CN115167487A - Unmanned aerial vehicle control device, method, medium, electronic device and unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle control device, method, medium, electronic device and unmanned aerial vehicle Download PDF

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Publication number
CN115167487A
CN115167487A CN202110363611.2A CN202110363611A CN115167487A CN 115167487 A CN115167487 A CN 115167487A CN 202110363611 A CN202110363611 A CN 202110363611A CN 115167487 A CN115167487 A CN 115167487A
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China
Prior art keywords
parachute
propeller
unmanned aerial
aerial vehicle
control unit
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CN202110363611.2A
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Chinese (zh)
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刘宝旭
毛一年
陈刚
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Beijing Sankuai Online Technology Co Ltd
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Beijing Sankuai Online Technology Co Ltd
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Priority to CN202110363611.2A priority Critical patent/CN115167487A/en
Publication of CN115167487A publication Critical patent/CN115167487A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present disclosure relates to an unmanned aerial vehicle control apparatus, method, medium, electronic device, and unmanned aerial vehicle, the apparatus including: the system comprises a parachute control unit, a propeller control unit and a parachute opening triggering unit; the system comprises a parachute control unit, a propeller control unit and a propeller control unit, wherein the parachute control unit is used for sending a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating under the condition of acquiring a parachute opening instruction for instructing to open a parachute on the unmanned aerial vehicle; the propeller control unit is used for sending a propeller stopping signal to a propeller driving mechanism on the unmanned aerial vehicle under the condition of receiving a propeller stopping instruction; the parachute control unit is further used for judging whether the rotation state of the propeller meets a preset deceleration requirement or not after sending the stopping command, and sending a trigger signal for controlling parachute opening to the parachute opening trigger unit under the condition that the rotation state of the propeller meets the preset deceleration requirement. So, its parachute rope can not take place the winding with the screw when the parachute expandes, improves unmanned aerial vehicle's security.

Description

Unmanned aerial vehicle control device, method, medium, electronic device and unmanned aerial vehicle
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle technology, and in particular, to an unmanned aerial vehicle control apparatus, method, medium, electronic device, and unmanned aerial vehicle.
Background
Unmanned aerial vehicles refer to unmanned aircraft that are operated by radio remote control devices and self-contained program control devices. Unmanned aerial vehicle's development is comparatively fast in recent years, because unmanned aerial vehicle has that the cost is relatively lower, no casualties risk, mobility is good, advantages such as convenient to use, unmanned aerial vehicle has very wide application prospect in fields such as aerial photography, geologic survey, high tension transmission line tour, logistics distribution. Use the logistics distribution scene as an example, can carry the article delivery through unmanned aerial vehicle on the unmanned aerial vehicle with the article mount that the user bought, use manpower sparingly, improve delivery efficiency to can realize contactless delivery. For an unmanned aerial vehicle in an unmanned driving mode, how to improve the flight safety of the unmanned aerial vehicle and ensure the safe and reliable operation of the unmanned aerial vehicle is a crucial problem.
Disclosure of Invention
The utility model aims at providing an unmanned aerial vehicle controlling means, method, medium, electronic equipment and unmanned aerial vehicle, can avoid because the parachute rope of parachute and unmanned aerial vehicle's screw take place the problem that the unable normal expansion of parachute that the winding leads to, guarantee that the parachute can normally open, improve unmanned aerial vehicle's security.
In order to achieve the above object, in a first aspect, the present disclosure provides an drone controlling device, the device comprising: the system comprises a parachute control unit, a propeller control unit and a parachute opening triggering unit;
the parachute control unit is used for sending a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating to the propeller control unit under the condition that a parachute opening instruction for instructing to open a parachute on the unmanned aerial vehicle is obtained;
the propeller control unit is used for sending the propeller stopping signal to a propeller driving mechanism on the unmanned aerial vehicle under the condition of receiving the propeller stopping instruction;
the parachute control unit is further used for sending the stopping instruction and then judging whether the rotating state of the propeller meets a preset deceleration requirement or not, and determining whether the rotating state of the propeller meets the preset deceleration requirement or not, and sending a trigger signal for controlling parachute opening to the parachute opening trigger unit.
Optionally, the preset deceleration requirement comprises:
the preset time period has elapsed since the command to stop the propeller is sent, and/or the rotating speed of the propeller is lower than a preset rotating speed threshold value.
Optionally, the parachute control unit is further configured to acquire current flight characteristic information of the unmanned aerial vehicle in real time from a flight controller or a pose sensor, where the current flight characteristic information includes current flight attitude information and current flight height of the unmanned aerial vehicle;
the parachute control unit is further used for determining that the rotation state of the screw meets the condition of the preset deceleration requirement, judging whether the unmanned aerial vehicle meets parachute opening conditions or not according to the current flight characteristic information, determining that the unmanned aerial vehicle meets the parachute opening conditions, and sending a trigger signal for controlling parachute opening by the parachute opening trigger unit under the condition of the parachute opening conditions.
Optionally, the parachute control unit is further configured to determine whether the unmanned aerial vehicle meets the parachute opening condition according to the current flight characteristic information under the condition that the parachute opening instruction is obtained, and send the command for stopping the propeller to the propeller control unit under the condition that it is determined that the unmanned aerial vehicle meets the parachute opening condition.
Optionally, the current flight attitude information includes a current pitch angle and a current roll angle of the drone;
the parachute control unit is further used for determining that the unmanned aerial vehicle meets parachute opening conditions if the current pitch angle is smaller than a first preset angle threshold value, the current roll angle is smaller than a second preset angle threshold value, and the current flying height is larger than a preset height threshold value.
Optionally, the parachute opening instruction is received from a drone remote controller; or,
the parachute opening instruction is generated by a flight controller of the drone upon determining that the drone has or is about to have a hazardous event.
Optionally, the parachute control unit is further configured to determine, according to the current wind speed, the current wind direction, and the weight of the unmanned aerial vehicle, the expected landing point information of the unmanned aerial vehicle after the parachute is opened, and send the identification information of the unmanned aerial vehicle and the expected landing point information to the server.
In a second aspect, the present disclosure provides a drone controlling method, the method comprising:
under the condition that an parachute opening instruction for indicating opening of a parachute on an unmanned aerial vehicle is acquired, a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating is sent to a propeller control unit, and a propeller stopping signal is sent to a propeller driving mechanism on the unmanned aerial vehicle by the propeller control unit under the condition that the propeller control unit receives the propeller stopping instruction;
judging whether the rotation state of the propeller meets a preset deceleration requirement or not after the propeller stopping instruction is sent;
and under the condition that the rotation state of the propeller meets the preset deceleration requirement, sending a trigger signal for controlling the parachute to open to a parachute opening trigger unit.
Optionally, the preset deceleration requirement comprises: the preset time period has elapsed since the command to stop the propeller is sent, and/or the rotating speed of the propeller is lower than a preset rotating speed threshold value.
Optionally, the method further comprises:
acquiring current flight characteristic information of the unmanned aerial vehicle in real time from a flight controller or a pose sensor, wherein the current flight characteristic information comprises current flight attitude information and current flight height of the unmanned aerial vehicle;
under the condition that the rotation state of the propeller meets the preset deceleration requirement, a trigger signal for controlling parachute opening is sent to a parachute opening trigger unit, and the trigger signal comprises:
under the condition that the rotation state of the propeller meets the preset deceleration requirement, judging whether the unmanned aerial vehicle meets parachute opening conditions or not according to the current flight characteristic information;
and determining that the unmanned aerial vehicle meets the parachute opening condition, and sending a trigger signal for controlling parachute opening to the parachute opening trigger unit.
Optionally, the sending a propeller control unit a propeller stopping instruction for controlling a propeller on the drone to stop rotating comprises:
judging whether the unmanned aerial vehicle meets parachute opening conditions or not according to the current flight characteristic information;
and under the condition that the unmanned aerial vehicle meets the parachute opening condition, sending the command of stopping the propeller to the propeller control unit.
Optionally, the current flight attitude information includes a current pitch angle and a current roll angle of the drone;
according to current flight characteristic information judges whether unmanned aerial vehicle satisfies parachute opening condition, include:
and if the current pitch angle is smaller than a first preset angle threshold value, the current roll angle is smaller than a second preset angle threshold value, and the current flying height is larger than a preset height threshold value, determining that the unmanned aerial vehicle meets the parachute opening condition.
Optionally, the parachute opening instruction is received from a drone remote controller; alternatively, the parachute opening instruction is generated by a flight controller of the drone upon determining that the drone has or is about to have a hazardous event.
Optionally, the method further comprises:
determining the predicted landing point information of the unmanned aerial vehicle after the parachute is opened according to the current wind speed, the current wind direction and the weight of the unmanned aerial vehicle;
and sending the identification information of the unmanned aerial vehicle and the expected landing point information to a server.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the second aspect of the present disclosure.
In a fourth aspect, the present disclosure provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method provided by the second aspect of the present disclosure.
In a fifth aspect, the present disclosure provides an unmanned aerial vehicle, comprising: the unmanned aerial vehicle control apparatus as provided by the first aspect of the present disclosure.
Through the technical scheme, the parachute control unit can send the stalling instruction for controlling the propeller on the unmanned aerial vehicle to stall to the propeller control unit under the condition that the parachute opening instruction for indicating to open the parachute on the unmanned aerial vehicle is acquired, the propeller control unit can send the stalling signal to the propeller driving mechanism under the condition that the stalling instruction is received, and the propeller driving mechanism can drive the propeller to stall. Parachute the control unit is satisfying under the condition of predetermineeing the speed reduction requirement at the rotation state of confirming the screw, the rotational speed that can characterize the screw is lower or has stopped rotatoryly, send the trigger signal who is used for controlling parachute opening to parachute opening trigger unit again, thus, its parachute rope can not take place the winding with the screw when the parachute expandes, avoid because the problem that the parachute rope takes place the unable normal expansion of parachute that the winding leads to with the screw, guarantee that the parachute can normally open, thereby reduce unmanned aerial vehicle's falling speed, reduce the risk that unmanned aerial vehicle crashed and bring, unmanned aerial vehicle's security improves.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:
fig. 1 is a block diagram of a drone controlling device according to an example embodiment.
Fig. 2 is a flow chart illustrating a drone controlling method according to an example embodiment.
Fig. 3 is a flow chart illustrating a drone controlling method according to another example embodiment.
Fig. 4 is a flow chart illustrating a drone controlling method according to another example embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram illustrating a drone control device according to an exemplary embodiment, and as shown in fig. 1, the drone control device 10 may include a parachute control unit 11, a propeller control unit 12, and a parachute opening triggering unit 13, wherein the parachute control unit 11 is connected to the propeller control unit 12, and the parachute control unit 11 is connected to the parachute opening triggering unit 13.
The parachute control unit 11 is configured to send a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating to the propeller control unit 12 when an parachute opening instruction for instructing to open a parachute on the unmanned aerial vehicle is acquired.
Unmanned aerial vehicle has various possible dangerous condition at the flight in-process, for example bump with the building, can lead to unmanned aerial vehicle crash out of control when taking place dangerous condition, if take place the crash phenomenon under the higher condition of unmanned aerial vehicle flying height, unmanned aerial vehicle falling speed is very fast, not only leads to unmanned aerial vehicle's damage, still can bring the potential safety hazard for the vehicle and the pedestrian on ground. In order to reduce the risk that the unmanned aerial vehicle air crash brought, can set up the parachute on unmanned aerial vehicle, the parachute is an aerodynamic force reduction gear, can reduce the speed when unmanned aerial vehicle falls to the ground to 3 ~ 4 ms or even lower for unmanned aerial vehicle safety is descended to ground. Unmanned aerial vehicle in this disclosure is provided with the parachute.
The inventor discovers in the research process that the parachute can effectively reduce the risk that unmanned aerial vehicle air crash brought, but when the parachute expanded, the parachute line of parachute took place the winding with unmanned aerial vehicle's screw easily, not only influenced the normal expansion of parachute, influenced unmanned aerial vehicle's safe flight moreover. In order to avoid the problem caused by the winding of the parachute rope and the propeller, in the present disclosure, the parachute control unit 11 may send a propeller stopping instruction for controlling the propeller on the unmanned aerial vehicle to stall to the propeller control unit 12 under the condition that an parachute opening instruction for instructing to open the parachute on the unmanned aerial vehicle is acquired.
For example, the parachute opening instruction may be received from a drone remote control; alternatively, the parachute opening instruction may be generated by a flight controller of the drone upon determining that a hazardous event has occurred or is imminent for the drone.
Wherein, the unmanned aerial vehicle remote controller can be controlled by the control arm, when the control arm operates corresponding function button on the unmanned aerial vehicle remote controller, the unmanned aerial vehicle remote controller will send corresponding control command to unmanned aerial vehicle. If judge that unmanned aerial vehicle is about to take place dangerous condition, for example be about to collide with the building, the parachute opening button on the unmanned aerial vehicle remote controller of operatable, unmanned aerial vehicle remote controller can send the parachute opening instruction to unmanned aerial vehicle. Or, the flight controller of the unmanned aerial vehicle may autonomously determine the occurrence of a dangerous event, where the dangerous event includes, for example, a collision, a failure of the unmanned aerial vehicle itself, and other events. The unmanned aerial vehicle can be provided with a flight controller and a camera, the camera can shoot an environment image around the unmanned aerial vehicle and send the environment image to the flight controller, the flight controller can be used for controlling the flight of the unmanned aerial vehicle according to the environment image, and if the flight controller determines that the unmanned aerial vehicle is about to collide with an obstacle according to the flight state and the environment image of the unmanned aerial vehicle, the unmanned aerial vehicle can be determined to be about to generate a dangerous event. The flight controller may generate an parachute opening instruction for opening the parachute upon determining that the unmanned aerial vehicle has experienced a hazardous event or is about to experience a hazardous event.
Wherein, unmanned aerial vehicle can have a plurality of screw, and the instruction of stopping oar can be used to control at least one screw stall, and preferably, the instruction of stopping oar can be used to control all screw stalls on the unmanned aerial vehicle.
The propeller control unit 12, for example an electronic governor, is arranged to send a stall signal to a propeller drive mechanism (e.g. a motor) on the drone in case of a stall command. And the propeller driving mechanism can drive the propeller to stop rotating after receiving the propeller stopping signal.
The parachute control unit 11 is further configured to determine whether the rotation state of the propeller meets a preset deceleration requirement after sending the instruction for stopping the propeller, and send a trigger signal for controlling parachute opening to the parachute opening trigger unit 13 when it is determined that the rotation state of the propeller meets the preset deceleration requirement.
The preset deceleration requirement may include: the preset time period has elapsed since the command to stop the propeller is sent, and/or the rotating speed of the propeller is lower than a preset rotating speed threshold value. For example, the preset deceleration requirement may include that a preset time period has elapsed since the sending of the command to stop the propeller, wherein the rotation speed of the propeller is gradually reduced after the parachute control unit 11 sends the command to stop the propeller, and if the preset time period has elapsed since the sending of the command to stop the propeller, it is represented that the propeller has decelerated for a period of time, at which the rotation speed of the propeller is low or the propeller has stopped rotating. For example, the preset deceleration requirement may include that the rotation speed of the propeller is lower than a preset rotation speed threshold, wherein the power module of the propeller has a feedback function, the rotation speed sensor for detecting the rotation speed of the propeller may transmit the detected rotation speed to the parachute control unit 11 in real time, and the parachute control unit 11 may determine whether the rotation speed of the propeller is lower than the preset rotation speed threshold. As another example, the preset deceleration requirement may include a preset length of time having elapsed since the command to stop the propeller was sent and the speed of the propeller is below a preset speed threshold. The values of the preset time length and the preset rotating speed threshold can be calibrated in advance, and the disclosure is not limited specifically.
Parachute the control unit 11 is confirming under the rotation state of screw satisfies the condition of predetermineeing the speed reduction requirement, can characterize the rotational speed of screw lower or have stopped rotatoryly, sends the trigger signal that is used for controlling parachute opening to parachute opening trigger unit 13 this moment, and the parachute rope of parachute can not take place the winding phenomenon with the screw when parachute opening to guarantee that the parachute can normally open, reduce the risk that the unmanned aerial vehicle crash brought. For example, the parachute may be opened by spring ejection, and the parachute opening triggering unit 13 may be a spring ejection unit. For example, the parachute may be opened by means of an ignition spray, and the parachute opening triggering unit 13 may be an ignition triggering unit.
Through the technical scheme, the parachute control unit can send a propeller stopping instruction for controlling the propeller on the unmanned aerial vehicle to stop rotating to the propeller control unit under the condition of acquiring the parachute opening instruction for indicating to open the parachute on the unmanned aerial vehicle, the propeller control unit can send a propeller stopping signal to the propeller driving mechanism under the condition of receiving the propeller stopping instruction, and the propeller driving mechanism can drive the propeller to stop rotating. Parachute the control unit is satisfying under the condition of predetermineeing the speed reduction requirement at the rotation state of confirming the screw, the rotational speed that can characterize the screw is lower or has stopped rotatoryly, send the trigger signal who is used for controlling parachute opening to parachute opening trigger unit again, thus, its parachute rope can not take place the winding with the screw when the parachute expandes, avoid because the problem that the parachute rope takes place the unable normal expansion of parachute that the winding leads to with the screw, guarantee that the parachute can normally open, thereby reduce unmanned aerial vehicle's falling speed, reduce the risk that unmanned aerial vehicle crashed and bring, unmanned aerial vehicle's security improves.
In this disclosure, the parachute control unit 11 may also be configured to acquire current flight characteristic information of the unmanned aerial vehicle in real time from the flight controller or the pose sensor. Among them, the pose sensor may include a height detection sensor including, for example, a barometer, a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, and the like, and an attitude detection sensor including, for example, a pitch angle detection sensor, a roll angle detection sensor, a yaw angle detection sensor, a gyroscope, an accelerometer, and the like. The current flight characteristic information may include current flight attitude information and current flight altitude of the drone. For example, after the pose sensor detects the current flight characteristic information of the unmanned aerial vehicle, the current flight characteristic information may be sent to the parachute control unit 11, that is, the parachute control unit 11 may obtain the current flight characteristic information of the unmanned aerial vehicle from the pose sensor in real time. For example, after the pose sensor detects the current flight characteristic information of the unmanned aerial vehicle, the pose sensor may send the current flight characteristic information to the flight controller, and the flight controller may send the current flight characteristic information to the parachute control unit 11, that is, the parachute control unit 11 may obtain the current flight characteristic information of the unmanned aerial vehicle from the flight controller in real time. This current flight characteristic information changes in real time along with the flight of the unmanned aerial vehicle, and the operation of the parachute control unit 11 to acquire the current flight characteristic information of the unmanned aerial vehicle may be performed in real time.
In one embodiment, when the parachute control unit 11 acquires the parachute opening instruction, it may send a propeller stopping instruction for controlling the propeller on the unmanned aerial vehicle to stop rotating to the propeller control unit 12. Parachute control unit 11 can be further used for judging whether unmanned aerial vehicle satisfies parachute opening conditions according to current flight characteristic information under the condition that the rotation state of confirming the screw satisfies the requirement of presetting speed reduction to under the condition that confirms that unmanned aerial vehicle satisfies parachute opening conditions, send the trigger signal that is used for controlling parachute opening to parachute opening trigger unit 13.
For example, the current flight attitude information may include a current pitch angle and a current roll angle of the drone; the parachute control unit 11 may be further configured to determine that the unmanned aerial vehicle meets the parachute opening condition if the current pitch angle is smaller than the first preset angle threshold, the current roll angle is smaller than the second preset angle threshold, and the current flying height is greater than the preset height threshold.
Wherein, the parachute can set up in unmanned aerial vehicle's top, under the normal condition, the parachute upwards opens the parachute and can play the effect that utilizes air resistance to reduce unmanned aerial vehicle's falling speed, unmanned aerial vehicle's current flight gesture is the important factor that can whether control the parachute and open, if unmanned aerial vehicle's current angle of pitch is greater than first predetermined angle threshold, or current roll angle is greater than second angle threshold, if so control parachute opening, the parachute can open downwards, the parachute not only can't normally work, unmanned aerial vehicle's crash can still be accelerated. In addition, since the parachute needs to be decelerated by means of air resistance, a certain parachute opening height is required, otherwise, an expected deceleration effect cannot be achieved, and therefore the current flying height of the unmanned aerial vehicle needs to be larger than a preset height threshold value. The first preset angle threshold, the second preset angle threshold and the preset height threshold can be preset.
If unmanned aerial vehicle does not satisfy parachute opening condition, parachute the 11 can not control parachute opening of parachute the control unit, screw the control unit 12 for example can the steerable screw continue to rotate this moment, continue to control unmanned aerial vehicle when unmanned aerial vehicle is in flight condition, and unmanned aerial vehicle can send alarm information to the server this moment, with the dangerous incident that probably appears in suggestion backstage staff unmanned aerial vehicle, and be not conform to parachute opening condition at present, in time carry out manual control to unmanned aerial vehicle with the suggestion staff.
Through the technical scheme, parachute the control unit 11 can follow flight controller or position and posture sensor and acquire unmanned aerial vehicle's current flight characteristic information in real time, under the condition that the rotation state of confirming the screw satisfies the requirement of predetermineeing the speed reduction, before sending the trigger signal that is used for controlling parachute opening to parachute opening trigger unit 13, can at first judge whether unmanned aerial vehicle satisfies parachute opening condition according to current flight characteristic information, make under the condition that unmanned aerial vehicle satisfies parachute opening condition, send trigger signal to parachute opening trigger unit 13 again, trigger parachute opening, in order to guarantee the normal expansion of parachute, thereby effectively reduce the risk that the unmanned aerial vehicle crash brought.
In another embodiment, the parachute control unit 11 may be further configured to, in a case where an parachute opening instruction for instructing to open a parachute on the unmanned aerial vehicle is obtained, determine whether the unmanned aerial vehicle satisfies a parachute opening condition according to the current flight characteristic information, and send a feathering instruction to the propeller control unit 12 in a case where it is determined that the unmanned aerial vehicle satisfies the parachute opening condition.
The purpose of controlling the propeller to stall is to prevent an umbrella rope from being wound with the propeller when a parachute is unfolded, and the parachute control unit 11 can firstly judge whether the unmanned aerial vehicle meets the parachute opening condition according to current flight characteristic information before sending a propeller stopping instruction to the propeller control unit 12 when the parachute opening instruction is obtained, wherein the current flight characteristic information refers to flight characteristic information of the unmanned aerial vehicle when the parachute control unit 11 obtains the parachute opening instruction. If the unmanned aerial vehicle meets the parachute opening condition, the representation can control the parachute to open, and then a command for controlling the propeller to stop rotating is sent to the propeller control unit 12, and if the unmanned aerial vehicle does not meet the parachute opening condition, the parachute is not controlled to open, and in this case, the parachute control unit 11 can not send a command for stopping rotating to the propeller control unit 12. The exemplary embodiment in which the parachute control unit 11 determines whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information has been described above.
In this embodiment, the parachute control unit 11 may be further configured to determine whether the rotation state of the propeller satisfies a preset deceleration requirement after sending the instruction to stop the propeller, and determine whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information under the condition that it is determined that the rotation state of the propeller satisfies the preset deceleration requirement, and send a trigger signal for controlling the parachute opening to the parachute opening trigger unit 13 under the condition that it is determined that the unmanned aerial vehicle satisfies the parachute opening condition.
This current flight characteristic information refers to the flight characteristic information of unmanned aerial vehicle when parachute the control unit 11 rotatory state of confirming the screw satisfies the requirement of presetting the speed reduction, unmanned aerial vehicle flight characteristic information is real-time change at flight in-process, therefore above-mentioned parachute the control unit 11 flight characteristic information of unmanned aerial vehicle when acquireing the parachute opening instruction, it is probably different with the flight characteristic information of unmanned aerial vehicle when parachute the rotatory state of propeller satisfies the requirement of presetting the speed reduction with parachute the control unit 11, for example unmanned aerial vehicle's flight altitude is probably different. Therefore, the result obtained by the parachute control unit 11 judging whether the unmanned aerial vehicle meets the parachute opening condition when the parachute opening instruction is obtained may be different from the result obtained by the parachute control unit 11 judging whether the unmanned aerial vehicle meets the parachute opening condition when the rotation state of the propeller meets the preset deceleration requirement.
Exemplarily, the parachute control unit 11 determines that the unmanned aerial vehicle meets the parachute opening condition according to the current flight characteristic information under the condition that the parachute opening instruction is obtained, and may send a propeller stopping instruction for controlling the propeller to stop rotating to the propeller control unit 12, where the propeller has a section of process of decelerating and rotating, for example, the flying height of the unmanned aerial vehicle is descending in the process of decelerating the propeller, and when the rotation state of the propeller meets the preset deceleration requirement, the current flying height of the unmanned aerial vehicle is smaller than the preset height threshold, the parachute control unit 11 determines that the unmanned aerial vehicle does not meet the parachute opening condition according to the current flight characteristic information, and at this time, may not send a trigger signal to the parachute opening trigger unit 13.
Through the technical scheme, under the condition that the parachute opening instruction is obtained by the parachute control unit 11, whether parachute opening conditions are met or not can be judged according to current flight characteristic information of the unmanned aerial vehicle, if yes, a propeller stopping instruction used for controlling the propeller to stop rotating is sent to the propeller control unit 12, then the parachute control unit 11 judges whether parachute opening conditions are met or not according to the current flight characteristic information of the unmanned aerial vehicle under the condition that the rotating state of the propeller meets the preset deceleration requirement, if yes, a trigger signal used for controlling parachute opening is sent to the parachute opening trigger unit 13, normal unfolding of the parachute is guaranteed, and therefore risks caused by falling of the unmanned aerial vehicle are effectively reduced.
Optionally, the parachute control unit 11 may be further configured to determine expected landing point information of the unmanned aerial vehicle after the parachute is opened according to the current wind speed, the current wind direction, and the weight of the unmanned aerial vehicle, and send the identification information and the expected landing point information of the unmanned aerial vehicle to the server.
The mode of the expected landing point information is determined according to the current wind speed, the current wind direction and the weight of the unmanned aerial vehicle, the mode of calculating the landing point of the parachute in the related technology can be referred, and the expected landing point information can be three-dimensional coordinate information. Unmanned aerial vehicle's identification information can refer to unmanned aerial vehicle's ID for example, sends unmanned aerial vehicle's identification information and expected placement information to the server, can make the server record unmanned aerial vehicle's state to make backstage staff in time know unmanned aerial vehicle's expected placement, make the staff in time handle the unmanned aerial vehicle that falls.
The present disclosure also provides a drone control method, and fig. 2 is a flowchart illustrating a drone control method according to an exemplary embodiment, which may be applied to an electronic device having a processing capability, such as the parachute control unit 11 shown in fig. 1, and as shown in fig. 2, which may include S101 to S103.
In S101, when an parachute opening command instructing opening of a parachute on the drone is acquired, a propeller stop command for controlling a propeller on the drone to stop rotating is sent to the propeller control unit, and when the propeller control unit receives the propeller stop command, a propeller stop signal is sent to a propeller drive mechanism on the drone.
Exemplarily, the parachute opening instruction is received from a drone remote control; alternatively, the parachute opening instruction is generated by a flight controller of the drone in the event that it is determined that a hazardous event has occurred or is about to occur for the drone.
In S102, it is determined whether the rotation state of the propeller satisfies a preset deceleration requirement after the command for stopping the propeller is transmitted.
For example, the preset deceleration requirement may include: the preset time period has elapsed since the instruction to stop the propeller is sent, and/or the rotating speed of the propeller is lower than a preset rotating speed threshold value.
In S103, when it is determined that the rotation state of the propeller satisfies the preset deceleration requirement, a trigger signal for controlling parachute opening is transmitted to the parachute opening trigger unit.
Through the technical scheme, under the condition that an opening instruction for indicating opening of a parachute on the unmanned aerial vehicle is obtained, a propeller stopping instruction for controlling the propeller on the unmanned aerial vehicle to stop rotating can be sent to the propeller control unit, the propeller control unit can send a propeller stopping signal to the propeller driving mechanism on the unmanned aerial vehicle under the condition that the propeller control unit receives the propeller stopping instruction, and the propeller driving mechanism can drive the propeller to stop rotating. Under the rotating condition that the screw was confirmed to satisfy the condition of predetermineeing the speed reduction requirement, the rotational speed that can characterize the screw is lower or has stopped rotatoryly, send the trigger signal who is used for controlling parachute opening to parachute opening trigger unit again, thus, its parachute rope can not take place the winding with the screw when the parachute expandes, avoid because the problem that the parachute rope takes place the unable normal expansion of parachute that the winding leads to with the screw, guarantee that the parachute can normally open, thereby reduce unmanned aerial vehicle's falling speed, reduce the risk that unmanned aerial vehicle crashed and bring, unmanned aerial vehicle's security improves.
The unmanned aerial vehicle control method provided by the present disclosure may further include: and acquiring the current flight characteristic information of the unmanned aerial vehicle in real time from the flight controller or the pose sensor. The current flight characteristic information can comprise current flight attitude information and current flight height of the unmanned aerial vehicle, the operation of obtaining the current flight characteristic information of the unmanned aerial vehicle can be carried out in real time, and the method is not specifically limited to the execution sequence of obtaining the current flight characteristic information of the unmanned aerial vehicle in the unmanned aerial vehicle control method.
Fig. 3 is a flowchart illustrating a drone controlling method according to another exemplary embodiment, and as shown in fig. 3, the method may include S201 to S204, wherein the S103 may include S203 and S204.
In S201, when an parachute opening command instructing opening of a parachute on the drone is acquired, a propeller stop command for controlling a propeller on the drone to stop rotating is sent to the propeller control unit, so that the propeller control unit sends a propeller stop signal to a propeller drive mechanism on the drone when receiving the propeller stop command.
In S202, it is determined whether the rotation state of the propeller satisfies a preset deceleration requirement after the command for stopping the propeller is transmitted.
The implementation of S201 may refer to S101, and the implementation of S202 may refer to S102.
In S203, under the condition that it is determined that the rotation state of the propeller meets the preset deceleration requirement, it is determined whether the unmanned aerial vehicle meets the parachute opening condition according to the current flight characteristic information.
For example, the current flight attitude information may include a current pitch angle and a current roll angle of the drone; the exemplary embodiment of judging whether the unmanned aerial vehicle meets the parachute opening condition according to the current flight characteristic information may be: and if the current pitch angle is smaller than a first preset angle threshold value, the current roll angle is smaller than a second preset angle threshold value, and the current flying height is larger than a preset height threshold value, determining that the unmanned aerial vehicle meets parachute opening conditions.
In S204, when it is determined that the unmanned aerial vehicle satisfies the parachute opening condition, a trigger signal for controlling the parachute to open is transmitted to the parachute opening trigger unit.
Through the technical scheme, acquire unmanned aerial vehicle's current flight characteristic information in real time, under the circumstances that the rotation state at the definite screw satisfies preset speed reduction requirement, before sending the trigger signal who is used for controlling parachute opening to parachute opening trigger unit, can at first judge whether unmanned aerial vehicle satisfies parachute opening condition according to current flight characteristic information, make under the circumstances that unmanned aerial vehicle satisfies parachute opening condition, send trigger signal to parachute opening trigger unit again, trigger parachute opening, in order to guarantee the normal expansion of parachute, thereby effectively reduce the risk that unmanned aerial vehicle's air crash brought.
Fig. 4 is a flowchart illustrating a method for controlling a drone according to another exemplary embodiment, and as shown in fig. 4, the method may include S301 to S305, where S101 may include S301 and S302, and S103 may include S304 and S305.
In S301, in the case of acquiring an parachute opening instruction for instructing opening of a parachute on the unmanned aerial vehicle, it is determined whether the unmanned aerial vehicle satisfies a parachute opening condition according to the current flight characteristic information.
In S302, when it is determined that the unmanned aerial vehicle satisfies the parachute opening condition, a command for stopping the propeller is transmitted to the propeller control unit.
An exemplary embodiment for determining whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information is described above.
In S303, it is determined whether the rotation state of the propeller satisfies a preset deceleration requirement after the command for stopping the propeller is transmitted. The embodiment of step S303 can refer to S102.
In S304, under the condition that it is determined that the rotation state of the propeller satisfies the preset deceleration requirement, it is determined whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information.
The current flight characteristic information refers to flight characteristic information of the unmanned aerial vehicle when it is determined that the rotation state of the propeller meets a preset deceleration requirement, and the flight characteristic information of the unmanned aerial vehicle changes in real time in the flight process, so that the current flight characteristic information of the unmanned aerial vehicle in S304 may be different from the current flight characteristic information of the unmanned aerial vehicle mentioned in S301, for example, the flight altitude of the unmanned aerial vehicle may be different. Therefore, the result obtained by determining whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information in S301 may be different from the result obtained by determining whether the unmanned aerial vehicle satisfies the parachute opening condition according to the current flight characteristic information in S304.
In S305, when it is determined that the unmanned aerial vehicle satisfies the parachute opening condition, a trigger signal for controlling parachute opening is transmitted to the parachute opening trigger unit.
Through the technical scheme, under the condition of acquiring the parachute opening instruction, whether parachute opening conditions are met or not can be judged according to the current flight characteristic information of the unmanned aerial vehicle, if yes, a propeller stopping instruction used for controlling the propeller to stop rotating is sent to the propeller control unit, then under the condition that the rotation state of the propeller meets the preset deceleration requirement is determined, whether parachute opening conditions are met or not is judged according to the current flight characteristic information of the unmanned aerial vehicle, if yes, a trigger signal used for controlling parachute opening is sent to the parachute opening trigger unit, normal unfolding of the parachute is guaranteed, and therefore risks caused by falling of the unmanned aerial vehicle are effectively reduced.
Optionally, the drone controlling method provided by the present disclosure may further include:
determining the predicted landing point information of the unmanned aerial vehicle after the parachute is opened according to the current wind speed, the current wind direction and the weight of the unmanned aerial vehicle; and sending the identification information and the expected drop point information of the unmanned aerial vehicle to a server.
With regard to the method in the above-described embodiment, the specific manner in which the respective steps perform operations has been described in detail in the embodiment related to the apparatus, and will not be elaborated upon here.
The present disclosure still provides an unmanned aerial vehicle, can include the unmanned aerial vehicle controlling means that this disclosure provided.
Fig. 5 is a block diagram illustrating an electronic device 500 in accordance with an example embodiment. For example, the electronic device 500 may be provided as a control unit. Referring to fig. 5, the electronic device 500 comprises a processor 522, which may be one or more in number, and a memory 532 for storing computer programs executable by the processor 522. The computer programs stored in memory 532 may include one or more modules that each correspond to a set of instructions. Further, the processor 522 may be configured to execute the computer program to perform the drone controlling method described above.
Additionally, the electronic device 500 may also include a power component 526 and a communication component 550, the power component 526 may be configured to perform power management of the electronic device 500, and the communication component 550 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 500. In addition, the electronic device 500 may also include input/output (I/O) interfaces 558. The electronic device 500 may operate based on an operating system, such as Windows Server, stored in the memory 532 TM ，Mac OS X TM ，Unix TM ，Linux TM And so on.
In another exemplary embodiment, a computer readable storage medium comprising program instructions is also provided, which when executed by a processor, implement the steps of the drone control method described above. For example, the computer readable storage medium may be the memory 532 described above including program instructions executable by the processor 522 of the electronic device 500 to perform the drone controlling method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the drone control method described above when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (11)

1. An unmanned aerial vehicle control device, characterized in that, the device includes: the system comprises a parachute control unit, a propeller control unit and a parachute opening triggering unit;
the parachute control unit is used for sending a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating to the propeller control unit under the condition that a parachute opening instruction for instructing to open a parachute on the unmanned aerial vehicle is obtained;
the propeller control unit is used for sending a propeller stopping signal to a propeller driving mechanism on the unmanned aerial vehicle under the condition of receiving the propeller stopping instruction;
the parachute control unit is further used for sending the stopping instruction and then judging whether the rotating state of the propeller meets a preset deceleration requirement or not, and determining whether the rotating state of the propeller meets the preset deceleration requirement or not, and sending a trigger signal for controlling parachute opening to the parachute opening trigger unit.
2. The apparatus of claim 1, wherein the preset deceleration requirement comprises:
the preset time period has elapsed since the command to stop the propeller is sent, and/or the rotating speed of the propeller is lower than a preset rotating speed threshold value.
3. The apparatus of claim 1,
the parachute control unit is further used for acquiring current flight characteristic information of the unmanned aerial vehicle in real time from a flight controller or a pose sensor, wherein the current flight characteristic information comprises current flight attitude information and current flight height of the unmanned aerial vehicle;
the parachute control unit is further used for determining that the rotation state of the screw meets the condition of the preset deceleration requirement, judging whether the unmanned aerial vehicle meets parachute opening conditions or not according to the current flight characteristic information, determining that the unmanned aerial vehicle meets the parachute opening conditions, and sending a trigger signal for controlling parachute opening by the parachute opening trigger unit under the condition of the parachute opening conditions.
4. The apparatus of claim 3,
the parachute control unit is further used for judging whether the unmanned aerial vehicle meets parachute opening conditions or not according to the current flight characteristic information under the condition that the parachute opening instruction is obtained, and sending the propeller stopping instruction to the propeller control unit under the condition that the unmanned aerial vehicle meets the parachute opening conditions.
5. The apparatus of claim 3 or 4, wherein the current flight attitude information comprises a current pitch angle and a current roll angle of the drone;
the parachute control unit is further used for determining that the unmanned aerial vehicle meets parachute opening conditions if the current pitch angle is smaller than a first preset angle threshold value, the current roll angle is smaller than a second preset angle threshold value, and the current flying height is larger than a preset height threshold value.
6. The apparatus of claim 1, wherein the parachute opening instruction is received from a drone remote control; or,
the parachute opening instruction is generated by a flight controller of the drone upon determining that the drone has or is about to have a hazardous event.
7. The apparatus of claim 1,
the parachute control unit is further used for determining the predicted landing point information of the unmanned aerial vehicle after the parachute is opened according to the current wind speed and the current wind direction and the weight of the unmanned aerial vehicle, and sending the identification information of the unmanned aerial vehicle and the predicted landing point information to the server.
8. A method of drone control, the method comprising:
under the condition that an parachute opening instruction for indicating opening of a parachute on an unmanned aerial vehicle is acquired, a propeller stopping instruction for controlling a propeller on the unmanned aerial vehicle to stop rotating is sent to a propeller control unit, and a propeller stopping signal is sent to a propeller driving mechanism on the unmanned aerial vehicle by the propeller control unit under the condition that the propeller control unit receives the propeller stopping instruction;
judging whether the rotation state of the propeller meets a preset deceleration requirement or not after the propeller stopping instruction is sent;
and under the condition that the rotation state of the propeller meets the preset deceleration requirement, sending a trigger signal for controlling parachute opening to a parachute opening trigger unit.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 8.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to perform the steps of the method of claim 8.
11. An unmanned aerial vehicle, comprising: the drone controlling device of any one of claims 1-7.
CN202110363611.2A 2021-04-02 2021-04-02 Unmanned aerial vehicle control device, method, medium, electronic device and unmanned aerial vehicle Pending CN115167487A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117389321A (en) * 2023-12-07 2024-01-12 之江实验室 Method and device for controlling slow descent of fire unmanned aerial vehicle, storage medium and electronic equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117389321A (en) * 2023-12-07 2024-01-12 之江实验室 Method and device for controlling slow descent of fire unmanned aerial vehicle, storage medium and electronic equipment
CN117389321B (en) * 2023-12-07 2024-03-12 之江实验室 Method and device for controlling slow descent of fire unmanned aerial vehicle, storage medium and electronic equipment

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