WO2018076467A1 - Véhicule aérien sans pilote et son système d'alarme - Google Patents

Véhicule aérien sans pilote et son système d'alarme 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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WO
WIPO (PCT)
Prior art keywords
alarm
drone
control unit
alarm system
power source
Prior art date
Application number
PCT/CN2016/108977
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English (en)
Chinese (zh)
Inventor
莫泽锋
赵涛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680088157.1A priority Critical patent/CN109564735A/zh
Publication of WO2018076467A1 publication Critical patent/WO2018076467A1/fr

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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 OR 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 OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; 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, e.g. air-traffic control [ATC]
    • 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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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Selective Calling Equipment (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

L'invention a trait à un système d'alarme (100), appliqué à une plateforme mobile. Le système d'alarme (100) comprend un dispositif de production de sons (12) et une unité de commande (15). L'unité de commande (15) est connectée au dispositif de production de sons (12) et commande ce dernier pour émettre des sons d'alarme lorsque la commande de la plateforme mobile n'est plus possible. Le système d'alarme (100) peut émettre automatiquement des sons d'alarme lorsque la commande de la plateforme mobile n'est plus possible, de façon à signaler aux personnes dans les environs de limiter les risques de blessures corporelles, et la direction et la position du véhicule aérien sont indiquées au moyen de sons, ce qui aide un utilisateur à trouver le véhicule aérien qui tombe.
PCT/CN2016/108977 2016-10-31 2016-12-08 Véhicule aérien sans pilote et son système d'alarme WO2018076467A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201680088157.1A CN109564735A (zh) 2016-10-31 2016-12-08 无人机及其报警系统

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CN201621158291.8U CN206497536U (zh) 2016-10-31 2016-10-31 无人机及其报警系统
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CN111522354B (zh) 2019-02-01 2024-02-20 中强光电股份有限公司 无人飞行载具及其失效安全方法
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