CN113311806A - Unmanned aerial vehicle intelligent test protection system - Google Patents
Unmanned aerial vehicle intelligent test protection system Download PDFInfo
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- CN113311806A CN113311806A CN202110576884.5A CN202110576884A CN113311806A CN 113311806 A CN113311806 A CN 113311806A CN 202110576884 A CN202110576884 A CN 202110576884A CN 113311806 A CN113311806 A CN 113311806A
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- aerial vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Cable Installation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent test protection system for an unmanned aerial vehicle, which comprises a steel frame and a shock pad, wherein the shock pad is arranged in the middle position below the steel frame, the unmanned aerial vehicle is arranged in the middle of the shock pad, and the upper part of the unmanned aerial vehicle body is connected with an automatic upper rope winch through an upper rope and a pulley; the lower part of the unmanned aerial vehicle undercarriage is connected with a lower rope automatic winch through a lower rope and a pulley. The system also comprises a winch controller, a flight control computer and an intelligent camera; the winch controller is connected with the lower rope automatic winch and the upper rope automatic winch; the intelligent camera acquires real-time images of the unmanned aerial vehicle and uploads the images to the flight control computer for processing; and the flight control computer controls the actions of the unmanned aerial vehicle and the winch controller according to the processing result. When the unmanned aerial vehicle flies abnormally, the flight computer sends an emergency control instruction to the unmanned aerial vehicle and the winch controller to control the unmanned aerial vehicle to stop rotating and the automatic winch to be locked, the unmanned aerial vehicle lands safely under the limitation of the rope, the safety of the unmanned aerial vehicle in the test is effectively protected, and unnecessary loss is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an intelligent test protection system for an unmanned aerial vehicle.
Background
At present, unmanned aerial vehicle is in no protect state when experimental, and the unmanned aerial vehicle performance state of experimental condition is unstable, very easily breaks down, and then leads to exploding quick-witted incident. In order to reduce the accident loss, a rope fixing mode is also adopted: rope one end is fixed in ground, and one end links to each other with the unmanned aerial vehicle undercarriage, and rope length 0.5m-2m varies, and this protection mode can be when unmanned aerial vehicle is out of control the protection main part equipment safety, reduces the loss, nevertheless can inevitably cause paddle and undercarriage to damage.
The existing test protection device is simple to operate and low in cost, but has a plurality of defects: the length of the rope is limited, the moving range of the unmanned aerial vehicle is small, and the performance of the unmanned aerial vehicle is difficult to accurately test; after unmanned aerial vehicle broke down, can only prevent that unmanned aerial vehicle from breaking away from the designated area, equipment when can not avoid unmanned aerial vehicle to land damages, is difficult to accomplish comprehensive protection.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides an intelligent test protection system for an unmanned aerial vehicle.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: an unmanned aerial vehicle intelligent test protection system comprises a steel frame, a shock pad, an upper rope, a lower rope automatic winch, an upper rope automatic winch and a plurality of pulleys;
the damping pad is arranged in the middle of the area below the steel frame, the unmanned aerial vehicle is statically placed in the middle of the damping pad in an experiment preparation stage, the head end of the upper rope is fixed with a joint at the upper part of the unmanned aerial vehicle body, and the tail end of the upper rope bypasses a plurality of pulleys welded on the steel frame and is connected with the automatic winch of the upper rope; the head end of the lower rope is fixed with a lower joint of the landing gear of the unmanned aerial vehicle, and the tail end of the lower rope is connected with an automatic winch of the lower rope by bypassing a plurality of pulleys welded on the ground;
a plurality of intelligent cameras are installed at corners of the top of the steel frame;
the winch controller and the flight control computer are also included; the flight control computer is in communication connection with the unmanned aerial vehicle, the intelligent camera and the winch controller; the winch controller is connected with the lower rope automatic winch and the upper rope automatic winch;
the intelligent camera acquires real-time images of the unmanned aerial vehicle and uploads the images to the flight control computer for processing; and the flight control computer controls the actions of the unmanned aerial vehicle and the winch controller according to the processing result.
Furthermore, a plurality of photosensitive illuminating headlamps are installed on the steel frame.
Further, the steel frame comprises at least one vertical support and a horizontal support arranged at the top of the vertical support.
Further, a plurality of pulleys are sequentially and evenly distributed on the horizontal support of the steel frame at intervals, wherein the first pulley close to the head end of the upper rope is located right above the position of the unmanned aerial vehicle.
Further, a plurality of pulleys are evenly distributed on the ground at the position of the shock pad at intervals in sequence, wherein the first pulley close to the head end of the lower rope is located right below the position of the unmanned aerial vehicle.
Furthermore, the upper automatic rope winch and the lower automatic rope winch are both arranged on the ground where the shock absorption pad is located.
Further, the processing flow of the flight control computer is as follows:
(1) the flight control computer processes the real-time image of the unmanned aerial vehicle acquired by the intelligent camera to acquire the attitude information and the streamer speed of the unmanned aerial vehicle;
(2) when the pitch angle of the unmanned aerial vehicle is smaller than 20 degrees and the streamer speed is smaller than a threshold value, the attitude of the aircraft is stable, and ascending or descending operation can be performed;
(3) when the pitch angle of the unmanned aerial vehicle is larger than 20 degrees or the streamer speed is larger than a threshold value, the flight attitude of the aircraft is unstable, and the flight control computer sends an emergency control instruction to the unmanned aerial vehicle and the winch controller.
Further, in the step (2), in the ascending process of the unmanned aerial vehicle, the flight control computer judges whether the unmanned aerial vehicle flies to the ascending limit height, and when the unmanned aerial vehicle reaches the ascending limit height, the flight control computer sends a command of reaching the ascending limit height to the winch controller, and meanwhile, the unmanned aerial vehicle maintains the flying height of the unmanned aerial vehicle and keeps flying stably; and when the unmanned aerial vehicle fails to reach the ascending limit height, entering the next cycle to execute the ascending instruction.
At unmanned aerial vehicle descending in-process, judge whether unmanned aerial vehicle reaches descending limit height, after unmanned aerial vehicle safety landing, the flight control computer sends and reaches descending limit height instruction and gives the capstan controller, controls unmanned aerial vehicle stop motion simultaneously, when unmanned aerial vehicle fails safety landing, continues to carry out the descending instruction.
Furthermore, the flight altitude of the unmanned aerial vehicle is acquired through a GPS, and GPS data is directly transmitted to the flight control computer.
Further, in the step (3), the flight control computer sends an emergency control instruction to the unmanned aerial vehicle according to the image processing result to control the unmanned aerial vehicle to stop rotating; and sending an emergency control instruction to a winch controller to control the automatic winch to be locked.
Has the advantages that: when the unmanned aerial vehicle flies abnormally, the flight computer sends an emergency control instruction to the unmanned aerial vehicle and the winch controller to control the unmanned aerial vehicle to stop rotating and the automatic winch to be locked, and the unmanned aerial vehicle can land safely under the limitation of the rope.
Meanwhile, in the ascending or descending process of the unmanned aerial vehicle, a brake signal of the flight control computer is sent to the winch controller. When any one of servo motors of the upper rope automatic winch or the lower rope automatic winch carries out forward transmission rope take-up, the other one carries out reverse transmission rope pay-off; receive the rope and put the rope and mutually support, unmanned aerial vehicle can stably fly, avoids rope winding unmanned aerial vehicle simultaneously.
The invention can effectively protect the safety of the unmanned aerial vehicle in the test and reduce unnecessary loss. Under the extreme condition that appearing many times electricity accent, airborne power supply trouble, software BUG, satellite signal lose etc., unmanned aerial vehicle all can land safely under the restriction of rope, has effectively reduced loss of property, has practiced thrift test time simultaneously.
Drawings
FIG. 1 is a schematic diagram of an experimental preparation of an intelligent test protection system for an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of a test flight of the intelligent test protection system for the unmanned aerial vehicle according to the invention;
FIG. 3 is a flow chart of flight control computer image processing;
fig. 4 is a flow chart of ascent or descent of the drone;
fig. 5 is a winch controller rope control flow chart.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The invention relates to an intelligent test protection system for an unmanned aerial vehicle, which is shown in fig. 1 and comprises a steel frame 1, wherein the steel frame 1 comprises at least one vertical support and a horizontal support arranged at the top of the vertical support, the number of the vertical supports is 2, and two ends of the horizontal support are respectively connected with the tops of the vertical supports at two sides to form a door-shaped structure; the intelligent lighting device comprises a shock pad 2, an upper rope 3, a lower rope 4, a lower rope automatic winch 5, an upper rope automatic winch 6, a plurality of pulleys 7, a plurality of intelligent cameras 8 and a plurality of photosensitive lighting headlamps 9.
The damping pad 2 is arranged in the middle of the right position of the area below the steel frame 1, in a preparation stage of a take-off experiment, the unmanned aerial vehicle is statically placed in the middle of the damping pad 2, the head end of the upper rope 3 is fixed with a joint at the upper part of the unmanned aerial vehicle body, and the tail end of the rope 3 bypasses a plurality of pulleys 7 welded on the steel frame 1 and is connected with an upper rope automatic winch 6; the head end of the lower rope 4 is fixed with the lower connector of the unmanned aerial vehicle undercarriage, and the tail end of the lower rope 4 is connected with the lower rope automatic winch 5 by bypassing a plurality of pulleys 7 welded on the ground.
A plurality of pulleys 7 are sequentially and evenly distributed on a horizontal support of the steel frame 1 at intervals, wherein the first pulley close to the head end of the upper rope is positioned right above the position of the unmanned aerial vehicle. A plurality of pulleys are sequentially and evenly distributed on the ground at the position of the shock pad 2 at intervals, wherein a first pulley 7 close to the head end of the lower rope is positioned right below the position of the unmanned aerial vehicle; wherein the pulley that is located directly over the unmanned aerial vehicle position, the pulley that is located directly below the unmanned aerial vehicle position and unmanned aerial vehicle are in on same vertical line.
The length of the lower rope 4 depends on the height of the steel frame 1, and when the unmanned aerial vehicle rises to a certain distance from the top, the lower rope 4 is tensioned; when the unmanned aerial vehicle is stationary on the shock pad, the upper rope 3 is taut.
A plurality of sensitive lighting headlamps 9 are installed at proper positions on the steel frame 1, and when the daylight is dark, the headlamps are automatically turned on. A plurality of intelligent cameras 8 are installed in the corner position of steelframe top, and unmanned aerial vehicle is aimed at to the camera lens, constantly takes notes unmanned aerial vehicle state.
According to the invention, the movement of the unmanned aerial vehicle in the winding line in the steel frame 1 is released to the greatest extent through the upper rope 3 and the lower rope 4, and the limit movement position of the unmanned aerial vehicle is limited, so that the risk of explosion after the unmanned aerial vehicle breaks down is avoided, and the time and the economic cost are saved. The addition of automatic capstan winch can make the rope keep the tensioning state in unmanned aerial vehicle motion process, avoids the unmanned aerial vehicle paddle to beat the rope. The addition of sensitization illumination headlight can guarantee that unmanned aerial vehicle normally tests at night. The intelligent camera can monitor the working state of the unmanned aerial vehicle in real time.
The intelligent camera 8 monitors the working state of the unmanned aerial vehicle in real time, a real-time image is uploaded to the flight control computer for processing, when a fault occurs, the posture of the unmanned aerial vehicle is abnormal, the real-time image of the intelligent camera 8 is processed by the flight control computer to obtain abnormal information, and the flight control computer sends information to the unmanned aerial vehicle so as to control the motor of the unmanned aerial vehicle to stop rotating; meanwhile, the flight control computer sends information to the winch controller, and the winch controller controls the automatic winch motor to be locked, so that the unmanned aerial vehicle is prevented from falling.
The intelligent test protection system for the unmanned aerial vehicle also comprises a flight control computer, and the flight control computer processes images acquired by the intelligent camera 8 in real time. And the flight control computer is in communication connection with the unmanned aerial vehicle, the intelligent camera and the winch controller.
The processing flow of the flight control computer of the unmanned aerial vehicle intelligent test protection system comprises the following steps:
(1) the flight control computer acquires attitude information and streamer speed of the unmanned aerial vehicle by processing the image acquired by the intelligent camera 8;
as shown in fig. 3, under the condition that the background remains unchanged in the test flight process of the unmanned aerial vehicle, the background image acquired by the camera remains almost unchanged in spatial position and gray scale, while the relative position of the unmanned aerial vehicle changes significantly, and the change in spatial position of the unmanned aerial vehicle is converted into the change in time of the image sequence by using the streamer method. In order to reduce the influence of environmental noise, filtering processing is performed on difference images obtained by performing difference processing on images at different moments and background images, then streamer calculation is performed on the difference images to obtain attitude information and streamer speed of the unmanned aerial vehicle, and therefore the flight state of the unmanned aerial vehicle is judged.
(2) When the pitch angle of the unmanned aerial vehicle is smaller than 20 degrees and the streamer speed is smaller than a threshold value, the attitude of the unmanned aerial vehicle can be considered to be stable, and ascending or descending operation can be carried out;
as shown in fig. 2, when the unmanned aerial vehicle takes off, the head end of the upper rope 3 moves upward with the unmanned aerial vehicle under the action of the upper rope automatic winch 6, the lower rope automatic winch 5 synchronously releases the line, and the head end of the lower rope 4 moves upward with the unmanned aerial vehicle under the action of the tension of the unmanned aerial vehicle; when unmanned aerial vehicle descends, go up the synchronous unwrapping wire of automatic capstan winch 6 of rope, go up the head end of rope 3 and along with unmanned aerial vehicle downstream under unmanned aerial vehicle action of gravity, the head end of rope 4 moves down along with unmanned aerial vehicle downstream under the effect of automatic capstan winch 5 of rope down. The unmanned aerial vehicle moves under the restriction of upper rope 3 and lower rope 4.
When the flight control computer obtains the feedback of the ascending signal or the descending signal of the unmanned aerial vehicle, the braking signal of the flight control computer is sent to the winch controller. When any one of servo motors of the upper rope automatic winch 6 and the lower rope automatic winch 5 transmits forward to take up the rope, the other one transmits backward to take out the rope.
As shown in fig. 4, in the ascending process of the unmanned aerial vehicle, the flight control computer constantly judges whether the unmanned aerial vehicle flies to the ascending limit height, and when the ascending limit height is reached, a command of reaching the ascending limit height is sent to the winch controller, and meanwhile, the unmanned aerial vehicle power system maintains the flying height and flying posture of the unmanned aerial vehicle and keeps flying stably; and when the unmanned aerial vehicle fails to reach the ascending limit height, entering the next cycle to execute the ascending instruction.
At unmanned aerial vehicle decline in-process, need constantly judge whether unmanned aerial vehicle reaches 2 surfaces of shock pad, descending limit height promptly, after unmanned aerial vehicle safe landing, the flight control computer sends and arrives the instruction and gives the capstan winch controller, controls unmanned aerial vehicle motor stop motion simultaneously, and when unmanned aerial vehicle failed to reach 2 surfaces of shock pad, unmanned aerial vehicle continued to carry out the descending instruction.
The flight height of the unmanned aerial vehicle is acquired through the GPS, and GPS data are directly transmitted to the flight control computer.
As shown in fig. 5, the winch controller controls the motors of 2 automatic winches to rotate so that the rope suspended on the drone ascends or descends following the drone: when the winch controller receives a rising or falling instruction, the winch controller analyzes the flying speed of the unmanned aerial vehicle at the moment according to the received data packet so as to control the rotating speed of the motor and prevent the rope from being wound on the unmanned aerial vehicle; in the ascending process of the unmanned aerial vehicle, when the winch controller receives the command of reaching the specified height, the winch controller controls the motor to stop rotating, and when the winch controller fails to receive the command of reaching the specified height, the ascending process is continuously executed; when the unmanned aerial vehicle descends, the winch controller receives a ground reaching instruction, the motor is controlled to stop rotating, and otherwise, the descending process is continuously executed.
(3) When the pitch angle of the unmanned aerial vehicle is larger than 20 degrees or the streamer speed is larger than a threshold value, the flight attitude of the aircraft can be considered to be unstable, and the flight control computer sends an emergency control instruction to the unmanned aerial vehicle and the winch controller.
And the flight control computer sends a control instruction to the unmanned aerial vehicle according to the image processing result, controls the motor of the unmanned aerial vehicle to stop running, sends the control instruction to the winch controller and controls the automatic winch motor to be locked.
As shown in fig. 4, the flight control computer is responsible for sending an ascending, descending or emergency control instruction to the unmanned aerial vehicle or winch controller; the unmanned aerial vehicle finishes an initialization state, receives a remote control command all the time, and when receiving an emergency command, the flight control computer sends the emergency command to the winch controller to lock the winch motor and simultaneously controls the unmanned aerial vehicle to stop rotating.
As shown in fig. 5, the winch controller receives an emergency instruction sent by the flight control computer in an interruption manner, and when the winch controller receives the emergency instruction, the interruption service program is triggered, and the winch controller locks the motor, so that the unmanned aerial vehicle is prevented from shaking greatly in a spatial position.
Claims (10)
1. An intelligent test protection system of an unmanned aerial vehicle is characterized by comprising a steel frame (1), a shock pad (2), an upper rope (3), a lower rope (4), a lower rope automatic winch (5), an upper rope automatic winch (6) and a plurality of pulleys (7);
the damping pad (2) is arranged in the middle of the area below the steel frame (1), in an experiment preparation stage, the unmanned aerial vehicle is statically placed in the middle of the damping pad (2), the head end of the upper rope (3) is fixed with a joint at the upper part of the unmanned aerial vehicle body, and the tail end of the upper rope (3) is connected with an upper rope automatic winch (6) by bypassing a plurality of pulleys (7) welded on the steel frame (1); the head end of the lower rope (4) is fixed with a lower joint of an unmanned aerial vehicle undercarriage, and the tail end of the lower rope (4) is connected with an automatic lower rope winch (5) by bypassing a plurality of pulleys (7) welded on the ground;
a plurality of intelligent cameras (8) are mounted at corners of the top of the steel frame (1);
the winch controller and the flight control computer are also included; the flight control computer is in communication connection with the unmanned aerial vehicle, the intelligent camera and the winch controller; the winch controller is connected with the lower rope automatic winch (5) and the upper rope automatic winch (6);
the intelligent camera (8) collects real-time images of the unmanned aerial vehicle and uploads the images to the flight control computer for processing; and the flight control computer controls the actions of the unmanned aerial vehicle and the winch controller according to the processing result.
2. The unmanned aerial vehicle intelligent test protection system of claim 1, wherein a plurality of sensitive lighting headlamps (9) are mounted on the steel frame (1).
3. An unmanned aerial vehicle intelligent test protection system as claimed in claim 1, wherein the steel frame (1) comprises at least one vertical support and a horizontal support arranged on top of the vertical support.
4. The intelligent unmanned aerial vehicle test protection system of claim 3, wherein a plurality of pulleys are uniformly distributed on the horizontal support of the steel frame (1) at intervals, and a first pulley near the head end of the upper rope is positioned right above the unmanned aerial vehicle.
5. The intelligent unmanned aerial vehicle test protection system of claim 1, wherein a plurality of pulleys are uniformly distributed on the ground at intervals at the position of the shock pad (2), and a first pulley near the head end of the lower rope is positioned right below the position of the unmanned aerial vehicle.
6. The unmanned aerial vehicle intelligent test protection system of claim 1, wherein the upper automatic rope winch (6) and the lower automatic rope winch (5) are both arranged on the ground where the shock absorption pad is located.
7. The unmanned aerial vehicle intelligent test protection system of claim 1, wherein the flight control computer processes:
(1) the flight control computer processes the real-time image of the unmanned aerial vehicle acquired by the intelligent camera to acquire the attitude information and the streamer speed of the unmanned aerial vehicle;
(2) when the pitch angle of the unmanned aerial vehicle is smaller than 20 degrees and the streamer speed is smaller than a threshold value, the attitude of the aircraft is stable, and ascending or descending operation can be performed;
(3) when the pitch angle of the unmanned aerial vehicle is larger than 20 degrees or the streamer speed is larger than a threshold value, the flight attitude of the aircraft is unstable, and the flight control computer sends an emergency control instruction to the unmanned aerial vehicle and the winch controller.
8. The unmanned aerial vehicle intelligent test protection system of claim 7, wherein in step (2), during the ascending process of the unmanned aerial vehicle, the flight control computer determines whether the unmanned aerial vehicle flies to the ascending limit height, and when the ascending limit height is reached, sends an instruction of reaching the ascending limit height to the winch controller, and meanwhile, the unmanned aerial vehicle maintains the flying height of the unmanned aerial vehicle to keep flying stably; when the unmanned aerial vehicle fails to reach the ascending limit height, entering next cycle to execute an ascending instruction;
at unmanned aerial vehicle descending in-process, judge whether unmanned aerial vehicle reaches descending limit height, after unmanned aerial vehicle safety landing, the flight control computer sends and reaches descending limit height instruction and gives the capstan controller, controls unmanned aerial vehicle stop motion simultaneously, when unmanned aerial vehicle fails safety landing, continues to carry out the descending instruction.
9. An intelligent test protection system for unmanned aerial vehicles as claimed in claim 8, wherein the flight altitude of the unmanned aerial vehicle is obtained by a GPS, and GPS data is directly transmitted to the flight control computer.
10. The unmanned aerial vehicle intelligent test protection system of claim 7, wherein in step (3), the flight control computer sends an emergency control instruction to the unmanned aerial vehicle according to the image processing result to control the unmanned aerial vehicle to stop rotating; and sending an emergency control instruction to a winch controller to control the automatic winch to be locked.
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