CN113734435B - Multi-rotor and fixed-wing mode conversion method and device for composite-wing unmanned aerial vehicle - Google Patents
Multi-rotor and fixed-wing mode conversion method and device for composite-wing unmanned aerial vehicle Download PDFInfo
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- CN113734435B CN113734435B CN202111012635.XA CN202111012635A CN113734435B CN 113734435 B CN113734435 B CN 113734435B CN 202111012635 A CN202111012635 A CN 202111012635A CN 113734435 B CN113734435 B CN 113734435B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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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
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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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
- B64U30/10—Wings
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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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Abstract
The embodiment of the invention provides a method, a device and electronic equipment for mode conversion between a multi-rotor wing mode and a fixed wing mode of a composite wing unmanned aerial vehicle, belonging to the technical field of aircraft control, wherein the method comprises the following steps: acquiring the current flying speed of the composite wing unmanned aerial vehicle; if the current flying speed is between a preset lower limit value and a preset upper limit value, further acquiring a height value of the unmanned aerial vehicle; when the height value of the unmanned aerial vehicle is larger than the first height value, reducing the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle according to a first speed reduction curve, and adjusting the inclination angle of the fixed wing based on the first speed reduction curve; when unmanned aerial vehicle's height is less than the second height value, if the rotor is not in the stall state, then when stopping the change at fixed wing angle of inclination, according to the second speed curve rotational speed that improves many rotor unmanned aerial vehicle rotors, the second height value is less than first height value. By the processing scheme, the efficiency of mode conversion of the multi-rotor wing and the fixed wing of the composite wing unmanned aerial vehicle can be improved.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to a method and a device for mode conversion between a multi-rotor wing mode and a fixed wing mode of a composite wing unmanned aerial vehicle and electronic equipment.
Background
The unmanned aerial vehicle has the advantages of no need of human intervention, rapid deployment and the like, and is widely applied to various fields. Compound wing unmanned aerial vehicle refers to the perfect combination of fixed wing and rotor unmanned aerial vehicle type, and compound wing unmanned aerial vehicle just has these two kinds of unmanned aerial vehicle's advantage, and fixed wing unmanned aerial vehicle possesses that flying speed is fast, the flight height is high, flight time is long, and rotor unmanned aerial vehicle possesses the VTOL, hovers, characteristics such as nimble.
To compound wing unmanned aerial vehicle, how to guarantee to carry out effectual switching between many rotors and the stationary vane is the technical problem that needs to solve.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method and an apparatus for switching between multi-rotor mode and fixed-wing mode of a compound-wing drone, and a drone, so as to at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present invention provides a mode switching method for a multi-rotor wing and a fixed wing of a composite wing drone, including:
acquiring the current flying speed of the composite wing unmanned aerial vehicle;
if the current flying speed is between a preset lower limit value and a preset upper limit value, further acquiring a height value of the unmanned aerial vehicle;
when the height value of the unmanned aerial vehicle is larger than the first height value, reducing the rotation speed of the rotor of the multi-rotor unmanned aerial vehicle according to a first deceleration curve, and adjusting the inclination angle of the fixed wing based on the first deceleration curve;
when unmanned aerial vehicle's height is less than the second height value, if the rotor is not in the stall state, then when stopping the change at the fixed wing angle of inclination, according to the second speed curve rotational speed that improves many rotor unmanned aerial vehicle rotors, the second height value is less than first height value.
According to a specific implementation manner of the embodiment of the present invention, the method further includes:
and when the flying speed of the unmanned aerial vehicle is greater than the upper limit value, switching the unmanned aerial vehicle to enter a fixed wing mode.
According to a specific implementation manner of the embodiment of the present invention, the method further includes:
when the flying speed of the unmanned aerial vehicle is smaller than the lower limit value, the unmanned aerial vehicle is switched to enter a multi-rotor mode.
According to a specific implementation manner of the embodiment of the invention, the acquiring the current flight speed of the composite wing unmanned aerial vehicle comprises:
acquiring flight data on an airspeed meter on an unmanned aerial vehicle;
determining a flight speed of the drone based on the flight data.
According to a specific implementation manner of the embodiment of the present invention, if the current flight speed is between the preset lower limit value and the preset upper limit value, further acquiring the altitude value of the unmanned aerial vehicle, including:
reading GPS data on the unmanned aerial vehicle;
and determining the height value of the unmanned aerial vehicle based on the read GPS data.
According to a specific implementation manner of the embodiment of the present invention, when the height value of the drone is greater than the first height value, the method for reducing the rotation speed of the rotor of the multi-rotor drone according to the first deceleration curve and adjusting the inclination angle of the fixed wing based on the first deceleration curve includes:
acquiring a deceleration curvature value set on the first deceleration curve;
based on the deceleration curvature value, reducing the rotational speed of the drone rotor to 0 over a preset period of time.
According to a specific implementation manner of the embodiment of the present invention, when the height value of the drone is greater than the first height value, the method for controlling the rotation speed of the rotor of the multi-rotor drone is reduced according to the first deceleration curve, and the tilt angle of the fixed wing is adjusted based on the first deceleration curve, further includes:
acquiring the current inclination angle of the fixed wing of the unmanned aerial vehicle;
adjusting the tilt angle of the unmanned aerial vehicle to a maximum tilt angle based on the deceleration curvature value within a preset time period.
According to a specific implementation manner of the embodiment of the present invention, increasing the rotation speed of the rotor of the multi-rotor drone according to the second acceleration curve includes:
acquiring a speed-up curvature value set on a second speed-up curve;
based on the rising speed curvature value, promote in the time quantum that predetermines the rotation rate of unmanned aerial vehicle rotor is to the maximum rotational speed.
In a second aspect, an embodiment of the present invention further provides a device for switching between a multi-rotor mode and a fixed-wing mode of a compound-wing drone, including:
the acquiring module is used for acquiring the current flying speed of the composite wing unmanned aerial vehicle;
the execution module is used for further acquiring the height value of the unmanned aerial vehicle if the current flight speed is between a preset lower limit value and a preset upper limit value;
the reducing module is used for reducing the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle according to a first speed reduction curve and adjusting the inclination angle of the fixed wing based on the first speed reduction curve when the height value of the unmanned aerial vehicle is larger than a first height value;
the lifting module is used for improving the rotating speed of the rotors of the multi-rotor unmanned aerial vehicle according to a second speed-raising curve when the height of the unmanned aerial vehicle is smaller than a second height value and the rotors are not in a stop state, and the change of the inclination angle of the fixed wing is stopped, and the second height value is smaller than the first height value.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method for mode switching between multi-rotor and fixed-wing modes of a compound-wing drone in accordance with the first aspect or any implementation of the first aspect.
In a fourth aspect, embodiments of the present invention further provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for mode conversion between multi-rotor and fixed-wing modes of a composite-wing drone according to the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the present invention further provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method for converting mode between multi-rotor and fixed-wing modes of a composite-wing drone according to the first aspect or any one of the implementations of the first aspect.
The scheme for converting the multi-rotor wing mode and the fixed wing mode of the composite wing unmanned aerial vehicle comprises the steps of obtaining the current flight speed of the composite wing unmanned aerial vehicle; if the current flying speed is between a preset lower limit value and a preset upper limit value, further acquiring a height value of the unmanned aerial vehicle; when the height value of the unmanned aerial vehicle is larger than the first height value, reducing the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle according to a first speed reduction curve, and adjusting the inclination angle of the fixed wing based on the first speed reduction curve; when the height of the unmanned aerial vehicle is smaller than the second height value, if the rotor wing is not in a stop state, the change of the inclination angle of the fixed wing is stopped, meanwhile, the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle is increased according to a second speed-up curve, and the efficiency of mode conversion of the multi-rotor wing and the fixed wing of the composite wing unmanned aerial vehicle is improved through the processing scheme provided by the invention, wherein the second height value is smaller than the first height value.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a mode switching method for a multi-rotor wing and a fixed wing of a composite wing drone according to an embodiment of the present invention;
fig. 2 is a flowchart of another mode switching method for a multi-rotor and a fixed-wing mode of a composite-wing drone according to an embodiment of the present invention;
fig. 3 is a flowchart of another mode switching method for a multi-rotor and a fixed-wing mode of a composite-wing drone according to an embodiment of the present invention;
fig. 4 is a flowchart of another mode switching method for a multi-rotor and a fixed-wing mode of a composite-wing drone according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a multi-rotor and fixed-wing mode switching device of a composite-wing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be further noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the invention provides a mode conversion method for a multi-rotor wing mode and a fixed wing mode of a composite wing unmanned aerial vehicle. The mode switching method for the multiple rotors and the fixed wings of the composite wing unmanned aerial vehicle provided by the embodiment can be executed by a computing device, the computing device can be implemented as software, or implemented as a combination of software and hardware, and the computing device can be integrally arranged in a server, a client and the like.
Referring to fig. 1, a method for switching modes between a multi-rotor mode and a fixed-wing mode of a composite-wing drone in an embodiment of the present invention may include the following steps:
s101, acquiring the current flying speed of the composite wing unmanned aerial vehicle.
The composite wing unmanned aerial vehicle can obtain the current flight speed of the unmanned aerial vehicle in various modes in the flight process. For example, the current flight speed of the unmanned aerial vehicle can be acquired through a GPS device carried by the unmanned aerial vehicle, or the current flight speed of the unmanned aerial vehicle can be acquired through devices such as an airspeed meter, and data support can be provided for the control of a follow-up unmanned aerial vehicle by acquiring the current flight speed of the unmanned aerial vehicle.
And S102, if the current flying speed is between a preset lower limit value and a preset upper limit value, further acquiring the height value of the unmanned aerial vehicle.
The upper limit value and the lower limit value of the flying speed of the unmanned aerial vehicle can be preset, and whether the current flying speed of the unmanned aerial vehicle is between the lower limit value and the upper limit value or not is compared, so that whether the unmanned aerial vehicle needs to be subjected to mode switching in a speed further mode or not is further determined.
As a specific mode, if the current flying speed is between a preset lower limit value and an upper limit value, the height value of the unmanned aerial vehicle is further obtained. Unmanned aerial vehicle's altitude value can be acquireed according to the GPS equipment that sets up on the unmanned aerial vehicle, also can adopt other modes to acquire, and this application does not do not make the restriction here.
S103, when unmanned aerial vehicle' S altitude value is greater than first altitude value, reduce the rotation rate of many rotor unmanned aerial vehicle rotors according to first deceleration curve to based on the angle of inclination of first deceleration curve adjustment stationary vane.
The unmanned aerial vehicle comprises a fixed wing, a first altitude value, a second altitude value, a numerical value of the first altitude value, a second altitude value, a first deceleration curve and a second inclination curve.
First deceleration curve can preset, through reading the deceleration curvature value in the first deceleration curve, can regard this deceleration curvature value as the deceleration change value of unmanned aerial vehicle rotor, also can be used for as the transform value of adjustment stationary vane angle of inclination.
S104, when the height of the unmanned aerial vehicle is smaller than a second height value, if the rotor wing is not in a stop state, the change of the inclination angle of the fixed wing is stopped, meanwhile, the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle is improved according to a second speed-up curve, and the second height value is smaller than the first height value.
When the second height value, whether the conversion of further observation unmanned aerial vehicle from many rotor modes to fixed wing mode is accomplished, if the rotor is not in the stall state this moment, then when stopping the change at the fixed wing angle of inclination, improve the rotational speed of many rotor unmanned aerial vehicle rotors according to the second curve of speeding up. The second curve of speeding up is the curve that sets up in advance, through reading the rate value on the second curve of speeding up, can promote the rotational speed of unmanned aerial vehicle rotor according to the rate value on the second curve of speeding up.
Through the content in the above-mentioned embodiment, can carry out steady conversion with compound wing unmanned aerial vehicle between many rotors and fixed wing mode, improve the efficiency of compound wing unmanned aerial vehicle mode conversion.
According to a specific implementation manner of the embodiment of the present invention, the method further includes: and when the flying speed of the unmanned aerial vehicle is greater than the upper limit value, switching the unmanned aerial vehicle to enter a fixed wing mode.
According to a specific implementation manner of the embodiment of the present invention, the method further includes: when the flying speed of the unmanned aerial vehicle is smaller than the lower limit value, the unmanned aerial vehicle is switched to enter a multi-rotor mode.
According to a specific implementation manner of the embodiment of the invention, the acquiring the current flight speed of the composite wing unmanned aerial vehicle comprises: acquiring flight data on an airspeed meter on an unmanned aerial vehicle; determining a flight speed of the drone based on the flight data.
According to a specific implementation manner of the embodiment of the present invention, if the current flight speed is between the preset lower limit value and the preset upper limit value, further acquiring the altitude value of the unmanned aerial vehicle, including: reading GPS data on the unmanned aerial vehicle; and determining the height value of the unmanned aerial vehicle based on the read GPS data.
Referring to fig. 2, in accordance with a specific implementation of an embodiment of the invention, when the altitude value of the drone is greater than the first altitude value, the method includes reducing the rotational speed of the rotors of the multi-rotor drone according to a first deceleration curve and adjusting the tilt angle of the fixed wing based on the first deceleration curve, including:
s201, acquiring a deceleration curvature value set on a first deceleration curve;
s202, reducing the rotation speed of the unmanned aerial vehicle rotor wing to 0 within a preset time period based on the deceleration curvature value.
Referring to fig. 3, according to a specific implementation manner of the embodiment of the present invention, when the altitude value of the drone is greater than the first altitude value, the method further includes the steps of reducing the rotation speed of the rotors of the multi-rotor drone according to a first deceleration curve and adjusting the inclination angle of the fixed wing based on the first deceleration curve, and further including:
s301, acquiring the inclination angle of the fixed wing of the current unmanned aerial vehicle;
s302, adjusting the inclination angle of the unmanned aerial vehicle to the maximum inclination angle based on the deceleration curvature value in a preset time period.
Referring to fig. 4, according to a specific implementation manner of the embodiment of the present invention, the increasing the rotation speed of the rotor of the multi-rotor drone according to the second acceleration curve includes:
s401, acquiring a speed-up curvature value set on a second speed-up curve;
s402, based on the acceleration curvature value, the rotation speed of the unmanned aerial vehicle rotor wing is increased to the maximum rotation speed within a preset time period.
Corresponding to the above embodiments, referring to fig. 5, the present application further discloses a multi-rotor and fixed-wing mode switching device 50 for a composite-wing drone, including:
the acquiring module 501 is configured to acquire a current flight speed of the composite wing drone.
The current flight speed of the unmanned aerial vehicle can be acquired in various ways in the flight process of the composite-wing unmanned aerial vehicle. For example, the current flight speed of the unmanned aerial vehicle can be acquired through a GPS device carried by the unmanned aerial vehicle, or the current flight speed of the unmanned aerial vehicle can be acquired through devices such as an airspeed meter, and data support can be provided for the control of a follow-up unmanned aerial vehicle by acquiring the current flight speed of the unmanned aerial vehicle.
An executing module 502, configured to further obtain a height value of the unmanned aerial vehicle if the current flight speed is between a preset lower limit value and an upper limit value.
The upper limit value and the lower limit value of the flying speed of the unmanned aerial vehicle can be preset, and whether the current flying speed of the unmanned aerial vehicle is between the lower limit value and the upper limit value or not is compared, so that whether the unmanned aerial vehicle needs to be subjected to mode switching in a speed further mode or not is further determined.
As a specific mode, if the current flying speed is between a preset lower limit value and an upper limit value, the height value of the unmanned aerial vehicle is further obtained. Unmanned aerial vehicle's altitude value can be acquireed according to the GPS equipment that sets up on the unmanned aerial vehicle, also can adopt other modes to acquire, and this application does not do not make the restriction here.
Reduce module 503 for when unmanned aerial vehicle's altitude value is greater than first altitude value, reduce the rotation rate of many rotor unmanned aerial vehicle rotors according to first deceleration curve, and adjust the angle of inclination of stationary vane based on first deceleration curve.
The unmanned aerial vehicle comprises a fixed wing, a first altitude value, a second altitude value, a numerical value of the first altitude value, a second altitude value, a first deceleration curve and a second inclination curve.
First deceleration curve can preset, through reading the deceleration curvature value in the first deceleration curve, can regard this deceleration curvature value as the deceleration change value of unmanned aerial vehicle rotor, also can be used for as the transform value of adjustment stationary vane angle of inclination.
Lifting module 504 for when unmanned aerial vehicle's height is less than the second height value, if the rotor is not in the stall state, then when stopping the change at the fixed wing angle of inclination, according to the second speed curve rotational speed that improves many rotor unmanned aerial vehicle rotors, the second height value is less than first height value.
When the second height value, whether the conversion of further observation unmanned aerial vehicle from many rotor modes to fixed wing mode is accomplished, if the rotor is not in the stall state this moment, then when stopping the change at the fixed wing angle of inclination, improve the rotational speed of many rotor unmanned aerial vehicle rotors according to the second curve of speeding up. The second curve of speeding up is the curve that sets up in advance, through reading the rate value on the second curve of speeding up, can promote the rotational speed of unmanned aerial vehicle rotor according to the rate value on the second curve of speeding up.
Through the content in the above-mentioned embodiment, can carry out steady conversion with compound wing unmanned aerial vehicle between many rotors and fixed wing mode, improve the efficiency of compound wing unmanned aerial vehicle mode conversion.
For the parts not described in detail in this embodiment, reference is made to the contents described in the above method embodiments, and details are not repeated here.
Referring to fig. 6, an embodiment of the present invention further provides an electronic device 60, including:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of the method embodiments described above for multi-rotor and fixed-wing mode conversion of a composite-wing drone.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of converting mode between multi-rotor and fixed-wing modes of a composite-wing drone in the aforementioned method embodiments.
Referring now to FIG. 6, a block diagram of an electronic device 60 suitable for use in implementing embodiments of the present invention is shown. The electronic devices in the embodiments of the present invention may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic apparatus 60 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While the figures illustrate an electronic device 60 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 609, or may be installed from the storage means 608, or may be installed from the ROM 602. The computer program, when executed by the processing means 601, performs the above-described functions defined in the method of an embodiment of the invention.
It should be noted that the computer readable medium of the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a many rotors of compound wing unmanned aerial vehicle and fixed wing mode conversion method which characterized in that includes:
acquiring the current flying speed of the composite wing unmanned aerial vehicle;
if the current flying speed is between a preset lower limit value and a preset upper limit value, further acquiring a height value of the unmanned aerial vehicle;
when the height value of the unmanned aerial vehicle is larger than the first height value, reducing the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle according to a first speed reduction curve, and adjusting the inclination angle of the fixed wing based on the first speed reduction curve;
when unmanned aerial vehicle's height is less than the second height value, if the rotor is not in the stall state, then when stopping the change at the fixed wing angle of inclination, according to the second speed curve rotational speed that improves many rotor unmanned aerial vehicle rotors, the second height value is less than first height value.
2. The method of claim 1, further comprising:
and when the flying speed of the unmanned aerial vehicle is greater than the upper limit value, switching the unmanned aerial vehicle to enter a fixed wing mode.
3. The method of claim 1, further comprising:
when the flying speed of the unmanned aerial vehicle is smaller than the lower limit value, the unmanned aerial vehicle is switched to enter a multi-rotor mode.
4. The method of claim 1, wherein said obtaining a current flight speed of the composite wing drone includes:
acquiring flight data on an airspeed meter on an unmanned aerial vehicle;
determining a flight speed of the drone based on the flight data.
5. The method of claim 1, wherein the further obtaining the altitude value of the drone if the current flying speed is between a preset lower limit and an upper limit comprises:
reading GPS data on the unmanned aerial vehicle;
and determining the height value of the unmanned aerial vehicle based on the read GPS data.
6. The method of claim 1, wherein reducing the rotational speed of the rotors of the multi-rotor drone according to a first deceleration curve and adjusting the angle of inclination of the fixed wing based on the first deceleration curve when the altitude value of the drone is greater than a first altitude value comprises:
acquiring a deceleration curve value set on a first deceleration curve;
based on the deceleration curvature value, reducing the rotational speed of the drone rotor to 0 for a preset period of time.
7. The method of claim 6, wherein when the altitude value of the drone is greater than the first altitude value, reducing the rotational speed of the rotors of the multi-rotor drone according to a first deceleration curve and adjusting the angle of inclination of the fixed wing based on the first deceleration curve, further comprising:
acquiring the current inclination angle of the fixed wing of the unmanned aerial vehicle;
adjusting the tilt angle of the unmanned aerial vehicle to a maximum tilt angle based on the deceleration curvature value within a preset time period.
8. The method of claim 1, wherein increasing the speed of the multi-rotor drone rotor according to the second acceleration profile comprises:
acquiring a speed-up curvature value set on a second speed-up curve;
based on the rising speed curvature value, promote in the time quantum that predetermines the rotation rate of unmanned aerial vehicle rotor is to the maximum rotational speed.
9. The utility model provides a many rotors of compound wing unmanned aerial vehicle and stationary vane mode conversion equipment which characterized in that includes:
the acquiring module is used for acquiring the current flying speed of the composite wing unmanned aerial vehicle;
the execution module is used for further acquiring the height value of the unmanned aerial vehicle if the current flight speed is between a preset lower limit value and a preset upper limit value;
the reducing module is used for reducing the rotating speed of the rotor wing of the multi-rotor unmanned aerial vehicle according to a first speed reduction curve and adjusting the inclination angle of the fixed wing based on the first speed reduction curve when the height value of the unmanned aerial vehicle is larger than a first height value;
the lifting module is used for improving the rotating speed of the rotors of the multi-rotor unmanned aerial vehicle according to a second speed-raising curve when the height of the unmanned aerial vehicle is smaller than a second height value and the rotors are not in a stop state, and the change of the inclination angle of the fixed wing is stopped, and the second height value is smaller than the first height value.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the preceding claims 1-8.
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| CN103043212A (en) * | 2011-10-17 | 2013-04-17 | 田瑜 | Combined aircraft composed of fixed wing and electric multi-rotor wing |
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| CN101618763A (en) * | 2008-07-02 | 2010-01-06 | 孙为红 | Miniature high-speed vertical-lifting self rotor aircraft |
| US11111010B2 (en) * | 2019-04-15 | 2021-09-07 | Textron Innovations Inc. | Multimodal unmanned aerial systems having tiltable wings |
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| CN103043212A (en) * | 2011-10-17 | 2013-04-17 | 田瑜 | Combined aircraft composed of fixed wing and electric multi-rotor wing |
| CN104044734A (en) * | 2014-06-20 | 2014-09-17 | 中国科学院合肥物质科学研究院 | Multi-rotor unmanned airplane with inclined wings and rotors and control system and method |
| CN109720553A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | A kind of fixed-wing unmanned plane, control method and medium with VTOL function |
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