CN110362111A - Method and device for determining safe landing of engine of unmanned helicopter after parking - Google Patents
Method and device for determining safe landing of engine of unmanned helicopter after parking Download PDFInfo
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- CN110362111A CN110362111A CN201910638750.4A CN201910638750A CN110362111A CN 110362111 A CN110362111 A CN 110362111A CN 201910638750 A CN201910638750 A CN 201910638750A CN 110362111 A CN110362111 A CN 110362111A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/105—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for unpowered flight, e.g. glider, parachuting, forced landing
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Abstract
The application provides a method and a device for determining safe landing after an unmanned helicopter engine stops, wherein the method comprises the following steps: acquiring a plurality of groups of flight data on a height-speed diagram of the unmanned helicopter after the engine stops; determining a safe landing condition after the unmanned helicopter engine is stopped based on the flight data; and determining a safe landing control strategy after the unmanned helicopter engine is stopped based on the current flight data after the unmanned helicopter engine is stopped and the safe landing condition. According to the method and the device, the basis is provided for the safe landing of the unmanned helicopter through the determined safe landing condition, the safe landing control strategy after the engine of the unmanned helicopter stops is determined, and the safe landing after the engine of the unmanned helicopter stops is guaranteed.
Description
Technical field
This application involves unmanned helicopter flight technical fields, stop more particularly, to a kind of determining unmanned helicopter engine
The method and device of safe landing after vehicle.
Background technique
In recent years, unmanned helicopter is widely applied in many fields, such as applied to army, electric inspection process, side
The fields such as anti-inspection, environmental monitoring, geographical remote sensing.
It, can due to being influenced by adverse circumstances or engine system failure during unmanned helicopter flies in the sky
Engine cut-off can be will lead to.Once the engine cut-off of unmanned helicopter will result in nothing if mishandling to this situation
People's helicopter can not safe falling, even result in unmanned helicopter crash.
Summary of the invention
In view of this, the application's is designed to provide safe landing after a kind of determining unmanned helicopter engine cut-off
Method and device, to guarantee safe landing after unmanned helicopter engine cut-off.
In a first aspect, the embodiment of the present application provides a kind of side of safe landing after determining unmanned helicopter engine cut-off
Method, comprising:
Multiple groups flying quality after acquisition unmanned helicopter engine cut-off on height-hodograph；
Safe landing condition based on the flying quality, after determining the unmanned helicopter engine cut-off；
Based on the current flight data and the safe landing condition after the unmanned helicopter engine cut-off, institute is determined
Safe landing piloting strategies after stating unmanned helicopter engine cut-off.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, the base
Safe landing condition in the flying quality, after determining the unmanned helicopter engine cut-off, comprising:
Based on the flying quality, using fight dynamics equation, calculate every group described in the corresponding landing number of flying quality
According to；
Based on the landing data, the safe landing condition of the unmanned helicopter is determined.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide second of first aspect
Possible embodiment, the current flight data and the safe landing condition based on the unmanned helicopter, determines institute
Safe landing piloting strategies after stating unmanned helicopter engine cut-off, comprising:
Current flight data based on the unmanned helicopter calculate the corresponding current landing number of the current flight data
According to；
If current landing data does not meet safe landing condition, it is determined that after the unmanned helicopter engine cut-off
Safe landing piloting strategies.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein institute
The safe landing condition for stating unmanned helicopter includes:
Speed of vertically contacting to earth is less than 2.5m/s；
Overload land less than 2；
Landing speed is less than 60km/h；
Course offset angle is less than 6 °；
Pitch angle is greater than 0 °.
Second aspect, the embodiment of the present application also provide a kind of dress of safe landing after determining unmanned helicopter engine cut-off
It sets, comprising:
Module is obtained, for obtaining the multiple groups flying quality after unmanned helicopter engine cut-off on height-hodograph；Its
In, the flying quality includes: the flying height and flying speed of the unmanned helicopter；
First determining module, for being based on the flying quality, the peace after determining the unmanned helicopter engine cut-off
Full landing conditions；
Second determining module, for based on the current flight data and the peace after the unmanned helicopter engine cut-off
Full landing conditions, the safe landing piloting strategies after determining the unmanned helicopter engine cut-off.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, further includes:
Computing module, for be based on the flying quality, using fight dynamics equation, calculate every group described in flying quality
Corresponding landing data；
Third determining module determines the safe landing condition of the unmanned helicopter for being based on the landing data.
In conjunction with the first possible embodiment of second aspect, the embodiment of the present application provides second of second aspect
Possible embodiment, wherein the third determining module for based on the unmanned helicopter current flight data and
The safe landing condition, the safe landing piloting strategies after determining the unmanned helicopter engine cut-off, comprising:
Current flight data based on the unmanned helicopter calculate the corresponding current landing number of the current flight data
According to；
If current landing data does not meet safe landing condition, it is determined that after the unmanned helicopter engine cut-off
Safe landing piloting strategies.
In conjunction with second aspect, the embodiment of the present application provides the third possible embodiment of second aspect, and described
The safe landing condition of the unmanned helicopter that one determining module determines includes:
Speed of vertically contacting to earth is less than 2.5m/s；
Overload land less than 2；
Landing speed is less than 60km/h；
Course offset angle is less than 6 °；
Pitch angle is greater than 0 °.
The third aspect, the embodiment of the present application also provide a kind of electronic equipment, comprising: processor, memory and bus, it is described
Memory is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor with it is described
By bus communication between memory, the machine readable instructions executed when being executed by the processor above-mentioned first aspect and
Step in first aspect in any possible embodiment.
Fourth aspect, the embodiment of the present application also provide a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, which executes when being run by processor in above-mentioned first aspect and first aspect
Step in any possible embodiment.
This application provides a kind of method and device of safe landing after determining unmanned helicopter engine cut-off, the sides
Method includes: the multiple groups flying quality after obtaining unmanned helicopter engine cut-off on height-hodograph；Based on flying quality, really
Determine the safe landing condition of unmanned helicopter；Based on the current flight data and safe landing after unmanned helicopter engine cut-off
Condition, the safe landing piloting strategies after determining unmanned helicopter engine cut-off.The embodiment of the present application passes through determining safety
Landing conditions provide foundation for the safe landing of unmanned helicopter, the safe landing behaviour after determining unmanned helicopter engine cut-off
Control strategy, guarantees safe landing after unmanned helicopter engine cut-off.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows safe landing after a kind of determining unmanned helicopter engine cut-off provided by the embodiment of the present application
The flow chart of method；
Fig. 2 shows H-V after unmanned helicopter engine cut-off provided by the embodiment of the present application to scheme；
Fig. 3 shows safe landing after a kind of determining unmanned helicopter engine cut-off provided by the embodiment of the present application
The structural schematic diagram of device；
Fig. 4 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Unmanned helicopter, mostly at present is Mini Tele-Copter, an engine is only installed, so the probability of engine cut-off
It is relatively high.Once engine cut-off occurs in the sky for unmanned helicopter, drop immediately always away from, go as course, keep rotor revolving speed, into
Enter stable rotation, more than ten seconds before landing, according to flying height and flying speed, corresponding manipulation measure is taken, to guarantee to pacify
It is complete to land.The application is by flying quality and landing data, the safe flight plan after determining unmanned helicopter engine cut-off
Slightly, unmanned helicopter safe flight and landing be can guarantee, suitable for arriving the overall process landed after engine cut-off.
It will be specifically described below by embodiment.For convenient for understanding the present embodiment, first to the application reality
The method for applying safe landing after a kind of determining unmanned helicopter engine cut-off disclosed in example describes in detail.
The flow chart of the method for safe landing, described after a kind of determining unmanned helicopter engine cut-off as shown in Figure 1
Method the following steps are included:
S101: the multiple groups flying quality after acquisition unmanned helicopter engine cut-off on height-hodograph.
S102: the flying quality, the safe landing condition after determining the unmanned helicopter engine cut-off are based on.
S103: based on the current flight data and the safe landing condition after the unmanned helicopter engine cut-off,
Safe landing piloting strategies after determining the unmanned helicopter engine cut-off.
In step s101, the multiple groups flying quality after acquisition unmanned helicopter engine cut-off on height-hodograph, this
In height-hodograph can be H (height)-V (speed) figure by providing on flight airmanship, hereinafter referred to as H-V figure.
During practical flight, unmanned helicopter may be influenced in flight course by extraneous adverse circumstances, or
The reason of engine system breaks down is caused occur the case where engine cut-off in the flight course of unmanned helicopter, is started
After machine parking, unmanned helicopter flight can contact to earth landing after for a period of time.Flight of the unmanned helicopter in engine cut-off
Data directly affect the landing situation of unmanned helicopter.Here, the flying quality of unmanned helicopter is obtained, to determine in flight number
Landing data under.
In specific implementation, flying quality includes at least following data: the engine of unmanned helicopter flying after a stoppage
Row height and flying speed.
H-V schemes after unmanned helicopter engine cut-off as shown in Figure 2, shows unmanned helicopter engine in Fig. 2 and stops
The relational graph of flying height and flying speed after vehicle.After unmanned helicopter engine cut-off, when its flying speed and altitude
It, can be with safe landing in safe flight region；Stop when its flying speed and altitude is in danger zone intrinsic motivation
Che Shi, will lead to unmanned helicopter may crash.
Here it is possible to after choosing the engine cut-off of unmanned helicopter, unmanned helicopter is in danger area and safety zone
Multiple groups critical flight data, i.e. critical flight height and critical flight speed.
For critical flight height and critical flight speed, nobody is calculated using the fight dynamics equation in step S102
The landing speed of helicopter.
In step s 102, fight dynamics equation may include that rotor lift equation, the rotor of unmanned helicopter are backward
The mechanics such as power equation, rotor lateral force equation, rotor torque equation, hub moment equation and fuselage, horizontal tail, vertical fin, tail-rotor
Equation.
Every group of flying quality acquired in step s101 is substituted into fight dynamics equation, calculate it is available nobody
Helicopter is in the landing data at moment that lands.
Wherein landing data may include following at least one: speed of vertically contacting to earth, land overload, landing speed, course
Deviation angle and pitch angle.
It, can be with prefixed time interval when calculating landing data.For example, flying quality is substituted into fight dynamics equation
In, available unmanned helicopter first predetermined time flying quality, then by the flying quality of first predetermined instant
It substitutes into fight dynamics equation, the flying quality of second predetermined time is calculated, and so on, until nothing is calculated
Landing data of people's helicopter at the landing moment.
According to above-mentioned calculated landing data, the safe landing condition of unmanned helicopter can be determined.
Specifically, the safe landing condition of unmanned helicopter can be with are as follows:
Vertically contact to earth speed < 2.5m/s；Wherein, m/s is speed unit；With this condition, unmanned helicopter can be lossless
Evil is landed；
It lands and overloads < 2；
Landing speed < 60km/h；Wherein, km/s is speed unit；Here, under given conditions, landing speed < 50km/
H can be directed to different unmanned helicopters, determine different landing speeds during practical unmanned helicopter after landing；
Course offset < 6 °；In moment of landing, if course offset is larger, and fuselage inertia still presses former direction, is easy for causing
Aircraft rolls, and causes rotor to beat ground, therefore need a lesser course drift angle when unmanned helicopter after landing.
Pitch angle is greater than 0 °；Unmanned helicopter comes back when namely landing, and undercarriage is mainly to carry after unmanned helicopter
Part, unmanned helicopter come back, then rear undercarriage is larger by overloading, and can reduce downward velocity component, reduce overload.
For example, when critical flight speed is 24m/s, being calculated when the critical flight height for the unmanned helicopter chosen is 60m
Landing data out includes: to contact to earth speed vertically for 1.9m/s；Landing speed is 25km/h, and pitch angle is 5.4 °；Course is inclined
Moving angle is 3 °；Overload of landing is 1.27；Rotation speed change range is 452-587rpm.
According to above-mentioned landing data it is found that meeting safe landing condition.
It in step s 103, can be according to working as after unmanned helicopter engine cut-off by above-mentioned safe landing condition
Preceding flying quality calculates the corresponding current landing data of unmanned helicopter, if current landing data does not meet safe landing condition
When, it is determined that the safe landing piloting strategies after the unmanned helicopter engine cut-off.
It, can basis since in any flying speed and altitude engine cut-off may occur for unmanned helicopter
The current flight data of unmanned helicopter, take different disposal options, so that unmanned helicopter safe landing.It lands first 10 seconds
In be the key that control unmanned helicopter safe landing.
Based on the same technical idea, the embodiment of the present application is pacified after also providing a kind of determining unmanned helicopter engine cut-off
Device, electronic equipment and computer storage medium for landing entirely etc., for details, reference can be made to following embodiments.
Fig. 3 is the device of safe landing after the determination unmanned helicopter engine cut-off for showing some embodiments of the present application
Block diagram, the function that the device of safe landing is realized after the determination unmanned helicopter engine cut-off corresponds to above-mentioned in terminal device
After the upper determining unmanned helicopter engine cut-off of execution the step of the method for safe landing.The device can be understood as one
The component of the server of processor, the component can be realized the side of safe landing after above-mentioned determining unmanned helicopter engine cut-off
Method, as shown in figure 3, the device 300 of safe landing may include: after the determination unmanned helicopter engine cut-off
Module 301 is obtained, for obtaining the multiple groups flight number after unmanned helicopter engine cut-off on height-hodograph
According to；
First determining module 302, for being based on the flying quality, after determining the unmanned helicopter engine cut-off
Safe landing condition；
Second determining module 303, for based on after the unmanned helicopter engine cut-off current flight data and institute
Safe landing condition is stated, the safe landing piloting strategies after determining the unmanned helicopter engine cut-off.
After the determination unmanned helicopter engine cut-off in the device 300 of safe landing, further includes:
Computing module, for be based on the flying quality, using fight dynamics equation, calculate every group described in flying quality
Corresponding landing data；
Third determining module determines the safe landing condition of the unmanned helicopter for being based on the landing data.
After the determination unmanned helicopter engine cut-off in the device 300 of safe landing:
The third determining module is for current flight data and the safe landing based on the unmanned helicopter
Condition, the safe landing piloting strategies after determining the unmanned helicopter engine cut-off, comprising:
Current flight data based on the unmanned helicopter calculate the corresponding current landing number of the current flight data
According to；
If current landing data does not meet safe landing condition, it is determined that after the unmanned helicopter engine cut-off
Safe landing piloting strategies.
After the determination unmanned helicopter engine cut-off in the device 300 of safe landing:
The safe landing condition of the unmanned helicopter that first determining module determines includes:
Speed of vertically contacting to earth is less than 2.5m/s；
Overload land less than 2；
Landing speed is less than 60km/h；
Course offset angle is less than 6 °；
Pitch angle is greater than 0 °.
As shown in figure 4, for the structural schematic diagram of a kind of electronic equipment 400 provided by the embodiment of the present application, which is set
Standby 400 include: at least one processor 401, memory 403, at least one communication bus 402.Communication bus 402 for realizing
Connection communication between these components.
Memory 403 may include read-only memory and random access memory, and provide instruction sum number to processor 401
According to.The a part of of memory 403 can also include nonvolatile RAM (NVRAM).
In some embodiments, memory 403 stores following element, executable modules or data structures, or
Their subset of person or their superset:
Operating system 4031 includes various system programs, hardware based for realizing various basic businesses and processing
Task；
Application program module 4032 includes various application programs, for realizing various applied business.
In the embodiment of the present application, by the program or instruction of calling memory 403 to store, processor 401 is used for:
Processor 401 is used for: the multiple groups flying quality after acquisition unmanned helicopter engine cut-off on height-hodograph；
Safe landing condition based on the flying quality, after determining the unmanned helicopter engine cut-off；
Based on the current flight data and the safe landing condition after the unmanned helicopter engine cut-off, institute is determined
Safe landing piloting strategies after stating unmanned helicopter engine cut-off.
Processor 401 is also used to: be based on the flying quality, using fight dynamics equation, calculate every group described in flight
The corresponding landing data of data；
Based on the landing data, the safe landing condition of the unmanned helicopter is determined.
Processor 401 is also used to: the current flight data based on the unmanned helicopter calculate the current flight data
Corresponding current landing data；
If current landing data does not meet the safe landing condition, it is determined that the unmanned helicopter engine cut-off
Safe landing piloting strategies afterwards.
The meter of the method for safe landing after unmanned helicopter engine cut-off is determined provided by the embodiment of the present application
Calculation machine program product, the computer readable storage medium including storing the executable non-volatile program code of processor, institute
Stating the instruction that program code includes can be used for executing previous methods method as described in the examples, and it is real that specific implementation can be found in method
Example is applied, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can combine
Or it is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed phase
Coupling, direct-coupling or communication connection between mutually can be through some communication interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application is answered subject to the scope of protection of the claims.
Claims (10)
1. a kind of method of safe landing after determining unmanned helicopter engine cut-off characterized by comprising
Multiple groups flying quality after acquisition unmanned helicopter engine cut-off on height-hodograph；
Safe landing condition based on the flying quality, after determining the unmanned helicopter engine cut-off；
Based on the current flight data and the safe landing condition after the unmanned helicopter engine cut-off, the nothing is determined
Safe landing piloting strategies after the parking of people's helicopter engine.
2. the method for safe landing after determining unmanned helicopter engine cut-off according to claim 1, which is characterized in that
It is described to be based on the flying quality, the safe landing condition after determining the unmanned helicopter engine cut-off, comprising:
Based on the flying quality, using fight dynamics equation, calculate every group described in the corresponding landing data of flying quality；
Based on the landing data, the safe landing condition of the unmanned helicopter is determined.
3. the method for safe landing after determining unmanned helicopter engine cut-off according to claim 2, which is characterized in that
The current flight data and the safe landing condition based on the unmanned helicopter, determine that the unmanned helicopter starts
Safe landing piloting strategies after machine parking, comprising:
Current flight data based on the unmanned helicopter calculate the corresponding current landing data of the current flight data；
If current landing data does not meet the safe landing condition, it is determined that after the unmanned helicopter engine cut-off
Safe landing piloting strategies.
4. the method for safe landing after determining unmanned helicopter engine cut-off according to claim 1, which is characterized in that
The safe landing condition of the unmanned helicopter includes:
Speed of vertically contacting to earth is less than 2.5m/s；
Overload land less than 2；
Landing speed is less than 60km/h；
Course offset angle is less than 6 °；
Pitch angle is greater than 0 °.
5. the device of safe landing after a kind of determining unmanned helicopter engine cut-off characterized by comprising
Module is obtained, for obtaining the multiple groups flying quality after unmanned helicopter engine cut-off on height-hodograph；
First determining module is used to be based on the flying quality, the safety after determining the unmanned helicopter engine cut-off
Land condition；
Second determining module, for based on the current flight data and the safety after the unmanned helicopter engine cut-off
Land condition, the safe landing piloting strategies after determining the unmanned helicopter engine cut-off.
6. the device of safe landing after determining unmanned helicopter engine cut-off according to claim 5, which is characterized in that
Further include:
Computing module, for being based on the flying quality, using fight dynamics equation, calculate every group described in flying quality it is corresponding
Landing data；
Third determining module is used to be based on the landing data, the safety after determining the unmanned helicopter engine cut-off
Land condition.
7. the device of safe landing after determining unmanned helicopter engine cut-off according to claim 6, which is characterized in that
The third determining module is determined for current flight data and the safe landing condition based on the unmanned helicopter
Safe landing piloting strategies after the unmanned helicopter engine cut-off, comprising:
Current flight data based on the unmanned helicopter calculate the corresponding current landing data of the current flight data；
If current landing data does not meet safe landing condition, it is determined that the safety after the unmanned helicopter engine cut-off
Landing piloting strategies.
8. the device of safe landing after determining unmanned helicopter engine cut-off according to claim 5, which is characterized in that
The safe landing condition for the unmanned helicopter that first determining module determines includes:
Speed of vertically contacting to earth is less than 2.5m/s；
Overload land less than 2；
Landing speed is less than 60km/h；
Course offset angle is less than 6 °；
Pitch angle is greater than 0 °.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, pass through bus between the processor and the memory
Communication, executed when the machine readable instructions are executed by the processor determination as described in Claims 1-4 is any nobody directly
After liter machine engine cut-off the step of the method for safe landing.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
Sequence executes the determination unmanned helicopter engine as described in Claims 1-4 is any when the computer program is run by processor
After parking the step of the method for safe landing.
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| CN201910638750.4A CN110362111B (en) | 2019-07-16 | 2019-07-16 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
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| CN201910638750.4A CN110362111B (en) | 2019-07-16 | 2019-07-16 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
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