WO2015165021A1

WO2015165021A1 - Air vehicle protection control method and apparatus, and air vehicle

Info

Publication number: WO2015165021A1
Application number: PCT/CN2014/076419
Authority: WO
Inventors: 石峻; 赵涛; 肖文龙
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2014-04-28
Filing date: 2014-04-28
Publication date: 2015-11-05
Also published as: CN104507799A; CN104507799B

Abstract

Embodiments of the present invention provide an air vehicle protection control method and apparatus, and an air vehicle. The method comprises: detecting a flight state of an air vehicle; when the flight state of the air vehicle is detected to be a recovery state, generating a recovery triggering signal, and sending the recovery triggering signal to an external protection apparatus for the air vehicle, so as to trigger the external protection apparatus to start safety protection for the air vehicle. The detecting the flight state of the air vehicle comprises: analyzing flight data of the air vehicle, and monitoring a ground control signal received by the air vehicle; and if a result of the analysis on the flight data is abnormal or a monitored ground control signal is the recovery triggering signal, determining the flight state of the air vehicle as the recovery state. By means of the present invention, a faulty start of a safety apparatus in the air vehicle can be effectively avoided, normal flight of the air vehicle can be ensured, and damages to the air vehicle and the outside world can be reduced when the air vehicle rapidly falls down due to a system failure or other reasons.

Description

Aircraft protection control method, device and aircraft

The present invention relates to the field of aircraft safety technology, and in particular, to a method, a device and an aircraft for protection control of an aircraft. Background technique

With the continuous development of flight technology, various types of aircraft with different functions have been widely applied to military and civilian fields. Small UAVs have been widely applied to geological disaster monitoring and forests due to their advantages of simple use and portability. Fire prevention, aerial mapping, environmental monitoring, and target detection.

During flight use, the aircraft may cause a crash due to climatic conditions, terrain, aircraft failures, and insufficient power. In order to prevent damage to the aircraft crash, the prior art generally ensures that the aircraft is safely landed by means of a parachute.

In the existing drone control technology, the aircraft can use airspeed, ground speed and other information to estimate the horizontal wind speed, wind direction and possibly other climatic conditions to determine the location and timing of the opening, but this situation is easy to be The false air is not affected by the instantaneous strong wind of the flight, so that the normal flying aircraft mistakenly opens the parachute. Summary of the invention

The technical problem to be solved by the embodiments of the present invention is to provide a method, a device and an aircraft for protecting and controlling an aircraft, which can effectively prevent the false opening of the safety device in the aircraft, and better ensure the normal flight of the aircraft and the safety of the aircraft when landing. .

In order to solve the above technical problem, an embodiment of the present invention provides a method for protecting and controlling an aircraft, including:

Detecting the flight status of the aircraft;

Generate a recovery trigger signal when it detects that the flight status of the aircraft is in the recovery state. Providing a protection device for the aircraft peripheral device to activate the protection device of the peripheral device to turn on the safety protection of the aircraft;

The detecting the flight state of the aircraft includes: analyzing the flight data of the aircraft, and listening to the ground control signal received by the aircraft; if the analysis result of the flight data is abnormal data, or the ground control signal detected is a recovery trigger The signal determines the flight state of the aircraft as a recovery state.

Optionally, the analyzing the flight data of the aircraft includes:

Analyzing data of each sensor set in the aircraft, if there is data including a fixed constant value, data loss of at least one sensor, or presence of at least one data within a preset abnormal value range, the analysis result of the flight data is data Abnormal

Or obtaining flight estimation data of the aircraft according to the current power output parameter, and detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data is a preset difference Within the range of outliers, the analysis result of the flight data is abnormal data;

Or, calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is data abnormality.

Optionally, the method further includes:

Determining whether an open notification signal fed back by the protection device of the peripheral device is received; if so, controlling to turn off the motor of the aircraft. Optionally, the generating a recovery trigger signal is sent to the protection device for the aircraft peripheral device, including:

Detecting a current attitude angle of the aircraft and determining a safety side of the aircraft at the attitude angle, the attitude angle including an angle of the aircraft in a three-axis direction of the three-dimensional coordinate system; generating a recovery trigger signal according to the safety side Sending to the protection device of the aircraft peripheral device to trigger the protection device of the peripheral device to open the security protection for the aircraft; wherein the generating a recovery trigger signal according to the safety side is sent to the outside of the aircraft The protection devices provided include:

Sent to one or more protective devices of the peripheral on the safe side of the aircraft Sending a recovery trigger signal; or, transmitting a recovery trigger signal carrying the identification of the safety side to the protection device of the aircraft peripheral device to trigger the protection device of the peripheral device to open protection on the safety side according to the identification of the safety side.

Correspondingly, the embodiment of the present invention further provides another protection control device for an aircraft, including: a detection module, configured to detect a flight state of the aircraft;

a processing module, configured to: when the detection result of the detection module is that the flight state of the aircraft is in a recovery state, generate a recovery trigger signal and send the protection device to the peripheral device of the aircraft to trigger the protection device of the peripheral device to open Safety protection of the aircraft;

The detection module includes:

a data analysis unit, configured to analyze flight data of the aircraft;

a signal listening unit, configured to listen to a ground control signal received by the aircraft; a result determining unit, configured to: if the data analysis unit analyzes the flight data as a data abnormality, or the signal listening unit detects The ground control signal is a recovery trigger signal, and the flight state of the aircraft is determined to be a recovery state.

Optionally, the data analyzing unit is specifically configured to analyze data of each sensor set in the aircraft, if there is data including a fixed constant value, data of at least one sensor is lost, or at least one data exists in a preset Within the range of outliers, the analysis result of the flight data is abnormal data;

Or specifically, obtaining flight estimation data of the aircraft according to the current power output parameter, and detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data is in advance If the difference is within the range of the outliers, the analysis result of the flight data is abnormal.

Or, specifically used to calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is data abnormality.

Optionally, the device further includes:

a judging module, configured to determine whether an activation notification signal fed back by the protection device of the peripheral device is received; And a control module, configured to control to turn off the motor of the aircraft when the determination result of the determining module is YES.

Optionally, the processing module includes:

An angle detecting unit, configured to detect a current attitude angle of the aircraft, and determine a safety side of the aircraft at the attitude angle; a sending processing unit, configured to generate, according to the safety side, a recovery trigger signal to be sent to the aircraft a protection device of the peripheral device, to activate the protection device of the peripheral device to open the security protection of the aircraft;

The sending processing unit is specifically configured to send a recovery trigger signal to one or more protection devices of the peripheral device on the security side of the aircraft; or send a security to the protection device for the aircraft peripheral device The side of the identified recycling trigger signal to activate the protection device of the peripheral device to open protection on the safety side according to the identification of the safety side.

Correspondingly, an embodiment of the present invention further provides an aircraft, including: a protection control device, a signal receiving device, and a protection device, wherein the protection control device is configured to generate when the flight state of the aircraft is detected as a recovery state. Recycling trigger signal is sent to the protection device for the aircraft peripheral;

The signal receiving device is configured to generate, when the received ground control signal is a recovery trigger signal, a recovery trigger signal to be sent to the protection device of the aircraft peripheral device.

Optionally, the protection control device is specifically configured to analyze data of each sensor disposed in the aircraft, if there is data including a fixed constant value, data of at least one sensor is lost, or at least one data exists at a preset Within the range of outliers, the result of the analysis of the flight data is a data anomaly, and a recovery trigger signal is sent to the protection device;

Or specifically, obtaining flight estimation data of the aircraft according to the current power output parameter, and detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data is in advance If the difference between the abnormal values is set, the analysis result of the flight data is abnormal data, and the recovery trigger signal is sent to the protection device;

Or, specifically for calculating the flight data change value of the aircraft during flight, if the calculated flight data change value is within a preset change abnormal value range, the analysis result of the flight data is data abnormality, and the protection is The device sends a recycle trigger signal. Optionally, the protection control device is further configured to determine whether an open notification signal fed back by the protection device of the peripheral device is received; if yes, control the motor of the aircraft to be turned off. Optionally, the protection control device is specifically configured to detect a current attitude angle of the aircraft, and determine a safety side of the aircraft at the attitude angle, where the attitude angle includes three axes of the aircraft in a three-dimensional coordinate system. An angle in the direction; generating a recovery trigger signal according to the safety side to be sent to the protection device of the aircraft peripheral device, to trigger the protection device of the peripheral device to turn on the security protection of the aircraft;

Wherein the protection control device is specifically used for one of the peripheral devices on the safety side of the aircraft when the recovery trigger signal is generated according to the safety side and sent to the protection device for the aircraft peripheral device Transmitting, by the plurality of protection devices, a recovery trigger signal; or transmitting, to the protection device for the aircraft peripheral device, a recovery trigger signal carrying a safety side identifier to trigger the protection device of the peripheral device according to the identification of the safety side Side opening protection.

The embodiment of the invention can determine whether it is necessary to trigger the protection of the aircraft according to the flight data of the aircraft and the control signals of the ground user, etc., and can effectively avoid the false opening of the safety device in the aircraft, and better ensure the normal flight of the aircraft. And when the aircraft is out of system failure or other causes cause rapid fall, reduce the damage to the aircraft itself and the outside world. DRAWINGS

1 is a schematic flow chart of an aircraft protection control method according to an embodiment of the present invention; FIG. 2 is a schematic flowchart of another aircraft protection control method according to an embodiment of the present invention; FIG. 3 is a recovery trigger signal transmission method according to an embodiment of the present invention; 4 is a schematic structural view of an aircraft protection control device according to an embodiment of the present invention; FIG. 5 is a schematic structural view of another aircraft protection control device according to an embodiment of the present invention; FIG. 6 is a processing module of FIG. One of the specific structural diagrams;

Fig. 7 is a schematic structural view of an aircraft according to an embodiment of the present invention. detailed description The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention.

In the embodiment of the present invention, the flight data and the ground signal of the aircraft are simultaneously monitored and monitored, and when the aircraft data of the aircraft is detected, the flight position data of the aircraft, the altitude data, the speed data, the acceleration, and the angular acceleration data are abnormal, or Upon receiving the ground signal sent by the ground remote control terminal as a recovery trigger signal, it is determined that the aircraft needs to be recovered, and is opened by triggering a protection device including a parachute, a safety air raft, etc., for the aircraft peripheral device at a position such as the side wall of the aircraft. Parachute, safe and secure, to achieve the safety of the aircraft. Of course, in other embodiments, the protection device can also be built into the aircraft as needed.

1 is a schematic flow chart of an aircraft protection control method according to an embodiment of the present invention. The method of the embodiment of the present invention can be applied to an aircraft, by using a controller or an aircraft driving separately in the aircraft. The method for performing the control method to complete the triggering control of the protection device, specifically, the method of the embodiment of the present invention includes:

S101: Detecting the flight state of the aircraft.

In the embodiment of the present invention, the S101 may specifically include: analyzing flight data of the aircraft, and listening to a ground control signal received by the aircraft; if the analysis result of the flight data is abnormal data, or the ground that is heard The control signal is a recovery trigger signal, and the flight state of the aircraft is determined to be a recovery state.

In the embodiment of the present invention, the flying device of the aircraft may include a recovery state, a normal flying state, and the like. The aircraft includes various types of drones. When the aircraft malfunctions, or when the ground sends a specified control signal (recovery trigger signal) to safely land, the aircraft is in the recovery state, and S102 described below needs to be performed. Of course, in other cases, for example, when the aircraft completes the mission and returns to a certain altitude, it can also define that the aircraft is in the recovery state, and the following S102 needs to be performed.

Wherein, analyzing whether the flight data of the aircraft is abnormal in S101 may include: analyzing data of each sensor set in the aircraft, if there is a number including a fixed constant value According to the data loss of at least one sensor, or the presence of at least one data within a preset abnormal value range, the analysis result of the flight data is data abnormality.

Sensors in aircraft generally include, but are not limited to, gyroscopes, accelerometers, geophones, barometers, and the like. When gyroscopes, accelerometers, etc. output fixed-value data, or data loss, or abnormality, the aircraft cannot accurately control its attitude; if the geomagnetic instrument outputs fixed-normal data, or data is lost, or abnormal , can cause the aircraft to be unable to determine the direction of flight, and thus can not complete the GPS positioning flight with the GPS (Global Positioning System, Global Positioning System) module.

The analyzing whether there is at least one data within a preset abnormal value range may specifically include: analyzing whether, in the flight process, one or more data in each flight data meets an abnormal value range corresponding to the preset free fall feature If it exists, the analysis result of the flight data is abnormal data.

The range of abnormal values corresponding to the free-fall feature can be specifically set based on the flight direction of the aircraft, the speed increment, and the related data such as the power output. Specifically, when the flight data of the aircraft is downward, the acceleration value along the gravity direction is the gravity acceleration. When the relative value is within the range of outliers (such as close to zero), the aircraft data is abnormal.

Detecting whether the flight data is abnormal may include: obtaining flight estimation data of the aircraft according to a current power output parameter, and detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data If the value is within the preset difference outlier range, the analysis result of the flight data is data anomaly.

The difference outlier range may be set for different parameters, for example, for an upward climbed power output, a differential anomaly range may be set separately for upward flight acceleration and speed. Specifically, when the upward power output is large or has reached a maximum, the flying height of the aircraft is still decreasing, and it can be determined that the aircraft is malfunctioning. That is to say, when the power output reaches a certain value, the acceleration or speed of the aircraft's climb can be estimated, but the actual flight data of the aircraft is dropped in a free fall manner, and the data abnormality can be determined.

Detecting whether the flight data is abnormal may include: calculating a flight data change value of the aircraft during flight, and if the calculated flight data change value is within a preset change abnormal value range, the analysis result of the flight data is data abnormality. When the aircraft is always flying at a certain azimuth, speed and acceleration, if the sudden azimuth changes, the acceleration or speed decreases instantaneously, even when it is reduced to 0, it can be considered that the aircraft has a collision accident, and the data is determined to be abnormal.

S102: When it is detected that the flight state of the aircraft is the recovery state, generate a recovery trigger signal and send it to the protection device for the aircraft peripheral device. The recovery trigger signal is used to trigger the external protection device to open the security protection of the aircraft.

When various conditions in the above S101 occur, a recovery trigger signal is generated and transmitted to an external landing device such as an outdoor parachute device or a safety air catch device. Trigger the parachute device Automatically open the parachute, or trigger the safety air device to automatically open the safety air. The protection device can be fixedly placed on the side of the aircraft to better protect the aircraft.

The embodiment of the invention can determine whether it is necessary to trigger the protection of the aircraft according to the flight data of the aircraft and the control signals of the ground user, etc., and can effectively avoid the false opening of the safety device in the aircraft, and better ensure the normal flight of the aircraft. And when the aircraft is out of system failure or other causes cause rapid fall, reduce the damage to the aircraft itself and the outside world.

Referring to FIG. 2, it is a schematic flowchart of another aircraft protection control method according to an embodiment of the present invention. The method of the embodiment of the present invention can be applied to an aircraft, and is driven by a controller or an aircraft provided separately in the aircraft. The method for performing the control method to complete the triggering control of the protection device, specifically, the method of the embodiment of the present invention includes:

S201: Detecting the flight state of the aircraft. In an embodiment of the invention, the flight device of the aircraft may include a recovery state, a normal flight state, and the like.

The S201 may specifically include: analyzing flight data of the aircraft, and listening to the ground control signal received by the aircraft; if the analysis result of the flight data is abnormal data, or the ground control signal detected is a recovery trigger signal, Then determine the flight state of the aircraft as a recovery state.

Wherein, analyzing the flight data includes any one or more of the following combinations: analyzing data of each sensor set in the aircraft, if there is data including a fixed constant value, data loss of at least one sensor exists, or at least If a data is within the preset outlier range, the analysis result of the flight data is data anomaly. Obtaining flight estimation data of the aircraft according to the current power output parameter, and detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data is at a preset difference abnormal value Within the scope, the analysis result of the flight data is abnormal data.

Calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset variation abnormal value range, the analysis result of the flight data is data anomaly.

When detecting whether there is at least one data within a preset outlier range, it is specifically analyzed whether one or more data of the aircraft in the flight process meet the preset free fall feature, if present, The analysis result of the flight data is abnormal data.

S202: When it is detected that the flight state of the aircraft is in a recovery state, a recovery trigger signal is generated and sent to the protection device for the aircraft peripheral device.

When the various situations in the above S201 occur, a recovery trigger signal is generated and transmitted to an external flying device such as a parachute device or a safety air catch device. Trigger the parachute device Automatically open the parachute, or trigger the safety air device to automatically open the safety air.

S203: Determine whether an open notification signal fed back by the protection device of the peripheral device is received. S204: If the opening notification signal is received, controlling to turn off the motor of the aircraft. After the recovery trigger signal is sent, the feedback signal of the protection device can be monitored in real time, and if the protection device such as the parachute device or the safety gas device receives the opened notification signal after the parachute or the safety device is normally opened (turned on) The notification signal), you need to turn off the motor of the aircraft, stop the rotation of the propeller, prevent the rotating propeller from affecting or damaging the open parachute or safety.

Further, in the embodiment of the present invention, referring to FIG. 3, which is a schematic flowchart of a method for sending a recovery trigger signal to a protection device provided in the aircraft according to an embodiment of the present invention, the sending method of the embodiment of the present invention Suitable for parachute devices.

Specifically, corresponding protection can be set on each side of the aircraft. When the aircraft rolls over due to a fault, the aircraft can be opened by opening the parachute on the side opposite to the ground at the moment according to the attitude angle at a certain moment in the process of rolling. Protection, specific, The methods include:

S301: Detect a current attitude angle of the aircraft, and determine a safety side of the aircraft at the attitude angle, the attitude angle including an angle of the aircraft in a three-axis direction of the three-dimensional coordinate system.

S302: Generate a recovery trigger signal according to the safety side to send to a protection device external to the aircraft, to trigger the protection device of the peripheral device to open the security protection of the aircraft.

When the aircraft fails, it may cause the aircraft to roll. During the rolling process, the attitude angle of the aircraft may be determined according to the data of the sensors such as the gyroscope in the aircraft. According to the corresponding relationship between the preset attitude angle and the side, the side where the parachute needs to be opened is determined. For example, when the angle of the attitude angle with respect to the direction of gravity is greater than 90 degrees, the aircraft is considered to have reversed, and the belly side of the aircraft is determined to be a safe side to trigger the opening of the parachute on the side. If the angle with respect to the direction of gravity is less than 90 degrees, the top side of the aircraft can still be determined as a safe side.

The S302 may specifically include: sending a recovery trigger signal to one or more protection devices of the peripheral device on the safety side of the aircraft, and sending a recovery trigger signal to several parachute devices disposed in the belly as described above, In order to open the parachute normally after the aircraft has been rolled.

Or, the S302 may specifically include: sending a recovery trigger signal carrying the identifier of the safety side to the protection device of the aircraft peripheral device, to trigger the protection device of the peripheral device to be opened on the security side according to the identifier of the safety side protection. As described above, a recovery trigger signal can be sent to the protection device to cause the protection device to select a parachute to open the belly position to facilitate normal opening of the parachute after the aircraft has been tumbling.

The embodiment of the invention can trigger the opening of a suitable parachute when the aircraft fails to roll, ensuring that the parachute can effectively open the safety of the landing or fall of the protection aircraft.

The embodiment of the invention can determine whether it is necessary to trigger the protection of the aircraft according to the flight data of the aircraft and the control signals of the ground user, etc., and can effectively avoid the false opening of the safety device in the aircraft, and better ensure the normal flight of the aircraft. And the aircraft When the system fails or other causes cause rapid fall, the damage to the aircraft itself and the outside is reduced. Moreover, after the protection device normally opens the protection module such as the parachute or the air raft, the aircraft motor can be automatically turned off, which can effectively prevent the damage of the parachute or the cockroach when the motor and the propeller rotate, and further ensure the safety of the aircraft.

An aircraft protection control device and an aircraft according to an embodiment of the present invention will be described in detail below.

Referring to FIG. 4, it is a schematic structural diagram of an aircraft protection control device according to an embodiment of the present invention. The device in the embodiment of the present invention may be disposed in an aircraft or integrated in an autopilot of an aircraft. Specifically, the device Includes:

The detecting module 1 is configured to detect the flight state of the aircraft;

The processing module 2 is configured to: when the detection result of the detection module is that the flight state of the aircraft is the recovery state, generate a recovery trigger signal and send the protection device to the peripheral device of the aircraft to trigger the protection device of the peripheral device to be turned on. Safety protection for the aircraft.

In the embodiment of the present invention, the flying device of the aircraft may include a recovery state, a normal flying state, and the like. The aircraft includes various types of drones. When the aircraft malfunctions, or when the ground issues a prescribed control signal (recovery trigger signal) that needs to be safely dropped, the detection module 1 can determine that the aircraft is in a retracted state based on the fault related data and the control signal.

Of course, in other cases, such as when the aircraft completes the mission and returns to a certain altitude, the detection module 1 can also define that the aircraft is in a reclaimed state.

For further details, referring to FIG. 4, the detecting module 1 may specifically include the following units to determine the flight status of the aircraft and the transmission of the recovery trigger signal.

a data analysis unit 11 configured to analyze flight data of the aircraft;

a signal listening unit 12, configured to listen to a ground control signal received by the aircraft; a result determining unit 13 configured to: if the data analysis unit analyzes the flight data as a data abnormality, or the signal sensing unit detects The ground control signal heard is the recovery trigger signal, and the flight state of the aircraft is determined to be the recovery state.

Specifically, the data analyzing unit 11 is specifically configured to analyze data of each sensor disposed in the aircraft, and if there is data including a fixed constant value, at least one sensor exists. If the data is lost, or at least one of the data is within a preset outlier range, the analysis result of the flight data is a data anomaly; or, specifically, the flight estimation data of the aircraft is obtained according to the current power output parameter, And detecting actual flight data of the current aircraft, if the difference between the actual flight data and the flight estimation data is within a preset difference abnormal value range, the analysis result of the flight data is abnormal data; or Specifically, it is used to calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is abnormal data; or, specifically for analysis Whether there is one or more data in the flight data of the aircraft during flight meets the preset free-fall feature, and if so, the analysis result of the flight data is data anomaly.

Further, referring to FIG. 5, which is a schematic structural diagram of another aircraft protection control apparatus according to an embodiment of the present invention, the apparatus of the embodiment of the present invention includes a detection module 1 and a processing module 2 in the corresponding embodiment of FIG. In the embodiment of the present invention, the device further includes:

a determining module 3, configured to determine whether an open notification signal fed back by the protection device of the peripheral device is received;

The control module 4 is configured to control to turn off the motor of the aircraft when the determination result of the determining module is YES.

After the recovery trigger signal is sent, the determining module 3 can monitor the feedback signal of the protection device in real time, and if the protection device such as the parachute device or the safety gas device is received, the feedback is turned on after the parachute or the safety device is normally opened. The notification signal informs the control module 4 to turn off the motor of the aircraft, stop the rotation of the propeller, prevent the rotating propeller from affecting or damaging the open parachute or safety air.

6, which is shown in FIG. 6, which is a specific structure of the processing module in FIG. The processing module 2 may specifically include:

An angle detecting unit 21, configured to detect a current attitude angle of the aircraft, and determine a safety side of the aircraft at the attitude angle;

The sending processing unit 22 is configured to send a recovery trigger signal according to the security side to the protection device of the aircraft peripheral device to trigger the protection device of the peripheral device to turn on the security protection of the aircraft.

The sending processing unit 22 is specifically configured to send a recovery trigger signal to one or more protection devices of the peripheral device on the safety side of the aircraft; or send the carrier to the protection device for the aircraft peripheral device. The identification triggering signal of the safety side is activated to activate the protection device of the peripheral device on the safety side according to the identification of the safety side.

Specifically, a corresponding parachute device may be disposed on each side of the aircraft. When the aircraft rolls over due to a fault, the angle detecting unit 21 may be configured according to the attitude angle obtained based on the gyroscope data at a certain moment in the process of rolling. The transmission processing unit 22 triggers the opening of the parachute device on the side opposite to the ground at this moment to open the parachute to achieve protection of the aircraft.

Alternatively, the parachute device provided in the aircraft includes a parachute module on each side of the aircraft. When the aircraft rolls over due to a fault, the angle detecting unit 21 may be sent by the attitude according to an attitude angle at a certain moment in the process of rolling. The processing unit 22 triggers the parachute device to open the parachute module on the side opposite to the ground at that moment to achieve protection of the aircraft.

The embodiment of the invention can determine whether it is necessary to trigger the protection of the aircraft according to the flight data of the aircraft and the control signals of the ground user, etc., and can effectively avoid the false opening of the safety device in the aircraft, and better ensure the normal flight of the aircraft. And when the aircraft is out of system failure or other causes cause rapid fall, reduce the damage to the aircraft itself and the outside world. Moreover, after the protective device normally opens the protection module such as the parachute or the air blower, the aircraft motor can be automatically turned off, which can effectively prevent the damage of the parachute or the air blower when the motor and the propeller rotate, and further ensure the safety of the aircraft.

Referring to FIG. 7 , which is a schematic structural diagram of an aircraft according to an embodiment of the present invention, the aircraft of the embodiment of the present invention includes: a protection control device 100 and a signal receiving device 200. among them,

The protection control device 100 is configured to generate, when the flight state of the aircraft is in a recovery state, generate a recovery trigger signal to be sent to the protection device of the aircraft peripheral device;

The signal receiving device 200 is configured to generate, when the received ground control signal is a recovery trigger signal, a recovery trigger signal to be sent to the protection device of the aircraft peripheral device;

The protection device includes a parachute device or a safety air device or the like provided to ensure the safety of the landing of the aircraft, and is mainly used to open the pair when receiving the recovery trigger signal sent by the protection control device or the signal receiving device Aircraft protection.

The protection control device 100 can be specifically integrated into an autopilot in an aircraft, can be connected with module data of various sensors of the aircraft, obtain relevant flight data and analyze to determine whether the current flight state of the aircraft determines whether to trigger the parachute device or Protective devices such as safety gas devices.

The signal receiving device 200 is a wireless communication module of the aircraft, and can communicate with the ground control station to receive a trigger signal from the relevant user for recycling the aircraft.

The protection device may specifically include a parachute device, a safety air raid device, and the like, which can reduce the landing speed of the aircraft to achieve a soft landing of the aircraft.

The protection control device 100 is specifically configured to analyze data of each sensor disposed in the aircraft, if there is data including a fixed constant value, data with at least one sensor is lost, or at least one data exists within a preset abnormal value range. And analyzing the flight data as a data abnormality, and sending a recovery trigger signal to the protection device;

Specifically, the flight estimation data of the aircraft is obtained according to the current power output parameter, and the actual flight data of the current aircraft is detected, if the difference between the actual flight data and the flight estimation data is preset. Within the range of the difference anomaly value, the analysis result of the flight data is an abnormal data, and a recovery trigger signal is sent to the protection device;

Specifically, it is used to calculate a flight data change value of the aircraft during flight. If the calculated flight data change value is within a preset change abnormal value range, the analysis result of the flight data is an abnormal data, and is sent to the protection device. Recycle the trigger signal.

The protection control device 100 is further configured to determine whether an open notification signal fed back by the protection device 300 of the peripheral device is received; if yes, control the motor of the aircraft to be turned off. The protection control device 100 is specifically configured to detect a current attitude angle of the aircraft, and determine a safety side of the aircraft at the attitude angle, where the attitude angle includes an angle of the aircraft in a three-axis direction of the three-dimensional coordinate system; Sending a recovery trigger signal to the protection device according to the safety side to trigger the protection device to open safety protection for the aircraft;

The protection control device is configured to send a recovery trigger signal to one or more protection devices disposed on the security side of the aircraft when transmitting a recovery trigger signal to the protection device according to the safety side; Or, the protection device provided to the aircraft transmits a recovery trigger signal carrying the identification of the safety side to trigger the protection device to open protection on the safety side according to the identification of the safety side.

For the specific implementation of the above-mentioned protection control device 100 and signal receiving device 200, reference may be made to the related description of the corresponding embodiments of FIGS. 1 to 6.

In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combined or can be integrated into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect connection or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form. The components displayed as the unit may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Can be selected according to actual needs Some or all of the units are selected to achieve the objectives of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. , including a number of instructions to make the computer processor

(Rocessor) Performing all or part of the steps of the method of the various embodiments of the present invention. The foregoing storage medium includes: a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like. .

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technologies. The scope of the invention is included in the scope of patent protection of the present invention.

Claims

claims

1. A protection and control method for an aircraft, characterized in that it includes:

Detect the flight status of the aircraft;

When it is detected that the flight state of the aircraft is a recovery state, a recovery trigger signal is generated and sent to a protection device for the aircraft peripherals to trigger the protection device of the peripherals to activate the safety protection of the aircraft;

Among them, detecting the flight status of the aircraft includes: analyzing the flight data of the aircraft, and listening to the ground control signals received by the aircraft; if the analysis result of the flight data is data abnormality, or the ground control signal heard is a recovery trigger signal, it is determined that the flight status of the aircraft is the recovery status.

2. The method of claim 1, wherein the analyzing the flight data of the aircraft includes:

Analyze the data of each sensor installed in the aircraft. If there is data including fixed constant values, there is data loss of at least one sensor, or there is at least one data within the preset abnormal value range, then the analysis result of the flight data is data. Abnormal;

Or, obtain the estimated flight data of the aircraft based on the current power output parameters, and detect the current actual flight data of the aircraft, if the difference between the actual flight data and the estimated flight data is within a preset difference If the value is within the abnormal value range, the analysis result of the flight data is data anomaly;

Or, calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is data anomaly.

3. The method according to claim 1 or 2, further comprising: determining whether an activation notification signal fed back by the protection device of the peripheral device is received;

If so, control to turn off the motor of the aircraft.

4. The method according to claim 1 or 2, characterized in that the generated recovery trigger signal is sent to a protection device for the aircraft peripherals, including:

Detect the current attitude angle of the aircraft, and determine the safe side of the aircraft at this attitude angle, where the attitude angle includes the angle of the aircraft in the three-axis direction of the three-dimensional coordinate system; generate a recovery trigger signal according to the safe side Sent to the protection device for the aircraft peripherals to trigger the protection device of the peripherals to activate the safety protection of the aircraft; wherein, the recovery trigger signal generated according to the safety side is sent to the aircraft peripherals. The protective devices provided include:

Send a recovery trigger signal to one or more peripheral protection devices on the safety side of the aircraft; or, send a recovery trigger signal carrying an identification of the safety side to the protection device peripheral to the aircraft to trigger all The protection device of the peripheral device turns on the protection on the safe side according to the mark on the safe side.

5. An aircraft protection and control device, characterized by including:

Detection module, used to detect the flight status of the aircraft;

A processing module, configured to generate a recovery trigger signal and send it to a protection device for the aircraft peripheral when the detection result of the detection module is that the flight state of the aircraft is a recovery state, so as to trigger the protection device of the peripheral device to turn on the recovery state. The safety protection of said aircraft;

The detection module includes:

A data analysis unit, used to analyze the flight data of the aircraft;

The signal listening unit is used to listen to the ground control signal received by the aircraft; the result determination unit is used to detect if the analysis result of the flight data by the data analysis unit is data anomaly, or the signal listening unit detects The ground control signal is the recovery trigger signal, then it is determined that the flight state of the aircraft is the recovery state.

6. The device according to claim 5, characterized in that,

The data analysis unit is specifically used to analyze the data of each sensor installed in the aircraft, if there is data including fixed constant values, there is data loss of at least one sensor, or If there is at least one data within the preset abnormal value range, the analysis result of the flight data is data abnormal;

Or, it is specifically used to obtain the estimated flight data of the aircraft according to the current power output parameters, and detect the current actual flight data of the aircraft. If the difference between the actual flight data and the estimated flight data is within the estimated value, If the difference is within the set abnormal value range, the analysis result of the flight data is data anomaly;

Or, it is specifically used to calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is a data abnormality.

7. The device according to claim 5 or 6, further comprising: a judgment module, used to judge whether an opening notification signal fed back by the protection device of the peripheral device is received;

A control module, configured to control to turn off the motor of the aircraft when the judgment result of the judgment module is yes.

8. The device according to claim 5 or 6, characterized in that the processing module includes:

An angle detection unit, used to detect the current attitude angle of the aircraft and determine the safe side of the aircraft at the attitude angle;

A sending processing unit, configured to generate a recycling trigger signal according to the safety side and send it to a protection device for the aircraft peripherals, so as to trigger the protection device of the peripheral devices to activate the safety protection of the aircraft;

Wherein, the sending and processing unit is specifically configured to send a recovery trigger signal to one or more protection devices of peripherals on the safety side of the aircraft; or, send a carry safety trigger signal to a protection device of peripherals of the aircraft. The recycling trigger signal of the logo on the side triggers the protection device of the peripheral device to open protection on the safe side according to the logo on the safe side.

9. An aircraft, characterized in that it includes: a protection control device, a signal receiving device place, where,

The protection control device is configured to generate a recovery trigger signal and send it to a protection device for the peripherals of the aircraft when detecting that the flight state of the aircraft is a recovery state;

The signal receiving device is configured to generate a recovery trigger signal and send it to a protection device for the aircraft peripheral when the received ground control signal is a recovery trigger signal.

10. The aircraft according to claim 9, characterized in that,

The protection control device is specifically used to analyze the data of each sensor installed in the aircraft. If there is data including fixed constant values, there is data loss of at least one sensor, or there is at least one data within the preset abnormal value range, Then the analysis result of the flight data is that the data is abnormal, and the recovery trigger signal is sent to the protection device;

Or, it is specifically used to obtain the estimated flight data of the aircraft according to the current power output parameters, and detect the current actual flight data of the aircraft. If the difference between the actual flight data and the estimated flight data is within the estimated value, Within the set difference abnormal value range, the analysis result of the flight data is that the data is abnormal, and a recovery trigger signal is sent to the protection device;

Or, it is specifically used to calculate the flight data change value of the aircraft during flight. If the calculated flight data change value is within the preset change abnormal value range, the analysis result of the flight data is data abnormality, and the protection is informed. The device sends a recycling trigger signal.

11. The aircraft according to claim 9 or 10, characterized in that,

The protection control device is also used to determine whether an opening notification signal fed back by the peripheral protection device is received; if so, control to turn off the motor of the aircraft.

12. The aircraft according to claim 9 or 10, characterized in that,

The protection control device is specifically used to detect the current attitude angle of the aircraft and determine the safe side of the aircraft at the attitude angle. The attitude angle includes the angle of the aircraft in the three-axis direction of the three-dimensional coordinate system; Generate a recovery trigger signal according to the safety side and send it to a protection device for the aircraft peripheral, so as to trigger the protection device of the peripheral device to activate the safety protection of the aircraft; Wherein, when the protection control device is used to generate a recovery trigger signal according to the safety side and sends it to a protection device for the aircraft peripherals, it is specifically used to send a signal to one or more of the peripherals on the safety side of the aircraft. A plurality of protection devices send recovery trigger signals; or, send a recovery trigger signal carrying the identification of the safety side to the protection device that is the aircraft peripheral device, so as to trigger the protection device of the peripheral device to recover on the safety side according to the identification of the safety side. Side opening protection.