CN110502030A - A kind of unmanned helicopter after landing method and landing gear - Google Patents
A kind of unmanned helicopter after landing method and landing gear Download PDFInfo
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- CN110502030A CN110502030A CN201910662347.5A CN201910662347A CN110502030A CN 110502030 A CN110502030 A CN 110502030A CN 201910662347 A CN201910662347 A CN 201910662347A CN 110502030 A CN110502030 A CN 110502030A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/105—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for unpowered flight, e.g. glider, parachuting, forced landing
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Abstract
The embodiment of the invention provides a kind of unmanned helicopter after landing method and landing gears, and wherein method includes: and receives to be instructed by the landing that operator sends；Control unmanned helicopter is instructed to fly to default landing site according to landing；After reaching default landing site, unmanned helicopter is controlled with preset height and executes hovering movement；Generate decrease speed reference data；Based on speed reference data, controls unmanned helicopter and decline and land with constant speed.The unmanned helicopter after landing method of the embodiment of the present invention, unmanned helicopter after landing fails caused by can be avoided because of externally measured sensor fault, is advantageously implemented unmanned helicopter safe landing.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of unmanned helicopter after landing method and landing gear.
Background technique
With air vehicle technique field fast development, the one kind of unmanned helicopter as unmanned plane, for example, coaxial anti-paddle without
Will be used wider and wider for people's helicopter is general.In the flight course of unmanned helicopter, unmanned helicopter after landing is a weight
It wants and the dangerous stage.
Existing unmanned helicopter after landing method is usually landed by manual control unmanned helicopter or nobody goes straight up to
Machine independent landing.In depopulated helicopter independent landing mission, it need to be realized by externally measured sensor, for example, passing through measurement
Whether the sensor of distance away the ground judges unmanned helicopter close to ground；By the switching regulator sensor that contacts to earth, judge that nobody goes straight up to
Whether machine contacts to earth, and completes landing with this and lands.
However, inventor has found in the implementation of the present invention, at least there are the following problems for the prior art: nobody is gone straight up to
Machine needs to depend on the data that externally measured sensor generates in the process when landing by externally measured sensor.However,
It lands since existing unmanned helicopter needs to realize by externally measured sensor, and externally measured sensor is easy by the external world
Interference is broken down, and is easy to cause unmanned helicopter to occur in landing mission unexpected, is unfavorable for unmanned helicopter safe landing.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of unmanned helicopter after landing method and landing gear, to realize nobody
Helicopter does not depend on externally measured sensor and lands.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of unmanned helicopter after landing methods, which comprises
It receives and is instructed by the landing that operator sends, carry default landing site information in the landing instruction；
Control unmanned helicopter is instructed to fly to default landing site according to the landing；
After reaching the default landing site, unmanned helicopter is controlled with preset height and executes hovering movement；
Decrease speed reference data is generated, the decrease speed reference data is used to determine the decline of the unmanned helicopter
Parameter；
Based on the speed reference data, controls unmanned helicopter and decline and land with constant speed.
Optionally, the step of generation decrease speed reference data includes:
It is decline reference instruction by described land instruction morphing；
Based on the decline reference instruction, decrease speed reference data is generated, includes in the decrease speed reference data
Default fall off rate.
Optionally, described to be based on the speed reference data, control unmanned helicopter is declined and is landed with constant speed
Step includes:
According to the speed reference data, determine the unmanned helicopter always away from control amount；
By described always away from control amount, control the unmanned plane and decline and land with constant speed.
Optionally, it is described by described always away from control amount, control the step that the unmanned plane is declined and landed with constant speed
Suddenly, comprising:
According to described always away from control amount, the vane angle size of the unmanned helicopter is controlled；
By controlling the vane angle size of the unmanned helicopter, controls the unmanned plane and decline and land with constant speed.
Optionally, after the control unmanned helicopter is declined and is landed with constant speed, the method also includes:
It reduces described always away from the size of control amount；
When it is described always away from control amount be lower than preset threshold when, reduce the blade revolving speed of the unmanned helicopter；
When conditions present meets default engine shut-off condition, continues to reduce blade revolving speed to stopping rotating, close hair
Motivation.
Second aspect, the embodiment of the invention provides a kind of unmanned helicopter after landing device, described device includes:
Receiving module is carried in the landing instruction and is preset for receiving the landing instruction sent by operator
Land location information；
First control module, for instructing control unmanned helicopter to fly to default landing site according to the landing；
Second control module, for after reaching the default landing site, control unmanned helicopter to be held with preset height
Row hovering movement；
Generation module, for generating decrease speed reference data, the decrease speed reference data is for determining the nothing
The drawdown parameter of people's helicopter；
Third control module is controlled unmanned helicopter and is declined simultaneously with constant speed for being based on the speed reference data
It lands.
Optionally, the generation module, comprising:
Submodule is converted, for being decline reference instruction by described land instruction morphing；
Submodule is generated, for being based on the decline reference instruction, generates decrease speed reference data, the decrease speed
Include default fall off rate in reference data.
Optionally, the third control module, comprising:
Determine submodule, for according to the speed reference data, determine the unmanned helicopter always away from control amount；
Control submodule, for, always away from control amount, controlling the unmanned plane by described and declining and land with constant speed.
The third aspect, the embodiment of the invention provides a kind of electronic equipment, including processor, communication interface, memory and
Communication bus, wherein the processor, the communication interface, the memory are completed each other by the communication bus
Communication；The machine readable storage medium is stored with the machine-executable instruction that can be executed by the processor, the processing
Device is promoted by the machine-executable instruction: realizing the unmanned helicopter after landing method that first aspect of the embodiment of the present invention provides
Method and step.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Dielectric memory contains computer program, and the computer program is executed by processor the nothing of first aspect of embodiment of the present invention offer
The method and step of people's helicopter landing method.
A kind of unmanned helicopter after landing method provided in an embodiment of the present invention and landing gear, by receiving instruction of landing,
After reaching default landing site, control unmanned helicopter executes hovering movement, then generates decrease speed reference data, control
Unmanned helicopter is declined and is landed with constant speed.Due to no longer needing in the landing mission of unmanned helicopter by externally measured
Sensor, therefore unmanned helicopter after landing fails caused by can be avoided because of externally measured sensor fault, is advantageously implemented
Unmanned helicopter safe landing.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach the above institute simultaneously
All advantages stated.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of unmanned helicopter after landing method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of step S104 in the embodiment of the present invention；
Fig. 3 is a kind of flow diagram of step S105 in the embodiment of the present invention；
Fig. 4 is a kind of flow diagram of step S1052 in the embodiment of the present invention；
Fig. 5 is another flow diagram of unmanned helicopter after landing method provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of unmanned helicopter after landing device provided in an embodiment of the present invention；
Fig. 7 is another structural schematic diagram of unmanned helicopter after landing device provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of unmanned helicopter after landing method, which may include following
Step:
S101 is received and is instructed by the landing that operator sends.
Unmanned helicopter in the embodiment of the present invention can be coaxial anti-paddle unmanned helicopter, and unmanned helicopter can fly
During row, receives and instructed by the landing that operator sends, for example, operator is referred to by the landing that ground controller is sent
It enables, thereby executing landing maneuver.Default landing site information, such as the warp in landing site can be carried in above-mentioned landing instruction
Latitude information, to allow the clear landing site of unmanned helicopter.
S102 instructs control unmanned helicopter to fly to default landing site according to landing.
Unmanned helicopter receive land instruction after, can be controlled according to Lu Zhiling in land location information, to default landing field
Point flight.
S103 controls unmanned helicopter with preset height and executes hovering movement after reaching default landing site.
After unmanned helicopter reaches default landing site, preset height can be maintained and execute hovering movement, for example, In
10 meters of high-altitude hoverings are perhaps hovered in 30 meters of high-altitude hoverings or in 50 meters of high-altitudes.
S104 generates decrease speed reference data.
When hovering, decrease speed reference data is can be generated in unmanned helicopter, which is used for nobody
Machine is referred in decline, that is, for determining the drawdown parameter of unmanned helicopter.
As a kind of optional embodiment of the embodiment of the present invention, as shown in Fig. 2, above-mentioned steps S104 specifically can wrap
It includes:
S1041 will land instruction morphing for decline reference instruction.
S1042 generates decrease speed reference data based on decline reference instruction.
It can will land instruction morphing to decline reference instruction, and further generate decrease speed reference data, the decline
It may include pre-set fall off rate in speed reference data, thus rate when declining unmanned plane clearly.This is pre-
If fall off rate for example can be with are as follows: 0.4m/s or 0.5m/s, as long as can guarantee that unmanned helicopter declines safely, specifically
The numerical value embodiment of the present invention is without limitation.
S105, is based on speed reference data, and control unmanned helicopter is declined and landed with constant speed.
The principle of unmanned helicopter decline is: the gravity of unmanned helicopter itself is compared with the lift that helicopter blade generates
Compared with when gravity is greater than lift, unmanned helicopter shows as declining；When gravity and equal lift, unmanned helicopter is shown as
Hovering；When gravity is less than lift, unmanned helicopter shows as climbing.
In the embodiment of the present invention, after generating decrease speed reference data, it can be controlled according to the decrease speed reference data
Unmanned helicopter processed is declined and is landed with constant speed.In landing mission, unmanned helicopter can also be by itself inertia
Navigation equipment corrects current flight attitude, the influence in decline because of beam wind to flight attitude is avoided, so that nobody be made to go straight up to
Machine can be with vertical landing.
As a kind of optional embodiment of the embodiment of the present invention, if Fig. 3 shows, above-mentioned steps S105 be can specifically include:
S1051, according to speed reference data, determine unmanned helicopter always away from control amount.
S1052, by always away from control amount, controlling unmanned plane and declining and land with constant speed.
In the embodiment of the present invention, can by speed reference data, determine unmanned helicopter always away from control amount.Wherein,
Always away from the average pitch for referring to each blade on the secondary rotor of unmanned helicopter one, to illustrate the pitch of whole secondary rotor.Therefore, originally
Inventive embodiments can be by adjusting the lift size always away from the adjustable unmanned helicopter of control amount.Decline in unmanned helicopter
It keeps always constant away from control amount in the process, so that the lift of unmanned helicopter is less than self gravity, it is straight that nobody theoretically can be realized
Rise machine uniform descent.
As a kind of optional embodiment of the embodiment of the present invention, if Fig. 4 shows, above-mentioned steps S1052 be can specifically include:
S10521, according to always away from control amount, controlling the vane angle size of unmanned helicopter.
S10522, by controlling the vane angle size of unmanned helicopter, control unmanned plane is declined and is landed with constant speed.
The lift of unmanned helicopter is generated by blade rotary motion, in one timing of the blade speed of rotation, works as blade
Windward side it is bigger, i.e., vane angle is bigger, blade generate lift it is bigger.And vane angle can be by always away from control on unmanned helicopter
Amount processed carries out ratio control, that is to say, that always bigger away from the more big then vane angle of control amount, lift is also bigger；The smaller then paddle of control amount
Angle is smaller, and lift is also smaller.Therefore, the embodiment of the present invention can be big according to the vane angle always away from control amount control unmanned helicopter
It is small, and then by the vane angle size of control unmanned helicopter, control unmanned plane is declined with constant speed, and then is landed.
As a kind of optional embodiment of the embodiment of the present invention, on the basis of embodiment shown in Fig. 1, as shown in figure 5,
The unmanned helicopter after landing method of the embodiment of the present invention can also include:
S201 is reduced always away from the size of control amount.
During unmanned helicopter contacts ground, unmanned helicopter because ground supports act on, total downward resultant force by
Gradual change is small, in order to maintain decline order, corresponding lift Ying Geng little, thus always away from control amount needs gradually become smaller, that is, reduce always away from
The size of control amount.
S202 reduces the blade revolving speed of unmanned helicopter when being always lower than preset threshold away from control amount.
One can be preset always away from control amount threshold value, when currently always away from control amount being lower than preset threshold, nobody is straight
The machine of liter can release all control loops, keep blade to move under a lower revolving speed under small vane angle.It needs to illustrate
It is that above-mentioned preset threshold can determine that specific value is herein not by technical staff according to factors such as quality, the power of unmanned plane
It limits.
S203 continues to reduce blade revolving speed to stopping rotating, closes when conditions present meets default engine shut-off condition
Close engine.
When conditions present meets default engine shut-off condition, for example, when the blade revolving speed of unmanned helicopter is lower than pre-
If critical speed after, unmanned helicopter can continue to reduce blade revolving speed, until stop rotating, engine can be kept at this time
Idle running for a period of time, is then shut off engine, unmanned helicopter power-off, to complete entire landing mission.
As a kind of optional embodiment of the embodiment of the present invention, unmanned helicopter is abnormal in descent in order to prevent
Situation occurs or Iterim Change landing is intended to, and in unmanned helicopter descent, can artificially interrupt descent at any time,
For example, sending hovering instruction, after so that unmanned helicopter is received hovering instruction, landing landing mode is exited, and keep hovering, improved
The flight safety of unmanned helicopter.
As a kind of optional embodiment of the embodiment of the present invention, contacts to earth in unmanned helicopter after landing and arrive releasing control constantly
This period of circuit is interfered because the resultant force that unmanned helicopter is formed in vertical direction is smaller vulnerable to crosswind, easily makes nobody straight
The machine of liter is turned on one's side.Therefore in implementation process of the embodiment of the present invention, can shorten as far as possible unmanned plane from landing contact to earth constantly to
This period of control loop is released, for example, completing the above process in 3 seconds, in 5 seconds.
A kind of unmanned helicopter after landing method provided in an embodiment of the present invention, it is default reaching by receiving instruction of landing
Behind landing site, control unmanned helicopter executes hovering movement, then generates decrease speed reference data, controls unmanned helicopter
Declined with constant speed and is landed.Due to no longer needing in the landing mission of unmanned helicopter by externally measured sensor, because
Unmanned helicopter after landing fails caused by this can be avoided because of externally measured sensor fault, is advantageously implemented unmanned helicopter
Safe landing.The embodiment of the present invention successfully realizes application in coaxial anti-paddle unmanned helicopter, the results showed that using the present invention
The coaxial anti-paddle unmanned helicopter of embodiment method, completely can be independent of the sensing of conventional auxiliary precise measurement distance away the ground
Device, the control loop relied solely on itself and helicopter characteristic complete landing mission.The embodiment of the present invention is realized simply, at low cost,
Relative to Complex System Reliability height, practicability is higher, can reach actual operation requirements.
A kind of a kind of specific embodiment of unmanned helicopter after landing device provided in an embodiment of the present invention is flowed with shown in Fig. 1
Journey is corresponding, and with reference to Fig. 6, Fig. 6 is a kind of a kind of structural schematic diagram of unmanned helicopter after landing device of the embodiment of the present invention, packet
It includes:
Receiving module 301 carries default landing in instruction of landing for receiving the landing instruction sent by operator
Location information.
First control module 302, for instructing control unmanned helicopter to fly to default landing site according to landing.
Second control module 303, for after reaching default landing site, control unmanned helicopter to be executed with preset height
Hovering movement.
Generation module 304, for generating decrease speed reference data, decrease speed reference data is for determining that nobody goes straight up to
The drawdown parameter of machine.
Third control module 305, for be based on speed reference data, control unmanned helicopter with constant speed decline and
Land.
Wherein, generation module may include:
Submodule is converted, it is instruction morphing for decline reference instruction for that will land；
Submodule is generated, for generating decrease speed reference data, decrease speed reference data based on decline reference instruction
In include default fall off rate.
Wherein, third control module may include:
Determine submodule, for according to speed reference data, determine unmanned helicopter always away from control amount.
Control submodule, for by always away from control amount, controlling unmanned plane and declining and land with constant speed.
Wherein, control submodule may include:
First control unit, for controlling the vane angle size of unmanned helicopter according to always away from control amount.
Second control unit controls unmanned plane under constant speed for the vane angle size by control unmanned helicopter
It drops and lands.
Wherein, as shown in fig. 7, the unmanned helicopter after landing device of the embodiment of the present invention can also include:
First reduces module 306, for reducing always away from the size of control amount.
Second reduces module 307, when being always lower than preset threshold away from control amount, reduces the blade revolving speed of unmanned helicopter.
Wherein, when conditions present meets default engine shut-off condition, the second reduction module specifically can be used for: continue
Blade revolving speed is reduced to stopping rotating, closes engine.
A kind of unmanned helicopter after landing device provided in an embodiment of the present invention, it is default reaching by receiving instruction of landing
Behind landing site, control unmanned helicopter executes hovering movement, then generates decrease speed reference data, controls unmanned helicopter
Declined with constant speed and is landed.Due to no longer needing in the landing mission of unmanned helicopter by externally measured sensor, because
Unmanned helicopter after landing fails caused by this can be avoided because of externally measured sensor fault, is advantageously implemented unmanned helicopter
Safe landing.
The embodiment of the invention also provides a kind of electronic equipment, as shown in figure 8, include processor 401, communication interface 402,
Memory 403 and communication bus 404, wherein processor 401, communication interface 402, memory 403 are complete by communication bus 404
At mutual communication,
Memory 403, for storing computer program；
Processor 401 when for executing the program stored on memory 403, realizes following steps:
It receives and is instructed by the landing that operator sends, carry default landing site information in instruction of landing；
Control unmanned helicopter is instructed to fly to default landing site according to landing；
After reaching default landing site, unmanned helicopter is controlled with preset height and executes hovering movement；
Decrease speed reference data is generated, decrease speed reference data is used to determine the drawdown parameter of unmanned helicopter；
Based on speed reference data, controls unmanned helicopter and decline and land with constant speed.
A kind of electronic equipment provided in an embodiment of the present invention, by receiving instruction of landing, after reaching default landing site,
It controls unmanned helicopter and executes hovering movement, then generate decrease speed reference data, control unmanned helicopter with constant speed
Decline and lands.Due to no longer needing to can be avoided in the landing mission of unmanned helicopter by externally measured sensor
Because unmanned helicopter after landing fails caused by externally measured sensor fault, it is advantageously implemented unmanned helicopter safe landing.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, abbreviation EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..
Only to be indicated with a thick line in figure, it is not intended that an only bus or a type of bus convenient for indicating.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, abbreviation RAM), also may include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored in computer readable storage medium
Computer program, to execute following steps:
It receives and is instructed by the landing that operator sends, carry default landing site information in instruction of landing；
Control unmanned helicopter is instructed to fly to default landing site according to landing；
After reaching default landing site, unmanned helicopter is controlled with preset height and executes hovering movement；
Decrease speed reference data is generated, decrease speed reference data is used to determine the drawdown parameter of unmanned helicopter；
Based on speed reference data, controls unmanned helicopter and decline and land with constant speed.
A kind of computer readable storage medium provided in an embodiment of the present invention, it is default reaching by receiving instruction of landing
Behind landing site, control unmanned helicopter executes hovering movement, then generates decrease speed reference data, controls unmanned helicopter
Declined with constant speed and is landed.Due to no longer needing in the landing mission of unmanned helicopter by externally measured sensor, because
Unmanned helicopter after landing fails caused by this can be avoided because of externally measured sensor fault, is advantageously implemented unmanned helicopter
Safe landing.
For device/electronic equipment/storage medium embodiment, since it is substantially similar to the method embodiment, so
It is described relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
It should be noted that the device of the embodiment of the present invention, electronic equipment and storage medium respectively be using it is above-mentioned nobody
Device, electronic equipment and the storage medium of helicopter landing method, then all embodiments of above-mentioned unmanned helicopter after landing method
It is suitable for the device, electronic equipment and storage medium, and can reaches the same or similar beneficial effect.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of unmanned helicopter after landing method, which is characterized in that the described method includes:
It receives and is instructed by the landing that operator sends, carry default landing site information in the landing instruction；
Control unmanned helicopter is instructed to fly to default landing site according to the landing；
After reaching the default landing site, unmanned helicopter is controlled with preset height and executes hovering movement；
Decrease speed reference data is generated, the decrease speed reference data is used to determine the decline ginseng of the unmanned helicopter
Number；
Based on the speed reference data, controls unmanned helicopter and decline and land with constant speed.
2. the method according to claim 1, wherein the step of generation decrease speed reference data, includes:
It is decline reference instruction by described land instruction morphing；
Based on the decline reference instruction, decrease speed reference data is generated, includes default in the decrease speed reference data
Fall off rate.
3. it is straight to control nobody the method according to claim 1, wherein described be based on the speed reference data
The machine of liter the step of being declined and landed with constant speed includes:
According to the speed reference data, determine the unmanned helicopter always away from control amount；
By described always away from control amount, control the unmanned plane and decline and land with constant speed.
4. according to the method described in claim 3, it is characterized in that, it is described by described always away from control amount, control it is described nobody
The step of machine is declined and is landed with constant speed, comprising:
According to described always away from control amount, the vane angle size of the unmanned helicopter is controlled；
By controlling the vane angle size of the unmanned helicopter, controls the unmanned plane and decline and land with constant speed.
5. according to the method described in claim 3, it is characterized in that, the control unmanned helicopter with constant speed decline and
Lu Hou, the method also includes:
It reduces described always away from the size of control amount；
When it is described always away from control amount be lower than preset threshold when, reduce the blade revolving speed of the unmanned helicopter；
When conditions present meets default engine shut-off condition, continues to reduce blade revolving speed to stopping rotating, close engine.
6. a kind of unmanned helicopter after landing device, which is characterized in that described device includes:
Receiving module carries default landing field in the landing instruction for receiving the landing instruction sent by operator
Point information；
First control module, for instructing control unmanned helicopter to fly to default landing site according to the landing；
Second control module is hanged for after reaching the default landing site, controlling unmanned helicopter and being executed with preset height
Stop acting；
Generation module, for generating decrease speed reference data, the decrease speed reference data is for determining that described nobody is straight
The drawdown parameter of the machine of liter；
Third control module, for being based on the speed reference data, control unmanned helicopter is declined and is landed with constant speed.
7. device according to claim 6, which is characterized in that the generation module, comprising:
Submodule is converted, for being decline reference instruction by described land instruction morphing；
Submodule is generated, for being based on the decline reference instruction, generates decrease speed reference data, the decrease speed reference
Include default fall off rate in data.
8. device according to claim 6, which is characterized in that the third control module, comprising:
Determine submodule, for according to the speed reference data, determine the unmanned helicopter always away from control amount；
Control submodule, for, always away from control amount, controlling the unmanned plane by described and declining and land with constant speed.
9. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein described
Processor, the communication interface, the memory complete mutual communication by the communication bus；
The memory, for storing computer program；
The processor when for executing the program stored on memory, realizes the described in any item methods of claim 1-5
Step.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program realizes claim 1-5 described in any item method and steps when the computer program is executed by processor.
Priority Applications (1)
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| CN111949042A (en) * | 2020-08-05 | 2020-11-17 | 普宙机器人科技(武汉)有限公司 | Unmanned helicopter flight control method and device and unmanned helicopter |
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