WO2018076467A1 - 无人机及其报警系统 - Google Patents

无人机及其报警系统 Download PDF

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Publication number
WO2018076467A1
WO2018076467A1 PCT/CN2016/108977 CN2016108977W WO2018076467A1 WO 2018076467 A1 WO2018076467 A1 WO 2018076467A1 CN 2016108977 W CN2016108977 W CN 2016108977W WO 2018076467 A1 WO2018076467 A1 WO 2018076467A1
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WIPO (PCT)
Prior art keywords
alarm
drone
control unit
alarm system
power source
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/108977
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English (en)
French (fr)
Inventor
莫泽锋
赵涛
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680088157.1A priority Critical patent/CN109564735A/zh
Publication of WO2018076467A1 publication Critical patent/WO2018076467A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems, e.g. audible personal calling systems
    • G08B3/10—Audible signalling systems, e.g. audible personal calling systems using electric transmission; using electromagnetic transmission
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/50—On board measures aiming to increase energy efficiency

Definitions

  • the invention relates to an aircraft alarm system, in particular to an unmanned aerial sound alarm system.
  • UAVs remotely piloted aircraft capable of hovering in the air or a series of complex flight operations rely on sensors, motors and power supplies integrated into the machine. Once these devices generate serious anomalies, such as a motor stall, the gyroscope is stuck, which may result in the aircraft not being able to maintain a stable flight attitude in the air. The most serious consequence is that the air is uncontrollably hitting the obstacle or Falling directly in the air can cause serious damage to people or property.
  • the user can only judge based on the display of the remote control terminal or the LED light on the aircraft.
  • a dangerous situation in which the aircraft crashed from the air, it cannot be noticed by the surrounding people in time, so the probability of personal injury occurring cannot be reduced.
  • the remote control aircraft falls to the ground or hits the obstacle in the air, the user and the aircraft lose communication, and the user can only find it by memory, the last screen displayed on the remote controller terminal or the last GPS position recorded. aircraft. It is very likely that the user has found a position near the aircraft, but because of the blockage of the object, he has not been able to find the exact position of the aircraft, and ultimately can only bear the loss of the lost aircraft.
  • An alarm system is applied to a movable platform, the alarm system includes a sounding device, the alarm system further includes a control unit, the control unit is connected to the sounding device, and the control unit is controlled when the movable platform is out of control The sounding device sounds an alarm.
  • a drone comprising a flight control system and an electrical component, the drone further comprising an alarm system as described above, the main power source powering the flight control system and the electrical component, the flight control system Connected to the control unit for using the control unit when an abnormality occurs in the drone
  • the element sends an alarm request, and the control unit controls the sounding device to sound an alarm according to the alarm request.
  • a drone comprising a flight control system and an electrical component, the drone comprising a main power source, a sounding device and a backup power source for powering the flight control system and the electrical component, the flight control system detecting
  • the UAV can control the sounding device to sound an alarm when an abnormality occurs, and control the standby power supply to supply power to the sounding device when the main power source falls off or fails.
  • the alarm system can automatically sound an alarm when the movable platform is out of control, reminding the surrounding people to reduce the probability of personal injury, and prompting the position of the aircraft by sound, thereby facilitating the user to find the dropped aircraft.
  • FIG. 1 is a block diagram of a drone according to an embodiment of the present invention.
  • FIG. 2 is a flow chart of an audible alarm provided by an embodiment of the present invention.
  • FIG. 3 is a flow chart of an audible alarm according to another embodiment of the present invention.
  • FIG. 4 is a flow chart of an audible alarm according to another embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • FIG. 1 is a block diagram of a drone according to an embodiment of the present invention.
  • the drone 1 includes a flight control system 10, a power component 11 and an alarm system 100.
  • the flight control system 10 controls the operation of the drone 1 including takeoff, attitude change, landing, and in some embodiments, for controlling the operation of some functional components, such as sensors disposed on the drone 1 , load, etc.
  • the flight control system 10 may receive a control command from an external device (eg, the remote control terminal 2), or generate a control command based on a preset flight plan and data sensed from a sensor provided on the drone 1 to The operation of the drone 1 is controlled.
  • the controlling includes controlling a frame assembly of the drone 1 to change a position and an angle with respect to a fuselage of the drone 1, and controlling a rotational speed of the power device of the drone 1 to control a posture of the drone 1 And speed.
  • the power component 11 is a component or component that requires power supply on the drone, including, but not limited to, a power device for moving the drone 1 , a sensor for sensing a state parameter of the drone, A communication module for communicating with the outside world, a load carried on the drone 1, and the like.
  • the alarm system 100 is configured to sound an alarm when the drone 1 is seriously abnormal (for example, the drone 1 is out of control due to failure of the power unit or sensor failure or other component failure), including, but not limited to, The sounding device 12, the main power source 13, the backup power source 14, and the control unit 15.
  • the sounding device 12 is used to emit a sound to give a specific alert or prompt, including, but not limited to, a speaker or a buzzer or the like.
  • the sound that is emitted can be a continuous long beep or intermittent short beep or a combination of long beep and short beep.
  • the main power source 13 is used to supply electric energy to the flight control system 10, the electric component 11 and the sounding device 12 of the drone 1 .
  • the control unit 15 is configured to detect whether the output of the main power source 13 is normal, for example, within a predetermined output value range, and when the output of the main power source 13 is lower than a given threshold, the control unit 15 can control the
  • the backup power source 14 supplies power to the power component 11 of the drone 1 together with the main power source 13 as a supplemental power source.
  • the control unit 15 controls the backup power source 14 to supply power to the sounding device 12 to control the sounding. Device 12 sounds an alarm.
  • the flight control system 10 is in communication with the control unit 15, and when the flight control system 10 determines that the drone 1 has a severe anomaly, the flight control system 10 can issue an alarm request. To the control unit 15, the control unit 15 controls the sounding device 12 to sound an alarm.
  • the communication between the flight control system 10 and the control unit 15 can be wired or wireless.
  • the drone 1 includes a transceiver 17 for transmitting and receiving data between the drone 1 and the remote terminal 2.
  • the transceiver 17 can receive control commands from the remote terminal 2 and transmit the commands to the flight control system 10 of the drone 1 in any existing manner, such as wired or wireless.
  • the transceiver 17 can transmit operating state parameters (eg, sensor data) of the drone 1 to the remote control terminal 2.
  • the transceiver 17 can be a radio frequency transceiver operating at a frequency in the range of 5.728 GHz to 5.85 GHz or 2.4 GHz.
  • the transceiver 17 receives and transmits radio signals through an antenna.
  • the transceiver 17 can be an application specific integrated circuit for performing transceiving of microwave signals.
  • the transceiver 17 can be used as a communication terminal in a wireless communication network, such as a SIM card or a wireless network card. Therefore, any existing ones are suitable for wireless terminals
  • the wireless communication protocol can facilitate communication between the drone 1 and the remote terminal 2.
  • the transceiver 17 can also be other types of transceivers, such as radio, Wireless Fidelity (WiFi), cellular technology, satellite, and broadcast, or for infrared, Bluetooth, zigbee, NFC ( Near Field Communication, or SDR (software defined radio) transceiver.
  • Exemplary wireless communication techniques exemplified include, but are not limited to, third or fourth generation wireless 3G or 4G mobile communication technologies for communication.
  • the transceiver 17 may employ a fifth generation (5G) mobile communication network for communication with the remote terminal 2.
  • 5G is the next-generation mobile communication standard that goes beyond the current 4G/IMT-Advanced standard.
  • existing wireless technologies for existing communication terminals can be easily applied to the drone 1.
  • the drone 1 can be easily integrated into an existing network.
  • proprietary communication hardware may also be employed as needed.
  • the transceiver 17 can receive an alert request from the remote terminal 2, and the transceiver 17 can communicate the alert request directly to the control unit 15 or the flight control system 10. For example, when the controller can not find the drone or the controller finds a serious abnormality, an alarm request can be issued through the remote terminal 2. When the control unit 15 receives the alarm request, the sounding unit may be controlled to sound an alarm.
  • the drone 1 further includes a ranging unit 16 for determining the distance between the remote terminal 2 and the drone 1 .
  • the ranging unit 16 may acquire a current location of the drone 1 from a sensor on the drone 1 (eg, a position sensor GPS module), and receive the same from the remote terminal 2
  • the position information of the remote terminal 2 is calculated, and the distance between the drone 1 and the remote terminal 2 is calculated according to the current position of the drone 1 and the position information of the remote terminal 2.
  • the calculated distance is transmitted to the control unit 15, and the control unit 15 can control the sounding device 12 to sound according to the distance. In some embodiments, the closer the remote control terminal 2 is to the drone 1, the louder the sound emitted by the sounding device 12.
  • the sound emitted by the sounding device 12 can be maintained at a predetermined lower volume, and the remote control terminal 2 is away from the When the distance of the drone 1 is lower than the predetermined value, the closer the remote terminal 2 is to the drone 1, the louder the sound emitted by the sounding device 12.
  • the ranging unit 16 can also be disposed on the remote terminal 2.
  • the remote terminal 2 acquires current location information of the drone 1 through the transceiver 17, and then acquires location information of the remote terminal 2 from a location sensor provided on the remote terminal 2, and according to the The current position information of the human machine 1 and the position information of the remote control terminal 2 calculate the distance between the drone 1 and the remote control terminal 2. The calculated distance information is transmitted to the control unit 15 through the transceiver 17.
  • the ranging unit 16 can also measure by other means, such as Bluetooth ranging, wireless network ranging (such as WIFI ranging), and the like.
  • the drone 1 may further include a sensor 18, which may include a sensor, such as a GPS module, for acquiring current location information of the drone.
  • the sensor 18 further includes a sensor for sensing an obstacle at the periphery of the drone 1, such as an ultrasonic sensor, a line of sight sensor, a laser sensor, or the like.
  • the alarm volume can be controlled according to the distance of the obstacle from the drone 1 .
  • the sensor 18 senses that there is a person or thing under the drone 1, and can control according to the distance of the drone 1 from the obstacle.
  • the alarm volume the closer the obstacle is, the louder the sound, to remind the people around the drone 1 to avoid unnecessary damage.
  • the drone 1 in order to save power, does not sound an alarm when an abnormality occurs at the beginning, and sounds an alarm only when an obstacle is sensed.
  • the control unit 15 controls the sounding device 12 to stop sounding.
  • the control unit 15 controls the sounding device 12 to sound an alarm.
  • the control unit 15 further controls the ranging unit 16 to determine a distance between the drone 1 and the remote terminal 2, and the control unit 15 adjusts the distance according to the determined distance. The volume of the sounding device 12, that is, the closer the remote terminal 2 is to the drone 1, the greater the volume of the sounding device 12, thereby enabling the controller to find the drone 1.
  • control unit 15 may be integrated in the flight control system 10 or may be independent of the flight control system 10, such as a micro control unit MCU.
  • the primary power source 13 can also charge the backup power source 14.
  • the control unit 15 detects that the output of the main power source 13 is normal, the main power source 13 can be controlled at The backup battery 14 is charged when power is supplied to the flight control system 10 and the electrical component 11 is used.
  • the backup battery 14 can be a group of rechargeable batteries, or a plurality of sets of rechargeable batteries, respectively, for supplying power to different components, for example, respectively supplying power to the sounding device 12, supplying power to the ranging unit 16, and transmitting and receiving the battery.
  • the device 17 is powered.
  • the backup battery 14 may also include other energy sources, such as solar cells, wind energy batteries, and the like.
  • FIG. 2 is an alarm flowchart of an embodiment of the present invention.
  • the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.
  • the flight control system determines whether the aircraft has a serious abnormality.
  • the operating state of each component can be obtained according to the sensor 18 disposed on the drone 1, and whether the drone is severely abnormal according to the working state of each component. For example, when the power mechanism of the drone 1 fails or is damaged, and the sensor cannot acquire state information normally, the flight control system cannot generate an accurate control command or the like.
  • Step 22 the flight control system sends an alarm request to the control unit.
  • the flight control system can transmit an alarm command to the control unit by wire or wirelessly.
  • control unit controls the sounding device to sound an alarm.
  • control unit may be omitted, and the flight control system may control the sounding device to sound an alarm directly by controlling a current/voltage output by the main power source to the sounding device.
  • step 26 the control unit determines whether the main power source is detached or fails.
  • the control unit may detect an output voltage/current of the main power source to determine whether the main power source is detached or failed. When the output voltage/current of the main power source is almost zero, the main power source can be considered to be detached or failed. If the control unit determines that the main power supply is detached or fails, the process proceeds to step 28; if the main power source does not fall off or fails, the process returns to step 22.
  • step 28 the control unit controls the backup power supply to supply power to the sound emitting device.
  • Step 210 The control unit controls to control the sounding device to generate an alarm.
  • the control unit may control the sounding device to sound an alarm by controlling a current/voltage output by the standby power source to the sounding device.
  • the alarm sound may be a continuous interval of squeaking or continuous squeaking.
  • the alarm sound can prompt surrounding personnel to avoid in time to reduce the probability of injury to the personnel.
  • the sounding device may continue to sing until the drone is dropped on a surface (eg, the ground) to stop squealing.
  • the sounding device continues to sound an alarm after falling onto a surface to prompt the controller to find the drone.
  • FIG. 3 is an alarm flowchart of an embodiment of the present invention.
  • the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.
  • the flight control system determines whether the aircraft has a serious abnormality.
  • the operating state of each component can be obtained according to the sensor 18 disposed on the drone 1, and whether the drone is severely abnormal according to the working state of each component. For example, when the power mechanism of the drone 1 fails or is damaged, and the sensor cannot acquire state information normally, the flight control system cannot generate an accurate control command or the like.
  • step 32 the flight control system issues an alarm request to the control unit.
  • the flight control system can transmit an alarm command to the control unit by wire or wirelessly.
  • Step 34 The control unit controls the sounding device to sound an alarm.
  • the control unit may be omitted, and the flight control system may control the sounding device to sound an alarm directly by controlling a current/voltage output by the main power source to the sounding device.
  • step 36 the control unit determines that there is an obstacle within the predetermined range according to the information sensed by the sensor 18.
  • the obstacle may include, but is not limited to, a stationary or moving person or thing.
  • step 38 the control unit controls the volume of the sounding device according to the distance of the obstacle. The closer the obstacle is to the drone, the louder the sound.
  • Step 310 When the drone is dropped on a surface (such as the ground), the control unit controls the sounding device 12 to stop sounding an alarm. In some embodiments, the control unit may also control the sounding device 12 to continue to sound an alarm after the drone is dropped on a surface to prompt the relevant person to find the dropped drone.
  • FIG. 4 is an alarm flowchart of an embodiment of the present invention.
  • the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.
  • Step 40 The control unit receives an alarm request signal of the remote control terminal.
  • the alarm request signal can be transmitted by the remote control terminal to the control unit 15 via the transceiver 17.
  • the control unit 15 receives the alarm request signal, the flow proceeds to step 42.
  • Step 42 The control unit controls the ranging unit to calculate a distance between the drone and the remote control terminal. Specifically, to save power, the control unit controls the backup battery to supply power to the sensor 18 and the ranging unit only when receiving the alarm request, to control the sensor 18 to acquire the unmanned The current location of the machine.
  • the ranging unit is configured according to a current location of the remote control terminal sent by the remote control terminal, and the unmanned aerial vehicle acquired by the sensor 18 The current position calculates a distance between the drone and the remote terminal.
  • the ranging unit may also be combined with other ranging methods or multiple ranging methods to obtain a more accurate distance. Other ranging methods include, but are not limited to, wireless network (such as WIFI) ranging, Bluetooth ranging, and the like.
  • Step 44 The control unit controls the sound emitting device to sound an alarm at a predetermined volume according to the calculated distance between the drone and the remote control terminal.
  • the sounding device 12 can alert a predetermined lower volume, when the remote control terminal is located within the predetermined distance, The volume of the sounding device 12 may increase as the distance of the remote control terminal from the drone decreases, thereby facilitating the relevant personnel to find the drone.
  • the alarm system can be applied to various types of mobile platforms, including manned aircraft, space vehicles, ships, submarines, etc., in addition to the drones described in the above embodiments.

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  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Emergency Alarm Devices (AREA)

Abstract

一种报警系统（100），应用于可移动平台。报警系统（100）包括发声器件（12）和控制单元（15），控制单元（15）与发声器件（12）相连接，在可移动平台失控时控制发声器件（12）发声报警。报警系统（100）在可移动平台失控时能够自动发声报警，提醒周边的人以降低人员伤害的概率，通过声音提示飞行器的方位，从而便于使用者寻找到掉落的飞行器。

Description

无人机及其报警系统 技术领域
本发明涉及飞行器报警系统，尤其是一种无人机声音报警系统。
背景技术
无人机，遥控飞行器能够在空中实现悬停或一系列复杂的飞行动作，是依赖于集成在机器里面的传感器，电机和电源的。一旦这些器件产生严重的异常，例如电机堵转了，陀螺仪卡死了，就很可能导致飞行器无法在空中保持稳定的飞行姿态，最严重的后果则是在空中不受控制撞击到障碍物或者直接在空中坠落，对人民或财产都可能造成严重损失。
当无人机、遥控飞行器产生严重异常(例如失控坠落)的时候，使用者只能根据遥控器终端的显示或者飞机上的LED灯来判断。一旦出现发生飞行器从空中坠落的危险情况，并不能让周边的人及时察觉到，所以无法降低人员伤害发生的概率。
当无人机，遥控飞行器掉落到地上或者空中撞击到障碍物了，使用者和飞行器会失去通信，使用者只能凭借记忆，遥控器终端上显示的最后画面或者记录的最后GPS位置来寻找飞机。很有可能使用者找到了飞行器附近的位置，但是由于有东西遮挡，却一直找不到飞行器准确的位置，最终只能承受丢失飞行器的损失。
发明内容
有鉴于此，有必要提供一种能在飞行器发生严重异常时自动发声报警的无人机及其报警系统。
一种报警系统，应用于可移动平台，所述报警系统包括发声器件，所述报警系统还包括控制单元，所述控制单元与所述发声器件相连接，在所述可移动平台失控时控制所述发声器件发声报警。
一种无人机，包括飞行控制系统及用电组件，所述无人机还包括如上所述的报警系统，所述主电源给所述飞行控制系统及用电组件供电，所述飞行控制系统与所述控制单元相连，用于在所述无人机出现异常时向所述控制单 元发送报警请求，所述控制单元根据该报警请求控制所述发声器件发声报警。
一种无人机，包括飞行控制系统及用电组件，所述无人机包括给所述飞行控制系统及用电组件供电的主电源、发声器件及备用电源，所述飞行控制系统在检测到所述无人机出现异常时能够控制所述发声器件发声报警，并在所述主电源脱落或失效时控制所述备用电源给所述发声器件供电。
所述报警系统在所述可移动平台失控时能够自动发声报警，提醒周边的人以降低人员伤害的概率，通过声音提示飞行器的方位，从而便于使用者寻找到掉落的飞行器。
附图说明
图1是本发明实施方式提供的一种无人机的模块图。
图2是本发明实施方式提供的一种发声报警流程图。
图3是本发明另一实施方式提供的一种发声报警流程图。
图4是本发明又一实施方式提供的一种发声报警流程图。
主要元件符号说明
无人机                   1
飞行控制系统             10
用电组件                 11
报警系统                 100
发声器件                 12
主电源                   13
备用电源                 14
控制单元                 15
测距单元                 16
收发器                   17
传感器                   18
遥控终端                 2
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，图1示出了本发明实施例的一种无人机的模块图，所述无人机1包括飞行控制系统10、用电组件11及报警系统100。
所述飞行控制系统10控制所述无人机1的运行，包括起飞、姿态变化、降落，在一些实施例中，还用于控制一些功能组件的运行，例如设置在无人机1上的传感器、负载等。所述飞行控制系统10可从外部设备(例如远程遥控终端2)接收控制指令，或基于预先设定的飞行计划及从所述无人机1上设置的传感器所感测的数据生成控制指令，以控制所述无人机1的运行。所述控制包括控制无人机1的机架组件相对所述无人机1的机身改变位置、角度，控制所述无人机1的动力装置的转速以控制所述无人机1的姿态及速度。
所述用电组件11为所述无人机上需要电源供给的元器件或组件，包括，但不限于，用于移动无人机1的动力装置、感测无人机状态参数的传感器、 用于与外界通信的通信模块、无人机1上承载的负载等。
所述报警系统100用于在所述无人机1严重异常(例如因动力装置失效或传感器失效或其他元器件失效导致所述无人机1失控坠落)时发声报警，包括，但不限于，发声器件12、主电源13、备用电源14及控制单元15。
所述发声器件12用于发出声音以给出特定警示或提示，包括，但不限于，扬声器或蜂鸣器等。发出的声音可以是持续的长鸣或间歇的短鸣或长鸣与短鸣结合的方式。
所述主电源13用于给所述无人机1的所述飞行控制系统10、用电组件11及所述发声器件12提供电能。
所述控制单元15用于检测所述主电源13的输出是否正常，例如是否在预定输出值范围内，当所述主电源13的输出低于给定阈值时，所述控制单元15可控制所述备用电源14作为补充电源与所述主电源13一起提供电能给所述无人机1的用电组件11。在本发明中，当所述主电源13发生严重异常，例如脱落时，其输出大致为零，所述控制单元15控制所述备用电源14给所述发声器件12提供电能，以控制所述发声器件12发声报警。
在一些实施例中，所述飞行控制系统10与所述控制单元15通信连接，当所述飞行控制系统10判断所述无人机1发生严重异常时，所述飞行控制系统10可发出报警请求至所述控制单元15，所述控制单元15控制所述发声器件12发声报警。所述飞行控制系统10与所述控制单元15之间的通信可为有线或无线方式。
在一些实施例中，所述无人机1包括收发器17，所述收发器17用于在所述无人机1和遥控终端2之间传输和接收数据。所述收发器17可从所述遥控终端2接收控制指令及以任何现有的方式传输所述指令至所述无人机1的飞行控制系统10，例如有线或无线。所述收发器17可传输所述无人机1的运行状态参数(例如传感器数据)至所述遥控终端2。
所述收发器17可为射频收发器，运行频率可在5.728GHz–5.85GHz的微波范围或2.4GHz。所述收发器17通过天线接收和传输无线电信号。所述收发器17可为一用于执行收发微波信号的专用集成电路。
在一实施方式中，所述收发器17可用作为一无线通信网络内的一通信终端，譬如插设一SIM卡或无线网卡。因此，任何现有的适用于无线终端 的无线通信协议可促进所述无人机1与所述遥控终端2之间的通信。
所述收发器17也可为其他类别的收发器，例如，无线电、无线保真(Wireless Fidelity,WiFi)，蜂窝技术，卫星，及广播，或者为红外、蓝牙、zigbee(紫蜂)、NFC(Near Field Communication，近场通信)或SDR(software defined radio，软件无线电)收发器。例示的适宜的无线通信技术包括，但不限于，第三代或第四代无线3G或4G移动通信技术进行通信。在其他实施方式中，所述收发器17可采用第五代(Fifth Generation,5G)移动通信网络用于与所述遥控终端2之间的通信。5G是超越当前4G/IMT-Advanced标准的下一代移动通信标准。
因此，现存的用于现有的通信终端的无线技术可很容易地适用于所述无人机1。例如，通过装配一个无线卡，类似那些用于移动手机，或其他无线通信硬件的无线卡，所述无人机1可轻易地被整合至现存的网络。可替代地，及/或进一步地，在需要时也可采用专有通信硬件。
在一些实施例中，所述收发器17可接收来自所述遥控终端2的报警请求，所述收发器17可直接将该报警请求传送至所述控制单元15或所述飞行控制系统10。例如，当操控者找不到无人机时或操控者发现严重异常时，可通过所述遥控终端2发出报警请求。当所述控制单元15接收到所述报警请求时，可控制所述发声单元发声报警。
在一些实施例中，所述无人机1还包括测距单元16，所述测距单元16用于确定所述遥控终端2与所述无人机1之间的距离。在一些实施例中，所述测距单元16可从所述无人机1上的传感器(例如位置传感器GPS模块)获取所述无人机1的当前位置，从所述遥控终端2接收所述遥控终端2所在的位置信息，并根据所述无人机1的当前位置与所述遥控终端2的位置信息计算出所述无人机1与所述遥控终端2之间的距离。所计算得到的距离传送至所述控制单元15，所述控制单元15可根据该距离控制所述发声器件12发声。在一些实施例中，所述遥控终端2离所述无人机1越近，所述发声器件12发出的声音越大。在一些实施例中，所述遥控终端2离所述无人机1的距离达到预定值时，所述发声器件12发出的声音可保持一预定较低的音量，所述遥控终端2离所述无人机1的距离低于该预定值时，所述遥控终端2离所述无人机1越近，所述发声器件12发出的声音越大。
在一些实施例中，所述测距单元16也可设置在所述遥控终端2上。所述遥控终端2通过所述收发器17获取所述无人机1的当前位置信息，然后从所述遥控终端2上设置的位置传感器获取所述遥控终端2的位置信息，并根据所述无人机1的当前位置信息及所述遥控终端2的位置信息计算所述无人机1和所述遥控终端2之间的距离。所计算得到的距离信息通过所述收发器17发送至所述控制单元15。
在一些实施例中，所述测距单元16还可以通过其他方式测距，例如蓝牙测距、无线网路测距(例如WIFI测距)等。
在一些实施例中，所述无人机1还可包括传感器18，所述传感器18可包括用于获取所述无人机的当前位置信息的传感器，例如GPS模块。在一些实施例中，所述传感器18还包括用于感测所述无人机1周边障碍物的传感器，例如超声波传感器、视距传感器、激光传感器等。当所述传感器18感测到预定距离范围内存在障碍物时，能够根据所述障碍物离所述无人机1的距离控制报警音量。例如，当所述无人机严重异常坠机时，所述传感器18感测到所述无人机1下方存在人或物时，能够根据所述无人机1离所述障碍物的距离控制报警音量，离障碍物越近，声音越大，以提示所述无人机1周边的人避开，以避免造成不必要的伤害。
在一些实施例中，为节省电量，所述无人机1在刚开始发生异常时不发声报警，仅在感测到有障碍物时才发声报警。在一些实施例中，当所述无人机1掉落于一表面(例如地面)时，所述控制单元15控制所述发声器件12停止发声。当所述收发器17接收到来自所述遥控终端2的报警请求时，所述控制单元15控制所述发声器件12发声报警。在一些实施例中，所述控制单元15还控制所述测距单元16确定所述无人机1与所述遥控终端2之间的距离，所述控制单元15根据所确定的距离调整所述发声器件12的音量，即所述遥控终端2离所述无人机1越近，所述发声器件12的音量越大，从而能够引导操控者找到所述无人机1。
在一些实施例中，所述控制单元15可以集成在所述飞行控制系统10中，也可以独立于所述飞行控制系统10，例如微控制单元MCU。
在一些实施例中，所述主电源13还可以给所述备用电源14充电。当所述控制单元15检测到所述主电源13输出正常时，可控制所述主电源13在 提供电能给所述飞行控制系统10、用电组件11时给所述备用电池14充电。
所述备用电池14可为一组充电电池，也可为多组充电电池，分别给不同的元件供电，例如分别给所述发声器件12供电、给所述测距单元16供电、给所述收发器17供电。在一些实施例中，所述备用电池14还可以包括其他能源电池，例如太阳能电池、风能电池等。
请参阅图2所示，为本发明一实施例的报警流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。
步骤20，所述飞行控制系统判断飞行器是否出现严重异常。在一些实施例中，可根据设置在所述无人机1上的传感器18获取各组件的工作状态，并根据各组件的工作状态来判断所述无人机是否出现严重异常。例如，当所述无人机1的动力机构失效或损坏、传感器不能正常获取状态信息导致飞行控制系统无法生成准确控制命令等。
步骤22，所述飞行控制系统向所述控制单元发出报警请求。在一些实施例中，所述飞行控制系统可通过有线或无线传输报警指令至所述控制单元。
步骤24，所述控制单元控制所述发声器件发声报警。在一些实施例中，所述控制单元可以省略，所述飞行控制系统可以直接通过控制所述主电源输出至所述发声器件的电流/电压来控制所述发声器件发声报警。
步骤26，所述控制单元判断所述主电源是否脱落或失效。所述控制单元可以检测所述主电源的输出电压/电流来判断所述主电源是否脱落或失效。当所述主电源的输出电压/电流几乎为零时，所述主电源可被认为脱落或失效。若所述控制单元判断所述主电源脱落或失效时，进入步骤28；若所述主电源未脱落或失效，则返回步骤22。
步骤28，所述控制单元控制所述备用电源给所述发声器件供电。
步骤210，所述控制单元控制控制所述发声器件发生报警。所述控制单元可通过控制所述备用电源输出至所述发声器件的电流/电压来控制所述发声器件发声报警。所述报警声音可为连续间隔的鸣叫声或持续的鸣叫声。所述报警声可提示周边人员及时规避，以降低对人员的伤害概率。在一些实施例中，所述发声器件可以持续鸣叫直到所述无人机掉落于一表面(例如地面)时才停止鸣叫。在一些实施例中，所述发声器件掉落于一表面后仍然持续发声报警以提示操控者找到所述无人机。
请参阅图3所示，为本发明一实施例的报警流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。
步骤30，所述飞行控制系统判断飞行器是否出现严重异常。在一些实施例中，可根据设置在所述无人机1上的传感器18获取各组件的工作状态，并根据各组件的工作状态来判断所述无人机是否出现严重异常。例如，当所述无人机1的动力机构失效或损坏、传感器不能正常获取状态信息导致飞行控制系统无法生成准确控制命令等。
步骤32，所述飞行控制系统向所述控制单元发出报警请求。在一些实施例中，所述飞行控制系统可通过有线或无线传输报警指令至所述控制单元。
步骤34，所述控制单元控制所述发声器件发声报警。在一些实施例中，所述控制单元可以省略，所述飞行控制系统可以直接通过控制所述主电源输出至所述发声器件的电流/电压来控制所述发声器件发声报警。
步骤36，所述控制单元根据传感器18所感测的信息确定预定范围内有障碍物。所述障碍物可包括，但不限于，静止的或移动的，人或物。
步骤38，所述控制单元根据障碍物的距离控制所述发声器件的音量。障碍物距离所述无人机越近，则声音越大。
步骤310，当所述无人机掉落于一表面(如地面)时，所述控制单元控制所述发声器件12停止发声报警。在一些实施例中，所述控制单元也可在所述无人机掉落于一表面后控制所述发声器件12继续发声报警，以提示相关人员寻找到掉落的无人机。
请参阅图4所示，为本发明一实施例的报警流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。
步骤40，所述控制单元接收到遥控终端的报警请求信号。所述报警请求信号可由所述遥控终端通过所述收发器17发送至所述控制单元15。当所述控制单元15接收到所述报警请求信号时，流程进入步骤42。
步骤42，所述控制单元控制所述测距单元计算所述无人机与所述遥控终端之间的距离。具体地，为节省电能，所述控制单元仅在接收到所述报警请求时才控制所述备用电池给所述传感器18及所述测距单元供电，以控制所述传感器18获取所述无人机的当前位置。所述测距单元根据所述遥控终端发送的所述遥控终端的当前位置及所述传感器18所获取的所述无人机的 当前位置计算所述无人机与所述遥控终端之间的距离。在其他一些实施例中，所述测距单元也可以采用其他的测距方式，或多种测距方式结合，以获取更精确的距离。其他的测距方式包括，但不限于无线网络(例如WIFI)测距、蓝牙测距等。
步骤44，所述控制单元根据所计算得到的所述无人机与所述遥控终端之间的距离控制所述发声器件以预定音量发声报警。在一些实施例中，当所述遥控终端位于预定距离(例如50米)外时，所述发声器件12可以一预定的较小音量报警，当所述遥控终端位于该预定距离内时，所述发声器件12的音量可随所述遥控终端离所述无人机的距离减小而增加，从而方便相关人员寻找到所述无人机。
可以理解的是，所述报警系统除了可应用于上述实施例中的无人机外，还可应用至各种类型的可移动平台，包括有人驾驶飞行器、航天飞行器、轮船、潜艇等。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (19)

  1. 一种报警系统，应用于可移动平台，所述报警系统包括发声器件，其特征在于：所述报警系统还包括控制单元，所述控制单元与所述发声器件相连接，在所述可移动平台失控时控制所述发声器件发声报警。
  2. 如权利要求1所述的报警系统，其特征在于：所述报警系统包括主电源和备用电源，所述主电源与备用电源分别与所述控制单元相连接，当主电源脱落或失效时，由备用电源给所述发声器件提供电源。
  3. 如权利要求2所述的报警系统，其特征在于：所述控制单元在主电源输出正常时控制主电源给备用电源充电。
  4. 如权利要求2所述的报警系统，其特征在于：所述备用电源包括太阳能电池、风能电池中的一种或几种。
  5. 如权利要求1所述的报警系统，其特征在于：所述报警系统还包括测距单元，所述测距单元确定所述可移动平台与遥控终端的距离，所述控制单元根据所述可移动平台与遥控终端的距离控制所述发声器件的音量。
  6. 如权利要求5所述的报警系统，其特征在于：所述测距单元与传感器相连，从所述传感器获取所述可移动平台的当前位置，所述测距单元从所述遥控终端获取所述遥控终端的当前位置，并根据所述可移动平台的当前位置及所述遥控终端的当前位置计算所述可移动平台与遥控终端的距离。
  7. 如权利要求6所述的报警系统，其特征在于：所述测距单元通过收发器从所述遥控终端获取所述遥控终端的当前位置。
  8. 如权利要求7所述的报警系统，其特征在于：所述收发器为射频识别收发器、红外收发器、蓝牙收发器、wifi收发器、zigbee(紫蜂)收发器、NFC(Near Field Communication，近场通信)收发器或SDR(software defined radio，软件无线电)收发器。
  9. 如权利要求6所述的报警系统，其特征在于：所述传感器包括GPS模块和/或无线网络定位模块。
  10. 如权利要求1所述的报警系统，其特征在于：所述控制单元通过收发器从遥控终端接收遥控终端与所述无人机之间的距离信息，并根据该距离信息控制所述发声器件的音量。
  11. 如权利要求1所述的报警系统，其特征在于：所述传感器包括用于感测障碍物的传感器，所述控制单元根据障碍物离所述无人机的距离控制所述发声器件的音量。
  12. 如权利要求11所述的报警系统，其特征在于：所述用于感测障碍物的传感器包括超声波传感器、激光传感器及视距传感器中的一种或几种。
  13. 如权利要求1所述的报警系统，其特征在于：所述控制单元在所述可移动平台被支撑于一表面时，控制所述发声器件停止发声报警。
  14. 如权利要求1所述的报警系统，其特征在于：所述控制单元在接收到来自遥控终端的报警请求时，控制所述发声器件发声报警。
  15. 如权利要求1所述的报警系统，其特征在于：所述控制单元根据遥控终端离所述无人机的距离控制所述发声器件的音量，所述遥控终端离所述无人机越近，所述发声器件的音量越大。
  16. 如权利要求1所述的报警系统，其特征在于：所述控制单元为MCU。
  17. 一种无人机，包括飞行控制系统及用电组件，其特征在于，所述无人机还包括权利要求1至16任一项所述的报警系统，所述主电源给所述飞行控制系统及用电组件供电，所述飞行控制系统与所述控制单元相连，用于在所述无人机出现异常时向所述控制单元发送报警请求，所述控制单元根据该报警请求控制所述发声器件发声报警。
  18. 一种无人机，包括飞行控制系统及用电组件，其特征在于，所述无人机包括给所述飞行控制系统及用电组件供电的主电源、发声器件及备用电源，所述飞行控制系统在检测到所述无人机出现异常时能够控制所述发声器件发声报警，并在所述主电源脱落或失效时控制所述备用电源给所述发声器件供电。
  19. 如权利要求18所述的无人机，其特征在于，所述飞行控制系统根据遥控终端离所述无人机的距离控制所述发声器件的音量，所述遥控终端离所述无人机越近，所述发声器件的音量越大。
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