CN115535257A

CN115535257A - Unmanned aerial vehicle parachute control method and device, electronic equipment and storage medium

Info

Publication number: CN115535257A
Application number: CN202211226112.XA
Authority: CN
Inventors: 柳竺江; 张程; 邝凡; 崔建华
Original assignee: Guangdong Power Grid Co Ltd; Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2022-10-09
Filing date: 2022-10-09
Publication date: 2022-12-30

Abstract

The embodiment of the invention discloses a method and a device for controlling an unmanned aerial vehicle parachute, electronic equipment and a storage medium. Set up ultrasonic sensor and barometer on the unmanned aerial vehicle, this method includes: acquiring a detection height value determined by an ultrasonic sensor and an air pressure height difference value determined by an air pressure meter at the previous moment and the current moment; determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value; determining the current real height of the unmanned aerial vehicle at the current moment according to the flight stage, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment; and acquiring the vertical speed and the turning state of the unmanned aerial vehicle, and determining an parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current real height. The method can determine the real height of the unmanned aerial vehicle, accurately control the parachute according to the real height, and guarantee the safety of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle parachute control method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a parachute control method and device for an unmanned aerial vehicle, electronic equipment and a storage medium.

Background

In electric power system, unmanned aerial vehicle is often used in power equipment patrols and examines. The method comprises the steps of acquiring images of the power equipment to be detected through the unmanned aerial vehicle to determine whether the power equipment has faults or not. In order to avoid the damage caused by accidents in the use process of the unmanned aerial vehicle, a parachute can be installed on the unmanned aerial vehicle.

The control of the parachute of the unmanned aerial vehicle needs to make specific judgment according to the real height of the unmanned aerial vehicle from the ground or the top end of a ground building. In the prior art, an altitude of the unmanned aerial vehicle is determined by a barometer, and the altitude is used as the height of the unmanned aerial vehicle.

However, the height of the unmanned aerial vehicle determined by the altitude is only an estimation, and the reliability is poor, so that the control of the parachute of the unmanned aerial vehicle is not accurate enough, and the unmanned aerial vehicle is easy to be damaged.

Disclosure of Invention

The invention provides a method and a device for controlling an unmanned aerial vehicle parachute, electronic equipment and a storage medium, which are used for determining the real height of an unmanned aerial vehicle and realizing the accurate control of the unmanned aerial vehicle parachute according to the real height.

According to one aspect of the invention, a parachute control method for an unmanned aerial vehicle is provided, the unmanned aerial vehicle is provided with an ultrasonic sensor and a barometer, and the method comprises the following steps:

acquiring a detection height value determined by an ultrasonic sensor and an air pressure height difference value determined by an air pressure meter at the previous moment and the current moment;

determining the flight phase of the unmanned aerial vehicle according to the detection height value and the air pressure altitude difference value;

determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment;

the method comprises the steps of obtaining the vertical speed and the turning state of the unmanned aerial vehicle, and determining an parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current real height.

Optionally, a global positioning system GPS is set on the unmanned aerial vehicle, and the method further includes:

acquiring time information and longitude and latitude information determined by the GPS; acquiring weather information corresponding to the weather station according to the time information and the longitude and latitude information;

determining an air pressure altitude compensation value according to the weather information, the time information and the longitude and latitude information;

and correcting the air pressure altitude difference value according to the air pressure altitude compensation value.

Optionally, determining a flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value, including:

when the detected height value is determined to be changed from 0 instantaneously, determining that the flight phase of the unmanned aerial vehicle is a take-off phase;

correspondingly, according to the flight phase, the detection height value, the atmospheric pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the last moment, determining the current real height of the unmanned aerial vehicle at the current moment, including:

and acquiring the height value of the iron tower of the take-off iron tower of the unmanned aerial vehicle, and taking the sum of the detection height value and the height value of the iron tower as the current real height of the unmanned aerial vehicle at the current moment.

when the air pressure altitude difference value is determined to be in change and the change degree is greater than a preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is an undulating flight phase;

when the heave flight phase is determined to be ascending motion according to the air pressure altitude difference value, determining the current real altitude of the unmanned aerial vehicle at the current moment according to the sum of the historical real altitude and the air pressure altitude difference value;

when the fluctuating flying stage is determined to be descending motion according to the air pressure altitude difference value, if the detection altitude value is null, determining the current real altitude of the unmanned aerial vehicle at the current moment according to the difference between the historical real altitude and the air pressure altitude difference value; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

when the change degree of the air pressure height difference value is determined to be smaller than or equal to a preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is a horizontal plane flight phase;

if the detection height value is a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the historical real height;

and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

Optionally, obtain the vertical speed of unmanned aerial vehicle, include:

determining the vertical speed of the unmanned aerial vehicle according to the air pressure height difference value and the time difference value between the previous moment and the current moment; and/or the presence of a gas in the gas,

the unmanned aerial vehicle is provided with an airspeed meter,

and acquiring the speed value of the airspeed meter, and determining the vertical speed of the unmanned aerial vehicle according to the speed value.

Optionally, determining an parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current true height, including:

when the vertical speed is greater than or equal to a preset speed and the current real height is smaller than a preset height, determining to send an parachute opening control instruction to the parachute of the unmanned aerial vehicle;

and when the vertical speed is greater than or equal to a preset speed and the current real height and the preset height meet an parachute opening threshold value condition, detecting that the overturning state is righting, and determining to send a parachute opening control instruction to the parachute of the unmanned aerial vehicle.

According to another aspect of the present invention, there is provided a parachute control device for an unmanned aerial vehicle, the unmanned aerial vehicle being provided with an ultrasonic sensor and a barometer, the device comprising:

the height value acquisition module is used for acquiring a detection height value determined by the ultrasonic sensor and an air pressure height difference value determined by the barometer at the previous moment and the current moment;

the flight phase determining module is used for determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value;

the real height determining module is used for determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment;

the parachute opening control instruction determining module is used for acquiring the vertical speed and the turning state of the unmanned aerial vehicle and determining a parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current real height.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of controlling a parachute of an unmanned aerial vehicle according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for controlling a parachute of an unmanned aerial vehicle according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the unmanned aerial vehicle is provided with the ultrasonic sensor and the barometer, and the detection height value determined by the ultrasonic sensor and the air pressure height difference value determined by the barometer at the previous moment and the current moment are obtained; determining the flight phase of the unmanned aerial vehicle according to the detection height value and the air pressure height difference value; determining the current real height of the unmanned aerial vehicle at the current moment according to the flight stage, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment; the vertical speed and the overturning state of the unmanned aerial vehicle are obtained, the parachute opening control instruction of the parachute of the unmanned aerial vehicle is determined according to the vertical speed, the overturning state and the current real height, the parachute opening control problem of the parachute of the unmanned aerial vehicle is solved, the real height of the unmanned aerial vehicle can be determined, the parachute is accurately controlled according to the real height, and safety of the unmanned aerial vehicle is guaranteed.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1a is a flowchart of a method for controlling a parachute of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 1b is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart of a method for controlling a parachute of an unmanned aerial vehicle according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a parachute control device for an unmanned aerial vehicle according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device for implementing the method for controlling the parachute of the unmanned aerial vehicle according to the embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1a is a flowchart of a method for controlling a parachute of an unmanned aerial vehicle according to an embodiment of the present invention, which is applicable to an electric power system to control the parachute of the unmanned aerial vehicle during a process of detecting an electric power device by the unmanned aerial vehicle, so as to avoid a crash situation of the unmanned aerial vehicle.

The unmanned aerial vehicle provided by the embodiment of the invention is provided with the ultrasonic sensor and the barometer. Specifically, ultrasonic sensor can be provided with unmanned aerial vehicle's bottom, can the direct measurement unmanned aerial vehicle bottom and the distance of perpendicular below object. Fig. 1b is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1b, a parachute can be arranged at the upper end of the unmanned aerial vehicle, and when the parachute is determined to be opened according to the parachute control method for the unmanned aerial vehicle provided by the embodiment of the invention, the parachute can be opened, the landing speed of the unmanned aerial vehicle is reduced, and the condition of machine damage is avoided.

As shown in fig. 1a, the method comprises:

and step 110, acquiring a detection height value determined by the ultrasonic sensor and an air pressure height difference value determined by the barometer at the previous moment and the current moment.

Wherein, the ultrasonic sensor can be installed at the bottom of the unmanned aerial vehicle. Ultrasonic sensor can the direct measurement unmanned aerial vehicle bottom with perpendicular below object's distance. The measurement range of the ultrasonic sensor may be 0.2 to 50 meters. The detected height value can be a distance value of the unmanned aerial vehicle from the ground below or the top end of a ground building measured by the ultrasonic sensor. The barometer can be installed on the drone. The barometer can measure the altitude at which the drone is located. Barometers can measure barometric pressure values ranging from-10000 meters to 1000 meters. The barometric pressure altitude difference may be a difference between a barometric pressure value measured by the barometer at a current time and a barometric pressure value measured at a previous time. Ultrasonic sensor and barometer can be through communication mode with the data transmission who acquires to unmanned aerial vehicle or unmanned aerial vehicle controller. Ultrasonic sensor and barometer can be with preset frequency to unmanned aerial vehicle or unmanned aerial vehicle controller transmission data. Unmanned aerial vehicle or unmanned aerial vehicle controller can confirm whether need to open the umbrella according to ultrasonic sensor and barometer measuring data.

And step 120, determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value.

Wherein the drone may have one or more flight phases. For example, a drone may have five phases of flight, respectively: a takeoff phase, a heave flight phase, a horizontal plane flight phase, a heave ground horizontal flight phase, and a landing phase. By detecting the altitude value and the air pressure altitude difference value, it can be determined in which flight phase the unmanned aerial vehicle is.

For example, when the detected altitude value becomes larger momentarily, for example, from a value of about 0, it may be determined that the drone is in the takeoff phase. The atmospheric pressure altitude difference is in the change, and when atmospheric pressure altitude difference change degree is greater than predetermineeing the degree threshold value, can confirm that unmanned aerial vehicle is in the stage of undulation flight. The heave flight phase may comprise an ascent movement as well as a descent movement. When the air pressure altitude difference is the positive value, and when the air pressure altitude difference change degree is greater than the degree threshold value of predetermineeing, can confirm that unmanned aerial vehicle is in the ascending motion of the stage of undulation flight. When the air pressure altitude difference is a negative value, and the air pressure altitude difference change degree is greater than a preset degree threshold value, the descending motion of the unmanned aerial vehicle in the fluctuating flight phase can be determined.

When the air pressure altitude difference value change degree is smaller than or equal to the preset degree threshold value, the unmanned aerial vehicle can be determined to be in a horizontal plane flight phase. The preset degree threshold may be a value of about 0, and may be limited by a change in an environment where the unmanned aerial vehicle is located during a horizontal plane flight phase, and the air pressure altitude difference value fluctuates.

When the air pressure altitude difference value is about 0, when the detection altitude value changes, the unmanned aerial vehicle is in the stage of horizontal flight on the undulating ground. The rough ground level flight phase is understood to mean that the ground of the aircraft is a building with uneven ground when the aircraft is flying in a horizontal plane. Therefore, the real height of the unmanned aerial vehicle can be determined in the same manner in the rough ground horizontal flight phase and the horizontal plane flight phase.

The air pressure altitude difference is the negative value, and when the detection altitude value becomes small, the unmanned aerial vehicle is in the stage of landing. The descent phase is similar to the descent motion of the heave flight phase. In particular, in the descending movement of the heave flight phase, the general trend of the detected altitude value is greater; in the landing phase, the general trend of the detected height values is smaller. However, when the frequency of data transmission from the ultrasonic sensor and the barometer to the drone or the drone controller is high, the detection height value decreases during the descent motion in the landing phase and the heave flight phase. Thus, the true altitude of the drone may be determined in the same manner in the descending motion during the landing phase and the heave flight phase.

And step 130, determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the last moment.

Wherein, in different flight phases, the current real altitude determining mode of the unmanned aerial vehicle can have certain difference. However, in each flight phase, the current real height of the unmanned aerial vehicle at the current moment can be determined by comprehensively detecting the height value, the air pressure altitude difference value and the historical real height information of the unmanned aerial vehicle determined at the last moment. The unmanned aerial vehicle height determined by the barometer and the ultrasonic sensor can be more accurate, and the inaccuracy of estimating the height of the unmanned aerial vehicle simply through the altitude by the barometer is avoided.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the unmanned aerial vehicle according to the detected altitude value and the air pressure altitude difference value includes: and when the detection height value is determined to be changed from 0 instantaneously, determining that the flight phase of the unmanned aerial vehicle is a takeoff phase. Correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle that the moment of last definite, confirm the current true height of unmanned aerial vehicle at the moment, include: and acquiring the height value of the iron tower of the take-off iron tower of the unmanned aerial vehicle, and taking the sum of the detection height value and the height value of the iron tower as the current true height of the unmanned aerial vehicle at the current moment.

When the aircraft is in a takeoff stage, the sum of the detection height value and the height value of the iron tower can be used as the current real height of the unmanned aerial vehicle at the current moment. The unmanned aerial vehicle in the embodiment of the invention can be applied to a power system to inspect power equipment. The takeoff ground of the unmanned aerial vehicle can be an iron tower. The iron tower has certain height, if direct with ultrasonic sensor's detection altitude value as unmanned aerial vehicle's current true height at the present moment, can cause the high exactness of confirming of unmanned aerial vehicle to influence the accuracy that follow-up parachute opening judged. Therefore, in the embodiment of the invention, the takeoff area of the unmanned aerial vehicle is considered, and the sum of the detection height value and the height value of the iron tower is used as the current real height of the unmanned aerial vehicle at the current moment.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the drone according to the detected altitude value and the air pressure altitude difference value includes: when the air pressure altitude difference value is determined to be in change and the change degree is greater than the preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is an undulating flight phase; correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle that the moment of last definite, confirm the current true height of unmanned aerial vehicle at the moment, include: when the heave flight stage is determined to be ascending motion according to the air pressure altitude difference, determining the current real altitude of the unmanned aerial vehicle at the current moment according to the sum of the historical real altitude and the air pressure altitude difference; when the heave flight stage is determined to be descending motion according to the air pressure altitude difference value, if the detection altitude value is null, determining the current true altitude of the unmanned aerial vehicle at the current moment according to the difference between the historical true altitude and the air pressure altitude difference value; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

Wherein, when unmanned aerial vehicle is in the ascending motion of the stage of the fluctuation flight, unmanned aerial vehicle height can surpass ultrasonic sensor's measuring range usually. Moreover, in the ascending movement in the heave flight phase, the unmanned aerial vehicle is further and further away from the ground building, and the ultrasonic sensor usually cannot detect the object below. Therefore, the current real height of the unmanned aerial vehicle can be determined through the sum of the historical real height and the air pressure height difference value, and the accuracy of determining the height of the unmanned aerial vehicle can be guaranteed.

When the drone is in descending motion in the heave flight phase, there may be a ground building below it that can be detected. Therefore, when the detection height value exists, namely the detection height value is not a null value, the current real height of the unmanned aerial vehicle at the current moment can be determined according to the detection height value. And when the detection height value does not exist, namely the detection height value is a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the difference between the historical real height and the air pressure height difference value. The current real height determining mode of the unmanned aerial vehicle can be dynamically adjusted according to the existence of the detection height value, and the accuracy and the reliability of determining the height of the unmanned aerial vehicle are improved.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the unmanned aerial vehicle according to the detected altitude value and the air pressure altitude difference value includes: when the change degree of the air pressure height difference value is determined to be less than or equal to the preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is a horizontal plane flight phase; correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle that the moment of last definite, confirm the current true height of unmanned aerial vehicle at the moment, include: if the detection height value is a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the historical real height; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

Wherein, when unmanned aerial vehicle is in the horizontal plane flight phase, ground building that can survey can exist in its below. Therefore, when the detection height value exists, namely the detection height value is not an empty value, the current real height of the unmanned aerial vehicle at the current moment can be determined according to the detection height value. And when the detection height value does not exist, namely the detection height value is a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the historical real height. The current real height determining mode of the unmanned aerial vehicle can be dynamically adjusted according to the existence of the detection height value, and the accuracy and the reliability of determining the height of the unmanned aerial vehicle are improved.

Specifically, when the unmanned aerial vehicle is in a horizontal plane flight phase, when the distance within 40 meters is detected through an ultrasonic sensor at the bottom of the unmanned aerial vehicle, the current real height of the unmanned aerial vehicle can be refreshed; if no obstacle within 40 meters is detected, the current true altitude of the drone can be kept unchanged. The ultrasonic sensor may refresh the detection height value every 0.5 seconds.

And 140, acquiring the vertical speed and the turning state of the unmanned aerial vehicle, and determining an parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current real height.

Wherein the vertical velocity may be a velocity at which the drone moves downward. The acquisition of the vertical velocity may be various, for example, the vertical velocity may be acquired by an instrument, or the vertical velocity of the drone may be determined by calculation. The turning state of the drone may include turning right and turning over, etc. Righting can be unmanned aerial vehicle upper portion up. The flipping may be a state where the upper part of the drone is not facing upwards, e.g. upper part facing downwards. When the unmanned aerial vehicle overturns, the parachute is opened to better protect the unmanned aerial vehicle. The flipped state may be determined based on the detected height value.

For example, the detection height value is in frequent change, for example, the detection height value exists at the last moment, the detection height value does not exist at the current moment, and the unmanned aerial vehicle can be determined to be in the turning state when the detection height value at the next moment is smaller than the detection height value at the last moment. When the unmanned aerial vehicle is in a turning state and the detection height value exists, the unmanned aerial vehicle can be determined to be turned in the turning state; when unmanned aerial vehicle is in the upset state, when not having the detection height value, can confirm that unmanned aerial vehicle is the upset in the upset state.

According to the vertical speed, the overturning state and the current real height, the most appropriate parachute opening time can be selected, and the safety of the unmanned aerial vehicle is guaranteed. For example, can be greater than preset speed at vertical speed, when unmanned aerial vehicle upset state was just for turning over, when current true height was about preset height, can open the parachute, protection unmanned aerial vehicle.

According to the technical scheme, the unmanned aerial vehicle is provided with the ultrasonic sensor and the barometer, and the detection height value determined by the ultrasonic sensor and the air pressure height difference value determined by the barometer at the previous moment and the current moment are obtained; determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value; determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure height difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment; the vertical speed and the overturning state of the unmanned aerial vehicle are obtained, the parachute opening control instruction of the parachute of the unmanned aerial vehicle is determined according to the vertical speed, the overturning state and the current real height, the parachute opening control problem of the parachute of the unmanned aerial vehicle is solved, the real height of the unmanned aerial vehicle can be determined, the parachute is accurately controlled according to the real height, and safety of the unmanned aerial vehicle is guaranteed.

Example two

Fig. 2 is a flowchart of an unmanned aerial vehicle parachute control method according to a second embodiment of the present invention, which is a further refinement of the foregoing technical solution, and the technical solution in this embodiment may be combined with various alternatives in one or more of the foregoing embodiments. As shown in fig. 2, the method includes:

step 210, obtaining a detection height value determined by the ultrasonic sensor and an air pressure height difference value determined by the barometer at the previous moment and the current moment.

Step 220, acquiring time information and longitude and latitude information determined by a GPS; and acquiring weather information corresponding to the weather station according to the time information and the longitude and latitude information.

Wherein, can set up Global Positioning System (GPS) on the unmanned aerial vehicle. The GPS can determine longitude and latitude information where the unmanned aerial vehicle is located and current time information. Accordingly, the unmanned aerial vehicle can acquire weather information corresponding to the practice information and the longitude and latitude information from the weather station through the GPS information.

And step 230, determining an air pressure altitude compensation value according to the weather information, the time information and the latitude and longitude information.

The weather, time, longitude and latitude information all have influence on the air pressure value. For example, the air pressure values at the same location may differ in the morning, the middle, and the evening. In another example, the pressure at the same location may vary from weather to weather. Further, for example, the air pressure values may be different for different latitudes and longitudes. When the update frequency of the air pressure altitude difference value is low, the air pressure altitude difference value has deviation due to weather, time, longitude and latitude information. Therefore, the air pressure altitude difference value can be compensated according to weather, time, longitude and latitude information.

Specifically, the air pressure height compensation value can be determined in various ways. For example, the influence of weather, time, longitude and latitude information on the air pressure value can be determined in advance through an experimental mode, and a mapping table is set locally on the unmanned aerial vehicle. And searching a mapping table according to weather, time and longitude and latitude information to determine an air pressure height compensation value. For another example, it may be determined by calculation how the barometric pressure value compensates for each incremental degree of latitude and longitude information. For another example, it is determined by calculation how the barometric pressure values compensate for clear days in different weather. Also, for example, it is computationally determined how the air pressure value compensates at different times with respect to the target reference time.

And 240, correcting the air pressure altitude difference value according to the air pressure altitude compensation value.

Wherein, can update the atmospheric pressure value at each moment through atmospheric pressure altitude compensation value to can realize atmospheric pressure altitude difference's correction, and then can realize the accuracy of the real height of unmanned aerial vehicle.

And step 250, determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value.

And step 260, determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the unmanned aerial vehicle according to the detected altitude value and the air pressure altitude difference value includes: when the detection height value is determined to be changed from 0 instantaneously, determining that the flight phase of the unmanned aerial vehicle is a takeoff phase; correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle that the moment of last definite, confirm the current true height of unmanned aerial vehicle at the moment, include: and acquiring the height value of the iron tower of the take-off iron tower of the unmanned aerial vehicle, and taking the sum of the detection height value and the height value of the iron tower as the current true height of the unmanned aerial vehicle at the current moment.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the drone according to the detected altitude value and the air pressure altitude difference value includes: when the air pressure altitude difference value is determined to be in change and the change degree is greater than a preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is an undulating flight phase; correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle confirmed at the last moment, confirm the current true height of unmanned aerial vehicle at the current moment, include: when the heave flight stage is determined to be ascending motion according to the air pressure altitude difference, determining the current real altitude of the unmanned aerial vehicle at the current moment according to the sum of the historical real altitude and the air pressure altitude difference; when the heave flight stage is determined to be descending motion according to the air pressure altitude difference value, if the detection altitude value is null, determining the current true altitude of the unmanned aerial vehicle at the current moment according to the difference between the historical true altitude and the air pressure altitude difference value; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

In an optional implementation manner of the embodiment of the present invention, determining a flight phase of the drone according to the detected altitude value and the air pressure altitude difference value includes: when the change degree of the air pressure height difference value is smaller than or equal to a preset degree threshold value, determining that the flight phase of the unmanned aerial vehicle is a horizontal plane flight phase; correspondingly, according to flight phase, detection height value, atmospheric pressure altitude difference and the historical true height of the unmanned aerial vehicle that the moment of last definite, confirm the current true height of unmanned aerial vehicle at the moment, include: if the detection height value is a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the historical real height; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

And step 270, acquiring the vertical speed and the turning state of the unmanned aerial vehicle.

In an optional implementation manner of the embodiment of the present invention, acquiring a vertical speed of the drone includes: determining the vertical speed of the unmanned aerial vehicle according to the air pressure height difference value and the time difference value between the previous moment and the current moment; and/or, the unmanned aerial vehicle is provided with an airspeed meter, the speed value of the airspeed meter is obtained, and the vertical speed of the unmanned aerial vehicle is determined according to the speed value.

Wherein, the barometer can update the barometric pressure value with a certain frequency. For example, every 0.5 seconds. I.e. the time difference between the last time and the current time may be 0.5 seconds. The ratio of the air pressure altitude difference value to the time difference value can be determined as the vertical speed of the unmanned aerial vehicle.

Alternatively, the bottom of the unmanned aerial vehicle can be provided with an airspeed meter. The air speed below the unmanned aerial vehicle can be measured through the airspeed meter as the vertical speed of the unmanned aerial vehicle.

And step 280, determining an parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the overturning state and the current real height.

In an optional implementation manner of the embodiment of the present invention, determining an parachute opening control instruction of an unmanned aerial vehicle parachute according to the vertical speed, the turning state, and the current true height includes: when the vertical speed is greater than or equal to the preset speed and the current real height is smaller than the preset height, determining to send an parachute opening control instruction to the parachute of the unmanned aerial vehicle; when the vertical speed is greater than or equal to the preset speed and the current real height and the preset height meet the parachute opening threshold value condition, when the overturning state is detected to be righting, the parachute opening control command is determined to be sent to the parachute of the unmanned aerial vehicle.

Wherein the preset speed may be 5 meters per second. The preset height may be 10 meters. When the vertical speed of the unmanned aerial vehicle is greater than 5 meters per second and the current real height is less than 10 meters, the unmanned aerial vehicle can be determined to fall at the highest speed and be closer to the ground, and the unmanned aerial vehicle collides with the ground immediately. Therefore, can confirm the control command of parachute-opening at once, open the parachute, slow down unmanned aerial vehicle's falling speed, avoid unmanned aerial vehicle crash.

When the vertical speed of the unmanned aerial vehicle is greater than 5 meters per second and the current real height is greater than 10 meters, but the difference between the real height and 10 meters is small, namely when the current real height and the preset height meet the parachute opening threshold condition, the parachute opening control instruction can be determined and the parachute can be opened when the unmanned aerial vehicle is turned over. Thereby, can guarantee unmanned aerial vehicle's steady, open the parachute when avoiding the upset and cause danger.

According to the technical scheme of the embodiment of the invention, a detection height value determined by an ultrasonic sensor and an air pressure height difference value determined by an air pressure meter at the previous moment and the current moment are obtained; acquiring time information and longitude and latitude information determined by a GPS; acquiring weather information corresponding to the weather station according to the time information and the longitude and latitude information; determining an air pressure height compensation value according to weather information, time information and longitude and latitude information; correcting the air pressure altitude difference value according to the air pressure altitude compensation value; determining the flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value; determining the current real height of the unmanned aerial vehicle at the current moment according to the flight stage, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the previous moment; acquiring the vertical speed and the turning state of the unmanned aerial vehicle; according to vertical speed, upset state and current true height, confirm the control command of parachute opening of unmanned aerial vehicle parachute, solved the control problem of parachute opening of unmanned aerial vehicle parachute, can confirm unmanned aerial vehicle's true height to carry out accurate control to the parachute according to this true height, select the most suitable opportunity to open the parachute, guarantee unmanned aerial vehicle safety.

In the technical scheme of the embodiment of the invention, the acquisition, storage, application and the like of the height information of the unmanned aerial vehicle and the GPS related information all accord with the regulations of related laws and regulations without violating the customs of the public order.

EXAMPLE III

Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle parachute control device according to a third embodiment of the present invention. Set up ultrasonic sensor and barometer on the unmanned aerial vehicle. As shown in fig. 3, the apparatus includes: an altitude value acquisition module 310, a flight phase determination module 320, a real altitude determination module 330, and an parachute opening control instruction determination module 340. Wherein:

the height value acquiring module 310 is configured to acquire a detection height value determined by the ultrasonic sensor and an air pressure height difference value determined by the barometer at the previous time and the current time;

the flight phase determination module 320 is configured to determine a flight phase of the unmanned aerial vehicle according to the detection altitude value and the air pressure altitude difference value;

a real altitude determining module 330, configured to determine a current real altitude of the drone at the current time according to the flight phase, the detection altitude value, the air pressure altitude difference value, and a historical real altitude of the drone determined at the previous time;

the parachute opening control instruction determining module 340 is configured to obtain the vertical speed and the turning state of the unmanned aerial vehicle, and determine a parachute opening control instruction of the parachute of the unmanned aerial vehicle according to the vertical speed, the turning state and the current true height.

Optionally, set up global positioning system GPS on the unmanned aerial vehicle, the device still includes:

the GPS information acquisition module is used for acquiring time information and longitude and latitude information determined by a GPS; acquiring weather information corresponding to the weather station according to the time information and the longitude and latitude information;

the atmospheric pressure altitude compensation value determining module is used for determining an atmospheric pressure altitude compensation value according to the weather information, the time information and the longitude and latitude information;

and the air pressure altitude difference value correction module is used for correcting the air pressure altitude difference value according to the air pressure altitude compensation value.

Optionally, the flight phase determining module 320 includes:

the takeoff phase determining unit is used for determining that the flight phase of the unmanned aerial vehicle is a takeoff phase when the detected altitude value is determined to be changed from 0 instantaneously;

accordingly, the real height determining module 330 includes:

and the first real height determining unit is used for acquiring the height value of the iron tower of the takeoff iron tower of the unmanned aerial vehicle, and taking the sum of the detected height value and the height value of the iron tower as the current real height of the unmanned aerial vehicle at the current moment.

Optionally, the flight phase determining module 320 includes:

the heave flight phase determining unit is used for determining that the flight phase of the unmanned aerial vehicle is a heave flight phase when the air pressure altitude difference value is determined to be in change and the change degree is greater than a preset degree threshold value;

accordingly, the real height determining module 330 includes:

the second real height determining unit is used for determining the current real height of the unmanned aerial vehicle at the current moment according to the sum of the historical real height and the air pressure altitude difference when the heave flight stage is determined to be ascending according to the air pressure altitude difference;

a third real altitude determining unit, configured to determine, when the heave flight phase is determined to be a descent motion according to the air pressure altitude difference, a current real altitude of the unmanned aerial vehicle at the current moment according to a difference between the historical real altitude and the air pressure altitude difference if the detection altitude value is a null value; and if the detection height value is not a null value, determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value.

Optionally, the flight phase determining module 320 includes:

the horizontal plane flight phase determining unit is used for determining that the flight phase of the unmanned aerial vehicle is a horizontal plane flight phase when the change degree of the air pressure altitude difference value is determined to be smaller than or equal to a preset degree threshold value;

accordingly, the real height determining module 330 includes:

a fourth real height determining unit, configured to determine, if the detected height value is a null value, a current real height of the unmanned aerial vehicle at the current time according to the historical real heights;

and the fifth real height determining unit is used for determining the current real height of the unmanned aerial vehicle at the current moment according to the detection height value if the detection height value is not a null value.

Optionally, the parachute opening control instruction determining module 340 includes:

the first vertical speed determining unit is used for determining the vertical speed of the unmanned aerial vehicle according to the air pressure height difference value and the time difference value between the previous moment and the current moment; and/or the presence of a gas in the atmosphere,

an airspeed meter is arranged on the unmanned aerial vehicle,

and the second vertical speed determining unit is used for acquiring the speed value of the airspeed meter and determining the vertical speed of the unmanned aerial vehicle according to the speed value.

Optionally, the umbrella opening control instruction determining module 340 includes:

the first parachute opening control instruction sending unit is used for determining to send a parachute opening control instruction to the unmanned aerial vehicle parachute when the vertical speed is greater than or equal to the preset speed and the current real height is smaller than the preset height;

and the second parachute opening control instruction sending unit is used for determining to send a parachute opening control instruction to the parachute of the unmanned aerial vehicle when the vertical speed is greater than or equal to the preset speed and the current real height and the preset height meet the parachute opening threshold value condition and the overturning state is detected to be righting.

The unmanned aerial vehicle parachute control device provided by the embodiment of the invention can execute the unmanned aerial vehicle parachute control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example four

FIG. 4 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as the drone parachute control method.

In some embodiments, the drone parachute control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the drone parachute control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the drone parachute control method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an unmanned aerial vehicle parachute control method which characterized in that, set up ultrasonic sensor and barometer on the unmanned aerial vehicle, the method includes:

2. The method of claim 1, wherein a Global Positioning System (GPS) is provided on the drone, the method further comprising:

3. The method of claim 1, wherein determining a flight phase of the drone based on the detection altitude value and the barometric altitude difference value comprises:

correspondingly, determining the current real height of the unmanned aerial vehicle at the current moment according to the flight phase, the detection height value, the air pressure altitude difference value and the historical real height of the unmanned aerial vehicle determined at the last moment, and the method comprises the following steps:

and acquiring a tower height value of a take-off tower of the unmanned aerial vehicle, and taking the sum of the detection height value and the tower height value as the current real height of the unmanned aerial vehicle at the current moment.

4. The method of claim 3, wherein determining a flight phase of the drone based on the detection altitude value and the barometric altitude difference value comprises:

5. The method of claim 3, wherein determining a flight phase of the drone based on the detection altitude value and the barometric altitude difference value comprises:

6. The method of claim 1, wherein obtaining the vertical velocity of the drone comprises:

the unmanned aerial vehicle is provided with an airspeed meter,

and acquiring a speed value of the airspeed meter, and determining the vertical speed of the unmanned aerial vehicle according to the speed value.

7. The method according to claim 1, wherein determining an opening control command for the parachute of the unmanned aerial vehicle according to the vertical velocity, the turning state, and the current true height comprises:

and when the vertical speed is greater than or equal to the preset speed and the current real height and the preset height meet the parachute opening threshold value condition, detecting that the overturning state is righting, and determining to send a parachute opening control command to the parachute of the unmanned aerial vehicle.

8. The utility model provides an unmanned aerial vehicle parachute controlling means which characterized in that, last ultrasonic sensor and the barometer of setting up of unmanned aerial vehicle, the device includes:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the drone parachute control method of any one of claims 1-7.

10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing a processor to implement the drone parachute control method of any of claims 1-7 when executed.