CN107000851A - The automatic dead stick control system of unmanned plane, control method and unmanned plane - Google Patents
The automatic dead stick control system of unmanned plane, control method and unmanned plane Download PDFInfo
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- CN107000851A CN107000851A CN201580067157.9A CN201580067157A CN107000851A CN 107000851 A CN107000851 A CN 107000851A CN 201580067157 A CN201580067157 A CN 201580067157A CN 107000851 A CN107000851 A CN 107000851A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plant to propellers or rotors; Arrangements of transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
Abstract
The present invention provides a kind of automatic dead stick control system of unmanned plane and control method, applied in a kind of unmanned plane.The control system includes sensor device and the flight control assemblies electrically connected with the sensor device.The sensor device is used to detect at least one of flight parameter and flight attitude of the unmanned plane.The flight control assemblies are used at least one of described flight parameter and flight attitude detected to the sensor device and analyzed, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.The control system of the present invention can be in the flight of the unmanned plane and removal process, the unmanned plane dead stick triggered according to the abnormal flight parameter of the unmanned plane and/or abnormal flight attitude, it is to avoid unmanned plane transverse shifting during the tenesmus accelerates the situation of tenesmus after even overturning.
Description
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of automatic dead stick control system of unmanned plane, control method and unmanned plane.
Current unmanned plane include fixed-wing unmanned plane and with rotor can VTOL rotor wing unmanned aerial vehicle.For rotor wing unmanned aerial vehicle, typically propeller is driven to rotate by corresponding motor, so that producing different size of pulling force makes unmanned plane take off, fly or land.
Unmanned plane flies the posture for needing to maintain stable in the air, when due to collision obstacle, wind speed are too high or parts failure and other reasons cause UAV Attitude unbalance when, may result in unmanned plane out of control.If now unmanned plane is in visual range, experienced pilot can judge whether unmanned plane can not return to safe flight state by observing the posture, flying speed, flying height of unmanned plane, pass through the urgent dead stick of remote control in the case where that can not recover.But, such a dead stick mode requires unmanned plane in visual range, and require that there are unmanned plane operator rich experiences can carry out abnormal judgement in time, it is also required that remote control is normally connected with unmanned plane, when a failure occurs, if unmanned plane is disconnected with remote control, the urgent dead stick of remote control can not be passed through.
In addition, unmanned plane particularly multi-rotor unmanned aerial vehicle operator for convenience or place can not safe falling when, unmanned plane in-flight can be caught with hand and use remote control control unmanned plane dead stick, then reclaim unmanned plane.Aerial recovery unmanned plane relatively the safe course is two people and operate together at present, and a people with the hands does a good job of it unmanned plane and fix, and another people is responsible for control unmanned plane dead stick as early as possible.If only one people of operator when, operator's one hand is caught after unmanned plane, and remote control is placed in plane, and the operation for breaking bar dead stick is then done with other hand.However, operated by two people needs extra human hand to assist, it is also possible to there is matching problem.Difficulty is too big during one man operation, and with certain danger, can not be grabbed surely with one hand when unmanned plane is overweight excessive.
In view of this, it is necessary to a kind of automatic dead stick control system of unmanned plane, control method and unmanned plane are proposed, to solve the above problems.
A kind of automatic dead stick control system of unmanned plane, including at least one sensor device and the flight control assemblies that are electrically connected with the sensor device.The sensor device is used to detect at least one of flight parameter and flight attitude of the unmanned plane.The flight control assemblies are analyzed for detecting at least one of described flight parameter and flight attitude to the sensor device, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
Further, the control signal includes following at least one：Electron speed regulator for controlling the unmanned plane stops output speed-regulating signal to zero speed controling signal of the power set, and the electric supply installation for controlling the unmanned plane stops the power failure control signal powered to the electron speed regulator or the power set.
Further, if the control signal is zero speed controling signal, then the flight control assemblies are additionally operable to send zero speed controling signal to the electron speed regulator, so that the electron speed regulator responds zero speed controling signal and stops output speed-regulating signal to the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick.And/or, if the control signal is the power failure control signal, then the flight control assemblies are additionally operable to send electric supply installation of the power failure control signal to the unmanned plane, so that the electric supply installation responds the power failure control signal and stops powering to the electron speed regulator or the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick.
Further, the sensor device includes Inertial Measurement Unit, and the Inertial Measurement Unit is used for the flight attitude for detecting the unmanned plane.
Further, the flight control assemblies are used for the current flight posture for the flight parameter of the unmanned plane being calculated and being drawn according to predetermined algorithm the unmanned plane.
Further, the flight control assemblies are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
Further, the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
Further, the flight control assemblies include following at least one to the analysis result of the flight parameter of the unmanned plane for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
Further, the flight control assemblies are additionally operable to, when analyzing one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
Further, when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, it is abnormal that the flight control assemblies judge that the unmanned plane occurs；
Or, if the flight control assemblies analyze the flying height of the unmanned plane when the analysis result of drastically change and other flight parameters is normal, the flight control assemblies judge that the sensor device of the flying height for detecting the unmanned plane is abnormal in itself；
Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, when being even reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane；
Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane.
Further, the sensor device includes any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, magnetometer, barometer/altimeter, alignment sensor, each sensor that the sensor device includes is electrically connected with the flight control assemblies, the flight parameter for detecting the unmanned plane.
Further, the sensor device is on the body of the unmanned plane or located at the internal body.
Further; the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception; generate the protection signal that the protection device for triggering the unmanned plane is opened; and the protection signal is sent to the protection device, so that the protection device responds the protection signal and opens to protect the unmanned plane.
Further, the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the off signal for triggering at least one shutdown in the tranquilizer being installed on the body of the unmanned plane and filming apparatus, and send at least one of the off signal into the tranquilizer and filming apparatus, so that at least one in the tranquilizer and filming apparatus responds described off signal and shut down.
Further, the flight control assemblies are additionally operable to after the tranquilizer and filming apparatus shutdown, generate the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply, and the system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is set to be in fully powered-off state.
A kind of automatic dead stick control method of unmanned plane, comprises the following steps：Detect at least one of flight parameter and flight attitude of the unmanned plane；And at least one of the flight parameter and flight attitude are analyzed, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
Further, the control signal includes following at least one：Electron speed regulator for controlling the unmanned plane stops output speed-regulating signal to zero speed controling signal of the power set, and the electric supply installation for controlling the unmanned plane stops the power failure control signal powered to the electron speed regulator or the power set.
Further, methods described further comprises step：If the control signal is zero speed controling signal, zero speed controling signal is then sent to the electron speed regulator, so that the electron speed regulator responds zero speed controling signal and stops output speed-regulating signal to the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick；And/or, if the control signal is the power failure control signal, then send electric supply installation of the power failure control signal to the unmanned plane, so that the electric supply installation responds the power failure control signal and stops powering to the electron speed regulator or the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick.
Further, the current flight posture of the unmanned plane is detected by an Inertial Measurement Unit and drawn.
Further, the current flight posture of the unmanned plane is calculated the flight parameter of the unmanned plane by the flight control assemblies of the unmanned plane and drawn according to predetermined algorithm.
Further, it is described to include the step of analyze the flight attitude：The current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
Further, the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
Further, the analysis result of the flight parameter of the unmanned plane includes following at least one for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
Further, it is described to include the step of analyze the flight parameter：If analyze one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
Further, when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, judge that the unmanned plane occurs abnormal；
Or, if the flying height of the unmanned plane judges that the sensor device of flying height for detecting the unmanned plane is abnormal in itself when the analysis result of drastically change and other flight parameters is normal；
Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, or even when being reduced to 0, then judges that the unmanned plane occurs abnormal；
Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then judges that the unmanned plane occurs abnormal.
Further, when the analysis result of at least one of the flight parameter and flight attitude is exception after the step of, in addition to：Generate the protection signal that the protection device for triggering the unmanned plane is opened；And the protection signal is sent to the protection device, so that the protection device responds the protection signal and opens to protect the unmanned plane.
Further, after the step of when the analysis result at least one of the flight parameter and flight attitude is exception, in addition to：Generate the off signal for triggering the tranquilizer being installed on the body of the unmanned plane and filming apparatus shutdown；And the off signal is sent to the tranquilizer and filming apparatus, so that the tranquilizer and filming apparatus respond the off signal and shut down.
Further, also include after the step of transmission off signal is to the tranquilizer and filming apparatus：Whether at least one detected in the tranquilizer and filming apparatus completes shutdown；If at least one in detecting the tranquilizer and filming apparatus has completed shutdown, the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply being generated；And the system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is in fully powered-off state.
A kind of unmanned plane, including power set, at least one sensor device and flight control assemblies.The sensor device is used to detect at least one of flight parameter and flight attitude of the unmanned plane.The flight control assemblies are electrically connected with the sensor device and the power set, analyzed at least one of described flight parameter and flight attitude for being detected to the sensor device, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
Further, the unmanned plane also includes electric supply installation and electron speed regulator, the electric supply installation is electrically connected with the flight control assemblies, electron speed regulator and power set, the flight control assemblies are electrically connected with the electron speed regulator, the electron speed regulator is electrically connected with the power set, and the motor speed control signal that the electron speed regulator is used to be sent according to the flight control assemblies exports corresponding output speed-regulating signal to the power set to control the power set with specified rotational speed.
Further, the power set include motor and the propeller with the motor connection, and the motor is used to drive the propeller rotational, to provide the lift of the unmanned plane.
Further, the control signal includes following at least one：For controlling the electron speed regulator to stop output speed-regulating signal to zero speed controling signal of the power set, the power failure control signal powered for controlling described electric supply installation to stop to the electron speed regulator or the power set.
Further, if the control signal is zero speed controling signal, then the flight control assemblies are additionally operable to send zero speed controling signal to the electron speed regulator, the electron speed regulator is used for when receiving zero speed controling signal, respond zero speed controling signal and stop output speed-regulating signal to the power set, so that the power set stop operating, so as to trigger the unmanned plane dead stick.And/or, if the control signal is the power failure control signal, then the flight control assemblies are additionally operable to send the power failure control signal to the electric supply installation, the electric supply installation is used for when receiving the power failure control signal, respond the power failure control signal and stop powering to the electron speed regulator or power set, so that the power set stop operating, so as to trigger the unmanned plane dead stick.
Further, the sensor device includes Inertial Measurement Unit, and the Inertial Measurement Unit is used for the flight attitude for detecting the unmanned plane.
Further, the flight control assemblies are used for the current flight posture for the flight parameter of the unmanned plane being calculated and being drawn according to predetermined algorithm the unmanned plane.
Further, the flight control assemblies are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
Further, the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
Further, the flight control assemblies include following at least one to the analysis result of the flight parameter of the unmanned plane for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
Further, the flight control assemblies are additionally operable to, when analyzing one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
Further, when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, it is abnormal that the flight control assemblies judge that the unmanned plane occurs；
Or, if the flight control assemblies analyze the flying height of the unmanned plane when the analysis result of drastically change and other flight parameters is normal, the flight control assemblies judge that the sensor device of the flying height for detecting the unmanned plane is abnormal in itself；
Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, when being even reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane；
Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane.
Further, the sensor device includes any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, magnetometer, barometer/altimeter, alignment sensor, each sensor that the sensor device includes is electrically connected with the flight control assemblies, the flight parameter for detecting the unmanned plane.
Further, the sensor device is on the body of the unmanned plane or located at the internal body.
Further; the unmanned plane also includes the protection device for being located at the body of the unmanned plane outside; the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception; the protection signal that the protection device for triggering the unmanned plane is opened is generated, and sends the protection signal to the protection device；The protection device is used for when receiving the protection signal, responds the protection signal and opens to protect the unmanned plane.
Further, the protection device is at least one of parachute or air bag.
Further, the unmanned plane also includes the function device being installed on the body of the unmanned plane, the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the off signal for triggering the function device shutdown, and the off signal is sent to the function device, so that the function device responds the off signal and shut down.
Further, the flight control assemblies are additionally operable to after the function device shuts down, generate the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply, and the system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is set to be in fully powered-off state.
Further, the function device at least includes tranquilizer and filming apparatus, and the tranquilizer is used to install the filming apparatus, and provides increasing steady function to the filming apparatus.
Further, the function device is additionally operable to respond the off signal before shutdown and automatically save data, so as to avoid the loss of data caused after shut down.
The control system that the present invention is provided can be in the flight of the unmanned plane and removal process, abnormal flight parameter and/or abnormal flight attitude automatic emergency automatically according to the unmanned plane trigger the unmanned plane dead stick, and can over the horizon, completely it is out of control in the case of be automatically performed the automatic dead stick function, avoid the situation that the unmanned plane accelerates tenesmus after transverse shifting even upset during tenesmus, make unmanned plane coverage out of control controllable, reduce the impact velocity to ground.
Fig. 1 is a kind of stereogram of unmanned plane in one embodiment of the invention.
Fig. 2 is a kind of structural representation of unmanned plane in one embodiment of the invention.
Fig. 3 is the automatic dead stick control method flow chart of a kind of unmanned plane in one embodiment of the invention.
| Unmanned plane | 100 |
| Body | 10 |
| Control system | 20 |
| Sensor device | 21 |
| Flight control assemblies | 22 |
| Power set | 30 |
| Motor | 31 |
| Propeller | 32 |
| Electric supply installation | 40 |
| Electron speed regulator | 50 |
| Protection device | 60 |
| Function device | 70 |
| Tranquilizer | 71 |
| Filming apparatus | 72 |
| Step | 301-305 |
Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention.
Referring to Fig. 1, being a kind of unmanned plane 100 provided in one embodiment of the invention.As shown in Fig. 2 the unmanned plane 100 includes a control system 20 and a power set 30.The control system 20 is used to detect when exception occurs in the unmanned plane 100 by controlling the power set 30 to be automatically stopped rotation, so as to control the dead stick of unmanned plane 100.In the present embodiment, the control system 20 includes at least one sensor device 21 and the flight control assemblies 22 electrically connected with the sensor device 21.The sensor device 21 is on the body 10 of the unmanned plane 100 or inside the body 10, at least one of flight parameter and flight attitude for detecting the unmanned plane 100, and at least one of described flight parameter and flight attitude for detecting are sent to the flight control assemblies 22.
In the present embodiment, the sensor device 21 may include Inertial Measurement Unit（It is not shown）The inertia measurement is alone in the flight attitude for detecting the unmanned plane 100, the axis angular rate of fuselage three and fuselage 3-axis acceleration i.e. by measuring the unmanned plane 100, and the axis angular rate of fuselage three and fuselage 3-axis acceleration are calculated according to pre-defined algorithm, for example the axis angular rate of fuselage three and/or fuselage 3-axis acceleration are integrated, so as to draw the flight attitude of the unmanned plane 100.
In the present embodiment, the flight parameter may include：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane 100 and unmanned plane 100 or a variety of combinations.
The sensor device 21 may also include any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, barometer/altimeter, alignment sensor.Each sensor that the sensor device 21 includes is electrically connected with the flight control assemblies 22, the flight parameter for detecting the unmanned plane.Wherein, gyroscope is used to measure the axis angular rate of fuselage three, acceleration transducer is used to measure fuselage 3-axis acceleration, compass is used to measure fuselage course and attitude information, tachogenerator is used to detect motor speed, barometer/altimeter is used for the flying height for measuring unmanned plane 100, and alignment sensor is used for the geographical location information for obtaining unmanned plane 100.In the present embodiment, alignment sensor is GPS (Global Positioning System, global positioning system) alignment sensor, can in time, accurately obtain the current geographical location information of unmanned plane 100.It is appreciated that in other embodiments, the alignment sensor can also be other geographical location information acquisition device.It is appreciated that the species for the flight parameter that the species of specific device included by the sensor device 21 and position can be detected as needed is adjusted.
In the present embodiment, the current flight posture of the unmanned plane 100 also can be by the flight control assemblies 22 according to predetermined algorithm, such as blending algorithm or fuzzy (proportion-integration-differentiation, proportional-integral-differential) Self tuning control algorithm etc. is to the flight parameter of the unmanned plane 100, such as described axis angular rate of fuselage three and fuselage 3-axis acceleration, are calculated and are drawn.In the present embodiment, the flight control assemblies 22 can be specifically single-chip microcomputer, processor etc..
In the present embodiment, the flight control assemblies 22 are additionally operable at least one of flight parameter and flight attitude of the unmanned plane 100 detected to the sensor device 21 and analyzed, and when the analysis result of at least one of the flight parameter and flight attitude is exception, the control signal for controlling the power set 30 of the unmanned plane 100 to stop operating is generated, so as to trigger the dead stick of unmanned plane 100.
In the present embodiment, the flight control assemblies 22 are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane 100 is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane 100 is abnormal.So, the unmanned plane 100 need to be inclined and put by operator when reclaiming the unmanned plane 100, only after the steady unmanned plane 100 is grabbed, and make the current flight posture of the unmanned plane 100 abnormal.The flight control assemblies 22 can trigger the dead stick of unmanned plane 100 after judging the current flight posture of the unmanned plane 100 for exception, so as to realize the de- control unmanned plane 100 of recovery, no longer need to use remote control dead stick, and the operator of unmanned plane 100 can just complete alone recovery action, operation difficulty is substantially reduced, and matching problem is also not present in one man operation, security is also obviously improved.
In the present embodiment, the analysis result of the flight parameter of 22 pairs of the flight control assemblies unmanned plane 100 includes following at least one for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.It is appreciated that the default range of normal value can be respectively configured for different flight parameters.In addition, for the accuracy of data, it is exception when analyzing one of flight parameter, for example the value of parameter loss or parameter is when outside default range of normal value, and the flight control assemblies 22 are additionally operable to further assess whether the unmanned plane 100 exception occurs with reference to other flight parameters.
For example, when the upward power output of the unmanned plane 100 is larger or has reached maximum, if the flying height that the barometer/altimeter detects the unmanned plane 100 is reducing, the flight control assemblies 22 judge that exception occurs in the unmanned plane 100.
Or, if the flight control assemblies 22 analyze the flying height for the unmanned plane 100 that the barometer/altimeter is detected when drastically changing, then the flight control assemblies 22 are in conjunction with other flight parameters of analysis, if the analysis result of other flight parameters is normal, then the flight control assemblies 22 judge that the barometer/altimeter of the flying height for detecting the unmanned plane 100 is abnormal in itself, so as to avoid maloperation.
Or, when the unmanned plane 100 is always maintained at certain course, speed and acceleration flight, if the fuselage course that the compass detects the unmanned plane 100 changes suddenly, or the acceleration transducer detects the acceleration moment reduction, when being even reduced to 0, then the flight control assemblies 22 judge that exception occurs in the unmanned plane 100, such as it is considered that the unmanned plane 100 there occurs collision accident.
Or, if the power output of the unmanned plane 100 towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, when being even reduced to 0, then the flight control assemblies 22 judge that exception occurs in the unmanned plane 100, such as it is considered that the unmanned plane 100 has encountered barrier.
As shown in Fig. 2 the unmanned plane 100 also includes but is not limited to, electric supply installation 40 and electron speed regulator 50.Wherein, the electric supply installation 40 is electrically connected with the flight control assemblies 22, electron speed regulator 50 and power set 30, and the flight control assemblies 22 are electrically connected with the electron speed regulator 50, and the electron speed regulator 50 is electrically connected with the power set 30.The motor speed control signal that the electron speed regulator 50 is used to be sent according to the flight control assemblies 22 exports corresponding speed-regulating signal to the power set 30 to control the power set 30 with specified rotational speed.In the present embodiment, the power set 30 include motor 31 and the propeller 32 being connected with the motor 31, and the motor 31 is used to drive the propeller 32 to rotate, to provide the lift of the unmanned plane 100.
In the present embodiment, the control signal includes following at least one：Electron speed regulator 50 for controlling the unmanned plane 100 stops output speed-regulating signal to zero speed controling signal of the power set 30, and the electric supply installation 40 for controlling the unmanned plane 100 stops the power failure control signal to the electron speed regulator 50 or the power supply of the power set 30.
In the present embodiment, if the control signal is zero speed controling signal, the flight control assemblies 22 are additionally operable to send zero speed controling signal to the electron speed regulator 50.The electron speed regulator 50 is used for when receiving zero speed controling signal, respond zero speed controling signal and stop output speed-regulating signal to the power set 30, so that the power set 30 stop operating, i.e. described motor 31 stops driving the propeller 32 of the unmanned plane 100 to rotate, so as to trigger the dead stick of unmanned plane 100.
If the control signal is the power failure control signal, the flight control assemblies 22 are additionally operable to send electric supply installation 40 of the power failure control signal to the unmanned plane 100.The electric supply installation 40 is used for when receiving the power failure control signal, respond the power failure control signal and stop powering to the electron speed regulator 50 or the power set 30, so that the power set 30 stop operating, so as to trigger the dead stick of unmanned plane 100.
So, the control system 20 can judge whether the unmanned plane 100 exception occurs according to the flight attitude and flight parameter of unmanned plane 100 itself, and control the unmanned plane 100 urgent dead stick during falling when occurring abnormal, dropped in the way of freely falling body, avoid the transverse shifting during tenesmus accelerates tenesmus situation after even overturning, make the unmanned plane 100 coverage out of control controllable, reduce the impact velocity to ground.
In the present embodiment; the unmanned plane 100 also includes the protection device 60 for being located at the body 10 of the unmanned plane 100 outside; such as parachute assembly and/or air bag device; the flight control assemblies 22 are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception; the protection signal that the protection device 60 for triggering the unmanned plane 100 is opened is generated, and sends the protection signal to the protection device 60.The protection device 60 is used for when receiving the protection signal; respond the protection signal and open to protect the unmanned plane 100; make the unmanned plane 100 safer when dropping to ground, so as to reduce after the unmanned plane 100 falls to external world and to the damaged condition of itself of unmanned plane 100.
As shown in figure 1, the unmanned plane 100 also includes the function device 70 being installed on the body 10 of the unmanned plane 100.In the present embodiment, the function device 70 at least includes tranquilizer 71 and filming apparatus 72, wherein, the filming apparatus 72 can be high-resolution digital camera, optical camera etc..The tranquilizer 71 is used to install the filming apparatus 72, and provides increasing steady function to the filming apparatus 72.Wherein, the tranquilizer 71 can for head or other maintain the stable device of the filming apparatus.
In the present embodiment, the flight control assemblies 22 are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception, generate for triggering the function device 70, the off signal of such as at least one shutdown in described tranquilizer 71 and filming apparatus 72, and the off signal is sent to the function device 70.The function device 70 is used for after the off signal is received, and responds the off signal and shuts down, so as to avoid the functional circuit after the Crater face of unmanned plane 100 is followed caused by by strenuous vibration short-circuit and burn.
The function device 70, such as filming apparatus 72 are additionally operable to respond the off signal before shutdown and automatically save data, so as to avoid the loss of data caused after shut down.
In other embodiments, the flight control assemblies 22 are additionally operable to after the function device 70 shuts down, generate the system cut-off signal that the electric supply installation 40 for triggering the unmanned plane 100 stops out-put supply, and the system cut-off signal is sent to the electric supply installation 40, so that the electric supply installation 40 is stopped power supply, the unmanned plane 100 is set to be in fully powered-off state.
Fig. 3 is the automatic dead stick control method flow chart of a kind of unmanned plane 100 in one embodiment of the invention.In the present embodiment, methods described comprises the following steps：
Step 301, the sensor device 21 detects at least one of flight parameter and flight attitude of the unmanned plane 100.
In the present embodiment, the sensor device 21 may include Inertial Measurement Unit（It is not shown）The inertia measurement is alone in the axis angular rate of fuselage three and fuselage 3-axis acceleration that measure the unmanned plane 100, and the axis angular rate of fuselage three and fuselage 3-axis acceleration are calculated according to pre-defined algorithm, for example the axis angular rate of fuselage three and/or fuselage 3-axis acceleration are integrated, so as to draw the flight attitude of the unmanned plane 100.
In the present embodiment, the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane 100 and unmanned plane 100 or a variety of combinations.
The sensor device 21 may also include any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, barometer/altimeter, alignment sensor.Each sensor that the sensor device 21 includes is electrically connected with the flight control assemblies 22, the flight parameter for detecting the unmanned plane.Wherein, gyroscope is used to measure the axis angular rate of fuselage three, acceleration transducer is used to measure fuselage 3-axis acceleration, compass is used to measure fuselage course and attitude information, tachogenerator is used to detect motor speed, barometer/altimeter is used for the flying height for measuring unmanned plane 100, and alignment sensor is used for the geographical location information for obtaining unmanned plane 100.In the present embodiment, alignment sensor is GPS (Global Positioning System, global positioning system) alignment sensor, can in time, accurately obtain the current geographical location information of unmanned plane 100.It is appreciated that in other embodiments, the alignment sensor can also be other geographical location information acquisition device.It is appreciated that the species for the flight parameter that the species of specific device included by the sensor device 21 and position can be detected as needed is adjusted.
In the present embodiment, the current flight posture of the unmanned plane 100 also can be by the flight control assemblies 22 according to predetermined algorithm, such as blending algorithm or fuzzy (proportion-integration-differentiation, proportional-integral-differential) Self tuning control algorithm etc. is calculated the flight parameter of the unmanned plane 100 and drawn.
Step 302, at least one of flight parameter and flight attitude of the unmanned plane 100 that 22 pairs of the flight control assemblies sensor device 21 is detected are analyzed.
Step 303, the flight control assemblies 22 judge whether the analysis result of at least one of the flight parameter and flight attitude is abnormal.If the analysis result of at least one of the flight parameter and flight attitude is abnormal, step 304 is performed.Otherwise, return to step 301.
In the present embodiment, the flight control assemblies 22 are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane 100 is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane 100 is abnormal.So, the unmanned plane 100 need to be inclined and put by operator when reclaiming the unmanned plane 100, only after the steady unmanned plane 100 is grabbed, and make the current flight posture of the unmanned plane 100 abnormal.The flight control assemblies 22 can trigger the dead stick of unmanned plane 100 after judging the current flight posture of the unmanned plane 100 for exception, so as to realize the de- control unmanned plane 100 of recovery, no longer need to use remote control dead stick, and the operator of unmanned plane 100 can just complete alone recovery action, operation difficulty is substantially reduced, and matching problem is also not present in one man operation, security is also obviously improved.
In the present embodiment, the analysis result of the flight parameter of 22 pairs of the flight control assemblies unmanned plane 100 includes following at least one for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.It is appreciated that the default range of normal value can be respectively configured for different flight parameters.In addition, for the accuracy of data, it is exception when analyzing one of flight parameter, for example the value of parameter loss or parameter is when outside default range of normal value, and the flight control assemblies 22 are additionally operable to further assess whether the unmanned plane 100 exception occurs with reference to other flight parameters.
For example, when the upward power output of the unmanned plane 100 is larger or has reached maximum, if the flying height that the barometer/altimeter detects the unmanned plane 100 is reducing, the flight control assemblies 22 judge that exception occurs in the unmanned plane 100.
Or, if the flight control assemblies 22 analyze the flying height for the unmanned plane 100 that the barometer/altimeter is detected when drastically changing, then the flight control assemblies 22 are in conjunction with other flight parameters of analysis, if the analysis result of other flight parameters is normal, then the flight control assemblies 22 judge that the barometer/altimeter of the flying height for detecting the unmanned plane 100 is abnormal in itself, so as to avoid maloperation.
Or, when the unmanned plane 100 is always maintained at certain course, speed and acceleration flight, if the fuselage course that the compass detects the unmanned plane 100 changes suddenly, or the acceleration transducer detects the acceleration moment reduction, when being even reduced to 0, then the flight control assemblies 22 judge that exception occurs in the unmanned plane 100, such as it is considered that the unmanned plane 100 there occurs collision accident.
Or, if the power output of the unmanned plane 100 towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, when being even reduced to 0, then the flight control assemblies 22 judge that exception occurs in the unmanned plane 100, such as it is considered that the unmanned plane 100 has encountered barrier.
Step 304, the flight control assemblies 22 generate the control signal for controlling the power set 30 of the unmanned plane 100 to stop operating, so as to trigger the dead stick of unmanned plane 100.
In the present embodiment, the control signal includes following at least one：Electron speed regulator 50 for controlling the unmanned plane 100 stops output speed-regulating signal to zero speed controling signal of the power set 30, and the electric supply installation 40 for controlling the unmanned plane 100 stops the power failure control signal to the electron speed regulator 50 or the power supply of the power set 30.
In the present embodiment, if the control signal is zero speed controling signal, then the flight control assemblies 22 send zero speed controling signal to described electron speed regulator 50, so that the electron speed regulator 50 responds zero speed controling signal and stops output speed-regulating signal to the power set 30, the power set 30 are made to stop operating, so as to trigger the dead stick of unmanned plane 100.
If the control signal is the power failure control signal, then the flight control assemblies 22 send electric supply installation 40 of the power failure control signal to the unmanned plane 100, so that the electric supply installation 40 responds the power failure control signal and stops powering to the electron speed regulator 50 or the power set 30, the power set 30 are made to stop operating, so as to trigger the dead stick of unmanned plane 100.
Step 305; the flight control assemblies 22 generate the protection signal that the protection device 60 for triggering the unmanned plane 100 is opened; and the protection signal is sent to the protection device 60; so that the protection device 60 responds the protection signal and opens to protect the unmanned plane 100; make the unmanned plane 100 safer when dropping to ground, so as to reduce after the unmanned plane 100 falls to external world and to the damaged condition of itself of unmanned plane 100.
In the present embodiment, when the analysis result of at least one of the flight parameter and flight attitude is exception, the flight control assemblies 22 are also generated for triggering the function device 70 being installed on the body 10 of the unmanned plane 100, the off signal of such as at least one shutdown in described tranquilizer 71 and filming apparatus 72, and the off signal is sent to the function device 70, so that the function device 70 responds the off signal and shut down, so as to avoid functional circuit of the function device 70 after the Crater face of unmanned plane 100 is followed caused by by strenuous vibration short-circuit and burn.
In the present embodiment, the flight control assemblies 22 are additionally operable to after the function device 70 shuts down, generate the system cut-off signal that the electric supply installation 40 for triggering the unmanned plane 100 stops out-put supply, and the system cut-off signal is sent to the electric supply installation 40, so that the electric supply installation 40 is stopped power supply, the unmanned plane 100 is set to be in fully powered-off state.
The control system 20 that the present invention is provided can be in the flight of the unmanned plane 100 and removal process, abnormal flight parameter and/or abnormal flight attitude automatically according to the unmanned plane 100 promptly trigger the dead stick of unmanned plane 100, and can over the horizon, completely it is out of control in the case of be automatically performed the dead stick function, avoid the situation that the unmanned plane 100 accelerates tenesmus after transverse shifting even upset during tenesmus, make the unmanned plane 100 coverage out of control controllable, reduce the impact velocity to ground.
Finally it should be noted that, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although the present invention is described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
Claims (48)
- A kind of automatic dead stick control system of unmanned plane, it is characterised in that including：At least one of at least one sensor device, flight parameter and flight attitude for detecting the unmanned plane；AndFlight control assemblies, electrically connected with the sensor device, analyzed at least one of described flight parameter and flight attitude for being detected to the sensor device, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
- The automatic dead stick control system of unmanned plane as claimed in claim 1, it is characterised in that the control signal includes following at least one：Electron speed regulator for controlling the unmanned plane stops output speed-regulating signal to zero speed controling signal of the power set, and the electric supply installation for controlling the unmanned plane stops the power failure control signal powered to the electron speed regulator or the power set.
- The automatic dead stick control system of unmanned plane as claimed in claim 2, it is characterized in that, if the control signal is zero speed controling signal, then the flight control assemblies are additionally operable to send zero speed controling signal to the electron speed regulator, so that the electron speed regulator responds zero speed controling signal and stops output speed-regulating signal to the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick；And/or, if the control signal is the power failure control signal, then the flight control assemblies are additionally operable to send electric supply installation of the power failure control signal to the unmanned plane, so that the electric supply installation responds the power failure control signal and stops powering to the electron speed regulator or the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick.
- The automatic dead stick control system of unmanned plane as claimed in claim 1, it is characterised in that the sensor device includes Inertial Measurement Unit, the Inertial Measurement Unit is used for the flight attitude for detecting the unmanned plane.
- The automatic dead stick control system of unmanned plane as claimed in claim 1, it is characterised in that the flight control assemblies are used for the current flight posture for the flight parameter of the unmanned plane being calculated and being drawn according to predetermined algorithm the unmanned plane.
- Such as claim 1, the automatic dead stick control system of unmanned plane described in 4 or 5, it is characterized in that, the flight control assemblies are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
- The automatic dead stick control system of unmanned plane as described in claim 1 or 5, it is characterised in that the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
- The automatic dead stick control system of unmanned plane as claimed in claim 7, it is characterised in that the flight control assemblies include following at least one to the analysis result of the flight parameter of the unmanned plane for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
- The automatic dead stick control system of unmanned plane as claimed in claim 8, it is characterised in that the flight control assemblies are additionally operable to, when analyzing one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
- The automatic dead stick control system of unmanned plane as claimed in claim 9, it is characterized in that, when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, it is abnormal that the flight control assemblies judge that the unmanned plane occurs；Or, if the flight control assemblies analyze the flying height of the unmanned plane when the analysis result of drastically change and other flight parameters is normal, the flight control assemblies judge that the sensor device of the flying height for detecting the unmanned plane is abnormal in itself；Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, when being even reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane；Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane.
- The automatic dead stick control system of unmanned plane as claimed in claim 9, it is characterized in that, the sensor device includes any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, magnetometer, barometer/altimeter, alignment sensor, each sensor that the sensor device includes is electrically connected with the flight control assemblies, the flight parameter for detecting the unmanned plane.
- The automatic dead stick control system of unmanned plane as claimed in claim 1, it is characterised in that the sensor device is on the body of the unmanned plane or located at the internal body.
- The automatic dead stick control system of unmanned plane as claimed in claim 1; it is characterized in that; the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception; generate the protection signal that the protection device for triggering the unmanned plane is opened; and the protection signal is sent to the protection device, so that the protection device responds the protection signal and opens to protect the unmanned plane.
- The automatic dead stick control system of unmanned plane as claimed in claim 1, it is characterized in that, the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the off signal for triggering at least one shutdown in the tranquilizer being installed on the body of the unmanned plane and filming apparatus, and send at least one of the off signal into the tranquilizer and filming apparatus, so that at least one in the tranquilizer and filming apparatus responds described off signal and shut down.
- The automatic dead stick control system of unmanned plane as claimed in claim 14, it is characterized in that, the flight control assemblies are additionally operable to after the tranquilizer and filming apparatus shutdown, generate the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply, and the system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is set to be in fully powered-off state.
- A kind of automatic dead stick control method of unmanned plane, it is characterised in that comprise the following steps：Detect at least one of flight parameter and flight attitude of the unmanned plane；AndAt least one of the flight parameter and flight attitude are analyzed, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
- Method as claimed in claim 16, it is characterised in that the control signal includes following at least one：Electron speed regulator for controlling the unmanned plane stops output speed-regulating signal to zero speed controling signal of the power set, and the electric supply installation for controlling the unmanned plane stops the power failure control signal powered to the electron speed regulator or the power set.
- Method as claimed in claim 17, it is characterised in that further comprise step：If the control signal is zero speed controling signal, zero speed controling signal is then sent to the electron speed regulator, so that the electron speed regulator responds zero speed controling signal and stops output speed-regulating signal to the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick；And/or, if the control signal is the power failure control signal, then send electric supply installation of the power failure control signal to the unmanned plane, so that the electric supply installation responds the power failure control signal and stops powering to the electron speed regulator or the power set, the power set are made to stop operating, so as to trigger the unmanned plane dead stick.
- Method as claimed in claim 16, it is characterised in that the current flight posture of the unmanned plane is detected by an Inertial Measurement Unit and drawn.
- Method as claimed in claim 16, it is characterised in that the current flight posture of the unmanned plane is calculated the flight parameter of the unmanned plane by the flight control assemblies of the unmanned plane and drawn according to predetermined algorithm.
- Method as described in claim 16,19 or 20, it is characterised in that described to include the step of analyze the flight attitude：The current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
- Method as described in claim 16 or 20, it is characterised in that the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
- Method as claimed in claim 22, it is characterised in that the analysis result of the flight parameter of the unmanned plane includes following at least one for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
- Method as claimed in claim 23, it is characterised in that described to include the step of analyze the flight parameter：If analyze one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
- Method as claimed in claim 24, it is characterised in that when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, judges that the unmanned plane occurs abnormal；Or, if the flying height of the unmanned plane judges that the sensor device of flying height for detecting the unmanned plane is abnormal in itself when the analysis result of drastically change and other flight parameters is normal；Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, or even when being reduced to 0, then judges that the unmanned plane occurs abnormal；Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then judges that the unmanned plane occurs abnormal.
- Method as claimed in claim 16, it is characterised in that at least one of the flight parameter and flight attitude analysis result for it is abnormal when the step of after, in addition to：Generate the protection signal that the protection device for triggering the unmanned plane is opened；AndThe protection signal is sent to the protection device, so that the protection device responds the protection signal and opens to protect the unmanned plane.
- Method as claimed in claim 16, it is characterised in that the analysis result at least one of the flight parameter and flight attitude for it is abnormal when the step of after, in addition to：Generate the off signal for triggering at least one shutdown in the tranquilizer being installed on the body of the unmanned plane and filming apparatus；AndAt least one of the off signal into the tranquilizer and filming apparatus is sent, so that at least one in the tranquilizer and filming apparatus responds described off signal and shut down.
- Method as claimed in claim 27, it is characterised in that also include after the step of transmission off signal is to the tranquilizer and filming apparatus：Whether at least one detected in the tranquilizer and filming apparatus completes shutdown；If at least one in detecting the tranquilizer and filming apparatus has completed shutdown, the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply being generated；AndThe system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is in fully powered-off state.
- A kind of unmanned plane, it is characterised in that including：Power set；At least one of at least one sensor device, flight parameter and flight attitude for detecting the unmanned plane；AndFlight control assemblies, electrically connected with the sensor device and the power set, analyzed at least one of described flight parameter and flight attitude for being detected to the sensor device, and when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the control signal for controlling the power set of the unmanned plane to stop operating.
- Unmanned plane as claimed in claim 29, it is characterized in that, also include electric supply installation and electron speed regulator, the electric supply installation is electrically connected with the flight control assemblies, electron speed regulator and power set, the flight control assemblies are electrically connected with the electron speed regulator, the electron speed regulator is electrically connected with the power set, and the motor speed control signal that the electron speed regulator is used to be sent according to the flight control assemblies exports corresponding output speed-regulating signal to the power set to control the power set with specified rotational speed.
- Unmanned plane as described in claim 29 or 30, it is characterised in that the power set include motor and the propeller with the motor connection, and the motor is used to drive the propeller rotational, to provide the lift of the unmanned plane.
- Unmanned plane as claimed in claim 30, it is characterised in that the control signal includes following at least one：For controlling the electron speed regulator to stop output speed-regulating signal to zero speed controling signal of the power set, the power failure control signal powered for controlling described electric supply installation to stop to the electron speed regulator or the power set.
- Unmanned plane as claimed in claim 32, it is characterized in that, if the control signal is zero speed controling signal, then the flight control assemblies are additionally operable to send zero speed controling signal to the electron speed regulator, the electron speed regulator is used for when receiving zero speed controling signal, respond zero speed controling signal and stop output speed-regulating signal to the power set, so that the power set stop operating, so as to trigger the unmanned plane dead stick；And/or, if the control signal is the power failure control signal, then the flight control assemblies are additionally operable to send the power failure control signal to the electric supply installation, the electric supply installation is used for when receiving the power failure control signal, respond the power failure control signal and stop powering to the electron speed regulator or power set, so that the power set stop operating, so as to trigger the unmanned plane dead stick.
- Unmanned plane as claimed in claim 29, it is characterised in that the sensor device includes Inertial Measurement Unit, the Inertial Measurement Unit is used for the flight attitude for detecting the unmanned plane.
- Unmanned plane as claimed in claim 29, it is characterised in that the flight control assemblies are used for the current flight posture for the flight parameter of the unmanned plane being calculated and being drawn according to predetermined algorithm the unmanned plane.
- Such as claim 29, unmanned plane described in 34 or 35, it is characterized in that, the flight control assemblies are when for analyzing the flight attitude, specifically for the current flight posture of the unmanned plane is compared with default normal flight posture, to judge whether the current flight posture of the unmanned plane is abnormal.
- Unmanned plane as described in claim 29 or 35, it is characterised in that the flight parameter includes：Any of the axis angular rate of fuselage three, fuselage 3-axis acceleration, fuselage course and attitude information, motor speed, the geographical location information of the flying height of unmanned plane and unmanned plane or a variety of combinations.
- Unmanned plane as claimed in claim 37, it is characterised in that the flight control assemblies include following at least one to the analysis result of the flight parameter of the unmanned plane for abnormal situation：Lost in the presence of at least one flight parameter, there is the value of at least one flight parameter outside default range of normal value.
- Unmanned plane as claimed in claim 38, it is characterised in that the flight control assemblies are additionally operable to, when analyzing one of flight parameter for exception, further assess whether the unmanned plane exception occurs with reference to other flight parameters.
- Unmanned plane as claimed in claim 39, it is characterised in that when the upward power output of the unmanned plane is larger or has reached maximum, if the flying height of the unmanned plane is reducing, it is abnormal that the flight control assemblies judge that the unmanned plane occurs；Or, if the flight control assemblies analyze the flying height of the unmanned plane when the analysis result of drastically change and other flight parameters is normal, the flight control assemblies judge that the sensor device of the flying height for detecting the unmanned plane is abnormal in itself；Or, when the unmanned plane is when being always maintained at certain course, speed and acceleration flight, if the fuselage course of the unmanned plane changes suddenly, or the acceleration moment reduces, when being even reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane；Or, if the power output of the unmanned plane towards a predetermined direction increased dramatically suddenly, and the acceleration of respective direction keeps constant or moment reduction, or even when being reduced to 0, then the flight control assemblies judge that exception occurs in the unmanned plane.
- Unmanned plane as claimed in claim 39, it is characterized in that, the sensor device includes any one or a variety of combinations in gyroscope, acceleration transducer, compass, tachogenerator, magnetometer, barometer/altimeter, alignment sensor, each sensor that the sensor device includes is electrically connected with the flight control assemblies, the flight parameter for detecting the unmanned plane.
- Unmanned plane as claimed in claim 29, it is characterised in that the sensor device is on the body of the unmanned plane or located at the internal body.
- Unmanned plane as claimed in claim 29; it is characterized in that; also include the protection device for being located at the body of the unmanned plane outside; the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception; the protection signal that the protection device for triggering the unmanned plane is opened is generated, and sends the protection signal to the protection device；The protection device is used for when receiving the protection signal, responds the protection signal and opens to protect the unmanned plane.
- Unmanned plane as claimed in claim 43, it is characterised in that the protection device is at least one of parachute or air bag.
- Unmanned plane as claimed in claim 29, it is characterized in that, also include the function device being installed on the body of the unmanned plane, the flight control assemblies are additionally operable to when the analysis result of at least one of the flight parameter and flight attitude is exception, generate the off signal for triggering the function device shutdown, and the off signal is sent to the function device, so that the function device responds the off signal and shut down.
- Unmanned plane as claimed in claim 45, it is characterized in that, the flight control assemblies are additionally operable to after the function device shuts down, generate the system cut-off signal that the electric supply installation for triggering the unmanned plane stops out-put supply, and the system cut-off signal is sent to the electric supply installation, so that the electric supply installation is stopped power supply, the unmanned plane is set to be in fully powered-off state.
- Unmanned plane as claimed in claim 46, it is characterised in that the function device at least includes tranquilizer and filming apparatus, and the tranquilizer is used to install the filming apparatus, and increases steady function to filming apparatus offer.
- Unmanned plane as described in claim 45 or 47, it is characterised in that the function device is additionally operable to respond the off signal before shutdown and automatically save data, so as to avoid the loss of data caused after shut down.
Priority Applications (1)
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| CN202110793201.1A CN113359806A (en) | 2015-08-20 | 2015-08-20 | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2015/087672 WO2017028310A1 (en) | 2015-08-20 | 2015-08-20 | Propeller automatic stop control system and control method for unmanned aerial vehicle, and unmanned aerial vehicle |
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| CN202110793201.1A Division CN113359806A (en) | 2015-08-20 | 2015-08-20 | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle |
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| CN201580067157.9A Pending CN107000851A (en) | 2015-08-20 | 2015-08-20 | The automatic dead stick control system of unmanned plane, control method and unmanned plane |
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| Publication number | Publication date |
|---|---|
| CN113359806A (en) | 2021-09-07 |
| WO2017028310A1 (en) | 2017-02-23 |
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