CN112179375B - Control method of safety protection device and related device - Google Patents
Control method of safety protection device and related device Download PDFInfo
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- CN112179375B CN112179375B CN202010845439.XA CN202010845439A CN112179375B CN 112179375 B CN112179375 B CN 112179375B CN 202010845439 A CN202010845439 A CN 202010845439A CN 112179375 B CN112179375 B CN 112179375B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Abstract
The application relates to the technical field of aircrafts, and discloses a control method of a safety protection device and a related device, wherein the safety protection device is arranged on an unmanned aircraft, and the method comprises the following steps: collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle. Through the mode, the safety performance of the unmanned aerial vehicle can be improved.
Description
Technical Field
The present application relates to the field of aircraft technologies, and in particular, to a control method for a safety protection device and a related device.
Background
At present, unmanned aerial vehicles are more and more widely applied, such as participating in aerial photography. In the flight process of the unmanned aerial vehicle, an out-of-control phenomenon exists; for example, when the four-rotor aircraft approaches to the periphery of a building, the pressure around the blades is small due to the fact that the rotating speed of the propeller is high, the four-rotor aircraft is too light relative to the weight of the building, the four-rotor aircraft can be attracted to collide with the building at the moment, and the four-rotor aircraft is difficult to control manually. If the aircraft flies to a certain height, the crash will have unforeseeable consequences in the event of a crash in the air.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a control method of a safety protection device and a related device, and the safety performance of the unmanned aerial vehicle can be improved.
The technical scheme adopted by the application is to provide a control method of a safety protection device, wherein the safety protection device is arranged on an unmanned aerial vehicle, and the method comprises the following steps: collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
Wherein, utilize the sensor to gather unmanned vehicles's first motion data, include: acquiring first motion data of the unmanned aerial vehicle at the current moment by using a sensor; the filtering processing is carried out on the first motion data to obtain second motion data, and the method comprises the following steps: predicting the motion state of the unmanned aerial vehicle at the current moment to obtain predicted motion data of the current moment; and carrying out filtering processing according to the first motion data at the current moment and the predicted motion data at the current moment to obtain second motion data.
The method for predicting the motion state of the unmanned aerial vehicle at the current moment to obtain the predicted motion data of the current moment comprises the following steps: acquiring second motion data of the unmanned aerial vehicle at the previous moment; and predicting by using the second motion data at the previous moment to obtain the predicted motion data at the current moment.
The filtering processing is performed according to the first motion data at the current moment and the predicted motion data at the current moment to obtain second motion data, and the method comprises the following steps: calculating to obtain a first error value by using the first motion data and the predicted motion data at the current moment; calculating to obtain a gain value of the current moment according to the first error value; and performing filtering processing by using the first motion data, the predicted motion data and the gain value at the current moment to obtain second motion data at the current moment.
The calculating of the first error value by using the first motion data and the predicted motion data at the current moment includes: acquiring a second error value of the unmanned aerial vehicle at the previous moment and a state matrix of the unmanned aerial vehicle; the second error value is used for representing the error of the first motion data of the unmanned aerial vehicle at the previous moment and the second motion data of the unmanned aerial vehicle at the previous moment; and calculating to obtain a first error value of the current moment by using the second error value of the previous moment and the state matrix.
Wherein, the obtaining of the gain value at the current time by calculating according to the first error value comprises: acquiring an output matrix of the motion state of the unmanned aerial vehicle; and calculating to obtain a gain value of the current moment by using the output matrix and the first error value.
Wherein, the method also comprises: updating the first error value using the first error value, the gain value and the output matrix; and the updated first error value is used for representing the error of the first motion data and the second motion data at the current moment.
Wherein the second motion data comprises an acceleration value and a distance value to the target object; when second motion data satisfy preset condition, start safety arrangement to make safety arrangement protection unmanned vehicles, include: if the acceleration value at the current moment is larger than the acceleration threshold value and/or the distance value is smaller than the distance threshold value, determining that a preset condition is met; and determining that the unmanned aerial vehicle is in an out-of-control state, and starting a safety protection device so that the safety protection device protects the unmanned aerial vehicle.
Wherein, the method also comprises: and when the safety protection device is started, controlling the propeller of the unmanned aerial vehicle to stop working.
Another technical solution adopted by the present application is to provide a security protection apparatus, which includes a processor and a memory coupled to the processor; the memory is used for storing program data, and the processor is used for executing the program data so as to realize the method provided by the technical scheme.
Another technical scheme adopted by the application is to provide an unmanned aerial vehicle, which comprises an aircraft body and a safety protection device; wherein, safety arrangement sets up on the aircraft body, and this safety arrangement is as the safety arrangement that technical scheme provided above.
Another technical solution adopted by the present application is to provide a computer-readable storage medium, which is used for storing program data, and when the program data is executed by a processor, the program data is used for implementing the method provided by the above technical solution.
The beneficial effect of this application is: in contrast to the prior art, the present application provides a method for controlling a safety device, the safety device being configured to be installed on an unmanned aerial vehicle, the method including: collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle. By the mode, on one hand, noise in the first motion data is filtered to reduce errors, so that second motion data is obtained, condition judgment is carried out based on the second motion data, the accuracy of starting the safety protection device can be improved, and the safety performance of the unmanned aerial vehicle is improved; on the other hand, the safety protection device is used for protecting the unmanned aerial vehicle, so that the loss caused by accidents of the unmanned aerial vehicle can be reduced, and the service life of the unmanned aerial vehicle is prolonged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic flowchart of a first embodiment of a control method of a safety protection device provided in the present application;
fig. 2 is a schematic flowchart of a second embodiment of a control method of a safety protection device provided in the present application;
FIG. 3 is a schematic flow chart diagram illustrating the detail of step 22 in FIG. 2 provided herein;
FIG. 4 is a schematic flow chart of step 23 in FIG. 2 provided herein;
FIG. 5 is a detailed flow chart of step 231 of FIG. 4 provided herein;
FIG. 6 is a schematic flow chart diagram illustrating the detail of step 232 in FIG. 4 provided herein;
FIG. 7 is a schematic structural diagram of an embodiment of a safety shield apparatus provided herein;
FIG. 8 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle provided herein;
FIG. 9 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures associated with the present application are shown in the drawings, not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to solve the problems, the data collected by the sensor are subjected to filtering processing, condition judgment is carried out on the basis of the data after filtering processing, and the safety protection device is started when the conditions are met. The detailed description is given in the following examples.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a control method of a safety protection device provided in the present application. The method comprises the following steps:
step 11: first motion data of the unmanned aerial vehicle is collected using the sensor.
In some embodiments, the unmanned aerial vehicle can be a single rotor or a multi-rotor, such as a three-rotor unmanned aerial vehicle or a four-rotor unmanned aerial vehicle. The safety protection device is arranged on the unmanned aerial vehicle. For example, the safety protection device is installed on the unmanned aerial vehicle through a hardware structure and is electrically connected with the unmanned aerial vehicle, so that the power output of the unmanned aerial vehicle can be controlled.
In some embodiments, the unmanned aerial vehicle is connected with an operating handle, and the unmanned aerial vehicle is controlled to move by the operating handle. Specifically, when the unmanned aerial vehicle moves based on the control command, the corresponding first movement data is acquired through a sensor of the unmanned aerial vehicle. The sensor may be an encoder on a motor on the UAV for controlling the propeller to obtain speed information of the UAV.
In some embodiments, the sensor is disposed on the safety protection device, and the data collected by the sensor is equivalent to the data of the unmanned aerial vehicle because the safety protection device is disposed on the unmanned aerial vehicle. The safety protection device can be suitable for various types of unmanned aerial vehicles, such as unmanned aerial vehicles without sensors, and data collection and corresponding safety protection can be performed by installing the safety protection device to the application.
In some embodiments, the first motion data includes at least any one of distance information, acceleration information, and velocity information. If the first motion data includes distance information, the sensor may be a distance sensor, such as an infrared sensor, for collecting a distance between the unmanned aerial vehicle and the obstacle during flight. The obstacles can be buildings such as houses, large billboards and the like, trees and other aircrafts. Furthermore, the sensor may also be an ultrasonic sensor. The method comprises the steps that ultrasonic information is sent through an ultrasonic sensor according to a preset frequency, when the ultrasonic is transmitted to an obstacle, reflection is generated to form a reflection echo, the ultrasonic sensor receives the reflection echo, and distance information between the ultrasonic sensor and the obstacle is obtained based on the sent ultrasonic information and the reflection echo information. If the first motion data comprises acceleration information, the sensor can be an acceleration sensor and is used for collecting acceleration information of the unmanned aerial vehicle in the flying process. The cost of the ultrasonic sensor is lower than that of the infrared sensor, the ultrasonic sensor is more applicable to scenes and is not influenced by the environment, and better use experience is achieved.
In some embodiments, since the unmanned aerial vehicle may include a motion state in three directions, corresponding distance sensors may be respectively disposed in the three directions of the safety protection device to respectively correspond to the three directions of the unmanned aerial vehicle, and a distance between the unmanned aerial vehicle and the obstacle in the corresponding direction is acquired.
Step 12: and filtering the first motion data to obtain second motion data.
In some embodiments, the first motion data is obtained by collecting the motion data of the unmanned aerial vehicle at the current moment by using a sensor. And predicting the motion state of the unmanned aerial vehicle at the current moment to obtain the predicted motion data of the current moment. And then filtering according to the first motion data at the current moment and the predicted motion data at the current moment to obtain second motion data.
In some embodiments, the first motion data may be filtered by low-pass filtering, band-pass filtering, high-pass filtering, wiener filtering, and the like, so as to obtain the second motion data.
Step 13: and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
In some embodiments, the safety protection device is arranged on the unmanned aerial vehicle, if the safety protection device is provided with an airbag, when the second motion data meets the preset condition, the airbag is opened to protect the unmanned aerial vehicle, so that the damage caused by falling of the unmanned aerial vehicle is reduced, and further, if the unmanned aerial vehicle falls from the top of the crowd, the damage of the unmanned aerial vehicle to the crowd is also reduced.
In some embodiments, safety arrangement sets up on unmanned vehicles, if be provided with the parachute in the safety arrangement, when second motion data satisfies preset condition, open the parachute and control unmanned vehicles's screw stall, avoid the screw to the influence of parachute, and protect unmanned vehicles, reduce the unmanned vehicles and fall the damage that causes, and is further, if unmanned vehicles falls from the crowd top, also reduces unmanned vehicles to the injury of crowd.
Specifically, safety arrangement is connected with unmanned vehicles electricity, when starting safety arrangement, sends the signal of telecommunication to unmanned vehicles, and at unmanned vehicles end, be provided with the relay for control switch on or the disconnection power, relay when receiving the signal of telecommunication, disconnection unmanned vehicles's power, then unmanned vehicles outage, screw stall.
In some embodiments, the safety protection device further comprises a detection unit, when the safety protection device is detected to have a fault, hardware and software in the safety protection device are initialized, the problem that the safety protection device cannot acquire data of the unmanned aerial vehicle due to system faults in the flight process is solved, and the safety performance of the unmanned aerial vehicle is further improved.
In an application scene, an acceleration sensor is arranged in the safety protection device and used for acquiring acceleration in a corresponding direction, and by taking a Cartesian coordinate system as an example, the vertical flight direction of the unmanned aerial vehicle is determined as a Z axis, the left-right flight direction is determined as an X axis, and the front-back flight direction is determined as a Y axis. It can be understood that the actual flight direction of the unmanned aerial vehicle is a space vector. In the flight process of the unmanned aerial vehicle, the acceleration sensor collects acceleration according to a preset time period, and the unmanned aerial vehicle carries out filtering processing on the acceleration data collected by the acceleration sensor to obtain the filtered acceleration data. And if the filtered acceleration data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle. If in strong wind weather, the unmanned aerial vehicle is influenced by wind power in the flying process, instantaneous acceleration data can be increased under the collision of the unmanned aerial vehicle and wind, after the acceleration sensor collects the instantaneous acceleration during collision, filtering processing is carried out on the instantaneous acceleration data to obtain filtered instantaneous acceleration data, if the filtered instantaneous acceleration data is larger than a preset acceleration threshold value, the filtered instantaneous acceleration data is determined to meet preset conditions, and a safety protection device is started to enable the safety protection device to protect the unmanned aerial vehicle.
In contrast to the prior art, the present application provides a method for controlling a safety device, the safety device being configured to be installed on an unmanned aerial vehicle, the method including: collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle. By the mode, on one hand, noise in the first motion data is filtered to reduce errors, so that second motion data is obtained, condition judgment is carried out based on the second motion data, and the accuracy of starting the safety protection device can be improved; on the other hand, the safety protection device is used for protecting the unmanned aerial vehicle, so that the loss caused by accidents of the unmanned aerial vehicle can be reduced, and the service life of the unmanned aerial vehicle is prolonged.
Referring to fig. 2, fig. 2 is a schematic flowchart of a second embodiment of a control method of a safety protection device according to the present application. The method comprises the following steps:
step 21: first motion data of the unmanned aerial vehicle at the current moment is collected by using a sensor.
In some embodiments, the sensor is disposed on the safety protection device, and the sensor includes a distance sensor and an acceleration sensor. And when the acceleration sensor acquires the acceleration data of the unmanned aerial vehicle at the current moment, calculating to obtain the speed data of the current moment based on the acceleration data. The first motion data includes distance data and acceleration data from the obstacle.
It can be understood that the sensor can acquire acceleration data and distance data corresponding to the directions of the unmanned aerial vehicle. For example, the distance sensor is configured to collect distance data of the bottom of the unmanned aerial vehicle from the obstacle. The number of the distance sensors is set according to actual requirements, and the actually set positions are also set according to the actual requirements so as to acquire distance data between the unmanned aerial vehicle and the obstacles in the corresponding direction.
Step 22: and predicting the motion state of the unmanned aerial vehicle at the current moment to obtain the predicted motion data of the current moment.
In some embodiments, the motion data at the previous time may be used for prediction to obtain the predicted motion data at the current time.
In some embodiments, referring to fig. 3, the specific process of step 22 is:
step 221: and acquiring second motion data of the unmanned aerial vehicle at the last moment.
In some embodiments, the second motion data of the previous time may be obtained by filtering the first motion data of the previous time.
In some embodiments, the unmanned aerial vehicle has three system variable values at the same time, one being a predicted system variable value at that time, one being a true system variable value at that time, and one being an updated system variable value at that time. The real system variable value of the moment can be obtained through the first motion data collected by the sensor, the prediction system variable value of the moment can be obtained through the updating system variable value of the moment, the updating system variable value of the moment is obtained based on the prediction system variable value of the moment and the real system variable value of the moment, and then the second motion data can be obtained based on the updating system variable value.
Step 222: and predicting by using the second motion data at the previous moment to obtain the predicted motion data at the current moment.
In some embodiments, the motion data of the unmanned aerial vehicle is regarded as a linear model, and then the previous time is in a linear relation with the current time, so that the predicted motion data of the current time can be obtained through prediction according to the second motion data of the previous time.
Step 23: and carrying out filtering processing according to the first motion data at the current moment and the predicted motion data at the current moment to obtain second motion data.
It can be understood that, if there is an error in both the second motion data at the current time and the predicted motion data at the current time, filtering is required to obtain the second motion data in order to reduce the error.
In some embodiments, referring to fig. 4, the specific process of step 23 is:
step 231: and calculating a first error value by using the first motion data and the predicted motion data at the current moment.
In some embodiments, since the first motion data is a combination of distance data and acceleration data, the first error value is an error matrix representing an error of the distance data and an error of the acceleration data.
In some embodiments, referring to fig. 5, the specific process of step 231 is:
step 2311: and acquiring a second error value of the unmanned aerial vehicle at the last moment and a state matrix of the unmanned aerial vehicle.
And the second error value is used for representing the error of the first motion data of the unmanned aerial vehicle at the previous moment and the second motion data of the unmanned aerial vehicle at the previous moment.
Step 2312: and calculating to obtain a first error value of the current moment by using the second error value of the previous moment and the state matrix.
In some embodiments, the state matrix is a predetermined first matrix, which may be represented by a as follows:
where T represents the sampling time, i.e. the sample time taken by the acquisition sensor.
Step 232: and calculating the gain value of the current moment according to the first error value.
In some embodiments, referring to fig. 6, the specific process of step 232 is:
step 2321: and acquiring an output matrix of the motion state of the unmanned aerial vehicle.
It is understood that the output matrix of the UAV may be a coefficient between the first motion data and the system variable.
Step 2322: and calculating to obtain a gain value of the current moment by using the output matrix and the first error value.
It can be understood that the gain value at each time is different, and the gain value at each time needs to be calculated by using the output matrix and the first error value.
Step 233: and performing filtering processing by using the first motion data, the predicted motion data and the gain value at the current moment to obtain second motion data at the current moment.
In some embodiments, the predicted motion data may be subtracted from the first motion data to obtain a first difference, and then the first difference may be multiplied by the gain value to obtain gain data, and the gain data may be summed with the predicted motion data to obtain second motion data at the current time.
Step 24: and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
In some embodiments, because of the existence of a plurality of sensor data, a first array is set for storing data collected by the distance sensor, and a second array is set for storing data collected by the acceleration sensor; and obtaining the distance value and the acceleration value at the same moment from the first array and the second array, and filtering to obtain second motion data.
In some embodiments, if the second motion data do not meet the preset condition, the unmanned aerial vehicle is confirmed to be in normal flight, the second motion data at the next moment are calculated continuously, the motion state of the unmanned aerial vehicle at each moment can be monitored continuously in the above mode, and the safety protection device can be started when the runaway phenomenon occurs at any moment.
In an application scenario, the unmanned aerial vehicle is a complete control system, and any component of the unmanned aerial vehicle can be determined as the state information, for example, the state information of the distance from the target object is defined as x1, the speed state information variable in the y-axis direction, the x-axis direction or the z-axis direction is defined as x2, and the acceleration state information in the y-axis direction, the x-axis direction or the z-axis direction is defined as x 3. It can be understood that the above state information is a state variable, and the values at different times change according to actual conditions. Because the safety protection device is arranged on the unmanned aerial vehicle, the data collected by the safety protection device is equivalent to the data of the unmanned aerial vehicle, and the control system of the safety protection device is equivalent to the control system of the unmanned aerial vehicle.
In some examples, the system state equation can be established by the state information and the state matrixIf the state variable at the current time is X k ＝[x 1 x 2 x 3 ] T Wherein x is 1 State variable, x, representing the distance to the target object in the target direction 2 A state variable representing a speed in a target direction; x is the number of 3 A state variable representing the acceleration in the target direction. The first motion data acquired by the sensor at the current moment can be expressed as Y in a matrix form k ＝[y 1 y 2 ] T ；y 1 Indicating the distance from the target object in the target direction, y 2 Representing the acceleration value in the target direction.
The relationship between the state variables at the current time and the next time in the unmanned aerial vehicle is:
matrixing the above equation to obtain:
a first system state equation can be derived: x k+1 ＝AX k Where A represents the system matrix. T represents the sampling time of the system.
Further, an observation equation of the data collected by the sensor is established by the following equation:
a first system observation equation can be derived: y (k) ═ hx (k), where H represents the output matrix of the state equation.
As can be understood from the above equation, the first motion data acquired by the sensor may be used to correspondingly determine the state variable corresponding to the current time.
In some embodiments, the true value of the state variable corresponding to the first motion data acquired by the sensor is obtained, meanwhile, the predicted value of the state variable at the current time can be obtained through the state variable at the previous time, and the error value at the current time can be obtained through the predicted value and the true value. And obtaining the gain value of the current moment according to the error value of the current moment. And obtaining an updated value of the current moment through the gain value. Specifically, the following equations are referred to for understanding.
Equation 1:
wherein the content of the first and second substances,
represents the predicted value of the system variable at the current time,
representing the updated value of the system variable at the previous time.
Equation 2: p k,k-1 ＝AP k-1,k-1 A T +Q。P k,k-1 Representing the error, P, between the predicted value of the system variable at the current time and the true value of the system variable at the current time k-1,k-1 And Q is a sensor measurement error, specifically an error brought by disturbance in the measurement process.
Equation 3: k g ＝P k,k-1 H T (HP k,k-1 H T +R) -1 。K g And the gain value represents the current moment, and R is a set value and is used for representing the confidence coefficient of the real value acquired by the sensor.
Equation 4:
indicating the updated value of the system variable at the current time. The second motion data in the above embodiment can be found by updating the value.
Equation 5: p k,k ＝(I-K g H)P k,k-1 。P k,k And I is an identity matrix, and represents the error between the updated value of the system variable at the current moment and the true value of the system variable at the current moment.
In an application scenario, the method of the application may be to acquire an acceleration value and a distance value from a target object of the unmanned aerial vehicle at the current moment by using a sensor. And filtering the acceleration value and the distance value to obtain the filtered acceleration value and distance value. And if the filtered acceleration value is larger than the acceleration threshold value, determining that the preset condition is met. And determining that the unmanned aerial vehicle is in an out-of-control state, and starting a safety protection device so that the safety protection device protects the unmanned aerial vehicle. And if the filtered distance value is smaller than the distance threshold value, determining that the preset condition is met. And determining that the unmanned aerial vehicle is in an out-of-control state, and starting a safety protection device so that the safety protection device protects the unmanned aerial vehicle. And if the filtered acceleration value is greater than the acceleration threshold value and the filtered distance value is less than the distance threshold value, determining that the preset condition is met. And determining that the unmanned aerial vehicle is in an out-of-control state, and starting a safety protection device so that the safety protection device protects the unmanned aerial vehicle.
Furthermore, the motion data of the next moment can be predicted according to the filtered second motion data, and if the motion data of the next moment meets the preset condition, the safety protection device is started, so that the unmanned aerial vehicle is protected by the safety protection device.
In some embodiments, the safety protection device may be a mechanical structure, the performance is more stable than that of an electric transmission structure, and the safety protection device is started when the motion data of the unmanned aerial vehicle meets the preset condition.
Furthermore, the control system of the safety protection device is added with a function of preventing the system from being blocked, and when the safety protection device is detected to be out of order, the safety protection device is initialized, so that the system stability of the safety protection device is improved. Data acquisition is carried out through various types of sensors, and judgment is carried out based on a plurality of data, so that the state of the unmanned aerial vehicle can be judged more accurately.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a safety protection device provided in the present application. The security device 70 comprises a processor 71 and a memory 72 coupled to the processor 71; wherein the memory 72 is adapted to store program data and the processor 71 is adapted to execute the program data to implement the following method steps:
collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
It will be appreciated that the processor 71 is also arranged to execute program data to implement the method of any of the embodiments described above.
In some embodiments, the processor 71 may be a control chip, such as a single chip, a CPU, or the like. The safety shield 70 may further include at least one of an airbag and a parachute. When the safety protection device is started, the parachute is opened to reduce the falling speed of the unmanned aerial vehicle, and when the safety protection device is started, the safety airbag is opened to reduce the impact force generated by the unmanned aerial vehicle when falling and the object below, so that on one hand, the damage to the unmanned aerial vehicle is reduced, and on the other hand, the damage to the contact object is reduced.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle provided by the present application. The unmanned aerial vehicle 80 comprises a vehicle body 81 and a safety protection device 82; wherein a safety arrangement 82 is arranged on the aircraft body, which safety arrangement 82 is a safety arrangement as described in any of the embodiments above.
It is to be understood that the safety shield 82 is also adapted to implement the method of any of the embodiments described above.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 90 is for storing program data 91, the program data 91, when being executed by a processor, is for realizing the method steps of:
collecting first motion data of the unmanned aerial vehicle by using a sensor; filtering the first motion data to obtain second motion data; and when the second motion data meet the preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
It will be appreciated that the program data 91, when executed by a processor, is also for implementing a method according to any of the embodiments described above.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units in the other embodiments described above may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of controlling a safety device for installation on an unmanned aerial vehicle, the method comprising:
acquiring first motion data of the unmanned aerial vehicle at the current moment by using a sensor;
predicting the motion state of the unmanned aerial vehicle at the current moment to obtain predicted motion data of the current moment;
calculating to obtain a first error value by using the first motion data and the predicted motion data at the current moment;
calculating a gain value of the current moment according to the first error value;
filtering the first motion data, the predicted motion data and the gain value at the current moment to obtain second motion data at the current moment;
and when the second motion data meet preset conditions, starting the safety protection device so that the safety protection device protects the unmanned aerial vehicle.
2. The method of claim 1,
the predicting the motion state of the unmanned aerial vehicle at the current moment to obtain the predicted motion data of the current moment comprises the following steps:
acquiring second motion data of the unmanned aerial vehicle at the previous moment;
and predicting by using the second motion data at the previous moment to obtain the predicted motion data at the current moment.
3. The method of claim 1,
the calculating a first error value using the first motion data and the predicted motion data at the current time includes:
acquiring a second error value of the unmanned aerial vehicle at the previous moment and a state matrix of the unmanned aerial vehicle; the second error value is used for representing the error of the first motion data of the unmanned aerial vehicle at the previous moment and the second motion data of the unmanned aerial vehicle at the previous moment;
and calculating to obtain the first error value at the current moment by using the second error value at the previous moment and the state matrix.
4. The method of claim 1,
the calculating the gain value of the current time according to the first error value includes:
acquiring an output matrix of the motion state of the unmanned aerial vehicle;
and calculating to obtain a gain value of the current moment by using the output matrix and the first error value.
5. The method of claim 4,
the method further comprises the following steps:
updating the first error value with the first error value, the gain value, and the output matrix; and the updated first error value is used for representing the error of the first motion data and the second motion data at the current moment.
6. The method of claim 1,
the second motion data comprises an acceleration value and a distance value to a target object;
when the second motion data meet the preset conditions, starting the safety protection device to enable the safety protection device to protect the unmanned aerial vehicle, including:
if the acceleration value at the current moment is larger than an acceleration threshold value and/or the distance value is smaller than a distance threshold value, determining that a preset condition is met;
and determining that the unmanned aerial vehicle is in an out-of-control state, and starting the safety protection device to ensure that the safety protection device protects the unmanned aerial vehicle.
7. The method of claim 1,
the method further comprises the following steps:
and when the safety protection device is started, controlling the propeller of the unmanned aerial vehicle to stop working.
8. A security device, comprising a processor and a memory coupled to the processor;
wherein the memory is for storing program data and the processor is for executing the program data to implement the method of any one of claims 1-7.
9. An unmanned aerial vehicle is characterized by comprising an aircraft body and a safety protection device;
wherein the safety device is arranged on the aircraft body, the safety device being as claimed in claim 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is used for storing program data for implementing the method according to any one of claims 1-7 when the program data are executed by a processor.
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