and is more than or equal to T; and during the horizontal translational movement,The central controller continuously corrects the parameter value theta of the horizontal translational motion direction at each moment, the parameter value theta of the horizontal translational motion direction at each moment is determined according to the following formula, wherein the parameter value theta = pi + 0-0.5 pi/s × t, theta and t are variables, the values are different at each moment, and t is the time length between the moment and the moment when the horizontal translational motion is just started.
Specifically, at the first moment when the horizontal translational motion (the direction of which is shown by the straight arrow in fig. 4) is just started, the value of the directional parameter of the horizontal translational motion is pi, i.e. just different from the orientation of the horizontal range finder 3 by pi, just opposite, and corresponding to the retreat with respect to the object 5, as shown by the arrow in fig. 4, and after a certain time of the horizontal translational motion, the horizontal orientation of the entire toy (including the horizontal range finder 3) changes due to horizontal autorotation (the direction of which is shown by the curved arrow in fig. 4), the value of the directional parameter of the horizontal translational motion theta at each moment will be corrected, for example, in the state shown in fig. 5, the correction amount is ∠ ABC, which is equal to the amount of the autorotation angle ∠ EBF that has been completed by the entire toy, the direction of the autorotation is opposite to the direction of the autorotation, so that at each moment, the value of the angle of the correction amount of the angle of the horizontal translational motion can just compensate for the value of the autorotation, and can guarantee at any moment that the toy can only fly in the direction BA of the toy (geographical.
In the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits the vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H (in each specific embodiment, H is not a variable but a fixed value, and in the first embodiment, the value of the first vertical distance threshold value H is 0.35 m); when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value by 0.35 m, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept to be the first vertical distance threshold value by 0.35 m.
In the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h (in each specific embodiment, h is not a variable but a fixed value, and in the second embodiment, the value of the second vertical distance threshold value h is 0.40 m); when the vertical distance value detected by the second vertical distance meter is smaller than the second vertical distance threshold value by 0.4 m, the central controller controls the aircraft to vertically move downwards, so that the vertical distance between the second vertical distance meter and an object above the second vertical distance meter is kept to be 0.4 m of the second vertical distance threshold value.
In the second embodiment, the time length T of the horizontal translational motion can be changed to be just equal to m/v, i.e. 1.5 seconds, or can be changed to be just equal to 2m/v, i.e. 3 seconds.
In the second embodiment, specific parameters such as the time length T of the horizontal translational motion, the set horizontal distance threshold m, the moving speed value v of the horizontal translational motion, the horizontal automatic rotational angular speed ω, the first vertical distance threshold H, and the second vertical distance threshold H may be changed, that is, specific settings may be performed according to specific performances of the quadcopter toy. The values of the directional parameters of the orientation of the horizontal range finder in the aircraft directional reference frame can also be defined as other angular values.
Claims (8)
1. An automatic concession four-axis aircraft toy comprises a frame, wherein four rotor wing units are arranged on the frame, and each rotor wing unit comprises a rotor wing and a motor for driving the rotor wing to rotate; the central controller controls the motor rotating speed of each rotor wing unit to realize the vertical motion, the horizontal rotation motion and the horizontal translation motion of the quadcopter toy, determines the direction parameter value of the horizontal translation motion based on the aircraft direction reference system, and controls the direction of the horizontal translation motion according to the direction parameter value; the frame is also provided with a horizontal distance meter, and the installation direction of the horizontal distance meter is back to the central area of the frame; the horizontal distance meter is connected to the central controller; the method is characterized in that: the number of the horizontal distance meters is only one, and the directional parameter value of the orientation of the horizontal distance meters in the aircraft direction reference system is defined as theta0(ii) a After the four-axis aircraft toy enters the automatic conceding mode, the central controller controls the four-axis aircraft toy to continuously perform horizontal rotation movement with the angular velocity of omega, and in the process of the horizontal rotation movement, the horizontal distance meter continuously detects the horizontal distance between the horizontal distance meter and the front object and detects the horizontal distance between the horizontal distance meter and the front objectThe measured horizontal distance value is transmitted to a central controller, and the central controller compares the measured horizontal distance value with a set horizontal distance threshold value m; when the horizontal distance detected by the horizontal distance meter is smaller than a set horizontal distance threshold value m, the central controller controls the quadcopter toy to perform horizontal translation motion for a period of time T on the basis of maintaining horizontal rotation motion with angular velocity omega, the moving speed of the horizontal translation motion is v, and T is larger than or equal to m/v; and in the process of horizontal translation movement, the central controller continuously corrects the parameter value theta of the horizontal translation movement direction at each moment, and the parameter value theta of the horizontal translation movement direction at each moment is determined according to the following formula: theta = pi + theta0- ω t, where t is the length of time between the point in time and the point in time at which the horizontal translational movement is just started.
2. The auto-concession four axis aircraft toy according to claim 1, wherein: the lower part of the frame is also provided with a first vertical distance meter for detecting the vertical distance with an object below, and the direction of the first vertical distance meter faces downwards; in the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits a vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H; when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value H, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept as the first vertical distance threshold value H.
3. The auto-concession four axis aircraft toy according to claim 1, wherein: the upper part of the frame is also provided with a second vertical distance meter for detecting the vertical distance with an object above, and the direction of the second vertical distance meter faces upwards; in the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h; when the vertical distance value detected by the second vertical distance meter is smaller than a second vertical distance threshold value h, the central controller controls the aircraft to vertically move downwards, so that the vertical distance between the second vertical distance meter and an object above the second vertical distance meter is kept as the second vertical distance threshold value h.
4. The auto-concession four axis aircraft toy according to claim 1, wherein: the time length T of the horizontal translational movement complies with the following relationship: t is more than or equal to 2m/v and more than or equal to m/v, wherein m is a set horizontal distance threshold value, and v is a moving speed value of horizontal translation motion.
5. A flight control method of a quad copter toy of an automatic concession, characterized in that the quad copter toy of claim 1 is used; after the quadcopter toy enters the automatic conceding mode, the central controller controls the quadcopter toy to continuously perform horizontal rotation motion with the angular velocity of omega, in the process of the horizontal rotation motion, the horizontal distance meter continuously detects the horizontal distance between the quadcopter toy and an object in front, and transmits the detected horizontal distance value to the central controller, and the central controller compares the detected horizontal distance value with a set horizontal distance threshold value m; when the horizontal distance detected by the horizontal distance meter is smaller than a set horizontal distance threshold value m, the central controller controls the quadcopter toy to perform horizontal translation motion for a period of time T on the basis of maintaining horizontal rotation motion with angular velocity omega, the moving speed of the horizontal translation motion is v, and T is larger than or equal to m/v; and in the process of horizontal translation motion, the central controller continuously corrects the parameter value theta of the horizontal translation motion direction at each moment, and the parameter value theta of the horizontal translation motion direction at each moment is determined according to the following formula: theta = pi + theta0- ω t, where t is the length of time between the point in time and the point in time at which the horizontal translational movement is just started.
6. The flight control method of the auto-concession quad aircraft toy according to claim 5, wherein: in the whole process of the automatic concession mode, the first vertical distance meter continuously detects the vertical distance between the first vertical distance meter and the object below, and transmits a vertical distance value detected by the first vertical distance meter to the central controller, and the central controller compares the vertical distance value with a first vertical distance threshold value H; when the vertical distance value obtained by the first vertical distance meter is smaller than the first vertical distance threshold value H, the central controller controls the aircraft toy to move vertically upwards, so that the vertical distance between the first vertical distance meter and the object below is kept as the first vertical distance threshold value H.
7. The flight control method of the auto-concession quad aircraft toy according to claim 5, wherein: in the whole process of the automatic concession mode, the second vertical distance meter continuously detects the vertical distance between the second vertical distance meter and an object above the second vertical distance meter, and transmits a vertical distance value detected by the second vertical distance meter to the central controller, and the central controller compares the vertical distance value with a second vertical distance threshold value h; when the vertical distance value detected by the second vertical distance meter is smaller than a second vertical distance threshold value h, the central controller controls the aircraft to vertically move downwards, so that the vertical distance between the second vertical distance meter and an object above the second vertical distance meter is kept as the second vertical distance threshold value h.
8. The flight control method of the auto-concession quad aircraft toy according to claim 5, wherein: the time length T of the horizontal translational movement complies with the following relationship: t is more than or equal to 2m/v and more than or equal to m/v, wherein m is a set horizontal distance threshold value, and v is a moving speed value of horizontal translation motion.
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Effective date of registration: 20230804 Address after: 515800 South 4th Floor, Zone B, Xiehe Industrial Zone, South Side of Laimei Road, Chenghai District, Shantou City, Guangdong Province Patentee after: Shantou Huike Technology Co.,Ltd. Address before: Room 1104, Building 20, Zone 6, Sunshine Coast Garden, No. 182 Changping Road, Zhuchi Street, Longhu District, Shantou City, Guangdong Province, 515800 Patentee before: Wang Liyun |