CN106218903A - Flight control method and aircraft - Google Patents
Flight control method and aircraft Download PDFInfo
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- CN106218903A CN106218903A CN201610801657.7A CN201610801657A CN106218903A CN 106218903 A CN106218903 A CN 106218903A CN 201610801657 A CN201610801657 A CN 201610801657A CN 106218903 A CN106218903 A CN 106218903A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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Abstract
A kind of flight control method and aircraft; described flight control method is applied to include master control system, engine off control system and the aircraft of flight dynamic devices, said method comprising the steps of: controls described flight dynamic devices by described master control system and works；The emergency shutdown instruction controlling terminal or the transmission of described master control system is received by the engine off control system in described aircraft；And, the work of described flight dynamic devices is stopped according to the instruction of described emergency shutdown.Above-mentioned flight control method and aircraft; the work of flight dynamic devices is directly stopped by described engine off control system; use the operational means of complexity that aircraft carries out operation without user and control the shutdown of aircraft automatic emergency, thus improve the efficiency that flight controls.
Description
Technical field
The present invention relates to vehicle technology field, particularly relate to a kind of flight control method and aircraft.
Background technology
Aircraft, in flight course, due to external environment, user operation, the impact of system instability itself, can exist
Certain probability enters out of control or error condition.In conventional art, when aircraft enters out of control or error condition, the most logical
Cross user's more complicated operation of execution to realize aircraft is carried out error correction, cause under control efficiency.When user cannot
When success carries out error correction to aircraft, the uncontrollable behavior of aircraft brings danger may to surrounding enviroment and personal safety
Evil.
Summary of the invention
Based on this, it is necessary to for above-mentioned technical problem, it is provided that a kind of flight control method and aircraft, improve flight
The efficiency controlled.
A kind of flight control method, is applied to include master control system, engine off control system and flight dynamic devices
Aircraft, said method comprising the steps of:
Control described flight dynamic devices by described master control system to work；
Received by engine off control system in described aircraft and control terminal or that described master control system sends is urgent
Halt instruction；And,
The work of described flight dynamic devices is stopped according to the instruction of described emergency shutdown.
In one embodiment, the described step bag being controlled the work of described flight dynamic devices by described master control system
Include:
By described master control system to receive, via the first wireless communication link, the control information that described control terminal sends, and
The work of described flight dynamic devices is controlled according to described control information；
The described engine off control system by described aircraft receives and controls terminal or described master control system sends
The step of emergency shutdown instruction includes:
By the engine off control system in described aircraft to receive described control terminal via the second wireless communication link
The emergency shutdown instruction sent；Wherein, described first wireless communication link is separate with described second wireless communication link.
In one embodiment, by described master control system control described flight dynamic devices work step it
Before, described method also includes:
By described engine off control system start-up self-inspection；
If self-detection result is normal, then by described engine off control system to described control terminal or described control terminal
Send with described master control system and represent the normal self-detection result of self-inspection, make described control terminal or described control terminal and institute
State master control system and represent that self-inspection triggers the instruction of described emergency shutdown under the conditions of normal at described self-detection result.
In one embodiment, described method also includes:
Stopping is sent according to the emergency shutdown instruction received to described master control system by described engine off control system
Execution control task instructs, and makes described master control system refusal perform the control task that described control terminal sends.
In one embodiment, described according to described emergency shutdown instruction stop described flight dynamic devices work it
After, described method also includes:
Send starting protection by described engine off control system to the protection system of described aircraft to instruct so that described guarantor
Protecting system performs protection task.
In one embodiment, described protection task includes: cuts off the power supply of aircraft or opens the guarantor of described aircraft
One or both in protection unit.
In one embodiment, described protection device includes parachute or aerating gasbag.
A kind of aircraft, it is characterised in that including: master control system, engine off control system and flight dynamic devices；
Described master control system is connected with described flight dynamic devices, is used for controlling the work of described flight dynamic devices；
Described engine off control system is connected with described master control system and described flight dynamic devices, is used for receiving control eventually
The emergency shutdown instruction that end or described master control system send；And, stop described flight according to the instruction of described emergency shutdown and move
The work of power apparatus.
In one embodiment, described master control system is additionally operable to receive described control eventually by the first wireless communication link
The control information that end sends, and control the work of described flight dynamic devices according to described control information；
Described engine off control system is additionally operable to receive the urgent of described control terminal transmission by the second wireless communication link
Halt instruction；Wherein, described first wireless communication link is separate with described second wireless communication link.
In one embodiment, described engine off control system is additionally operable to start self-inspection；If self-detection result is normal, then
Send to described control terminal or described control terminal and described master control system and represent the normal self-detection result of self-inspection, make institute
State control terminal or described control terminal and described master control system and represent that self-inspection is touched under the conditions of normal at described self-detection result
Instruction of sending out emergency shutdown described.
In one embodiment, described engine off control system is additionally operable to: according to receive emergency shutdown instruction to
Described master control system sends and stops performing control task instruction, makes described master control system refusal perform described control terminal and sends out
The control task sent.
In one embodiment, described aircraft also includes the protection system being connected with described engine off control system；
Described engine off control system is additionally operable to send starting protection according to the instruction of described emergency shutdown to described protection system
Instruction；
Described protection system is additionally operable to receive the instruction of described starting protection；Protection task is performed according to the instruction of described starting protection.
In one embodiment, the protection task that described protection system performs includes: cuts off the power supply of aircraft or opens
One or both in the protection device of described aircraft.
In one embodiment, described protection device includes parachute or aerating gasbag.
The flight control method of present invention offer and aircraft, owing to directly stopping by described engine off control system
The work of flight dynamic devices, it is not necessary to it is the tightest that user uses the operational means of complexity that aircraft carries out operation control aircraft
Jerk machine, thus improve the efficiency that flight controls.
Accompanying drawing explanation
Fig. 1 is the flow chart of flight control method in one embodiment of the invention；
Fig. 2 is in one embodiment of the invention, in the step being controlled the work of described flight dynamic devices by described master control system
Before Zhou, the flow chart of the flight control method also included startup self-inspection step in Fig. 1；
Fig. 3 is the structural representation of aircraft in one embodiment of the invention；
Fig. 4 is the structural representation of aircraft in another embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples pair
Flight control method and the aircraft of the present invention are further elaborated.The flight control method that the present invention provides, application
In including master control system, engine off control system and the aircraft of flight dynamic devices.Should be appreciated that described herein
Specific embodiment only in order to explain the present invention, is not intended to limit the present invention.
As it is shown in figure 1, be a kind of flight control method in one embodiment of the invention, it is applied to include main control system
System, engine off control system and the aircraft of flight dynamic devices, said method comprising the steps of:
S102, controls flight dynamic devices by master control system and works.
Master control system is connected with flight dynamic devices, and is arranged in aircraft.Master control system passes through wireless link
Receive and control the control information that terminal sends, and according to control information, flight dynamic devices is controlled.Master control system is also
Can be connected with multiple sensors, be recorded the state of flight information of aircraft by multiple sensors, and the flight shape obtained
State information is sent to control terminal.User can obtain the state of flight information of aircraft by controlling terminal, according to flight shape
State information judges, and is controlled aircraft by controlling terminal.Master control system can be straight with flight dynamic devices
Connect electrical connection, thus realize communication.Can have single communication link between master control system and control terminal, this is single
Communication link can be various communication, is not limited to WIFI or satellite communication network.
S104, is received by engine off control system in aircraft and controls terminal or that master control system sends is urgent
Halt instruction；And, the work of flight dynamic devices is stopped according to emergency shutdown instruction.
Engine off control system communicates with realization with flight dynamic devices electrical connection.Engine off control system receives tight
Anxious halt instruction, and the work of flight dynamic devices is stopped according to emergency shutdown instruction.Wherein, flight dynamic devices work is stopped
Can be off providing power to propeller or closing the power supply of flight dynamic devices.Such as, the spiral shell in flight dynamic devices
Rotation oar high speed rotating under aircraft duty, after engine off control system receives emergency shutdown instruction, just basis
Emergency shutdown instruction stops power output immediately, stops propeller rotational.Emergency shutdown instruction can be sent by master control system
To engine off control system, or it is sent to engine off control system by controlling terminal.Such as, the user discover that aircraft enters
Enter the state of emergency, when needing to close propeller power, instruct to engine off control system by controlling terminal transmission emergency shutdown
System.Or, aircraft flight state labile, the aircraft state information that master control system obtains meets master control system to be preset
Start send emergency shutdown instruction condition time, master control system can from trend engine off control system send emergency shutdown
Instruction.
It is appreciated that the aircraft state information meeting emergency shutdown instruction transmission condition can preset and be stored in
In master control system.As master control system detects that the Inertial Measurement Unit data of aircraft are substantially abnormal, acceleration or rotation
Angular velocity exceedes certain threshold value, or aircraft electrical is adjusted abnormal, and the biggest electric current of motor operates, then master control system judges current
Situation belongs to critical state, and master control system can send emergency shutdown instruction to engine off control system.
Being appreciated that engine off control system and control can have single communication link between terminal, this is independent
Communication link can be various communication, be not limited to WIFI or satellite communication network.
The flight control method of the present embodiment, owing to directly stopping flight dynamic devices by engine off control system
Work, it is not necessary to user use complexity operational means aircraft is carried out operation control aircraft automatic emergency just can be made to shut down,
Thus improve the efficiency that flight controls.
In one embodiment, included by the step of master control system control flight dynamic devices work:
Control, to receive via the first wireless communication link, the control information that terminal sends by master control system, and according to control
Information controls flight dynamic devices work；
The emergency shutdown instruction controlling terminal or master control system transmission is received by the engine off control system in aircraft
Step include:
The tight of terminal transmission is controlled to receive via the second wireless communication link by the engine off control system in aircraft
Anxious halt instruction；Wherein, the first wireless communication link and the second wireless communication link are separate.
In the present embodiment, master control system and engine off control system are respectively adopted single wireless communication link and control
Terminal processed realizes communication.As, the first wireless communication link can use 5.8G wireless channel, the second wireless communication link to adopt
Use 2.4G wireless channel.Engine off control system and the wireless communication link controlled between terminal are independent, thus ensure
Engine off control system and the communication controlling terminal, and the communication of master control system and control terminal do not influences each other.?
Under the state that first wireless communication link lost efficacy, control terminal and still can pass through the second wireless communication link road direction emergency shutdown control
System processed sends emergency shutdown instruction so that engine off control system stops flight dynamic devices according to emergency shutdown instruction
Work.Thus avoiding in the case of master control system is out of order, aircraft cannot realize emergency shutdown so that fly
Device is out of control brings harm to surrounding enviroment and personal safety.
In one embodiment, flight control method also includes: tight according to receive by engine off control system
Anxious halt instruction sends to master control system and stops performing control task instruction, makes master control system refusal perform to control terminal and sends out
The control task sent.
In the present embodiment, engine off control system can send to master control system after receiving emergency shutdown instruction
Stop performing control task instruction, make master control system refusal perform to control the control task that terminal sends.Thus avoid tightly
After anxious shutdown control system stops flight dynamic devices work, master control system continues according to the control task controlling terminal transmission
Continue maloperation flight dynamic devices being controlled and cause.
It is appreciated that and flight dynamic devices will not be controlled in order to ensure master control system after emergency shutdown.Promptly
Shutdown control system, after receiving the emergency shutdown instruction controlling terminal transmission, first can send stopping to master control system and hold
Row control task instructs so that described master control system enters failure state.The i.e. priority of engine off control system is higher than
Master control system, once user terminal sends emergency shutdown instruction, and master control system will be unable to control aircraft, thus avoids
The manipulation instruction that during work of engine off control system, master control system sends affects aircraft.
Refer to Fig. 2, in one embodiment, by master control system control flight dynamic devices work step it
Before, flight control method also includes:
S202, by engine off control system start-up self-inspection.
Self-inspection can be carried out in the aircraft standby for takeoff stage, say, that opening aircraft flight switch when,
First pass through engine off control system start-up self-inspection.Emergency shutdown control can be detected by engine off control system start-up self-inspection
The communication link of system processed is the most normal, and emergency stop function is the most normal.In one embodiment, emergency shutdown is passed through
Control system starts the step of self-inspection and comprises the following steps: second between detection emergency stop function and control terminal is wireless
Communication link and and master control system between communication the most normal；If then self-detection result is normal.
S204, if self-detection result is normal, then by engine off control system to controlling terminal or controlling terminal and master
Control system sends and represents the normal self-detection result of self-inspection, makes control terminal or controls terminal and master control system at self-inspection knot
Fruit represents that self-inspection triggers emergency shutdown instruction under the conditions of normal.
After engine off control system start-up self-inspection, if self-detection result is normal, engine off control system is to controlling terminal
Send and represent the normal self-detection result of self-inspection, control terminal and can demonstrate that self-detection result is normal, so that user is known tightly
Anxious shutdown control system can be used.When the user discover that aircraft enters the state of emergency, the second wireless communication link just can be passed through
Send emergency shutdown instruction to engine off control system, control engine off control system and stop the work of flight dynamic devices
Make.
After engine off control system start-up self-inspection, if self-detection result is normal, engine off control system can also be to control
Terminal processed and master control system all send the expression normal self-detection result of self-inspection.Master control system is preset with triggering and promptly stops
The condition of machine instruction, this condition is exactly that self-detection result is normal.When master control system obtains what engine off control system sent
When representing the normal self-detection result of self-inspection, master control system opens the authority triggering emergency shutdown instruction.When master control system from
Dynamic judge that the current aircraft state information of aircraft meets emergency shutdown when instructing transmission condition, just from trend emergency shutdown control
System processed sends emergency shutdown instruction.Engine off control system stops the work of flight dynamic devices immediately.Further, main control
System, after sending emergency shutdown instruction to engine off control system, also can be automatically stopped and perform to control the control that terminal sends
Order.It is to say, the instruction of described emergency shutdown sends simultaneously, described master control system enters failure state.I.e. emergency shutdown
The priority of control system is higher than master control system, once sends emergency shutdown instruction, and master control system will be unable to control flight
Device, thus avoid the manipulation instruction that master control system sends when engine off control system works to affect aircraft.
In the present embodiment, by engine off control system start-up self-inspection, and self-detection result is fed back to control terminal or
Control terminal and master control system, it is possible to use family, when starting aircraft, knows that engine off control system is visually
No normally, thus be conducive to improve aircraft control efficiency.
In one embodiment, after stop the work of flight dynamic devices according to emergency shutdown instruction, flight controls
Method farther includes: sends starting protection by engine off control system to the protection system of aircraft and instructs so that protects
Protecting system performs protection task.
Protection task can have multiple, and in one embodiment, protection task can be to cut off aircraft power or beat
Open protection device.Cut off aircraft power and refer to close the systematic supply of electric power of aircraft, thus avoid aircraft to fall
Water causes short circuit to cause the destruction of system.Protection device includes parachute or aerating gasbag, can avoid aircraft high-altitude
Freely falling body high speed is born, and excessive velocities causes breaking carry-on visual plant.It addition, protection task can also is that The Cloud Terrace
Pose adjustment, or adjust camera position.Such as adjustment camera is towards fuselage rather than towards ground, or opens lens protecting cap to hide
Gear camera lens, to protect aircraft vitals, reduces be subject to because of physical shock badly damaged to a certain extent.
In the present embodiment, after stopping flight dynamic devices work according to emergency shutdown instruction, the propeller of aircraft stops
Spline is moved, and aircraft runs out of steam and will decline and fall on ground.In order to protect carry-on battery, circuit board, camera
Or other equipment, it is to avoid break because aircraft falls excessive velocities, can be by engine off control system to guarantor
Protecting system sends starting protection instruction so that protection system performs protection task and realizes.
Refer to Fig. 3, one embodiment of the invention, it is provided that a kind of aircraft 300, including master control system 310, promptly stop
Machine control system 320 and flight dynamic devices 330.Master control system 310 is connected with flight dynamic devices 330, flies for control
Action edge device 330 works.Engine off control system 320 is connected with master control system 310 and flight dynamic devices 330, uses
In receiving the emergency shutdown instruction controlling terminal or master control system 310 transmission；And, stop flight according to emergency shutdown instruction
The work of power set 330.
Master control system 310 includes processor, storage medium, internal memory and the network equipment connected by system bus.Main
The storage medium storage of control system 310 has operating system, data base.The processor of master control system 310 is used for providing calculating
And control ability, support the operation of whole aircraft.The operation saving as the software in storage medium in master control system 310 carries
For environment.The network equipment of master control system 310 is connected communication for the control terminal or miscellaneous equipment with outside by network,
Such as receive and control the request of terminal transmission and return data etc. to controlling terminal.
It is appreciated that the aircraft state information meeting emergency shutdown instruction transmission condition can preset and be stored in
In master control system 310.Such as, detect that aircraft state information is substantially abnormal, such as acceleration or rotation such as master control system 310
Tarnsition velocity exceedes certain threshold value, or aircraft electrical is adjusted abnormal, and the biggest electric current of motor operates, then master control system 310 is sentenced
Determining present case and belong to critical state, master control system 310 can send emergency shutdown to engine off control system 330
Instruction.
Engine off control system 320 and master control system 310 can be separate two systems, can between them
Communication is realized, it is also possible to there is different batteries and power to be connected by data wire.Engine off control system 320 can receive
The emergency shutdown instruction that master control system 310 or control terminal send.The structure of engine off control system 320 and main control system
System 310 is similar to.The structure of engine off control system 320 relatively can be simpler with master control system 310, miniaturization.Tightly
Anxious shutdown control system 320 at least includes processor and the network equipment.The processor of engine off control system 320 is used for basis
The emergency shutdown instruction received, controls flight dynamic devices 330 and quits work.The network of engine off control system 320 sets
It is ready for use on communication with the outside world, such as with control terminal wireless communication, receives and control the information of terminal transmission and to controlling eventually
End transmission information.The processor of engine off control system 320 is additionally operable to start self-inspection, and by engine off control system
Self-detection result is sent to control terminal by the network equipment of 320.
Flight dynamic devices 330 includes motor and the propeller being connected with motor.The battery of aircraft 300 gives flight dynamic
When power apparatus 330 is powered, electric machine rotation thus drive propeller rotational, provide flying power to aircraft 300.It is appreciated that
The quantity of motor and propeller can have multiple, and the function according to aircraft 300 is different, can arrange motor and propeller
Quantity.Master control system 310 can receive and control the control instruction that terminal sends, and controls flying power according to control instruction
The work of device 330.As accelerated, turn to or complete the flare maneuver of various complexity.Engine off control system 320 is according to connecing
The emergency shutdown instruction received stops flight dynamic devices 330 and works.Specifically, stop flight dynamic devices 330 work to include
Close propeller power or reduction revolution speed of propeller is zero.
In the present embodiment, owing to engine off control system 320 and master control system 310 are that separate two are
System, such that it is able to directly stop the work of flight dynamic devices 330 by engine off control system 320.Without using complexity
Operational means aircraft 300 is carried out operation control aircraft 300 automatic emergency just can be made to shut down, thus improve flight control
The efficiency of system.
In one embodiment, master control system 310 is additionally operable to be sent out by the first wireless communication link reception control terminal
The control information sent, and work according to control information control flight dynamic devices 330；
Engine off control system 320 is additionally operable to be received by the second wireless communication link the emergency shutdown of control terminal transmission and refers to
Order；Wherein, the first wireless communication link and the second wireless communication link are separate.
In the present embodiment, master control system 310 and engine off control system 320 are respectively adopted single wireless communication link
Road realizes communicating with controlling terminal.Engine off control system 320 and the wireless communication link controlled between terminal are independent,
The communication that can ensure that engine off control system 320 and control terminal, and master control system 310 and the communication controlling terminal
Do not influence each other.Such as, the first wireless communication link can use 5.8G wireless channel, the second wireless communication link to use
2.4G wireless channel.When the first wireless communication link lost efficacy, control terminal and still can pass through the second radio communication
Chain road direction engine off control system 320 sends emergency shutdown instruction, makes engine off control system 320 refer to according to emergency shutdown
Order stops the work of flight dynamic devices 330.Thus avoid in the case of master control system 310 is out of order, aircraft 300
Emergency shutdown cannot be realized so that aircraft 300 is out of control brings harm to surrounding enviroment and personal safety.
In one embodiment, engine off control system 320 is additionally operable to: instruct to master according to the emergency shutdown received
Control system 310 sends and stops performing control task instruction, makes master control system 310 refusal perform to control the control that terminal sends
Task.
It is appreciated that and flight dynamic devices 330 will not be controlled in order to ensure master control system after emergency shutdown 310
System.Engine off control system 320, can be first to master control system after receiving the emergency shutdown instruction controlling terminal transmission
310 send stopping performs control task instruction so that described master control system 310 enters failure state.I.e. engine off control
The priority of system 320 is higher than master control system 310, and once user terminal sends emergency shutdown instruction, and master control system 310 will
Uncontrollable aircraft 300, thus avoid when engine off control system 320 works, the manipulation that master control system 310 sends
Instruction affects aircraft 300.
In the present embodiment, engine off control system 320 can be to master control system after receiving emergency shutdown instruction
310 send stopping performs control task instruction, makes master control system 310 refusal perform the control task that control terminal sends.From
And avoiding after engine off control system 320 stops flight dynamic devices 330 work, it is right that master control system 310 continues
The maloperation that flight dynamic devices 330 is controlled and causes.
In one embodiment, engine off control system 320 is additionally operable to: start self-inspection；If self-detection result is normal, then
To controlling terminal or controlling terminal and master control system 310 and send and represent the normal self-detection result of self-inspection, make control terminal or
Control terminal and master control system 310 and represent that self-inspection triggers emergency shutdown instruction under the conditions of normal at self-detection result.
The processor of engine off control system 320 can start self-inspection, specifically includes: detection emergency stop function and
Control the second wireless communication link between terminal and and master control system 310 between communication the most normal；If then certainly
Inspection result is normal.Self-detection result directly can be sent to master control system by the processor of engine off control system 320
310, it is also possible to be sent to control terminal by self-detection result by the network equipment of engine off control system 320, make control eventually
At self-detection result, end or master control system 310 represent that self-inspection triggers emergency shutdown instruction under the conditions of normal.
In the present embodiment, start self-inspection by engine off control system 320, and self-detection result is fed back to control eventually
End, or control terminal and master control system 310, it is possible to use emergency shutdown control, when starting aircraft, is known visually in family
System 320 processed is the most normal, thus is conducive to improving the control efficiency of aircraft 300.
In one embodiment, aircraft 300 can also include the protection system being connected with engine off control system 320
340.Engine off control system 320 is additionally operable to send starting protection instruction according to emergency shutdown instruction to protection system 340.Protect
Protecting system 340 is used for receiving starting protection instruction, performs protection task according to starting protection instruction.
Protection task can have multiple, and in one embodiment, protection task can be to cut off aircraft power or beat
Open protection device.Cut off aircraft power and refer to close the systematic supply of electric power of aircraft 300, thus avoid aircraft
The 300 overboard destructions causing short circuit to cause system.Protection device includes parachute or aerating gasbag, can avoid aircraft
Free Falling Body in Upper Air high speed is born, and excessive velocities causes the visual plant breaking aircraft 300.It addition, protection task is all right
It is The Cloud Terrace pose adjustment, or adjusts camera position.Such as adjustment camera is towards fuselage rather than towards ground, or opens lens protection
Lid is to block camera lens, to protect aircraft 300 vitals, reduces be subject to because of physical shock serious to a certain extent
Damage.
After stopping flight dynamic devices 330 work according to emergency shutdown instruction, the propeller of aircraft 300 stops turning
Dynamic, aircraft 300 runs out of steam and will decline and fall on ground.In the present embodiment, in order to protect the electricity on aircraft 300
Pond, circuit board, camera or other equipment, it is to avoid break because aircraft 300 falls excessive velocities, can be by urgent
Shutdown control system 320 sends starting protection instruction to protection system 340 so that protection system 340 performs protection task and comes real
Existing.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
The mode crossing other realizes.Such as, device embodiment described above is only illustrative, such as, and described module or unit
Division, be only a kind of logic function and divide, actual can have other dividing mode, the most multiple unit or group when realizing
Part can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown
Or the coupling each other discussed or direct-coupling or communication connection can be indirect by some interfaces, device or unit
Coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated list
Unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, be permissible
Instructing relevant hardware by computer program to complete, described program can be stored in a computer read/write memory medium
In, in the embodiment of the present invention, described program can be stored in the storage medium of computer system, and by described computer system
In at least one processor perform, to realize including the flow process of embodiment such as above-mentioned each method.Wherein, described storage medium
Can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random
Access Memory, RAM) etc..
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (14)
1. a flight control method, is applied to include master control system, engine off control system and flight dynamic devices
Aircraft, said method comprising the steps of:
Control described flight dynamic devices by described master control system to work；
Received by engine off control system in described aircraft and control terminal or that described master control system sends is urgent
Halt instruction；And,
The work of described flight dynamic devices is stopped according to the instruction of described emergency shutdown.
2. flight control method as claimed in claim 1, it is characterised in that described described by the control of described master control system
The step of flight dynamic devices work includes:
By described master control system to receive, via the first wireless communication link, the control information that described control terminal sends, and
The work of described flight dynamic devices is controlled according to described control information；
The described engine off control system by described aircraft receives and controls terminal or described master control system sends
The step of emergency shutdown instruction includes:
By the engine off control system in described aircraft to receive described control terminal via the second wireless communication link
The emergency shutdown instruction sent；Wherein, described first wireless communication link is separate with described second wireless communication link.
3. flight control method as claimed in claim 1 or 2, it is characterised in that controlling institute by described master control system
Before stating the step of flight dynamic devices work, described method also includes:
By described engine off control system start-up self-inspection；
If self-detection result is normal, then by described engine off control system to described control terminal or described control terminal
Send with described master control system and represent the normal self-detection result of self-inspection, make described control terminal or described control terminal and institute
State master control system and represent that self-inspection triggers the instruction of described emergency shutdown under the conditions of normal at described self-detection result.
4. flight control method as claimed in claim 1 or 2, it is characterised in that described method also includes: by described promptly
Shutdown control system sends stopping according to the emergency shutdown instruction received to described master control system and performs control task instruction,
Described master control system refusal is made to perform the control task that described control terminal sends.
5. flight control method as claimed in claim 1, it is characterised in that stop according to the instruction of described emergency shutdown described
After the work of described flight dynamic devices, described method also includes:
Send starting protection by described engine off control system to the protection system of described aircraft to instruct so that described guarantor
Protecting system performs protection task.
6. flight control method as claimed in claim 5, it is characterised in that described protection task includes: cut off aircraft
Power supply or one or both in opening the protection device of described aircraft.
7. flight control method as claimed in claim 6, it is characterised in that described protection device includes parachute or inflating air
Capsule.
8. an aircraft, it is characterised in that including: master control system, engine off control system and flight dynamic devices；
Described master control system is connected with described flight dynamic devices, is used for controlling the work of described flight dynamic devices；
Described engine off control system is connected with described master control system and described flight dynamic devices, is used for receiving control eventually
The emergency shutdown instruction that end or described master control system send；And, stop described flight according to the instruction of described emergency shutdown and move
The work of power apparatus.
Aircraft the most according to claim 8, it is characterised in that described master control system is additionally operable to by the first channel radio
Letter link receives the control information that described control terminal sends, and controls described flight dynamic devices work according to described control information
Make；
Described engine off control system is additionally operable to receive the urgent of described control terminal transmission by the second wireless communication link
Halt instruction；Wherein, described first wireless communication link is separate with described second wireless communication link.
10. aircraft as claimed in claim 8 or 9, it is characterised in that described engine off control system is additionally operable to start certainly
Inspection；If self-detection result is normal, then send to described control terminal or described control terminal and described master control system represent from
Examine normal self-detection result, make described control terminal or described control terminal and described master control system at described self-detection result
Represent that self-inspection triggers the instruction of described emergency shutdown under the conditions of normal.
11. aircraft according to claim 8 or claim 9, it is characterised in that described engine off control system is additionally operable to basis
The emergency shutdown instruction received sends to described master control system and stops performing control task instruction, makes described master control system
Refusal performs the control task that described control terminal sends.
12. aircraft according to claim 8, it is characterised in that described aircraft also includes and described emergency shutdown control
The protection system that system processed connects；
Described engine off control system is additionally operable to send starting protection according to the instruction of described emergency shutdown to described protection system
Instruction；
Described protection system is additionally operable to receive the instruction of described starting protection；Protection task is performed according to the instruction of described starting protection.
13. aircraft as claimed in claim 12, it is characterised in that the protection task that described protection system performs includes: cut
The power supply of disconnected aircraft or one or both in opening the protection device of described aircraft.
14. aircraft according to claim 13, it is characterised in that described protection device includes parachute or inflating air
Capsule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801657.7A CN106218903A (en) | 2016-09-05 | 2016-09-05 | Flight control method and aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610801657.7A CN106218903A (en) | 2016-09-05 | 2016-09-05 | Flight control method and aircraft |
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| CN201610801657.7A Pending CN106218903A (en) | 2016-09-05 | 2016-09-05 | Flight control method and aircraft |
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| CN106873482A (en) * | 2017-01-18 | 2017-06-20 | 清华大学 | Unmanned plane during flying condition monitoring system |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
| WO2019041509A1 (en) * | 2017-08-30 | 2019-03-07 | 深圳市大疆灵眸科技有限公司 | Pan-tilt, pan-tilt system, unmanned aerial vehicle, and unmanned aerial vehicle system |
| CN111324124A (en) * | 2020-03-06 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle remote control method and system and unmanned vehicle |
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Effective date of registration: 20190109 Address after: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Applicant after: Tianjin far Technology Co., Ltd. Address before: 401121 No. 19 Yinglong Avenue, Longxing Street, Yubei, Chongqing Applicant before: Chongqing Zerotech Intelligent Technology Co., Ltd. |
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Application publication date: 20161214 |