CN111027105A - Falling self-checking data leakage prevention method and device and unmanned aerial vehicle - Google Patents
Falling self-checking data leakage prevention method and device and unmanned aerial vehicle Download PDFInfo
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- G06F21/70—Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer
- G06F21/78—Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer to assure secure storage of data
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Abstract
The embodiment of the specification discloses a data leakage prevention method and device for falling self-checking and an unmanned aerial vehicle. The method comprises the following steps: acquiring sensing data acquired by a plurality of sensors installed on an unmanned aerial vehicle in a flight process; judging whether the plurality of sensing data exceed corresponding preset threshold values or not, and if the plurality of sensing data exceed the corresponding preset threshold values, judging that the unmanned aerial vehicle starts to fall; calculating the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall; setting a threshold value of the falling time, and judging whether the maximum value of the falling time exceeds the threshold value of the falling time; and if the maximum value of the falling time exceeds the threshold value of the falling time, sending an image data formatting and deleting instruction to the camera system, so that the camera system can format and delete the image data stored in the plurality of cameras.
Description
The specification relates to the field of unmanned aerial vehicles, in particular to a falling self-checking data leakage prevention method and device and an unmanned aerial vehicle.
Background
Along with unmanned aerial vehicle's application is more and more extensive, unmanned aerial vehicle prevent falling also receive more and more attention of everybody, because reasons such as trouble, remote control failure probably lead to falling of unmanned aerial vehicle, the unmanned aerial vehicle after falling loses easily, and the aerial survey field uses unmanned aerial vehicle to carry the ground image data that the oblique photograph nacelle was shot is more important, and unmanned aerial vehicle loses and causes the image data of shooting to reveal easily.
The existing unmanned aerial vehicle falling protection device has the defects that a speed reduction and shock absorption device is added on the structural design of the unmanned aerial vehicle; and the safety problem that if the unmanned aerial vehicle really falls under the condition that the deceleration damping device is invalid, the unmanned aerial vehicle is lost to cause image data leakage in the camera of the oblique photography nacelle is not considered.
Disclosure of Invention
The embodiment of the specification provides a data leakage prevention method and device for fall self-checking and an unmanned aerial vehicle, and aims to overcome at least one technical problem in the prior art.
According to a first aspect of embodiments herein, there is provided a method of data leakage prevention for fall self-test, comprising: acquiring sensing data acquired by a plurality of sensors installed on an unmanned aerial vehicle in a flight process; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data; judging whether the plurality of sensing data exceed corresponding preset threshold values or not, and if the plurality of sensing data exceed the corresponding preset threshold values, judging that the unmanned aerial vehicle starts to fall; calculating the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall; setting a threshold value of the falling time, and judging whether the maximum value of the falling time exceeds the threshold value of the falling time; and if the maximum value of the falling time exceeds the falling time threshold, sending an image data formatting and deleting instruction to the camera system, so that the camera system can format and delete the image data stored in the plurality of cameras.
Optionally, the step of acquiring sensing data acquired by a plurality of sensors installed on the drone during flight includes: sending a first timing interrupt signal to a gravity sensor and a gyroscope, acquiring the acceleration of the unmanned aerial vehicle acquired by the gravity sensor, and acquiring the angular velocity of the unmanned aerial vehicle acquired by the gyroscope; sending a second timing interrupt signal to a GPS positioning sensor and an air pressure sensor, acquiring data acquired by the GPS positioning sensor and the air pressure sensor, and calculating according to the data to obtain the initial altitude and the current altitude of the unmanned aerial vehicle; and sending a third timing interrupt signal to the ultrasonic ranging sensor, acquiring the condition that the ultrasonic ranging sensor detects the obstacle, and calculating the distance between the unmanned aerial vehicle and the obstacle.
Optionally, the step of obtaining data collected by the GPS positioning sensor and the barometric sensor, and calculating an initial altitude and a current altitude of the unmanned aerial vehicle according to the data includes: calculating the initial altitude by using the initial unmanned aerial vehicle air pressure acquired by an air pressure sensor and a GPS (global positioning system) positioning sensor according to an altitude formula; according to an altitude formula, calculating the current altitude by using the current unmanned aerial vehicle air pressure acquired by an air pressure sensor and a GPS (global positioning system) positioning sensor; wherein the altitude formula is
Wherein the altitude is the altitude in meters, p is the unmanned aerial vehicle air pressure in mbar, p0Is a standard atmospheric pressure, p0＝1013.25mbar，1mbar＝1hpa。
Optionally, the determining whether the plurality of sensing data exceed a corresponding preset threshold value, and if the plurality of sensing data exceed the corresponding preset threshold value, determining that the unmanned aerial vehicle starts to fall includes: judging whether the acceleration and the angular velocity exceed the preset threshold range of the acceleration and the angular velocity, judging whether the current height of the unmanned aerial vehicle exceeds the preset threshold range of the flying height, and judging whether the distance between the unmanned aerial vehicle and the obstacle exceeds the preset threshold range of the safety distance; if these four sensing data all exceed corresponding predetermined threshold value, then judge that unmanned aerial vehicle begins to fall.
Optionally, the step of determining whether the current altitude of the drone exceeds a threshold range of a preset altitude of flight includes: calculating the current relative height by using a relative height formula according to the current altitude and the initial altitude; wherein the formula of the relative height is H1 ═ altitude1-altitude0
Wherein H1 is the current relative height, altitude1 is the current altitude, altitude0 is the starting altitude;
calculating the preset flying height according to a preset flying height formula and the data acquired by the image sensor, wherein the preset flying height formula is H-f GSD/α
Wherein H is the preset flying height in unit of meter, f is the lens focal length of the image sensor in unit of millimeter, GSD is the ground resolution in unit of meter, α is the pixel size in unit of millimeter;
and judging whether the current relative altitude exceeds the threshold range of the preset flying altitude.
Optionally, the step of calculating the maximum value of the unmanned aerial vehicle falling time according to the height data and the motion data when the unmanned aerial vehicle starts falling includes:
calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula according to the relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts falling and the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor; wherein the fall time formula is
In the formula, t is the maximum value of the falling time of the unmanned aerial vehicle, and is unit second; v. of0The initial speed of the unmanned aerial vehicle starting to fall is 0 in the vertical direction and is in the unit of m/s; h2The relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts to fall is unit meter; a is the acceleration of the unmanned aerial vehicle in the vertical direction acquired by the gravity sensor, and the unit is m/s2。
Optionally, the step of setting a threshold value of the fall time and determining whether the maximum value of the fall time exceeds the threshold value of the fall time includes: judging whether the unmanned aerial vehicle meets an obstacle or not in the falling process; if the unmanned aerial vehicle does not meet in the falling processWhen the obstacle arrives, the initial speed of the unmanned aerial vehicle in the vertical direction is set to be 4m/s, and the acceleration of the unmanned aerial vehicle in the vertical direction is set to be 9.8m/s2Setting the preset flying height when the unmanned aerial vehicle starts to fall as the relative height when the unmanned aerial vehicle starts to fall, and calculating the threshold value of the falling time based on the falling time formula; if the unmanned aerial vehicle encounters an obstacle in the falling process, setting the threshold value of the falling time to be 0 second; and judging whether the maximum value of the falling time exceeds the threshold value of the falling time.
Optionally, the step of determining whether the drone encounters an obstacle during the fall includes: judging whether the ultrasonic ranging sensor detects an obstacle in the falling process; if the ultrasonic ranging sensor does not detect the obstacle, judging that the unmanned aerial vehicle does not encounter the obstacle; if the ultrasonic ranging sensor detects the obstacle, calculating the distance between the unmanned aerial vehicle and the obstacle according to an ultrasonic ranging formula, and if the distance between the unmanned aerial vehicle and the obstacle is greater than 10 meters, determining that the unmanned aerial vehicle does not encounter the obstacle; wherein the ultrasonic ranging formula is L ═ C × T
In the formula, L is the distance between the unmanned aerial vehicle and the obstacle, C is the propagation velocity of the ultrasonic wave in the air, and C is 340m/s, and T is half of the time interval from the transmission of the ultrasonic wave to the reception of the ultrasonic wave of the ultrasonic ranging sensor.
And if the distance between the unmanned aerial vehicle and the obstacle is less than or equal to 10 meters, judging that the unmanned aerial vehicle meets the obstacle.
According to a second aspect of embodiments herein there is provided a fall self-test data leakage prevention device, the device comprising: the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is configured to acquire sensing data acquired by a plurality of sensors installed on the unmanned aerial vehicle in the flight process; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data; the judging module is configured to judge whether the plurality of sensing data exceed corresponding preset threshold values, and if the plurality of sensing data exceed the corresponding preset threshold values, the unmanned aerial vehicle is judged to start falling; the calculation module is configured to calculate the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall; the setting module is configured to set a threshold value of the falling time and judge whether the maximum value of the falling time exceeds the threshold value of the falling time; and the deleting module is configured to send an image data formatting deleting instruction to the camera system if the maximum value of the falling time exceeds the threshold value of the falling time, so that the camera system can format and delete the image data stored in the plurality of cameras.
According to a third aspect of the embodiments herein, there is provided a data leakage prevention unmanned aerial vehicle with fall self-checking function, comprising: a processor, a plurality of sensors, and a camera system, the processor including a memory module having a program, the program when executed, the processor sending image data format delete instructions to the camera system causing the camera system to format delete image data stored in the plurality of cameras.
The beneficial effects of the embodiment of the specification are as follows:
after the processor acquires the sensing data, judging whether the sensing data exceed a corresponding preset threshold value, and if the sensing data exceed the corresponding preset threshold value, judging that the unmanned aerial vehicle starts to fall; calculating the maximum value of the falling time of the unmanned aerial vehicle according to corresponding height data and motion data when the unmanned aerial vehicle starts to fall; after the threshold value of the falling time is set, whether the maximum value of the falling time exceeds the threshold value of the falling time is judged, if yes, an image formatting deleting instruction is sent to the camera system, and the camera system carries out formatting deleting on the image data. Respectively representing the current flight state of the unmanned aerial vehicle by using a plurality of currently measured sensing data, representing the limit of normal flight of the unmanned aerial vehicle by using corresponding preset threshold values of the sensing data, and representing that the unmanned aerial vehicle is out of control when the sensing data acquired in real time exceed the corresponding preset threshold value range, so that the node represents that the unmanned aerial vehicle starts falling; the method comprises the steps of respectively acquiring data acquired by a GPS positioning sensor and a barometric sensor, accurately calculating the altitude and the relative height of the unmanned aerial vehicle based on an altitude formula and a relative height formula, acquiring the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor, and accurately calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula; when the threshold value of the falling time of the unmanned aerial vehicle is set, whether the unmanned aerial vehicle meets an obstacle in the falling process is judged, if the unmanned aerial vehicle meets the obstacle, the threshold value of the falling time is set to be 0 second, if the unmanned aerial vehicle does not meet the obstacle, the threshold value of the falling time is calculated by combining a preset flight height on the basis of a falling time formula, if the falling time exceeds the threshold value of the falling time, an image data formatting deleting instruction is sent to a camera system, so that image data in the unmanned aerial vehicle is formatted and deleted, the setting of the threshold value of the falling time is flexibly set by combining the condition of the unmanned aerial vehicle in the falling process, the falling time moment of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be used continuously after falling is confirmed, in order to prevent important image data in the unmanned aerial vehicle from being stolen and leaked, in the falling, the image data in the camera system is deleted in a formatted mode, so that the fact that the unmanned aerial vehicle has no important image data when crashed is guaranteed, the problem that the image data in the camera system is leaked after the unmanned aerial vehicle falls is solved, and the safety of data information is guaranteed.
The innovation points of the embodiment of the specification comprise:
1. respectively representing the current flight state of the unmanned aerial vehicle by using a plurality of currently measured sensing data, representing the limit of normal flight of the unmanned aerial vehicle by using corresponding preset threshold values of the sensing data, and representing that the unmanned aerial vehicle is out of control when the sensing data acquired in real time exceed the corresponding preset threshold value range, so that the node represents that the unmanned aerial vehicle starts falling; the method comprises the steps of respectively acquiring data acquired by a GPS positioning sensor and a barometric sensor, accurately calculating the altitude and the relative height of the unmanned aerial vehicle based on an altitude formula and a relative height formula, acquiring the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor, and accurately calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula; when the threshold value of the falling time of the unmanned aerial vehicle is set, whether the unmanned aerial vehicle meets an obstacle in the falling process is judged, if the unmanned aerial vehicle meets the obstacle, the threshold value of the falling time is set to be 0 second, if the unmanned aerial vehicle does not meet the obstacle, the threshold value of the falling time is calculated by combining a preset flight height on the basis of a falling time formula, if the falling time exceeds the threshold value of the falling time, an image data formatting deleting instruction is sent to a camera system, so that image data in the unmanned aerial vehicle is formatted and deleted, the setting of the threshold value of the falling time is flexibly set by combining the condition of the unmanned aerial vehicle in the falling process, the falling time moment of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be used continuously after falling is confirmed, in order to prevent important image data in the unmanned aerial vehicle from being stolen and leaked, in the falling, the image data in the camera system is deleted in a formatted mode, so that the fact that no important image data exists in the camera system when the unmanned aerial vehicle crashes is guaranteed, the problem that the image data in the camera system is leaked due to the fact that the unmanned aerial vehicle falls is solved, the safety of data information is guaranteed, and the method is one of innovation points of the embodiment of the specification.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flow diagram illustrating a data leakage prevention method for fall self-testing according to an embodiment of the present disclosure;
figure 2 is a block schematic diagram illustrating a data leakage prevention device for fall self-testing in accordance with an embodiment of the present description;
fig. 3 is a schematic device diagram illustrating a data leakage prevention drone for fall self-test according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of the present specification.
It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present specification and the drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the specification discloses a data leakage prevention method and device for falling self-detection and an unmanned aerial vehicle.
The following are detailed below.
Fig. 1 is a flow chart diagram illustrating a data leakage prevention method for fall self-testing according to an embodiment of the present disclosure. As shown in fig. 1, the method specifically includes the following steps:
s110: acquiring sensing data acquired by a plurality of sensors installed on an unmanned aerial vehicle in a flight process; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data;
install on unmanned aerial vehicle gravity sensor and gather unmanned aerial vehicle's acceleration, unmanned aerial vehicle's angular velocity is gathered to the gyroscope, and unmanned aerial vehicle's altitude data is gathered to GPS positioning sensor and baroceptor, and ultrasonic ranging sensor detects the condition of unmanned aerial vehicle barrier on every side. The processor sends an interrupt signal to the sensor at regular time to acquire sensing data in real time, so that the flight state of the unmanned aerial vehicle can be monitored in real time conveniently, and when the processor acquires height data acquired by the GPS positioning sensor and the air pressure sensor, the initial altitude and the current altitude of the unmanned aerial vehicle are calculated according to an altitude formula;
wherein the altitude formula is
Wherein the altitude is the altitude in meters, p is the unmanned aerial vehicle air pressure in mbar, p0Is a standard atmospheric pressure, p0＝1013.25mbar，1mbar＝1hpa。
After the GPS positioning sensor and the air pressure sensor are used for acquiring the initial air pressure of the unmanned aerial vehicle and the current air pressure of the unmanned aerial vehicle, the initial altitude and the current altitude of the unmanned aerial vehicle can be accurately calculated according to the altitude formula.
S120: judging whether the plurality of sensing data exceed corresponding preset threshold values or not, and if the plurality of sensing data exceed the corresponding preset threshold values, judging that the unmanned aerial vehicle starts to fall;
the processor judges whether the acceleration and the angular velocity exceed the preset threshold range of the acceleration and the angular velocity, judges whether the current height of the unmanned aerial vehicle exceeds the preset threshold range of the flying height, and judges whether the distance between the unmanned aerial vehicle and the obstacle exceeds the preset threshold range of the safety distance; if these four sensing data all exceed corresponding predetermined threshold value, then judge that unmanned aerial vehicle begins to fall. The limit of normal flight of the unmanned aerial vehicle is represented by the corresponding preset threshold value of the sensing data, when the sensing data acquired in real time exceed the corresponding preset threshold value range, the fact that the unmanned aerial vehicle is out of control is represented, the unmanned aerial vehicle starts to fall is represented by the node, and falling of the unmanned aerial vehicle can be detected through the method.
When judging whether the current height of the unmanned aerial vehicle exceeds a threshold range of a preset flying height, the processor calculates the relative height of the unmanned aerial vehicle according to a relative height formula; wherein the formula of the relative height is H1 ═ altitude1-altitude0
Wherein H1 is the current relative height, altitude1 is the current altitude, altitude0 is the starting altitude;
the processor calculates a preset flying height according to a preset flying height formula, wherein the preset flying height formula is H ═ f GSD/α
Wherein H is the preset flying height in unit of meter, f is the lens focal length of the image sensor in unit of millimeter, GSD is the ground resolution in unit of meter, α is the pixel size in unit of millimeter;
after the data acquired by the image sensor are acquired, the preset flying height can be calculated according to a preset flying height formula. The preset flying height is flexible in setting, corresponds to different preset flying heights under the image data of different requirements, is not limited to a certain range of height alone, and accords with the actual condition of unmanned aerial vehicle flight.
S130: calculating the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall;
the processor calculates the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula according to the relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts to fall and the acceleration of the unmanned aerial vehicle in the vertical direction acquired by the gravity sensor; wherein the fall time formula is
In the formula, t is the maximum value of the falling time of the unmanned aerial vehicle, and is unit second; v. of0The initial speed of the unmanned aerial vehicle starting to fall is 0 in the vertical direction and is in the unit of m/s; h2The relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts to fall is unit meter; a is the acceleration of the unmanned aerial vehicle in the vertical direction acquired by the gravity sensor, and the unit is m/s2。
And after the accurate relative height is obtained through calculation and the acceleration in the vertical direction is obtained, the maximum value of the falling time of the unmanned aerial vehicle is accurately calculated according to the falling time calculation formula.
S140: setting a threshold value of the falling time, and judging whether the maximum value of the falling time exceeds the threshold value of the falling time;
before setting the threshold value of the falling time, the processor judgesWhether disconnected in-process unmanned aerial vehicle that falls meets the barrier, if at the in-process unmanned aerial vehicle that falls does not meet the barrier, then establish that the up-going initial velocity of unmanned aerial vehicle vertical direction is 4m/s, and the ascending acceleration of unmanned aerial vehicle vertical direction is 9.8m/s2Setting the preset flying height when the unmanned aerial vehicle starts to fall as the relative height when the unmanned aerial vehicle starts to fall, and calculating the threshold value of the falling time based on the falling time formula; if the unmanned aerial vehicle meets the obstacle in the falling process, the threshold value of the falling time is set to be 0 second. The setting of the threshold value for the fall time is thus completed. The setting of the threshold value of the falling time is combined with the condition that the unmanned aerial vehicle falls in the falling process, the unmanned aerial vehicle is flexibly set, and the falling time is used for representing the moment when the unmanned aerial vehicle crashes.
When judging whether the unmanned aerial vehicle meets an obstacle in the falling process, judging whether the ultrasonic ranging sensor detects the obstacle in the falling process, and if the ultrasonic ranging sensor does not detect the obstacle, judging that the unmanned aerial vehicle does not meet the obstacle; if the ultrasonic ranging sensor detects the obstacle, calculating the distance between the unmanned aerial vehicle and the obstacle according to an ultrasonic ranging formula, and if the distance between the unmanned aerial vehicle and the obstacle is greater than 10 meters, determining that the unmanned aerial vehicle does not encounter the obstacle; wherein the ultrasonic ranging formula is L ═ C × T
In the formula, L is the distance between the unmanned aerial vehicle and the obstacle, C is the propagation velocity of the ultrasonic wave in the air, and C is 340m/s, and T is half of the time interval from the transmission of the ultrasonic wave to the reception of the ultrasonic wave of the ultrasonic ranging sensor.
And if the distance between the unmanned aerial vehicle and the obstacle is less than or equal to 10 meters, judging that the unmanned aerial vehicle meets the obstacle. Consider that unmanned aerial vehicle meets the condition that the barrier probably leads to unmanned aerial vehicle crash immediately, fall the in-process barrier condition real-time detection to unmanned aerial vehicle to prevent that the sudden crash of unmanned aerial vehicle and the image information that leads to from reaching the deletion.
S150: and if the maximum value of the falling time exceeds the preset falling time threshold value, sending an image data formatting and deleting instruction to the camera system, so that the camera system can format and delete the image data stored in the plurality of cameras.
If the unmanned aerial vehicle meets an obstacle in the falling process, the falling time threshold value is set to be 0 second, namely the falling time threshold value is exceeded no matter how many seconds the maximum value of the falling time is, namely the processor immediately sends an image data formatting deleting instruction to the camera system, and the camera system carries out formatting deletion on the image data in the memory after receiving the deleting instruction. The moment of crash of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be continuously used after being crashed is confirmed, important image data is stolen and leaked for preventing the unmanned aerial vehicle, the unmanned aerial vehicle is still in the falling process, the processor can also operate, the image data in the camera system is formatted and deleted, the unmanned aerial vehicle is guaranteed to be crashed, important image data does not exist in the camera system, the problem of leakage of the image data in the camera system caused by the fact that the unmanned aerial vehicle falls is solved, and the safety of the data information is guaranteed.
In a general specific embodiment, after the processor acquires the sensing data, whether the sensing data exceed a corresponding preset threshold value is judged, and if the sensing data exceed the corresponding preset threshold value, the unmanned aerial vehicle is judged to start falling; calculating the maximum value of the falling time of the unmanned aerial vehicle according to corresponding height data and motion data when the unmanned aerial vehicle starts to fall; after the threshold value of the falling time is set, whether the maximum value of the falling time exceeds the threshold value of the falling time is judged, if yes, an image formatting deleting instruction is sent to the camera system, and the camera system carries out formatting deleting on the image data. Respectively representing the current flight state of the unmanned aerial vehicle by using a plurality of currently measured sensing data, representing the limit of normal flight of the unmanned aerial vehicle by using corresponding preset threshold values of the sensing data, and representing that the unmanned aerial vehicle is out of control when the sensing data acquired in real time exceed the corresponding preset threshold value range, so that the node represents that the unmanned aerial vehicle starts falling; the method comprises the steps of respectively acquiring data acquired by a GPS positioning sensor and a barometric sensor, accurately calculating the altitude and the relative height of the unmanned aerial vehicle based on an altitude formula and a relative height formula, acquiring the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor, and accurately calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula; when the threshold value of the falling time of the unmanned aerial vehicle is set, whether the unmanned aerial vehicle meets an obstacle in the falling process is judged, if the unmanned aerial vehicle meets the obstacle, the threshold value of the falling time is set to be 0 second, if the unmanned aerial vehicle does not meet the obstacle, the threshold value of the falling time is calculated by combining a preset flight height on the basis of a falling time formula, if the falling time exceeds the threshold value of the falling time, an image data formatting deleting instruction is sent to a camera system, so that image data in the unmanned aerial vehicle is formatted and deleted, the setting of the threshold value of the falling time is flexibly set by combining the condition of the unmanned aerial vehicle in the falling process, the falling time moment of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be used continuously after falling is confirmed, in order to prevent important image data in the unmanned aerial vehicle from being stolen and leaked, in the falling, the image data in the camera system is deleted in a formatted mode, so that the fact that the unmanned aerial vehicle has no important image data when crashed is guaranteed, the problem that the image data in the camera system is leaked after the unmanned aerial vehicle falls is solved, and the safety of data information is guaranteed.
Figure 2 is a block schematic diagram illustrating a data leakage prevention device for fall self-testing in accordance with an embodiment of the present description. As shown in fig. 2, a data leakage prevention device for fall self-test provided by the embodiments of the present disclosure may include:
an acquisition module 210 configured to acquire sensing data acquired by a plurality of sensors installed on the drone during flight; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data;
the judging module 220 is configured to judge whether the plurality of sensing data exceed corresponding preset threshold values, and if the plurality of sensing data exceed the corresponding preset threshold values, judge that the unmanned aerial vehicle starts to fall;
the calculating module 230 is configured to calculate the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall;
a setting module 240 configured to set a threshold value of the fall time and determine whether the maximum value of the fall time exceeds the threshold value of the fall time;
a deleting module 250 configured to send an image data formatting deleting instruction to the camera system if the maximum value of the falling time exceeds the threshold of the falling time, so that the camera system performs formatting deletion on the image data stored in the plurality of cameras.
According to the above content, after the sensing data are obtained, whether the sensing data exceed the corresponding preset threshold value is judged, and if the sensing data exceed the corresponding preset threshold value, the unmanned aerial vehicle is judged to start falling; calculating the maximum value of the falling time of the unmanned aerial vehicle according to corresponding height data and motion data when the unmanned aerial vehicle starts to fall; after the threshold value of the falling time is set, whether the maximum value of the falling time exceeds the threshold value of the falling time is judged, if yes, an image formatting deleting instruction is sent to the camera system, and the camera system carries out formatting deleting on the image data. Respectively representing the current flight state of the unmanned aerial vehicle by using a plurality of currently measured sensing data, representing the limit of normal flight of the unmanned aerial vehicle by using corresponding preset threshold values of the sensing data, and representing that the unmanned aerial vehicle is out of control when the sensing data acquired in real time exceed the corresponding preset threshold value range, so that the node represents that the unmanned aerial vehicle starts falling; the method comprises the steps of respectively acquiring data acquired by a GPS positioning sensor and a barometric sensor, accurately calculating the altitude and the relative height of the unmanned aerial vehicle based on an altitude formula and a relative height formula, acquiring the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor, and accurately calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula; when the threshold value of the falling time of the unmanned aerial vehicle is set, whether the unmanned aerial vehicle meets an obstacle in the falling process is judged, if the unmanned aerial vehicle meets the obstacle, the threshold value of the falling time is set to be 0 second, if the unmanned aerial vehicle does not meet the obstacle, the threshold value of the falling time is calculated by combining a preset flight height on the basis of a falling time formula, if the falling time exceeds the threshold value of the falling time, an image data formatting deleting instruction is sent to a camera system, so that image data in the unmanned aerial vehicle is formatted and deleted, the setting of the threshold value of the falling time is flexibly set by combining the condition of the unmanned aerial vehicle in the falling process, the falling time moment of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be used continuously after falling is confirmed, in order to prevent important image data in the unmanned aerial vehicle from being stolen and leaked, in the falling, the image data in the camera system is deleted in a formatted mode, so that the fact that the unmanned aerial vehicle has no important image data when crashed is guaranteed, the problem that the image data in the camera system is leaked after the unmanned aerial vehicle falls is solved, and the safety of data information is guaranteed.
Fig. 3 is a schematic device diagram illustrating a data leakage prevention drone for fall self-test according to an embodiment of the present disclosure. As shown in fig. 3, a data leakage prevention drone 300 for fall self-test provided by an embodiment of the present specification may include: a sensor group 310, a processor 320, and a camera system 330. The processor comprises a storage module, the storage module is provided with a program, when the program is executed, the processor acquires sensing data measured by the sensor group and judges the running condition of the unmanned aerial vehicle according to the acquired sensing data, when the unmanned aerial vehicle falls, the processor sends an image data formatting and deleting instruction to the camera system, and the camera system receives the deleting instruction and carries out formatting and deleting on image data stored in the plurality of cameras.
In a specific embodiment, after the processor acquires the sensing data, whether the sensing data exceed a corresponding preset threshold value is judged, and if the sensing data exceed the corresponding preset threshold value, the unmanned aerial vehicle is judged to start falling; calculating the maximum value of the falling time of the unmanned aerial vehicle according to corresponding height data and motion data when the unmanned aerial vehicle starts to fall; after the threshold value of the falling time is set, whether the maximum value of the falling time exceeds the threshold value of the falling time is judged, if yes, an image formatting deleting instruction is sent to the camera system, and the camera system carries out formatting deleting on the image data. Respectively representing the current flight state of the unmanned aerial vehicle by using a plurality of currently measured sensing data, representing the limit of normal flight of the unmanned aerial vehicle by using corresponding preset threshold values of the sensing data, and representing that the unmanned aerial vehicle is out of control when the sensing data acquired in real time exceed the corresponding preset threshold value range, so that the node represents that the unmanned aerial vehicle starts falling; the method comprises the steps of acquiring data acquired by a GPS positioning sensor and a barometric sensor respectively, accurately calculating the altitude and the relative height of the unmanned aerial vehicle based on an altitude formula and a relative height formula, acquiring the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor, and accurately calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula; when the threshold value of the falling time of the unmanned aerial vehicle is set, whether the unmanned aerial vehicle meets an obstacle in the falling process is judged, if the unmanned aerial vehicle meets the obstacle, the threshold value of the falling time is set to be 0 second, if the unmanned aerial vehicle does not meet the obstacle, the threshold value of the falling time is calculated by combining a preset flight height on the basis of a falling time formula, if the falling time exceeds the threshold value of the falling time, an image data formatting deleting instruction is sent to a camera system, so that image data in the unmanned aerial vehicle is formatted and deleted, the setting of the threshold value of the falling time is flexibly set by combining the condition of the unmanned aerial vehicle in the falling process, the falling time moment of the unmanned aerial vehicle is represented by the threshold value of the falling time, under the condition that the unmanned aerial vehicle cannot be used continuously after falling is confirmed, in order to prevent important image data in the unmanned aerial vehicle from being stolen and leaked, in the falling, the image data in the camera system is deleted in a formatted mode, so that the fact that the unmanned aerial vehicle has no important image data when crashed is guaranteed, the problem that the image data in the camera system is leaked after the unmanned aerial vehicle falls is solved, and the safety of data information is guaranteed.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or processes in the figures are not necessarily required to practice this description.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present specification, and not to limit them; although the present description has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present specification.
Claims (10)
1. A data leakage prevention method for fall self-test, comprising:
acquiring sensing data acquired by a plurality of sensors installed on an unmanned aerial vehicle in a flight process; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data;
judging whether the plurality of sensing data exceed corresponding preset threshold values or not, and if the plurality of sensing data exceed the corresponding preset threshold values, judging that the unmanned aerial vehicle starts to fall;
calculating the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall;
setting a threshold value of the falling time, and judging whether the maximum value of the falling time exceeds the threshold value of the falling time;
and if the maximum value of the falling time exceeds the threshold value of the falling time, sending an image data formatting and deleting instruction to the camera system, so that the camera system can format and delete the image data stored in the plurality of cameras.
2. The method of claim 1, wherein the step of sensing sensed data acquired by a plurality of sensors mounted on the drone during flight comprises:
sending a first timing interrupt signal to a gravity sensor and a gyroscope, acquiring the acceleration of the unmanned aerial vehicle acquired by the gravity sensor, and acquiring the angular velocity of the unmanned aerial vehicle acquired by the gyroscope;
sending a second timing interrupt signal to a GPS positioning sensor and an air pressure sensor, acquiring data acquired by the GPS positioning sensor and the air pressure sensor, and calculating according to the data to obtain the initial altitude and the current altitude of the unmanned aerial vehicle;
and sending a third timing interrupt signal to the ultrasonic ranging sensor, acquiring the condition that the ultrasonic ranging sensor detects the obstacle, and calculating the distance between the unmanned aerial vehicle and the obstacle.
3. The method of claim 2, wherein the step of obtaining data collected by the GPS positioning sensor and the barometric sensor and calculating the starting altitude and the current altitude of the drone according to the data comprises:
calculating the initial altitude by using the initial unmanned aerial vehicle air pressure acquired by an air pressure sensor and a GPS (global positioning system) positioning sensor according to an altitude formula;
according to an altitude formula, calculating the current altitude by using the current unmanned aerial vehicle air pressure acquired by an air pressure sensor and a GPS (global positioning system) positioning sensor;
wherein the altitude formula is
Wherein the altitude is the altitude in meters, p is the unmanned aerial vehicle air pressure in mbar, p0Is a standard atmospheric pressure, p0＝1013.25mbar，1mbar＝1hpa。
4. The method of claim 1, wherein the step of determining whether the plurality of sensor data exceeds a corresponding predetermined threshold value, and if the plurality of sensor data exceeds the corresponding predetermined threshold value, determining that the drone has begun to fall comprises:
judging whether the acceleration and the angular velocity exceed the preset threshold range of the acceleration and the angular velocity, judging whether the current height of the unmanned aerial vehicle exceeds the preset threshold range of the flying height, and judging whether the distance between the unmanned aerial vehicle and the obstacle exceeds the preset threshold range of the safety distance;
if these four sensing data all exceed corresponding predetermined threshold value, then judge that unmanned aerial vehicle begins to fall.
5. The method of claim 4, wherein the step of determining whether the current altitude of the drone exceeds a threshold range of preset altitudes comprises:
calculating the current relative height by using a relative height formula according to the current altitude and the initial altitude;
wherein the formula of the relative height is
H1＝altitude1-altitude0
Wherein H1 is the current relative height, altitude1 is the current altitude, altitude0 is the starting altitude;
calculating the preset flying height according to a preset flying height formula and the acquired data of the image sensor;
wherein the preset flying height formula is
H＝f*GSD/α
Wherein H is the preset flying height in unit of meter, f is the lens focal length of the image sensor in unit of millimeter, GSD is the ground resolution in unit of meter, α is the pixel size in unit of millimeter;
and judging whether the current relative altitude exceeds the threshold range of the preset flying altitude.
6. The method of claim 1, wherein the step of calculating the maximum time to fall for the drone based on the altitude data and the motion data at the beginning of the fall comprises:
calculating the maximum value of the falling time of the unmanned aerial vehicle based on a falling time formula according to the relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts falling and the acceleration of the unmanned aerial vehicle in the vertical direction acquired by a gravity sensor;
wherein the fall time formula is
In the formula, t is the maximum value of the falling time of the unmanned aerial vehicle, and is unit second; v. of0The initial speed of the unmanned aerial vehicle starting to fall is 0 in the vertical direction and is in the unit of m/s; h2The relative height of the unmanned aerial vehicle when the unmanned aerial vehicle starts to fall is unit meter; a is the acceleration of the unmanned aerial vehicle in the vertical direction acquired by the gravity sensor, and the unit is m/s2。
7. The method of claim 1, wherein the step of setting a fall time threshold and determining whether the maximum value of the fall time exceeds the fall time threshold comprises:
judging whether the unmanned aerial vehicle meets an obstacle or not in the falling process;
if the unmanned aerial vehicle does not encounter the obstacle in the falling process, the initial speed of the unmanned aerial vehicle in the vertical direction is 4m/s, and the acceleration of the unmanned aerial vehicle in the vertical direction is 9.8m/s2Setting the preset flying height when the unmanned aerial vehicle starts to fall as the relative height when the unmanned aerial vehicle starts to fall, and calculating the threshold value of the falling time based on the falling time formula;
if the unmanned aerial vehicle encounters an obstacle in the falling process, setting the threshold value of the falling time to be 0 second;
and judging whether the maximum value of the falling time exceeds the threshold value of the falling time.
8. The method of claim 7, wherein the step of determining whether the drone encountered an obstacle during the fall comprises:
judging whether the ultrasonic ranging sensor detects an obstacle in the falling process;
if the ultrasonic ranging sensor does not detect the obstacle, judging that the unmanned aerial vehicle does not encounter the obstacle;
if the ultrasonic ranging sensor detects the obstacle, calculating the distance between the unmanned aerial vehicle and the obstacle according to an ultrasonic ranging formula, and if the distance between the unmanned aerial vehicle and the obstacle is greater than 10 meters, determining that the unmanned aerial vehicle does not encounter the obstacle;
wherein the ultrasonic ranging formula is
L＝C*T
In the formula, L is the distance between the unmanned aerial vehicle and the obstacle, C is the propagation velocity of the ultrasonic wave in the air, and C is 340m/s, and T is half of the time interval from the transmission of the ultrasonic wave to the reception of the ultrasonic wave of the ultrasonic ranging sensor.
And if the distance between the unmanned aerial vehicle and the obstacle is less than or equal to 10 meters, judging that the unmanned aerial vehicle meets the obstacle.
9. A data leakage prevention device for fall self-test, the device comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is configured to acquire sensing data acquired by a plurality of sensors installed on the unmanned aerial vehicle in the flight process; the sensing data comprises unmanned aerial vehicle motion data, unmanned aerial vehicle height data and unmanned aerial vehicle distance data;
the judging module is configured to judge whether the plurality of sensing data exceed corresponding preset threshold values, and if the plurality of sensing data exceed the corresponding preset threshold values, the unmanned aerial vehicle is judged to start falling;
the calculation module is configured to calculate the maximum value of the falling time of the unmanned aerial vehicle according to the height data and the motion data when the unmanned aerial vehicle starts to fall;
the setting module is configured to set a threshold value of the falling time and judge whether the maximum value of the falling time exceeds the threshold value of the falling time;
and the deleting module is configured to send an image data formatting deleting instruction to the camera system if the maximum value of the falling time exceeds the threshold value of the falling time, so that the camera system can format and delete the image data stored in the plurality of cameras.
10. A drone comprising a processor, a plurality of sensors, and a camera system, the processor including a memory module having a program that, when executed, causes the processor to perform the method of any one of claims 1-9 such that the camera system formats image data stored in the plurality of cameras for deletion.
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