CN106249664A - A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety - Google Patents
A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety Download PDFInfo
- Publication number
- CN106249664A CN106249664A CN201610833926.8A CN201610833926A CN106249664A CN 106249664 A CN106249664 A CN 106249664A CN 201610833926 A CN201610833926 A CN 201610833926A CN 106249664 A CN106249664 A CN 106249664A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- output
- automatic pilot
- chip
- safety
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The disclosure is directed to a kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety.Including: gather the throttle signal of automatic pilot output and the high level pwm value of umbrella signal as normal output；When baroceptor collects the height of unmanned plane less than preset height value, STM32 chip output pwm signal, controls throttle steering wheel and steering wheel output in umbrella cabin carries out receiving throttle and parachute-opening action respectively.The disclosure uses the mode that safety is lengthy and jumbled to solve unmanned plane safety issue, greatly reduces cost, it is achieved that low side unmanned plane can also use the lengthy and jumbled device of safety to protect aircraft；Have employed three baroceptors (MS5611) and carry out the collection of signal, prevent signal error, improve precision, more can guarantee that the safety of unmanned plane.
Description
Technical field
It relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned plane automatic pilot lengthy and jumbled method of safety and dress
Put.
Background technology
Along with the development of science and technology, unmanned air vehicle technique has obtained great development, and unmanned air vehicle technique also begins to be applied to each
Field.Meanwhile, unmanned air vehicle technique also advances quickly, and various new technology occur and are progressively applied on unmanned plane.
Currently there are some lengthy and jumbled devices of safety.It is pre-that principle substantially uses double automatic pilot to carry out safety
Anti-, high accuracy unmanned plane or the large-scale model plane of typically all more than 1,000,000 yuan just can be used, not on common unmanned plane
Apply.Additionally, the price of double automatic pilots own is the highest, uses time major function simply switches over, be not
Secure context is carried out more multi-functional interpolation.
Summary of the invention
For overcoming problem present in correlation technique, disclosure embodiment provides a kind of unmanned plane automatic pilot safety the most superfluous
Miscellaneous method and device.
First aspect according to disclosure embodiment, it is provided that a kind of unmanned plane automatic pilot lengthy and jumbled method of safety, including:
Gather the throttle signal of automatic pilot output and the high level pwm value of umbrella signal as normal output；
When baroceptor collects the height of unmanned plane less than preset height value, STM32 chip output pwm signal,
Control throttle steering wheel and steering wheel output in umbrella cabin carries out receiving throttle and parachute-opening action respectively.
Described method also includes:
Drive the roll channel startup on passage or automatic pilot by self-driving/hands on remote controller or closedown unmanned plane is automatic
The pilot lengthy and jumbled operation of safety.
Described method also includes:
Described STM32 chip obtains the high level bandwidth value of the roll channel gathering receiver channel and automatic pilot,
Judge that the high level bandwidth value of two described passages, whether at 0.8-1.2ms, is pacified if it is, start unmanned plane automatic pilot
Complete lengthy and jumbled operation.
Described method also includes:
Described STM32 chip gathers the atmospheric pressure value of baroceptor respectively, calculates described unmanned plane distance ground simultaneously
Highly；
When determining the height value from chip gathers less than preset height value, send parachute-opening order to master chip.
Described method also includes:
Described baroceptor and STM32 chip are respectively three；
After master chip receives the parachute-opening order that the transmission of STM32 chip comes, it may be judged whether have 2 and above STM32 chip
Send parachute-opening order, if it is, master chip output pwm signal, control throttle steering wheel and steering wheel output in umbrella cabin is received respectively
Throttle and parachute-opening action.
Described method also includes:
Time and total activity duration of each sortie operation of unmanned plane are stored in flash memory Flash, at display screen
Select on curtain to show single sortie or total sortie and time.
Another aspect according to disclosure embodiment, it is provided that a kind of unmanned plane automatic pilot lengthy and jumbled device of safety, including:
STM32 chip, baroceptor and master chip；
Described STM32 chip, for gathering throttle signal and the high level pwm value of umbrella signal of automatic pilot output
As normal output；Receive the value of the unmanned plane height that described baroceptor sends；
Described baroceptor, for gathering the height value of unmanned plane；
Described master chip, for the pwm signal according to the output of STM32 chip, controls throttle steering wheel and the output of umbrella cabin steering wheel
Carry out respectively receiving throttle and parachute-opening action.
Described STM32 chip is additionally operable to:
Obtain the high level bandwidth value of the roll channel gathering receiver channel and automatic pilot, it is judged that two described logical
Whether the high level bandwidth value in road is at 0.8-1.2ms, if it is, start the lengthy and jumbled operation of safety of unmanned plane automatic pilot.
Described baroceptor and STM32 chip are respectively three；
After described master chip receives the parachute-opening order that the transmission of STM32 chip comes, it may be judged whether have 2 and above STM32
Chip sends parachute-opening order, if it is, master chip output pwm signal, controls throttle steering wheel and steering wheel output in umbrella cabin is entered respectively
Row receives throttle and parachute-opening action.
Described device also includes:
Flash memory Flash, asks, with at display screen in time storing the time of each sortie operation of unmanned plane and total operation
Select on curtain to show single sortie or total sortie and time.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
The disclosure uses the mode that safety is lengthy and jumbled to solve unmanned plane safety issue, greatly reduces cost, it is achieved that
Low side unmanned plane can also use the lengthy and jumbled device of safety to protect aircraft；The disclosure have employed three baroceptors (MS5611)
Carry out the collection of signal, prevent signal error, improve precision, more can guarantee that the safety of unmanned plane；Pass through
W25Q64Flash flash chip, stores time and total activity duration of each sortie operation, conveniently flies aircraft
The row time is added up.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1 is according to a kind of unmanned plane automatic pilot lengthy and jumbled Method And Principle flow process of safety shown in an exemplary embodiment
Figure.
Fig. 2 is according to a kind of unmanned plane automatic pilot safety lengthy and jumbled apparatus structure signal shown in an exemplary embodiment
Figure.
Fig. 3 is according to a kind of unmanned plane automatic pilot lengthy and jumbled device key component of safety shown in an exemplary embodiment
Circuit structure diagram.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1 is according to a kind of unmanned plane automatic pilot lengthy and jumbled Method And Principle flow process of safety shown in an exemplary embodiment
Figure, including:
Step 11, gathers the throttle signal of automatic pilot output and the high level pwm value of umbrella signal as the most defeated
Go out.
In the present embodiment, device lengthy and jumbled to safety flies under carrying out problem state and judges the most accurately, sentencing
The when of determining, whether the environment residing for aircraft should be judged, it is ensured that aircraft can land without the carrying out of wound.
Such as, if the height residing for unmanned plane is already below preset height, but the speed that aircraft is now can not
Carry out parachute-opening landing, if parachute-opening by force, it is likely that would cause fractureing of tail pipe；If unmanned plane location is too
Far, it is impossible to land according to its jump area local environment voluntarily.
The present embodiment is pure electrical type, and without complicated frame for movement, the lengthy and jumbled device of whole safety is integrally fixed at autopilot
Below, more reliable and more stable than frame for movement in terms of reliability.Additionally, the drive end of this panel is galvanically isolated with load end
, the Electro Magnetic Compatibility of system can be improved.
In one embodiment, throttle signal and the high level pwm value conduct of umbrella signal of automatic pilot output are gathered
Normal output.The switch of roll channel co-controlling mode of operation in passage and autopilot is driven by self-driving/hands on remote controller,
Gather atmospheric pressure value by baroceptor MS5611 and calculate height above sea level angle value.
Step 12, when baroceptor collects the height of unmanned plane less than preset height value, STM32 chip exports
Pwm signal, controls throttle steering wheel and steering wheel output in umbrella cabin carries out receiving throttle and parachute-opening action respectively.
In the present embodiment, the high level pwm value of throttle signal and umbrella signal that STM32 chip gathers autopilot output is made
For normal output；When the height collecting aircraft from three baroceptors (MS5611) is less than preset height value, STM32 core
Sheet output pwm signal can control throttle steering wheel immediately and steering wheel output in umbrella cabin carries out receiving throttle and parachute-opening action respectively.
The present embodiment is on the basis of the safety measure of unmanned plane self autopilot, and the one that is additionally provided is simple and convenient to be had
The unmanned plane lengthy and jumbled device of safety of effect, this device is mainly driven on passage and automatic pilot by the self-driving/hands with receiver
Roll channel exports the PWM pulsewidth of safety device to control the switch of mode of operation；STM32 chip gathers autopilot output
The high level pwm value of throttle signal and umbrella signal is as normal output；Three baroceptors (MS5611) collect aircraft
Time highly less than preset height value, STM32 chip output pwm signal can control throttle steering wheel and the output point of umbrella cabin steering wheel immediately
Do not carry out receiving throttle and parachute-opening action.
Specifically, three STM32 start to gather the height of the roll channel of 3 passages of receiver RC and autopilot from chip
Level band width values, it is judged that whether the high level bandwidth value of two passages is at 0.8-1.2ms.If it is, represent and open Working mould
Formula, the most open-minded.
In the operational mode, three STM32 gather the atmospheric pressure value of three baroceptors (MS5611) respectively from chip, with
Time computed range ground height, it is judged that three height values from chip gathers less than preset height value (80 meters), if it has,
Then send parachute-opening order to master chip.
Master chip receives and sends, from chip, the parachute-opening order of coming, and determines whether 2 tunnels and above have parachute-opening order, as
Fruit has, then master chip output pwm signal controls throttle steering wheel immediately and steering wheel output in umbrella cabin carries out receiving throttle respectively and parachute-opening is moved
Make.
Specifically, the present embodiment will be by will write in W25Q64Flash the time, it is possible to each sortie operation time
Between and (aircraft flight height is time initial time higher than specified altitude assignment, and flying height is less than referring to for the second time total activity duration
Fixed height be end time) storage is in W25Q64Flash, it is also possible to select on LCD Panel the single sortie of display or
Sortie that person is total and time, it is simple to aircraft flying time is done a statistics.
The present embodiment is hybrid power supply, by relevant integrated chip voltage, meets distinct device demand, and electric power system uses
Redundancy Design, thus reduce cost, increase reliability.
Further, as in figure 2 it is shown, be according to a kind of unmanned plane automatic pilot safety shown in an exemplary embodiment
Lengthy and jumbled apparatus structure schematic diagram, including,
STM32 chip 21, baroceptor 22 and master chip 23；
Described STM32 chip 21, for gathering throttle signal and the high level pulsewidth of umbrella signal of automatic pilot output
Value is as normal output；Receive the value of the unmanned plane height that described baroceptor 22 sends；
Described baroceptor 22, for gathering the height value of unmanned plane；
Described master chip 23, for the pwm signal according to STM32 chip 21 output, controls throttle steering wheel and umbrella cabin steering wheel
Output carries out receiving throttle and parachute-opening action respectively.
Concrete, STM32 chip 21 is additionally operable to:
Obtain the high level bandwidth value of the roll channel gathering receiver channel and automatic pilot, it is judged that two described logical
Whether the high level bandwidth value in road is at 0.8-1.2ms, if it is, start the lengthy and jumbled operation of safety of unmanned plane automatic pilot.
Further, baroceptor 22 and STM32 chip 21 is respectively three；
Described master chip 23 receive STM32 chip 21 send come parachute-opening order after, it may be judged whether have 2 and more than
STM32 chip sends parachute-opening order, if it is, master chip output pwm signal, controls throttle steering wheel and the output point of umbrella cabin steering wheel
Do not carry out receiving throttle and parachute-opening action.
Further, said apparatus also includes:
Flash memory Flash24, for storing the time of each sortie operation of unmanned plane and total activity duration, with in display
Select on screen to show single sortie or total sortie and time.
Further, as it is shown on figure 3, be to pacify according to the another kind of unmanned plane automatic pilot shown in an exemplary embodiment
Complete lengthy and jumbled device circuit structure chart, wherein,
Voltage transformation module, rs 232 serial interface signal transceiver module, relay module, main chip module, detection mould can be included
Block and flash memory module, specific as follows:
Fig. 3 a is voltage transformation module in the present embodiment, and the input voltage of 7 to 15V can be converted to 5.4V, 3A output,
5.4V input is converted to the voltage transformation module of 3.3V, 1A output.Displayed whether confession by D2 diode display lamp simultaneously
Piezoelectric voltage.
Fig. 3 b is rs 232 serial interface signal transceiver module in the present embodiment, can receive and dispatch the rs 232 serial interface signal of RS-232, with unmanned plane
Inside can directly carry out signal communication, and wherein V3.3VM is Fig. 3 a) add pull-up resistor inside voltage transformation module
3.3V output voltage；
Fig. 3 c is the present embodiment repeat circuit module, does not export control signal at master chip and is always STM32 chip
Gather the throttle signal of autopilot output and the high level pwm value of umbrella signal as normal output；Master chip output control
Signal controls throttle steering wheel the most immediately and steering wheel output in umbrella cabin carries out receiving throttle and parachute-opening action respectively.
Fig. 3 d is main chip module in the present embodiment, and its external clock is made consistent with from chip by PX-8m chip；
PB13, PB12 gather 3 passages of receiver RC and the high level bandwidth value of the roll channel of autopilot respectively, it is judged that two passages
High level bandwidth value whether at 0.8-1.2ms, if it is, output PWM_1, PWM_2；PA02, PA03 connect from chip 1
RS-232 signal (USART12_RX, USART12_TX), PB10, PB11 connect the RS-232 signal (USART22_ from chip 2
RX, USART22_TX), PC10, PC11 connect the RS-232 signal (USART32_RX, USART32_TX) from chip 3, by connecing
Sent, by from chip, the parachute-opening order of coming, and determine whether 2 tunnels and above have parachute-opening order, if it has, then master chip is defeated
Go out control signal, make PWM_1, PWM_2 replace PWM_IN1, PWM_IN2.
Fig. 3 e is detection module in the present embodiment, and it is made up of three baroceptors (MS5611), three air pressure transmissions
Sensor is communicated from chip with corresponding respectively by IIC, the atmospheric pressure value that Real-time Feedback sensor obtains.
Fig. 3 f is flash memory module in the present embodiment, it be by W25Q64Flash chip and the PB04 of master chip, PB05,
PB06, PB07 are attached, and use the internal clocking of master chip.
In sum, in each embodiment of the disclosure, the mode using safety lengthy and jumbled solves unmanned plane safety issue, greatly
The earth reduces cost, it is achieved that low side unmanned plane can also use the lengthy and jumbled device of safety to protect aircraft；The disclosure have employed
Three baroceptors (MS5611) carry out the collection of signal, prevent signal error, improve precision, more can guarantee that unmanned
The safety of machine；By W25Q64Flash flash chip, under time of each sortie operation and the storage of total activity duration
Come, conveniently aircraft flying time is added up.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. the unmanned plane automatic pilot lengthy and jumbled method of safety, it is characterised in that including:
Gather the throttle signal of automatic pilot output and the high level pwm value of umbrella signal as normal output；
When baroceptor collects the height of unmanned plane less than preset height value, STM32 chip output pwm signal, control
Throttle steering wheel and the output of umbrella cabin steering wheel carry out receiving throttle and parachute-opening action respectively.
Method the most according to claim 1, it is characterised in that described method also includes:
Drive the roll channel on passage or automatic pilot by self-driving/hands on remote controller start or close unmanned plane automatic Pilot
The instrument lengthy and jumbled operation of safety.
Method the most according to claim 1 and 2, it is characterised in that described method also includes:
Described STM32 chip obtains the high level bandwidth value of the roll channel gathering receiver channel and automatic pilot, it is judged that
Whether the high level bandwidth value of two described passages is at 0.8-1.2ms, if it is, it is superfluous to start unmanned plane automatic pilot safety
Miscellaneous operation.
Method the most according to claim 1 and 2, it is characterised in that described method also includes:
Described STM32 chip gathers the atmospheric pressure value of baroceptor respectively, calculates the height on described unmanned plane distance ground simultaneously；
When determining the height value from chip gathers less than preset height value, send parachute-opening order to master chip.
Method the most according to claim 4, it is characterised in that described method also includes:
Described baroceptor and STM32 chip are respectively three；
After master chip receives the parachute-opening order that the transmission of STM32 chip comes, it may be judged whether have 2 and the transmission of above STM32 chip
Parachute-opening order, if it is, master chip output pwm signal, controls throttle steering wheel and steering wheel output in umbrella cabin carries out receiving throttle respectively
With parachute-opening action.
Method the most according to claim 1, it is characterised in that described method also includes:
Time and total activity duration of each sortie operation of unmanned plane are stored in flash memory Flash, on the display screen
Select to show single sortie or total sortie and time.
7. the unmanned plane automatic pilot lengthy and jumbled device of safety, it is characterised in that including:
STM32 chip, baroceptor and master chip；
Described STM32 chip, for gathering throttle signal and the high level pwm value conduct of umbrella signal of automatic pilot output
Normal output；Receive the value of the unmanned plane height that described baroceptor sends；
Described baroceptor, for gathering the height value of unmanned plane；
Described master chip, for the pwm signal according to the output of STM32 chip, controls throttle steering wheel and umbrella cabin steering wheel output difference
Carry out receiving throttle and parachute-opening action.
Device the most according to claim 7, it is characterised in that described STM32 chip is additionally operable to:
Obtain the high level bandwidth value of the roll channel gathering receiver channel and automatic pilot, it is judged that two described passages
Whether high level bandwidth value is at 0.8-1.2ms, if it is, start the lengthy and jumbled operation of safety of unmanned plane automatic pilot.
9. according to the device described in claim 7 or 8, it is characterised in that described baroceptor and STM32 chip are respectively three
Individual；
After described master chip receives the parachute-opening order that the transmission of STM32 chip comes, it may be judged whether have 2 and above STM32 chip
Send parachute-opening order, if it is, master chip output pwm signal, control throttle steering wheel and steering wheel output in umbrella cabin is received respectively
Throttle and parachute-opening action.
Device the most according to claim 7, it is characterised in that described device also includes:
Flash memory Flash, for storing the time of each sortie operation of unmanned plane and total activity duration, with on the display screen
Select to show single sortie or total sortie and time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833926.8A CN106249664A (en) | 2016-09-20 | 2016-09-20 | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833926.8A CN106249664A (en) | 2016-09-20 | 2016-09-20 | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106249664A true CN106249664A (en) | 2016-12-21 |
Family
ID=57599868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610833926.8A Pending CN106249664A (en) | 2016-09-20 | 2016-09-20 | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106249664A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| CN111806702A (en) * | 2020-06-30 | 2020-10-23 | 鑫喆喆 | Parachute jumping mechanism pop-up platform and method based on signal detection |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104182304A (en) * | 2014-08-12 | 2014-12-03 | 西北工业大学 | Universal multi-mode redundant pico/nano satellite on-board computer system |
| US20150073624A1 (en) * | 2013-09-12 | 2015-03-12 | Fuji Jukogyo Kabushiki Kaisha | Flight control system for unmanned aerial vehicle |
| CN105302043A (en) * | 2015-11-17 | 2016-02-03 | 辽宁天行健航空科技有限公司 | Safety control system and control method of unmanned plane |
| CN105912015A (en) * | 2016-03-31 | 2016-08-31 | 成都纵横自动化技术有限公司 | Composite wing unmanned plane automatic pilot and control method employed by composite wing unmanned plane automatic pilot |
| CN205563189U (en) * | 2016-04-05 | 2016-09-07 | 哈尔滨伟方智能科技开发有限责任公司 | Unmanned aerial vehicle flight controller |
-
2016
- 2016-09-20 CN CN201610833926.8A patent/CN106249664A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150073624A1 (en) * | 2013-09-12 | 2015-03-12 | Fuji Jukogyo Kabushiki Kaisha | Flight control system for unmanned aerial vehicle |
| CN104182304A (en) * | 2014-08-12 | 2014-12-03 | 西北工业大学 | Universal multi-mode redundant pico/nano satellite on-board computer system |
| CN105302043A (en) * | 2015-11-17 | 2016-02-03 | 辽宁天行健航空科技有限公司 | Safety control system and control method of unmanned plane |
| CN105912015A (en) * | 2016-03-31 | 2016-08-31 | 成都纵横自动化技术有限公司 | Composite wing unmanned plane automatic pilot and control method employed by composite wing unmanned plane automatic pilot |
| CN205563189U (en) * | 2016-04-05 | 2016-09-07 | 哈尔滨伟方智能科技开发有限责任公司 | Unmanned aerial vehicle flight controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| CN111806702A (en) * | 2020-06-30 | 2020-10-23 | 鑫喆喆 | Parachute jumping mechanism pop-up platform and method based on signal detection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103838152B (en) | A kind of ground test device for flight control system and control method | |
| CN104656665B (en) | A kind of general avoidance module of new unmanned plane and step | |
| CN104166355B (en) | Electronic unmanned plane and its intelligent power guard method | |
| CN106598074B (en) | Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane | |
| CN106494612B (en) | Improve the method and unmanned plane patrol system of rotor craft autonomous flight stability | |
| CN103770943B (en) | A kind of Intelligent pesticide application unmanned helicopter | |
| CN107776574A (en) | A kind of driving model switching method and apparatus of automatic driving vehicle | |
| CN105222807A (en) | A kind of rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration | |
| CN105334861A (en) | Unmanned plane flight control module, unmanned plane flight control system and unmanned plane | |
| KR102323935B1 (en) | Ultra Wide Band-based Aircraft landing guidance device and its method | |
| CN106017952B (en) | A kind of locomotive wirelessly weighs joint-trial experiment device | |
| CN106125755A (en) | The atmospheric boundary layer environment Autonomous Exploration of a kind of unmanned plane and control method thereof | |
| CN106249664A (en) | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety | |
| CN110162076A (en) | A kind of contact net fully-automatic intelligent cruising inspection system and method for inspecting based on unmanned plane | |
| CN113721479A (en) | Unmanned aerial vehicle simulation training system | |
| CN107402568A (en) | A kind of general remote controller configuration and application method and system suitable for unmanned boat | |
| CN206757405U (en) | Unmanned plane high-tension cable automatic running on transmisson line system | |
| CN112650280A (en) | High-altitude spectrum unmanned aerial vehicle acquisition control system | |
| CN107272729B (en) | Unmanned aerial vehicle system of cruising based on router | |
| CN104066250B (en) | A kind of control method of aircraft intelligence boat lamp | |
| CN104317304A (en) | Microwave guide based fixed-wing unmanned aerial vehicle autonomous landing control device and method | |
| CN112416020A (en) | Multispectral unmanned aerial vehicle acquisition control system | |
| CN205620816U (en) | Unmanned helicopter flight control system | |
| CN109425914B (en) | Remove meteorological station and use this intelligence jettison device who removes meteorological station | |
| CN105955211A (en) | Rotor unmanned aerial vehicle control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161221 |
|
| RJ01 | Rejection of invention patent application after publication |