The invention relates to the technical field of unmanned aerial vehicles, and provides a ground contact detection method of a lifting unmanned aerial vehicle, the lifting unmanned aerial vehicle and a storage medium. The ground contact detection method for the lifting unmanned aerial vehicle comprises the steps that the load connection state of the hook device is detected; according to the load connection state, motor output information of a target motor on the lifting unmanned aerial vehicle and/or output information of the inertial measurement unit are/is obtained, and the load connection state is used for indicating whether the hook device is connected with a load object or not; and detecting the grounding condition according to the output information of the motor and/or the output information of the inertial measurement unit. According to the method, the problem that factors used for grounding detection in different application scenes are inaccurate is solved, and the accuracy of grounding detection is improved.
本发明涉及无人机技术领域,提供一种吊运无人机的触地检测方法、吊运无人机及存储介质。吊运无人机的触地检测方法包括:检测挂钩装置的载荷连接状态;根据所述载荷连接状态,获取所述吊运无人机上目标电机的电机输出信息和/或所述惯性测量单元的输出信息,其中,所述载荷连接状态用于指示所述挂钩装置是否连接载荷物体;通过所述电机输出信息和/或所述惯性测量单元的输出信息,检测触地状况。该方法,解决了在不同的应用场景下触地检测所用的因素不准确的问题,提高了触地检测的准确度。
Ground contact detection method of lifting unmanned aerial vehicle, lifting unmanned aerial vehicle and storage medium
吊运无人机的触地检测方法、吊运无人机及存储介质
2024-03-29
Patent
Electronic Resource
Chinese