CN-121990205-A - Multi-rotor unmanned aerial vehicle explosion-proof method and system, unmanned aerial vehicle and medium

CN121990205ACN 121990205 ACN121990205 ACN 121990205ACN-121990205-A

Abstract

The application discloses a method, a system, an unmanned aerial vehicle and a medium for preventing a multi-rotor unmanned aerial vehicle from being fried, wherein the method for preventing the unmanned aerial vehicle from being fried comprises the steps of monitoring motors of all rotor wing assemblies on the unmanned aerial vehicle in real time and determining a fault motor; the method comprises the steps of controlling a horn corresponding to a fault motor to swing, controlling a horn corresponding to an adjacent motor of the fault motor to perform first rotation control and performing first rotation speed lifting control on all motors which do not have faults, controlling a diagonal motor of the fault motor to perform second rotation control and performing second rotation speed lifting control on the diagonal motor based on a driving device, obtaining the current flying height, and performing emergency landing control according to the current flying height. The unmanned aerial vehicle landing control system can accurately identify and position the motor with faults, enables the unmanned aerial vehicle to maintain stability in the air and stably land on the ground through control of the horn and the rotor wing assembly, effectively avoids the phenomenon that the unmanned aerial vehicle is in a landing state, and ensures the landing safety and stability of the unmanned aerial vehicle.

Inventors

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Assignees

锐川机器人(深圳)有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. A method for preventing a multi-rotor unmanned aerial vehicle from being fried is characterized in that the unmanned aerial vehicle comprises a plurality of rotor wing assemblies, a plurality of horn arms and a fuselage, wherein each horn arm is rotatably connected to the fuselage, each horn arm can rotate on a plane where the fuselage is located, and each horn arm can swing in a first direction and a second direction; The method for preventing the frying machine comprises the following steps: real-time monitoring is carried out on motors of all rotor wing assemblies on the unmanned aerial vehicle based on a preset sensor, so that real-time running states corresponding to all the motors are obtained, and fault motors are determined according to all the real-time running states; Based on the driving device, controlling the corresponding horn of the fault motor to swing, controlling the corresponding horn of the adjacent motor of the fault motor to perform first rotation control, and performing first rotation speed lifting control on all motors which do not have faults; Based on the driving device, controlling a diagonal motor of the fault motor to perform second rotation control, and performing second rotation speed lifting control on the diagonal motor; and acquiring the current flight height, and executing emergency landing control according to the current flight height until the unmanned aerial vehicle lands on the ground.
2. The method of claim 1, wherein the real-time monitoring of motors of all rotor assemblies on the unmanned aerial vehicle based on the preset sensor obtains a real-time running state corresponding to each motor, and determining a fault motor according to all the real-time running states, specifically comprises: Receiving sensing data sent by the preset sensor in real time, wherein the preset sensor comprises a current sensor, a rotating speed sensor and a vibration sensor; Analyzing according to the sensing data to obtain a real-time running state corresponding to each motor on the unmanned aerial vehicle; if the real-time running state is monitored to be abnormal, determining a motor with a fault according to the real-time running state, and taking the motor as the motor with the fault.
3. The method of claim 1, wherein the controlling the swing control of the corresponding horn of the failed motor based on the driving device controls the first rotation control of the corresponding horn of the adjacent motor of the failed motor, and controls the first rotation speed lifting control of all the motors that do not fail, specifically comprises: acquiring a fault position relation between a horn where the fault motor is located and the unmanned aerial vehicle; Based on the relation between the driving device and the fault position, controlling the corresponding horn of the fault motor to swing a first preset angle towards a first direction, wherein the first direction is a vertical downward direction, and the first preset angle is 90 degrees; Controlling a horn corresponding to an adjacent motor of the fault motor to rotate a preset angle towards the direction of the fault motor so as to complete first rotation control; and carrying out first rotational speed lifting control on all the motors which do not fail, so that the thrust provided by all the motors which do not fail is equal to the gravity of the unmanned aerial vehicle.
4. A method of protecting against a fryer according to claim 3, wherein said controlling said motor adjacent to said failed motor rotates a predetermined angle in the direction of said failed motor, comprising: acquiring a default four-axis flight scheme of the unmanned aerial vehicle and a preset three-axis flight scheme; acquiring four-axis angle relations among the horn of all motors according to the default four-axis flight scheme, and acquiring three-axis angle relations among the horn of all motors which do not have faults according to the three-axis flight scheme; Calculating according to the triaxial angle relation and the four-axis angle relation to obtain preset angles to be rotated of the corresponding horn of each adjacent motor; and respectively controlling the corresponding horn of the adjacent motor of the fault motor to rotate towards the fault motor according to each preset angle.
5. The fryer control method according to claim 1, wherein said controlling the diagonal motor of said failed motor for a second rotational control and for a second rotational speed boost control of said diagonal motor based on said driving means, specifically comprises: acquiring the rotation direction of the fault motor, and acquiring a rotor wing assembly corresponding to a diagonal motor of the fault motor, wherein the rotor wing assembly is used as a rotor wing assembly to be rotated; controlling the rotor wing component to be rotated to rotate around the horn according to the rotation direction so as to complete second rotation control of the diagonal motor; And performing second rotation speed lifting control on the diagonal motor until the unmanned aerial vehicle stops rotating.
6. The method of claim 5, wherein the performing the second rotational speed boost control on the diagonal motor until the unmanned aerial vehicle stops rotating, specifically comprises: acquiring a preset rotating speed lifting step length; Performing second rotation speed lifting control on the diagonal motor according to the preset rotation speed lifting step length; And stopping the second rotation speed lifting control of the diagonal motor when the vertical thrust provided by the diagonal motor in the vertical direction is equal to the vertical thrust provided by the adjacent motor and the horizontal thrust provided by the diagonal motor in the horizontal direction is equal to the sum of the counter torque provided by all the adjacent motors.
7. The method of claim 1, wherein the obtaining the current flight altitude, performing emergency landing control according to the current flight altitude until the unmanned aerial vehicle lands on the ground, specifically comprises: acquiring the current flying height of the unmanned aerial vehicle based on a preset height sensor; According to the current flight height, controlling the unmanned aerial vehicle to land at a first preset landing speed; when the current flying height of the unmanned aerial vehicle is detected to be lower than a preset height threshold value, the unmanned aerial vehicle is controlled to land at a second preset landing speed until the unmanned aerial vehicle lands on the ground, wherein the second preset landing speed is lower than the first preset landing speed.
8. A fryer system for a multi-rotor unmanned aircraft for implementing the fryer method according to any one of claims 1-7, comprising: The fault determining module is used for monitoring motors of all rotor wing assemblies on the unmanned aerial vehicle in real time based on preset sensors to obtain real-time running states corresponding to each motor, and determining fault motors according to all the real-time running states; the first control module is used for controlling the corresponding horn of the fault motor to swing and control based on the driving device, controlling the corresponding horn of the adjacent motor of the fault motor to perform first rotation control and performing first rotation speed lifting control on all motors which do not have faults; The second control module is used for controlling the diagonal motor of the fault motor to perform second rotation control based on the driving device and performing second rotation speed lifting control on the diagonal motor; and the emergency forced landing module is used for acquiring the current flight height, and executing emergency landing control according to the current flight height until the unmanned aerial vehicle lands on the ground.
9. A drone comprising a memory, a processor, and a fryer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the fryer method according to any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a fryer protection program, which when executed by a processor implements the steps of the fryer protection method according to any one of claims 1-7.

Description

Multi-rotor unmanned aerial vehicle explosion-proof method and system, unmanned aerial vehicle and medium Technical Field The application relates to the technical field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle anti-explosion method, a system, an unmanned aerial vehicle and a computer readable storage medium. Background With the rapid development of science and technology, in recent years, unmanned aerial vehicles are various in equipment, and products in various flight modes such as fixed-wing unmanned aerial vehicles, multi-rotor unmanned aerial vehicles, helicopters and the like are appeared. The multi-rotor unmanned aerial vehicle is an unmanned aerial vehicle with vertical take-off and landing and fixed wing flying capabilities, and combines the flexibility of the multi-rotor unmanned aerial vehicle in vertical take-off and landing and the advantages of the fixed wing unmanned aerial vehicle in long endurance and high-efficiency cruising. In the cruising process of the multi-rotor unmanned aerial vehicle, if any motor on the unmanned aerial vehicle fails, the unmanned aerial vehicle is unbalanced in gesture and has the problem of frying, namely, the unmanned aerial vehicle falls in an abnormal gesture, so that the flying safety and stability are difficult to guarantee. In the prior art, emergency treatment is difficult to be carried out on the unmanned aerial vehicle with sudden faults, the damage probability caused by the crash of the unmanned aerial vehicle can be reduced only through peripheral protection measures, such as an anti-collision net, a parachute and other structures, and the unmanned aerial vehicle can not be ensured to execute stable and efficient emergency forced landing when a motor breaks down. Accordingly, the prior art is still in need of improvement and development. Disclosure of Invention The application mainly aims to provide a method, a system, an unmanned aerial vehicle and a medium for preventing a multi-rotor unmanned aerial vehicle from being fried, and aims to solve the technical problem that in the prior art, when the multi-rotor unmanned aerial vehicle is in a process of executing a flight task, if a rotor motor fails, the failed motor is difficult to locate and effective emergency measures are taken, so that the unmanned aerial vehicle is easy to be fried. In order to achieve the aim, the application provides a method for preventing a multi-rotor unmanned aerial vehicle from being fried, the unmanned aerial vehicle comprises a plurality of rotor wing assemblies, a plurality of horn arms and a fuselage, wherein each horn arm is rotatably connected to the fuselage, each horn arm can rotate on a plane where the fuselage is located, and each horn arm can swing in a first direction and a second direction; The method for preventing the frying machine comprises the following steps: real-time monitoring is carried out on motors of all rotor wing assemblies on the unmanned aerial vehicle based on a preset sensor, so that real-time running states corresponding to all the motors are obtained, and fault motors are determined according to all the real-time running states; Based on the driving device, controlling the corresponding horn of the fault motor to swing, controlling the corresponding horn of the adjacent motor of the fault motor to perform first rotation control, and performing first rotation speed lifting control on all motors which do not have faults; Based on the driving device, controlling a diagonal motor of the fault motor to perform second rotation control, and performing second rotation speed lifting control on the diagonal motor; and acquiring the current flight height, and executing emergency landing control according to the current flight height until the unmanned aerial vehicle lands on the ground. Optionally, the monitoring of the motors of all rotor wing assemblies on the unmanned aerial vehicle in real time based on the preset sensor obtains a real-time running state corresponding to each motor, and determines a fault motor according to all the real-time running states, which specifically includes: Receiving sensing data sent by the preset sensor in real time, wherein the preset sensor comprises a current sensor, a rotating speed sensor and a vibration sensor; Analyzing according to the sensing data to obtain a real-time running state corresponding to each motor on the unmanned aerial vehicle; if the real-time running state is monitored to be abnormal, determining a motor with a fault according to the real-time running state, and taking the motor as the motor with the fault. Optionally, based on the driving device, controlling the horn corresponding to the fault motor to perform swing control, controlling the horn corresponding to the adjacent motor of the fault motor to perform first rotation control, and performing first rotation speed lifting control on all motors which do not have faults, including: acquiring a fa