. METHOD AND DRONE FLIGHT CONTROL DEVICE FOR PROPELLER DAMAGE DETECTION AND LANDING GUIDANCE AND DRONE WITH THE DEVICE

摘要

The present invention relates to a drone propeller damage detection and landing guidance control method, a drone operation control device for drone propeller damage detection and landing guidance, and a drone including the device, and more particularly, to determine the damage of the drone propeller by software and a control method for inducing operation suspension and safe landing, a drone operation control device, and a drone including the device. The drone propeller damage detection and landing guidance control method of the present invention is a method of controlling a drone by a drone operation control device, Initializing the number of consecutive inclinations and setting the allowable value for the number of inclinations, controlling the operation of the drone, receiving a detection signal from the gyroscope, determining whether it is level, and performing the normal operation instruction procedure if it is level, Including the step of performing a horizontal restoration procedure if it is not horizontal, The normal operation instruction procedure includes transmitting a signal for the normal motor rotation speed to the electronic speed control unit, and continuing the operation of the drone after initializing the number of consecutive inclinations, The horizontal restoration procedure includes the steps of increasing the number of consecutive inclinations, determining the number of rotations of the motor in the inclined direction, transmitting the determined number of rotations of the motor to the electronic speed control unit, and the number of consecutive inclinations is the number of inclinations After determining whether it is less than the allowable value, performing a step of controlling the operation of the drone if it is less than the value, and performing a fail-safe instruction procedure if it is greater than the value, The fail-safe instruction procedure is characterized in that it includes the steps of transmitting an electronic speed control signal to the inclined motor to maintain the motor rotation speed determined in the horizontal restoration procedure, and executing a fail-safe function. In the drone operation control apparatus for the drone propeller damage detection and landing control of the present invention, the drone operation control apparatus, The operation control function that controls the operation of the drone and detects the inclination of the drone from the gyroscope during operation, determines whether it is level through the inclination detection, and provides a normal operation instruction function if it is horizontal, and a function to restore the level if it is not horizontal Including a horizontal judgment function to perform The normal operation instruction function includes a function of transmitting a signal for the normal motor rotation speed to the electronic speed control unit, initialize the number of consecutive inclinations, and then give a normal operation instruction, The horizontal restoration function increases the number of consecutive inclinations, determines the number of rotations of the motor in the inclined direction, transmits the determined number of motor rotations to the electronic speed control unit, and determines whether the number of consecutive inclinations is greater than the allowable value of the number of inclinations. , When the number of consecutive inclinations is greater than the allowable number of inclinations, a fail-safe instruction function is performed, and when the number of continuous inclinations is less than the allowable number of inclinations, a function of maintaining normal operation; The fail-safe instruction function is characterized in that it continuously transmits a signal for maintaining the high-output rotational speed to the inclined motor to the electronic speed control unit, and includes a function of instructing the fail-safe execution. The drone of the present invention is controlled by the control method or includes the control device.