CN110871889B - Multi-rotor unmanned aerial vehicle blade righting control method and multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle blade righting control method and multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN110871889B CN110871889B CN201811005952.7A CN201811005952A CN110871889B CN 110871889 B CN110871889 B CN 110871889B CN 201811005952 A CN201811005952 A CN 201811005952A CN 110871889 B CN110871889 B CN 110871889B
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- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 abstract description 5
- 230000007774 longterm Effects 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The invention discloses a multi-rotor unmanned aerial vehicle blade righting control method, which comprises the following steps: 1) Detecting the actual positions of the blades of all rotors after the logistics unmanned aerial vehicle falls; 2) The method includes that the paddles of each rotor wing are controlled to be respectively stopped at set positions, the set positions are respectively positioned on the edges of the same regular polygon, one reason for the large parking occupied area is sharply found, the paddles of each rotor wing of the unmanned aerial vehicle are regulated to be on the same regular polygon or approximate to one regular polygon, the actual occupied area is the circumscribed circle of the regular polygon, and space occupation is facilitated for continuous actions of the unmanned aerial vehicle after long-term parking or parking; the utility model provides a many rotor unmanned aerial vehicle includes the paddle position detection mechanism that corresponds the setting with every rotor, and paddle position detection mechanism is connected with the motor of rotor is controllable so that the paddle berth in the setting position, and the setting position is located the edge of same regular polygon respectively, and it can be used for controlling the paddle and parks in the position of setting, has reduced area.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multi-rotor unmanned aerial vehicle blade righting control method and a multi-rotor unmanned aerial vehicle.
Background
At present, along with unmanned aerial vehicle's application in the commodity circulation trade, the problem of accomodating to commodity circulation unmanned aerial vehicle is also obvious gradually, in order to guarantee unmanned aerial vehicle's safe landing and normal accomodating, current unmanned aerial vehicle airport's size is greater than commodity circulation unmanned aerial vehicle's wheelbase and adds the space that the paddle diameter taken up far away, causes commodity circulation unmanned aerial vehicle airport bulky, and the transport is inconvenient, causes the waste of a lot of spaces and resources.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method for paddles of a logistics unmanned aerial vehicle, which is used for finding out the reason of large parking occupied area, and the paddles of each rotor wing of the unmanned aerial vehicle are regulated to be on the same regular polygon or approximate to one regular polygon, so that the actual occupied area is the circumscribed circle of the regular polygon, and the space occupation is convenient for continuous actions of the unmanned aerial vehicle after long-term parking or parking.
It is another object of the present invention to provide a multi-rotor unmanned aerial vehicle that can be used to control the parking of blades in a set position, reducing the footprint.
The invention is realized by the following technical scheme:
a multi-rotor unmanned aerial vehicle blade righting control method comprises the following steps:
1) Detecting the actual positions of the blades of all rotors after the logistics unmanned aerial vehicle falls;
2) The blades of each rotor wing are controlled to be respectively stopped at set positions, and the set positions are respectively positioned on the edges of the same regular polygon.
In the above technical solution, in the step 1), the rotor wings are controlled to rotate or stop at a low speed, and the position detection of the blades is implemented by the motor position measurement sensing mechanism.
In the above technical scheme, the motor position sensor is an encoder or a reflective infrared position sensor.
In the above technical scheme, the motor position sensor comprises a magnetic ring which is fixedly arranged corresponding to the rotating shaft of the rotor wing, a magnetic encoder which is correspondingly arranged with the magnetic ring, or two hall sensors which are distributed at 90 degrees.
In the above technical solution, the control method using two hall sensors includes:
1) Taking the clockwise direction as positive direction and the anticlockwise direction as negative direction, normalizing the measurement angles of two Hall sensors at a specific moment and judging the phase of the paddle at the specific moment according to the positive and negative of the normalized measurement angles,
2) Comparing sine values of the normalized measurement angles of the two Hall sensors to obtain the tangent value corresponding to the blade angle at a specific moment;
3) Determining the position angle of the specific moment according to the phase of the blade at the specific moment and the tangential value;
4) Controlling a motor and enabling the position angle to reach a corresponding positive position angle when the blade is positive;
the specific moment is the moment when the unmanned aerial vehicle stops and then starts the righting process after stopping, or the moment when the unmanned aerial vehicle starts the righting process when rotating at a low speed.
In the technical scheme, the multi-rotor unmanned aerial vehicle is a multi-rotor logistics unmanned aerial vehicle.
The utility model provides a many rotor unmanned aerial vehicle, includes the paddle position detection mechanism that corresponds the setting with every rotor, paddle position detection mechanism with the motor of rotor controllable be connected so that the paddle berth in the settlement position, the settlement position be located the edge of same regular polygon respectively.
In the above technical scheme, the motor position sensor is an encoder or a reflective infrared position sensor.
In the above technical scheme, the motor position sensor comprises a magnetic ring which is fixedly arranged corresponding to the rotating shaft of the rotor wing, a magnetic encoder which is arranged corresponding to the magnetic ring, or two hall sensors which are distributed at 90 degrees, and the magnetic encoder or the hall sensors are fixed on the circuit board.
In the technical scheme, the multi-rotor unmanned aerial vehicle is a multi-rotor logistics unmanned aerial vehicle.
The invention has the advantages and beneficial effects that:
The control method of the invention is sensitive to find out one reason for the large parking occupation area of the unmanned aerial vehicle, and the normal parking of the paddles is realized by arranging the paddles of each rotor wing of the unmanned aerial vehicle on the same regular polygon or on approximately one regular polygon, so that the condition of large occupation area caused by irregular parking of the paddles is avoided, the actual occupation area is the circumscribed circle of the regular polygon, the condition that the volume of the unmanned aerial vehicle airport is enlarged due to the paddle diameter is reduced, and the space occupation is convenient for continuous operation of the unmanned aerial vehicle after short-time and long-term parking or parking. Moreover, the folding type paddles are parked, so that the interference or impact of external factors on the paddles is avoided, the use safety of the whole unmanned aerial vehicle is improved, and the service life of the whole unmanned aerial vehicle is prolonged.
Drawings
Fig. 1 is a schematic diagram of an exploded view of a blade righting device (two sensors) for a logistics unmanned aerial vehicle.
Fig. 2 is a graph of sampled data for two points of a logistic unmanned aerial vehicle blade righting device according to the present invention.
FIG. 3 is a normalized quadrant graph for use in a method of logistic unmanned aerial vehicle blade righting of the present invention.
Wherein:
1: blade, 2: motor, 3: magnetic ring, 4: circuit board, 5: first hall sensor, 6: second hall sensor, a: n pole, B: s pole, S1 is the data line of gathering of the position point that first hall sensor detected, S2 is the data line of gathering of the position point that second hall sensor detected.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the solution of the present invention better understood by those skilled in the art, the following description of the solution of the present invention is further provided with reference to fig. 1 to 3 and the specific examples.
Example 1
A multi-rotor unmanned aerial vehicle blade righting control method comprises the following steps:
1) Detecting the actual positions of the blades 1 of each rotor after the multi-rotor unmanned aerial vehicle falls;
2) And controlling each rotor wing to stop at a set position respectively, wherein the set positions are respectively positioned on the edges of the same regular polygon such as the regular polygon concentric with the multi-rotor unmanned aerial vehicle. That is, the central axes of the blades 1 are correspondingly enclosed to form one or approximately one regular polygon, for example, the angular deviation between the central axes of the blades 1 and the corresponding sides is within ±5°, preferably within ±1-3°, wherein the number of sides of the regular polygon is the same as the number of the rotor wings of the unmanned aerial vehicle, for example, the six-rotor unmanned aerial vehicle forms a regular hexagon.
The control method provided by the invention is sensitive to find out one reason for the large occupied area of the unmanned aerial vehicle when the unmanned aerial vehicle is parked, the parking irregularity of the paddles 1 of the unmanned aerial vehicle and the swing of the paddles 1 caused by the external environment are the main reasons for the large occupied area of the paddles 1 when the unmanned aerial vehicle is parked, the paddles 1 of each rotor wing of the unmanned aerial vehicle are parked on the same regular polygon or on approximately one regular polygon in a regular position, the situation that the occupied area is increased due to the irregularity of the parking of the paddles 1 is avoided, the actual occupied area is the circumscribed circle of the regular polygon, and therefore the situation that the size of the paddles 1 is increased due to the diameter of the unmanned aerial vehicle airport is reduced, and the convenience in space occupation is brought to the continuous actions of the unmanned aerial vehicle after the unmanned aerial vehicle is parked for a short time and a long time. Moreover, the folding type paddle 1 is parked, so that the interference or impact of external factors on the paddle 1 is avoided, the use safety of the whole unmanned aerial vehicle is improved, and the service life of the whole unmanned aerial vehicle is prolonged.
Specifically, in order to realize the position detection of each blade 1 after the unmanned aerial vehicle falls, first, each rotor wing is controlled to rotate at a low speed or stop, and then the position detection of each blade 1 is realized through a motor 2 position measurement sensing mechanism, and then the righting position is controlled. It should be noted that, the low-speed rotation of each rotor wing can be the low-speed rotation in the landing process of the unmanned aerial vehicle, so that the synchronous performance of the landing and the paddles 1 is realized, and the paddles 1 can be driven to rotate at a very low speed after the unmanned aerial vehicle completely stops so as to realize the detection and the driving of the positions of the paddles 1 and stop at the set position, or the paddles 1 are driven according to the detected current position information of the paddles 1 after the paddles 1 completely stop rotating, so that the paddles 1 directly reach the set position.
Preferably, the motor 2 position sensor is an encoder or a reflective infrared position sensor. The encoder can select the structure as the photoelectric coded disc with the center shaft, the annular through and dark score lines are arranged on the photoelectric coded disc, and photoelectric transmitting and receiving devices are used for reading and judging the position of the rotating shaft, namely the position of the blade 1, and of course, the photoelectric coded disc can also be realized by adopting a reflective position sensor arranged on an unmanned aerial vehicle body, such as a reflective infrared sensor, and the purpose of finally reducing the occupied area can be achieved by utilizing the reflection of the blade 1 to infrared rays to realize the normal position stop or approximate normal position stop.
Example 2
In order to realize the detection of the position of the blade 1, the motor 2 position sensor comprises a magnetic ring 3 which is correspondingly and fixedly arranged with the rotating shaft of the rotor, and two Hall sensors (a first Hall sensor 5 and a second Hall sensor 6) which are correspondingly arranged with the magnetic ring 3 and are distributed at 90 degrees.
Specifically, a magnetic ring 3 is installed under the rotating shaft of the rotor, such as the shaft of a motor 2, the NS pole of the rotor is found out by a magnetometer, and a Hall sensor is installed at a position 35mm away from the magnetic ring, such as a circuit board 4, and the structure is shown in figure 1. The magnetic ring 3 rotates with the motor, but the circuit board 4 is fixed, and when the motor rotates, the field intensity of the magnetic field above the hall sensor changes, and the field intensity above the hall sensor also changes by detecting the change of the field intensity above the hall sensor, so that the voltage change on the hall sensor is caused. I.e. the motor 2 position (i.e. the actual position of the blade 1) can be measured by detecting the voltage change of the hall sensor. And (3) inputting the voltage measured by the Hall element into a flight control system by utilizing AD conversion, and controlling the position of the motor 2, namely realizing righting.
The magnetic ring 3 changes in a sinusoidal manner, but in each pi, one value corresponds to two angles, so that the angles cannot be determined, and therefore, another hall sensor is needed to further determine which angle is, and the true position of the blade 1 and the position angle of the blade 1 can be well determined by combining the sine and cosine relationship.
The specific analysis steps comprise: on the turntable marked with an angle, the motor 2 is rotated, after ADC data corresponding to two Hall sensors at corresponding positions are obtained through flight control, the ADC data are converted into voltage through a sampling circuit, the conversion result is recorded, the data are normalized by using a matlab mathematical tool, and then the sampled data relationship between the position of the motor 2 and the ADC of the two Hall sensors is obtained, as shown in fig. 3, from the result of sampled data analysis, the voltage relationship corresponding to the two Hall sensors at different positions of the magnetic ring 3 is a sine-cosine relationship. And the phase angles of the cosine curve and the sine curve are exactly 90 degrees, and the phase difference is exactly consistent with the placement position difference. The relative position of the motor 2 can be known from the position of the magnet ring 3. And ensures that the motor 2 has no interference on the magnetic ring 3, and can fit an ideal sine curve.
When the logistics unmanned aerial vehicle falls on an airport shutdown platform, all the paddles 1 are required to be positioned, the specific control method is as follows,
1) And the clockwise direction is taken as the positive direction, the anticlockwise direction is taken as the negative direction, the measurement angles of the two Hall sensors at the specific moment are normalized to +/-pi, the positive and negative of the angle of the paddle 1 at the specific moment are judged according to the positive and negative of the normalization, namely the phase of the paddle 1 at the specific moment is judged, and quadrant judgment can be carried out according to the positive and negative of the angle values detected by the two Hall sensors, as shown in figure 3.
2) Comparing sine values of the normalized measurement angles of the two Hall sensors to obtain the tangent value corresponding to the angle of the blade 1 at a specific moment;
3) Determining the position angle of the specific moment according to the phase position of the blade 1 at the specific moment and the tangential value;
4) Controlling the motor 2 and enabling the position angle to reach the corresponding positive position angle when the blade 1 is positive; for example, the forward and reverse rotation control of the motor 2 may be performed based on the difference between the positional angle and the normal position angle.
The specific moment is the moment when the unmanned aerial vehicle stops and then starts the righting process after the paddle 1 stops after the unmanned aerial vehicle stops, or the moment when the unmanned aerial vehicle starts the righting process when rotating at a low speed. The sine and cosine functions have low resolution near the extremum, and the tangent functions exactly compensate the two defects, and the extremum exists at the + -pi/2 position, but the calculated tan (89 DEG) is 57.29, belongs to the normal floating point number, and can effectively meet the requirement of the righting precision.
The sine value is used as the calculation, but the corresponding cosine value can also be used, and when incomparable exists, namely, the corresponding pi/2 position is corresponding, the corresponding tangent value can be directly assigned, for example, the corresponding tangent value is directly assigned to 57.29, or a larger reasonable value is directly assigned, so that the precision is improved.
Meanwhile, in order to obtain the positive angle corresponding to the positive position in the step 4 of the blade 1, the blade 1 is firstly shifted to the positive position, and the positive angle corresponding to the positive position can be obtained by adopting the steps 1-3, namely, the positive angle is the initial set value.
When a magnetic encoder is employed, the specific control is similar to that described above, and detailed description thereof is omitted.
Example 3
The multi-rotor unmanned aerial vehicle, such as a multi-rotor logistics unmanned aerial vehicle, comprises a blade 1 position detection mechanism corresponding to each rotor, wherein the motor 2 position detection mechanism is controllably connected with a motor of the rotor to enable the blade 1 to stop at set positions, and the set positions are respectively positioned on the edges of a regular polygon concentric with the logistics unmanned aerial vehicle.
Wherein, the motor 2 position sensor is an encoder or a reflective infrared position sensor. Or the motor 2 position sensor comprises a magnetic ring 3 which is correspondingly and fixedly arranged with the rotating shaft of the rotor wing, a magnetic encoder or two hall sensors which are arranged correspondingly to the magnetic ring 3 and are distributed at 90 degrees, and the magnetic encoder or the hall sensors are fixed on a circuit board 4.
Adopt 1 position detection mechanism of various types of paddles, based on the structural feature of many rotors, the paddle 1 when having realized parking is in the position, and the effectual space that uses after having reduced many rotor unmanned aerial vehicle of commodity circulation and landing has solved the airport and must design the bulky pain point of accomodating unmanned aerial vehicle. Particularly, the Hall sensor is small in size and is an integrated chip, and can be directly embedded into the circuit board 4, so that the structure is convenient; the low price practices thrift the cost, reforms transform in addition and is convenient, easily realizes on current unmanned aerial vehicle.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (10)
1. The method for controlling the blade righting of the multi-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
1) Detecting the actual positions of the blades of all rotors after the logistics unmanned aerial vehicle falls;
2) The blades of each rotor wing are controlled to be respectively stopped at set positions, and the set positions are respectively positioned on the edges of the same regular polygon.
2. The control method according to claim 1, wherein in the step 1), each rotor is controlled to rotate or stop at a low speed, and the position detection of the blade is performed by a motor position measurement sensor.
3. The control method of claim 2, wherein the motor position sensor is an encoder or a reflective infrared position sensor.
4. The control method according to claim 2, wherein the motor position sensor comprises a magnetic ring fixedly arranged corresponding to a rotation shaft of the rotor, a magnetic encoder arranged corresponding to the magnetic ring, or two hall sensors arranged in a 90 ° arrangement.
5. The control method according to claim 4, wherein the control method using two hall sensors includes:
1) Taking the clockwise direction as positive direction and the anticlockwise direction as negative direction, normalizing the measurement angles of two Hall sensors at a specific moment and judging the phase of the paddle at the specific moment according to the positive and negative of the normalized measurement angles,
2) Comparing sine values of the normalized measurement angles of the two Hall sensors to obtain the tangent value corresponding to the blade angle at a specific moment;
3) Determining the position angle of the specific moment according to the phase of the blade at the specific moment and the tangential value;
4) Controlling a motor and enabling the position angle to reach a corresponding positive position angle when the blade is positive;
the specific moment is the moment when the unmanned aerial vehicle stops and then starts the righting process after stopping, or the moment when the unmanned aerial vehicle starts the righting process when rotating at a low speed.
6. The method of claim 1, wherein the multi-rotor drone is a multi-rotor logistics drone.
7. A multi-rotor unmanned aerial vehicle employing the multi-rotor unmanned aerial vehicle blade righting control method according to any one of claims 1 to 6, comprising a blade position detection mechanism provided corresponding to each rotor, the blade position detection mechanism being controllably connected to the motor of the rotor to cause the blades to rest at set positions, the set positions being respectively located on the sides of the same regular polygon.
8. The multi-rotor unmanned aerial vehicle of claim 7, wherein blade position detection is achieved by a motor position measurement sensing mechanism, the motor position sensor being an encoder or a reflective infrared position sensor.
9. The multi-rotor unmanned aerial vehicle of claim 7, wherein the position detection of the blades is achieved by a motor position measurement sensing mechanism, the motor position sensor comprises a magnetic ring which is fixedly arranged corresponding to a rotating shaft of the rotor, a magnetic encoder or two hall sensors which are arranged corresponding to the magnetic ring and are distributed at 90 degrees, and the magnetic encoder or the hall sensors are fixed on a circuit board.
10. The multi-rotor drone of claim 7, wherein the multi-rotor drone is a multi-rotor logistics drone.
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| CN112550732B (en) * | 2020-12-04 | 2022-04-29 | 臻迪科技股份有限公司 | Blade positioning method and device and aircraft |
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