CN105259917A - Quick and safe landing device and method for unmanned aerial vehicle - Google Patents
Quick and safe landing device and method for unmanned aerial vehicle Download PDFInfo
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- CN105259917A CN105259917A CN201510752897.8A CN201510752897A CN105259917A CN 105259917 A CN105259917 A CN 105259917A CN 201510752897 A CN201510752897 A CN 201510752897A CN 105259917 A CN105259917 A CN 105259917A
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Abstract
The invention discloses a quick and safe landing device and method for an unmanned aerial vehicle, belonging to the unmanned plane field. The quick and safe landing device for an unmanned aerial vehicle is provided with a trigger device which can trigger the unmanned aerial vehicle to execute the safe and quick landing mode; the unmanned aerial vehicle comprises a memory, a flight control device and a rotor; the memory is used for storing the preset safe and quick landing speed; the flight control device can control landing of the unmanned aerial vehicle according to the preset safe and quick landing speed; the rotor can be used for adjusting the rotation speed under the control of the flight control device; and the flight control device is connected with the memory and the rotor. The quick and safe landing device and method for an unmanned aerial vehicle can realize safe and quick landing of the unmanned aerial vehicle, and not only can reduce the air crash risk caused by too fast landing speed of the unmanned aerial vehicle, but also can prevent accidents caused by waiting for a too long time because of too slow landing speed of the unmanned aerial vehicle and the insufficient electric quantity.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, be specifically related to a kind of unmanned vehicle landing-gear and method safely and fast.
Background technology
Along with the development of many rotary wind types unmanned vehicle technology, occurred various civilian or commercial many rotary wind types unmanned vehicle at present, and the performance of these unmanned vehicles is more and more stronger, scope of activities is increasing.
In prior art, for landing or the landing problems of unmanned vehicle, mainly lay particular emphasis on research and how to drop to assigned address accurately.Such as: the Chinese invention patent application that application number is 201410175402.5, denomination of invention is " control method that unmanned plane precisely lands " discloses the control method that a kind of unmanned plane precisely lands, predetermined level point is arrived for controlling unmanned plane, comprise the following steps: step one: place a sound source in level point, unmanned plane is placed positive tetrahedron microphone array, a signal amplification circuit and filtering circuit are set at the signal output part of each microphone; Step 2: use GPS navigation to control described unmanned plane and arrive apart within the scope of described level point 10m; Step 3: use the processor on unmanned plane to calculate sound-source signal and arrive the time delay that second microphone, the 3rd microphone, the 4th microphone and sound-source signal arrive the first microphone; Step 4: make purpose processor according to sound source and the space geometry relation of microphone array and the crab angle of time-delay calculation unmanned plane and the angle of pitch; Step 5: according to crab angle and the angle of pitch by directly over Navigation of Pilotless Aircraft to level point; Step 6: utilize pressure-altitude sensor to make unmanned plane precisely drop to level point.
Again such as, application number is 201410436145.6, denomination of invention is unmanned plane independent landing guidance device and the guidance method that the Chinese invention patent application of " the unmanned plane independent landing guidance device of view-based access control model and guidance method " discloses a kind of view-based access control model, utilize arrange in runway both sides through measurement camera that off-line calibration is good, real-time detection enters the high light identification light being mounted in unmanned plane dead ahead behind autonomous guiding landing navigation channel, the three-dimensional space position information utilizing four cameras after large scene scope Accurate Calibration to carry out binocular stereo vision measuring technique acquisition unmanned plane carries out unmanned plane tracking and location, the flight parameters such as Real-time solution unmanned plane position and speed, and by wirelessly transmitting data chain, flight parameter is passed to flight control system, flight control system then keeps aircraft smooth flight according to unmanned plane current state adjustment flight parameter, thus realize the accurate independent landing of unmanned plane.
In above-mentioned prior art, not to how controlling unmanned vehicle, not only safety but also landing as far as possible did not fast provide solution.
Under present case, many rotary wind types unmanned vehicle flying quality is in vertical direction beyond the scope of radio communication remote control mode, and namely the flying height of many rotary wind types unmanned vehicle is actually the remote range being limited to radio communication.If remote control can control to obtain, many rotary wind types unmanned vehicle can fly get Geng Gao, and this highly even can reach 2000 meters.
In fact, common skyscraper also just only has more than 100 meter high, and many rotary wind types unmanned vehicle of small size is when flight to 100 meters or 200 meters of height, seem just just very little point, the potential risk existed this time is exactly: interrupted if fly hand by other things one or divert attention, very likely where just can not find current unmanned vehicle.In this case, optimal selection flies this unmanned vehicle of hand control to decline, and makes it close to flying hand, helps to fly heavy-handedly newly in horizon range, to recover this unmanned vehicle.
So just there is a problem, unmanned vehicle is the machine aloft moved, and unmanned vehicle is one of process that air crash risk occurs the most easily, be exactly when it lands, if decline rate control is improper in descent, very easily causes stall, thus cause air crash.Therefore, for common many rotary wind types unmanned vehicle, rising speed per hour can easily reach 6 meter per seconds, even higher, but in order to safety factor, its decline speed per hour often only has 2-3 meter per second, even lower.
So, can calculate, for the unmanned vehicle of a flight aloft 200 meters of height, its normal descend just may need to have spent 2 minutes nearly.Whether hand is flown for ground, often produces anxious psychology, even can worry that aircraft is out of control or lose.Another aspect, for the unmanned vehicle of energy deficiency, very long descent, may mean depleted of energy, thus causes inevitable air crash.
In sum, how to make high aerial unmanned vehicle to land safely, fast, be a very important problem, decline rate is dangerous too soon, and too slow also may be dangerous not only spended time is many while, such as electricity causes air crash not.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of unmanned vehicle landing-gear and method safely and fast, it can not only land safely but also fast, the too fast air crash risk caused of unmanned vehicle decline rate can not only be reduced, the accident that the waits for too long that unmanned vehicle decline rate can be avoided again to cause excessively slowly and appearance cause because of electricity deficiency.
Another goal of the invention of the present invention is to provide a kind of unmanned vehicle device and method safely and fast, improves the stability of unmanned vehicle descent, thus security when further improving unmanned vehicle landing.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of unmanned vehicle landing-gear safely and fast, have and trigger the flip flop equipment that described unmanned vehicle performs landing mode safely and fast, described unmanned vehicle comprises storer for storing preset security rapid descent speed, the flight controller of unmanned vehicle landing according to described preset security rapid descent speeds control and regulate the rotor of velocity of rotation under the control of described flight controller, wherein, described flight controller is connected with described storer and described rotor respectively.
Further, described unmanned vehicle also comprises the speed pickup for detecting the current decline rate of described unmanned vehicle in real time, described speed pickup connects described flight controller, the velocity of rotation of described flight controller rotor according to described current decline rate and described preset security rapid descent speeds control, wherein, under described preset security rapid descent speed comprises conventional environment, described unmanned vehicle can the maximum falling speed of safe falling.
Further, described preset security sinking speed has vertical component and horizontal component, and wherein, described horizontal component is more than or equal to predetermined threshold, and described flight controller controls described unmanned vehicle according to described horizontal component and adopts the mode of turning back to land.
Further, the mode of turning back described in comprises spiral descending trajectory and/or zigzag descending trajectory.
Further, described unmanned vehicle also comprises the height sensor for measuring described unmanned vehicle current flight height, described height sensor connects described flight controller, and described flight controller sets described preset security sinking speed according to described current flight height.
Further, described unmanned vehicle also comprises electric quantity detecting circuit for detecting described unmanned vehicle current residual electricity and for providing the battery of the energy to described unmanned vehicle, described crossing detector circuit is connected with described battery and described flight controller respectively, and described flight controller sets described preset security sinking speed according to described current residual electricity.
Further, also comprise remote control equipment, described remote control equipment and described unmanned vehicle have the first duplex communication interface and the second duplex communication interface respectively, described remote control equipment and described unmanned vehicle are by described first duplex communication interface and the second duplex communication interface two-way communication, wherein, described flip flop equipment is arranged on described remote control equipment.
Further, described flip flop equipment comprises shortcut and/or the physical button that the described unmanned vehicle of triggering performs landing mode safely and fast.
According to another aspect of the present invention, provide a kind of unmanned vehicle landing method safely and fast, comprise the following steps:
Trigger the instruction that described unmanned vehicle performs landing mode safely and fast;
After receiving described instruction, read the preset security rapid descent speed stored;
According to described preset security rapid descent speed, control the landing of described unmanned vehicle;
Regulate the velocity of rotation of the rotor of described unmanned vehicle.
Further, describedly control the step of the landing of described unmanned vehicle according to described preset security rapid descent speed, be specially and control described unmanned vehicle and adopt the mode of turning back to land.
The invention discloses a kind of unmanned vehicle landing-gear and method safely and fast, trigger unmanned vehicle by remote control equipment and drop to predeterminated position according to the sinking speed safely and fast preset, described unmanned vehicle can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of instructions, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows the unmanned vehicle landing-gear structural representation safely and fast according to the embodiment of the present invention one;
Fig. 2 shows the unmanned vehicle landing-gear structural representation safely and fast according to the embodiment of the present invention two;
Fig. 3 shows the unmanned vehicle landing method process flow diagram safely and fast according to the embodiment of the present invention three;
Fig. 4 shows the unmanned vehicle landing method process flow diagram safely and fast according to the embodiment of the present invention four.
Embodiment
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of instructions and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of instructions and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Instructions subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of instructions, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.In recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of propulsion system and battery durable ability, make it constantly expand at a high speed in the purposes in military, civilian, unmanned plane market has bright prospects.
In the embodiment of the present invention, preferred unmanned plane is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle that is greater than six.Preferably, fuselage is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage, thus reduces the power demand of many rotor unmanned aircrafts and improve the maneuverability of many rotor unmanned aircrafts.Certainly, in other embodiments of the invention, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation of every a slice blade is all positioned on the same face of cylinder.
The unmanned plane that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.
Embodiment one, a kind of unmanned vehicle landing-gear safely and fast.
Fig. 1 is the unmanned vehicle landing-gear structural representation safely and fast of the embodiment of the present invention one, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of unmanned vehicle landing-gear 100 safely and fast, have and trigger the flip flop equipment 102 that described unmanned vehicle 101 performs landing mode safely and fast, described unmanned vehicle 101 comprises the storer 103 for storing preset security rapid descent speed, the flight controller 104 that unmanned vehicle 101 lands according to described preset security rapid descent speeds control and regulate the rotor 105 of velocity of rotation under the control of described flight controller 104, wherein, described flight controller 101 is connected with described storer 103 and described rotor 105 respectively.Although be presented in described unmanned vehicle 101 by described flip flop equipment 102 in diagram, in fact, described flip flop equipment 102 can be arranged in described unmanned vehicle 101, also can be arranged on the remote control equipment on ground.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises the speed pickup for detecting the current decline rate of described unmanned vehicle in real time, described speed pickup connects described flight controller 104, the velocity of rotation of described flight controller 104 rotor 105 according to described current decline rate and described preset security rapid descent speeds control, wherein, under described preset security rapid descent speed comprises conventional environment, described unmanned vehicle 101 can the maximum falling speed of safe falling.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 can also comprise speed probe, for gathering the rotary speed information of the described rotor 105 of described unmanned vehicle 101 and inputing to described flight controller 104.
In the embodiment of the present invention, mainly realize the unmanned vehicle in high-altitude can be landed safely, fast.
The unmanned vehicle 101 of Non-follow control, realizes the highest decline rate under 0 throttle, corresponds to and flies hand steering order here, shifts the end onto exactly by counter for the throttle controlling the rise and fall of described unmanned vehicle 101.But due to the uncertainty of environmental factor, production firm, in order to security consideration, often limits for the decline rate in 0 throttle situation, and along with safety requirements is more and more higher, the control of this decline rate is also more and more higher, such as, is set to 2 meter per seconds.But, although this setup makes decline process safety, according to aforementioned description, this decline mode brings other problems again, such as declining, it is oversize to expend time in, and electricity even may be caused too low, thus cause the air crash of described unmanned vehicle 1012.
In the embodiment of the present invention, the high-altitude landing mechanism of many rotary wind types unmanned vehicle 101, be not allow described rotor carry out reverse rotation make described unmanned vehicle 101 produce to thrust vertically upward, then realize the decline of described unmanned vehicle 101 by the reacting force of this thrust.Because many rotary wind types unmanned vehicle 101 is under floating state, the gravity of the raising force that described rotor produces and described unmanned vehicle 101 is cancelled out each other, if on this state basis, slow down the velocity of rotation of its rotor, its raising force is diminished, so utilizes the gravity of described unmanned vehicle 101 self can realize landing.Now the lift that provides of described rotor, is mainly used in the balance maintaining described unmanned vehicle 101, and avoids described unmanned vehicle 101 decline rate too fast, thus cause stall.
In other words, be not now all rotor 105 stalls, but represent a series of complex control has been carried out to described rotor 105, this control comprises: the velocity of rotation reducing described rotor 105, described unmanned vehicle 101 is made to produce the acceleration of flight downwards, monitor the flying speed that described unmanned vehicle 101 is current, when it reaches a certain default decline rate, promote its rotor 105 velocity of rotation, the flight downwards of described unmanned vehicle 101 is no longer accelerated but keeps a fixing decline rate.
The embodiment of the present invention no longer triggers the control of the decline rate of described unmanned vehicle 101 only by throttle, but in particular cases, fly hand and may face a situation needing described unmanned vehicle 101 to land rapidly, now fly hand and input specific instruction by the independent flip flop equipment 102 arranged special on described remote control equipment such as Digiplex, point out described unmanned vehicle 101 to enter landing mode safely and fast.
Preferred in the embodiment of the present invention, described flip flop equipment 102 can also connect described storer, the one-stage control program being preset in described unmanned vehicle 101 li is also stored in described storer, trigger when meeting pre-conditioned, described pre-conditioned can be described unmanned vehicle 101 with to fly hand unmanned vehicle more than 101 out of touch, described electricity not enough etc.
Now, described unmanned vehicle 101 reads in the sinking speed safely and fast pre-set automatically, then the velocity of rotation that the flight controller 104 of described unmanned vehicle 101 starts to control described rotor 105 suitably reduces, described unmanned vehicle 101 is made to produce downward acceleration, and the flying speed of himself responded to by the speed pickup on described unmanned vehicle 1012, when the flying speed of himself reaches described preset security sinking speed, the velocity of rotation that then described flight controller 104 controls described rotor 105 makes described unmanned vehicle 101 can keep current sinking speed.This automatic sinking speed selects mechanism, described unmanned vehicle 101 can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.
Preferred in the embodiment of the present invention, described preset security sinking speed by described unmanned vehicle 101 manufacturer when manufacturing described unmanned vehicle 101, can be obtained by test.The unmanned vehicle 101 of different size, described preset security sinking speed is different, but described safety falling velocity is based under conventional environment, can guarantee the maximum flying speed that this unmanned vehicle 101 declines safely, such as unmanned vehicle A, can be 3 meter per seconds; For unmanned vehicle B, can be 2 meter per seconds.
Preferred in the embodiment of the present invention, described preset security sinking speed has vertical component and horizontal component, wherein, described horizontal component is more than or equal to predetermined threshold, and described flight controller 104 controls described unmanned vehicle 101 according to described horizontal component and adopts the mode of turning back to land.
In the embodiment of the present invention preferably, the mode of turning back described in comprises spiral descending trajectory and/or zigzag descending trajectory.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises the height sensor for measuring described unmanned vehicle current flight height, described height sensor connects described flight controller 104, and described flight controller 104 sets described preset security sinking speed according to described current flight height.
As described in above-mentioned background technology, described unmanned vehicle 101 is aloft in flight course, once situation about being short of power, will be abnormally dangerous, and directly may cause air crash.Therefore, flying power judges also extremely important accurately.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises electric quantity detecting circuit for detecting described unmanned vehicle 101 current residual electricity and for providing the battery of the energy to described unmanned vehicle 101, described crossing detector circuit is connected with described battery and described flight controller 104 respectively, and described flight controller 104 sets described preset security sinking speed according to described current residual electricity.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises navigation positional device.Further, described navigation positional device is GPS or big-dipper satellite locating device, and it for responding to the latitude and longitude information of unmanned vehicle 101 at solid space, and sends to described flight controller 104.
In the embodiment of the present invention, because existing consumer level unmanned vehicle continuation of the journey T.T. itself is not just very long, short 5-10 minute, long is generally also no more than 30 minutes, in order to avoid unmanned vehicle falls because of degradedness, propose a kind of remaining electricity monitoring described unmanned vehicle, and set the control program of described unmanned vehicle 101 decline rate according to described remaining electricity.
Preferred in the embodiment of the present invention, the electric energy of described unmanned vehicle 101 is provided by various high-energy battery, comprising: sun power, accumulator and fuel cell.Be wherein the storage battery power supply mode of representative with lithium battery be current most widely used one.
Concrete, the current residual electricity of battery described in described electric quantity detecting circuit Real-time Obtaining; Obtain described unmanned vehicle 101 perform described in the coordinate information of the current location of landing mode safely and fast; According to the coordinate information of described current location and the current residual electricity of described battery, calculate described unmanned vehicle 101 drops to predeterminated position described preset security sinking speed in described current location.
Preferred in the embodiment of the present invention, described flight controller 104 according to the current residual electricity of described battery, can also arrange the described predeterminated position of described unmanned vehicle 101 landing.Such as, if the current residual electricity of described battery is sufficient, described predeterminated position is a position coordinates in the flight path of described unmanned vehicle 101 record, and make a return voyage to described predeterminated position according to described unmanned vehicle 101 from described current location along former flight path, or according to described current location and described predeterminated position straight line path in the horizontal direction and make a return voyage to described predeterminated position at the straight line path of vertical direction, or make a return voyage to described predeterminated position according to described current location and the direct straight line path of described predeterminated position; If the current residual electricity of described battery is not enough, described predeterminated position is specified to be the position that described unmanned vehicle 101 directly lands from described current location.
Preferred in the embodiment of the present invention, described predeterminated position is the impact point that the takeoff point of described unmanned vehicle 101 or user specify.Certainly, in the present invention, the predeterminated position that unmanned vehicle makes a return voyage is not limited to above-mentioned place, also can be other place, such as, when unmanned vehicle 101 is mounted with the sensor of the geographical appearance on detection ground, the predeterminated position that unmanned vehicle 101 makes a return voyage can for the best level point automatically chosen.The coordinate information of described predeterminated position can be stored in unmanned vehicle 101 in advance, or is directly inputted by user.
Preferred in the embodiment of the present invention, described electric quantity detecting circuit is AD Acquisition Circuit and/or galvanometer.
Wherein in an embodiment, described electric quantity detecting circuit adopts voltage measurement method.The electricity of battery refers to the total electrical charge sum that battery can export, usually represent with AH unit, the voltage at Sampling device two ends can be gathered by AD Acquisition Circuit, Sampling device point is connected to the negative pole circuit of battery, and calculates the size of current flow according to the relations I=U/R of voltage and electric current.The pass of electricity and electric current is Q=IT.Described flight control panel can be regular this signal of collection, such as, gather once every the t time, then in electric discharge or charging process, the variable quantity of electricity is Q1=, and suppose that the original electricity of battery is Q0, then current electric quantity is Q=Q1+Q0.If the total volume of battery is Qall, then, the number percent of current electric quantity is P=Qall/Q.
In other embodiments, amperometric can be adopted.Amperometric directly can gather the electric current on Sampling device by galvanometer, then calculate the current electric quantity of battery according to the relation of electricity and electric current.
In other embodiments, electric current, voltage integrated mensuration can be adopted.Gather the voltage on battery output by AD Acquisition Circuit, and gather the electric current on Sampling device by galvanometer, then calculate the current residual electricity of battery according to the relation of Q=Pt=UIt.
Preferred in the embodiment of the present invention, described battery is the intelligent battery automatically detecting self residual electricity, and described flight controller 104 is connected with described Intelligent current communication and obtains the current residual electricity of described intelligent battery.
Like this, the embodiment of the present invention is by detecting the remaining electric situation of described unmanned vehicle 101 in real time, and the predeterminated position of described preset security rapid descent speed and/or landing is set according to described remaining electricity, unmanned vehicle 101 can be avoided to occur the accident caused because electricity is not enough.
Preferred in the embodiment of the present invention, described device also comprises remote control equipment, described remote control equipment and described unmanned vehicle have the first duplex communication interface and the second duplex communication interface respectively, described remote control equipment and described unmanned vehicle are by described first duplex communication interface and the second duplex communication interface two-way communication, wherein, described flip flop equipment is arranged on described remote control equipment.Described remote control equipment may be used for conveniently flying the landing that hand manipulates described unmanned vehicle 101.Described remote control equipment can establish a communications link with described unmanned vehicle 101, to control the work of described unmanned vehicle 101.
Described remote control equipment can be the portable electron device (as mobile phone, panel computer or Digiplex etc.) with communication function, its by but the mode being not limited to the radio communications such as bluetooth, GPS, WIFI, 2G network, 3G network, 4G network, 5G network set up radio communication with described unmanned vehicle 101 and be connected.This remote control equipment is built-in with the control software design matched with this unmanned vehicle 101, thus controlled the opening and closing of described unmanned vehicle 101 landing mode safely and fast by this remote control equipment of manipulation, and flight parameter and the state of flight of described unmanned vehicle 101 can be adjusted.
Preferred in the embodiment of the present invention, described first duplex communication interface is connected with described second duplex communication interface wireless, can realize bidirectional wireless communication function by 3G, 4G wireless network or satellite communication network and random network type.
Preferred in the embodiment of the present invention, described flip flop equipment comprises shortcut and/or the physical button that the described unmanned vehicle of triggering performs landing mode safely and fast.
Preferred in the embodiment of the present invention, the described unmanned vehicle 101 of described triggering performs shortcut and/or the physical button of landing mode safely and fast, pressed flying hand, the state of described shortcut and/or physical button becomes 1 or become 0 (can according to circumstances realize arranging) from 1 from 0, and this 0 is become 1 or transfer to described unmanned vehicle 101 from 1 variable signal becoming 0 by described remote control equipment 101.
Preferred in the embodiment of the present invention, described unmanned vehicle 102 also comprises the sensor that whether there is barrier in the surrounding's preset range for detecting described unmanned vehicle 102, and described sensor is connected with described flight controller.Preferred in the embodiment of the present invention, described flight controller 104 can adjust the state of described unmanned vehicle 101 by one or more actuator.Such as, described flight controller 104 can control the rotor (such as controlling the rotational speed of rotor) of described unmanned vehicle 101, thus adjusts described unmanned vehicle 101 or its parts (such as load) relative to much six-freedom degrees (along X, Y and the translation motion of Z axis and the space layout of roll axle, pitch axis and course axle.Alternatively, or in combination with, described flight controller 104 can adjust described unmanned vehicle relative to the speed of six-freedom degree or acceleration.In certain embodiments, described flight controller 104 can control described unmanned vehicle 101 based on the position of predetermined control data or described unmanned vehicle 101, external signal information.Such as, described flight controller 104 can based on the need of landing as described actuator provides reduce-speed sign.
In various embodiments, described actuator can comprise motor, mechanical driving device, hydraulic actuator, pneumatic actuator etc.Described motor can comprise magnetic motor, electrostatic motor or piezoelectric motor.Such as, in certain embodiments, described actuator includes brush or brshless DC motor.
In certain embodiments, described unmanned vehicle 101 can comprise body, such as, for holding or carry the different parts of described unmanned vehicle 101, electric component.Described parts can be arranged in described body or on the outside surface of described body.The parts that described body carries comprise flight controller 104, processor, circuit board, actuator (such as motor), communicator, sensor etc.
In certain embodiments, the body of described unmanned vehicle 101 can have the one or more epitaxial membrane connected on it.Described epitaxial membrane can comprise support component, when described unmanned vehicle does not aloft fly, and the weight all or in part of unmanned vehicle described in described support member supports.Such as, described support component can comprising continental shelf.Described landing chassis can form the structure of rectangle or analogous shape, such as, for keeping out the external force applied on it, external force when landing.
The embodiment of the invention discloses a kind of unmanned vehicle landing-gear safely and fast, trigger unmanned vehicle by remote control equipment and drop to predeterminated position according to the sinking speed safely and fast preset, described unmanned vehicle can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.Simultaneously, the embodiment of the present invention gives the Real-Time Monitoring scheme of unmanned vehicle flying power, and set described preset security rapid descent speed according to the battery allowance of described unmanned vehicle, thus further avoid unmanned vehicle because be short of power the risk of air crash accident occurs in descent.
Embodiment two, a kind of unmanned vehicle landing-gear safely and fast.
Fig. 2 is the unmanned vehicle landing-gear structural representation safely and fast of the embodiment of the present invention 2, and composition graphs 2 is specifically described by the embodiment of the present invention.
As shown in Figure 2, embodiments provide a kind of unmanned vehicle landing-gear 200 safely and fast, comprise: remote control equipment 201 and unmanned vehicle 202, described remote control equipment 201 and described unmanned vehicle 202 have the first duplex communication interface 203 and the second duplex communication interface 204 respectively, described remote control equipment 201 and described unmanned vehicle 202 are by described first duplex communication interface 203 and the second duplex communication interface 204 two-way communication, described remote control equipment 201 has the instruction inputting device 205 that the described unmanned vehicle of triggering performs landing mode safely and fast, described instruction inputting device 205 is connected with described first duplex communication interface 203, the flight controller 207 that described unmanned vehicle 202 has storer 206 for storing preset security rapid descent speed, unmanned vehicle 202 lands according to described preset security rapid descent speeds control and regulate the rotor 108 of velocity of rotation under the control of described flight controller 207, wherein, described flight controller 207 is connected with described second duplex communication interface 204, storer 206, rotor 208 respectively.
Preferred in the embodiment of the present invention, described preset security sinking speed has vertical component and horizontal component, wherein, described horizontal component is more than or equal to predetermined threshold, and described flight controller controls described unmanned vehicle according to described horizontal component and adopts the mode of turning back to land.
In the embodiment of the present invention preferably, the mode of turning back described in comprises spiral descending trajectory and/or zigzag descending trajectory.
In fact, for many rotary wind types unmanned vehicle 202, decline while maintenance reduced levels rate travel, or when original place directly declines, if speed is slightly fast, described unmanned vehicle will be caused to rock seriously.This is because, under landing state of flight, its screw propeller and air relative motion can produce high pressure downwash flow, above the screw propeller being back to low pressure beyond described propeller radius, then the downwash flow entering high pressure again forms collar vortex, this collar vortex reduces the actual of screw propeller and exerts oneself, and causes the lift of described unmanned vehicle to be lost.Therefore, high fall off rate is easy to cause aircraft accident, and especially for the high-revolving type of little oar, this problem is more serious.
When the embodiment of the present invention proposes to fall at high speeds, in order to ensure the flight stability of described unmanned vehicle 202, handle the body attitude of described unmanned vehicle 202, described unmanned vehicle 202 is made to reach certain rate travel in any one horizontal direction, thus increase the described screw propeller of unmanned vehicle 202 and the relative velocity of air, depart from original place directly to decline produced ring of eddy, the track that simultaneously can also be landed by non-rectilinear is arranged to be guaranteed not depart from original horizontal level when declining.Such as, fly according to the track of spiral decline by making many rotary wind types unmanned vehicle 202, so relatively can keep flight stability while the sinking speed promoting described unmanned vehicle 202, simultaneously also not away from the landing place of presetting.
Preferred in the embodiment of the present invention, when described unmanned vehicle 202 declines, flexuose descending trajectory can also be taked.
In a word, adopt the mode of turning back to decline, although add movement in the horizontal direction, owing to avoiding the impact of collar vortex, under the prerequisite of flight stability guaranteeing described unmanned vehicle 202, the sinking speed of described unmanned vehicle 202 can be promoted.
Preferred in the embodiment of the present invention, described unmanned vehicle 202 also comprises the speed pickup 209 for detecting the current decline rate of described unmanned vehicle 202 in real time, described speed pickup 209 connects described flight controller 207, the velocity of rotation of described flight controller 207 rotor 208 according to described current decline rate and described preset security rapid descent speeds control.
Preferred in the embodiment of the present invention, described unmanned vehicle 202 also comprises the height sensor 210 for measuring described unmanned vehicle 202 current flight height, described height sensor 210 connects described flight controller 207, and described flight controller 207 sets described preset security sinking speed according to described current flight height.
Preferred in the embodiment of the present invention, described height sensor 210 comprises at least one in barometric altimeter, laser altimeter, radio altimeter, ultrasonic height meter, image distance measuring sensor.
Preferred in the embodiment of the present invention, described unmanned vehicle 202 also comprises the sensor (not shown) that whether there is barrier in the surrounding's preset range for detecting described unmanned vehicle, and described sensor is connected with described flight controller 207.
Preferred in the embodiment of the present invention, the sensor that whether there is barrier in surrounding's preset range of the described unmanned vehicle 202 of described detection comprises at least one in infrared distance sensor, ultrasonic distance-measuring sensor, image distance measuring sensor, laser range sensor, microwave radar range sensor.
Preferred in the embodiment of the present invention, described preset security rapid descent speed comprises first and presets sinking speed, the second default sinking speed and the 3rd default sinking speed.
Preferred in the embodiment of the present invention, when described unmanned vehicle 202 declines, in multiple preset height speed change.
Preferred in the embodiment of the present invention, described multiple preset height comprises the first preset height, the second preset height and the 3rd preset height, and decelerated to described first before this gradually and preset sinking speed, then uniform descent is to described first preset height; Decelerate to described second more gradually and preset sinking speed, then uniform descent is to described second preset height; Finally decelerate to the described 3rd gradually and preset sinking speed, more at the uniform velocity land.
Preferred in the embodiment of the present invention, described first preset height, the second preset height and described 3rd preset height sense obstacle distance in surrounding's preset range of learning according to described unmanned vehicle 202 and quantity, residing environmental baseline are determined, or, set in advance according to the overall height declined by flying hand.
For the landing of whole high-altitude, due to highly higher, the possibility that there is barrier in flight environment of vehicle is lower, so in whole descent, consider the possibility of barrier, descent can also be divided into multistage, at barrier less, the environment simpler stage, then what described sinking speed safely and fast can be arranged is faster; The stage that, environment more at barrier is more complicated, then what arranged by described sinking speed safely and fast is slower.Meanwhile, different drop modes can also be taked in the different flying height stages.
Such as, for the high-altitude landing in city, the scope of vertical height 200 to 80 meters can be delimited, spiral high speed is adopted to land, the vertical component of sinking speed is at 4 meter per seconds, and horizontal component instantaneous velocity, at 4 meter per seconds, can ensure that described unmanned vehicle lands with speed fast as far as possible like this; 80 to 30 meters of scopes, adopt landing of turning back in a zigzag, and reduce vertical component and the horizontal component instantaneous velocity of sinking speed, be all reduced to the level of 2.5 meter per seconds, the stability that described unmanned vehicle lands can be guaranteed like this, decrease the possibility bumping against surrounding environment barrier; Last scope below 30 meters, then take the vertical drop mode of 1.5 meter per seconds.
Certainly, be arrange three preset height to be described for example in above-described embodiment, in reality, two preset height and/or two kinds of drop modes can be set as the case may be, other more preset height and more drop mode can also be set, be construed as limiting in this few the present invention.
Such as, described flight controller judges the state residing for described unmanned vehicle, the landing mode different according to different condition selectings.When described unmanned vehicle is in floating state, described flight controller controls described unmanned vehicle vertical landing, and navigation positional device transmits flight parameter to described flight controller in real time and completes described unmanned vehicle stable landing.When described unmanned vehicle is in state of flight, described flight controller controls described unmanned vehicle and lands at an angle, described navigation positional device transmits flight parameter in real time to described flight controller, and described flight controller controls described unmanned vehicle stable landing.Preferably, described unmanned vehicle landing angle is 15 degree to 30 degree.
In the embodiment of the present invention, make the described preset security rapid descent speed of described unmanned vehicle 202 different according to the sea level elevation difference of its current present position, when close to ground or when flying hand, the decline rate controlling described unmanned vehicle is slack-off, namely the velocity of rotation controlling described rotor 208 is accelerated a little, like this while rapid descent as far as possible, conveniently fly hand and take over final landing at any time and control.
Preferred in the embodiment of the present invention, described unmanned vehicle 202 also comprises inertial sensor, described inertial sensor is applicable to detect the sporting flying parameter of described unmanned vehicle 202 and sends to described flight controller, the touch down attitude of described flight controller 207 unmanned vehicle 202 according to described sporting flying optimum configurations.
Preferred in the embodiment of the present invention, described inertial sensor comprises at least one in 3 axle acceleration sensors, 3 axle gyroscopes, 3 axle geomagnetic sensors or combination in any.Wherein, described 3 axle acceleration sensor induction unmanned vehicles are at the acceleration signal of solid space three dimensions; Described 3 axle gyroscope induction unmanned vehicles are at the angular velocity signal of solid space three dimensions; Described 3 axle geomagnetic sensor induction unmanned vehicles are at the Geomagnetic signal of solid space three dimensions.
Preferred in the embodiment of the present invention, described unmanned vehicle 202 also comprises thrust unit, and described thrust unit can comprise the combination of such as engine, motor, wheel, wheel shaft, magnet, rotor, screw propeller, blade, nozzle or any applicable above-mentioned parts.Preferably, described thrust unit has one or more rotor.The quantity of described rotor can be arbitrary.Described rotor can be rotatably connected with each screw propeller.During use, described rotor can make described screw propeller rotate around turning axle with identical or different speed, make described unmanned vehicle spiral/holding position, change direction and/or change position.
In the embodiment of the present invention, the described flight controller 207 of described unmanned vehicle 202 can receive the external command of detection and produce to the reduce-speed sign relevant to described rotor of one or more actuator (motor), makes described rotor (and relevant screw propeller) slow-down.
In various embodiments, the sensor on described unmanned vehicle 202 can be positioned at any appropriate location of described unmanned vehicle.Such as, some sensors be positioned at described unmanned vehicle 202 body outside surface on or body.And for example, some sensors are positioned on the epitaxial membrane that is connected with the body of described unmanned vehicle 202.
Preferred in the embodiment of the present invention, can by the energy be applicable to arbitrarily, the such as motion being combined as described unmanned vehicle 202 of electric energy, magnetic energy, sun power, wind energy, gravitation energy, chemical energy, nuclear energy or any applicable energy provides power.
Preferred in the embodiment of the present invention, described flight controller 207 can pass through central processing unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM) realize.
Preferred in the embodiment of the present invention, described flight controller 207 can comprise one or more programmable processor.Described storer 206 is non-volatile computer-readable medium.Described flight controller 207 can be connected with non-volatile computer-readable medium.Described non-volatile computer-readable medium can comprise one or more storage unit (such as removable medium or external memory storage, as SD card or random access memory).In certain embodiments, the data coming from sensor can directly transmit and be stored in the storage unit of described non-volatile computer-readable medium and (such as connect (DMA) by direct memory access).The storage unit of described non-volatile computer-readable medium can storage code and/or programmed instruction.Described flight controller 207 performs this code and/or programmed instruction, to perform the embodiment that this instructions describes.Such as, described flight controller 207 can perform instruction, makes one or more processors of described flight controller 207 determine whether control described unmanned vehicle 202 Autonomous landing.
The embodiment of the invention discloses a kind of unmanned vehicle landing-gear safely and fast, on the basis of above-described embodiment, further disclose the landing control program of non-linear traces, the employing mode of turning back declines, although add movement in the horizontal direction, but owing to avoiding the impact of collar vortex, under the prerequisite of flight stability guaranteeing described unmanned vehicle, the sinking speed of described unmanned vehicle can be promoted.Simultaneously, when more than unmanned vehicle, electricity is sufficient, give along with the difference of sea level elevation or barrier situation or the control program that makes the sinking speed of described unmanned vehicle change on the impact flying hand, further contemplate the impact for surrounding enviroment or control end such as Digiplex when unmanned vehicle lands, thus further control its flight sinking speed, improve security and the rapidity of its landing.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment three, a kind of unmanned vehicle landing method safely and fast.
Fig. 3 is the unmanned vehicle landing method process flow diagram safely and fast of the embodiment of the present invention three, and composition graphs 3 is specifically described by the embodiment of the present invention.
As shown in Figure 3, embodiments provide a kind of unmanned vehicle landing method safely and fast, comprise the following steps:
Step S301: start;
Step S302: trigger the instruction that described unmanned vehicle performs landing mode safely and fast;
Step S303: after receiving described instruction, reads the preset security rapid descent speed stored;
Step S304: according to described preset security rapid descent speed, control the landing of described unmanned vehicle;
Step S305: the velocity of rotation regulating the rotor of described unmanned vehicle;
Step S306: judge whether described unmanned vehicle drops to predeterminated position; If no, then jump back to step S304; Otherwise, enter next step;
Step S307: terminate this descent.
Preferred in the embodiment of the present invention, describedly control the step of the landing of described unmanned vehicle according to described preset security rapid descent speed, be specially and control described unmanned vehicle and adopt the mode of turning back to land.
In the embodiment of the present invention preferably, the mode of turning back described in comprises spiral descending trajectory and/or zigzag descending trajectory.
Preferred in the embodiment of the present invention, under described preset security rapid descent speed comprises conventional environment, described unmanned vehicle can the maximum falling speed of safe falling.
Preferred in the embodiment of the present invention, also comprise the step of remaining electro-detection before described step 303, specifically comprise:
The current residual electricity of battery described in Real-time Obtaining;
Obtain the coordinate information of the current location of landing mode safely and fast described in the execution of described unmanned vehicle;
According to the coordinate information of described current location and the current residual electricity of described battery, calculate described unmanned vehicle drops to predeterminated position described preset security sinking speed in described current location.
Preferred in the embodiment of the present invention, the current residual electricity of described battery gathers the method for voltage and/or the method acquisition of amperometric measurement electric current by AD Acquisition Circuit.
Preferred in the embodiment of the present invention, further comprising the steps of before described step 303:
Measure described unmanned vehicle current flight height;
Described preset security sinking speed is set according to described current flight height.
Preferred in the embodiment of the present invention, described preset security rapid descent speed comprises first and presets sinking speed, the second default sinking speed and the 3rd default sinking speed.
Preferred in the embodiment of the present invention, when described unmanned vehicle declines, in multiple preset height speed change.
Preferred in the embodiment of the present invention, described multiple preset height comprises the first preset height, the second preset height and the 3rd preset height, and decelerated to described first before this gradually and preset sinking speed, then uniform descent is to described first preset height; Decelerate to described second more gradually and preset sinking speed, then uniform descent is to described second preset height; Finally decelerate to the described 3rd gradually and preset sinking speed, more at the uniform velocity land.
Preferred in the embodiment of the present invention, described first preset height, the second preset height and described 3rd preset height sense obstacle distance in surrounding's preset range of learning according to described unmanned vehicle and quantity, residing environmental baseline are determined, or, set in advance according to the overall height declined by flying hand.
The embodiment of the invention discloses a kind of unmanned vehicle landing method safely and fast, trigger unmanned vehicle by remote control equipment and drop to predeterminated position according to the sinking speed safely and fast preset, described unmanned vehicle can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.Further, give the Real-Time Monitoring scheme of unmanned vehicle flying power, and set described preset security rapid descent speed according to the battery allowance of described unmanned vehicle, thus further avoid unmanned vehicle because be short of power the risk of air crash accident occurs in descent.On this basis, further disclose the landing control program of non-linear traces, the employing mode of turning back declines, although add movement in the horizontal direction, but owing to avoiding the impact of collar vortex, under the prerequisite of flight stability guaranteeing described unmanned vehicle, the sinking speed of described unmanned vehicle can be promoted.Simultaneously, when more than unmanned vehicle, electricity is sufficient, give along with the difference of sea level elevation or barrier situation or the control program that makes the sinking speed of described unmanned vehicle change on the impact flying hand, further contemplate the impact for surrounding enviroment or control end such as Digiplex when unmanned vehicle lands, thus further control its flight sinking speed, improve security and the rapidity of its landing.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment four, a kind of unmanned vehicle landing method.
Fig. 4 is the unmanned vehicle landing method process flow diagram of the embodiment of the present invention four, and composition graphs 4 is specifically described by the embodiment of the present invention.
As shown in Figure 4, embodiments provide a kind of unmanned vehicle landing method, the method comprises the following steps:
Step S401: start;
Step S402: remote control equipment sends the instruction performing landing mode safely and fast to unmanned vehicle;
Step S403: after unmanned vehicle receives instruction, reads the preset security rapid descent speed stored;
Step S404: the velocity of rotation controlling rotor suitably reduces;
Step S405: detect the current decline rate of unmanned vehicle in real time;
Step S406: judge whether described current decline rate arrives described preset security rapid descent speed; If so, then next step is entered; Otherwise, jump back to step S403;
Step S407: judge whether described unmanned vehicle arrives predeterminated position; If no, then jump back to step S406; Otherwise, enter next step;
Step S408: terminate.
Preferred in the embodiment of the present invention, under described preset security rapid descent speed comprises conventional environment, described unmanned vehicle can the maximum falling speed of safe falling.
The embodiment of the invention discloses a kind of unmanned vehicle landing method safely and fast, trigger unmanned vehicle by remote control equipment and drop to predeterminated position according to the sinking speed safely and fast preset, described unmanned vehicle can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
The present invention can bring these useful technique effects: unmanned vehicle disclosed in the embodiment of the present invention is landing-gear and method safely and fast, trigger unmanned vehicle by remote control equipment and drop to predeterminated position according to the sinking speed safely and fast preset, described unmanned vehicle can being made automatically to select safe, the fastest sinking speed without the need to flying hand intervention, effectively can reduce the generation of aviation accident.Simultaneously, the present invention gives the Real-Time Monitoring scheme of unmanned vehicle flying power, and set described preset security rapid descent speed according to the battery allowance of described unmanned vehicle, thus further avoid unmanned vehicle because be short of power the risk of air crash accident occurs in descent.Another aspect, the present invention gives the landing control program of non-linear traces, the employing mode of turning back declines, although add movement in the horizontal direction, but owing to avoiding the impact of collar vortex, under the prerequisite of flight stability guaranteeing described unmanned vehicle, the sinking speed of described unmanned vehicle can be promoted.The present invention is when more than unmanned vehicle, electricity is sufficient, give along with the difference of sea level elevation or barrier situation or the control program that makes the sinking speed of described unmanned vehicle change on the impact flying hand, further contemplate the impact for surrounding enviroment or control end such as Digiplex when unmanned vehicle lands, thus further control its flight sinking speed, improve security and the rapidity of its landing.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. unmanned vehicle landing-gear safely and fast, it is characterized in that: have and trigger the flip flop equipment that described unmanned vehicle performs landing mode safely and fast, described unmanned vehicle comprises storer for storing preset security rapid descent speed, the flight controller of unmanned vehicle landing according to described preset security rapid descent speeds control and regulate the rotor of velocity of rotation under the control of described flight controller, wherein, described flight controller is connected with described storer and described rotor respectively.
2. unmanned vehicle according to claim 1 landing-gear safely and fast, it is characterized in that: described unmanned vehicle also comprises the speed pickup for detecting the current decline rate of described unmanned vehicle in real time, described speed pickup connects described flight controller, the velocity of rotation of described flight controller rotor according to described current decline rate and described preset security rapid descent speeds control, wherein, under described preset security rapid descent speed comprises conventional environment, described unmanned vehicle can the maximum falling speed of safe falling.
3. unmanned vehicle according to claim 1 landing-gear safely and fast, it is characterized in that: described preset security sinking speed has vertical component and horizontal component, wherein, described horizontal component is more than or equal to predetermined threshold, and described flight controller controls described unmanned vehicle according to described horizontal component and adopts the mode of turning back to land.
4. unmanned vehicle according to claim 3 landing-gear safely and fast, is characterized in that: described in the mode of turning back comprise spiral descending trajectory and/or in a zigzag descending trajectory.
5. unmanned vehicle according to claim 1 landing-gear safely and fast, it is characterized in that: described unmanned vehicle also comprises the height sensor for measuring described unmanned vehicle current flight height, described height sensor connects described flight controller, and described flight controller sets described preset security sinking speed according to described current flight height.
6. unmanned vehicle according to claim 1 landing-gear safely and fast, it is characterized in that: described unmanned vehicle also comprises electric quantity detecting circuit for detecting described unmanned vehicle current residual electricity and for providing the battery of the energy to described unmanned vehicle, described crossing detector circuit is connected with described battery and described flight controller respectively, and described flight controller sets described preset security sinking speed according to described current residual electricity.
7. unmanned vehicle according to claim 1 landing-gear safely and fast, it is characterized in that: also comprise remote control equipment, described remote control equipment and described unmanned vehicle have the first duplex communication interface and the second duplex communication interface respectively, described remote control equipment and described unmanned vehicle are by described first duplex communication interface and the second duplex communication interface two-way communication, wherein, described flip flop equipment is arranged on described remote control equipment.
8. unmanned vehicle according to claim 7 landing-gear safely and fast, is characterized in that: described flip flop equipment comprises shortcut and/or the physical button that the described unmanned vehicle of triggering performs landing mode safely and fast.
9. a unmanned vehicle landing method safely and fast, comprises the following steps:
Trigger the instruction that described unmanned vehicle performs landing mode safely and fast;
After receiving described instruction, read the preset security rapid descent speed stored;
According to described preset security rapid descent speed, control the landing of described unmanned vehicle;
Regulate the velocity of rotation of the rotor of described unmanned vehicle;
Judge whether described unmanned vehicle drops to predeterminated position;
If do not drop to described predeterminated position, then continue the landing of unmanned vehicle according to described preset security rapid descent speeds control;
If dropped to described predeterminated position, terminate this descent.
10. unmanned vehicle according to claim 9 landing method safely and fast, it is characterized in that: described according to described preset security rapid descent speed, control the step of the landing of described unmanned vehicle, be specially the described unmanned vehicle of control and adopt the mode of turning back to land.
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