CN110955258B - Control method, device, controller and storage medium for four-axis aircraft - Google Patents
Control method, device, controller and storage medium for four-axis aircraft Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The invention discloses a control method, a control device, a controller and a storage medium of a four-axis aircraft, which are used for improving the diversity of a control process and improving interactivity and playability. The method comprises the following steps: detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope; if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope; when the distance between the four-axis aircraft and the operator meets the preset distance, controlling the four-axis aircraft to fly back to a starting point where the operator loses according to the flight track, and reentering the standby state after detecting that the operator touches the four-axis aircraft.
Description
Technical Field
The invention relates to the technical field of four-axis aircrafts, in particular to a control method, a device, a controller and a storage medium of a four-axis aircraft.
Background
The shaft aircraft is also called a four-rotor aircraft and a four-rotor helicopter, and is called four-shaft and four-rotor for short. The Quadrotor is a multi-rotor aircraft. The four propellers of the four-axis aircraft are all simple mechanisms with directly connected motors, and the cross-shaped layout allows the aircraft to obtain the force of rotating the aircraft body by changing the rotation speed of the motors, so that the self posture of the aircraft is adjusted.
The existing four-axis aircraft is operated in a mode that a controller uses a control terminal such as a remote controller/mobile phone to control the four-axis aircraft, and according to an instruction triggered by the controller at the control terminal, the four-axis aircraft flies according to the instruction of the controller, the operation process is single, and interactivity and playability are low.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, a controller and a storage medium of a four-axis aircraft, which are used for improving the diversity of a control process and improving interactivity and playability.
The first aspect provides a control method of a four-axis aircraft, the four-axis aircraft includes an aircraft shell, a motor and a blade, the aircraft shell is hollow, the motor and the blade are located inside the aircraft shell, the control method includes:
detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope;
when the distance between the four-axis aircraft and the operator meets the preset distance, controlling the four-axis aircraft to fly back to a starting point where the operator loses according to the flight track, and reentering the standby state after detecting that the operator touches the four-axis aircraft.
Optionally, the method further comprises:
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the second control mode is judged according to the action state of the four-axis aircraft, calculating the flying direction of the thrown four-axis aircraft through the accelerometer and the gyroscope;
controlling the four-axis aircraft to fly in the flying direction;
and when the fact that the four-axis aircraft is contacted by the opposite-end operator is detected, entering the standby state.
Optionally, the controlling the four-axis aircraft to fly in the flight direction includes:
and controlling the four-axis aircraft to fly in the flying direction, and controlling the four-axis aircraft to swing left and right or swing up and down to fly in the flying direction.
Optionally, the detecting, in real time, by an accelerometer and a gyroscope, whether the four-axis aircraft in a standby state is lost by a manipulator includes:
calculating the triaxial acceleration of the four-axis aircraft in a standby state in real time through the accelerometer;
calculating the triaxial angular speed of the four-axis aircraft in a standby state in real time through the gyroscope;
if the triaxial acceleration and the triaxial angular velocity meet preset conditions, determining that the four-axis aircraft is lost by the manipulator;
and if the triaxial acceleration and the triaxial angular velocity do not meet the preset conditions, determining that the four-axis aircraft is not lost by the manipulator.
Optionally, the triaxial accelerations bax, bay and baz, the triaxial angular velocities gx, gy and gz are the preset conditions:
qrt(bax 2 +bay 2 +baz 2 )＝0
gx(t)-gx(t-1)＝0；
gy(t)-gy(t-1)＝0；
gz(t)-gz(t-1)＝0；
where t represents the time.
Optionally, the calculating, by an accelerometer and a gyroscope, a flight trajectory of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and determining the displacement corresponding to the four-axis aircraft according to the target triaxial acceleration to obtain the flight track.
Optionally, the calculating, by the accelerometer and the gyroscope, a flight direction of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and taking the direction of the resultant force direction of the target triaxial acceleration as the flight direction of the four-axis aircraft after being thrown out.
The second aspect provides a control device of four-axis aircraft, four-axis aircraft includes aircraft shell, motor and paddle, and the aircraft shell is fretwork formula, motor and paddle are located the aircraft shell is inside, control device includes:
the detection module is used for detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
the computing module is used for computing the flying track of the four-axis aircraft after being thrown out through the accelerometer and the gyroscope if the detecting module judges that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode according to the action state of the four-axis aircraft;
and the control module is used for controlling the four-axis aircraft to fly back to the starting point of the loss of the manipulator according to the flight track calculated by the calculation module when the distance between the four-axis aircraft and the operator meets the preset distance, and reentering the standby state after detecting that the manipulator contacts the four-axis aircraft.
A third aspect provides a controller for a four-axis aircraft, the controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of controlling a four-axis aircraft as described in the first aspect above when the computer program is executed by the processor.
A fourth aspect provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a four-axis aircraft as claimed in any of claims 1 to 7.
In the scheme realized by the control method, the device, the controller and the storage medium of the four-axis aircraft, whether the four-axis aircraft in a standby state is lost by a manipulator or not is detected in real time through an accelerometer and a gyroscope; if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope; when the distance between the four-axis aircraft and the operator meets the preset distance, controlling the four-axis aircraft to fly back to a starting point where the operator loses according to the flight track, and reentering the standby state after detecting that the operator touches the four-axis aircraft. That is, the invention is designed with the first control mode, so that under certain conditions, the four-axis aircraft can be controlled to fly back and forth, the diversity of the control process is improved, and the interactivity and the playability are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling a four-axis vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a control device for a four-axis vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a controller of a four-axis aircraft according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a control method for a four-axis aircraft, where the four-axis aircraft includes an aircraft housing, a motor and a blade, the aircraft housing is hollow, and the motor and the blade are located inside the aircraft housing, and the control method includes the following steps:
s10: detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope, and judging that the four-axis aircraft is thrown by the manipulator if the four-axis aircraft is judged according to the action state of the four-axis aircraft; step S11 is performed; if the four-axis aircraft is judged not to be thrown by the manipulator according to the action state of the four-axis aircraft, continuing to execute the step S10;
s11: judging whether the four-axis aircraft is in a first control mode or a second control mode, if the four-axis aircraft is in the first control mode, executing step S12, and if the four-axis aircraft is in the second control mode, executing step S17;
s12: calculating the thrown flight track of the four-axis aircraft through an accelerometer and a gyroscope, and executing a step S13;
s13: determining whether the distance between the four-axis aircraft and the operator meets a preset distance; when it is determined that the distance between the four-axis aircraft and the operator satisfies a preset distance, executing step S14; when it is determined that the distance between the four-axis aircraft and the operator does not meet the preset distance, executing a continuing step S13;
s14: controlling the four-axis aircraft to fly back to the starting point of the operator according to the flight track, and executing the step S15;
s15: detecting whether the four-axis aircraft is contacted by the manipulator, and if the manipulator is detected to be contacted with the four-axis aircraft, executing step S16;
s16: controlling the four-axis aircraft to enter a standby state;
s17: calculating the flying direction of the four-axis aircraft after being thrown out through the accelerometer and the gyroscope;
s18: controlling the four-axis aircraft to fly in the flying direction, and executing step S19;
s19: and detecting whether the four-axis aircraft is contacted by the opposite-end manipulator, and if the four-axis aircraft is detected to be contacted by the opposite-end manipulator, executing step S16.
Therefore, in the embodiment of the invention, two control modes for the four-axis aircraft are respectively provided, namely a first control mode and a second control mode, so that the four-axis aircraft can be controlled to fly back and forth under certain conditions, the diversity of the control process is improved, and the interactivity and the playability are improved.
In the first control mode, after the four-axis aircraft in standby is thrown forward by the operator, the four-axis aircraft is sensed to be in a thrown state through the accelerometer and the gyroscope, the flying track of the thrown four-axis aircraft is calculated through the accelerometer and the gyroscope, when the distance from the operator is preset, for example, 2 meters, the motor is started to control the four-axis aircraft to fly back along the flying track towards the starting point direction, and the operator catches the four-axis aircraft and automatically stops rotating to enter the standby state again. The preset distance may be set according to practical situations, and embodiments of the present invention are not limited.
In the second control mode, the manipulator can switch the four-axis aircraft from the first control mode to the second control mode through a physical switch button on the four-axis aircraft, in the two control modes, after the manipulator A faces the manipulator B and throws the four-axis aircraft in standby forwards, the four-axis aircraft senses the thrown state through the accelerometer and the gyroscope, calculates the flight direction through the accelerometer and the gyroscope, and starts a motor to control the aircraft to fly in the target direction, the four-axis aircraft automatically stops rotating and reenters the standby state after the manipulator B catches the four-axis aircraft, and correspondingly, the manipulator B can throw the four-axis aircraft in the direction of the manipulator A in the same way. Therefore, the embodiment of the invention respectively provides two control modes which are different, so that the control mode of the four-axis aircraft is enhanced, the playability of the four-axis aircraft is stronger, and the user experience is improved.
In an embodiment, said controlling said four-axis aircraft to fly in said flight direction comprises: and controlling the four-axis aircraft to fly in the flying direction, and controlling the four-axis aircraft to swing left and right or swing up and down to fly in the flying direction.
In an embodiment, the real-time detection of whether the four-axis aircraft in standby state is lost by a manipulator by an accelerometer and a gyroscope comprises the following steps:
calculating the triaxial acceleration of the four-axis aircraft in a standby state in real time through the accelerometer;
calculating the triaxial angular speed of the four-axis aircraft in a standby state in real time through the gyroscope;
if the triaxial acceleration and the triaxial angular velocity meet preset conditions, determining that the four-axis aircraft is lost by the manipulator;
and if the triaxial acceleration and the triaxial angular velocity do not meet the preset conditions, determining that the four-axis aircraft is not lost by the manipulator.
In an embodiment, the triaxial acceleration bax, bay and baz, the triaxial angular velocities gx, gy and gz are the preset conditions:
qrt(bax 2 +bay 2 +baz 2 )＝0
gx(t)-gx(t-1)＝0；
gy(t)-gy(t-1)＝0；
gz(t)-gz(t-1)＝0；
where t represents the time.
In an embodiment, the calculating, by an accelerometer and a gyroscope, a flight trajectory of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and determining the displacement corresponding to the four-axis aircraft according to the target triaxial acceleration to obtain the flight track.
In this embodiment, it is understood that the flight trajectory is based on the earth coordinate system, and the flight trajectory of the four-axis vehicle is referred to as the displacement of the four-axis vehicle, where the displacement of the four-axis vehicle is set to x, y, z., x+ = (vx+1/2 x t), and the analogy results in y and z. The data obtained according to the sensors such as the accelerometer and the gyroscope are acceleration bax, bay and baz based on a machine body coordinate system, in this embodiment, the data need to be converted into ax, ay and az based on an earth coordinate system, a DCM matrix is needed in the conversion process, so that [ ax, ay and az ] =dcm [ bax, bay and baz ]. The DCM matrix can be calculated by an attitude angle obtained jointly by the accelerometer and the gyroscope, thus displacement of each moment when the four-axis aircraft is thrown can be obtained, a flight track when the four-axis aircraft is thrown is obtained and recorded, and a specific flight track calculation process can be performed according to the recorded flight track and is not described in a one-to-one manner.
In an embodiment, the calculating, by the accelerometer and gyroscope, a direction of flight of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and taking the direction of the resultant force direction of the target triaxial acceleration as the flight direction of the four-axis aircraft after being thrown out.
The calculations of the DCM matrix and the attitude angle involved in the flight direction may refer to the calculation of the foregoing calculated flight trajectory, except that the three-axis acceleration is converted into the target three-axis acceleration corresponding to the body coordinate system according to the DCM matrix, and the direction of the resultant force direction of the target three-axis acceleration is taken as the flight direction of the four-axis aircraft after being thrown.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, a control device 10 of a four-axis aircraft is provided, the four-axis aircraft includes an aircraft housing, a motor and a blade, the aircraft housing is hollow, the motor and the blade are located inside the aircraft housing, and the control device 10 of the four-axis aircraft corresponds to the control method of the four-axis aircraft in the above embodiment one by one. As shown in fig. 2, the control of the four-axis aircraft includes a detection module, a calculation module, and a control module. The functional modules are described in detail as follows:
the detection module 101 is used for detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
the calculating module 102 is configured to calculate a flight trajectory of the four-axis aircraft after being thrown out through an accelerometer and a gyroscope if the detecting module determines that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode according to the action state of the four-axis aircraft;
and the control module 102 is used for controlling the four-axis aircraft to fly back to the starting point of the loss of the manipulator according to the flight track calculated by the calculation module when the distance between the four-axis aircraft and the operator meets the preset distance, and reentering the standby state after detecting that the manipulator touches the four-axis aircraft.
For specific limitations on the control device of the four-axis aircraft, reference may be made to the above limitations on the control method of the four-axis aircraft, which are not described in detail here. The individual modules in the control device of the four-axis aircraft described above can be realized in whole or in part by software, hardware and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a controller for a four-axis aircraft is provided, the controller for a four-axis aircraft having an internal structural diagram that may be as shown in FIG. 3. The controller of the four-axis aircraft includes a processor and a memory connected by a system bus, wherein the processor of the controller of the four-axis aircraft is configured to provide computing and control capabilities. The memory of the controller of the four-axis aircraft comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The computer program is executed by the processor to implement a method of controlling a four-axis aircraft.
In one embodiment, a controller for a four-axis aircraft is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope;
when the distance between the four-axis aircraft and the operator meets the preset distance, controlling the four-axis aircraft to fly back to a starting point where the operator loses according to the flight track, and reentering the standby state after detecting that the operator touches the four-axis aircraft.
Optionally, if it is determined that the four-axis aircraft is thrown by the manipulator and the four-axis aircraft is in the second control mode according to the motion state of the four-axis aircraft, calculating a flight direction of the four-axis aircraft after being thrown by the accelerometer and the gyroscope;
controlling the four-axis aircraft to fly in the flying direction;
and when the fact that the four-axis aircraft is contacted by the opposite-end operator is detected, entering the standby state.
Optionally, the controlling the four-axis aircraft to fly in the flight direction includes:
and controlling the four-axis aircraft to fly in the flying direction, and controlling the four-axis aircraft to swing left and right or swing up and down to fly in the flying direction.
Optionally, the detecting, in real time, by an accelerometer and a gyroscope, whether the four-axis aircraft in a standby state is lost by a manipulator includes:
calculating the triaxial acceleration of the four-axis aircraft in a standby state in real time through the accelerometer;
calculating the triaxial angular speed of the four-axis aircraft in a standby state in real time through the gyroscope;
if the triaxial acceleration and the triaxial angular velocity meet preset conditions, determining that the four-axis aircraft is lost by the manipulator;
and if the triaxial acceleration and the triaxial angular velocity do not meet the preset conditions, determining that the four-axis aircraft is not lost by the manipulator.
Optionally, the triaxial accelerations bax, bay and baz, the triaxial angular velocities gx, gy and gz are the preset conditions:
qrt(bax 2 +bay 2 +baz 2 )＝0
gx(t)-gx(t-1)＝0；
gy(t)-gy(t-1)＝0；
gz(t)-gz(t-1)＝0；
where t represents the time.
Optionally, the calculating, by an accelerometer and a gyroscope, a flight trajectory of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and determining the displacement corresponding to the four-axis aircraft according to the target triaxial acceleration to obtain the flight track.
Optionally, the calculating, by the accelerometer and the gyroscope, a flight direction of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and taking the direction of the resultant force direction of the target triaxial acceleration as the flight direction of the four-axis aircraft after being thrown out.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope;
when the distance between the four-axis aircraft and the operator meets the preset distance, controlling the four-axis aircraft to fly back to a starting point where the operator loses according to the flight track, and reentering the standby state after detecting that the operator touches the four-axis aircraft.
Optionally, the method further comprises:
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the second control mode is judged according to the action state of the four-axis aircraft, calculating the flying direction of the thrown four-axis aircraft through the accelerometer and the gyroscope;
controlling the four-axis aircraft to fly in the flying direction;
and when the fact that the four-axis aircraft is contacted by the opposite-end operator is detected, entering the standby state.
Optionally, the controlling the four-axis aircraft to fly in the flight direction includes:
and controlling the four-axis aircraft to fly in the flying direction, and controlling the four-axis aircraft to swing left and right or swing up and down to fly in the flying direction.
Optionally, the detecting, in real time, by an accelerometer and a gyroscope, whether the four-axis aircraft in a standby state is lost by a manipulator includes:
calculating the triaxial acceleration of the four-axis aircraft in a standby state in real time through the accelerometer;
calculating the triaxial angular speed of the four-axis aircraft in a standby state in real time through the gyroscope;
if the triaxial acceleration and the triaxial angular velocity meet preset conditions, determining that the four-axis aircraft is lost by the manipulator;
and if the triaxial acceleration and the triaxial angular velocity do not meet the preset conditions, determining that the four-axis aircraft is not lost by the manipulator.
Optionally, the triaxial accelerations bax, bay and baz, the triaxial angular velocities gx, gy and gz are the preset conditions:
qrt(bax 2 +bay 2 +baz 2 )＝0
gx(t)-gx(t-1)＝0；
gy(t)-gy(t-1)＝0；
gz(t)-gz(t-1)＝0；
where t represents the time.
Optionally, the calculating, by an accelerometer and a gyroscope, a flight trajectory of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and determining the displacement corresponding to the four-axis aircraft according to the target triaxial acceleration to obtain the flight track.
Optionally, the calculating, by the accelerometer and the gyroscope, a flight direction of the four-axis aircraft after being thrown includes:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and taking the direction of the resultant force direction of the target triaxial acceleration as the flight direction of the four-axis aircraft after being thrown out.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (6)
1. The control method of the four-axis aircraft is characterized in that the four-axis aircraft comprises an aircraft shell, a motor and blades, wherein the aircraft shell is hollow, the motor and the blades are positioned inside the aircraft shell, and the control method comprises the following steps:
detecting whether the four-axis aircraft in a standby state is lost by a manipulator or not in real time through an accelerometer and a gyroscope;
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the first control mode is judged according to the action state of the four-axis aircraft, calculating a flight track of the thrown four-axis aircraft through an accelerometer and a gyroscope;
when the distance between the four-axis aircraft and the manipulator is determined to meet the preset distance, controlling the four-axis aircraft to fly back to a starting point of the manipulator according to the flight track, and reentering the standby state after detecting that the manipulator contacts the four-axis aircraft;
the method further comprises the steps of:
if the fact that the four-axis aircraft is thrown out by the manipulator and the four-axis aircraft is in the second control mode is judged according to the action state of the four-axis aircraft, calculating the flying direction of the thrown four-axis aircraft through the accelerometer and the gyroscope;
controlling the four-axis aircraft to fly in the flying direction;
and when the fact that the four-axis aircraft is contacted by the opposite-end operator is detected, entering the standby state.
2. The method of controlling a four-axis aircraft according to claim 1, wherein the controlling the four-axis aircraft to fly in the flight direction comprises:
and controlling the four-axis aircraft to fly in the flying direction, and controlling the four-axis aircraft to swing left and right or swing up and down to fly in the flying direction.
3. The method of controlling a four-axis aircraft according to any one of claims 1-2, wherein the real-time detection of whether the four-axis aircraft in standby state is dropped by a handler by an accelerometer and a gyroscope comprises:
calculating the triaxial acceleration of the four-axis aircraft in a standby state in real time through the accelerometer;
calculating the triaxial angular speed of the four-axis aircraft in a standby state in real time through the gyroscope;
if the triaxial acceleration and the triaxial angular velocity meet preset conditions, determining that the four-axis aircraft is lost by the manipulator;
and if the triaxial acceleration and the triaxial angular velocity do not meet the preset conditions, determining that the four-axis aircraft is not lost by the manipulator.
4. A control method of a four-axis aircraft according to claim 3, wherein the three-axis accelerations bax, bay and baz, the three-axis angular velocities gx, gy and gz, the preset conditions are:
qrt(bax 2 +bay2+baz2)＝0
gx(t)-gx(t-1)＝0；
gy(t)-gy(t-1)＝0；
gz(t)-gz(t-1)＝0；
where t represents the time.
5. A method of controlling a four-axis aircraft according to any of claims 1-2, wherein the calculating of the flight trajectory of the four-axis aircraft after being thrown by means of an accelerometer and a gyroscope comprises:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and determining the displacement corresponding to the four-axis aircraft according to the target triaxial acceleration to obtain the flight track.
6. A method of controlling a four-axis aircraft according to any one of claims 1-2, wherein said calculating, by means of said accelerometer and gyroscope, the direction of flight of said four-axis aircraft after being thrown comprises:
a body coordinate system of the four-axis aircraft is established in advance;
determining the attitude angle of the four-axis aircraft according to the sensor data acquired by the accelerometer and the gyroscope;
calculating a DCM matrix according to the attitude angle of the four-axis aircraft;
converting the triaxial acceleration into a target triaxial acceleration corresponding to the machine body coordinate system according to the DCM matrix;
and taking the direction of the resultant force direction of the target triaxial acceleration as the flight direction of the four-axis aircraft after being thrown out.
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