CN113741492B - Method and device for controlling hovering wind resistance of six-rotor unmanned aerial vehicle - Google Patents
Method and device for controlling hovering wind resistance of six-rotor unmanned aerial vehicle Download PDFInfo
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- 238000005096 rolling process Methods 0.000 claims description 3
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- 238000004590 computer program Methods 0.000 description 13
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- G—PHYSICS
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw 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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The embodiment of the disclosure provides a six-rotor unmanned aerial vehicle hovering wind-resistant control method, a device and electronic equipment, belonging to the technical field of aircraft control, wherein the method comprises the following steps: after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotary wings on the unmanned aerial vehicle are obtained; the method comprises the steps of adjusting the rotation speeds of different rotors, and adjusting the direction of the head of the unmanned aerial vehicle, so that the head of the unmanned aerial vehicle faces the wind direction according to a first direction at a first moment; controlling a plurality of rotors in a first set in the drone to perform wind resistant operations of the drone in a first direction; and at a second moment after the first moment, controlling the nose of the unmanned aerial vehicle to turn to a second direction, and controlling a plurality of rotors in a second set in the unmanned aerial vehicle to perform wind-resistant operation of the unmanned aerial vehicle in the second direction. Through the processing scheme of the present disclosure, the wind-resistant efficiency of the aircraft can be improved.
Description
Technical Field
The disclosure relates to the technical field of aircraft control, in particular to a six-rotor unmanned aerial vehicle hovering wind-resistant control method, a device and electronic equipment.
Background
The unmanned aerial vehicle has the advantages of being capable of being deployed rapidly and the like without human intervention, and is widely applied to various fields of each row. However, the hovering time of the unmanned aerial vehicle is limited by the capacity of a battery, and a reasonable wind-resistant strategy is selected, so that the wind-resistant capability can be enhanced, the rotating speed of a rotor wing can be properly reduced, the position control precision is sacrificed under the condition of not affecting the safety, and the purpose of saving energy is achieved.
For multi-rotor unmanned aerial vehicle, how to guarantee that unmanned aerial vehicle can stably and effectively carry out wind-resistant operation for a long time under the state of hovering is the technical problem that needs to be solved.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method and apparatus for controlling hover wind resistance of a six-rotor unmanned aerial vehicle, and the unmanned aerial vehicle, so as to at least partially solve the problems existing in the prior art.
In a first aspect, embodiments of the present disclosure provide a six-rotor unmanned aerial vehicle hover wind-resistant control method, including:
after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotary wings on the unmanned aerial vehicle are obtained;
the method comprises the steps of adjusting the rotation speeds of different rotors, and adjusting the direction of the head of the unmanned aerial vehicle, so that the head of the unmanned aerial vehicle faces the wind direction according to a first direction at a first moment;
controlling a plurality of rotors in a first set in the drone to perform wind resistant operations of the drone in a first direction;
and at a second moment after the first moment, controlling the nose of the unmanned aerial vehicle to turn to a second direction, and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to perform wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2.
According to a specific implementation manner of the embodiment of the present disclosure, before the obtaining the rotation speeds of the different rotors on the multiple unmanned aerial vehicles, the method further includes:
acquiring current position information of the unmanned aerial vehicle through a position positioning device on the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is at a hovering point or not based on the current position information;
and if not, controlling the unmanned aerial vehicle to fly to a hovering point.
According to a specific implementation manner of the embodiment of the present disclosure, the obtaining rotational speeds of different rotors on the multiple unmanned aerial vehicles includes:
acquiring rotor sensor data arranged on a plurality of rotors on the unmanned aerial vehicle;
based on the sensor data, the rotational speeds of different rotors on the drone are determined.
According to a specific implementation manner of the embodiment of the present disclosure, by adjusting the rotation speeds of different rotors, the direction of the nose of the unmanned aerial vehicle is adjusted, so that the nose of the unmanned aerial vehicle faces the wind direction according to the first direction at the first moment, including:
acquiring the current head orientation of the unmanned aerial vehicle;
determining attitude adjustment data of the unmanned aerial vehicle through a difference value between the current machine head orientation and the first direction;
and executing attitude adjustment operation on the unmanned aerial vehicle based on the attitude adjustment data.
According to a specific implementation manner of the embodiment of the present disclosure, the performing, based on the posture adjustment data, a posture adjustment operation on the unmanned aerial vehicle includes:
determining a roll angle of the unmanned aerial vehicle according to the attitude adjustment data;
the unmanned aerial vehicle is enabled to finish the operation corresponding to the rolling angle by controlling the rotating speeds of different rotary wings on the unmanned aerial vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, the controlling the plurality of rotors in the first set in the unmanned aerial vehicle to perform the wind-resistant operation of the unmanned aerial vehicle in the first direction includes:
selecting more than two rotors from six rotors of the unmanned aerial vehicle to form a first set;
and controlling the rotors in the first set to execute rotary flying operation, and stopping rotation of the rotors outside the first set.
According to a specific implementation manner of an embodiment of the disclosure, before the controlling the plurality of rotors in the second set of unmanned aerial vehicle to perform the wind resistant operation of the unmanned aerial vehicle in the second direction, the method further includes:
acquiring an included angle formed by the first direction and the current wind direction;
determining a second direction having the included angle with the current wind direction, the second direction being different from the first direction.
According to a specific implementation manner of the embodiment of the present disclosure, the controlling the plurality of rotors in the second set in the unmanned aerial vehicle to perform the wind-resistant operation of the unmanned aerial vehicle in the second direction includes:
selecting unmanned aerial vehicle rotors corresponding to a second set from six unmanned aerial vehicle rotors;
and controlling the rotors in the second set to execute rotary flying operation, and stopping rotation of the rotors outside the second set.
In a second aspect, embodiments of the present disclosure further provide a six-rotor unmanned aerial vehicle hovering wind-resistant control apparatus, including:
the acquisition module is used for acquiring the rotation speeds of different rotary wings on the unmanned aerial vehicle after receiving the hovering instruction of the unmanned aerial vehicle;
the adjusting module is used for adjusting the direction of the head of the unmanned aerial vehicle by adjusting the rotation speeds of different rotary wings, so that the head of the unmanned aerial vehicle faces the wind direction according to the first direction at the first moment;
a first control module for controlling a plurality of rotors in a first set in the unmanned aerial vehicle to perform a wind resistant operation of the unmanned aerial vehicle in a first direction;
and the second control module is used for controlling the nose of the unmanned aerial vehicle to turn to a second direction at a second moment after the first moment and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to execute the wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2.
In a third aspect, embodiments of the present disclosure further provide an electronic device, 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 enable the at least one processor to perform the six-rotor unmanned aerial vehicle hover wind-resistant control method of the first aspect or any implementation of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the hexarotor unmanned aerial vehicle hover wind-resistance control method of the foregoing first aspect or any implementation of the first aspect.
In a fifth aspect, the presently disclosed embodiments 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 hexarotor unmanned hovering wind control method of the foregoing first aspect or any implementation of the first aspect.
The six-rotor unmanned aerial vehicle hovering wind-resistant control scheme comprises the steps of obtaining rotation speeds of different rotors on a plurality of unmanned aerial vehicles after a hovering instruction of the unmanned aerial vehicles is received; the method comprises the steps of adjusting the rotation speeds of different rotors, and adjusting the direction of the head of the unmanned aerial vehicle, so that the head of the unmanned aerial vehicle faces the wind direction according to a first direction at a first moment; controlling a plurality of rotors in a first set in the drone to perform wind resistant operations of the drone in a first direction; and at a second moment after the first moment, controlling the nose of the unmanned aerial vehicle to turn to a second direction, and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to perform wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2. Through the processing scheme of the present disclosure, efficiency of six rotor unmanned aerial vehicle hovering wind resistance control is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed 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 disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a flowchart of a six-rotor unmanned aerial vehicle hovering wind resistance control method provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of another six-rotor unmanned hovering wind resistance control method provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of another six-rotor unmanned hovering wind resistance control method provided by an embodiment of the present disclosure;
FIG. 4 is a flow chart of another six-rotor unmanned hovering wind resistance control method provided by an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a six-rotor unmanned aerial vehicle hovering wind-resistant control device according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following 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 present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, 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. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide 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 disclosure provides a six-rotor unmanned aerial vehicle hovering wind-resistant control method. The six-rotor unmanned aerial vehicle hovering wind resistance control method provided by the embodiment can be executed by a computing device, the computing device can be implemented as software or 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 six-rotor unmanned aerial vehicle hovering wind resistance control method in an embodiment of the present disclosure may include the steps of:
s101, after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotary wings on the unmanned aerial vehicle are obtained.
The unmanned plane can be arranged in a hovering state in actual work, and then works such as image acquisition, meteorological monitoring and the like are carried out in the hovering state. For many rotor unmanned aerial vehicle, unmanned aerial vehicle is in the state of hovering for a long time, can lead to unmanned aerial vehicle rotor to generate heat seriously because of partial rotor long-term work, has the danger of damage even.
Therefore, after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotors can be monitored, and the working state of the unmanned aerial vehicle rotor is obtained. As one way, the rotational speeds of the different rotors may be acquired by reading the speed signal on the speed sensor on the rotor of the unmanned aerial vehicle.
S102, adjusting the direction of the head of the unmanned aerial vehicle by adjusting the rotation speeds of different rotors, so that the head of the unmanned aerial vehicle faces the wind direction according to the first direction at the first moment.
In order to reduce the rotating speed of the unmanned aerial vehicle rotor in a hovering state as much as possible, as a mode, the current wind direction can be obtained first, so that the nose of the unmanned aerial vehicle approximately faces the wind direction, the rotating speed of the unmanned aerial vehicle rotor can be reduced, and the overheat risk of the rotor caused by long-term rotation is reduced.
For this purpose, a first direction may be set, which is approximately the same as the direction of the current wind direction, while the first direction has a preset angle with the current wind direction (e.g. maintains a left 5 ° angle with the current wind direction), so that after a period of time, the direction of the unmanned aerial vehicle may be adjusted, thereby distributing the rotational load on different rotors.
And S103, controlling a plurality of rotors in the first set in the unmanned aerial vehicle to execute wind-resistant operation of the unmanned aerial vehicle in a first direction.
In the first direction, the nose of the unmanned aerial vehicle is oriented substantially in the wind direction, and at this time, a portion of the plurality of rotors may be selected as the first set. For example, for unmanned aerial vehicle with serial numbers of 1-6, the number of 1,3,5 rotor wings can be selected in proper order as first collection, and unmanned aerial vehicle rotor wings with serial numbers of 2,4,6 are in the stop working state, so that partial rotor wings can be guaranteed to be in the stop working state, and the situation that the rotor wings are damaged due to overheating of the unmanned aerial vehicle rotor wings is prevented.
And S104, at a second moment after the first moment, controlling the nose of the unmanned aerial vehicle to turn to a second direction, and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to execute wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2.
After a second time (for example, 5 minutes) of the preset time, a second direction (for example, a direction with an included angle of 5 degrees on the right side with the wind direction) of the unmanned aerial vehicle flying can be determined, at this time, a nose of the unmanned aerial vehicle can be controlled to face the second direction, at this time, a rotor wing in the second set is selected to execute flying operation, for example, for the unmanned aerial vehicle with rotor wing serial numbers of 1-6, 2,4,6 rotor wings can be sequentially selected as the second set, and the unmanned aerial vehicle rotor wings with serial numbers of 1,3,5 are in a stop working state, so that part of rotor wings can be ensured to be in the stop working state, and the condition that the rotor wings are damaged due to overheating of the unmanned aerial vehicle rotor wings is prevented.
According to the scheme, on one hand, the unmanned aerial vehicle rotor wing is controlled to fly intermittently while the direction of the unmanned aerial vehicle head is adjusted, so that the rotating speed of the unmanned aerial vehicle suspension wing is saved, meanwhile, the heat dissipation of the suspension wing is ensured, and the unmanned aerial vehicle can execute wind-resistant operation.
Referring to fig. 2, before the rotational speeds of the different rotors on the plurality of unmanned aerial vehicles are obtained, the method further includes:
s201, acquiring current position information of the unmanned aerial vehicle through a position positioning device on the unmanned aerial vehicle;
s202, judging whether the unmanned aerial vehicle is at a hovering point or not based on current position information;
and S203, if not, controlling the unmanned aerial vehicle to fly to a hovering point.
With the content in this embodiment, the unmanned aerial vehicle can be controlled to fly at a specified hover point.
According to a specific implementation manner of the embodiment of the present disclosure, the obtaining rotational speeds of different rotors on the multiple unmanned aerial vehicles includes: acquiring rotor sensor data arranged on a plurality of rotors on the unmanned aerial vehicle; based on the sensor data, the rotational speeds of different rotors on the drone are determined.
Referring to fig. 3, according to a specific implementation manner of an embodiment of the present disclosure, by adjusting rotation speeds of different rotors, a direction of a nose of the unmanned aerial vehicle is adjusted, so that the nose of the unmanned aerial vehicle faces a wind direction according to a first direction at a first moment, including:
s301, acquiring the current head orientation of the unmanned aerial vehicle;
s302, determining attitude adjustment data of the unmanned aerial vehicle through a difference value between the current machine head orientation and a first direction;
s303, based on the attitude adjustment data, performing attitude adjustment operation on the unmanned aerial vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, the performing, based on the posture adjustment data, a posture adjustment operation on the unmanned aerial vehicle includes: determining a roll angle of the unmanned aerial vehicle according to the attitude adjustment data; the unmanned aerial vehicle is enabled to finish the operation corresponding to the rolling angle by controlling the rotating speeds of different rotary wings on the unmanned aerial vehicle.
Through the content of the embodiment, the direction of the unmanned aerial vehicle can be effectively adjusted in real time based on the gesture data of the unmanned aerial vehicle.
Referring to fig. 4, according to a specific implementation manner of the embodiment of the disclosure, the controlling the plurality of rotors in the first set in the unmanned aerial vehicle to perform the wind-resistant operation of the unmanned aerial vehicle in the first direction includes:
s401, selecting more than two rotors from six rotors of the unmanned aerial vehicle to form a first set;
and S402, controlling the rotors in the first set to execute rotary flying operation, and stopping rotation of the rotors outside the first set.
Through the embodiment, part of the rotor wings of the unmanned aerial vehicle can be ensured to be in a rest state, so that the unmanned aerial vehicle can be ensured to be in a hovering state for a long time.
According to a specific implementation manner of an embodiment of the disclosure, before the controlling the plurality of rotors in the second set of unmanned aerial vehicle to perform the wind resistant operation of the unmanned aerial vehicle in the second direction, the method further includes: acquiring an included angle formed by the first direction and the current wind direction; determining a second direction having the included angle with the current wind direction, the second direction being different from the first direction.
According to a specific implementation manner of the embodiment of the present disclosure, the controlling the plurality of rotors in the second set in the unmanned aerial vehicle to perform the wind-resistant operation of the unmanned aerial vehicle in the second direction includes: selecting unmanned aerial vehicle rotors corresponding to a second set from six unmanned aerial vehicle rotors; and controlling the rotors in the second set to execute rotary flying operation, and stopping rotation of the rotors outside the second set.
Corresponding to the above embodiments, referring to fig. 5, an embodiment of the present application further discloses a six-rotor unmanned aerial vehicle hovering wind resistance control apparatus 50, comprising:
the acquiring module 501 is configured to acquire rotational speeds of different rotors on the multiple unmanned aerial vehicles after receiving a hover instruction of the unmanned aerial vehicles;
the unmanned plane can be arranged in a hovering state in actual work, and then works such as image acquisition, meteorological monitoring and the like are carried out in the hovering state. For many rotor unmanned aerial vehicle, unmanned aerial vehicle is in the state of hovering for a long time, can lead to unmanned aerial vehicle rotor to generate heat seriously because of partial rotor long-term work, has the danger of damage even.
Therefore, after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotors can be monitored, and the working state of the unmanned aerial vehicle rotor is obtained. As one way, the rotational speeds of the different rotors may be acquired by reading the speed signal on the speed sensor on the rotor of the unmanned aerial vehicle.
The adjusting module 502 is configured to adjust a direction of a nose of the unmanned aerial vehicle by adjusting rotation speeds of different rotors, so that the nose of the unmanned aerial vehicle faces a wind direction according to a first direction at a first moment;
in order to reduce the rotating speed of the unmanned aerial vehicle rotor in a hovering state as much as possible, as a mode, the current wind direction can be obtained first, so that the nose of the unmanned aerial vehicle approximately faces the wind direction, the rotating speed of the unmanned aerial vehicle rotor can be reduced, and the overheat risk of the rotor caused by long-term rotation is reduced.
For this purpose, a first direction may be set, which is approximately the same as the direction of the current wind direction, while the first direction has a preset angle with the current wind direction (e.g. maintains a left 5 ° angle with the current wind direction), so that after a period of time, the direction of the unmanned aerial vehicle may be adjusted, thereby distributing the rotational load on different rotors.
A first control module 503, configured to control a plurality of rotors in a first set in the unmanned aerial vehicle to perform a wind-resistant operation of the unmanned aerial vehicle in a first direction;
in the first direction, the nose of the unmanned aerial vehicle is oriented substantially in the wind direction, and at this time, a portion of the plurality of rotors may be selected as the first set. For example, for unmanned aerial vehicle with serial numbers of 1-6, the number of 1,3,5 rotor wings can be selected in proper order as first collection, and unmanned aerial vehicle rotor wings with serial numbers of 2,4,6 are in the stop working state, so that partial rotor wings can be guaranteed to be in the stop working state, and the situation that the rotor wings are damaged due to overheating of the unmanned aerial vehicle rotor wings is prevented.
And a second control module 504, configured to control the nose of the unmanned aerial vehicle to turn to a second direction at a second time after the first time, and control a plurality of rotors in a second set of the unmanned aerial vehicle to perform a wind-resistant operation of the unmanned aerial vehicle in the second direction, where the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is greater than 2.
After a second time (for example, 5 minutes) of the preset time, a second direction (for example, a direction with an included angle of 5 degrees on the right side with the wind direction) of the unmanned aerial vehicle flying can be determined, at this time, a nose of the unmanned aerial vehicle can be controlled to face the second direction, at this time, a rotor wing in the second set is selected to execute flying operation, for example, for the unmanned aerial vehicle with rotor wing serial numbers of 1-6, 2,4,6 rotor wings can be sequentially selected as the second set, and the unmanned aerial vehicle rotor wings with serial numbers of 1,3,5 are in a stop working state, so that part of rotor wings can be ensured to be in the stop working state, and the condition that the rotor wings are damaged due to overheating of the unmanned aerial vehicle rotor wings is prevented.
According to the scheme, on one hand, the unmanned aerial vehicle rotor wing is controlled to perform intermittent flight while the direction of the unmanned aerial vehicle head is adjusted, so that the rotating speed of the unmanned aerial vehicle suspension wing is saved, meanwhile, the heat dissipation of the suspension wing is ensured, and the unmanned aerial vehicle can perform wind-resistant operation for a long time.
The parts of this embodiment, which are not described in detail, are referred to the content described in the above method embodiment, and are not described in detail herein.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, comprising:
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 six-rotor unmanned aerial vehicle hover wind-resistant control method of the foregoing method embodiments.
The presently disclosed embodiments 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 that, when executed by a computer, cause the computer to perform the six rotor unmanned hovering wind resistance control method of the foregoing method embodiments.
Referring now to fig. 6, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure 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., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
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, which may perform various appropriate actions and processes according to 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 device 60 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic 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 an electronic device 60 having various means is shown, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure 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 shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 context of this disclosure, 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 disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated 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 an internet protocol address from the at least two internet protocol addresses and returns the internet protocol address; receiving an Internet protocol address returned by the node evaluation equipment; wherein the acquired internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer-readable medium carries one or more programs that, 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 of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts 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 disclosure. 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 involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure 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 disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. The hovering wind resistance control method of the six-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
after a hover instruction of the unmanned aerial vehicle is received, the rotation speeds of different rotary wings on the unmanned aerial vehicle are obtained;
the method comprises the steps of adjusting the rotation speeds of different rotors, and adjusting the direction of the head of the unmanned aerial vehicle, so that the head of the unmanned aerial vehicle faces the wind direction according to a first direction at a first moment;
controlling a plurality of rotors in a first set in the drone to perform wind resistant operations of the drone in a first direction;
and at a second moment after the first moment, controlling the nose of the unmanned aerial vehicle to turn to a second direction, and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to perform wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2.
2. The method of claim 1, wherein prior to said obtaining rotational speeds of different rotors on the plurality of drones, the method further comprises:
acquiring current position information of the unmanned aerial vehicle through a position positioning device on the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is at a hovering point or not based on the current position information;
and if not, controlling the unmanned aerial vehicle to fly to a hovering point.
3. The method of claim 1, wherein the obtaining rotational speeds of different rotors on the plurality of drones comprises:
acquiring rotor sensor data arranged on a plurality of rotors on the unmanned aerial vehicle;
based on the sensor data, the rotational speeds of different rotors on the drone are determined.
4. The method of claim 1, wherein adjusting the direction of the nose of the unmanned aerial vehicle by adjusting the rotational speeds of the different rotors such that the nose of the unmanned aerial vehicle is oriented in a first direction at a first time comprises:
acquiring the current head orientation of the unmanned aerial vehicle;
determining attitude adjustment data of the unmanned aerial vehicle through a difference value between the current machine head orientation and the first direction;
and executing attitude adjustment operation on the unmanned aerial vehicle based on the attitude adjustment data.
5. The method of claim 4, wherein performing a pose adjustment operation on a drone based on the pose adjustment data comprises:
determining a roll angle of the unmanned aerial vehicle according to the attitude adjustment data;
the unmanned aerial vehicle is enabled to finish the operation corresponding to the rolling angle by controlling the rotating speeds of different rotary wings on the unmanned aerial vehicle.
6. The method of claim 1, wherein the controlling the plurality of rotors in the first set of unmanned aerial vehicle to perform wind resistant operation of the unmanned aerial vehicle in the first direction comprises:
selecting more than two rotors from six rotors of the unmanned aerial vehicle to form a first set;
and controlling the rotors in the first set to execute rotary flying operation, and stopping rotation of the rotors outside the first set.
7. The method of claim 1, wherein the controlling and controlling the plurality of rotors in the second set of unmanned aerial vehicle further comprises, prior to performing wind resistant operation of the unmanned aerial vehicle in the second direction:
acquiring an included angle formed by the first direction and the current wind direction;
determining a second direction having the included angle with the current wind direction, the second direction being different from the first direction.
8. The method of claim 1, wherein the controlling the plurality of rotors in the second set of unmanned aerial vehicle to perform wind resistant operation of the unmanned aerial vehicle in the second direction comprises:
selecting unmanned aerial vehicle rotors corresponding to a second set from six unmanned aerial vehicle rotors;
and controlling the rotors in the second set to execute rotary flying operation, and stopping rotation of the rotors outside the second set.
9. Six rotor unmanned aerial vehicle hover anti-wind controlling means, its characterized in that includes:
the acquisition module is used for acquiring the rotation speeds of different rotary wings on the unmanned aerial vehicle after receiving the hovering instruction of the unmanned aerial vehicle;
the adjusting module is used for adjusting the direction of the head of the unmanned aerial vehicle by adjusting the rotation speeds of different rotary wings, so that the head of the unmanned aerial vehicle faces the wind direction according to the first direction at the first moment;
a first control module for controlling a plurality of rotors in a first set in the unmanned aerial vehicle to perform a wind resistant operation of the unmanned aerial vehicle in a first direction;
and the second control module is used for controlling the nose of the unmanned aerial vehicle to turn to a second direction at a second moment after the first moment and controlling a plurality of rotors in a second set of the unmanned aerial vehicle to execute the wind-resistant operation of the unmanned aerial vehicle in the second direction, wherein the rotors in the second set are different from the rotors in the first set, and the number of the rotors in the first set and the second set is larger than 2.
10. An electronic device, the electronic device comprising:
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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