CN107943013A - A kind of method of controlling security of unmanned plane safety control system and unmanned plane - Google Patents
A kind of method of controlling security of unmanned plane safety control system and unmanned plane Download PDFInfo
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- CN107943013A CN107943013A CN201710959806.7A CN201710959806A CN107943013A CN 107943013 A CN107943013 A CN 107943013A CN 201710959806 A CN201710959806 A CN 201710959806A CN 107943013 A CN107943013 A CN 107943013A
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- unmanned plane
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- 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
- G05D1/0005—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with arrangements to save energy
-
- 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
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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 present invention provides a kind of unmanned plane safety control system, including:Signal gathering unit, it gathers motor control signal of the unmanned plane within a period of time；Verification unit, it is by the motor control signal compared with signalc threshold set in advance；And state of flight changing unit, it is adjusted the state of flight of the unmanned plane according to the motor control signal and the comparative result of signalc threshold set in advance.Present invention also offers a kind of unmanned plane comprising the above-mentioned system and the method for controlling security of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, and in particular to a kind of unmanned plane safety control system, nobody for including the system
The method of controlling security of machine and unmanned plane.
Background technology
Unmanned plane due to without driver, can autonomous flight straighforward operation, air force carrying flight, repeat back to
The advantages that using is received, thus is grown rapidly in recent years.Wherein, multi-rotor unmanned aerial vehicle is using a kind of particularly extensive nothing
It is man-machine.Multi-rotor unmanned aerial vehicle is used as civilian unmanned plane, its with it is small, flexibly it is light, can adapt to a variety of flying rings
The features such as border, thus increasingly attract attention.Its major defect is that dynamics is complex, thus at it for the previous period
Interior development is relatively slow.
Flight control system be unmanned plane complete to take off, airflight, execution task and the whole flight course such as recycling of giving an encore
Core system.Flight control system is man-machine for playing the role of equivalent to driver for unmanned plane, thus is considered as nobody
One of most crucial technology of machine.Flight control system generally comprises sensor, airborne computer and servo start equipment three parts, its
The function of realization mainly has unmanned plane attitude stabilization and control, unmanned plane task device management and emergency flight control three major types.Wherein,
The various sensors (including angular speed, posture, position, acceleration, height and airspeed sensor etc.) that fuselage largely assembles are winged
The basis of control system, and ensure the key of aircraft control accuracy.Under different flight environment of vehicle, the unmanned plane pair of different purposes
The configuration requirement of sensor is also different.
With the burning hot of unmanned plane industry, the thing followed is the safety problem of unmanned plane.In the task of execution, nobody
Machine is in higher flying height, in this case, if the uncontrolled tenesmus of unmanned plane, will result in serious consequence, no
Body can only be damaged, it is also possible to threaten to the safety of ground staff.However, industry is not developed for above-mentioned also at present
The more perfect unmanned plane Preservation tactics of situation.For example, certain existing model rotor wing unmanned aerial vehicle, only with battery low-electricity quantity when
The intelligent low battery of time makes a return voyage pattern and intelligent low battery is landed, without the relative strategy for battery capacity when lower, and
And it can be taking human as stopping making a return voyage during making a return voyage, security is relatively low, and stops after making a return voyage not further into the shape that makes a return voyage
State.The above factor can all make unmanned plane be in unsafe condition, and these are a kind of protection plans based on battery capacity
Slightly, accuracy is poor.
The content of the invention
In order to carry out safeguard protection to unmanned plane and motor when unmanned plane carries out task, prevent unmanned plane from damaging, improve
Unmanned plane completes the efficiency of task, present inventor has performed dedicating itself to innovation, designs a kind of unmanned plane safety control system, includes
The unmanned plane of the system and the method for controlling security of unmanned plane.
According to the first aspect of the invention, there is provided a kind of unmanned plane safety control system, including:
Signal gathering unit, it gathers motor control signal of the unmanned plane within a period of time；
Verification unit, it is by the motor control signal compared with signalc threshold set in advance；And
State of flight changing unit, it is according to the motor control signal and the comparative result of signalc threshold set in advance
The state of flight of the unmanned plane is adjusted.
In a kind of embodiment according to the present invention, the motor control signal is motor output intensity.
In a kind of embodiment according to the present invention, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.
In a kind of embodiment according to the present invention, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.
In a kind of embodiment according to the present invention, the signalc threshold set in advance includes early warning thresholding, protection
At least one of thresholding and output thresholding, and the value of the early warning thresholding, protection thresholding and output thresholding raises successively.
In a kind of embodiment according to the present invention, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
According to the second aspect of the invention, there is provided a kind of unmanned plane, including the unmanned plane peace as described in above first aspect
Full control system.
In a kind of embodiment according to the present invention, the motor control signal is motor output intensity.
In a kind of embodiment according to the present invention, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.
In a kind of embodiment according to the present invention, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.
In a kind of embodiment according to the present invention, the signalc threshold set in advance includes early warning thresholding, protection
At least one of thresholding and output thresholding, and the value of the early warning thresholding, protection thresholding and output thresholding raises successively.
In a kind of embodiment according to the present invention, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
According to the third aspect of the invention we, there is provided a kind of method of controlling security of unmanned plane, including：
Motor control signal of the unmanned plane within a period of time is gathered using signal gathering unit；
Using verification unit by the motor control signal compared with signalc threshold set in advance；And
Using state of flight changing unit according to the motor control signal and the comparison knot of signalc threshold set in advance
Fruit is adjusted the state of flight of the unmanned plane.
In a kind of embodiment according to the present invention, the motor control signal is motor output intensity.
In a kind of embodiment according to the present invention, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.
In a kind of embodiment according to the present invention, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.
In a kind of embodiment according to the present invention, the signalc threshold set in advance includes early warning thresholding, protection
At least one of thresholding and output thresholding, and the value of the early warning thresholding, protection thresholding and output thresholding raises successively.
In a kind of embodiment according to the present invention, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
Unmanned plane safety control system, the unmanned plane comprising the system and the safe of unmanned plane provided by the invention are controlled
Method processed has the advantages that：
(1) by setting suitable alarm threshold, unmanned plane can be allowed to complete more tasks as far as possible, and safety is returned afterwards
Boat；
(2) by setting suitable protection thresholding, it is possible to prevente effectively from the situation generation that unmanned plane is out of control, avoids damage nothing
It is man-machine, make its safe falling；
(3) by setting suitable output limit, the out of control situation of unmanned plane spin can be avoided to occur as far as possible,
Ensure the controlled landing of unmanned plane as far as possible, reduce the damage suffered by unmanned plane.
Brief description of the drawings
Fig. 1 shows the flow chart of unmanned plane method of controlling security provided by the invention.
Fig. 2 shows the schematic diagram of motor output intensity, wherein, dotted line only represents relativeness, and it is strong not represent specific output
The value of degree.
Embodiment
Below by the drawings and specific embodiments, the present invention is described in more detail.Pass through these explanations, the present invention
The characteristics of and advantage will become more apparent from clearly.
According to the present invention, there is provided a kind of unmanned plane safety control system, including:
Signal gathering unit, it gathers motor control signal of the unmanned plane within a period of time；
Verification unit, it is by the motor control signal compared with signalc threshold set in advance；And
State of flight changing unit, it is according to the motor control signal and the comparative result of signalc threshold set in advance
The state of flight of the unmanned plane is adjusted.
In a kind of embodiment according to the present invention, the motor control signal is motor output intensity.
In a kind of embodiment according to the present invention, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.The signal gathering unit samples the voltage of on-board batteries, by
This sampling time adjusts the signal acquisition time interval to motor output intensity.When the voltage of on-board batteries is higher and relatively more steady
When, battery status is preferable, and the controllability of unmanned plane is stronger, and the probability caused danger is smaller, thus signal acquisition time interval compared with
It is long；Conversely, when the voltage of on-board batteries is relatively low, battery status cannot fully meet the needs of motor output, unmanned plane can
Control property is poor, the probability increase caused danger, thus signal acquisition time interval is shorter.Specific signal acquisition time interval needs
Determined according to the type of unmanned plane and flying condition by flight test.
In a kind of embodiment according to the present invention, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.It is described advance
The signalc threshold of setting includes at least one of early warning thresholding, protection thresholding and output thresholding, and the early warning thresholding, guarantor
The value of shield thresholding and output thresholding raises successively.
In a kind of embodiment according to the present invention, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
Specifically, if none of motor output intensity reaches any one in signalc threshold set in advance
Person, this represents unmanned plane and is in normal level floating state, and each passage motor output intensity should be basically identical, and leaves certain control
Surplus processed.Fly control device at the same time (to be collectively referenced as " signal gathering unit ", " detection unit " and " state of flight changing unit " " to fly
Control device ") whether each passage motor output intensity of detection consistent, if each passage motor controls output intensity there are relatively large deviation,
But alarm threshold is not all touched, then it is assumed that although assert that unmanned plane is in controllable state, exist with factory state and vary widely,
There may be security risk.Unmanned plane performs task by user demand, but needs to prompt user's related news in earth station, and
Retain relative recording in Air Diary.
If winged control device detects that one or more passage motor intensity values reach default alarm threshold,
Think that unmanned plane is in controllable state at this time, but continue to execute preset task there are risk.To ensure unmanned plane safety, fly at this time
Control device should be switched to pattern of making a return voyage, and posture and course-stability are kept in flight course.
If flying control device detects that one or more passage motor intensity values reach default protection door and prescribe a time limit,
Think that unmanned plane is still in controllable state at this time, but continue keep airflight there are risk.To ensure unmanned plane safety, this
When fly to control device and should be switched to landing mode immediately, and keep keeping posture and course-stability in descent, ensure descent
It is safely controllable.
If winged control device detects that one or more passage motor intensity values reach default output limit,
Think unmanned plane at this time be in one it is dangerous, it is difficult to maintain the state of stability contorting：Unmanned plane can not keep nobody
Flying height is kept while machine posture, course-stability.To prevent loss or loss being preferably minimized, flying control device at this time should
Landing mode is switched to immediately, and on the premise of keeping unmanned plane that larger inclination does not occur, reduces decrease speed as far as possible.
Finally, UAV Landing or task are completed, and sampling to cell voltage and the signal of motor control signal are adopted
Collection also stops therewith.
According to the present invention, a kind of unmanned plane, including unmanned plane safety control system as described above are also provided.
According to the present invention, a kind of method of controlling security of unmanned plane is also provided, including：
Motor control signal of the unmanned plane within a period of time is gathered using signal gathering unit；
Using verification unit by the motor control signal compared with signalc threshold set in advance；And
Using state of flight changing unit according to the motor control signal and the comparison knot of signalc threshold set in advance
Fruit is adjusted the state of flight of the unmanned plane.
In a kind of embodiment according to the present invention, the motor control signal is motor output intensity.
In a kind of embodiment according to the present invention, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.The signal gathering unit samples the voltage of on-board batteries, by
This sampling time adjusts the signal acquisition time interval to motor output intensity.When the voltage of on-board batteries is higher and relatively more steady
When, battery status is preferable, and the controllability of unmanned plane is stronger, and the probability caused danger is smaller, thus signal acquisition time interval compared with
It is long；Conversely, when the voltage of on-board batteries is relatively low, battery status cannot fully meet the needs of motor output, unmanned plane can
Control property is poor, the probability increase caused danger, thus signal acquisition time interval is shorter.Specific signal acquisition time interval needs
Determined according to the type of unmanned plane and flying condition by flight test.
In a kind of embodiment according to the present invention, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.It is described advance
The signalc threshold of setting includes at least one of early warning thresholding, protection thresholding and output thresholding, and the early warning thresholding, guarantor
The value of shield thresholding and output thresholding raises successively.
In a kind of embodiment according to the present invention, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
Specifically, if none of motor output intensity reaches any one in signalc threshold set in advance
Person, this represents unmanned plane and is in normal level floating state, and each passage motor output intensity should be basically identical, and leaves certain control
Surplus processed.Whether consistent fly each passage motor output intensity of control device detection at the same time, if each passage motor control output intensity is deposited
In relatively large deviation, alarm threshold is not all touched, then it is assumed that although assert that unmanned plane is in controllable state, but is deposited with factory state
Varying widely, it is understood that there may be security risk.Unmanned plane performs task by user demand, but needs to prompt user in earth station
Related news, and retain relative recording in Air Diary.
If winged control device detects that one or more passage motor intensity values reach default alarm threshold,
Think that unmanned plane is in controllable state at this time, but continue to execute preset task there are risk.To ensure unmanned plane safety, fly at this time
Control device should be switched to pattern of making a return voyage, and posture and course-stability are kept in flight course.
If flying control device detects that one or more passage motor intensity values reach default protection door and prescribe a time limit,
Think that unmanned plane is still in controllable state at this time, but continue keep airflight there are risk.To ensure unmanned plane safety, this
When fly to control device and should be switched to landing mode immediately, and keep keeping posture and course-stability in descent, ensure descent
It is safely controllable.
If winged control device detects that one or more passage motor intensity values reach default output limit,
Think unmanned plane at this time be in one it is dangerous, it is difficult to maintain the state of stability contorting：Unmanned plane can not keep nobody
Flying height is kept while machine posture, course-stability.To prevent loss or loss being preferably minimized, flying control device at this time should
Landing mode is switched to immediately, and on the premise of keeping unmanned plane that larger inclination does not occur, reduces decrease speed as far as possible.
Finally, UAV Landing or task are completed, and sampling to cell voltage and the signal of motor control signal are adopted
Collection also stops therewith.
Embodiment
In one embodiment of the invention, rotor wing unmanned aerial vehicle Efly x413e by attitude transducer 1 measure rotor without
The flight attitude of man-machine Efly x413e, and feed back to and fly control device 2, fly control 2 output motor control signal of device to machine governor 3
Come change the rotating speed of motor 41,42,43,44 make unmanned plane Efly x413e balance.Wherein, collection is output to electric machine speed regulation
The motor control signal of device 1 represents motor output quantity.
As shown in Figure 1, first, winged state is equalled normal, when the winged control device 2 of rotor wing unmanned aerial vehicle Efly x413e gathers one section
Between motor control signal calculate average value, the examination criteria as current motor output quantity.
Afterwards, when rotor wing unmanned aerial vehicle Efly x413e perform task, the winged control device 2 of rotor wing unmanned aerial vehicle Efly x413e is right
It is output to and is full of the motor control signals of electron speed regulator 3 of carefree 80A models and is sampled, its sampling time is needed according to two pieces
The voltage of the on-board batteries 51,52 of the 6s22000mah of series connection is adjusted.Sampling time ratio when voltage is higher and more steady
Longer, battery at this moment is also in relatively good state, space that the output quantity of motor 41,42,43,44 is also improved, rotor
The controllability of unmanned plane Efly x413e is stronger, and the probability caused danger is small, so the sampling interval is bigger.And work as voltage ratio
During the relatively low entrance decline stage, at this moment the state of battery 51,52 cannot fully meet the demand of motor 41,42,43,44,
The space of the output lifting of motor 41,42,43,44 is smaller, and the controllability of rotor wing unmanned aerial vehicle Efly x413e declines, and loses
The possibility increase of control, so just needing the sampling interval smaller.The specific sampling time need to be according to specific model and flight bar
Part is determined by flight test.
Then, the result that sampling obtains is contrasted with the three kinds of thresholdings set in advance.As shown in Fig. 2, three kinds of doors
Limit is early warning thresholding, protection thresholding, output limit respectively.These three thresholdings are also required in specific flight test according to flight number
According to measuring.As shown in Fig. 2, the corresponding control signal intensity of three raises successively, three thresholdings represent safety respectively, relatively pacify
Entirely, it is relatively hazardous.
Afterwards, the state of flight of rotor wing unmanned aerial vehicle Efly x413e is adjusted according to the result of contrast.Unmanned plane is just
Under the flat floating state of ordinary water, each passage motor output quantity should be basically identical, and leaves certain control surplus.Fly control device 2 to detect respectively
Whether 41,42,43,44 output quantity of passage motor is consistent, if each passage motor controls output quantity there are relatively large deviation, but all not
Touch alarm threshold, it is believed that unmanned plane is in controllable state at this time, but exists with factory state and vary widely, it is understood that there may be
Security risk.Unmanned plane performs task by user demand, but needs to prompt user's related news in earth station, and in flight day
Retain relative recording in will.Detect that one or more passage motor output valves reach preset alarm thresholding when flying control device 2
When, it is believed that unmanned plane is in controllable state at this time, but continues to execute preset task there are risk.To ensure unmanned plane peace
Entirely, pattern of making a return voyage should be switched to by flying control device 2 at this time, and posture and course-stability are kept in flight course.When unmanned plane one
Or more than one passage motor output valve reaches protection door and prescribes a time limit, it is believed that unmanned plane is still in controllable state at this time, but
Continuing holding airflight, there are risk.To ensure unmanned plane safety, landing mode should be switched to immediately by flying control device 2 at this time, and
Keep keeping posture and course-stability in descent, ensure that descent is safely controllable.One or one are detected when flying control device 2
It is a when reaching output limit with upper channel motor output valve, it is believed that at this time aircraft be in one it is dangerous, it is difficult to remain steady
Surely the state controlled：Unmanned plane can not keep flying height while UAV Attitude, course-stability is kept.To prevent
Appearance loses or loss is preferably minimized, and landing mode should be switched to immediately by flying control device 2 at this time, and keep unmanned plane not occur
On the premise of larger inclination, decrease speed is reduced as far as possible.
Finally, UAV Landing or task are completed, and sampling to battery 51,52 voltages and motor control signal are adopted
Sample also stops therewith.
A kind of example of the present invention has shown and described in described above, but as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and
Environment, and can be changed in the scope of the invention is set forth herein by the technology or knowledge of above-mentioned teaching or association area
It is dynamic., then all should be appended by the present invention and changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention
Add in scope of the claims.
In the description of the present invention, it is necessary to explanation, term " on ", " interior ", etc. instruction orientation or position relationship be
Based on the orientation or position relationship under working status of the present invention, it is for only for ease of the description present invention and simplifies description, rather than
Indicate or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore cannot
It is interpreted as limitation of the present invention.In addition, term " first ", " second " be only used for description purpose, and it is not intended that instruction or
Imply relative importance.
The present invention is described in detail above in association with preferred embodiment and exemplary example.But need what is stated
It is that these embodiments are only the illustrative explanations to the present invention, do not form any limit to protection scope of the present invention
System.In the case of without departing from spirit and scope of the present invention, the technology of the present invention content and embodiments thereof can be carried out
Various improvement, equivalencing or modifications, these are each fallen within protection scope of the present invention.Protection scope of the present invention is with appended power
Subject to profit requires.
Claims (18)
1. a kind of unmanned plane safety control system, including:
Signal gathering unit, it gathers motor control signal of the unmanned plane within a period of time；
Verification unit, it is by the motor control signal compared with signalc threshold set in advance；And
State of flight changing unit, it is according to the motor control signal and the comparative result of signalc threshold set in advance to institute
The state of flight for stating unmanned plane is adjusted.
2. unmanned plane safety control system according to claim 1, wherein, the motor control signal is that motor output is strong
Degree.
3. unmanned plane safety control system according to claim 1, wherein, the signal gathering unit is at described one section
It is interior to gather the motor control signal according to signal acquisition interval time.
4. unmanned plane safety control system according to claim 1, wherein, the verification unit calculates the electricity of collection
The average value of machine control signal, and the average value of the motor control signal and the signalc threshold set in advance are compared
Compared with.
5. unmanned plane safety control system according to claim 1, wherein, the signalc threshold set in advance includes pre-
At least one of alert thresholding, protection thresholding and output thresholding, and the early warning thresholding, protection thresholding and the value for exporting thresholding
Raise successively.
6. unmanned plane safety control system according to claim 1, wherein, when the motor control signal is equal to or more than
During the signalc threshold set in advance, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
7. a kind of unmanned plane, including unmanned plane safety control system as claimed in claim 1.
8. unmanned plane according to claim 7, wherein, the motor control signal is motor output intensity.
9. unmanned plane according to claim 7, wherein, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.
10. unmanned plane according to claim 7, wherein, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.
11. unmanned plane according to claim 7, wherein, the signalc threshold set in advance includes early warning thresholding, protection
At least one of thresholding and output thresholding, and the value of the early warning thresholding, protection thresholding and output thresholding raises successively.
12. unmanned plane according to claim 7, wherein, when the motor control signal is set in advance equal to or more than described
During fixed signalc threshold, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
13. a kind of method of controlling security of unmanned plane, including：
Motor control signal of the unmanned plane within a period of time is gathered using signal gathering unit；
Using verification unit by the motor control signal compared with signalc threshold set in advance；And
Using state of flight changing unit according to the motor control signal and the comparative result pair of signalc threshold set in advance
The state of flight of the unmanned plane is adjusted.
14. according to the method for claim 13, wherein, the motor control signal is motor output intensity.
15. according to the method for claim 13, wherein, the signal gathering unit is within described a period of time according to signal
The acquisition interval time gathers the motor control signal.
16. according to the method for claim 13, wherein, the verification unit calculates the motor control signal of collection
Average value, and by the average value of the motor control signal compared with the signalc threshold set in advance.
17. according to the method for claim 13, wherein, the signalc threshold set in advance includes early warning thresholding, protection
At least one of thresholding and output thresholding, and the value of the early warning thresholding, protection thresholding and output thresholding raises successively.
18. the method according to claim 11, wherein, when the motor control signal is equal to or more than described preset
Signalc threshold when, the state of flight changing unit is adjusted the state of flight of the unmanned plane.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108646779A (en) * | 2018-07-20 | 2018-10-12 | 中国人民解放军总参谋部第六十研究所 | A kind of guard method of unmanned plane |
| CN113232836A (en) * | 2021-05-27 | 2021-08-10 | 北京科技大学 | Energy power flight control integrated design method for solar unmanned aerial vehicle |
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