Aircraft, takeoff control method and system, and landing control method and system

Patent metadata

Field	Value
Publication number	US-11975818-B2
Application number	US-202017037231-A
Country	US
Kind code	B2
Filing date	Sep 29, 2020
Priority date	Dec 15, 2014
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

A landing control method for an aircraft includes detecting whether a landing indication signal is received, controlling the aircraft to automatically land in a pre-set landing mode in response to the landing indication signal being received, detecting whether a landing control signal sent by a user is received, and, in response to the landing control signal sent by the user being received, modifying the pre-set landing mode according to the landing control signal to determine a modified landing mode. The landing control signal includes a first control signal for changing a pre-set attitude in the pre-set landing mode or a second control signal for changing a pre-set speed in the pre-set landing mode. The method further includes resuming the pre-set landing mode in response to the landing control signal being discontinued.

First claim

What is claimed is:

1. A landing control method for an aircraft, comprising:
detecting whether a landing indication signal is received;
controlling the aircraft to automatically land in a pre-set landing mode in response to the landing indication signal being received;
detecting whether a landing control signal sent by a user is received;
in response to the landing control signal sent by the user being received, modifying the pre-set landing mode according to the landing control signal to determine a modified landing mode, wherein the landing control signal comprises a control signal for changing a pre-set speed in the pre-set landing mode; and
resuming the pre-set landing mode in response to the landing control signal being discontinued;
wherein modifying the pre-set landing mode according to the landing control signal comprises:
changing the pre-set speed in the pre-set landing mode to a modified speed, the modified speed being equal to a superposition of a control speed of the landing control signal and the pre-set speed.

2. The landing control method according to claim 1 , wherein controlling the aircraft to automatically land in the pre-set landing mode further comprises:
automatically descending to a pre-set height; and
automatically starting a landing preparation action at a position of the pre-set height.

3. The landing control method according to claim 2 , wherein starting the landing preparation action further comprises:
changing a functional form of the aircraft.

4. The landing control method according to claim 3 , wherein changing the functional form of the aircraft further comprises unfolding a landing gear of the aircraft.

5. The landing control method according to claim 2 , wherein starting the landing preparation action further comprises changing a functional form of a sensor of the aircraft.

6. The landing control method according to claim 5 , wherein changing the functional form of the sensor further comprises changing a position of the sensor.

7. The landing control method according to claim 2 , wherein starting the landing preparation action further comprises changing a functional form of a payload carried by the aircraft.

8. The landing control method according to claim 1 , wherein controlling the aircraft to automatically land in the pre-set landing mode further comprises:
acquiring a current vertical distance between the aircraft and a landing point;
judging whether the current vertical distance is shorter than or equal to a pre-set threshold value; and
in response to the current vertical distance being shorter than or equal to the pre-set threshold value, landing the aircraft on the landing point according to a pre-set speed rule.

9. The landing control method according to claim 1 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
acquiring a current vertical distance between the aircraft and a landing point; and
controlling the aircraft to carry out a corresponding action according to the current vertical distance.

10. The landing control method according to claim 9 , wherein controlling the aircraft to carry out the corresponding action further comprises controlling the aircraft to carry out at least one of:
changing a flight speed of the aircraft;
changing an attitude of the aircraft;
performing a landing preparation action; or
recording flight information when the aircraft is landing.

11. The landing control method according to claim 1 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
judging whether a priority of the landing indication signal is higher than a priority of a currently executed control signal; and
in response to the priority of the landing indication signal being higher than the priority of the currently executed control signal, immediately controlling the aircraft to automatically land in the pre-set landing mode.

12. The landing control method according to claim 11 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
in response to the priority of the landing indication signal not being higher than the priority of the currently executed control signal, waiting for the currently executed control signal to complete and then controlling the aircraft to automatically land in the pre-set landing mode.

13. The landing control method according to claim 1 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
detecting whether a current landing point satisfies a landing decision condition when the aircraft descends to a position of a pre-set height; and
in response to the current landing point satisfying the landing decision condition when the aircraft descends to the position of the pre-set height, automatically landing on the current landing point from the position of the pre-set height.

14. The landing control method according to claim 13 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
in response to the current landing point not satisfying the landing decision condition when the aircraft descends to the position of the pre-set height, sending prompt information.

15. The landing control method according to claim 13 , wherein controlling the aircraft to automatically land in the pre-set landing mode in response to the landing indication signal being received further comprises:
in response to the current landing point not satisfying the landing decision condition when the aircraft descends to the position of the pre-set height, controlling the aircraft to automatically return to a standby landing point.

16. The landing control method according to claim 15 , wherein controlling the aircraft to automatically return to the standby landing point further comprises:
controlling the aircraft to automatically return to at least one of a takeoff point of the aircraft or a current position of a mobile terminal.

17. The landing control method according to claim 1 , wherein modifying the pre-set landing mode according to the landing control signal further comprises:
judging whether a modified speed of the modified landing mode is lower than or equal to a pre-set speed threshold;
in response to the modified speed being lower than or equal to the pre-set speed threshold, landing at the modified speed; and
in response to the modified speed being higher than the pre-set speed threshold, landing at a speed of the pre-set speed threshold.

18. The landing control method according to claim 1 ,
wherein controlling the aircraft to automatically land in a pre-set landing mode further comprises:
automatically descending to a pre-set height according to the pre-set landing mode; and
automatically starting a landing preparation action at a position of the pre-set height, comprising changing a functional form of a payload carried by the aircraft.

19. The landing control method according to claim 18 , wherein changing the functional form of the payload further comprises changing an attitude of a gimbal carried by the aircraft.

20. A landing control method for an aircraft, comprising:
detecting whether

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Lin Canlong

Classifications

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64C13/18 Primary

  using automatic pilot · CPC title

• B64D45/04

  Landing aids; Safety measures to prevent collision with earth's surface · CPC title

• G05D1/0676 Primary

  specially adapted for landing · CPC title