WO2018227477A1 - 无人机拆机后的控制方法和无人机 - Google Patents

无人机拆机后的控制方法和无人机 Download PDF

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Publication number
WO2018227477A1
WO2018227477A1 PCT/CN2017/088449 CN2017088449W WO2018227477A1 WO 2018227477 A1 WO2018227477 A1 WO 2018227477A1 CN 2017088449 W CN2017088449 W CN 2017088449W WO 2018227477 A1 WO2018227477 A1 WO 2018227477A1
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WIPO (PCT)
Prior art keywords
drone
state
disassembling operation
disassembling
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/088449
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English (en)
French (fr)
Inventor
刘利剑
陈永森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780018894.9A priority Critical patent/CN109313424B/zh
Priority to PCT/CN2017/088449 priority patent/WO2018227477A1/zh
Publication of WO2018227477A1 publication Critical patent/WO2018227477A1/zh
Priority to US16/703,443 priority patent/US11203443B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0015—Devices specially adapted for the protection against criminal attack, e.g. anti-hijacking systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/70—Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer
    • G06F21/86—Secure or tamper-resistant housings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/40—Maintaining or repairing aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • G06F21/31—User authentication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • Embodiments of the present invention relate to the field of unmanned aerial vehicles, and particularly to a control method and a drone after a drone is disassembled.
  • the flying height of the drone is limited (for example, the flying height of the drone is limited to 120 meters).
  • restrictions on the flight area of the drone such as limiting the drone flying into the airport, military heavy ground, etc.
  • these security measures are implemented at the factory to set the device inside the drone.
  • some users disassemble the drone, then illegally modify the drone, replace or tamper with the internal components of the drone to destroy the flying height of the drone and the limits of the flight area, once the drone is There are no restrictions on flight altitude and flight area, which can cause unpredictable losses.
  • the embodiment of the invention provides a control method and a drone after the drone is disassembled, which is used for avoiding the loss caused by the drone without the safety restriction measures and improving the safety of the use of the drone.
  • an embodiment of the present invention provides a control method after a drone is disassembled, including: detecting that a drone operation occurs. It is determined whether the disassembling operation is an illegal disassembling operation. After the disassembling operation is an illegal disassembling operation, the drone is prohibited from taking off or driving.
  • the method further includes: allowing the drone to take off or travel after the disassembling operation is a legal disassembling operation.
  • the determining whether the disassembling operation of the drone is an illegal disassembling operation comprises: determining whether the disassembling authorization information has been acquired; and the disassembling authorization information is used to authorize the disassembling operation as legitimate.
  • the disassembling authorization information has been obtained, it is determined that the disassembling operation is a legal disassembling operation.
  • the disassembling authorization information is not obtained, it is determined that the disassembling operation is an illegal disassembling operation.
  • the teardown authorization information is a teardown authorization password.
  • the method further comprises: setting the state of the drone from an initial state to a changed state.
  • the determining whether the teardown operation is an illegal teardown operation comprises: determining whether the state of the drone is a changed state or an initial state. When the state of the drone is changed, it is determined that the disassembling operation is an illegal disassembling operation. When the state of the drone is an initial state, it is determined that the disassembling operation is a legal disassembling operation.
  • the method before the determining whether the state of the drone is a changed state or an initial state, the method further includes: acquiring state reset authorization information, where the state reset authorization information is used to indicate a state of the drone Reset to the initial state. And resetting the authorization information according to the state, resetting the state of the drone to the initial state.
  • the status reset authorization information further includes identification information of the authorizer.
  • the method also includes, according to the identification information, recording a current reset behavior of the state of the drone authorized by the authorizer.
  • an organism state sensor is disposed at the junction of the upper cover of the drone and the lower cover of the body.
  • the detecting that the drone is disassembled comprises: acquiring sensing information of the body state sensor; and detecting that the drone is disassembled according to the sensing information.
  • the body state sensor includes a light sensor.
  • the detecting, according to the sensing information, that the unmanned machine is disassembled includes: indicating, according to the sensing information, that the photosensitive sensor senses light, and detecting that the drone is disassembled .
  • the inside of the lower cover of the body is provided with an alignment groove, and the photosensitive sensor is located in the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the alignment protrusion is matched with the alignment groove.
  • the photosensor does not sense light when the alignment bump is inserted into the alignment groove.
  • the photosensor senses light as the alignment bump is pulled out of the alignment groove.
  • the body state sensor includes a limit sensor, and detecting that the drone is disassembled according to the sensing information comprises: indicating, according to the sensing information, The limit sensor senses a change in the mechanical position, and detects that the drone is disassembled.
  • the inside of the lower cover of the body is provided with an alignment groove, and the limit sensor passes through the sidewall of the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the pair The bit bumps coincide with the alignment grooves.
  • the prohibiting the drone from taking off or driving comprises:
  • the unmanned aerial vehicle is prohibited from taking off.
  • the unmanned vehicle or the unmanned ship is prohibited from traveling.
  • an embodiment of the present invention provides a drone, including: a detecting device and a controller; and the detecting device is communicably connected to the controller.
  • the detecting device is configured to detect that the drone is disassembled.
  • the controller is configured to determine whether the disassembling operation is an illegal disassembling operation; and after the disassembling operation is an illegal disassembling operation, prohibiting the drone from taking off or driving.
  • the controller is further configured to allow the drone to take off or travel after the disassembling operation is a legal disassembling operation.
  • the controller is specifically configured to: determine whether the teardown authorization information has been acquired; the teardown authorization information is used to authorize the teardown operation to be legal; and the teardown authorization information has been obtained When it is determined that the disassembling operation is a legal disassembling operation; when the disassembling authorization information is not obtained, determining that the disassembling operation is an illegal disassembling operation.
  • the drone further includes an input device communicatively coupled to the controller.
  • the input device is configured to input the teardown authorization information.
  • the teardown authorization information is a teardown authorization password.
  • the detecting device is further configured to: after detecting that the drone is disassembled, set the state of the drone from an initial state to a changed state.
  • the controller is specifically configured to: determine whether the state of the drone is a changed state or an initial state; and when the state of the drone is a changed state, determine that the teardown operation is an illegal teardown operation; When the state of the drone is an initial state, it is determined that the disassembling operation is a legal disassembling operation.
  • the detecting device is further configured to acquire state reset authorization information, where the state reset authorization information is used to indicate the drone, before determining whether the teardown operation is an illegal teardown operation.
  • the state is reset to an initial state; the state of the drone is reset to the initial state according to the state reset authorization information.
  • the state reset authorization information further includes identifier information of the authorizer; the drone further includes: a memory, configured to record a current state of the state of the drone according to the identifier information The reset behavior is authorized by the licensor to perform.
  • the drone further includes an input device coupled to the detecting device.
  • the input device is configured to input the teardown authorization information.
  • the drone further includes: a body state sensor, the body state sensor being located at a joint of the upper cover of the drone and the lower cover of the body.
  • the body state sensor is configured to output sensing information of the body state sensor to the detecting device.
  • the detecting device is specifically configured to acquire the sensing information, and according to the sensing information, detecting that the drone is disassembled.
  • the drone further includes: a memory.
  • the body state sensor is specifically configured to output sensing information of the body state sensor to the memory.
  • the memory is configured to store sensing information of the body state sensor.
  • the detecting device is specifically configured to acquire the sensing information from the memory.
  • the body state sensor includes a light sensor; the light sensor is configured to output sensing information of the photosensor to the detecting device when the light is sensed.
  • the detecting device is specifically configured to: according to the sensing information, instructing the photosensitive sensor to sense light, and detecting that the drone is disassembled.
  • the inside of the lower cover of the body is provided with an alignment groove, and the photosensitive sensor is located in the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the alignment protrusion is matched with the alignment groove.
  • the photosensor does not sense light when the alignment bump is inserted into the alignment groove.
  • the photosensor senses light as the alignment bump is pulled out of the alignment groove.
  • the body state sensor includes a limit sensor, and the limit sensor is configured to output the sensing of the limit sensor to the detecting device when a change in the mechanical position is sensed. information.
  • the detecting device is specifically configured to: according to the sensing information, the limit sensor senses a change in a mechanical position, and detects that the drone is disassembled.
  • the inside of the lower cover of the body is provided with an alignment groove, and the limit sensor passes through the sidewall of the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the alignment protrusion is matched with the alignment groove.
  • the utility model further comprises: a button battery; the button battery is electrically connected to the detecting device.
  • the button battery is configured to supply power to the detecting device.
  • the button battery is also used to draw power from the power source of the drone.
  • the controller is a flight controller, and the flight controller is specifically configured to determine that the disassembling operation is an illegal disassembling operation. After that, the UAV is prohibited from taking off.
  • the controller is a driving controller, and the driving controller is specifically configured to: after determining that the disassembling operation is an illegal disassembling operation, prohibiting the Said unmanned or unmanned boat.
  • the control method and the drone after the drone disassembling provided by the embodiment of the present invention prohibits the drone by detecting that the drone is disassembled, and after determining that the disassembling operation is illegal disassembling operation Take off or drive. It avoids the illegal replacement or tampering of the internal components of the drone after the illegal dismantling operation, so that the drone takes off or travels without safety restrictions, avoiding the drone being caused by no safety restrictions. The loss has improved the safety of the drone.
  • FIG. 1 is a flowchart of a control method after a drone is disassembled according to Embodiment 1 of the present invention
  • FIG. 2 is a flowchart of a control method after a drone is disassembled according to Embodiment 2 of the present invention
  • FIG. 3 is a flowchart of a control method after a drone is disassembled according to Embodiment 3 of the present invention
  • FIG. 5 is a schematic diagram of positions of a photosensor and a limit sensor according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a drone according to Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of a drone according to Embodiment 2 of the present invention.
  • FIG. 8 is a schematic structural diagram of a drone according to a third embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a drone according to Embodiment 4 of the present invention.
  • FIG. 1 is a flowchart of a method for controlling a drone after disassembling according to a first embodiment of the present invention. As shown in FIG. 1 , the method in this embodiment may include:
  • the drone After determining that the disassembling operation is a legal disassembling operation, the drone is allowed to take off or travel.
  • the disassembling operation is an illegal disassembling operation
  • the components in the drone have not been replaced or tampered with. This is also likely to be a dismantling operation caused by illegally replacing or tampering with the internal components of the drone. This will destroy the safety restrictions of the drone, such as destroying the unmanned The operating height and/or area limits of the machine. Taking a drone as an example of an unmanned aerial vehicle, if the unmanned aerial vehicle has no height limit, the unmanned aerial vehicle is likely to fly upwards and limit the flight.
  • the drone Once it hits a civilian aircraft flying in the sky, it will cause the aircraft to die. A major disaster. If the drone has no regional restrictions, the drone is likely to arrive at the airport, which will seriously affect the take-off and landing of civil aircraft, and even cause casualties. In addition, the drone is likely to reach the military heavy ground. It was used by criminals to spy on military secrets and caused great losses to the country. So, in order to avoid the above If the situation occurs, in this embodiment, if it is determined that the disassembling operation is an illegal disassembling operation, the drone is prohibited from taking off or driving.
  • the unmanned aerial vehicle when the drone is an unmanned aerial vehicle, the unmanned aerial vehicle is prohibited from taking off, such as The motor was refused to start, so that the propeller of the UAV could not be rotated, and the unmanned aerial vehicle could not be taken off.
  • the unmanned or unmanned ship When the drone is an unmanned or unmanned ship, the unmanned or unmanned ship is prohibited from driving, such as refusing to start the motor, thereby preventing the unmanned or unmanned car from advancing.
  • the drone after detecting that the drone is disassembled, and after determining that the disassembling operation is an illegal disassembling operation, the drone is prohibited from taking off or traveling. It avoids the illegal replacement or tampering of the internal components of the drone after the illegal dismantling operation, so that the drone can take off or drive without safety restrictions, and avoid the drone caused by no safety restrictions. The loss has improved the safety of the drone.
  • the embodiment further determines that the disassembling operation is not an illegal disassembling operation, that is, the disassembling operation is a legal disassembling operation, indicating that the disassembling operation may be an officially disassembled operation, and the official permission is allowed.
  • the disassemble operation is likely to repair the malfunctioning device inside the drone. Since this disassembling operation is officially allowed, and the official can guarantee that the device inside the drone is not maliciously replaced or tampered with, it will not There are devices that replace or tamper with the inside of the drone to compromise the drone's safety restrictions. The safety restrictions of the drone after this disassemble operation have not changed, so the above situation does not occur.
  • the drone is allowed to take off or travel, for example, the motor is normally started, so that the user can normally use the unlawful after disassembling the machine.
  • the official referred to here may refer to the manufacturer, manufacturer, government authorized agency, etc.
  • FIG. 2 is a flowchart of a method for controlling a drone after disassembling according to a second embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the disassembling authorization information when the disassembling authorization information is not acquired, it is determined that the disassembling operation is an illegal disassembling operation, and in order to ensure safety, the drone is prohibited from taking off or driving.
  • the unmanned aerial vehicle When the drone is an unmanned aerial vehicle, the unmanned aerial vehicle is prohibited from taking off after determining that the disassembling operation is an illegal disassembling operation.
  • the prohibition of unmanned aerial vehicle take-off as referred to herein is after the unmanned aerial vehicle receives the take-off control command of the remote controller paired with the unmanned aerial vehicle, the flight controller of the unmanned aerial vehicle ignores the take-off control command, that is, In response to the takeoff control command, the motor is refused to start.
  • the unmanned or unmanned ship is prohibited from driving after it is determined that the disassembling operation is an illegal dismantling operation.
  • the prohibition of driving an unmanned vehicle or an unmanned ship is: the driving controller of the unmanned vehicle or the unmanned ship after the unmanned vehicle or the unmanned ship receives the driving control command of the remote controller matched with the unmanned vehicle or the unmanned ship.
  • the drive control command is ignored, that is, the drive control command is not responded, and the start of the motor is refused.
  • the pan/tilt or camera of the drone is allowed to be controlled, for example, allowing the drone or camera of the drone to be controlled by the remote controller, ie, the gimbal or camera receiving After the control command sent by the remote controller, the pan/tilt or camera responds to the control command.
  • prohibiting the control by the remote controller can be controlled by the remote controller, that is, the pan/tilt or the camera receives the remote control.
  • the pan/tilt or camera ignores the control command, that is, the pan/tilt or the drone does not respond to the control command.
  • the disassembling authorization information when the disassembling authorization information has been acquired, it is determined that the disassembling operation is a legal disassembling operation, and in order to ensure the normal use of the drone, the drone is allowed to take off or travel.
  • the unmanned aerial vehicle When the drone is an unmanned aerial vehicle, the unmanned aerial vehicle is allowed to take off after determining that the disassembling operation is a legal disassembling operation. Where the UAV is allowed to take off, after the UAV receives the takeoff control command of the remote controller paired with the UAV, the flight controller of the UAV starts to start the motor in response to the takeoff control command. Drive the unmanned aerial vehicle to take off.
  • the unmanned or unmanned ship When the drone is an unmanned vehicle or an unmanned ship, the unmanned or unmanned ship is allowed to travel after determining that the disassembling operation is a legal disassembling operation.
  • the driving of the unmanned or unmanned ship is referred to as: the driving controller of the unmanned or unmanned ship after the unmanned or unmanned ship receives the driving control command of the remote controller matched with it In response to the travel control command, the motor is started to drive the unmanned vehicle or the unmanned boat.
  • the obtained disassembling authorization information may be acquired before detecting the disassembling operation of the drone, and therefore, if the disassembling operation is a legal disassembling operation, the licensor before disassembling the drone
  • the disassemble authorization information can be input to the drone, and the drone can be disassembled after the drone obtains the disassembly authorization information. Since the disassembling authorization information is obtained before disassembling, it can be determined that the disassembling operation after obtaining the disassembling authorization information is a legal disassembling operation.
  • the obtained disassembling authorization information may be acquired after detecting that the drone is disassembled, and therefore, if the disassembling operation is a legal disassembling operation, after disassembling the drone, the licensor
  • the disassembling authorization information may be input to the drone, and after the drone obtains the disassembling authorization information, it may be determined that the disassembling operation before acquiring the disassembling authorization information is a legal disassembling operation.
  • the teardown authorization information may be a teardown authorization password. Therefore, the drone obtains the password input by the authorized person, and determines whether the password matches the preset disassembled authorization password. If it matches, it determines that the disassembled authorization password is obtained. If it does not match, it determines that the disassembly is not obtained. Machine authorization password.
  • the disassembly authorization information can be obtained through an input device of the drone.
  • the input device may be an input/output interface, for example, the disassemble authorization information is stored in a U disk or an SD card, and the UAV can read the U disk or the SD card when it is inserted into the input/output interface of the UAV Disassemble authorization information.
  • the input device may be an input/output interface, for example, the authorizer may input the corresponding disassembling authorization information through the input and output interface; taking the disassembling authorization information as an disassembling authorization password as an example, the input device may be controlling the unmanned The interaction interface of the terminal of the machine, the interface of the terminal may display a page for prompting to input the disassembly authorization password, and the terminal may obtain the disassembly authorization password input by the user through the interaction interface, and the disassembly authorization password may be a number, a letter, or the like. At least one of the characters.
  • the input device may be a terminal for controlling the drone, and the terminal may download the disassembling authorization information on the official website of the drone, and when the terminal communicates with the drone, the drone may acquire the terminal. The downloaded teardown authorization information.
  • disassemble authorization information may be owned by an official licensee.
  • the drone by detecting that the drone is disassembled, and when the disassembly authorization information is not obtained, it is determined that the disassembling operation is an illegal disassembling operation, and then the drone is prohibited from taking off or driving. It avoids the illegal replacement or tampering of the internal components of the drone after the illegal dismantling operation, so that the drone takes off or travels without safety restrictions, avoiding the drone being caused by no safety restrictions. The loss has improved the safety of the drone.
  • FIG. 3 is a flowchart of a control method after a drone is disassembled according to Embodiment 3 of the present invention, as shown in FIG. As shown in FIG. 3, the method of this embodiment may include:
  • the state in which the unmanned aerial vehicle is assembled in the factory is an initial state
  • the initial state indicates that the drone has not been disassembled
  • the changed state indicates that the drone has been disassembled. If it is detected that the drone has been disassembled, the state of the drone is set from the initial state to the changed state. If this disassemble operation is an illegal disassemble operation, the state of the drone will remain changed and cannot be reset to the initial state by itself. If the disassemble operation is a legal disassemble operation, the state of the drone can be reset to the initial state from the changed state.
  • the embodiment may further obtain status reset authorization information, where the status reset authorization information is used to indicate that the state of the drone is reset to an initial state. State, then reset the authorization information according to the acquired state, and reset the state of the drone to the initial state.
  • the disassemble operation is the user disassemble the machine, it is not the officially authorized disassemble operation, and the user does not have the status reset authorization information. Therefore, after the user disassembles the drone, the user cannot input to the drone.
  • the status resets the authorization information. Accordingly, the drone does not obtain the status reset authorization information, and the drone does not reset the changed state to the initial state. At this time, the state of the drone is still changed.
  • the disassemble operation is an officially authorized disassemble operation
  • the official licensor has status reset authorization information. Therefore, the official licensor can input the status reset authorization information to the drone, after the drone acquires the status reset authorization information. According to the state reset authorization information, the state of the drone is reset to the initial state, and the state of the drone is the initial state.
  • the foregoing state reset authorization information further includes identifier information of the licensor.
  • the current reset behavior of the state of the drone is recorded according to the identifier information of the licensor.
  • the licensor authorizes execution. According to this, it is convenient to analyze the number of disassembling of the drone and the reason of each disassembling according to the recorded information.
  • S303 Determine whether the state of the drone is changed state or initial state. If it is the changed state, S304 is executed, and if it is the initial state, S305 is executed.
  • determining whether the current state of the drone is changed state or initial state if it is determined that there is no The current state of the man-machine is changed, indicating that the disassemble is not authorized to disassemble, and it is determined that the disassembling operation is an illegal disassembling operation, that is, S304 is executed. If it is determined that the current state of the drone is the initial state, indicating that the disassemble is authorized disassembling, it is determined that the disassembling operation is a legal disassembling operation, that is, S305 is executed.
  • the drone when it is determined that the state of the drone is the initial state, it is determined that the disassembling operation is a legal disassembling operation, and in order to ensure the normal use of the drone, the drone is allowed to take off or travel.
  • the drone by detecting that the drone is disassembled, and when the disassembly authorization information is not obtained, it is determined that the disassembling operation is an illegal disassembling operation, and then the drone is prohibited from taking off or driving. Avoid illegal dismantling or tampering with the internal components of the drone, causing the drone to take off or drive without safety restrictions; also avoiding drones without safety restrictions The damage caused increases the safety of the drone.
  • FIG. 4 is a flowchart of a method for controlling a drone after disassembling according to Embodiment 4 of the present invention. As shown in FIG. 4, the method in this embodiment may include:
  • the drone in this embodiment includes a body upper cover and a lower body cover, and an organism state sensor is disposed at a joint between the upper cover of the body and the lower cover of the body.
  • an organism state sensor is disposed at a joint between the upper cover of the body and the lower cover of the body.
  • the body state sensor includes a photosensor, and the photosensor senses the light. Since the photosensor is located at the joint between the upper cover of the drone and the lower cover of the body, the drone is not disassembled. When the machine is in operation, the photosensor is not visible, so the photosensor does not sense light. When the drone is disassembled, the photosensor will be exposed to light, at which point the photosensor senses the light. Therefore, the photosensitive sensor is not sent when the drone is disassembled.
  • the sensing information sensed during the operation of the disassembling machine is different. According to the sensing information of the photosensor, the embodiment detects whether the disassembling operation occurs.
  • the sensing information of the photosensitive sensor indicates that the photosensitive sensor senses the light, indicating that the upper cover of the body is separated from the lower cover of the body, and therefore, the disassembling operation of the drone is detected.
  • the sensing information of the photosensitive sensor indicates that the photosensitive sensor does not sense the light, indicating that the upper cover of the body is not separated from the lower cover of the body, and therefore, the disassembling operation of the drone is detected.
  • the interior of the lower cover of the body is provided with a corresponding groove, and the photosensitive sensor is located in the alignment groove; and the inside of the upper cover of the body is provided with a positioning protrusion, the alignment protrusion and the The alignment groove is anastomosed.
  • the photosensitive sensor does not sense light when the alignment bump is inserted into the alignment groove; the photosensitive sensor senses when the alignment bump is pulled out from the alignment groove To the light.
  • the photosensitive sensor can be located at the bottom of the alignment groove. Since the photosensitive sensor is located at the junction of the alignment bump and the alignment groove, the light inside the drone is prevented from affecting the sensing of the photosensitive sensor, and the photosensitive sensor is used to sense whether the disassembling operation is accurate. Sex.
  • the body state sensor includes a limit sensor, and the limit sensor senses whether the mechanical position changes, because the limit sensor is located at a joint between the upper cover of the drone and the lower cover of the body
  • the limit sensor senses that the mechanical position does not change.
  • the upper cover of the body is separated from the lower cover of the body, and the mechanical position of the limit sensor located at the joint between the upper cover of the body and the lower cover of the body also changes. At this time, the limit sensor senses the mechanical The location has changed.
  • the limit sensor is different from the sensed sensing information when the drone operation occurs during the disassemble operation, and accordingly, the embodiment detects the unmanned person according to the sensing information of the limit sensor. Whether the machine has a disassemble operation.
  • the sensing information of the limit sensor indicates that the mechanical position changes, indicating that the upper cover of the body is separated from the lower cover of the body, and therefore, the disassembling operation of the drone is detected.
  • the sensing information of the limit sensor indicates that the mechanical position has not changed, indicating that the upper cover of the body is not separated from the lower cover of the body, and therefore, the disassembling operation of the drone is detected.
  • the inside of the lower cover of the body is provided with a corresponding groove, and the limit sensor passes through the sidewall of the alignment groove; and the inside of the upper cover of the body is provided with a positioning protrusion, the alignment convex The block coincides with the alignment groove.
  • the limit sensor abuts the sidewall of the alignment bump, and the limit sensor senses that the mechanical position has not changed.
  • the limit sensor bounces a distance toward the alignment groove, and the limit sensor senses a change in the mechanical position.
  • the body state sensor of the embodiment is not limited to the above-described photosensor and limit sensor.
  • the body state sensor of the embodiment includes a photosensitive sensor and a limit sensor.
  • the number of photosensitive sensors is at least one, and the number of limit sensors is also at least one.
  • FIG. 5 is a schematic diagram of the position of a photosensor and a limit sensor according to an embodiment of the present invention. As shown in FIG. 5, when the drone is not disassembled, the upper and lower covers are in a disturbing state. When the drone is disassembled, the upper and lower covers are disassembled.
  • the upper cover of the body and the lower cover of the body may also be the left cover of the body and the right cover of the body, or may be the front cover of the body and the back cover of the body, which is not limited in this embodiment.
  • the drone After determining that the disassembling operation is a legal disassembling operation, the drone is allowed to take off or travel.
  • the unloading operation of the drone is detected by the body state sensor, and after determining that the disassembling operation is an illegal disassembling operation, the drone is prohibited from taking off or driving. It avoids the illegal replacement or tampering of the internal components of the drone after the illegal dismantling operation, so that the drone takes off or travels without safety restrictions, avoiding the drone being caused by no safety restrictions. The loss has improved the safety of the drone.
  • FIG. 6 is a schematic structural diagram of a drone according to a first embodiment of the present invention. As shown in FIG. 6, the drone of the embodiment includes: a detecting device 10 and a controller 20; the detecting device 10 and the controller 20 communication connections.
  • the detecting device 10 is configured to detect that the drone is disassembled.
  • the disassemble operation of the drone is generally that the housing of the drone is opened, so that the components inside the drone are exposed to light, so that the detecting device 10 detects no one by detecting whether the device inside the drone is exposed to light. Whether the machine is disassembled or the device inside the drone may be replaced or modified. Therefore, the device inside the drone may have a moving operation, based on which it can detect whether the drone has been disassembled. It should be noted that the detecting device 10 can detect that the drone is disassembled according to each action of the disassembling operation process of the drone, and the embodiment is not limited to the above examples.
  • the controller 20 is configured to determine whether the disassembling operation is an illegal disassembling operation; and after the disassembling operation is an illegal disassembling operation, prohibiting the drone from taking off or driving.
  • controller 20 is further configured to allow the drone to take off or travel after the disassembling operation is a legal disassembling operation.
  • the controller 20 is specifically configured to: determine whether the teardown authorization information has been acquired; the teardown authorization information is used to authorize the teardown operation to be legal; When the information is authorized, it is determined that the disassembling operation is a legal disassembling operation; when the disassembling authorization information is not obtained, it is determined that the disassembling operation is an illegal disassembling operation.
  • the teardown authorization information is a teardown authorization password.
  • the detecting device 10 is further configured to: when detecting that the drone is disassembled, set the state of the drone from an initial state to a changed state.
  • the controller 20 is specifically configured to: determine whether the state of the drone is a changed state or an initial state; and when the state of the drone is a changed state, determine that the disassembling operation is an illegal disassembling operation; And when the state of the drone is an initial state, determining that the disassembling operation is a legal disassembling operation.
  • the detecting device 10 is further configured to acquire state reset authorization information, where the state reset authorization information is used to indicate that the state of the drone is reset before determining whether the teardown operation is an illegal teardown operation.
  • the initial state resetting the authorization information according to the state, resetting the state of the drone to the initial state.
  • the unmanned aerial vehicle is an unmanned aerial vehicle
  • the controller 20 is a flight controller, and the flight controller is specifically configured to determine that the disassembling operation is illegal. After the disassemble operation, the UAV is prohibited from taking off.
  • the drone is an unmanned vehicle
  • the controller 20 is a driving controller
  • the driving controller is specifically configured to determine that the disassembling operation is illegal. After the disassemble operation, the unmanned vehicle is prohibited from traveling.
  • the drone is an unmanned ship
  • the controller 20 is a driving controller
  • the driving controller is specifically configured to determine that the disassembling operation is illegal. After the disassemble operation, the unmanned ship is prohibited from traveling.
  • the detecting device 10 and the controller 20 described above may both belong to the drone control system.
  • the unmanned aerial vehicle of this embodiment can be used to implement the technical solution of the method embodiment shown in any of FIG. 1 to FIG. 3, and the implementation principle and technical effects are similar, and details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a drone according to a second embodiment of the present invention. As shown in FIG. 7, the drone of the embodiment further includes an input device 30 based on the unmanned aerial vehicle shown in FIG.
  • the input device 30 can be communicatively coupled to the controller 20; the input device 30 is configured to input the teardown authorization information.
  • the controller 20 is further configured to acquire the teardown authorization information by using the input device 30.
  • Input device 30 can be coupled to the detection device 10.
  • the input device 30 is configured to input the teardown authorization information.
  • the detecting device 10 is specifically configured to acquire the disassembling authorization information through the input device 30.
  • the unmanned aerial vehicle of this embodiment can be used to implement the technical solution of the method embodiment shown in any of FIG. 1 to FIG. 3, and the implementation principle and technical effects are similar, and details are not described herein again.
  • FIG. 8 is a schematic structural diagram of a drone according to a third embodiment of the present invention.
  • the drone of the embodiment is based on the unmanned aerial vehicle shown in FIG. 6 or FIG.
  • the utility model further includes: a body state sensor 40, the body state sensor 40 is located at a joint of the upper cover of the body of the drone and the lower cover of the body; the body state sensor 40 is configured to output the the device to the detecting device 10 Sensing information of the body state sensor.
  • the detecting device 10 is specifically configured to acquire the sensing information, and according to the sensing information, detecting that the drone is disassembled.
  • the body state sensor 40 includes a light sensor; the light sensor is configured to output sensing information of the photosensor to the detecting device when the light is sensed.
  • the detecting device 10 is configured to: instruct the photo sensor to sense light according to the sensing information, and detect that the drone is disassembled.
  • the inside of the lower cover of the body is provided with an alignment groove, and the photosensitive sensor is located in the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the alignment protrusion is matched with the alignment groove.
  • the photosensor does not sense light when the alignment bump is inserted into the alignment groove.
  • the photosensor senses light as the alignment bump is pulled out of the alignment groove.
  • the body state sensor 40 includes a limit sensor, and the limit sensor is configured to output the sensing of the limit sensor to the detecting device when a change in the mechanical position is sensed. information.
  • the detecting device 10 is configured to: according to the sensing information, the limit sensor senses a change in a mechanical position, and detects that the drone is disassembled.
  • an inner portion of the lower cover of the body is provided with an alignment groove, and the limit sensor passes through a sidewall of the alignment groove.
  • the inside of the upper cover of the body is provided with a positioning bump, and the alignment protrusion is matched with the alignment groove.
  • the upper cover of the body, the lower cover of the body, the photosensitive sensor, and the limit sensor are not shown in FIG. 8 .
  • the upper cover of the body, the lower cover of the body, the photosensitive sensor, and the limit sensor can be referred to the example shown in FIG. 5.
  • the unmanned aerial vehicle of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 4, and the implementation principle and the technical effect are similar, and details are not described herein again.
  • FIG. 9 is a schematic structural diagram of a drone according to a fourth embodiment of the present invention. As shown in FIG. 9, the drone of the embodiment is based on any of the above-mentioned drones, and the drone further includes: a memory. 50.
  • the status reset authorization information further includes identifier information of the authorizer.
  • the memory 50 is configured to perform, according to the identification information, a current reset behavior of recording the state of the drone by the authorizer.
  • the body state sensor 40 is specifically configured to output the sensing information of the body state sensor 40 to the memory 50.
  • the memory 50 is configured to store sensing information of the body state sensor 40.
  • the detecting device 10 is specifically configured to acquire the sensing information from the memory 50.
  • the drone of the embodiment further includes a button battery 60, and the button battery 60 is electrically connected to the detecting device 10.
  • the button battery 60 is configured to supply power to the detecting device 10.
  • the button battery 60 of this embodiment can supply power to the detecting device 10 in real time, and does not change with the operation of the on/off of the drone, so that the detecting device 10 detects in real time whether the drone is disassembled.
  • the button battery 60 can also be electrically coupled to the body state sensor 40 for powering the body state sensor 40 such that the body state sensor 40 senses in real time.
  • the button battery 60 can also be electrically coupled to a memory 50 for powering the memory 50.
  • the memory 50 is enabled to store relevant information, such as sensing information of the body state sensor 40, in real time.
  • the button battery 60 can also be electrically connected to the input device 30, and the button battery 60 is used for the input device 30 power supply.
  • the drone of the embodiment further includes: a power source 70.
  • the button battery 60 is also used to obtain power from the power source 70 of the drone. That is, the power supply 70 of the drone can be charged to the button battery 60, which avoids the trouble of changing the button battery when the button battery 60 is not powered.
  • the power source 70 of the drone is a battery of the drone, and the battery can be taken out from the drone and then charged.
  • the unmanned aerial vehicle of this embodiment can be used to implement the technical solution of any of the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and the like, which can store program codes. Medium.

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Abstract

一种无人机拆机后的控制方法和无人机，方法包括：检测到无人机发生拆机操作（S101）；确定拆机操作是否为非法拆机操作（S102）；在确定拆机操作为非法拆机操作后，禁止无人机起飞或行驶（S103）。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或行驶的情况发生，避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。

Description

无人机拆机后的控制方法和无人机 技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种无人机拆机后的控制方法和无人机。
背景技术
目前，为了保证无人机在飞行过程中的安全性，对无人机采取了一些安全措施，例如：对无人机的飞行高度进行了限制(例如限制无人机的飞行高度不超过120米)、对无人机的飞行区域进行了限制(例如限制无人机飞入机场、军事重地等)等，这些安全措施都是在出厂时对无人机内部的器件进行设置来实现的。但是，有些用户对无人机进行拆机，然后对无人机进行非法改装，替换或篡改无人机内部的器件，以破坏无人机的飞行高度和飞行区域的限制，一旦无人机的飞行高度和飞行区域没有限制，会造成难以估计的损失。
发明内容
本发明实施例提供一种无人机拆机后的控制方法和无人机，用于避免无人机在无安全限制措施下所造成的损失，提高无人机的使用安全性。
第一方面，本发明实施例提供一种无人机拆机后的控制方法，包括：检测到无人机发生拆机操作。确定所述拆机操作是否为非法拆机操作。在所述拆机操作是非法拆机操作后，禁止所述无人机起飞或行驶。
在一种可能的设计中，所述还包括：在所述拆机操作是合法拆机操作后，允许所述无人机起飞或行驶。
在一种可能的设计中，所述确定无人机的拆机操作是否为非法拆机操作，包括：确定是否已获取到拆机授权信息；所述拆机授权信息用于授权拆机操作为合法。在已获取到拆机授权信息时，确定所述拆机操作是合法拆机操作。在未获取到拆机授权信息时，确定所述拆机操作是非法拆机操作。
在一种可能的设计中，所述拆机授权信息为拆机授权密码。
在一种可能的设计中，所述检测到无人机发生拆机操作后，所述方法还包括：将所述无人机的状态由初始态设置为改变态。
所述确定所述拆机操作是否为非法拆机操作，包括：确定所述无人机的状态为改变态还是初始态。在所述无人机的状态为改变态时，确定所述拆机操作为非法拆机操作。在所述无人机的状态为初始态时，确定所述拆机操作为合法拆机操作。
在一种可能的设计中，所述确定所述无人机的状态为改变态还是初始态之前，还包括：获取状态复位授权信息，所述状态复位授权信息用于指示将无人机的状态复位为初始态。根据所述状态复位授权信息，将所述无人机的状态复位为所述初始态。
在一种可能的设计中，所述状态复位授权信息还包括授权者的标识信息。所述方法还包括：根据所述标识信息，记录所述无人机的状态的当前复位行为由所述授权者授权执行。
在一种可能的设计中，所述无人机的机体上盖和机体下盖的接合处设置有机体状态传感器。所述检测到无人机发生拆机操作，包括：获取机体状态传感器的感测信息；根据所述感测信息，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述机体状态传感器包括光敏传感器。所述根据所述感测信息，检测到所述无人机发生拆机操作，包括：根据所述感测信息指示所述光敏传感器感测到光，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述机体下盖的内部设有对位凹槽，所述光敏传感器位于所述对位凹槽内。所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光。在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。
在一种可能的设计中，所述机体状态传感器包括限位传感器，所述根据所述感测信息，检测到所述无人机发生拆机操作，包括：根据所述感测信息指示所述限位传感器感测到机械位置发生变化，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述机体下盖的内部设有对位凹槽，所述限位传感器穿过所述对位凹槽的侧壁。所述机体上盖的内部设有对位凸块，所述对 位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述限位传感器抵接所述对位凸块的侧壁，所述限位传感器感测到机械位置未发生变化。在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器感测到机械位置发生变化。
在一种可能的设计中，所述禁止所述无人机起飞或行驶，包括：
在所述无人机为无人飞行器时，禁止所述无人飞行器起飞。
在所述无人机为无人车或者无人船时，禁止所述无人车或者所述无人船行驶。
第二方面，本发明实施例提供一种无人机，包括：检测装置和控制器；所述检测装置与所述控制器通信连接。所述检测装置，用于检测到无人机发生拆机操作。所述控制器，用于确定所述拆机操作是否为非法拆机操作；以及在所述拆机操作是非法拆机操作后，禁止所述无人机起飞或行驶。
在一种可能的设计中，所述控制器，还用于：在所述拆机操作是合法拆机操作后，允许所述无人机起飞或行驶。
在一种可能的设计中，所述控制器，具体用于：确定是否已获取到拆机授权信息；所述拆机授权信息用于授权拆机操作为合法；在已获取到拆机授权信息时，确定所述拆机操作是合法拆机操作；在未获取到拆机授权信息时，确定所述拆机操作是非法拆机操作。
在一种可能的设计中，所述无人机还包括：输入设备，所述输入设备与所述控制器通信连接。所述输入设备，用于输入所述拆机授权信息。
在一种可能的设计中，所述拆机授权信息为拆机授权密码。
在一种可能的设计中，所述检测装置，还用于：检测到无人机发生拆机操作后，将所述无人机的状态由初始态设置为改变态。所述控制器，具体用于：确定所述无人机的状态为改变态还是初始态；在所述无人机的状态为改变态时，确定所述拆机操作为非法拆机操作；以及在所述无人机的状态为初始态时，确定所述拆机操作为合法拆机操作。
在一种可能的设计中，所述检测装置，还用于在确定所述拆机操作是否为非法拆机操作之前，获取状态复位授权信息，所述状态复位授权信息用于指示将无人机的状态复位为初始态；根据所述状态复位授权信息，将所述无人机的状态复位为所述初始态。
在一种可能的设计中，所述状态复位授权信息还包括授权者的标识信息；所述无人机还包括：存储器，用于根据所述标识信息，记录所述无人机的状态的当前复位行为由所述授权者授权执行。
在一种可能的设计中，所述无人机还包括：输入设备，所述输入设备与所述检测装置连接。所述输入设备，用于输入所述拆机授权信息。
在一种可能的设计中，所述无人机还包括：机体状态传感器，所述机体状态传感器位于所述无人机的机体上盖和机体下盖的接合处。所述机体状态传感器，用于向所述检测装置输出所述机体状态传感器的感测信息。所述检测装置，具体用于获取所述感测信息，根据所述感测信息，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述无人机还包括：存储器。所述机体状态传感器，具体用于向所述存储器输出所述机体状态传感器的感测信息。所述存储器，用于存储所述机体状态传感器的感测信息。所述检测装置，具体用于从所述存储器中获取所述感测信息。
在一种可能的设计中，所述机体状态传感器包括光敏传感器；所述光敏传感器，用于在感测到光时，向所述检测装置输出所述光敏传感器的感测信息。所述检测装置，具体用于：根据所述感测信息指示所述光敏传感器感测到光，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述机体下盖的内部设有对位凹槽，所述光敏传感器位于所述对位凹槽内。所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光。在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。
在一种可能的设计中，所述机体状态传感器包括限位传感器，所述限位传感器，用于在感测到机械位置发生变化时，向所述检测装置输出所述限位传感器的感测信息。所述检测装置，具体用于：根据所述感测信息指示所述限位传感器感测到机械位置发生变化，检测到所述无人机发生拆机操作。
在一种可能的设计中，所述机体下盖的内部设有对位凹槽，所述限位传感器穿过所述对位凹槽的侧壁。所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述限 位传感器抵接所述对位凸块的侧壁，所述限位传感器的机械位置未发生变化。在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器的机械位置发生变化。
在一种可能的设计中，还包括：纽扣电池；所述纽扣电池与所述检测装置电连接。所述纽扣电池，用于向所述检测装置供电。
在一种可能的设计中，所述纽扣电池，还用于从所述无人机的电源处获取电量。
在一种可能的设计中，在所述无人机为无人飞行器时，所述控制器为飞行控制器，所述飞行控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人飞行器起飞。
在所述无人机为无人车或无人船时，所述控制器为行驶控制器，所述行驶控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人车或无人船行驶。
本发明实施例提供的无人机拆机后的控制方法和无人机，通过检测到无人机发生拆机操作，并且在确定该拆机操作为非法拆机操作后，禁止该无人机起飞或行驶。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或行驶的情况发生，避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一提供的无人机拆机后的控制方法的流程图；
图2为本发明实施例二提供的无人机拆机后的控制方法的流程图；
图3为本发明实施例三提供的无人机拆机后的控制方法的流程图；
图4为本发明实施例四提供的无人机拆机后的控制方法的流程图；
图5为本发明一实施例提供的光敏传感器和限位传感器的位置的示意图；
图6为本发明实施例一提供的无人机的结构示意图；
图7为本发明实施例二提供的无人机的结构示意图；
图8为本发明实施例三提供的无人机的结构示意图；
图9为本发明实施例四提供的无人机的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1为本发明实施例一提供的无人机拆机后的控制方法的流程图，如图1所示，本实施例的方法可以包括：
S101、检测到无人机发生拆机操作。
S102、确定所述拆机操作是否为非法拆机操作。若是，则执行S103，若否，则执行S104。
S103、在确定拆机操作为非法拆机操作后，禁止所述无人机起飞或行驶。
S104、在确定拆机操作为合法拆机操作后，允许所述无人机起飞或行驶。
本实施例中，可以检测到无人机是否发生拆机操作，在检测到无人机发生拆机操作后，确定该拆机操作是否为非法拆机操作。
在确定该拆机操作为非法拆机操作时，说明该拆机操作不是官方(如该无人机的厂商或经销商或维修商)允许的拆机操作，该拆机操作不合法，无法保证无人机内的器件未被替换或篡改，这也很可能是人为非法替换或篡改无人机内部的器件而进行的拆机操作，这会破坏无人机的安全限制措施，例如破坏无人机的运行高度和/或区域的限制。以无人机为无人飞行器为例，如果无人飞行器无高度限制，则无人飞行器很可能会飞限制地往上飞行，一旦撞上正在天空中飞行的民用飞机，会造成机毁人亡的重大灾难。如果无人机无区域的限制，则无人机很可能会到达机场内，对民用飞机的起飞和降落带来严重影响，甚至造人员伤亡的现象，另外，无人机很可能会到达军事重地，被不法分子用于窥探军事机密，对国家造成重大损失。所以，为了避免上述 情况的发生，本实施例中如果确定该拆机操作是非法拆机操作，则禁止该无人机起飞或行驶，例如：在无人机为无人飞行器时，禁止该无人飞行器起飞，如拒绝启动电机，使得无人飞行器的螺旋桨无法旋转，从而带动不了无人飞行器起飞。在无人机为无人车或无人船时，禁止该无人车或无人船行驶，如拒绝启动电机，从而带动不了无人车或无人车前进。
本实施例，通过检测到无人机发生拆机操作，并且在确定该拆机操作为非法拆机操作后，禁止该无人机起飞或者行驶。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或者行驶的情况发生，避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。
可选地，本实施例还在确定该拆机操作不是非法拆机操作时，即该拆机操作是合法拆机操作，说明该拆机操作可能是官方允许的拆机操作，这种官方允许的拆机操作很可能是维修无人机内部的出故障的器件，由于这种拆机操作是官方允许的，而且官方是可以保证无人机内部的器件未被恶意替换或者篡改，因此不会存在替换或篡改无人机内部的器件以破坏无人机的安全限制措施。这种拆机操作后的无人机的安全限制措施没有改变，所以不会存在上述情况的发生。因此，本实施例中如果确定到该拆机操作为合法拆机操作，则允许该无人机起飞或行驶，例如：正常启动电机，这样可以保证用户在合法拆机后也能正常使用无人机，提高用户体验。这里所指的官方可以是指生产商、制造商、政府授权机构等。
图2为本发明实施例二提供的无人机拆机后的控制方法的流程图，如图2所示，本实施例的方法可以包括：
S201、检测到无人机发生拆机操作。
S202、确定是否已获取到拆机授权信息。若否，则执行S203，若是，则执行S204。
本实施例中，在检测到无人机发生拆机操作后，确定是否已获取到拆机授权信息，如果确定未获取到拆机授权信息，说明这次拆机不是授权拆机，则执行S203。如果确定已获取到拆机授权信息，说明这次拆机是授权拆机，则执行S204。
S203、确定拆机操作是非法拆机操作，并禁止所述无人机起飞或行驶。
本实施例中，在未获取拆机授权信息时，确定该拆机操作为非法拆机操作，为了保证安全，禁止无人机起飞或行驶。
在无人机为无人飞行器时，在确定拆机操作是非法拆机操作后，禁止无人飞行器起飞。其中，这里所指的禁止无人飞行器起飞是无人飞行器收到与所述无人飞行器配对的遥控器的起飞控制指令后，所述无人飞行器的飞行控制器忽略该起飞控制指令，即不响应该起飞控制指令，拒绝启动电机。
在无人机为无人车或无人船时，在确定拆机操作是非法拆机操作后，禁止无人车或无人船行驶。其中，这里所指的禁止无人车或无人船行驶是：无人车或无人船收到与其配对的遥控器的行驶控制指令后，所述无人车或无人船的行驶控制器忽略该行驶控制指令，即不响应该行驶控制指令，拒绝启动电机。
可选地，在禁止无人机起飞或行驶的情况下，允许控制无人机的云台或相机，例如：允许通过遥控器来控制无人机的云台或相机，即云台或相机接收到遥控器发送的控制指令后，云台或相机响应于该控制指令。
可选地，在禁止无人机起飞或行驶的情况下，禁止控制无人机的云台或相机，例如：禁止通过遥控器来控制可以通过遥控器来控制，即云台或相机接收到遥控器发送的控制指令后，云台或相机忽略该控制指令，即云台或无人机不响应于该控制指令。
S204、确定拆机操作是合法拆机操作，并允许所述无人机起飞或行驶。
本实施例中，在已获取到拆机授权信息时，确定该拆机操作为合法拆机操作，为了保证无人机的正常使用，允许无人机起飞或行驶。
在无人机为无人飞行器时，在确定拆机操作是合法拆机操作后，允许无人飞行器起飞。这里所指的允许无人飞行器起飞是无人飞行器收到与所述无人机配对的遥控器的起飞控制指令后，所述无人飞行器的飞行控制器响应该起飞控制指令，开始启动电机，带动无人飞行器起飞。
在无人机为无人车或无人船时，在确定拆机操作是合法拆机操作后，允许无人车或无人船行驶。其中，这里所指的允许无人车或无人船行驶是：无人车或无人船收到与其配对的遥控器的行驶控制指令后，所述无人车或无人船的行驶控制器响应该行驶控制指令，开始启动电机，驱动无人车或无人船行驶。
其中，上述已获取到的拆机授权信息可以是在检测到无人机发生拆机操作之前获取的，因此，若拆机操作为合法拆机操作，在对无人机拆机之前，授权者可以向无人机输入拆机授权信息，在无人机获取到拆机授权信息之后，再对无人机进行拆机。由于在拆机前获取到了拆机授权信息，因此可以确定获取到拆机授权信息后的一次拆机操作为合法拆机操作。
其中，上述已获取到的拆机授权信息可以是在检测到无人机发生拆机操作之后获取的，因此，若拆机操作为合法拆机操作，在对无人机拆机之后，授权者可以向无人机输入拆机授权信息，在无人机获取到拆机授权信息之后，即可确定获取到拆机授权信息前的一次拆机操作为合法拆机操作。
可选地，该拆机授权信息可以是拆机授权密码。因此，无人机获取到授权者输入的密码，并判断该密码是否与预置的拆机授权密码匹配，若匹配，则确定获取到拆机授权密码，若不匹配，则确定未获取到拆机授权密码。
其中，该拆机授权信息可以通过无人机的输入设备来获取的。该输入设备可以是输入输出接口，例如：该拆机授权信息存储在U盘或者SD卡，在U盘或者SD卡插入至无人机的输入输出接口时，无人机即可读取到该拆机授权信息。或者，该输入设备可以是输入输出界面，例如：授权者可以通过输入输出界面输入相应地的拆机授权信息；以拆机授权信息为拆机授权密码为例，该输入设备可以是控制无人机的终端的交互界面，终端的交互界面上可以显示用于提示输入拆机授权密码的页面，终端可以通过交互界面获取用户输入的拆机授权密码，该拆机授权密码可以是数字、字母、字符中至少一种。或者，该输入设备可以是控制无人机的终端，终端可以在该无人机的官方网站上下载拆机授权信息，在该终端与无人机通信连接时，无人机可以获取到终端上下载的所述拆机授权信息。
需要说明的是，上述的拆机授权信息是官方授权者可以拥有的。
本实施例，通过检测到无人机发生拆机操作，并且在未获取到拆授权信息时，确定该拆机操作为非法拆机操作，然后禁止该无人机起飞或行驶。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或行驶的情况发生，避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。
图3为本发明实施例三提供的无人机拆机后的控制方法的流程图，如图 3所示，本实施例的方法可以包括：
S301、检测到无人机发生拆机操作。
S302、将无人机的状态由初始态设置为改变态。
本实施例中，无人机在出厂组装完成的状态为初始态，初始态表示无人机未发生拆机操作，而改变态表示无人机已发生拆机操作。如果检测到无人机发生拆机操作，则将无人机的状态由初始态设置为改变态。如果这此拆机操作为非法拆机操作，则无人机的状态将保持改变态，无法自行复位为初始态。如果这次拆机操作为合法拆机操作，则无人机的状态可以由改变态复位为初始态。
可选地，在一些情况下，如果这次拆机操作为合法拆机操作，则本实施例还可以获取状态复位授权信息，该状态复位授权信息用于指示将无人机的状态复位为初始态，然后根据获取的状态复位授权信息，将无人机的状态复位为初始态。
其中，如何获取状态复位授权信息可以参见上述如何获取拆机授权信息的方式，此处不再赘述。
如果这次拆机操作是用户自行拆机，不是官方授权的拆机操作，而用户是不具有状态复位授权信息的，因此，用户在对无人机拆机后，用户无法向无人机输入状态复位授权信息，相应地，无人机也获取不到状态复位授权信息，无人机也不会将改变态复位为初始态，此时无人机的状态仍然是改变态。如果这次拆机操作是官方授权的拆机操作，官方授权者具有状态复位授权信息，因此，官方授权者可以向无人机输入状态复位授权信息，在无人机获取到状态复位授权信息之后，根据状态复位授权信息将无人机的状态复位为初始态，此时无人机的状态为初始态。
可选地，上述的状态复位授权信息还包括授权者的标识信息，本实施例在获取到状态复位授权信息之后，还根据授权者的标识信息，记录无人机的状态的当前复位行为由该授权者授权执行。据此，可以方便后续根据记录的信息，分析无人机的拆机次数以及每次拆机的原因。
S303、确定无人机的状态为改变态还是初始态。若为改变态，则执行S304，若为初始态，则执行S305。
本实施例中，确定无人机当前的状态为改变态还是初始态，如果确定无 人机当前的状态为改变态，说明这次拆机不是授权拆机，则确定该拆机操作为非法拆机操作，即执行S304。如果确定无人机当前的状态为初始态，说明这次拆机是授权拆机，则确定该拆机操作为合法拆机操作，即执行S305。
S304、确定拆机操作是非法拆机操作，并禁止所述无人机起飞或行驶。
本实施例中，在确定无人机的状态为改变态时，确定该拆机操作为非法拆机操作，为了保证安全，禁止无人机起飞或行驶。
S305、确定拆机操作是合法拆机操作，并允许所述无人机起飞或行驶。
本实施例中，在确定无人机的状态为初始态时，确定该拆机操作为合法拆机操作，为了保证无人机的正常使用，允许无人机起飞或行驶。
本实施例，通过检测到无人机发生拆机操作，并且在未获取到拆授权信息时，确定该拆机操作为非法拆机操作，然后禁止该无人机起飞或行驶。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或行驶的情况发生；也避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。
图4为本发明实施例四提供的无人机拆机后的控制方法的流程图，如图4所示，本实施例的方法可以包括：
S401、获取机体状态传感器的感测信息。
S402、根据所述感测信息，检测到所述无人机发生拆机操作。
本实施例中的无人机包括机体上盖和机体下盖，而且在机体上盖和机体下盖的接合处设置有机体状态传感器。在无人机未发生拆机操作时，机体上盖与机体下盖是接合的，因此位于接合处的机体状态传感器是感测到的。而在无人机发生拆机操作后，机体上盖与机体下盖不再接合，而是脱离开的，因此机体状态传感器也是感测到的。因此，位于机体上盖和机体下盖的接合处的机体状态传感器在实时感测，本实施例可以获取机体状态传感器的感测信息，并根据感测信息，检测无人机是否发生拆机操作。
在一种可能的实现方式中，机体状态传感器包括光敏传感器，光敏传感器对光进行感测，由于光敏传感器位于无人机的机体上盖与机体下盖的接合处，在无人机未发生拆机操作时，光敏传感器是未见光的，因此光敏传感器感测不到光。在无人机发生拆机操作时，光敏传感器将暴露于光照下，此时光敏传感器感测到光。因此，光敏传感器在无人机在发生拆机操作时与未发 生拆机操作时的感测到的感测信息不同，据此，本实施例根据光敏传感器的感测信息，检测无人机是否发生拆机操作。在光敏传感器的感测信息指示光敏传感器感测到光，说明机体上盖与机体下盖分离了，因此，检测到无人机发生拆机操作。在光敏传感器的感测信息指示光敏传感器未感测到光，说明机体上盖与机体下盖未分离，因此，检测到无人机未发生拆机操作。
可选地，机体下盖的内部设有对应凹槽，所述光敏传感器位于所述对位凹槽内；而机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光；在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。其中，光敏传感器可以位于对位凹槽的底部。由于光敏传感器位于对位凸块与对位凹槽的接合处，避免了无人机内部的光线对光敏传感器的感测带来影响，提高了光敏传感器用于感测是否发生拆机操作的准确性。
在另一种可能的实现方式中，机体状态传感器包括限位传感器，限位传感器对机械位置是否发生变化进行感测，由于限位传感器位于无人机的机体上盖与机体下盖的接合处，在无人机未发生拆机操作时，限位传感器的机械位置未发生变化，因此限位传感器感测到机械位置不变。在无人机发生拆机操作时，机体上盖与机体下盖分离，而位于机体上盖与机体下盖接合处的限位传感器的机械位置也随之变化，此时限位传感器感测到机械位置发生变化。因此，限位传感器在无人机在发生拆机操作时与未发生拆机操作时的感测到的感测信息不同，据此，本实施例根据限位传感器的感测信息，检测无人机是否发生拆机操作。在限位传感器的感测信息指示机械位置发生变化，说明机体上盖与机体下盖分离了，因此，检测到无人机发生拆机操作。在限位传感器的感测信息指示机械位置未变，说明机体上盖与机体下盖未分离，因此，检测到无人机未发生拆机操作。
可选地，机体下盖的内部设有对应凹槽，所述限位传感器穿过所述对位凹槽的侧壁；而机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述限位传感器抵接所述对位凸块的侧壁，所述限位传感器感测到机械位置未发生变化。在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器感测到机械位置发生变化。
需要说明的是，本实施例的机体状态传感器并不限于上述光敏传感器和限位传感器。
在一种可能的实现方式中，本实施例的机体状态传感器包括光敏传感器和限位传感器。光敏传感器的数量为至少一个，限位传感器的数量也为至少一个。图5为本发明一实施例提供的光敏传感器和限位传感器的位置的示意图，如图5所示，在无人机未发生拆机操作时，上下盖处于合扰状态。在无人机发生拆机操作时，上下盖处于拆开状态。
可选地，机体上盖和机体下盖也可以是机体左盖和机体右盖，也可以是机体前盖和机体后盖，本实施例对此不做限定。
S403、确定所述拆机操作是否为非法拆机操作。若是，则执行S404，若否，则执行S405。
S404、在确定拆机操作为非法拆机操作后，禁止所述无人机起飞或行驶。
S405、在确定拆机操作为合法拆机操作后，允许所述无人机起飞或行驶。
本实施例中，S403-S405的具体实现过程可以参见图1-图3任一实施例中的相关描述，此处不再赘述。
本实施例，通过机体状态传感器检测到无人机发生拆机操作，并且在确定该拆机操作为非法拆机操作后，禁止该无人机起飞或行驶。避免了非法拆机操作后，由于非法替换或篡改无人机内部的器件，使得无人机在无安全限制措施下起飞或行驶的情况发生，避免了无人机在无安全限制措施下所造成的损失，提高了无人机的使用安全性。
图6为本发明实施例一提供的无人机的结构示意图，如图6所示，本实施例的无人机包括：检测装置10和控制器20；所述检测装置10与所述控制器20通信连接。
所述检测装置10，用于检测到无人机发生拆机操作。无人机发生拆机操作一般是无人机的壳体被打开，使得无人机内部的器件暴露于光亮下，从而检测装置10通过检测无人机内部的器件是否暴露于光亮下来检测无人机是否发生拆机操作；或者，无人机内部的器件可能被替换或者改装，因此，无人机内部的器件可能存在移动的操作，基于此可以检测无人机是否发生拆机操作。需要说明的是，检测装置10可以根据无人机发生了拆机操作过程的各个动作，检测到无人机发生拆机操作，本实施例不限并于上述举例。
所述控制器20，用于确定所述拆机操作是否为非法拆机操作；以及在所述拆机操作是非法拆机操作后，禁止所述无人机起飞或行驶。
可选地，所述控制器20，还用于：在所述拆机操作是合法拆机操作后，允许所述无人机起飞或行驶。
在一种可能的实现方式中，所述控制器20，具体用于：确定是否已获取到拆机授权信息；所述拆机授权信息用于授权拆机操作为合法；在已获取到拆机授权信息时，确定所述拆机操作是合法拆机操作；在未获取到拆机授权信息时，确定所述拆机操作是非法拆机操作。
可选地，所述拆机授权信息为拆机授权密码。
在一种可能的实现方式中，所述检测装置10，还用于：检测到无人机发生拆机操作时，将所述无人机的状态由初始态设置为改变态。
所述控制器20，具体用于：确定所述无人机的状态为改变态还是初始态；在所述无人机的状态为改变态时，确定所述拆机操作为非法拆机操作；以及在所述无人机的状态为初始态时，确定所述拆机操作为合法拆机操作。
可选地，所述检测装置10，还用于在确定所述拆机操作是否为非法拆机操作之前，获取状态复位授权信息，所述状态复位授权信息用于指示将无人机的状态复位为初始态；根据所述状态复位授权信息，将所述无人机的状态复位为所述初始态。
在一种可行的实现方式中，所述无人机为无人飞行器，相应地，所述控制器20为飞行控制器，所述飞行控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人飞行器起飞。
在一种可行的实现方式中，所述无人机为无人车，相应地，所述控制器20为行驶控制器，所述行驶控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人车行驶。
在一种可行的实现方式中，所述无人机为无人船，相应地，所述控制器20为行驶控制器，所述行驶控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人船行驶。
可选地，上述的检测装置10和控制器20可以均属于无人机控制系统。
本实施例的无人机，可以用于执行图1-图3任一所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图7为本发明实施例二提供的无人机的结构示意图，如图7所示，本实施例的无人机在图6所示无人机的基础上，还包括：输入设备30。
输入设备30可以与所述控制器20通信连接；所述输入设备30，用于输入所述拆机授权信息。控制器20还用于通过所述输入设备30获取所述拆机授权信息。
输入设备30可以与所述检测装置10连接。所述输入设备30，用于输入所述拆机授权信息。检测装置10具体用于通过输入设备30获取拆机授权信息。
本实施例的无人机，可以用于执行图1-图3任一所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图8为本发明实施例三提供的无人机的结构示意图，如图8所示，本实施例的无人机在图6或图7所示无人机的基础上，所述无人机还包括：机体状态传感器40，所述机体状态传感器40位于所述无人机的机体上盖和机体下盖的接合处；所述机体状态传感器40，用于向所述检测装置10输出所述机体状态传感器的感测信息。
所述检测装置10，具体用于获取所述感测信息，根据所述感测信息，检测到所述无人机发生拆机操作。
在一种实现方式中，所述机体状态传感器40包括光敏传感器；所述光敏传感器，用于在感测到光时，向所述检测装置输出所述光敏传感器的感测信息。
所述检测装置10，具体用于：根据所述感测信息指示所述光敏传感器感测到光，检测到所述无人机发生拆机操作。
可选地，所述机体下盖的内部设有对位凹槽，所述光敏传感器位于所述对位凹槽内。所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光。在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。
在一种实现方式中，所述机体状态传感器40包括限位传感器，所述限位传感器，用于在感测到机械位置发生变化时，向所述检测装置输出所述限位传感器的感测信息。所述检测装置10，具体用于：根据所述感测信息指示所述限位传感器感测到机械位置发生变化，检测到所述无人机发生拆机操作。
在一种实现方式中，所述机体下盖的内部设有对位凹槽，所述限位传感器穿过所述对位凹槽的侧壁。所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合。在所述对位凸块插入所述对位凹槽时，所述限位传感器抵接所述对位凸块的侧壁，所述限位传感器的机械位置未发生变化。在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器的机械位置发生变化。
需要说明的是，图8中未示出机体上盖、机体下盖、光敏传感器、限位传感器。但是，机体上盖、机体下盖、光敏传感器、限位传感器可以参见图5所示的例子。
本实施例的无人机，可以用于执行图4所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图9为本发明实施例四提供的无人机的结构示意图，如图9所示，本实施例的无人机在上述任一无人机的基础上，所述无人机还包括：存储器50。
其中，所述状态复位授权信息还包括授权者的标识信息。存储器50，用于根据所述标识信息，记录所述无人机的状态的当前复位行为由所述授权者授权执行。
另外，在无人机包括机体状态传感器40时，机体状态传感器40，具体用于向所述存储器50输出所述机体状态传感器40的感测信息。
所述存储器50，用于存储所述机体状态传感器40的感测信息。
所述检测装置10，具体用于从所述存储器50中获取所述感测信息。
可选地，本实施例的无人机还包括纽扣电池60，所述纽扣电池60与所述检测装置10电连接。所述纽扣电池60，用于向所述检测装置10供电。本实施例的纽扣电池60可以是实时向检测装置10供电，不随无人机的开关机操作而变，使得检测装置10实时检测无人机是否发生拆机操作。
纽扣电池60还可以与机体状态传感器40电连接，纽扣电池60用于向机体状态传感器40供电，使得机体状态传感器40实时进行感测。
纽扣电池60还可以与存储器50电连接，纽扣电池60用于向存储器50供电。使得存储器50可以实时存储相关信息，例如机体状态传感器40的感测信息。
纽扣电池60还可以与输入设备30电连接，纽扣电池60用于向输入设备 30供电。
可选地，本实施例的无人机还包括：电源70。所述纽扣电池60，还用于从所述无人机的电源70处获取电量。即无人机的电源70可以在向纽扣电池60进行充电，避免了纽扣电池60无电时需要换纽扣电池的麻烦。其中，无人机的电源70是无人机的电池，该电池可以从无人机上取出，然后进行充电。
本实施例的无人机，可以用于执行上述任一方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (31)

  1. 一种无人机拆机后的控制方法，其特征在于，包括：
    检测到无人机发生拆机操作；
    确定所述拆机操作是否为非法拆机操作；
    在所述拆机操作是非法拆机操作后，禁止所述无人机起飞或行驶。
  2. 根据权利要求1所述的方法，其特征在于，还包括：
    在所述拆机操作是合法拆机操作后，允许所述无人机起飞或行驶。
  3. 根据权利要求1所述的方法，其特征在于，所述确定无人机的拆机操作是否为非法拆机操作，包括：
    确定是否已获取到拆机授权信息；所述拆机授权信息用于授权拆机操作为合法；
    在已获取到拆机授权信息时，确定所述拆机操作是合法拆机操作；
    在未获取到拆机授权信息时，确定所述拆机操作是非法拆机操作。
  4. 根据权利要求3所述的方法，其特征在于，所述拆机授权信息为拆机授权密码。
  5. 根据权利要求1所述的方法，其特征在于，所述检测到无人机发生拆机操作后，所述方法还包括：
    将所述无人机的状态由初始态设置为改变态；
    所述确定所述拆机操作是否为非法拆机操作，包括：
    确定所述无人机的状态为改变态还是初始态；
    在所述无人机的状态为改变态时，确定所述拆机操作为非法拆机操作；
    在所述无人机的状态为初始态时，确定所述拆机操作为合法拆机操作。
  6. 根据权利要求5所述的方法，其特征在于，所述确定所述无人机的状态为改变态还是初始态之前，还包括：
    获取状态复位授权信息，所述状态复位授权信息用于指示将无人机的状态复位为初始态；
    根据所述状态复位授权信息，将所述无人机的状态复位为所述初始态。
  7. 根据权利要求6所述的方法，其特征在于，所述状态复位授权信息还包括授权者的标识信息；
    所述方法还包括：
    根据所述标识信息，记录所述无人机的状态的当前复位行为由所述授权者授权执行。
  8. 根据权利要求1-7任意一项所述的方法，其特征在于，所述无人机的机体上盖和机体下盖的接合处设置有机体状态传感器；所述检测到无人机发生拆机操作，包括：
    获取机体状态传感器的感测信息；
    根据所述感测信息，检测到所述无人机发生拆机操作。
  9. 根据权利要求8所述的方法，其特征在于，所述机体状态传感器包括光敏传感器；所述根据所述感测信息，检测到所述无人机发生拆机操作，包括：
    根据所述感测信息指示所述光敏传感器感测到光，检测到所述无人机发生拆机操作。
  10. 根据权利要求9所述的方法，其特征在于，所述机体下盖的内部设有对位凹槽，所述光敏传感器位于所述对位凹槽内；
    所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合；
    在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光；
    在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。
  11. 根据权利要求8-10任意一项所述的方法，其特征在于，所述机体状态传感器包括限位传感器，所述根据所述感测信息，检测到所述无人机发生拆机操作，包括：
    根据所述感测信息指示所述限位传感器感测到机械位置发生变化，检测到所述无人机发生拆机操作。
  12. 根据权利要求11所述的方法，其特征在于，所述机体下盖的内部设有对位凹槽，所述限位传感器穿过所述对位凹槽的侧壁；
    所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合；
    在所述对位凸块插入所述对位凹槽时，所述限位传感器抵接所述对位凸块的侧壁，所述限位传感器感测到机械位置未发生变化；
    在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器感测到机械位置发生变化。
  13. 根据权利要求1-12任意一项所述的方法，其特征在于，所述禁止所 述无人机起飞或行驶，包括：
    在所述无人机为无人飞行器时，禁止所述无人飞行器起飞；
    在所述无人机为无人车或者无人船时，禁止所述无人车或者所述无人船行驶。
  14. 一种无人机，其特征在于，包括：检测装置和控制器；所述检测装置与所述控制器通信连接；
    所述检测装置，用于检测到无人机发生拆机操作；
    所述控制器，用于确定所述拆机操作是否为非法拆机操作；以及在所述拆机操作是非法拆机操作后，禁止所述无人机起飞或行驶。
  15. 根据权利要求14所述的无人机，其特征在于，所述控制器，还用于：在所述拆机操作是合法拆机操作后，允许所述无人机起飞或行驶。
  16. 根据权利要求14所述的无人机，其特征在于，所述控制器，具体用于：确定是否已获取到拆机授权信息；所述拆机授权信息用于授权拆机操作为合法；在已获取到拆机授权信息时，确定所述拆机操作是合法拆机操作；在未获取到拆机授权信息时，确定所述拆机操作是非法拆机操作。
  17. 根据权利要求16所述的无人机，其特征在于，还包括：输入设备，所述输入设备与所述控制器通信连接；
    所述输入设备，用于输入所述拆机授权信息。
  18. 根据权利要求17所述的无人机，其特征在于，所述拆机授权信息为拆机授权密码。
  19. 根据权利要求14所述的无人机，其特征在于，所述检测装置，还用于：检测到无人机发生拆机操作时，将所述无人机的状态由初始态设置为改变态；
    所述控制器，具体用于：确定所述无人机的状态为改变态还是初始态；在所述无人机的状态为改变态时，确定所述拆机操作为非法拆机操作；以及在所述无人机的状态为初始态时，确定所述拆机操作为合法拆机操作。
  20. 根据权利要求19所述的无人机，其特征在于，所述检测装置，还用于在确定所述拆机操作是否为非法拆机操作之前，获取状态复位授权信息，所述状态复位授权信息用于指示将无人机的状态复位为初始态；根据所述状态复位授权信息，将所述无人机的状态复位为所述初始态。
  21. 根据权利要求20所述的无人机，其特征在于，所述状态复位授权信息还包括授权者的标识信息；所述无人机还包括：
    存储器，用于根据所述标识信息，记录所述无人机的状态的当前复位行为由所述授权者授权执行。
  22. 根据权利要求20或21所述的无人机，其特征在于，还包括：输入设备，所述输入设备与所述检测装置连接；
    所述输入设备，用于输入所述拆机授权信息。
  23. 根据权利要求14-22任意一项所述的无人机，其特征在于，所述无人机还包括：机体状态传感器，所述机体状态传感器位于所述无人机的机体上盖和机体下盖的接合处；所述机体状态传感器，用于向所述检测装置输出所述机体状态传感器的感测信息；
    所述检测装置，具体用于获取所述感测信息，根据所述感测信息，检测到所述无人机发生拆机操作。
  24. 根据权利要求23所述的无人机，其特征在于，还包括：存储器；
    所述机体状态传感器，具体用于向所述存储器输出所述机体状态传感器的感测信息；
    所述存储器，用于存储所述机体状态传感器的感测信息；
    所述检测装置，具体用于从所述存储器中获取所述感测信息。
  25. 根据权利要求23或24所述的无人机，其特征在于，所述机体状态传感器包括光敏传感器；所述光敏传感器，用于在感测到光时，向所述检测装置输出所述光敏传感器的感测信息；
    所述检测装置，具体用于：根据所述感测信息指示所述光敏传感器感测到光，检测到所述无人机发生拆机操作。
  26. 根据权利要求25所述的无人机，其特征在于，所述机体下盖的内部设有对位凹槽，所述光敏传感器位于所述对位凹槽内；
    所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合；
    在所述对位凸块插入所述对位凹槽时，所述光敏传感器未感测到光；
    在所述对位凸块从所述对位凹槽拔出时，所述光敏传感器感测到光。
  27. 根据权利要求23-26任意一项所述的无人机，其特征在于，所述机体状态传感器包括限位传感器，所述限位传感器，用于在感测到机械位置发 生变化时，向所述检测装置输出所述限位传感器的感测信息；
    所述检测装置，具体用于：根据所述感测信息指示所述限位传感器感测到机械位置发生变化，检测到所述无人机发生拆机操作。
  28. 根据权利要求27所述的无人机，其特征在于，所述机体下盖的内部设有对位凹槽，所述限位传感器穿过所述对位凹槽的侧壁；
    所述机体上盖的内部设有对位凸块，所述对位凸块与所述对位凹槽吻合；
    在所述对位凸块插入所述对位凹槽时，所述限位传感器抵接所述对位凸块的侧壁，所述限位传感器的机械位置未发生变化；
    在所述对位凸块从所述对位凹槽拔出时，所述限位传感器朝所述对位凹槽的方向弹进一段距离，所述限位传感器的机械位置发生变化。
  29. 根据权利要求14-28任意一项所述的无人机，其特征在于，还包括：纽扣电池；所述纽扣电池与所述检测装置电连接；
    所述纽扣电池，用于向所述检测装置供电。
  30. 根据权利要求29所述的无人机，其特征在于，
    所述纽扣电池，还用于从所述无人机的电源处获取电量。
  31. 根据权利要求14-30任意一项所述的无人机，其特征在于，
    在所述无人机为无人飞行器时，所述控制器为飞行控制器，所述飞行控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人飞行器起飞；
    在所述无人机为无人车或无人船时，所述控制器为行驶控制器，所述行驶控制器，具体用于在确定所述拆机操作是非法拆机操作后，禁止所述无人车或无人船行驶。
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