WO2017028310A1 - Propeller automatic stop control system and control method for unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Abstract

Provided are a propeller automatic stop control system and control method for an unmanned aerial vehicle, which are applied to an unmanned aerial vehicle. The control system comprises a sensor apparatus and a flight control apparatus electrically connected to the sensor apparatus; the sensor apparatus is used for monitoring at least one of a flight parameter and a flight attitude of the unmanned aerial vehicle; and the flight control apparatus is used for analysing at least one of the flight parameter and the flight attitude monitored by the sensor apparatus, and generating, when an analysis result of at least one of the flight parameter and the flight attitude is abnormal, a control signal for controlling the stop of the rotation of a power apparatus of the unmanned aerial vehicle. The control system of the present invention can trigger the unmanned aerial vehicle to stop a propeller according to an abnormal flight parameter and/or an abnormal flight attitude of the unmanned aerial vehicle during flight and recovering processes of the unmanned aerial vehicle, thereby avoiding the occurrence of the transverse movement and even the accelerated falling after flipping over of the unmanned aerial vehicle during a falling process.

Description

UAV automatic stop paddle control system, control method and drone Technical field

The invention relates to the technical field of drones, in particular to a drone control system, a control method and a drone of an automatic drone.

Background technique

Current drones include fixed-wing drones and rotator-type rotorless drones with rotors. For a rotorless drone, the propeller is generally rotated by a corresponding motor, thereby generating different magnitudes of pulling force for the drone to take off, fly or land.

The drone needs to maintain a stable attitude when flying in the air. When the drone's attitude is unbalanced due to collision obstacles, excessive wind speed or mechanical failure, the drone will be out of control. At this time, if the drone is in the visible range, the experienced pilot can judge whether the drone can not return to the safe flight state by observing the attitude, flight speed and flight altitude of the drone, and remotely control if it cannot recover. Emergency stop the paddle. However, this mode of stopping the paddle requires the drone to be in the visible range, and requires the drone operator to have extensive experience to make abnormal judgments in time. In addition, the remote controller is required to be normally connected with the drone. If the drone is disconnected from the remote control, the paddle cannot be stopped urgently via the remote control.

In addition, the drone, especially the multi-rotor drone operator, will catch the drone in flight and use the remote control to control the drone to stop the paddle for the convenience or the site cannot safely land, and then recycle the drone. . At present, the safer practice of airborne drones is that two people operate together. One person uses both hands to grasp and fix the drone, and the other person is responsible for controlling the drone to stop the paddle as soon as possible. If the operator only has one operator, after the operator grabs the drone with one hand, put the remote control on the plane, and then use another hand to do the mast stop operation. However, the double operation requires additional manual assistance and there may be coordination issues. Single operation is too difficult and has certain dangers. When the drone is too heavy, it cannot be stabilized with one hand.

Summary of the invention

In view of this, it is necessary to propose a drone automatic control paddle control system, control method and drone to solve the above problems.

A UAV automatic paddle control system includes at least one sensor device and a flight control device electrically coupled to the sensor device. The sensor device is configured to detect at least one of a flight parameter and a flight attitude of the drone. The flight control device is configured to detect, by the sensor device, at least one of the flight parameter and the flight attitude, and when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal And generating a control signal for controlling the power device of the drone to stop rotating.

Further, the control signal includes at least one of: an electronic speed governor for controlling the drone to stop outputting a speed control signal to the zero speed control signal of the power device, for controlling the drone The power supply device stops the power failure control signal for supplying power to the electronic governor or the power unit.

Further, if the control signal is the zero speed control signal, the flight control device is further configured to send the zero speed control signal to the electronic governor, so that the electronic governor responds to the The zero speed control signal is stopped to output the speed control signal to the power unit, so that the power unit stops rotating, thereby triggering the drone to stop the paddle. Or/and, if the control signal is the power failure control signal, the flight control device is further configured to send the power failure control signal to the power supply device of the drone, so that the power supply device responds to the The power failure control signal stops supplying power to the electronic governor or the power unit, causing the power unit to stop rotating, thereby triggering the drone to stop the paddle.

Further, the sensor device includes an inertial measurement unit for detecting a flight attitude of the drone.

Further, the flight control device is configured to calculate a flight attitude of the drone according to a predetermined algorithm to obtain a current flight attitude of the drone.

Further, when the flight control device is configured to analyze the flight attitude, specifically, the current flight posture of the drone is compared with a preset normal flight attitude to determine the drone Is the current flight attitude abnormal?

Further, the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone, and geographic location information of the drone Combination of species or multiples.

Further, the situation that the flight control device analyzes the flight parameters of the drone as abnormal is at least one of the following: there is at least one flight parameter missing, and the value of the at least one flight parameter exists in a preset normal Outside the range of values.

Further, the flight control device is further configured to further evaluate whether the drone is abnormal in combination with other flight parameters when analyzing that one of the flight parameters is abnormal.

Further, when the upward power output of the drone is large or has reached a maximum, if the flying height of the drone is decreasing, the flight control device determines that the drone is abnormal;

Alternatively, if the flight control device analyzes that the flying height of the drone is sharply changing and the analysis results of other flight parameters are normal, the flight control device determines to detect the flight of the drone The height of the sensor device itself is abnormal;

Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, even if it is reduced to 0, then The flight control device determines that the drone is abnormal;

Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, the flight control device determines that the drone appears abnormal.

Further, the sensor device includes any one or a combination of a gyroscope, an acceleration sensor, a compass, a speed sensor, a magnetometer, a barometer/altimeter, a positioning sensor, and each sensor included in the sensor device And electrically connected to the flight control device for detecting flight parameters of the drone.

Further, the sensor device is disposed on a body of the drone or inside the body.

Further, the flight control device is further configured to: when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, generate a protection signal for triggering the protection device of the drone to be turned on, and send The protection signal is applied to the protection device such that the protection device is turned on in response to the protection signal to protect the drone.

Further, the flight control device is further configured to generate, when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, a stabilization device for triggering installation on a body of the drone and a shutdown signal of at least one of the shooting devices being turned off, and transmitting the shutdown signal to at least one of the stabilizing device and the photographing device, so that at least one of the stabilizing device and the photographing device Shut down in response to the shutdown signal.

Further, the flight control device is further configured to generate a system power-off signal for triggering the power supply device of the drone to stop outputting power after the stabilization device and the camera are powered off, and send the system to be disconnected An electrical signal is sent to the power supply device to stop the power supply device from being powered, so that the drone is in a state of complete power off.

An automatic aircraft paddle control method for a drone, comprising the steps of: detecting at least one of a flight parameter and a flight attitude of the drone; and analyzing at least one of the flight parameter and the flight attitude And generating, when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, a control signal for controlling the power device of the drone to stop rotating.

Further, the control signal includes at least one of: an electronic speed governor for controlling the drone to stop outputting a speed control signal to the zero speed control signal of the power device, for controlling the drone The power supply device stops the power failure control signal for supplying power to the electronic governor or the power unit.

Further, the method further includes the step of: if the control signal is the zero speed control signal, transmitting the zero speed control signal to the electronic governor to cause the electronic governor to respond to the Stopping the output of the speed control signal to the power device, causing the power device to stop rotating, thereby triggering the drone to stop the paddle; or/and, if the control signal is the power failure control signal, And sending the power failure control signal to the power supply device of the drone, so that the power supply device stops supplying power to the electronic governor or the power device in response to the power failure control signal, so that the power device The rotation is stopped, thereby triggering the drone to stop the paddle.

Further, the current flight attitude of the drone is detected by an inertial measurement unit.

Further, the current flight attitude of the drone is obtained by calculating, by the flight control device of the drone, the flight parameters of the drone according to a predetermined algorithm.

Further, the step of analyzing the flight attitude comprises: comparing a current flight attitude of the drone with a preset normal flight attitude to determine whether the current flight attitude of the drone is abnormal.

Further, the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone, and geographic location information of the drone Combination of species or multiples.

Further, the case where the analysis result of the flight parameters of the drone is abnormal includes at least one of the following: there is at least one flight parameter missing, and the value of the presence of the at least one flight parameter is outside a preset normal value range.

Further, the step of analyzing the flight parameters includes: if one of the flight parameters is abnormal, combined with other flight parameters to further evaluate whether the drone is abnormal.

Further, when the upward power output of the drone is large or has reached a maximum, if the flying height of the drone is decreasing, it is determined that the drone is abnormal;

Alternatively, if the flying height of the drone is sharply changed and the analysis results of other flight parameters are normal, it is determined that the sensor device for detecting the flying height of the drone is abnormal;

Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, or even decreased to 0, then it is judged The drone is abnormal;

Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, it is determined that the drone is abnormal.

Further, after the step of analyzing the at least one of the flight parameter and the flight attitude is abnormal, the method further includes: generating a protection signal for triggering activation of the protection device of the drone; and transmitting the A protection signal is applied to the protection device to cause the protection device to turn on in response to the protection signal to protect the drone.

Further, after the step of analyzing the at least one of the flight parameter and the flight attitude is abnormal, the method further includes: generating a stabilization device for triggering installation on the body of the drone and a shutdown signal of the camera being turned off; and transmitting the shutdown signal to the stabilization device and the imaging device to cause the stabilization device and the imaging device to shut down in response to the shutdown signal.

Further, after the step of transmitting the shutdown signal to the stabilization device and the imaging device, the method further includes: detecting whether at least one of the stabilization device and the imaging device completes shutdown; Determining that at least one of the stabilizing device and the photographing device has completed shutdown, generating a system power-off signal for triggering the power supply device of the drone to stop outputting power; and transmitting the system power-off signal to the The power supply device is configured to stop the power supply device from being powered, and the drone is in a state of being completely powered off.

A drone includes a power unit, at least one sensor unit, and a flight control unit. The sensor device is configured to detect at least one of a flight parameter and a flight attitude of the drone. The flight control device is electrically connected to the sensor device and the power device for analyzing at least one of the flight parameter and the flight attitude detected by the sensor device, and at the flight parameter When the analysis result of at least one of the flying postures is abnormal, a control signal for controlling the power device of the drone to stop rotating is generated.

Further, the drone further includes a power supply device and an electronic governor, the power supply device being electrically connected to the flight control device, the electronic governor and the power device, respectively, the flight control device and the electronic tune The speed governor is electrically connected, the electronic governor is electrically connected to the power device, and the electronic governor is configured to output a corresponding output speed control signal to the power device according to a motor speed control signal sent by the flight control device To control the power unit to rotate at a specified speed.

Further, the power unit includes a motor and a propeller coupled to the motor, the motor for driving the propeller to provide lift of the drone.

Further, the control signal includes at least one of: a zero-speed control signal for controlling the electronic governor to stop outputting a speed-adjusting signal to the power device, and configured to control the power supply device to stop An electronic governor or a power outage control signal powered by the power unit.

Further, if the control signal is the zero speed control signal, the flight control device is further configured to send the zero speed control signal to the electronic governor, and the electronic governor is configured to receive The zero speed control signal stops outputting the speed control signal to the power unit in response to the zero speed control signal to stop the power unit from rotating, thereby triggering the drone to stop. Or/and, if the control signal is the power failure control signal, the flight control device is further configured to send the power failure control signal to the power supply device, and the power supply device is configured to receive the power failure control In the signal, the power supply to the electronic governor or the power unit is stopped in response to the power failure control signal to stop the power unit from rotating, thereby triggering the drone to stop.

Further, the sensor device includes an inertial measurement unit for detecting a flight attitude of the drone.

Further, the flight control device is configured to calculate a flight attitude of the drone according to a predetermined algorithm to obtain a current flight attitude of the drone.

Further, when the flight control device is configured to analyze the flight attitude, specifically, the current flight posture of the drone is compared with a preset normal flight attitude to determine the drone Is the current flight attitude abnormal?

Further, the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone, and geographic location information of the drone Combination of species or multiples.

Further, the situation that the flight control device analyzes the flight parameters of the drone as abnormal is at least one of the following: there is at least one flight parameter missing, and the value of the at least one flight parameter exists in a preset normal Outside the range of values.

Further, the flight control device is further configured to further evaluate whether the drone is abnormal in combination with other flight parameters when analyzing that one of the flight parameters is abnormal.

Further, when the upward power output of the drone is large or has reached a maximum, if the flying height of the drone is decreasing, the flight control device determines that the drone is abnormal;

Alternatively, if the flight control device analyzes that the flying height of the drone is sharply changing and the analysis results of other flight parameters are normal, the flight control device determines to detect the flight of the drone The height of the sensor device itself is abnormal;

Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, even if it is reduced to 0, then The flight control device determines that the drone is abnormal;

Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, the flight control device determines that the drone appears abnormal.

Further, the sensor device includes any one or a combination of a gyroscope, an acceleration sensor, a compass, a speed sensor, a magnetometer, a barometer/altimeter, a positioning sensor, and each sensor included in the sensor device And electrically connected to the flight control device for detecting flight parameters of the drone.

Further, the sensor device is disposed on a body of the drone or inside the body.

Further, the drone further includes a protection device peripherally attached to the body of the drone, and the flight control device is further configured to analyze the result of the at least one of the flight parameter and the flight attitude as abnormal And generating a protection signal for triggering activation of the protection device of the drone, and transmitting the protection signal to the protection device; the protection device is configured to respond to the protection when receiving the protection signal A signal is turned on to protect the drone.

Further, the protection device is at least one of a parachute or an airbag.

Further, the drone further includes a functional device mounted on the body of the drone, and the flight control device is further configured to analyze the result of the at least one of the flight parameter and the flight attitude as abnormal And generating a shutdown signal for triggering shutdown of the function device, and sending the shutdown signal to the function device, so that the function device is powered off in response to the shutdown signal.

Further, the flight control device is further configured to: after the function device is shut down, generate a system power-off signal for triggering the power supply device of the drone to stop outputting power, and send the system power-off signal to the The power supply device is configured to stop the power supply device from being powered, and the drone is in a state of being completely powered off.

Further, the functional device includes at least a stabilizing device for mounting the photographing device and a stabilizing function for the photographing device.

Further, the function device is further configured to automatically save data in response to the shutdown signal before shutting down, thereby avoiding data loss caused after shutdown.

The control system provided by the present invention can automatically and automatically trigger the drone to stop the paddle according to the abnormal flight parameters and/or the abnormal flight attitude of the drone during the flight and recovery process of the drone, and The automatic stopping paddle function is automatically completed in the case of over-the-horizon and completely out of control, which avoids the situation that the drone accelerates and falls after being moved laterally or even flipped during the falling process, so that the drone is out of control. Controllable, reducing the impact speed on the ground.

DRAWINGS

1 is a perspective view of a drone according to an embodiment of the present invention.

2 is a schematic structural view of a drone according to an embodiment of the present invention.

3 is a flow chart of a method for automatically controlling the drone of an unmanned aerial vehicle according to an embodiment of the present invention.

Main component symbol description

Drone	100
Body	10
Control System	20
Sensor device	twenty one
Flight control device	twenty two
powerplant	30
Motor	31
propeller	32
Power supply unit	40
Electronic governor	50
protective device	60
Functional device	70
Stabilization device	71
Camera	72
step	301-305

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

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 embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Please refer to FIG. 1 , which illustrates a drone 100 according to an embodiment of the present invention. As shown in FIG. 2, the drone 100 includes a control system 20 and a power unit 30. The control system 20 is configured to control the drone 100 to stop the paddle by controlling the power device 30 to automatically stop rotating when detecting the abnormality of the drone 100. In the present embodiment, the control system 20 includes at least one sensor device 21 and a flight control device 22 that is electrically coupled to the sensor device 21. The sensor device 21 is disposed on the body 10 of the drone 100 or disposed inside the body 10 for detecting at least one of flight parameters and flight attitudes of the drone 100, and At least one of the detected flight parameters and flight attitude is transmitted to the flight control device 22.

In this embodiment, the sensor device 21 may include an inertial measurement unit (not shown) for detecting the flight attitude of the drone 100, that is, by measuring the drone 100. The three-axis angular velocity of the fuselage and the three-axis acceleration of the fuselage, and calculate the three-axis angular velocity of the fuselage and the three-axis acceleration of the fuselage according to a predetermined algorithm, for example, the three-axis angular velocity of the fuselage and/or the three-axis of the fuselage The acceleration is integrated to derive the flight attitude of the drone 100.

In this embodiment, the flight parameters may include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone 100, and geography of the drone 100. Any combination or combination of location information.

The sensor device 21 may further include any one or a combination of a gyroscope, an acceleration sensor, a compass, a speed sensor, a barometer/altimeter, and a positioning sensor. Each sensor included in the sensor device 21 is electrically connected to the flight control device 22 for detecting flight parameters of the drone. Among them, the gyroscope is used to measure the three-axis angular velocity of the fuselage, the acceleration sensor is used to measure the three-axis acceleration of the fuselage, the compass is used to measure the heading and attitude information of the fuselage, the speed sensor is used to detect the motor speed, and the barometer/altimeter is used for measurement. The flying height of the drone 100 is used to acquire the geographical location information of the drone 100. In this embodiment, the positioning sensor is a GPS (Global Positioning System) positioning sensor, and the current geographic location information of the drone 100 can be obtained in time and accurately. It can be understood that in other embodiments, the positioning sensor may also be other geographical location information acquiring devices. It can be understood that the type and location of the specific device included in the sensor device 21 can be adjusted according to the type of flight parameters that need to be detected.

In this embodiment, the current flight attitude of the drone 100 may also be from the flight control device 22 according to a predetermined algorithm, such as a fusion algorithm, or a fuzzy PID (proportion-integration-differentiation). A tuning control algorithm or the like calculates the flight parameters of the drone 100, such as the three-axis angular velocity of the fuselage and the three-axis acceleration of the fuselage. In this embodiment, the flight control device 22 may specifically be a single chip microcomputer, a processor, or the like.

In this embodiment, the flight control device 22 is further configured to analyze at least one of flight parameters and flight attitudes of the UAV 100 detected by the sensor device 21, and in the flight When the analysis result of at least one of the parameter and the flight attitude is abnormal, a control signal for controlling the power device 30 of the drone 100 to stop rotating is generated, thereby triggering the drone 100 to stop the paddle.

In the present embodiment, when the flight control device 22 is configured to analyze the flight attitude, the flight control device 22 is specifically configured to compare the current flight attitude of the drone 100 with a preset normal flight attitude to determine Whether the current flight attitude of the drone 100 is abnormal. In this way, when the operator recycles the drone 100, the drone 100 is only tilted after the drone 100 is grasped, so that the current flight posture of the drone 100 is abnormal. The flight control device 22 can trigger the drone 100 to stop the paddle after determining that the current flight attitude of the drone 100 is abnormal, thereby achieving recovery and control of the drone 100, and no need to use the remote control. The machine stops the paddle, and the operator of the drone 100 can complete the recycling operation alone, the operation difficulty is obviously reduced, and the single operation does not have the coordination problem, and the safety is also obviously improved.

In this embodiment, the situation that the flight control device 22 analyzes the flight parameters of the drone 100 as abnormal is at least one of the following: there is at least one flight parameter missing, and there is a value of at least one flight parameter. Outside the preset normal range. It can be understood that the preset normal value range can be set separately for different flight parameters. In addition, for the accuracy of the data, the flight control device 22 is also used to combine other flight parameters when it is analyzed that one of the flight parameters is abnormal, such as the parameter is missing or the value of the parameter is outside the preset normal value range. To further evaluate whether the drone 100 is abnormal.

For example, when the upward power output of the drone 100 is large or has reached a maximum, if the barometer/altimeter detects that the flying height of the drone 100 is decreasing, the flight control device 22 judges that the drone 100 is abnormal.

Alternatively, if the flight control device 22 analyzes that the flying height of the drone 100 detected by the barometer/altimeter is abruptly changing, the flight control device 22 combines and analyzes other flight parameters, if When the analysis results of the other flight parameters are all normal, the flight control device 22 determines that the barometer/altimeter for detecting the flying height of the drone 100 is abnormal by itself, so that erroneous operation can be avoided.

Alternatively, when the drone 100 keeps flying at a certain heading, speed, and acceleration, if the compass detects that the heading of the drone 100 suddenly changes, or the acceleration sensor detects When the acceleration is instantaneously reduced, even when it is reduced to 0, the flight control device 22 determines that the drone 100 is abnormal. For example, the drone 100 may be considered to have a collision accident.

Alternatively, if the power output of the drone 100 in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, even when it is lowered to 0, the flight control device 22 determines the unmanned person. The machine 100 is abnormal, for example, the drone 100 can be considered to have encountered an obstacle.

As shown in FIG. 2, the drone 100 further includes, but is not limited to, a power supply device 40 and an electronic governor 50. The power supply device 40 is electrically connected to the flight control device 22, the electronic governor 50, and the power device 30, respectively, and the flight control device 22 is electrically connected to the electronic governor 50, and the electronic speed control is performed. The device 50 is electrically connected to the power unit 30. The electronic governor 50 is configured to output a corresponding speed control signal to the power unit 30 according to the motor speed control signal sent by the flight control device 22 to control the power unit 30 to rotate at a specified speed. In the present embodiment, the power unit 30 includes a motor 31 and a propeller 32 coupled to the motor 31. The motor 31 is used to drive the propeller 32 to rotate to provide lift of the drone 100.

In this embodiment, the control signal includes at least one of the following: a zero speed control signal for controlling the electronic governor 50 of the drone 100 to stop outputting the speed control signal to the power unit 30, for The power supply device 40 that controls the drone 100 stops the power failure control signal that supplies power to the electronic governor 50 or the power unit 30.

In this embodiment, if the control signal is the zero speed control signal, the flight control device 22 is further configured to send the zero speed control signal to the electronic governor 50. The electronic governor 50 is configured to stop outputting the speed control signal to the power device 30 in response to the zero speed control signal when the zero speed control signal is received, so that the power unit 30 stops rotating, That is, the motor 31 stops driving the propeller 32 of the drone 100 to rotate, thereby triggering the drone 100 to stop the paddle.

If the control signal is the power failure control signal, the flight control device 22 is further configured to send the power failure control signal to the power supply device 40 of the drone 100. The power supply device 40 is configured to stop supplying power to the electronic governor 50 or the power device 30 in response to the power failure control signal when receiving the power failure control signal, so that the power device 30 stops rotating. , thereby triggering the drone 100 to stop the paddle.

In this way, the control system 20 can determine whether the drone 100 is abnormal according to the flight attitude of the drone 100 and the flight parameters, and control the drone 100 to stop in the process of falling when an abnormality occurs. The paddle is dropped in a free-falling manner, avoiding the situation of accelerating and falling after lateral movement or even flipping during the falling process, so that the influence range of the unmanned aerial vehicle 100 out of control can be controlled, and the impact speed to the ground is reduced.

In this embodiment, the drone 100 further includes a protection device 60, such as a parachute device and/or an airbag device, that is external to the body 10 of the drone 100. The flight control device 22 is also used for And generating a protection signal for triggering the protection device 60 of the drone 100 to be turned on when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, and transmitting the protection signal to the protection device 60. The protection device 60 is configured to be turned on in response to the protection signal to protect the drone 100 when the protection signal is received, so that the drone 100 is safer when landing on the ground, thereby reducing the The extent to which the drone 100 falls behind to the outside world and to the drone 100 itself.

As shown in FIG. 1, the drone 100 further includes a function device 70 mounted on the body 10 of the drone 100. In the embodiment, the function device 70 includes at least a stabilization device 71 and a camera device 72, wherein the camera device 72 can be a high-resolution digital camera, an optical camera, or the like. The stabilizing device 71 is used to mount the photographing device 72 and provide the photographing device 72 with a stabilizing function. The stabilizing device 71 can be a pan/tilt or other device that maintains the camera device stable.

In this embodiment, the flight control device 22 is further configured to generate, when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, triggering the function device 70, for example, the stabilization A shutdown signal that is turned off by at least one of the device 71 and the camera 72 and transmits the shutdown signal to the functional device 70. The function device 70 is configured to shut down in response to the shutdown signal after receiving the shutdown signal, thereby avoiding short circuiting and burning of the functional circuit caused by severe vibration after following the drone 100 falling to the ground. .

The function device 70, such as the camera 72, is also used to automatically save data in response to the shutdown signal prior to shutdown, thereby avoiding data loss after shutdown.

In other embodiments, the flight control device 22 is further configured to generate a system power-off signal for triggering the power supply device 40 of the drone 100 to stop outputting power after the function device 70 is turned off, and send the system The system power-off signal is supplied to the power supply device 40 to stop the power supply device 40 from being powered, and the drone 100 is in a state of complete power-off.

3 is a flow chart of a method for automatically stopping the drone of the drone 100 according to an embodiment of the present invention. In this embodiment, the method includes the following steps:

Step 301, the sensor device 21 detects at least one of a flight parameter and a flight attitude of the drone 100.

In this embodiment, the sensor device 21 may include an inertial measurement unit (not shown) for measuring the three-axis angular velocity of the airframe of the drone 100 and the three-axis acceleration of the fuselage, and Calculating the three-axis angular velocity of the fuselage and the three-axis acceleration of the fuselage according to a predetermined algorithm, for example, integrating the three-axis angular velocity of the fuselage and/or the three-axis acceleration of the fuselage, thereby obtaining the drone 100 Flight attitude.

In this embodiment, the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone 100, and geographic location of the drone 100. Any combination or combination of information.

The sensor device 21 may further include any one or a combination of a gyroscope, an acceleration sensor, a compass, a speed sensor, a barometer/altimeter, and a positioning sensor. Each sensor included in the sensor device 21 is electrically connected to the flight control device 22 for detecting flight parameters of the drone. Among them, the gyroscope is used to measure the three-axis angular velocity of the fuselage, the acceleration sensor is used to measure the three-axis acceleration of the fuselage, the compass is used to measure the heading and attitude information of the fuselage, the speed sensor is used to detect the motor speed, and the barometer/altimeter is used for measurement. The flying height of the drone 100 is used to acquire the geographical location information of the drone 100. In this embodiment, the positioning sensor is a GPS (Global Positioning System) positioning sensor, and the current geographic location information of the drone 100 can be obtained in time and accurately. It can be understood that in other embodiments, the positioning sensor may also be other geographical location information acquiring devices. It can be understood that the type and location of the specific device included in the sensor device 21 can be adjusted according to the type of flight parameters that need to be detected.

In this embodiment, the current flight attitude of the drone 100 may also be from the flight control device 22 according to a predetermined algorithm, such as a fusion algorithm, or a fuzzy PID (proportion-integration-differentiation). A tuning control algorithm or the like calculates the flight parameters of the drone 100.

Step 302: The flight control device 22 analyzes at least one of flight parameters and flight attitudes of the UAV 100 detected by the sensor device 21.

Step 303, the flight control device 22 determines whether the analysis result of at least one of the flight parameter and the flight attitude is abnormal. If the analysis result of at least one of the flight parameter and the flight attitude is abnormal, step 304 is performed. Otherwise, return to step 301.

In the present embodiment, when the flight control device 22 is configured to analyze the flight attitude, the flight control device 22 is specifically configured to compare the current flight attitude of the drone 100 with a preset normal flight attitude to determine Whether the current flight attitude of the drone 100 is abnormal. In this way, when the operator recycles the drone 100, the drone 100 is only tilted after the drone 100 is grasped, so that the current flight posture of the drone 100 is abnormal. The flight control device 22 can trigger the drone 100 to stop the paddle after determining that the current flight attitude of the drone 100 is abnormal, thereby achieving recovery and control of the drone 100, and no need to use the remote control. The machine stops the paddle, and the operator of the drone 100 can complete the recycling operation alone, the operation difficulty is obviously reduced, and the single operation does not have the coordination problem, and the safety is also obviously improved.

In this embodiment, the situation that the flight control device 22 analyzes the flight parameters of the drone 100 as abnormal is at least one of the following: there is at least one flight parameter missing, and there is a value of at least one flight parameter. Outside the preset normal range. It can be understood that the preset normal value range can be set separately for different flight parameters. In addition, for the accuracy of the data, the flight control device 22 is also used to combine other flight parameters when it is analyzed that one of the flight parameters is abnormal, such as the parameter is missing or the value of the parameter is outside the preset normal value range. To further evaluate whether the drone 100 is abnormal.

For example, when the upward power output of the drone 100 is large or has reached a maximum, if the barometer/altimeter detects that the flying height of the drone 100 is decreasing, the flight control device 22 judges that the drone 100 is abnormal.

Alternatively, if the flight control device 22 analyzes that the flying height of the drone 100 detected by the barometer/altimeter is abruptly changing, the flight control device 22 combines and analyzes other flight parameters, if When the analysis results of the other flight parameters are all normal, the flight control device 22 determines that the barometer/altimeter for detecting the flying height of the drone 100 is abnormal by itself, so that erroneous operation can be avoided.

Alternatively, when the drone 100 keeps flying at a certain heading, speed, and acceleration, if the compass detects that the heading of the drone 100 suddenly changes, or the acceleration sensor detects When the acceleration is instantaneously reduced, even when it is reduced to 0, the flight control device 22 determines that the drone 100 is abnormal. For example, the drone 100 may be considered to have a collision accident.

Alternatively, if the power output of the drone 100 in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, even when it is lowered to 0, the flight control device 22 determines the unmanned person. The machine 100 is abnormal, for example, the drone 100 can be considered to have encountered an obstacle.

In step 304, the flight control device 22 generates a control signal for controlling the power device 30 of the drone 100 to stop rotating, thereby triggering the drone 100 to stop the paddle.

In this embodiment, the control signal includes at least one of the following: a zero speed control signal for controlling the electronic governor 50 of the drone 100 to stop outputting the speed control signal to the power unit 30, for The power supply device 40 that controls the drone 100 stops the power failure control signal that supplies power to the electronic governor 50 or the power unit 30.

In this embodiment, if the control signal is the zero speed control signal, the flight control device 22 sends the zero speed control signal to the electronic governor 50 to enable the electronic speed control The device 50 stops outputting the speed control signal to the power unit 30 in response to the zero speed control signal, causing the power unit 30 to stop rotating, thereby triggering the drone 100 to stop the paddle.

If the control signal is the power failure control signal, the flight control device 22 sends the power failure control signal to the power supply device 40 of the drone 100, so that the power supply device 40 responds to the power failure control signal. The power supply to the electronic governor 50 or the power unit 30 is stopped, and the power unit 30 is stopped from rotating, thereby triggering the drone 100 to stop the paddle.

Step 305, the flight control device 22 generates a protection signal for triggering the protection device 60 of the drone 100 to be turned on, and transmits the protection signal to the protection device 60, so that the protection device 60 responds to the The protection signal is turned on to protect the drone 100, making the drone 100 safer when landing on the ground, thereby reducing the drone 100 falling behind to the outside world and to the drone 100 itself. The extent of damage.

In this embodiment, when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal, the flight control device 22 further generates a trigger for mounting on the body 10 of the drone 100. a function device 70, such as a shutdown signal that is turned off by at least one of the stabilization device 71 and the camera 72, and sends the shutdown signal to the function device 70 to cause the function device 70 to respond to the shutdown The signal is turned off, thereby preventing the functional device 70 from short-circuiting and burning the functional circuit caused by severe vibration after following the drone 100 falling to the ground.

In this embodiment, the flight control device 22 is further configured to generate a system power-off signal for triggering the power supply device 40 of the drone 100 to stop outputting power after the function device 70 is turned off, and send the The system power-off signal is supplied to the power supply device 40 to stop the power supply device 40 from being powered, and the drone 100 is in a state of complete power-off.

The control system 20 provided by the present invention can automatically trigger the drone 100 to stop the paddle according to the abnormal flight parameters of the drone 100 and/or the abnormal flight attitude during the flight and recovery process of the drone 100. The overwhelming function can be automatically completed in the case of over-the-horizon and completely out of control, and the drone 100 is prevented from being laterally moved or even flipped after the falling process, and the drone is accelerated. The out-of-control impact range is controllable, reducing the impact velocity on the ground.

It should be noted that the above embodiments are only for explaining the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments. Modifications or equivalents are made without departing from the spirit and scope of the invention.

Claims (48)

1. An automatic aircraft paddle control system for a drone, characterized in that it comprises:

   At least one sensor device for detecting at least one of flight parameters and flight attitude of the drone;

   a flight control device electrically coupled to the sensor device for analyzing at least one of the flight parameters and flight attitude detected by the sensor device, and at least one of the flight parameters and flight attitude When the result of the analysis is abnormal, a control signal for controlling the power device of the drone to stop rotating is generated.
2. The automatic drone control system for a drone according to claim 1, wherein the control signal comprises at least one of: an electronic governor for controlling the drone to stop outputting a speed control signal to the The zero speed control signal of the power unit is used to control a power failure control signal of the power supply device of the drone to stop supplying power to the electronic governor or the power unit.
3. The automatic drone control system for a drone according to claim 2, wherein said flight control device is further configured to transmit said zero-speed control signal to said zero-speed control signal if said control signal is said zero-speed control signal The electronic governor, so that the electronic governor stops outputting the speed control signal to the power device in response to the zero speed control signal, causing the power device to stop rotating, thereby triggering the drone to stop paddle;

   Or/and, if the control signal is the power failure control signal, the flight control device is further configured to send the power failure control signal to the power supply device of the drone, so that the power supply device responds to the The power failure control signal stops supplying power to the electronic governor or the power unit, causing the power unit to stop rotating, thereby triggering the drone to stop the paddle.
4. The automatic drone control system for a drone according to claim 1, wherein said sensor device comprises an inertial measurement unit, and said inertial measurement unit is configured to detect a flight attitude of said drone.
5. The automatic drone control system for a drone according to claim 1, wherein said flight control device is configured to calculate a flight parameter of said drone according to a predetermined algorithm to obtain said drone Current flight attitude.
6. The automatic aircraft control system for a drone according to claim 1, 4 or 5, wherein said flight control device is used to analyze said flight attitude, specifically for said drone The current flight attitude is compared with a preset normal flight attitude to determine whether the current flight attitude of the drone is abnormal.
7. The automatic drone control system for a drone according to claim 1 or 5, wherein the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, A combination of any one or more of the flying height of the drone and the geographic location information of the drone.
8. The automatic drone control system for a drone according to claim 7, wherein the situation in which the flight control device analyzes the flight parameters of the drone as abnormal is at least one of the following: there is at least one The flight parameters are lost, and the value of at least one flight parameter is outside the preset normal value range.
9. The automatic drone control system for a drone according to claim 8, wherein said flight control device is further configured to further evaluate said unmanned person in combination with other flight parameters when analyzing one of flight parameters as abnormal Whether the machine is abnormal.
10. The automatic drone control system for a drone according to claim 9, wherein when the upward power output of the drone is large or has reached a maximum, if the flying height of the drone is decreasing And the flight control device determines that the drone is abnormal;

    Alternatively, if the flight control device analyzes that the flying height of the drone is sharply changing and the analysis results of other flight parameters are normal, the flight control device determines to detect the flight of the drone The height of the sensor device itself is abnormal;

    Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, even if it is reduced to 0, then The flight control device determines that the drone is abnormal;

    Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, the flight control device determines that the drone appears abnormal.
11. The automatic drone control system for a drone according to claim 9, wherein said sensor device comprises any one of a gyroscope, an acceleration sensor, a compass, a speed measuring sensor, a magnetometer, a barometer/altimeter, and a positioning sensor. One or more combinations, each sensor included in the sensor device is electrically connected to the flight control device for detecting flight parameters of the drone.
12. The automatic drone control system for a drone according to claim 1, wherein the sensor device is provided on a body of the drone or inside the body.
13. The automatic drone control system for a drone according to claim 1, wherein the flight control device is further configured to generate when an analysis result of at least one of the flight parameter and the flight attitude is abnormal. And a protection signal that triggers the protection device of the drone to be turned on, and sends the protection signal to the protection device, so that the protection device is turned on in response to the protection signal to protect the drone.
14. The automatic drone control system for a drone according to claim 1, wherein the flight control device is further configured to generate when an analysis result of at least one of the flight parameter and the flight attitude is abnormal. a shutdown signal for triggering shutdown of at least one of the stabilizing device mounted on the body of the drone and the photographing device, and transmitting the shutdown signal to at least one of the stabilizing device and the photographing device First, causing at least one of the stabilizing device and the photographing device to shut down in response to the shutdown signal.
15. The automatic aircraft control system for a drone according to claim 14, wherein the flight control device is further configured to generate, after the stabilization device and the camera is turned off, a trigger for triggering the drone. The power supply device stops the system power-off signal outputting the power source, and sends the system power-off signal to the power supply device to stop the power supply device from being powered, so that the drone is in a state of complete power-off.
16. The invention relates to a method for automatically controlling a drone of a drone, which comprises the following steps:

    Detecting at least one of flight parameters and flight attitudes of the drone;

    And analyzing at least one of the flight parameter and the flight attitude, and generating a power device for controlling the drone when the analysis result of the at least one of the flight parameter and the flight attitude is abnormal Rotating control signal.
17. The method according to claim 16, wherein said control signal comprises at least one of: an electronic governor for controlling said drone to stop outputting a speed control signal to said zero speed control of said power unit And a signal for controlling a power failure control signal of the drone to stop powering the electronic governor or the power device.
18. The method of claim 17 further comprising the step of:

    And if the control signal is the zero speed control signal, sending the zero speed control signal to the electronic governor, so that the electronic governor stops outputting the speed control signal in response to the zero speed control signal To the power device, causing the power device to stop rotating, thereby triggering the drone to stop the paddle;

    Or/and, if the control signal is the power failure control signal, transmitting the power failure control signal to the power supply device of the drone to cause the power supply device to stop responding to the power failure control signal The electronic governor or the power unit supplies power to stop the power unit from rotating, thereby triggering the drone to stop.
19. The method of claim 16 wherein the current flight attitude of the drone is determined by an inertial measurement unit.
20. The method according to claim 16, wherein the current flight attitude of the drone is calculated by the flight control device of the drone calculating the flight parameters of the drone according to a predetermined algorithm. .
21. The method of claim 16, 19 or 20 wherein said step of analyzing said flight attitude comprises:

    Comparing the current flight attitude of the drone with a preset normal flight attitude to determine whether the current flight attitude of the drone is abnormal.
22. The method according to claim 16 or 20, wherein the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, flying height of the drone, And a combination of any one or more of the geographic location information of the drone.
23. The method according to claim 22, wherein the case where the analysis result of the flight parameters of the drone is abnormal includes at least one of the following: there is a loss of at least one flight parameter, and a value of the presence of at least one flight parameter is Outside the preset normal range.
24. The method of claim 23 wherein said step of analyzing said flight parameters comprises:

    If one of the flight parameters is analyzed as abnormal, the other flight parameters are combined to further evaluate whether the drone is abnormal.
25. The method according to claim 24, wherein when the upward power output of the drone is large or has reached a maximum, if the flying height of the drone is decreasing, the unmanned person is judged The machine is abnormal;

    Alternatively, if the flying height of the drone is sharply changed and the analysis results of other flight parameters are normal, it is determined that the sensor device for detecting the flying height of the drone is abnormal;

    Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, or even decreased to 0, then it is judged The drone is abnormal;

    Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, it is determined that the drone is abnormal.
26. The method according to claim 16, wherein after the step of analyzing the at least one of the flight parameters and the flight attitude is abnormal, the method further comprises:

    Generating a protection signal for triggering activation of the protection device of the drone;

    The protection signal is sent to the protection device such that the protection device is turned on in response to the protection signal to protect the drone.
27. The method according to claim 16, wherein after the step of analyzing the at least one of the flight parameters and the flight attitude is abnormal, the method further comprises:

    Generating a shutdown signal for triggering a stabilization device mounted on the body of the drone and at least one of the cameras to be turned off;

    Transmitting the shutdown signal to at least one of the stabilizing device and the photographing device to cause at least one of the stabilizing device and the photographing device to shut down in response to the shutdown signal.
28. The method of claim 27, wherein the step of transmitting the shutdown signal to the stabilization device and the imaging device further comprises:

    Detecting whether at least one of the stabilizing device and the photographing device completes shutdown;

    Generating a system power-off signal for triggering the power supply device of the drone to stop outputting power when detecting that at least one of the stabilizing device and the photographing device has completed shutdown;

    Sending the system power-off signal to the power supply device to stop the power supply device from being powered, so that the drone is in a state of complete power-off.
29. A drone, characterized in that it comprises:

    powerplant;

    At least one sensor device for detecting at least one of flight parameters and flight attitude of the drone;

    a flight control device electrically coupled to the sensor device and the power device for analyzing at least one of the flight parameters and flight attitude detected by the sensor device, and at the flight parameter and When the analysis result of at least one of the flight postures is abnormal, a control signal for controlling the power device of the drone to stop rotating is generated.
30. A drone according to claim 29, further comprising a power supply device and an electronic governor, said power supply device being electrically connected to said flight control device, an electronic governor and a power device, respectively, said flight a control device is electrically connected to the electronic governor, the electronic governor is electrically connected to the power device, and the electronic governor is configured to output a corresponding output tone according to a motor speed control signal sent by the flight control device A speed signal is sent to the power unit to control the power unit to rotate at a specified speed.
31. A drone according to claim 29 or 30, wherein said power unit comprises a motor and a propeller coupled to said motor, said motor for driving said propeller to provide said drone The lift.
32. The drone according to claim 30, wherein said control signal comprises at least one of: a zero speed control signal for controlling said electronic governor to stop outputting a speed control signal to said power unit, A power failure control signal for controlling the power supply device to stop supplying power to the electronic governor or the power device.
33. The drone according to claim 32, wherein said flight control means is further configured to transmit said zero speed control signal to said electronic speed control if said control signal is said zero speed control signal The electronic governor is configured to stop outputting the speed control signal to the power device in response to the zero speed control signal when receiving the zero speed control signal, so that the power device stops rotating, thereby triggering The drone stops the paddle;

    Or/and, if the control signal is the power failure control signal, the flight control device is further configured to send the power failure control signal to the power supply device, and the power supply device is configured to receive the power failure control In the signal, the power supply to the electronic governor or the power unit is stopped in response to the power failure control signal to stop the power unit from rotating, thereby triggering the drone to stop.
34. A drone according to claim 29, wherein said sensor means comprises an inertial measurement unit for detecting a flight attitude of said drone.
35. The drone according to claim 29, wherein said flight control means is operative to calculate a flight attitude of said drone according to a predetermined algorithm to derive a current flight attitude of said drone.
36. A drone according to claim 29, 34 or 35, wherein said flight control means, when used for analyzing said flight attitude, is specifically for using said current flight attitude of said drone The preset normal flight attitude is compared to determine whether the current flight attitude of the drone is abnormal.
37. The drone according to claim 29 or 35, wherein the flight parameters include: three-axis angular velocity of the fuselage, three-axis acceleration of the fuselage, body heading and attitude information, motor speed, and flight of the drone A combination of any one or more of height, and geographic location information of the drone.
38. The drone according to claim 37, wherein the situation in which the flight control device analyzes the flight parameters of the drone as abnormal is at least one of the following: there is at least one flight parameter missing, present The value of at least one flight parameter is outside the preset normal value range.
39. The drone according to claim 38, wherein said flight control device is further configured to further evaluate whether said drone has an abnormality in combination with other flight parameters when analyzing one of said flight parameters as abnormal.
40. A drone according to claim 39, wherein said flying speed of said drone is reduced if said upward power output of said drone is large or has reached a maximum The control device determines that the drone is abnormal;

    Alternatively, if the flight control device analyzes that the flying height of the drone is sharply changing and the analysis results of other flight parameters are normal, the flight control device determines to detect the flight of the drone The height of the sensor device itself is abnormal;

    Alternatively, when the UAV is always flying at a certain heading, speed, and acceleration, if the heading of the UAV suddenly changes, or the acceleration is instantaneously reduced, even if it is reduced to 0, then The flight control device determines that the drone is abnormal;

    Alternatively, if the power output of the drone in a predetermined direction suddenly increases sharply, and the acceleration in the corresponding direction remains unchanged or instantaneously decreases, or even decreases to 0, the flight control device determines that the drone appears abnormal.
41. The drone according to claim 39, wherein said sensor device comprises any one or more of a gyroscope, an acceleration sensor, a compass, a speed sensor, a magnetometer, a barometer/altimeter, and a positioning sensor. In combination, each sensor included in the sensor device is electrically connected to the flight control device for detecting flight parameters of the drone.
42. The drone according to claim 29, wherein said sensor device is provided on a body of said drone or inside said body.
43. A drone according to claim 29, further comprising protection means external to the body of said drone, said flight control means further for at least said flight parameters and flight attitude When an analysis result is abnormal, a protection signal for triggering activation of the protection device of the drone is generated, and the protection signal is sent to the protection device; the protection device is configured to receive the protection The signal is turned on in response to the protection signal to protect the drone.
44. The drone according to claim 43, wherein said protection device is at least one of a parachute or an airbag.
45. A drone according to claim 29, further comprising a functional device mounted on the body of said drone, said flight control device further for at least said flight parameter and flight attitude When the analysis result is abnormal, a shutdown signal for triggering shutdown of the function device is generated, and the shutdown signal is sent to the function device, so that the function device is turned off in response to the shutdown signal.
46. The drone of claim 45, wherein the flight control device is further configured to: after the function device is turned off, generate a system power failure for triggering the power supply device of the drone to stop outputting power And transmitting the system power-off signal to the power supply device to stop the power supply device from being powered, so that the drone is in a state of complete power-off.
47. A drone according to claim 46, wherein said function device includes at least a stabilizing device for mounting the photographing device and providing stabilization to said photographing device, and a photographing device Features.
48. The drone according to claim 45 or 47, wherein the function device is further configured to automatically save data in response to the shutdown signal before shutting down, thereby avoiding data loss caused after shutdown.

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