WO2021016871A1 - Control method and control apparatus for unmanned aerial vehicle, and computer-readable storage medium - Google Patents

Control method and control apparatus for unmanned aerial vehicle, and computer-readable storage medium Download PDF

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Publication number
WO2021016871A1
WO2021016871A1 PCT/CN2019/098405 CN2019098405W WO2021016871A1 WO 2021016871 A1 WO2021016871 A1 WO 2021016871A1 CN 2019098405 W CN2019098405 W CN 2019098405W WO 2021016871 A1 WO2021016871 A1 WO 2021016871A1
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Prior art keywords
pitch attitude
unmanned aerial
aerial vehicle
power system
attitude angle
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PCT/CN2019/098405
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French (fr)
Chinese (zh)
Inventor
段武阳
林灿龙
张子豪
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/098405 priority Critical patent/WO2021016871A1/en
Priority to CN201980032408.8A priority patent/CN112166393A/en
Publication of WO2021016871A1 publication Critical patent/WO2021016871A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, control device and computer readable storage medium.
  • the vertical take-off and landing (VTOL) unmanned aerial vehicle has been sought after by the market for its ability to combine vertical take-off and landing and high-speed level flight.
  • the rotor power system of the unmanned aerial vehicle works to realize the air hover; the fixed-wing power system of the unmanned aerial vehicle works to realize high-speed horizontal flight.
  • one method of state switching is to manually control the rotor power system, adjust the attitude of the unmanned aerial vehicle, slow down the unmanned aerial vehicle, and then manually switch to the hovering state.
  • Another method of state switching is to directly control the rotor power system to decelerate and brake to hover at the maximum attitude angle at high speed.
  • the embodiments of the present invention provide an unmanned aerial vehicle control method, a control device and a computer-readable storage medium, so as to solve the problems of poor stability and easy explosion of the unmanned aerial vehicle in the process of switching the working state of the unmanned aerial vehicle in the prior art.
  • the present invention is implemented as follows:
  • an embodiment of the present invention discloses an unmanned aerial vehicle control method, wherein the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system, and the control method includes:
  • the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • an embodiment of the present invention discloses an unmanned aerial vehicle control device, wherein the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system, and the control device includes a memory and a processor, wherein,
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned control method are implemented.
  • the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety.
  • Figure 1 shows the structure of a composite vertical take-off and landing fixed-wing unmanned aerial vehicle in the prior art
  • Figure 2 shows a flow chart of the steps of an unmanned aerial vehicle control method provided by an embodiment of the present invention
  • FIG. 3 shows a schematic diagram of a body coordinate system of an unmanned aerial vehicle provided by an embodiment of the present invention
  • Figure 4 shows a flow chart of the steps of yet another unmanned aerial vehicle control method provided by an embodiment of the present invention
  • Figure 5 shows a flow chart of the steps of another unmanned aerial vehicle control method provided by an embodiment of the present invention.
  • Fig. 6 shows a block diagram of an unmanned aerial vehicle control device provided by an embodiment of the present invention.
  • Figure 1 is the structure of a composite vertical take-off and landing fixed-wing VTOL unmanned aerial vehicle provided by the prior art.
  • This unmanned aerial vehicle includes a multi-rotor power system for controlling vertical take-off and landing and a fixed high-speed horizontal flight. Wing power and control system.
  • Fig. 2 is a flow chart of the steps of an unmanned aerial vehicle control method provided by an embodiment of the present invention.
  • the unmanned aerial vehicle applied by the control method is a VTOL unmanned aerial vehicle, and the unmanned aerial vehicle includes a fixed wing power system and a rotor power system.
  • the fixed-wing power system can provide flight power when the unmanned aerial vehicle is flying at a higher speed (for example: in a cross-regional logistics transportation scene), and the rotary-wing power system can be used when the unmanned aerial vehicle is flying at a lower speed or hovering and positioning Provide flight power at time (for example: the scene when the aircraft approaches or arrives at the destination).
  • the control method may include:
  • Step 101 Determine the observation pitch attitude of the unmanned aerial vehicle during the deceleration process of switching from the fixed-wing power system working state to the rotor power system working state.
  • the unmanned aerial vehicle can use the power provided by the fixed-wing power system to fly at a higher speed.
  • the unmanned aerial vehicle can be controlled to raise the nose to increase the wind resistance and achieve deceleration by flying upwards.
  • the observation of the UAV can be determined according to the sensor components such as the accelerator, gyroscope, and magnetic sensor set on the UAV.
  • Pitch attitude the observed pitch attitude indicates the flight attitude of the UAV at a certain moment during the flight. The observed pitch attitude can be used as a reference condition to control the pitch attitude angle of the UAV.
  • Step 102 Control the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • the unmanned aerial vehicle's pitch attitude can be known, and the motors of the rotor power system can be controlled according to the specific data of the pitch angle.
  • the speed of rotation can realize the adjustment of the pitch attitude angle, and the pitch attitude angle during deceleration is controlled to be less than or equal to the maximum pitch attitude angle.
  • the maximum pitch attitude angle is the pitch attitude angle when the UAV is in the critical state of tipping. When the pitch attitude angle of the UAV exceeds this critical value, it can be considered that the UAV is easily blown over by the airflow ahead, resulting in safety. accident.
  • the definition of the pitch attitude angle and the maximum pitch attitude angle of the unmanned aerial vehicle in the embodiment of the present invention uses the body coordinate system as the reference coordinate system.
  • a schematic diagram of the body coordinate system is given.
  • the origin is the center of gravity of the aircraft
  • the x-axis is the direction of the fuselage axis, and the positive direction points to the nose
  • the y-axis is the direction in which the wings extend, and the positive direction points to the right aircraft. Wing
  • the z-axis is determined by the right-hand rule, which is perpendicular to the xoy plane, and the positive direction points to the top of the machine (that is, away from the center of the earth).
  • the pitch attitude angle may be the angle ⁇ between the X axis and the horizontal plane
  • the maximum pitch attitude angle is the maximum value of ⁇ .
  • the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety.
  • Fig. 4 is a flow chart of the steps of yet another unmanned aerial vehicle control method provided by an embodiment of the present invention. As shown in FIG. 4, based on the foregoing embodiment, the control method may include:
  • Step 201 Determine the observed pitch attitude of the UAV at the first moment and the observed pitch at the second moment during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system attitude.
  • the unmanned aerial vehicle can use the power provided by the fixed-wing power system to fly at a higher speed.
  • the unmanned aerial vehicle can be controlled to raise the nose to increase the wind resistance and achieve deceleration by flying upwards.
  • the observation of the UAV can be determined according to the sensor components such as the accelerator, gyroscope, and magnetic sensor set on the UAV.
  • the observed pitch attitude indicates the flight attitude of the UAV at a certain moment during the flight.
  • the observed pitch attitude can be used as a reference condition to control the pitch attitude angle of the UAV.
  • the speed of the deceleration process of the unmanned aerial vehicle will become smaller and smaller, and the flying attitude of the unmanned aerial vehicle at different times is not exactly the same. Therefore, in order to improve the accuracy of control, it can be determined that the unmanned aerial vehicle is in the first position.
  • the observation pitch attitude at one moment and the observation pitch attitude at the second moment, the first moment and the second moment are two different moments in the deceleration process.
  • Step 202 Control the rotor power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the UAV is less than or equal to the first maximum pitch attitude angle corresponding to the first moment.
  • the unmanned aerial vehicle may be affected by environmental factors such as wind, electromagnetic signal interference, etc. during the flight.
  • the observed pitch attitude at each moment may not be exactly the same.
  • the observed pitch attitude at each moment is matched with the corresponding maximum pitch attitude angle. , Can prevent the unmanned aerial vehicle from tipping over at that moment.
  • the first moment corresponds to a first maximum pitch attitude angle, and the rotor power system is controlled according to the observed pitch attitude at the first moment so that the pitch attitude angle of the UAV is less than or equal to the first maximum pitch attitude angle.
  • Step 203 Control the rotor power system according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, where the The second time is later than the first time, and the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
  • the speed of the unmanned aerial vehicle has been reduced at the second moment later than the first moment, in order to prevent the unmanned aerial vehicle from tipping over at the second moment.
  • the second moment corresponds to a second maximum pitch attitude angle. Because the flight speed at the second moment is already low, the risk of tipping at a larger pitch angle is lower. Flying with a larger pitch angle is more conducive to rapid deceleration.
  • the second maximum pitch angle can be greater than the first A maximum pitch attitude angle.
  • the maximum pitch attitude angle of the unmanned aerial vehicle is equal to that of the unmanned aerial vehicle.
  • the time for switching to the working state of the rotor power system is positively correlated, that is, the later the time of switching to the working state of the rotor power system, the greater the maximum pitch attitude angle corresponding to that moment, which can ensure flight safety and shorten deceleration time.
  • the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle.
  • the maximum pitch attitude angle can be dynamically limited according to the switching timing, on the other hand, the pitch attitude angle can be dynamically adjusted according to the horizontal speed, realizing both flight safety and efficiency. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety and flight efficiency.
  • the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle.
  • the maximum pitch attitude angle can be dynamically limited according to the switching timing, thus, the unmanned aerial vehicle can be prevented from instability and tipping during the deceleration process of the working state switching, and the stability of the working state switching can be guaranteed. Improve flight safety and flight efficiency.
  • Fig. 5 is a step flow chart of another unmanned aerial vehicle control method provided by an embodiment of the present invention.
  • the control method is also applicable to VTOL aircraft. As shown in FIG. 5, based on the foregoing embodiment, the control method may include:
  • Step 301 Determine the observed pitch attitude of the unmanned aerial vehicle during the deceleration process of switching from the fixed-wing power system working state to the rotor power system working state.
  • step 301 For the execution process of step 301, please refer to the explanation of step 101, which will not be repeated here.
  • Step 302 Determine the observed horizontal speed of the UAV.
  • the speed sensor can be used to obtain the flight speed of the UAV.
  • the main factors that affect the switching of the UAV's operating state depend on the speed sensor. Therefore, it is necessary to calculate the speed component along the horizontal direction according to the flight speed of the unmanned aerial vehicle, as the observed horizontal speed, to determine whether the unmanned aerial vehicle's speed along the x direction shown in Figure 3 The conditions for attitude control are reached.
  • the inertial navigation component can be continuously monitored until the normal state is restored.
  • Step 303 When the observed horizontal speed is greater than or equal to a preset horizontal speed threshold, determine a pitch attitude control command according to the observed horizontal speed, wherein the magnitude of the pitch attitude control command is negative to the magnitude of the observed horizontal speed Related.
  • a preset horizontal speed threshold can be preset for the UAV according to the structural parameters, flight speed, lift and other motion parameters of the UAV, and the preset horizontal speed threshold is the UAV and a certain critical pitch. Corresponding to the attitude angle. If the UAV speed reaches or exceeds the preset horizontal speed threshold and the pitch attitude angle is greater than the critical pitch attitude angle, the UAV will have a tipping accident. Therefore, it is necessary to determine the pitch attitude control command according to the observed horizontal speed. , The magnitude of the pitch attitude control command is negatively related to the magnitude of the observed horizontal velocity. In other words, in order to reduce the risk of tipping, the greater the observation horizontal speed, the smaller the pitch attitude control command, that is, the smaller the pitch attitude angle controlled by the pitch attitude control command.
  • Step 304 Control the rotor power system according to the observed pitch attitude and the pitch attitude control command so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • the rotor power system can be jointly controlled according to the determined observation pitch attitude and pitch attitude control commands of the unmanned aerial vehicle so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle.
  • the observed pitch attitude can be used to dynamically limit the maximum pitch attitude angle of the unmanned aerial vehicle at different times.
  • the pitch attitude control command can be used to dynamically adjust the pitch attitude angle with the horizontal speed during deceleration. Therefore, the coordination of the two can further enhance the safety of unmanned aerial vehicles.
  • Step 305 When the triggering condition of the rotor control mode is satisfied, control the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • the flight process of the unmanned aerial vehicle can be remotely controlled by the pilot through the remote control, or it can be controlled remotely by the management personnel in the monitoring center.
  • the unmanned aerial vehicle can also have the capability of autonomous cruise and return.
  • the operator can send an emergency deceleration control command to the unmanned aerial vehicle through the control terminal (such as the remote control or monitoring center) according to the actual flight mission, or monitor the abnormal working state of the unmanned aerial vehicle (the abnormal state can be a servo failure.
  • the control terminal such as the remote control or monitoring center
  • the abnormal state can be a servo failure
  • the UAV meets the trigger conditions of the rotor control mode, and the rotor power system needs to be controlled according to the observed pitch attitude so that the UAV's pitch attitude angle is less than Or equal to the maximum pitch attitude angle to ensure that the unmanned aerial vehicle decelerates safely and completes the switching of working states.
  • the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle.
  • the maximum pitch attitude angle can be dynamically limited according to the switching timing, on the other hand, the pitch attitude angle can be dynamically adjusted according to the horizontal speed, realizing both flight safety and efficiency. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety and flight efficiency.
  • FIG. 6 is an unmanned aerial vehicle control device provided by an embodiment of the present invention.
  • the unmanned aerial vehicle control device 400 may include a memory 401 and a processor 402, wherein,
  • the memory 401 is used to store program codes
  • the processor 402 calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • processor 402 is specifically configured to execute:
  • the rotor power system is controlled according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, wherein the second moment Later than the first moment, the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
  • the magnitude of the maximum pitch attitude angle is positively correlated with the time for switching to the working state of the rotor power system.
  • processor 402 is further configured to execute:
  • the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • processor 402 is further configured to execute:
  • hovering control is performed on the unmanned aerial vehicle.
  • processor 402 is specifically configured to execute:
  • processor 402 is further configured to execute:
  • the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  • the satisfying the trigger condition of the rotor control mode includes:
  • At least one of an emergency deceleration control instruction sent by a control terminal and an abnormal working state of the unmanned aerial vehicle is monitored.
  • the embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the control method.
  • the embodiments of the present application can be provided as methods, control terminals, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction control terminal, The instruction controls the terminal to realize the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

Provided are a control method and control apparatus for an unmanned aerial vehicle, and a computer-readable storage medium. An unmanned aerial vehicle comprises a fixed-wing power system and a rotor-wing power system. The control method comprises: during a deceleration process of the unmanned aerial vehicle switching from a fixed-wing power system working state to a rotor-wing power system working state, determining an observation pitch attitude of the unmanned aerial vehicle; and controlling, according to the observation pitch attitude, the rotor-wing power system, such that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle. Therefore, tilting, caused by instability, of the unmanned aerial vehicle can be avoided during the deceleration process of switching between working states, the stability of switching between working states can be ensured, and flight safety can be improved.

Description

无人飞行器控制方法、控制装置及计算机可读存储介质Unmanned aerial vehicle control method, control device and computer readable storage medium 技术领域Technical field
本发明涉及无人飞行器技术领域，尤其涉及一种无人飞行器控制方法、控制装置及计算机可读存储介质。The present invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, control device and computer readable storage medium.
背景技术Background technique
随着无人飞行器技术的发展进步，垂直起降(Vertical Take-Off and Landing,VTOL)无人飞行器因兼具垂直起降能力和高速平飞能力受到市场的追捧。当所述无人飞行器需要悬停时，无人飞行器配置的旋翼动力***工作以实现空中悬停；无人飞行器配置的固定翼动力***工作实现高速平飞。With the development and progress of unmanned aerial vehicle technology, the vertical take-off and landing (VTOL) unmanned aerial vehicle has been sought after by the market for its ability to combine vertical take-off and landing and high-speed level flight. When the unmanned aerial vehicle needs to hover, the rotor power system of the unmanned aerial vehicle works to realize the air hover; the fixed-wing power system of the unmanned aerial vehicle works to realize high-speed horizontal flight.
实际应用中，有时候需要迅速从高速飞行状态切换为悬停状态，在这个过程中，所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态以进行减速。目前，一种状态切换的手段为，人为手动控制旋翼动力***，调整无人飞行器姿态，使无人飞行器减速，然后手动切换到悬停状态。另一种状态切换的手段为，在高速状态下直接通过控制旋翼动力***以最大姿态角减速刹车至悬停。In practical applications, sometimes it is necessary to quickly switch from a high-speed flight state to a hovering state. In this process, the UAV is switched from the working state of the fixed-wing power system to the working state of the rotor power system to decelerate. At present, one method of state switching is to manually control the rotor power system, adjust the attitude of the unmanned aerial vehicle, slow down the unmanned aerial vehicle, and then manually switch to the hovering state. Another method of state switching is to directly control the rotor power system to decelerate and brake to hover at the maximum attitude angle at high speed.
然而，针对上述两种方式，一方面，无人飞行器由高速飞行状态下，人为通过旋翼动力***干预调速，容易形成扰动，超视距飞行时，难于观察及时调整，且手动切换的时机难以准确把握。另一方面，以最大姿态角减速时，为了避免无人飞行器爬升，旋翼动力***的动力输出会处于下饱和状态，导致飞行姿态容易失稳。因此，总体而言，现有的状态切换手段难以实现高速平飞状态到悬停状态的平稳切换，容易导致炸机等安全事故，可能造成人身财产损害。However, for the above two methods, on the one hand, when the UAV is flying at a high speed, it is easy to cause disturbances through the intervention of the rotor power system to adjust the speed. When flying beyond the visual range, it is difficult to observe and adjust in time, and the timing of manual switching is difficult. Accurately grasp. On the other hand, when decelerating at the maximum attitude angle, in order to avoid the unmanned aerial vehicle from climbing, the power output of the rotor power system will be in a saturated state, which causes the flight attitude to be easily unstable. Therefore, in general, the existing state switching methods are difficult to achieve a smooth transition from a high-speed level flight state to a hovering state, which may easily lead to safety accidents such as bombers, and may cause personal and property damage.
发明内容Summary of the invention
本发明实施例提供一种无人飞行器控制方法、控制装置及计算机可读存储介质，以便解决现有技术中无人飞行器工作状态切换过程中稳定性差、容易炸机造成人身财产损害的问题。The embodiments of the present invention provide an unmanned aerial vehicle control method, a control device and a computer-readable storage medium, so as to solve the problems of poor stability and easy explosion of the unmanned aerial vehicle in the process of switching the working state of the unmanned aerial vehicle in the prior art.
为了解决上述技术问题，本发明是这样实现的：In order to solve the above technical problems, the present invention is implemented as follows:
第一方面，本发明实施例公开了一种无人飞行器控制方法，其中，所述无人飞行器包括固定翼动力***和旋翼动力***，所述控制方法包括：In a first aspect, an embodiment of the present invention discloses an unmanned aerial vehicle control method, wherein the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system, and the control method includes:
在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态；Determining the observation pitch attitude of the unmanned aerial vehicle while the unmanned aerial vehicle is in the deceleration process of switching from the working state of the fixed-wing power system to the working state of the rotor power system;
根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
第二方面，本发明实施例公开了一种无人飞行器控制装置，其中，所述无人飞行器包括固定翼动力***和旋翼动力***，所述控制装置包括存储器和处理器，其中，In the second aspect, an embodiment of the present invention discloses an unmanned aerial vehicle control device, wherein the unmanned aerial vehicle includes a fixed-wing power system and a rotor power system, and the control device includes a memory and a processor, wherein,
所述存储器，用于存储程序代码；The memory is used to store program code;
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态；Determining the observation pitch attitude of the unmanned aerial vehicle while the unmanned aerial vehicle is in the deceleration process of switching from the working state of the fixed-wing power system to the working state of the rotor power system;
根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
本发明实施例的第三方面，提供了一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现上述所述的控制方法的步骤。In a third aspect of the embodiments of the present invention, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned control method are implemented.
在本发明实施例中，在无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，以无人飞行器的观测俯仰姿态作为参考条件，由旋翼动力***提供飞行动力，控制无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。从而，可以避免无人飞行器在工作状态切换的减速过程中发生失稳倾翻，保证工作状态切换的稳定性，可以提升飞行安全性。In the embodiment of the present invention, during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system, the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和 其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented in accordance with the content of the description, and in order to make the above and other objectives, features and advantages of the present invention more obvious and understandable. In the following, specific embodiments of the present invention are specifically cited.
附图说明Description of the drawings
为了更清楚地说明本发明实施例的技术方案，下面将对现有技术和本发明实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to explain the technical solutions of the embodiments of the present invention more clearly, the following will briefly introduce the drawings that need to be used in the description of the prior art and the embodiments of the present invention. Obviously, the drawings in the following description are merely present For some of the embodiments of the invention, for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.
图1给出了现有技术一种复合式垂直起降固定翼无人飞行器的结构示意图；Figure 1 shows the structure of a composite vertical take-off and landing fixed-wing unmanned aerial vehicle in the prior art;
图2示出了本发明实施例提供的一种无人飞行器控制方法的步骤流程图；Figure 2 shows a flow chart of the steps of an unmanned aerial vehicle control method provided by an embodiment of the present invention;
图3示出了本发明实施例提供的一种无人飞行器的机体坐标系示意图；FIG. 3 shows a schematic diagram of a body coordinate system of an unmanned aerial vehicle provided by an embodiment of the present invention;
图4示出了本发明实施例提供的又一种无人飞行器控制方法的步骤流程图；Figure 4 shows a flow chart of the steps of yet another unmanned aerial vehicle control method provided by an embodiment of the present invention;
图5示出了本发明实施例提供的另一种无人飞行器控制方法的步骤流程图；Figure 5 shows a flow chart of the steps of another unmanned aerial vehicle control method provided by an embodiment of the present invention;
图6示出了本发明实施例提供的一种无人飞行器控制装置的框图。Fig. 6 shows a block diagram of an unmanned aerial vehicle control device provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
图1是现有技术提供的一种的复合式垂直起降固定翼VTOL无人飞行器的结构造型，这种无人飞行器包含用于控制垂直起降的多旋翼动力***以及控制高速平飞的固定翼动力及操纵***。Figure 1 is the structure of a composite vertical take-off and landing fixed-wing VTOL unmanned aerial vehicle provided by the prior art. This unmanned aerial vehicle includes a multi-rotor power system for controlling vertical take-off and landing and a fixed high-speed horizontal flight. Wing power and control system.
图2是本发明实施例提供的一种无人飞行器控制方法的步骤流程图，该控制方法所应用的无人飞行器为VTOL无人飞行器，该无人飞行器包括固定翼动力***和旋翼动力***。固定翼动力***可在无人飞行器以较高速度平飞时提供飞行动力(比如：跨地域的物流输送场景中)，旋翼动力***可在无人飞行器以较低速度平飞时或悬停定位时提供飞行动力(比如：飞行器接近或到达目的地时的场景)。如图1所示，该控制方法可以包括：Fig. 2 is a flow chart of the steps of an unmanned aerial vehicle control method provided by an embodiment of the present invention. The unmanned aerial vehicle applied by the control method is a VTOL unmanned aerial vehicle, and the unmanned aerial vehicle includes a fixed wing power system and a rotor power system. The fixed-wing power system can provide flight power when the unmanned aerial vehicle is flying at a higher speed (for example: in a cross-regional logistics transportation scene), and the rotary-wing power system can be used when the unmanned aerial vehicle is flying at a lower speed or hovering and positioning Provide flight power at time (for example: the scene when the aircraft approaches or arrives at the destination). As shown in Figure 1, the control method may include:
步骤101，在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态。Step 101: Determine the observation pitch attitude of the unmanned aerial vehicle during the deceleration process of switching from the fixed-wing power system working state to the rotor power system working state.
具体而言，以无人飞行器大范围跨地域飞行为例，为缩短飞行时间，无人飞行器可以使用来自固定翼动力***提供的动力以较高的速度快速飞行。当无人飞行器接近目的地时，为了平稳的着陆或者悬停，可以控制无人飞行器扬起机头，以仰飞的姿态增大风阻，实现减速。在该减速过程中，为避免无人飞行器的飞行速度与仰角不匹配可能导致无人飞行器倾翻，可根据无人飞行器上设置的加速器、陀螺仪、磁力传感器等传感器组件确定无人飞行器的观测俯仰姿态，该观测俯仰姿态即表明无人飞行器飞行过程中某一时刻的飞行姿态。可将该观测俯仰姿态作为参考条件，用于控制无人飞行器的俯仰姿态角。Specifically, taking the large-scale cross-regional flight of the unmanned aerial vehicle as an example, in order to shorten the flight time, the unmanned aerial vehicle can use the power provided by the fixed-wing power system to fly at a higher speed. When the unmanned aerial vehicle approaches the destination, in order to make a smooth landing or hovering, the unmanned aerial vehicle can be controlled to raise the nose to increase the wind resistance and achieve deceleration by flying upwards. During the deceleration process, in order to avoid the mismatch between the flight speed of the UAV and the elevation angle, which may cause the UAV to tip over, the observation of the UAV can be determined according to the sensor components such as the accelerator, gyroscope, and magnetic sensor set on the UAV. Pitch attitude, the observed pitch attitude indicates the flight attitude of the UAV at a certain moment during the flight. The observed pitch attitude can be used as a reference condition to control the pitch attitude angle of the UAV.
步骤102，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Step 102: Control the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
具体而言，当加速器、陀螺仪、磁力传感器等传感器组件确定了无人飞行器的观测俯仰姿态之后，则可知道无人飞行器的俯仰姿态，可根据俯仰角的具体数据，控制旋翼动力***各个电机的转速，实现俯仰姿态角的调整，控制减速过程中俯仰姿态角小于或等于最大俯仰姿态角。该最大俯仰姿态角即无人飞行器发生倾翻的临界状态时的俯仰姿态角，当无人飞行器的俯仰姿态角超过该临界值时，可认为无人飞行器容易被前方的气流吹翻，导致安全事故。Specifically, when the sensor components such as accelerators, gyroscopes, and magnetic sensors determine the unmanned aerial vehicle's observation pitch attitude, the unmanned aerial vehicle's pitch attitude can be known, and the motors of the rotor power system can be controlled according to the specific data of the pitch angle. The speed of rotation can realize the adjustment of the pitch attitude angle, and the pitch attitude angle during deceleration is controlled to be less than or equal to the maximum pitch attitude angle. The maximum pitch attitude angle is the pitch attitude angle when the UAV is in the critical state of tipping. When the pitch attitude angle of the UAV exceeds this critical value, it can be considered that the UAV is easily blown over by the airflow ahead, resulting in safety. accident.
需要说明的是，本发明实施例中关于无人飞行器的俯仰姿态角、最大俯仰姿态角的定义，以机体坐标系为参考坐标系。如图3所示，给出了机体坐 标系的示意图，原点为飞行器重心处，x轴为机身轴线方向，正方向指向机头；y轴为机翼延伸的方向，正方向指向右侧机翼；z轴由右手法则确定，为垂直于xoy平面方向，正方向指向机顶(即远离地心的方向)。在该坐标系中，俯仰姿态角可以为X轴与水平面的夹角α，最大俯仰姿态角即α的最大值。It should be noted that the definition of the pitch attitude angle and the maximum pitch attitude angle of the unmanned aerial vehicle in the embodiment of the present invention uses the body coordinate system as the reference coordinate system. As shown in Figure 3, a schematic diagram of the body coordinate system is given. The origin is the center of gravity of the aircraft, the x-axis is the direction of the fuselage axis, and the positive direction points to the nose; the y-axis is the direction in which the wings extend, and the positive direction points to the right aircraft. Wing; The z-axis is determined by the right-hand rule, which is perpendicular to the xoy plane, and the positive direction points to the top of the machine (that is, away from the center of the earth). In this coordinate system, the pitch attitude angle may be the angle α between the X axis and the horizontal plane, and the maximum pitch attitude angle is the maximum value of α.
在本发明实施例中，在无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，以无人飞行器的观测俯仰姿态作为参考条件，由旋翼动力***提供飞行动力，控制无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。从而，可以避免无人飞行器在工作状态切换的减速过程中发生失稳倾翻，保证工作状态切换的稳定性，可以提升飞行安全性。In the embodiment of the present invention, during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system, the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety.
图4是本发明实施例提供的又一种无人飞行器控制方法的步骤流程图。如图4所示，在前述实施例的基础上，该控制方法可以包括：Fig. 4 is a flow chart of the steps of yet another unmanned aerial vehicle control method provided by an embodiment of the present invention. As shown in FIG. 4, based on the foregoing embodiment, the control method may include:
步骤201，在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器在第一时刻的观测俯仰姿态和第二时刻的观测俯仰姿态。Step 201: Determine the observed pitch attitude of the UAV at the first moment and the observed pitch at the second moment during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system attitude.
具体而言，以无人飞行器大范围跨地域飞行为例，为缩短飞行时间，无人飞行器可以使用来自固定翼动力***提供的动力以较高的速度快速飞行。当无人飞行器接近目的地时，为了平稳的着陆或者悬停，可以控制无人飞行器扬起机头，以仰飞的姿态增大风阻，实现减速。在该减速过程中，为避免无人飞行器的飞行速度与仰角不匹配可能导致无人飞行器倾翻，可根据无人飞行器上设置的加速器、陀螺仪、磁力传感器等传感器组件确定无人飞行器的观测俯仰姿态，该观测俯仰姿态即表明无人飞行器飞行过程中某一时刻的飞行姿态。可将该观测俯仰姿态作为参考条件，用于控制无人飞行器的俯仰姿态角。随着时间的推移，无人飞行器的减速过程速度会越来越小，在不同的时刻无人飞行器的飞行姿态不完全相同，因此，为了提高控制的准确性，可以分别确定无人飞行器在第一时刻的观测俯仰姿态和第二时刻的观测俯 仰姿态，第一时刻和第二时刻为减速过程中不同的两个时刻。Specifically, taking the large-scale cross-regional flight of the unmanned aerial vehicle as an example, in order to shorten the flight time, the unmanned aerial vehicle can use the power provided by the fixed-wing power system to fly at a higher speed. When the unmanned aerial vehicle approaches the destination, in order to make a smooth landing or hovering, the unmanned aerial vehicle can be controlled to raise the nose to increase the wind resistance and achieve deceleration by flying upwards. During the deceleration process, in order to avoid the mismatch between the flight speed of the UAV and the elevation angle, which may cause the UAV to tip over, the observation of the UAV can be determined according to the sensor components such as the accelerator, gyroscope, and magnetic sensor set on the UAV. Pitch attitude, the observed pitch attitude indicates the flight attitude of the UAV at a certain moment during the flight. The observed pitch attitude can be used as a reference condition to control the pitch attitude angle of the UAV. As time goes by, the speed of the deceleration process of the unmanned aerial vehicle will become smaller and smaller, and the flying attitude of the unmanned aerial vehicle at different times is not exactly the same. Therefore, in order to improve the accuracy of control, it can be determined that the unmanned aerial vehicle is in the first position. The observation pitch attitude at one moment and the observation pitch attitude at the second moment, the first moment and the second moment are two different moments in the deceleration process.
步骤202，根据所述第一时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第一时刻对应的第一最大俯仰姿态角。Step 202: Control the rotor power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the UAV is less than or equal to the first maximum pitch attitude angle corresponding to the first moment.
具体而言，无人飞行器飞行过程中可能受到风力、电磁信号干扰等环境因素的影响，每一时刻的观测俯仰姿态不一定完全相同，为每一时刻的观测俯仰姿态匹配相应的最大俯仰姿态角，可以防止在该时刻无人飞行器发生倾翻。第一时刻对应有一个第一最大俯仰姿态角，根据第一时刻的观测俯仰姿态控制旋翼动力***以使无人飞行器的俯仰姿态角小于或等于该第一最大俯仰姿态角。Specifically, the unmanned aerial vehicle may be affected by environmental factors such as wind, electromagnetic signal interference, etc. during the flight. The observed pitch attitude at each moment may not be exactly the same. The observed pitch attitude at each moment is matched with the corresponding maximum pitch attitude angle. , Can prevent the unmanned aerial vehicle from tipping over at that moment. The first moment corresponds to a first maximum pitch attitude angle, and the rotor power system is controlled according to the observed pitch attitude at the first moment so that the pitch attitude angle of the UAV is less than or equal to the first maximum pitch attitude angle.
步骤203，根据所述第二时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第二时刻对应的第二最大俯仰姿态角，其中，所述第二时刻晚于所述第一时刻，所述第一最大俯仰姿态角小于所述第二最大俯仰姿态角。Step 203: Control the rotor power system according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, where the The second time is later than the first time, and the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
具体而言，可以理解的是，随着无人飞行器的减速飞行，在晚于第一时刻的第二时刻，无人飞行器的速度已经减小，为防止在第二时刻无人飞行器发生倾翻，第二时刻对应有一个第二最大俯仰姿态角。因为第二时刻的飞行速度已经较小，所以较大的俯仰姿态角发生倾翻的风险较低，以较大的俯仰姿态角飞行更有助于快速减速，第二最大俯仰姿态角可以大于第一最大俯仰姿态角。Specifically, it can be understood that as the unmanned aerial vehicle decelerates, the speed of the unmanned aerial vehicle has been reduced at the second moment later than the first moment, in order to prevent the unmanned aerial vehicle from tipping over at the second moment. , The second moment corresponds to a second maximum pitch attitude angle. Because the flight speed at the second moment is already low, the risk of tipping at a larger pitch angle is lower. Flying with a larger pitch angle is more conducive to rapid deceleration. The second maximum pitch angle can be greater than the first A maximum pitch attitude angle.
可以理解的是，在上述过程中，由于无人飞行器随着时间的推移，速度在减小，相应的倾翻风险也在降低，因此，无人飞行器的最大俯仰姿态角的大小与无人飞行器切换至旋翼动力***工作状态的时间正相关，即就是说，切换至旋翼动力***工作状态的时刻越晚，该时刻对应的最大俯仰姿态角可以越大，那么既可以保证飞行安全，又能缩短减速时间。It is understandable that in the above process, as the speed of the unmanned aerial vehicle decreases over time, the corresponding tipping risk is also reduced. Therefore, the maximum pitch attitude angle of the unmanned aerial vehicle is equal to that of the unmanned aerial vehicle. The time for switching to the working state of the rotor power system is positively correlated, that is, the later the time of switching to the working state of the rotor power system, the greater the maximum pitch attitude angle corresponding to that moment, which can ensure flight safety and shorten deceleration time.
在本发明实施例中，在无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，以无人飞行器的观测俯仰姿态作为参考条件，由旋翼动力***提供飞行动力，控制无人飞行器的俯仰姿态角 小于或等于最大俯仰姿态角。并且在工作状态切换的加速过程中，一方面可以根据切换时机动态限制最大俯仰姿态角，另一方面，还根据水平速度动态调节俯仰姿态角，实现了飞行安全与效率的并重。从而，可以避免无人飞行器在工作状态切换的减速过程中发生失稳倾翻，保证工作状态切换的稳定性，可以提升飞行安全性与飞行效率。In the embodiment of the present invention, during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system, the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. And during the acceleration process of working state switching, on the one hand, the maximum pitch attitude angle can be dynamically limited according to the switching timing, on the other hand, the pitch attitude angle can be dynamically adjusted according to the horizontal speed, realizing both flight safety and efficiency. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety and flight efficiency.
在本发明实施例中，在无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，以无人飞行器的观测俯仰姿态作为参考条件，由旋翼动力***提供飞行动力，控制无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。在工作状态切换的加速过程中，可以根据切换时机动态限制最大俯仰姿态角，从而，可以避免无人飞行器在工作状态切换的减速过程中发生失稳倾翻，保证工作状态切换的稳定性，可以提升飞行安全性与飞行效率。In the embodiment of the present invention, during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system, the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. During the acceleration process of the working state switching, the maximum pitch attitude angle can be dynamically limited according to the switching timing, thus, the unmanned aerial vehicle can be prevented from instability and tipping during the deceleration process of the working state switching, and the stability of the working state switching can be guaranteed. Improve flight safety and flight efficiency.
图5是本发明实施例提供的另一种无人飞行器控制方法的步骤流程图，该控制方法同样适用于VTOL飞行器。如图5所示，在前述实施例的基础上，该控制方法可以包括：Fig. 5 is a step flow chart of another unmanned aerial vehicle control method provided by an embodiment of the present invention. The control method is also applicable to VTOL aircraft. As shown in FIG. 5, based on the foregoing embodiment, the control method may include:
步骤301，在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态。Step 301: Determine the observed pitch attitude of the unmanned aerial vehicle during the deceleration process of switching from the fixed-wing power system working state to the rotor power system working state.
具体而言，关于步骤301的执行过程，可参照步骤101的解释说明，此处不再赘述。Specifically, for the execution process of step 301, please refer to the explanation of step 101, which will not be repeated here.
步骤302，确定所述无人飞行器的观测水平速度。Step 302: Determine the observed horizontal speed of the UAV.
具体而言，当通过加速器、陀螺仪、磁力传感器等传感器组件确定无人飞行器的观测俯仰姿态之后，可以利用速度传感器获取无人飞行器的飞行速度，由于影响无人飞行器工作状态切换的主要因素取决于前进的速度的大小是否合适，因此，需要根据无人飞行器的飞行速度计算获得沿水平方向的速度分量，作为观测水平速度，由此判断无人飞行器沿图3所示的x方向的速度是否达到姿态控制的条件。Specifically, after the observation pitch attitude of the UAV is determined by sensor components such as accelerators, gyroscopes, magnetic sensors, etc., the speed sensor can be used to obtain the flight speed of the UAV. The main factors that affect the switching of the UAV's operating state depend on the speed sensor. Therefore, it is necessary to calculate the speed component along the horizontal direction according to the flight speed of the unmanned aerial vehicle, as the observed horizontal speed, to determine whether the unmanned aerial vehicle's speed along the x direction shown in Figure 3 The conditions for attitude control are reached.
可以理解的是，在确定无人飞行器的观测水平速度前，可以预先监测 GPS等惯性导航组件是否正常工作，如果这些组件出现异常，可以认为无人飞行器此时能够获取得到的观测水平速度缺乏可靠性，为避免错误调整姿态，可以持续监测惯性导航组件至恢复正常状态为止。It is understandable that before determining the observational horizontal velocity of the UAV, it is possible to monitor whether the GPS and other inertial navigation components are working normally. If these components are abnormal, it can be considered that the observational horizontal velocity that the UAV can obtain at this time is not reliable. In order to avoid the wrong attitude adjustment, the inertial navigation component can be continuously monitored until the normal state is restored.
步骤303，当所述观测水平速度大于或等于预设水平速度阈值时，根据所述观测水平速度确定俯仰姿态控制指令，其中，所述俯仰姿态控制指令的大小与所述观测水平速度的大小负相关。Step 303: When the observed horizontal speed is greater than or equal to a preset horizontal speed threshold, determine a pitch attitude control command according to the observed horizontal speed, wherein the magnitude of the pitch attitude control command is negative to the magnitude of the observed horizontal speed Related.
具体而言，可根据无人飞行器的结构参数及飞行速度、升力等运动参数为无人飞行器预先设定一预设水平速度阈值，该预设水平速度阈值为该无人飞行器与某一临界俯仰姿态角对应，若无人飞行器速度达到或超过预设水平速度阈值且俯仰姿态角大于临界俯仰姿态角，则无人飞行器会发生倾翻事故，因此需要根据观测水平速度确定俯仰姿态控制指令，其中，俯仰姿态控制指令的大小与观测水平速度的大小负相关。也即为降低倾翻风险，观测水平速度越大，俯仰姿态控制指令越小，即俯仰姿态控制指令控制的俯仰姿态角越小。Specifically, a preset horizontal speed threshold can be preset for the UAV according to the structural parameters, flight speed, lift and other motion parameters of the UAV, and the preset horizontal speed threshold is the UAV and a certain critical pitch. Corresponding to the attitude angle. If the UAV speed reaches or exceeds the preset horizontal speed threshold and the pitch attitude angle is greater than the critical pitch attitude angle, the UAV will have a tipping accident. Therefore, it is necessary to determine the pitch attitude control command according to the observed horizontal speed. , The magnitude of the pitch attitude control command is negatively related to the magnitude of the observed horizontal velocity. In other words, in order to reduce the risk of tipping, the greater the observation horizontal speed, the smaller the pitch attitude control command, that is, the smaller the pitch attitude angle controlled by the pitch attitude control command.
步骤304，根据所述观测俯仰姿态和所述俯仰姿态控制指令控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Step 304: Control the rotor power system according to the observed pitch attitude and the pitch attitude control command so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
具体而言，可以根据前述所确定下的无人飞行器的观测俯仰姿态和俯仰姿态控制指令，共同控制旋翼动力***以使无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。其中，观测俯仰姿态可以用于在不同的时刻动态限制无人飞行器的最大俯仰姿态角，具体可以参照步骤201至步骤203的说明。俯仰姿态控制指令则可以用于在减速过程中随水平速度动态调整俯仰姿态角。因此，两者协调配合可进一步提升无人飞行器的安全性。Specifically, the rotor power system can be jointly controlled according to the determined observation pitch attitude and pitch attitude control commands of the unmanned aerial vehicle so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle. Among them, the observed pitch attitude can be used to dynamically limit the maximum pitch attitude angle of the unmanned aerial vehicle at different times. For details, please refer to the description of step 201 to step 203. The pitch attitude control command can be used to dynamically adjust the pitch attitude angle with the horizontal speed during deceleration. Therefore, the coordination of the two can further enhance the safety of unmanned aerial vehicles.
步骤305，当满足旋翼控制模式触发条件时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Step 305: When the triggering condition of the rotor control mode is satisfied, control the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
具体而言，无人飞行器的飞行过程可以是飞手通过遥控器遥控，也可以是管理人员在监控中心集中远程操控，当然无人飞行器也可以具备自主巡航返航能力。操控人员可以根据实际飞行任务需要通过控制终端(比如：遥控 器或监控中心)向无人飞行器发送控制紧急减速指令，或者监测到无人飞行器的异常工作状态(该异常状态可以为舵机故障、侧风风速过大、无人飞行器濒临禁飞区等情况)时，此时，无人飞行器满足旋翼控制模式触发条件，需要根据观测俯仰姿态控制旋翼动力***以使无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角，确保无人飞行器安全减速，完成工作状态的切换。Specifically, the flight process of the unmanned aerial vehicle can be remotely controlled by the pilot through the remote control, or it can be controlled remotely by the management personnel in the monitoring center. Of course, the unmanned aerial vehicle can also have the capability of autonomous cruise and return. The operator can send an emergency deceleration control command to the unmanned aerial vehicle through the control terminal (such as the remote control or monitoring center) according to the actual flight mission, or monitor the abnormal working state of the unmanned aerial vehicle (the abnormal state can be a servo failure, When the crosswind speed is too high, the UAV is close to the no-fly zone, etc.), at this time, the UAV meets the trigger conditions of the rotor control mode, and the rotor power system needs to be controlled according to the observed pitch attitude so that the UAV's pitch attitude angle is less than Or equal to the maximum pitch attitude angle to ensure that the unmanned aerial vehicle decelerates safely and completes the switching of working states.
在本发明实施例中，在无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，以无人飞行器的观测俯仰姿态作为参考条件，由旋翼动力***提供飞行动力，控制无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。并且在工作状态切换的加速过程中，一方面可以根据切换时机动态限制最大俯仰姿态角，另一方面，还根据水平速度动态调节俯仰姿态角，实现了飞行安全与效率的并重。从而，可以避免无人飞行器在工作状态切换的减速过程中发生失稳倾翻，保证工作状态切换的稳定性，可以提升飞行安全性与飞行效率。In the embodiment of the present invention, during the deceleration process of the unmanned aerial vehicle being switched from the working state of the fixed-wing power system to the working state of the rotor power system, the observation pitch attitude of the unmanned aerial vehicle is used as a reference condition, and the rotor power system provides flight power , Control the UAV's pitch attitude angle to be less than or equal to the maximum pitch attitude angle. And during the acceleration process of working state switching, on the one hand, the maximum pitch attitude angle can be dynamically limited according to the switching timing, on the other hand, the pitch attitude angle can be dynamically adjusted according to the horizontal speed, realizing both flight safety and efficiency. Therefore, the unmanned aerial vehicle can be prevented from overturning during the deceleration process of the working state switching, ensuring the stability of the working state switching, and improving flight safety and flight efficiency.
图6是本发明实施例提供的一种无人飞行器控制装置，如图6所示，该无人飞行器的控制装置400可以包括存储器401和处理器402，其中，FIG. 6 is an unmanned aerial vehicle control device provided by an embodiment of the present invention. As shown in FIG. 6, the unmanned aerial vehicle control device 400 may include a memory 401 and a processor 402, wherein,
所述存储器401，用于存储程序代码；The memory 401 is used to store program codes;
所述处理器402，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor 402 calls the program code, and when the program code is executed, is configured to perform the following operations:
在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态；Determining the observation pitch attitude of the unmanned aerial vehicle while the unmanned aerial vehicle is in the deceleration process of switching from the working state of the fixed-wing power system to the working state of the rotor power system;
根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
可选的，所述处理器402具体用于执行：Optionally, the processor 402 is specifically configured to execute:
确定所述无人飞行器在第一时刻的观测俯仰姿态和第二时刻的观测俯仰姿态；Determine the observed pitch attitude of the unmanned aerial vehicle at the first moment and the observed pitch attitude of the second moment;
根据所述第一时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第一时刻对应的第一最大俯仰姿态角；Controlling the rotor power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the first maximum pitch attitude angle corresponding to the first moment;
根据所述第二时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第二时刻对应的第二最大俯仰姿态角，其中，所述第二时刻晚于所述第一时刻，所述第一最大俯仰姿态角小于所述第二最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, wherein the second moment Later than the first moment, the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
可选的，所述最大俯仰姿态角的大小与所述切换至所述旋翼动力***工作状态的时间正相关。Optionally, the magnitude of the maximum pitch attitude angle is positively correlated with the time for switching to the working state of the rotor power system.
可选的，所述处理器402还用于执行：Optionally, the processor 402 is further configured to execute:
确定所述无人飞行器的观测水平速度；Determine the observed horizontal speed of the unmanned aerial vehicle;
当所述观测水平速度大于或等于预设水平速度阈值时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the observed horizontal speed is greater than or equal to a preset horizontal speed threshold, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
可选的，所述处理器402还用于执行：Optionally, the processor 402 is further configured to execute:
当所述观测水平速度小于预设水平速度阈值时，对所述无人飞行器进行悬停控制。When the observed horizontal speed is less than a preset horizontal speed threshold, hovering control is performed on the unmanned aerial vehicle.
可选的，所述处理器402具体用于执行：Optionally, the processor 402 is specifically configured to execute:
根据所述观测水平速度确定俯仰姿态控制指令，其中，所述俯仰姿态控制指令的大小与所述观测水平速度的大小负相关；Determining a pitch attitude control command according to the observed horizontal speed, wherein the magnitude of the pitch attitude control command is negatively related to the magnitude of the observed horizontal speed;
根据所述观测俯仰姿态和所述俯仰姿态控制指令控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Control the rotor power system according to the observed pitch attitude and the pitch attitude control instruction so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle.
可选的，所述处理器402还用于执行：Optionally, the processor 402 is further configured to execute:
当满足旋翼控制模式触发条件时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the triggering condition of the rotor control mode is satisfied, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
可选的，所述满足旋翼控制模式触发条件包括：Optionally, the satisfying the trigger condition of the rotor control mode includes:
接收控制终端发送的控制紧急减速指令和监测到所述无人飞行器的异常工作状态中的至少一种。At least one of an emergency deceleration control instruction sent by a control terminal and an abnormal working state of the unmanned aerial vehicle is monitored.
本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现所述的控制 方法的步骤。The embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the control method.
本领域内的技术人员应明白，本申请的实施例可提供为方法、控制终端、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application can be provided as methods, control terminals, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
本申请是参照根据本申请的方法、终端设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的控制终端。This application is described with reference to the flowchart and/or block diagram of the method, terminal device (system), and computer program product according to the application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing terminal equipment to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing terminal equipment Generate a control terminal for realizing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令控制终端的制造品，该指令控制终端实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction control terminal, The instruction controls the terminal to realize the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operation steps are executed on the computer or other programmable terminal equipment to produce computer-implemented processing, so that the computer or other programmable terminal equipment The instructions executed above provide steps for implementing functions specified in one or more processes in the flowchart and/or one or more blocks in the block diagram.
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术 语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities Or there is any such actual relationship or sequence between operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also those that are not explicitly listed. Other elements listed, or also include elements inherent to this process, method, article or terminal device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article or terminal device that includes the element.
以上对本申请所提供的一种应用的图标的处理方法及控制终端，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The processing method and control terminal of an application icon provided by this application are described in detail above. Specific examples are used in this article to illustrate the principle and implementation of this application. The description of the above embodiments is only for help Understand the methods and core ideas of this application; at the same time, for those of ordinary skill in the art, according to the ideas of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification does not It should be understood as a limitation of this application.

Claims (17)

  1. 一种无人飞行器控制方法，其中，所述无人飞行器包括固定翼动力***和旋翼动力***，其特征在于，所述控制方法包括：An unmanned aerial vehicle control method, wherein the unmanned aerial vehicle includes a fixed wing power system and a rotor power system, characterized in that the control method includes:
    在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力***工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态；Determining the observation pitch attitude of the unmanned aerial vehicle while the unmanned aerial vehicle is in the deceleration process of switching from the working state of the fixed-wing power system to the working state of the rotor power system;
    根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  2. 根据权利要求1所述的控制方法，其特征在于，所述确定所述无人飞行器的观测俯仰姿态，包括：The control method according to claim 1, wherein the determining the observed pitch attitude of the UAV comprises:
    确定所述无人飞行器在第一时刻的观测俯仰姿态和第二时刻的观测俯仰姿态；Determine the observed pitch attitude of the unmanned aerial vehicle at the first moment and the observed pitch attitude of the second moment;
    所述根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角，包括：The controlling the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle includes:
    根据所述第一时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第一时刻对应的第一最大俯仰姿态角；Controlling the rotor power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the first maximum pitch attitude angle corresponding to the first moment;
    根据所述第二时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第二时刻对应的第二最大俯仰姿态角，其中，所述第二时刻晚于所述第一时刻，所述第一最大俯仰姿态角小于所述第二最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, wherein the second moment Later than the first moment, the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
  3. 根据权利要求1或2所述的控制方法，其特征在于，所述最大俯仰姿态角的大小与所述切换至所述旋翼动力***工作状态的时间正相关。The control method according to claim 1 or 2, wherein the magnitude of the maximum pitch attitude angle is positively correlated with the time for switching to the working state of the rotor power system.
  4. 根据权利要求1-3任一项所述的控制方法，其特征在于，所述控制方法还包括：确定所述无人飞行器的观测水平速度；The control method according to any one of claims 1 to 3, wherein the control method further comprises: determining the observed horizontal speed of the unmanned aerial vehicle;
    所述根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角，包括：The controlling the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle includes:
    当所述观测水平速度大于或等于预设水平速度阈值时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the observed horizontal speed is greater than or equal to a preset horizontal speed threshold, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  5. 根据权利要求4所述的控制方法，其特征在于，所述控制方法还包 括：The control method according to claim 4, wherein the control method further comprises:
    当所述观测水平速度小于预设水平速度阈值时，对所述无人飞行器进行悬停控制。When the observed horizontal speed is less than a preset horizontal speed threshold, hovering control is performed on the unmanned aerial vehicle.
  6. 根据权利要求4-5任一项所述的控制方法，其特征在于，所述根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角，包括：The control method according to any one of claims 4-5, wherein the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude Angle, including:
    确定无人飞行器的观测水平速度；Determine the observed horizontal speed of the unmanned aerial vehicle;
    根据所述观测水平速度确定俯仰姿态控制指令，其中，所述俯仰姿态控制指令的大小与所述观测水平速度的大小负相关；Determining a pitch attitude control command according to the observed horizontal speed, wherein the magnitude of the pitch attitude control command is negatively related to the magnitude of the observed horizontal speed;
    所述根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角，包括：The controlling the rotor power system according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle includes:
    根据所述观测俯仰姿态和所述俯仰姿态控制指令控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Control the rotor power system according to the observed pitch attitude and the pitch attitude control instruction so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle.
  7. 根据权利要求1-6任一项所述的控制方法，其特征在于，所述控制方法还包括：The control method according to any one of claims 1-6, wherein the control method further comprises:
    当满足旋翼控制模式触发条件时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the triggering condition of the rotor control mode is satisfied, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  8. 根据权利要求7所述的控制方法，其特征在于，所述满足旋翼控制模式触发条件包括：The control method according to claim 7, wherein the satisfying the triggering condition of the rotor control mode comprises:
    接收控制终端发送的控制紧急减速指令和监测到所述无人飞行器的异常工作状态中的至少一种。At least one of an emergency deceleration control instruction sent by a control terminal and an abnormal working state of the unmanned aerial vehicle is monitored.
  9. 一种无人飞行器的控制装置，其中，所述无人飞行器包括固定翼动力***和旋翼动力***，其特征在于，所述控制装置包括存储器和处理器，其中，A control device for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a fixed-wing power system and a rotary wing power system, characterized in that the control device includes a memory and a processor, wherein,
    所述存储器，用于存储程序代码；The memory is used to store program code;
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    在所述无人飞行器处于从固定翼动力***工作状态切换至旋翼动力系 统工作状态的减速过程中，确定所述无人飞行器的观测俯仰姿态；Determining the observed pitch attitude of the unmanned aerial vehicle while the unmanned aerial vehicle is in the deceleration process of switching from the working state of the fixed-wing power system to the working state of the rotor power system;
    根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  10. 根据权利要求9所述的控制装置，其特征在于，所述处理器具体用于执行：The control device according to claim 9, wherein the processor is specifically configured to execute:
    确定所述无人飞行器在第一时刻的观测俯仰姿态和第二时刻的观测俯仰姿态；Determine the observed pitch attitude of the unmanned aerial vehicle at the first moment and the observed pitch attitude of the second moment;
    根据所述第一时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第一时刻对应的第一最大俯仰姿态角；Controlling the rotor power system according to the observed pitch attitude at the first moment so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the first maximum pitch attitude angle corresponding to the first moment;
    根据所述第二时刻的观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于与第二时刻对应的第二最大俯仰姿态角，其中，所述第二时刻晚于所述第一时刻，所述第一最大俯仰姿态角小于所述第二最大俯仰姿态角。The rotor power system is controlled according to the observed pitch attitude at the second moment so that the pitch attitude angle of the UAV is less than or equal to the second maximum pitch attitude angle corresponding to the second moment, wherein the second moment Later than the first moment, the first maximum pitch attitude angle is smaller than the second maximum pitch attitude angle.
  11. 根据权利要求9或10所述的控制装置，其特征在于，所述最大俯仰姿态角的大小与所述切换至所述旋翼动力***工作状态的时间正相关。The control device according to claim 9 or 10, wherein the magnitude of the maximum pitch attitude angle is positively correlated with the time for switching to the working state of the rotor power system.
  12. 根据权利要求9-11任一项所述的控制装置，其特征在于，所述处理器还用于执行：The control device according to any one of claims 9-11, wherein the processor is further configured to execute:
    确定所述无人飞行器的观测水平速度；Determine the observed horizontal speed of the unmanned aerial vehicle;
    当所述观测水平速度大于或等于预设水平速度阈值时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the observed horizontal speed is greater than or equal to a preset horizontal speed threshold, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  13. 根据权利要求12所述的控制装置，其特征在于，所述处理器还用于执行：The control device according to claim 12, wherein the processor is further configured to execute:
    当所述观测水平速度小于预设水平速度阈值时，对所述无人飞行器进行悬停控制。When the observed horizontal speed is less than a preset horizontal speed threshold, hovering control is performed on the unmanned aerial vehicle.
  14. 根据权利要求9-13任一项所述的控制装置，其特征在于，所述处理器具体用于执行：The control device according to any one of claims 9-13, wherein the processor is specifically configured to execute:
    确定无人飞行器的观测水平速度；Determine the observed horizontal speed of the unmanned aerial vehicle;
    根据所述观测水平速度确定俯仰姿态控制指令，其中，所述俯仰姿态控制指令的大小与所述观测水平速度的大小负相关；Determining a pitch attitude control command according to the observed horizontal speed, wherein the magnitude of the pitch attitude control command is negatively related to the magnitude of the observed horizontal speed;
    根据所述观测俯仰姿态和所述俯仰姿态控制指令控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。Control the rotor power system according to the observed pitch attitude and the pitch attitude control instruction so that the pitch attitude angle of the unmanned aerial vehicle is less than or equal to the maximum pitch attitude angle.
  15. 根据权利要求9-14任一项所述的控制装置，其特征在于，所述处理器还用于执行：The control device according to any one of claims 9-14, wherein the processor is further configured to execute:
    当满足旋翼控制模式触发条件时，根据所述观测俯仰姿态控制所述旋翼动力***以使所述无人飞行器的俯仰姿态角小于或等于最大俯仰姿态角。When the triggering condition of the rotor control mode is satisfied, the rotor power system is controlled according to the observed pitch attitude so that the pitch attitude angle of the UAV is less than or equal to the maximum pitch attitude angle.
  16. 根据权利要求15所述的控制装置，其特征在于，所述满足旋翼控制模式触发条件包括：The control device according to claim 15, wherein the satisfying the trigger condition of the rotor control mode comprises:
    接收控制终端发送的控制紧急减速指令和监测到所述无人飞行器的异常工作状态中的至少一种。At least one of an emergency deceleration control instruction sent by a control terminal and an abnormal working state of the unmanned aerial vehicle is monitored.
  17. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现权利要求1至8中任一项所述的控制方法的步骤。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 8 are realized .
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