Multi-rotor unmanned aerial vehicle and control method thereof, control apparatus and computer-readable storage medium
AssigneeSz Dji Technology Co., Ltd.
InventorsXiaoliang Wang, Zhimeng Shang, Ximin Lv
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Abstract
A multi-rotor UAV control method, a multi-rotor UAV, a control apparatus, and a non-volatile computer-readable storage medium are provided. The multi-rotor UAV control method includes: obtaining a power status of each rotor of the UAV; and when it is determined, based on the power status, that the power of any one of the rotors of the UAV fails, controlling the UAV to enter a balance mode. In the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in the horizontal direction is less than a preset displacement amount.
Claims20
A multi-rotor unmanned aerial vehicle (UAV) control method, comprising:
- obtaining power statuses of rotors of a UAV;
- and
- controlling the UAV to enter a balance mode, upon determining, based on the power statuses, that a rotor of the UAV has a power failure, wherein
- in the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in a horizontal direction is less than a preset displacement amount, and the controlling of the UAV to enter the balance mode includes:
- obtaining a first control parameter of the UAV,
- obtaining a feedforward parameter of the UAV,
- redistributing lift forces to the rotors of the UAV based on the feedforward parameter and the first control parameter, and
- controlling, based on redistributed lift forces of the rotors, motors of the rotors of the UAV to rotate to enable the UAV to rotate at the angular velocity greater than the first threshold, and have the displacement in the horizontal direction less than the preset displacement amount.
A multi-rotor unmanned aerial vehicle (UAV), comprising:
- a body;
- a plurality of rotors disposed on the body;
- and
- one or more controllers disposed on the body, wherein the one or more of the controllers are configured to:
- obtain power statuses of rotors of a UAV, and
- control the UAV to enter a balance mode, upon determining, based on the power statuses, that a rotor of the UAV has a power failure, wherein
- in the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in a horizontal direction is less than a preset displacement amount, and to control the UAV to enter the balance mode, the one or more of the controllers are further configured to:
- obtain a first control parameter of the UAV,
- obtain a feedforward parameter of the UAV,
- redistribute lift forces to the rotors of the UAV based on the feedforward parameter and the first control parameter, and
- control, based on redistributed lift forces of the rotors, motors of the rotors of the UAV to rotate to enable the UAV to rotate at the angular velocity greater than the first threshold, and have the displacement in the horizontal direction less than the preset displacement amount.
A control apparatus for a multi-rotor unmanned aerial vehicle (UAV), comprising:
- one or more controllers, configured to:
- obtain power statuses of rotors of a UAV, and
- control the UAV to enter a balance mode, upon determining, based on the power statuses, that a rotor of the UAV has a power failure, wherein
- in the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in a horizontal direction is less than a preset displacement amount, and to control the UAV to enter the balance mode, the one or more of the controllers are further configured to:
- obtain a first control parameter of the UAV,
- obtain a feedforward parameter of the UAV,
- redistribute lift forces to the rotors of the UAV based on the feedforward parameter and the first control parameter, and
- control, based on redistributed lift forces of the rotors, motors of the rotors of the UAV to rotate to enable the UAV to rotate at the angular velocity greater than the first threshold, and have the displacement in the horizontal direction less than the preset displacement amount.
Dependencies are inferred from the claim text.