WO2018098774A1

WO2018098774A1 - Apparatus, method and device for controlling forced landing

Info

Publication number: WO2018098774A1
Application number: PCT/CN2016/108227
Authority: WO
Inventors: 宋健宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-12-01
Filing date: 2016-12-01
Publication date: 2018-06-07
Also published as: CN107108038A

Abstract

An apparatus, method and device for controlling forced landing. The method for controlling forced landing comprises: obtaining a signal for indicating power loss or partial power loss of an unmanned aerial vehicle; and when the signal for indicating power loss or partial power loss of the unmanned aerial vehicle is obtained, controlling separation of a load that is mounted on the unmanned aerial vehicle and the unmanned aerial vehicle according to a preset policy, so that the load and the unmanned aerial vehicle are separately landed in forced landing. In this way, on one hand, during forced landing, the weight of the unmanned aerial vehicle is reduced, so as to increase the success rate of forced landing of the unmanned aerial vehicle; and on the other hand, damage on the load due to spinning of the unmanned aerial vehicle is prevented, and propellers of the unmanned aerial vehicle are prevented from winding parachute cords of a parachute, thereby effectively protecting the load.

Description

Device, method and device for controlling forced landing

Technical field

The present invention relates to the field of UAV control, and more particularly to an apparatus, method and apparatus for controlling a forced landing.

Background technique

When an unmanned aerial vehicle cannot continue to fly in an unexpected situation, it needs to make an emergency landing on the ground or the water surface to reduce the speed at which the UAV falls. This process is called forced landing. At present, some unmanned aerial vehicles are used for aerial photography or agricultural operations. The underside of the unmanned aerial vehicle is mounted with a precision pan/tilt, an expensive camera or a heavy-duty sprayer. Once the unmanned aerial vehicle loses power or loses part of it. Power, in the process of forced landing, often unmanned aircraft and load will be greatly damaged, and may threaten the safety of people or property on the ground.

Summary of the invention

The embodiment of the invention provides a device, a method, a device, an unmanned aerial vehicle and a load for controlling a forced landing, so as to ensure the safety of the load carried by the unmanned aerial vehicle and the unmanned aerial vehicle during the forced landing of the unmanned aerial vehicle, and improve the unmanned aerial vehicle. Safe use.

For example, a first aspect of the present invention provides an apparatus for controlling a forced landing, comprising:

An acquisition module for obtaining a signal indicating that the unmanned aircraft loses power or loses part of the power;

a control module, configured to: when the acquiring module acquires a signal indicating that the UAV loses power or loses part of power, controls a load mounted on the UAV according to a preset policy, and the unmanned The aircraft is separated such that the load and the UAV are forced to drop, respectively.

Optionally, the control unit further includes a separation unit, configured to release the load and the unmanned when the acquisition module acquires a signal that the UAV loses power or loses part of power The mechanical connection of the aircraft separates the load from the unmanned aerial vehicle.

Optionally, the acquiring module is specifically configured to acquire a signal indicating that the unmanned aircraft loses power or loses part by detecting whether the unmanned aerial vehicle loses power or loses part of power.

Optionally, the acquiring module is configured to receive a signal sent by an external device that indicates that the UAV loses power or loses part of power.

Optionally, the control module further includes a load forced down unit for opening a parachute loaded on the load.

Optionally, the control module further comprises an unmanned aerial vehicle landing unit, the unmanned aerial vehicle forced landing unit is configured to control the unmanned aerial vehicle to use the residual power to perform the forced landing.

A second aspect of the present invention provides an apparatus for controlling an unmanned aerial vehicle, including

a control module, configured to: when the acquisition module acquires a signal that the UAV loses or loses part of the power, sends a signal that the UAV loses or loses part of the power to a load mounted on the UAV, The signal is used to indicate that the load mounted on the UAV completes separation from the UAV.

Optionally, the acquiring module is specifically configured to receive, by the external device, a signal indicating that the UAV loses power or loses part of power.

A third aspect of the present invention provides a method of controlling a forced landing, comprising:

Obtaining a signal indicating that the UAV has lost power or lost part of its power;

When a signal indicating that the UAV loses power or loses part of the power is acquired, controlling a load mounted on the UAV to separate from the UAV according to a preset policy, so that the load and The unmanned aerial vehicles are forced to descend separately.

Optionally, when the acquiring module acquires a signal that the UAV loses power or loses part of the power, the mechanical connection between the load and the UAV is released, so that the load and the unmanned The aircraft is separated.

Optionally, a signal indicative of the loss of power or loss of the UAV is obtained by detecting whether the UAV has lost power or lost part of the power.

Optionally, receiving a signal sent by the external device indicating that the UAV lost power or lost part of the power.

Optionally, when the load is separated from the unmanned aerial vehicle, the parachute loaded on the load is opened.

Optionally, the unmanned aerial vehicle is controlled to use a residual power to make a forced landing.

A fourth aspect of the invention provides a method of controlling an unmanned aerial vehicle, comprising:

Sending, when the acquisition module acquires a signal that the UAV loses or loses part of the power, a signal that the UAV loses or loses part of the power to a load mounted on the UAV, the signal is used for Instructing the load mounted on the UAV to complete separation from the UAV.

A fifth aspect of the present invention provides an apparatus for landing control, including

a memory for storing program instructions;

a processor, configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor acquires a signal indicating that the unmanned aircraft loses power or loses part of the power, and when the signal is acquired, according to the preset The policy controls the load mounted on the UAV to be separated from the UAV such that the load and the UAV are forced to drop, respectively.

Optionally, the processor is specifically configured to: when the signal is acquired, issue a control command to release a mechanical connection between the load and the UAV, such that the load and the unmanned The aircraft is separated.

Optionally, the processor is specifically configured to acquire a signal indicating that the unmanned aircraft loses power or loses part by detecting whether the unmanned aerial vehicle loses power or loses part of power.

Optionally, a communication interface is further configured to receive, by the external device, a signal indicating that the UAV loses power or loses part of power, and the processor is specifically configured to acquire the signal from the communication interface.

Optionally, the processor is configured to open a parachute loaded on the load when the load is separated from the unmanned aerial vehicle.

Optionally, the processor is configured to control the unmanned aerial vehicle to use a residual power to perform a forced landing.

A sixth aspect of the present invention provides an apparatus for controlling an unmanned aerial vehicle, including

a memory for storing program instructions;

a processor, configured to execute the program instructions stored in the memory, when the program instruction is executed, the processor acquires a signal that the UAV loses or loses part of the power, and is mounted on the UAV The load on the transmission transmits a signal that the UAV loses or loses part of the power, the signal being used to indicate that the device mounted on the UAV completes the separation from the UAV.

Optionally, the communication interface is configured to receive a signal sent by the external device, indicating that the unmanned aircraft loses power or loses part of the power, and the processor is specifically configured to obtain from the communication interface. The signal.

A seventh aspect of the invention provides an unmanned aerial vehicle comprising: a power system and the apparatus for controlling a forced landing described in the above fifth aspect.

An eighth aspect of the invention provides a load mounted on an unmanned aerial vehicle, comprising: a parachute and the apparatus for controlling a forced landing described in the above fifth aspect.

A ninth aspect of the invention provides an unmanned aerial vehicle comprising: a power system and the apparatus for controlling an unmanned aerial vehicle according to the sixth aspect described above.

In the embodiment of the present invention, when the unmanned aerial vehicle loses power, the unmanned aerial vehicle and the load are separated, and the unmanned aerial vehicle and the load are independently forced to descend. The unmanned aerial vehicle and the load adopt different forced landing strategies to effectively ensure the unmanned aerial vehicle. And the safety of the load during the forced landing, further Reduce the property and personal injury that unmanned aerial vehicles may cause during the forced landing process and improve the safety of the use of unmanned aerial vehicles.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings which are used in the description of the embodiments of the present invention will be briefly described. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic diagram of an unmanned aerial vehicle system 100 in accordance with an embodiment of the present invention;

2 is a schematic diagram of separating an unmanned aerial vehicle from a load in an embodiment of the present invention;

3 is a schematic diagram of an unmanned aerial vehicle utilizing residual power forced landing and load using a parachute for forced landing in an embodiment of the present invention;

4 is a schematic diagram of a device 400 for controlling a forced landing or a device for controlling an unmanned aerial vehicle 400 according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a control landing device 400 according to still another embodiment of the present invention; FIG.

6 is a flow chart of a method for controlling a forced landing in an embodiment of the present invention;

7 is a flow chart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 8 is a structural diagram of an apparatus 800 for controlling a forced landing or controlling an unmanned aerial vehicle apparatus 800 according to an embodiment of the present invention;

9 is a structural diagram of an apparatus 800 for controlling a forced landing or controlling an unmanned aerial vehicle apparatus 800 according to still another embodiment of the present invention;

FIG. 10 is a structural diagram of an apparatus 800 for controlling a forced landing according to still another embodiment of the present invention;

detailed description

The invention provides a forced landing control device, method and device, and the UAV, the load and the storage medium can completely isolate the interaction between the UAV and the load during the forced landing process, and simultaneously improve the UAV and the UAV during the forced landing process. With the forced landing success rate of the load, the present invention provides a more flexible and safer forced landing strategy. Specifically, when the UAV loses power or loses part of the power, it allows separation of the UAV and the load during the forced landing, so that the load and the UAV are independently forced to descend, and further provides separation of the load and the UAV. After that, the unmanned aerial vehicle and the load each adopt different forced landing strategies, the load is forced to descend by the parachute, and the unmanned aerial vehicle uses the residual power to make the forced landing. On the one hand, separating the load from the unmanned aerial vehicle can effectively reduce the side of the unmanned aerial vehicle. Weight, avoiding the further consumption of flight power by the load, the UAV better uses the residual power to make a forced landing, increasing the recovery success rate of the UAV; on the other hand, separating the load from the UAV to prevent loss of power or loss Partially powered unmanned aerial vehicles generate high-speed spins that damage the load placed on the unmanned aerial vehicle. When the load is forced to descend using a parachute, separating the load from the unmanned aerial vehicle can effectively avoid the unmanned aerial vehicle during the forced landing. Some components (such as propellers, tripods, etc.) are wound around the parachute rope of the load to cause a forced landing failure, which can effectively increase the recovery success rate of the load. Therefore, this strategy can simultaneously increase the recovery success rate of loads and unmanned aerial vehicles during the forced landing process.

The following description of the invention uses a multi-rotor drone as an example of an unmanned aerial vehicle. It will be apparent to those skilled in the art that other types of unmanned aerial vehicles can be used without limitation.

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

1 is a schematic diagram of an embodiment of an unmanned aerial vehicle system 100 provided by the present invention. The UAV system 100 includes an unmanned aerial vehicle 101 and a load 102 mounted on the unmanned aerial vehicle. Although UAV 101 is described as a multi-rotor UAV, such description is not limiting, and those skilled in the art will appreciate that any type of UAV is suitable.

The load is a device that implements a specific function, such as implementing a shooting function, implementing a detection function, and realizing an agricultural operation function, and is not specifically limited herein, and a common load may be a shooting device, an infrared device, a radar device, a spraying device. And its combination with a carrier such as a suspension or a pan/tilt. In some embodiments, the load 102 mounted on the unmanned aerial vehicle can be directly located in the unmanned On the aircraft 101, alternatively, the load 102 mounted on the unmanned aerial vehicle may further include a carrier connected to the unmanned aerial vehicle 101, such as a suspension, a pan/tilt head, etc.; wherein the carrier may be an unmanned aerial vehicle Mechanically connected with the load, and the carrier may also include a corresponding power mechanism, and the power structure can receive the control signal and perform corresponding control on the load, for example, adjusting the angle of the load;

The unmanned aerial vehicle 101 may include a power system that provides flight power to the unmanned aerial vehicle, and may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles, motors, engines, jets. Engine, etc. For example, the rotating body of the power system may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The unmanned aerial vehicle 101 can have one or more power systems. All power systems can be of the same type. Alternatively, one or more of the power systems can be of different types. The power system can be mounted on the UAV 101 by suitable means, such as by a support element (such as a drive shaft). The powertrain can be mounted at any suitable location on the UAV 101, such as the top, bottom, front, rear, side, or any combination thereof.

In certain embodiments, the powertrain can cause the UAV 101 to take off vertically from the surface, or land vertically on the surface, without requiring any horizontal movement of the UAV 101 (eg, without taxiing on the runway). Alternatively, the power system may allow the UAV 101 to hover in a preset position and/or direction in the air. One or more power systems may be independent of other power systems when controlled. Alternatively, one or more of the power systems can be controlled simultaneously. For example, the UAV 101 may have multiple horizontally rotating bodies to track the lifting and/or pushing of the target. The horizontally rotating body can be actuated to provide the ability of the UAV 101 to take off vertically, vertically, and spiral. In some embodiments, one or more of the horizontally rotating bodies may be rotated in a clockwise direction, while the other one or more of the horizontally rotating bodies may be rotated in a counterclockwise direction. For example, the number of rotating bodies rotating clockwise is the same as the number of rotating bodies rotating counterclockwise. The rate of rotation of each horizontally rotating body can be varied independently to achieve the lifting and/or pushing operation caused by each rotating body, thereby adjusting the spatial orientation, velocity and/or acceleration of the UAV 101 (eg, relative to Three degrees of freedom of rotation and translation).

The UAV 101 may also include a sensing system that may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of the UAV 101 (eg, relative to up to three degrees of freedom) And translation), angular acceleration, attitude, position (absolute position or relative position), etc. The one or more sensors include any of the sensors described above, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Alternatively, the sensing system can also be used to collect environmental data of the UAV, such as climatic conditions, potential obstacles to be approached, location of geographic features, location of man-made structures, and the like.

In addition, the unmanned aerial vehicle 101 may include a tripod that is a contact between the unmanned aerial vehicle 101 and the ground when the unmanned aerial vehicle 101 is landed, and the tripod may be an unmanned aerial vehicle in flight (eg, the unmanned aerial vehicle is cruising) When it is closed, it will be put down when landing; it can also be fixedly installed on the unmanned aerial vehicle, and it is always in the state of being laid down.

The UAV system 100 may be capable of communicating with the external device 103, enabling data interaction with the UAV system 100, such as flight control of the UAV 101, control of the load (when the load is a shooting control, the external device) 103 can control the photographing device), wherein the external device 103 can communicate with the UAV 101 and/or the load 102, and the communication between the UAV system 100 and the external device 103 can be wireless communication, which can be in the UAV 101 Direct communication is provided with the external device 103. This direct communication can occur without any intermediate device or network. Indirect communication can be provided between the UAV system 100 and the external device 103. This indirect communication can occur by means of one or more intermediate devices or networks. For example, indirect communication can utilize a telecommunications network. Indirect communication can occur by means of one or more routers, communication towers, satellites, or any other intermediary device or network. Examples of communication types may include, but are not limited to, communication via: Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth, Near Field Communication (NFC) technology, based on, for example, General Packet Radio Service (GPRS), GSM, enhanced a data GSM environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocol for mobile data protocol networks, infrared (IR) communication technologies, and/or Wi-Fi, and may be wireless, wired, or Its combination.

The external device 103 can be any type of external device. Examples of external device 103 may include, but are not limited to, a smart phone/mobile phone, a tablet, a personal digital assistant (PDA), a knee Computers, desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices (eg, watches, glasses, gloves, headwear (eg, hats, helmets, virtual reality headsets) Headphones, augmented reality headphones, head mounted devices (HMD), headbands, pendants, armbands, leg loops, shoes, vests), gesture recognition devices, microphones, any electronic device capable of providing or rendering image data, or Any other type of device. The external device 103 can be a handheld object. The external device 103 can be portable. The user terminal can be carried by a human user. In some cases, the external device 103 can be remote from the human user and the user can control the external device 103 using wireless and/or wired communication. Various different examples, and/or features of the external device 103 are provided in more detail elsewhere herein.

During the unmanned aerial vehicle 101 carrying the load 102 in the unmanned aerial vehicle, various faults may occur, causing the unmanned aerial vehicle 101 to lose power or lose part of the power, wherein the fault type may be a mechanical fault, such as the unmanned aerial vehicle 101 being in flight. The process, one or more of the propellers break due to the fatigue effect of the material, or during the flight, the propeller of the UAV 101 collides with an external object to cause the blade to be broken or broken; the type of failure may be an electrical fault, such as In the unmanned aerial vehicle, the motor that drives the propeller rotates, such as short circuit or open circuit, causing the motor to fail to work normally, and the power cannot be output, or the battery of the unmanned aerial vehicle that provides the power supply fails, and the power supply cannot be externally outputted;

An embodiment of the present invention is schematically depicted in FIG. 2, in which one of the blades of the four propellers of the UAV is broken, and the blade is not working properly, and the broken blade cannot perform normal flight power output. Moreover, the broken blade rotation may cause the flying UAV to behave abnormally. When this happens, the UAV can be considered to lose power or lose some of its power.

When the unmanned aerial vehicle 101 loses power or loses part of the power, the power system thrust ratio of the unmanned aerial vehicle 101 may be insufficient, and the flight direction and/or flight attitude may be uncontrollable. In this case, in order to be able to recover the unmanned aerial vehicle 101 and the load 102, it is ensured as much as possible. The safety of the UAV 101 and the load 102 requires a forced landing of the UAV 101 and the load 102.

When the unmanned aerial vehicle 101 loses power or loses part of the power, the mechanical connection between the unmanned

aerial vehicles

101 and 102 can be released according to a preset strategy, so that the unmanned aerial vehicle 101 Separating from the load 102, the UAV 101 and the load 102 are each independently forced to descend, so that the separation forced landing can effectively avoid the interaction between the UAV 101 and the load 102 during the forced landing. Specifically, in FIG. 2, since one of the four blades of the UAV is broken and the power output cannot be performed, when the other three blades are still capable of normal operation, the unmanned aerial vehicle may be unbalanced due to the torque imbalance. High-speed spins are generated, and unmanned aircraft spins can drive the load spins that are mounted under the belly of the UAV, which can damage external or internal components of the load and can also damage the load and the UAV. Precision carrier (such as a gimbal, etc.). When it is judged that the unmanned aerial vehicle loses power or loses part of the power, the unmanned aerial vehicle with uncontrollable heading and/or attitude can be effectively prevented from injuring the load and protecting the safety of the load.

The residual power is the flight power provided by the power system that can still work normally in the unmanned aerial vehicle when the unmanned aerial vehicle loses part of the power. Residual power provides a push-to-weight ratio that is insufficient. Because of the heavy weight of the UAV and the load as a whole, the residual power provided by the power system often cannot bring the UAV and load back to the ground at the same time. In Figure 3, since the UAV is separated from the load, the UAV no longer mounts the load, reducing the weight of the UAV side. At this time, the residual power is only used to force the UAV to land, avoiding the forced landing process. The further consumption of residual power by the medium load effectively reduces the speed of the UAV when it contacts the ground and the impact of the ground on the UAV, ensuring the safety of the UAV during the forced landing.

In addition, in FIG. 3, when the unmanned aerial vehicle is separated from the load, the load is forced to descend using the parachute. Since the unmanned aerial vehicle is separated from the load, when the loaded parachute is opened, the unmanned aerial vehicle does not wrap around the parachute of the load parachute. The forced landing load uses the parachute to perform the forced landing action, which can effectively ensure the load safety. On the other hand, since the parachute only needs to make a forced landing of the load, it does not need too much umbrella area, and can effectively reduce the payload of the unmanned aerial vehicle. Consumption. Using this strategy can simultaneously ensure the safety of the UAV and the load, while improving the success rate of the UAV and load during the forced landing.

As shown in FIG. 4, an embodiment of the present invention provides a device 400 for landing control, including:

The obtaining module 401 is configured to acquire a signal indicating that the UAV loses power or loses part of the power.

Among them, during the flight, the unmanned aerial vehicle may be in the process of losing the power or losing part of the power due to the failure of the unmanned aerial vehicle. Please refer to the foregoing section, and the details are not described here; or the user observes that the unmanned aerial vehicle is abnormal. The flight state or the like, such as the rapid landing of the UAV, the drastic rotation of the UAV, etc.; when the above situation occurs, the acquisition module 401 acquires a signal indicating that the UAV loses power or loses part of the power.

The control module 402 is configured to: when the acquiring module acquires a signal indicating that the UAV 101 loses power or loses part of power, controls a load mounted on the UAV according to a preset policy, and the The unmanned aerial vehicle is separated such that the load and the unmanned aerial vehicle are forced to descend, respectively. Among them, the reasons for separating the UAV from the load and the specific explanation are as described in the foregoing section, and are not described here.

In another embodiment, according to FIG. 4, an embodiment of the present invention provides an apparatus 400 for controlling an unmanned aerial vehicle, including:

The obtaining module 401 is configured to acquire a signal indicating whether the unmanned aircraft loses power or loses part of the power;

Among them, during the flight, the unmanned aerial vehicle may be in the process of losing the power or losing part of the power due to the failure of the unmanned aerial vehicle. Please refer to the corresponding part above, and no further details are mentioned here; or the user observes that the UAV is in Abnormal flight state, etc., such as rapid landing of the UAV, violent rotation of the UAV, etc.; when the above situation occurs, the acquisition module 401 acquires a signal indicating that the UAV loses power or loses part of the power.

The control module 402 is configured to: when the acquiring module acquires a signal that the UAV loses or loses part of the power, send a signal that the UAV loses or loses part of the power to a load mounted on the UAV The signal is used to indicate that the device mounted on the UAV completes separation from the UAV.

Wherein, the device 400 for controlling the unmanned aerial vehicle is disposed on the unmanned aerial vehicle. When the acquisition module acquires a signal that the unmanned aerial vehicle loses or loses part of the power, the control module sends a signal to the load indicating that the unmanned aerial vehicle loses power or loses. Part of the power signal, after receiving the signal, the load will control the corresponding components, remove the mechanical connection between the UAV and the load, and complete the separation of the load from the UAV.

Further, in some embodiments, as shown in FIG. 5, the control module 402 further includes a separation unit 403, where the separation unit 403 is configured to acquire the unmanned aerial vehicle 101 when the acquisition module 401 acquires When the power or the signal of partial power is lost, the mechanical connection of the load to the UAV is released, so that the load is separated from the UAV. Wherein, when the acquisition module 401 acquires a signal that the UAV 101 loses power or loses part of the power, the separation 403 issues a control command to the mechanical connection component between the UAV 101 and the load 102, the mechanical connection component In response to the control command, the mechanical connection of the UAV 101 and the load 102 is released.

In some embodiments, the control module 402 includes a separation unit 403 for opening the location when the acquisition module acquires a signal indicating that the UAV 101 loses power or loses partial power. The parachute of the load 102 causes the load 102 to be separated from the unmanned aerial vehicle 102. Wherein, when the acquisition module acquires a signal indicating that the UAV 101 loses power or loses part of the power, the separation unit 403 issues a control command to the component that controls the opening of the parachute, the control command is used to open the parachute, When the parachute is opened, a large impact force is generated, by which the load 102 is separated from the unmanned aerial vehicle 101.

In some embodiments, the acquisition module 401 is specifically configured to acquire a signal indicating that the UAV loses power or loses part by detecting whether the UAV loses power or loses part of the power. Wherein, during the flight of the unmanned aerial vehicle 101, the acquisition module 401 detects the unmanned aerial vehicle 101, determines whether the unmanned aerial vehicle 101 loses power or loses part of the power, and when determining that the unmanned aerial vehicle 101 loses power or loses part of the power. The acquisition module 401 obtains a signal indicating that the UAV 101 lost or lost part of the power. The acquisition module 401 can detect whether the UAV loses power or loses part of the power through various ways, such as detecting the working state of the power system, detecting the motion state of the UAV, and detecting whether the flight controller of the UAV is external to the device. The transmitted flight control signal (the heading control signal, the attitude control signal) responds, etc., which will be described in detail below.

In some embodiments, the obtaining module 401 is configured to receive an indication sent by an external device. The UAV 101 loses power or loses some of its power signal. For the explanation of the external device, please refer to the foregoing section, and details are not described herein again. When the UAV 101 is within the user's visual range, the user observes that the UAV 101 loses or loses part of the power, such as the individual propeller of the UAV is broken or broken, and the individual motors of the UAV are not working properly, The individual engines of the UAV 101 are not working properly, the UAV 101 is in a flight attitude abnormality, the UAV 101 is falling fast, the UAV is spinning, etc., and the user sends an indication to the device 400 for controlling the landing by the external device. The human aircraft 101 loses power or loses part of the power signal; wherein the signal is used to indicate that the load 102 is separated from the unmanned aerial vehicle 101, and when the acquisition module 401 receives the signal, the control module 402 controls the preset according to the preset. The strategy controls the load mounted on the UAV to be separated from the UAV. Optionally, the control module 402 may further include a sending unit, when the acquiring module 401 detects that the unmanned aircraft loses power or loses part of the power, the external device 103 receives the device 400 for controlling the forced landing or the device for controlling the unmanned aerial vehicle. When the sending unit of the 400 sends a signal indicating that the unmanned aerial vehicle 101 loses power or loses part of the power, the signal is displayed on the interactive interface of the external device, prompting the user to perform the next operation, and the user decides whether to take the unmanned aerial vehicle. The 101 is separated from the load 102 row, and the user can send a signal indicating that the UAV 101 loses power or loses part of the power to the landing device 400 or the device 400 that controls the UAV through an interactive interface, and the receiving unit receives the At the time of the signal, the control module 402 controls the load 102 mounted on the unmanned aerial vehicle 101 to be separated from the unmanned aerial vehicle 101 according to a preset policy, so that the load 102 and the unmanned aerial vehicle 101 are respectively forced to descend.

In some embodiments, the obtaining module 401 is specifically configured to determine whether the unmanned aerial vehicle 101 loses power or loses part of power by detecting an operating state of the power system of the unmanned aerial vehicle 101. The obtaining module 401 monitors and detects the working state of the power system, and determines whether the unmanned aircraft loses power or loses part of the power according to the working state of the power system. For example, the acquiring module 401 acquires each of the unmanned aerial vehicles 101. Providing a feedback signal of the working state of the flying power motor, and the obtaining module 401 passes the feedback signal It is judged whether each motor is working normally. If one or more motors are not working properly, the acquisition module determines that the unmanned aerial vehicle 101 loses or loses part of the power.

In some embodiments, the obtaining module 401 is specifically configured to detect the motion state of the UAV 101 to determine whether the UAV 101 loses power or loses part of the power. Among them, the motion state of the unmanned aerial vehicle 101 is related to whether the unmanned aerial vehicle loses power or loses power. When the unmanned aerial vehicle loses power or loses part of the power, the unmanned aerial vehicle cannot realize the unmanned air due to the loss of power control. The control of the motion state of the aircraft will cause the UAV to be in an abnormal state of motion. Therefore, it is possible to detect whether the UAV has lost power or lost part of its power by detecting the motion state of the UAV. The motion state of the unmanned aerial vehicle 101 includes one or more of the speed of the unmanned aerial vehicle 101, the acceleration of the unmanned aerial vehicle 101, and the posture of the unmanned aerial vehicle 101.

As a specific embodiment, the acquiring module 401 is specifically configured to detect the speed of the unmanned aerial vehicle 101, and when the speed of the unmanned aerial vehicle 101 is greater than a preset speed threshold, determine the unmanned aerial vehicle. 101 loses power or loses some power.

As a specific embodiment, the acquiring module 401 is specifically configured to detect an acceleration of the unmanned aerial vehicle 101, and when the acceleration of the unmanned aerial vehicle 101 is greater than a preset acceleration threshold, determine the unmanned aerial vehicle. 101 loses power or loses some power.

As a specific embodiment, the acquiring module 401 is specifically configured to detect a roll angle or a pitch angle of the unmanned aerial vehicle 101 when the roll angle or the pitch angle of the unmanned aerial vehicle 101 is greater than a preset angle threshold. At this time, it is judged that the UAV 101 loses power or loses part of the power. Wherein, when the unmanned aerial vehicle 101 loses or loses part of the power, the unmanned aerial vehicle 101 may be in an abnormal posture, such as the nose of the unmanned aerial vehicle facing the ground, etc., and the roll angle or the elevation angle of the unmanned aerial vehicle 101 may be used to judge no Whether the human aircraft is in a normal posture, and thereby judging that the UAV 101 loses or loses part of the power.

In some embodiments, the obtaining module 401 is specifically configured to determine, according to the dynamic model observer, whether the UAV 101 loses power or loses part of the power.

Wherein, the device 400 for controlling the forced landing may be located on the unmanned aerial vehicle 101, and the above The device 400 for controlling the forced landing may also be located on the load 102 mounted on the unmanned aerial vehicle 101.

Wherein, when the above-mentioned forced landing control device 400 is located on the unmanned aerial vehicle 102, the acquisition module 401 is configured to acquire, by detecting whether the unmanned aerial vehicle 101 loses power or loses part of the power, to indicate that the unmanned aerial vehicle 101 loses power or loses partial power. In addition, the acquisition module 401 further includes receiving a signal transmitted by the external device indicating that the UAV 101 loses power or loses part of the power.

When the above-mentioned forced landing control device 400 is located on the load 102, the acquisition module 401 is configured to acquire a signal indicating that the UAV 101 loses power or loses part of power by detecting whether the UAV 101 loses power or loses part of the power; Optionally, the obtaining module 401 is configured to receive, by the receiving unit, a signal sent by the external device that indicates that the UAV 101 loses power or loses part of the power; optionally, the acquiring module is further configured to receive by the UAV 101. The transmitted signal indicating that the unmanned aerial vehicle 101 loses power or loses part of the power, wherein when the unmanned aerial vehicle 101 detects loss of power or loses part of the power, the unmanned aerial vehicle 101 sends a command to the device 400 that controls the forced landing that the unmanned aerial vehicle 101 loses power. Or a signal that loses part of the power, the acquisition unit 401 acquires the signal.

In some embodiments, as shown in FIG. 5, the control module 402 further includes a load forced-down unit 404 for opening a parachute loaded on the load. Wherein, as shown in FIG. 4, when the unmanned aerial vehicle 101 is separated from the load 102, the load forced landing unit 404 opens the parachute. At this time, the load 102 uses the parachute to make a forced landing, and reduces the load on the ground when the load 102 falls. The impact force of 102 increases the recovery success rate of the load 102.

In some embodiments, the load shedding unit 404 is specifically configured to open the parachute when the preset motion state of the load 102 is detected after the load 102 is separated from the unmanned aerial vehicle 101.

As a specific embodiment, the motion state includes a speed of the load 102, and the load forced-down unit 404 is specifically configured to: when the load 102 is separated from the unmanned aerial vehicle 101, when the acquiring module 401 detects The parachute is opened when the speed to the load 102 is greater than or equal to a preset speed threshold. Wherein, when the load 102 is separated from the UAV 101, the load is free to fall, and the acquisition module is further configured to detect the current speed of the load 102 when the load When the speed of 102 is greater than or equal to the preset speed threshold, at this time, when the speed of the load 102 reaches the preset motion speed, the load 102 and the unmanned aerial vehicle have been separated and moved for a distance, and the load forced landing unit The 404 opens the parachute so that certain components of the UAV do not wrap around the parachute cord, and the load 102 can be secured with a parachute for forced landing.

As a specific embodiment, the motion state includes an acceleration of the load 102, and the load forced landing unit 404 is specifically configured to: when the load 102 is separated from the unmanned aerial vehicle 101, when the acquisition module When the 401 detects that the acceleration of the load 102 is greater than or equal to a preset acceleration threshold, the parachute is opened.

In some embodiments, the load shedding unit 404 is specifically configured to open the parachute after falling a predetermined distance or after falling for more than a preset time. After the load 102 and the UAV 101 complete the separation, after the load 102 falls over a preset distance or the load 102 falls for more than a preset time, the load forced unit 404 opens the The parachute of the load 102, here also to prevent some parts of the UAV from winding the loaded parachute cord, causes the load to fail, and will not be described here.

In some embodiments, as shown in FIG. 5, the control module 402 further includes an unmanned aircraft forced landing unit 405 for controlling the UAV 101 to use a residual power for a forced landing. Among them, the residual power is the flight power provided by the power system that can still work normally in the unmanned aerial vehicle 101 when the unmanned aerial vehicle 101 loses part of the power. As shown in FIG. 5, after the unmanned aerial vehicle 101 is separated from the load 102, the unmanned aerial vehicle 101 continues to fly or performs a forced landing using residual power, for example, one or more of the motors that provide flight power in the multi-rotor unmanned aerial vehicle. Unable to work properly, such as motor jam, motor short circuit, etc., UAV 101 uses the flight power provided by the normal working motor, which can also support the UAV to continue flying or perform forced landing; when the multi-rotor unmanned aerial vehicle When some of the rotors that provide flight power are not working properly, such as rotor breaks, rotor bends, etc., the UAV 101 continues to fly or perform a forced landing using the flight power provided by the normally functioning rotor.

In some embodiments, the UAV forced landing unit 405 is configured to control the power system of the UAV such that the UAV spins to level the body of the UAV 101. When the unmanned aerial vehicle 101 loses part of the power, when the power system provides the flight When the power is sufficient to support the heading control of the unmanned aerial vehicle 101, the unmanned aerial vehicle landing unit 405 controls the power system of the unmanned aerial vehicle to maintain the level of the unmanned aerial vehicle 101, continue flying or perform a forced landing.

In some embodiments, the UAV forced landing unit 405 is configured to control the power system of the UAV 101 such that the UAV 101 spins to level the body of the UAV 101. . When the unmanned aerial vehicle 101 loses part of the power, when the flight power provided by the power system is insufficient to support the heading control of the unmanned aerial vehicle 101, the unmanned aircraft landing unit 405 controls the power system so that the unmanned aerial vehicle 101 spins, so that The body of the human aircraft 101 tends to be horizontal.

In some embodiments, the UAV forced landing unit 405 is further configured to control the tripod of the UAV 101 to absorb the landing impact of the UAV. Wherein, during the forced landing of the unmanned aerial vehicle 101, the unmanned aerial vehicle landing unit 405 controls the tripod of the unmanned aerial vehicle, so that the tripod is in a lowered state, and the landing impact of the unmanned aerial vehicle 101 is absorbed by the tripod to avoid the unmanned aerial vehicle. The other components of 101 cause damage and increase the success rate of unmanned aerial vehicles.

As shown in FIG. 6, the embodiment of the present invention provides a method for forced landing control, including:

S601: Acquire a signal indicating whether the UAV loses power or loses part of the power.

Wherein, during the flight, the unmanned aerial vehicle 101 may be in the event of loss of power or partial power loss due to the failure of the unmanned aerial vehicle. Here, please refer to the foregoing part, and details are not described herein; or the user observes that the unmanned aerial vehicle 101 is in An abnormal flight state or the like, such as a rapid fall of the unmanned aerial vehicle 101, a drastic rotation of the unmanned aerial vehicle, etc.; when the above situation occurs, the acquisition module 401 acquires a signal indicating that the unmanned aerial vehicle loses power or loses part of the power.

S602: When: obtaining a signal indicating that the UAV loses power or loses part of the power, the load mounted on the UAV is controlled to be separated from the UAV according to a preset policy, so that The load and the unmanned aerial vehicle are forced to drop respectively. The reason for separating the unmanned aerial vehicle 101 and the load and the specific explanation are as described in the foregoing, and are not described here.

In some embodiments, when the signal that the UAV 101 loses power or loses part of the power is acquired, the mechanical connection of the load 102 to the UAV 101 is released, The load 102 is separated from the UAV 101.

In some embodiments, the parachute of the load 102 is opened when the signal indicating that the UAV 101 is losing power or losing part of the power is acquired, such that the load 102 is separated from the UAV 102.

In some embodiments, a signal indicative of the loss or loss of power of the UAV is obtained by detecting whether the UAV 101 loses power or loses some of its power.

In some embodiments, a signal transmitted by the external device indicating that the UAV 101 loses power or loses partial power is received.

In some embodiments, the operational state of the power system of the UAV 101 is detected to determine whether the UAV 101 loses power or loses partial power.

In some embodiments, the motion state of the UAV 101 is detected to determine whether the UAV 101 loses power or loses partial power. The motion state of the unmanned aerial vehicle 101 includes one or more of the speed of the unmanned aerial vehicle 101, the acceleration of the unmanned aerial vehicle 101, and the posture of the unmanned aerial vehicle 101.

As a specific embodiment, the speed of the unmanned aerial vehicle 101 is detected, and when the speed of the unmanned aerial vehicle 101 is greater than a preset speed threshold, it is determined that the unmanned aerial vehicle 101 loses power or loses part of the power.

As a specific implementation manner, detecting the acceleration of the unmanned aerial vehicle 101, when the acceleration of the unmanned aerial vehicle 101 is greater than a preset acceleration threshold, determining that the unmanned aerial vehicle 101 loses power or loses part of the power.

As a specific implementation manner, detecting a roll angle or a pitch angle of the unmanned aerial vehicle 101, when the roll angle or the pitch angle of the unmanned aerial vehicle 101 is greater than a preset angle threshold, determining the unmanned aerial vehicle 101 Lose power or lose some power.

In some embodiments, the UAV 101 is determined to lose power or lose some of its power based on a dynamic model observer. Among them, by establishing an observer model of the power system, according to the input estimation of the system or the output of the prediction system, the fault is detected according to the actual output of the system and the residual of the estimated value.

In some embodiments, the parachute loaded on the load is opened. Wherein, as shown in FIG. 4, when the UAV 101 is separated from the load 102, the parachute is opened, at this time, The load 102 uses a parachute to make a forced landing, reducing the impact of the load on the load 102 when the load 102 falls, and increasing the recovery success rate of the load 102.

In some embodiments, after the load 102 is separated from the UAV 101, the parachute is opened when a predetermined motion state of the load 102 is detected.

As a specific implementation manner, the motion state includes a speed of the load 102, and after the load 102 is separated from the unmanned aerial vehicle 101, when the speed of the load 102 is detected to be greater than or equal to a preset speed threshold. When the parachute is opened.

As a specific implementation manner, the motion state includes an acceleration of the load 102, and after the load 102 is separated from the unmanned aerial vehicle 101, when the acceleration of the load 102 is detected to be greater than or equal to a preset When the acceleration threshold is reached, the parachute is turned on.

In some embodiments, the parachute is opened after a predetermined distance has been dropped, or after a predetermined time has elapsed.

In some embodiments, after the load is separated from the unmanned aerial vehicle, the unmanned aerial vehicle 101 is controlled to use a residual power to make a forced landing.

In some embodiments, the power system of the UAV is controlled such that the UAV spins, causing the body of the UAV 101 to level. When the unmanned aerial vehicle 101 loses part of the power, the power provided by the power system is sufficient to support the heading control of the unmanned aerial vehicle 101, the power system of the unmanned aerial vehicle is controlled, the body of the unmanned aerial vehicle 101 is maintained horizontally, and the flight or execution is continued. Forced to drop.

In some embodiments, the power system of the UAV 101 is controlled such that the UAV 101 spins, causing the body of the UAV 101 to level. When the unmanned aerial vehicle 101 loses part of the power, the power provided by the power system is insufficient to support the heading control of the unmanned aerial vehicle 101, the power system of the unmanned aerial vehicle 101 is controlled, so that the unmanned aerial vehicle 101 spins, so that the unmanned aerial vehicle The body of 101 tends to be level.

In some embodiments, the stand of the UAV 101 is controlled to absorb the landing impact of the UAV. Wherein, during the forced landing of the unmanned aerial vehicle 101, the tripod of the unmanned aerial vehicle is controlled, the tripod is placed in a lowered state, and the landing impact of the unmanned aerial vehicle 101 is absorbed by the tripod to avoid damage to other components of the unmanned aerial vehicle 101. Increase the success rate of forced landing.

Specifically, the specific explanation and implementation of the steps of the method for controlling the forced landing provided by the present invention Reference may be made to the corresponding portions of all the technical features disclosed in the above FIGS. 1-3 and the corresponding modules, functions and steps in the device for controlling the forced landing disclosed in FIGS. 4-5, and details are not described herein again.

Embodiments of the present invention provide a computer storage medium having stored therein program instructions, the computer storage medium storing program instructions, the program executing the method of controlling the forced landing.

As shown in FIG. 7, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle.

S701: acquiring a signal that the unmanned aerial vehicle loses power or loses part of the power;

S702: transmitting, when the unmanned aerial vehicle loses power or losing part of the power signal, a signal that the unmanned aerial vehicle loses or loses part of the power to a load mounted on the unmanned aerial vehicle;

The signal is used to indicate that the device mounted on the UAV completes separation from the UAV.

In some embodiments, a signal indicative of the loss or loss of power of the UAV is obtained by detecting whether the UAV has lost power or lost some of its power.

In some embodiments, a signal transmitted by the external device indicating that the UAV has lost power or lost partial power is received.

Specifically, the specific explanation and implementation of the steps of the method for controlling the unmanned aerial vehicle provided by the present invention may refer to the corresponding part of all the technical features disclosed in FIG. 1 above and the corresponding module in the device for controlling the unmanned aerial vehicle disclosed in FIG. The description of the functions, steps and steps will not be repeated here.

For a specific explanation and implementation of the steps of the method for controlling the unmanned aerial vehicle provided by the present invention, reference may be made to the description of the corresponding modules, functions, and steps in the apparatus for controlling the unmanned aerial vehicle, and details are not described herein.

As shown in FIG. 8, the embodiment of the present invention provides a schematic structural diagram of a device 800 for controlling a forced landing, including a processor and a memory;

a memory 801, configured to store program instructions;

a processor 802, configured to execute program instructions stored by the memory 801, when the program instructions When executed, the processor 802 acquires a signal indicating that the unmanned aircraft loses power or loses part of the power, and when the signal is acquired, controls the load and the mounted on the unmanned aerial vehicle according to a preset policy. The unmanned aerial vehicle is separated such that the load and the unmanned aerial vehicle are forced to descend separately.

In another embodiment, as shown in FIG. 8, an embodiment of the present invention provides an apparatus 800 for controlling an unmanned aerial vehicle, including:

a memory 801, configured to store program instructions;

a processor 802, configured to execute the program instructions stored in the memory, when the program instruction is executed, when the processor acquires a signal that the UAV loses or loses part of the power, the processor is mounted on the unmanned The load on the aircraft transmits a signal that the UAV loses or loses some of its power, the signal being used to indicate that the device mounted on the UAV completes the separation from the UAV.

Further, based on the embodiment provided in FIG. 8, in some embodiments, the processor 802 is specifically configured to issue a control command to release the load and the unmanned when the signal is acquired. A mechanical connection between the aircraft causes the load to be separated from the UAV.

In some embodiments, the processor 802 is specifically configured to issue a control command to open the parachute of the load when the signal is acquired, so that the load is separated from the unmanned aerial vehicle.

In some embodiments, the processor 802 is specifically configured to obtain a signal indicating that the UAV loses power or loses part by detecting whether the UAV loses power or loses part of the power.

As shown in FIG. 9, in some embodiments, the communication interface 803 receives a signal sent by an external device indicating that the UAV loses power or loses part of the power, and the processor 802 is specifically configured to The communication interface 803 acquires the signal. The device 500 for controlling the forced landing further includes a communication interface 803. The communication interface 803 receives a signal sent by the external device to indicate that the UAV loses or loses part of the power, and the processor 802 can obtain the signal from the communication interface 803. When the UAV is within the user's visible range, the user observes that the UAV lost or lost part of the power, such as the individual propeller of the UAV is broken or broken, the individual motors of the UAV are not working properly, no one Individual engine of the aircraft The normal operation of the method, the abnormal flight attitude of the UAV, the rapid fall of the UAV, the spin of the UAV, etc., the user sends an indication to the device 800 for controlling the landing by the external device that the UAV loses power or loses part of the power. Signal; optionally, when the processor 802 detects that the UAV loses power or loses part of the power, the external device receives the communication sent by the communication interface 803 of the device that is forced to drop, indicating that the UAV loses power or loses part of the power. When the signal is received, the signal is displayed on the interactive interface of the external device, prompting the user to perform the next operation, and the user decides whether to separate the unmanned aerial vehicle from the load line, and the user can send the forced landing device 800 through the interactive interface. Instructing the unmanned aerial vehicle to lose power or lose part of the power signal, when the communication interface 803 receives the signal, the processor 802 controls the load mounted on the unmanned aerial vehicle and the none according to a preset policy. Separating the human aircraft, causing the load and the unmanned aerial vehicle to be forced separately .

In some embodiments, the processor 802 is specifically configured to detect an operating state of the power system of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle loses power or loses partial power. The processor 802 actively acquires the working state feedback of some power systems of the unmanned aerial vehicle to obtain the working state of the power system and determine whether the flying power system is working normally.

As shown in FIG. 10, in some embodiments, a first sensor system 804 is configured to detect a motion state of the unmanned aerial vehicle;

The processor 802 is specifically configured to determine whether the unmanned aerial vehicle loses power or loses part of power according to the motion state of the unmanned aerial vehicle.

In certain embodiments, the motion state of the UAV includes one or more of a speed of the UAV, an acceleration of the UAV, and an attitude of the UAV.

In some embodiments, the processor 802 is configured to determine that the UAV loses power or loses part of the power when the speed of the UAV is greater than a preset speed threshold.

In some embodiments, the processor 802 is configured to determine that the UAV loses power or loses part of the power when the acceleration of the UAV is greater than a preset acceleration threshold.

In some embodiments, the processor 802 is specifically configured to roll when the UAV When the corner or pitch angle is greater than a preset angle threshold, it is determined that the unmanned aerial vehicle loses power or loses part of the power.

In some embodiments, the processor 802 is specifically configured to determine, according to the dynamic model observer, whether the UAV loses power or loses partial power.

Wherein, the device 800 for controlling the forced landing may be located on the unmanned aerial vehicle, and the device for controlling the forced landing may also be located on the load mounted on the unmanned aerial vehicle.

Wherein, when the forced landing control device 800 is located on the unmanned aerial vehicle, the processor is configured to obtain a signal indicating that the unmanned aircraft loses power or loses part of power by detecting whether the unmanned aerial vehicle loses power or loses part of power; The communication interface receives a signal sent by the external device indicating that the UAV has lost power or lost part of the power. For a specific explanation herein, reference may be made to the corresponding portions of the apparatus for controlling the forced landing disclosed in FIGS. 4-5, and details are not described herein again.

When the above-mentioned forced landing control device 500 is located on the load, the processor is configured to acquire a signal indicating that the UAV loses power or loses part of the power by detecting whether the UAV loses power or loses part of the power; and, optionally, The communication interface 803 is configured to receive a signal sent by the external device to indicate that the UAV loses power or loses part of the power; optionally, the communication interface 803 is further configured to receive the indication that the UAV is lost by the UAV A signal of power or loss of partial power, wherein when the UAV detects loss of power or loses part of the power, the UAV sends a signal indicating that the UAV loses power or loses part of the power to the device 400 that controls the forced landing, and the processor 802 acquires The signal. For a specific explanation herein, reference may be made to the corresponding portions of the apparatus for controlling the forced landing disclosed in FIGS. 4-5, and details are not described herein again.

In some embodiments, the processor 802 is specifically configured to issue a control command to open a parachute loaded on the load.

In some embodiments, the device 800 for controlling a forced landing may be disposed on a load, the device 800 may include a second sensor system 805 for detecting a motion state of the load, the processor 802, specifically for The motion state is acquired in the second sensor system, and when a preset motion state of the load is acquired, a control command is issued to open the parachute.

As a specific implementation manner, the motion state includes a speed of the load;

The processor 802 is specifically configured to issue a control command to open the parachute when the speed of the load is greater than or equal to a preset speed threshold after the load is separated from the unmanned aerial vehicle.

As a specific implementation manner, the motion state includes an acceleration of a load;

The processor 802 is specifically configured to issue a control command to open the parachute when the acceleration of the load is greater than or equal to a preset acceleration threshold after the load is separated from the unmanned aerial vehicle.

In some embodiments, the processor 802 is specifically configured to issue a control command to open the parachute after the load drops a preset distance or after the load falls for more than a preset time.

In some embodiments, the processor 802 is configured to control the power system of the UAV, using residual power to make a forced landing.

In some embodiments, the processor 802 is configured to control a power system of the UAV to level the body of the UAV.

In some embodiments, the processor 802 is configured to control a power system of the UAV such that the UAV spins to level the body of the UAV.

In some embodiments, the processor 802 is further configured to control a tripod of the UAV to absorb a landing impact of the UAV.

Specifically, the specific explanation and implementation of the processor 802, the communication interface 803, the first sensing system 804, and the second sensing system 805 of the apparatus for controlling the landing of the present invention can refer to all the technical features disclosed in the foregoing FIG. Descriptions of respective modules, functions, and steps in the method of controlling the forced landing disclosed in FIGS. 4-5 and the method of controlling the forced landing disclosed in FIG. 6 are not described herein again.

Embodiments of the present invention provide an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes: the above-described device for controlling a forced landing and a power system.

Embodiments of the present invention provide a load mounted on an unmanned aerial vehicle, wherein the load includes: the above-mentioned device for controlling a forced landing and a parachute.

For a specific explanation and implementation of the processor 802 and the communication interface 803 of the device for controlling the UAV provided by the embodiment of the present invention, reference may be made to the corresponding part of all the technical features disclosed in FIG. 1 and the control disclosed in FIG. Descriptions of corresponding modules, functions, and steps in the apparatus of the human aircraft and the method of controlling the unmanned aerial vehicle disclosed in FIG. 7 are not described herein again.

An embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:

a power system for providing flight power to an unmanned aerial vehicle;

The above apparatus for controlling an unmanned aerial vehicle is used for controlling the unmanned aerial vehicle.

The memory in this specification may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory. For example, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD).

The processor may be a central processing unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or the like.

The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same or similar parts of the respective embodiments may be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

A person skilled in the art will further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate the hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented directly in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Known Any other form of storage medium.

The method, device, device, unmanned aerial vehicle, load and storage medium for controlling the forced landing provided by the present invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, and the description of the above embodiments is only to assist in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims

A device for controlling a forced landing, comprising:

An acquisition module for obtaining a signal indicating that the unmanned aircraft loses power or loses part of the power;

a control module, configured to: when the acquiring module acquires the signal, control, according to a preset policy, that a load mounted on the UAV is separated from the UAV, such that the load and the The unmanned aerial vehicles were forced to land separately.
The device of claim 1 wherein:

The control module includes a separation unit, configured to release a mechanical connection between the load and the UAV when the acquisition module acquires the signal, such that the load and the Unmanned aerial vehicle separation.
The device of claim 1 wherein:

The control module includes a separation unit;

The separating unit is configured to open the parachute of the load when the acquiring module acquires the signal, so that the load is separated from the unmanned aerial vehicle.
Apparatus according to any one of claims 1 to 3, wherein

The acquiring module is specifically configured to acquire a signal indicating that the unmanned aircraft loses power or loses part by detecting whether the unmanned aerial vehicle loses power or loses part of power.
Apparatus according to any one of claims 1 to 4, wherein

The acquiring module is specifically configured to receive a signal sent by an external device that indicates that the UAV loses power or loses part of power.
A device according to any of claims 4, wherein

The acquiring module is specifically configured to detect an operating state of the power system of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle loses power or loses part of power.
A device according to any one of claims 4 or 6, wherein

The acquiring module is specifically configured to detect a motion state of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle loses power or loses part of power.
The device of claim 7 wherein:

The state of motion of the unmanned aerial vehicle includes the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle, and the unmanned One or more of the attitudes of the aircraft.
The device of claim 8 wherein:

The acquiring module is specifically configured to detect a speed of the unmanned aerial vehicle, and when the speed of the unmanned aerial vehicle is greater than a preset speed threshold, determine that the unmanned aerial vehicle loses power or loses part of power.
Device according to claim 8 or 9, characterized in that

The acquiring module is specifically configured to detect an acceleration of the unmanned aerial vehicle, and when the acceleration of the unmanned aerial vehicle is greater than a preset acceleration threshold, determine that the unmanned aerial vehicle loses power or loses part of power.
Apparatus according to any of claims 8-10, wherein

The acquiring module is specifically configured to detect a roll angle or a pitch angle of the unmanned aerial vehicle. When the roll angle or the pitch angle of the unmanned aerial vehicle is greater than a preset angle threshold, determining that the unmanned aerial vehicle loses power or Lost part of the power.
A device according to any one of claims 8-11, wherein

The acquiring module is specifically configured to determine, according to the dynamic model observer, whether the unmanned aerial vehicle loses power or loses part of power.
Apparatus according to any one of claims 1 to 12, wherein

The control module also includes a load forced down unit for opening a parachute loaded on the load.
The device of claim 13 wherein:

The load forced landing unit is specifically configured to open the parachute when the preset motion state of the load is detected after the load is separated from the unmanned aerial vehicle.
The device of claim 14 wherein:

The motion state includes a speed of the load, and the load forcing unit is specifically configured to: when the load is separated from the unmanned aerial vehicle, when the acquiring module detects that the speed of the load is greater than or equal to a preset speed At the threshold, the parachute is turned on.
Device according to claim 14 or 15, characterized in that

The motion state includes an acceleration of the load, and the load forced-down unit is specifically configured to: when the load is separated from the unmanned aerial vehicle, when the acquiring module detects that the acceleration of the load is greater than or equal to a preset acceleration At the threshold, the parachute is turned on.
Apparatus according to any of claims 13-16, wherein

The load forced landing unit is specifically configured to open the parachute after the load drops a preset distance or after the load falls for more than a preset time.
Apparatus according to any one of claims 1 to 12, wherein said control module further comprises an unmanned aerial vehicle landing unit for controlling the flight to use the residual power for forced landing.
The apparatus according to claim 18, wherein said unmanned aerial vehicle landing unit is further configured to control a power system of said unmanned aerial vehicle to level the body of said unmanned aerial vehicle.
The apparatus according to claim 18 or 19, wherein said unmanned aerial vehicle landing unit is further configured to control a power system of said unmanned aerial vehicle such that said unmanned aerial vehicle spins to cause said unmanned person The body of the aircraft tends to be level.
The apparatus according to any one of claims 18 to 20, wherein said unmanned aerial vehicle landing unit is further configured to control a tripod of said unmanned aerial vehicle to absorb a landing impact of said unmanned aerial vehicle.
A method of controlling a forced landing, characterized in that it comprises:

Obtaining a signal indicating whether the UAV has lost power or lost part of its power;

When a signal indicating that the UAV loses power or loses part of the power is acquired, controlling a load mounted on the UAV to separate from the UAV according to a preset policy, so that the load and The unmanned aerial vehicles are forced to descend separately.
The method of claim 22, wherein

When a signal is received indicating that the UAV has lost power or lost part of the power, the mechanical connection between the load and the UAV is released such that the load is separated from the UAV.
The method of claim 22, wherein

When a signal indicating that the UAV is losing power or losing part of the power is acquired, the loaded parachute is opened such that the load is separated from the UAV.
A method according to any one of claims 22-24, wherein

A signal indicating that the unmanned aircraft loses power or loses part is obtained by detecting whether the unmanned aerial vehicle loses power or loses part of the power.
A method according to any one of claims 22-25, wherein

A signal transmitted by the external device indicating that the UAV has lost power or lost part of the power is received.
A method according to any of claims 25, wherein

The working state of the power system of the unmanned aerial vehicle is detected to determine whether the unmanned aerial vehicle loses power or loses part of the power.
A method according to claim 25 or 27, wherein

A state of motion of the unmanned aerial vehicle is detected to determine whether the unmanned aerial vehicle loses power or loses partial power.
The method of claim 28 wherein:

The state of motion of the unmanned aerial vehicle includes one or more of the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle, and the attitude of the unmanned aerial vehicle.
The method of claim 29, wherein

Detecting the speed of the unmanned aerial vehicle, and determining that the unmanned aerial vehicle loses power or loses part of the power when the speed of the unmanned aerial vehicle is greater than a preset speed threshold.
A method according to claim 29 or 30, characterized in that

Detecting an acceleration of the unmanned aerial vehicle, and determining that the unmanned aerial vehicle loses power or loses part of power when the acceleration of the unmanned aerial vehicle is greater than a preset acceleration threshold.
A method according to any of claims 28-31, characterized in that

Detecting a roll angle or a pitch angle of the unmanned aerial vehicle. When the roll angle or the pitch angle of the unmanned aerial vehicle is greater than a preset angle threshold, determining that the unmanned aerial vehicle loses power or loses part of power.
A method according to any one of claims 28 to 32, wherein

According to the dynamic model observer, it is judged whether the unmanned aerial vehicle loses power or loses part of the power.
A method according to any of claims 22-33, characterized in that

When the load is separated from the UAV, the parachute loaded on the load is opened.
The method of claim 34, wherein

After the load is separated from the UAV, the parachute is opened when a predetermined motion state of the load is detected.
The method of claim 35, wherein

The motion state includes a speed of the load, and after the load is separated from the unmanned aerial vehicle, the parachute is opened when the speed of the load is detected to be greater than or equal to a preset speed threshold.
A method according to claim 34 or 35, wherein

The motion state includes an acceleration of the load, and after the load is separated from the unmanned aerial vehicle, the parachute is opened when it is detected that the acceleration of the load is greater than or equal to a preset acceleration threshold.
A method according to any of claims 34-37, wherein

Open the parachute after dropping the preset distance or after falling for more than the preset time.
A method according to any of claims 22-33, characterized in that

After the load is separated from the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to use the residual power to make a forced landing.
The method of claim 39, wherein

The power system of the unmanned aerial vehicle is controlled such that the unmanned aerial vehicle spins, causing the body of the unmanned aerial vehicle to level.
A method according to claim 39 or 40, wherein

The power system of the unmanned aerial vehicle is controlled such that the unmanned aerial vehicle spins, causing the body of the unmanned aerial vehicle to level.
A method according to any of claims 39-41, characterized in that

A tripod of the unmanned aerial vehicle is controlled, and the landing impact of the unmanned aerial vehicle is absorbed by the tripod.
A device for controlling a forced landing, characterized in that it comprises:

a memory for storing program instructions;

a processor, configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor acquires a signal indicating that the unmanned aircraft loses power or loses part of the power, and when the signal is acquired, according to the preset The policy controls the load mounted on the UAV to be separated from the UAV such that the load and the UAV are forced to drop, respectively.
The device according to claim 43, wherein

The processor is specifically configured to issue a control command to release a mechanical connection between the load and the UAV when the signal is acquired, such that the load is separated from the UAV.
The device according to claim 43, wherein

The processor is specifically configured to issue a control command to open a parachute of the load when the signal is acquired, so that the load is separated from the unmanned aerial vehicle.
Apparatus according to any of claims 43-45, characterized in that

The processor is specifically configured to acquire a signal indicating that the unmanned aircraft loses power or loses part by detecting whether the unmanned aerial vehicle loses power or loses part of power.
Apparatus according to any of claims 43-45, characterized in that

a communication interface, receiving a signal sent by the external device indicating that the unmanned aircraft loses power or loses part of the power;

The processor is specifically configured to acquire the signal from the communication interface.
The device according to claim 46, wherein

The processor is specifically configured to detect an operating state of the power system of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle loses power or loses part of power.
Device according to claim 46 or 48, characterized in that

a first sensor system for detecting a motion state of the unmanned aerial vehicle;

The processor is specifically configured to determine, according to the motion state of the unmanned aerial vehicle, whether the unmanned aerial vehicle loses power or loses part of power.
The device according to claim 49, wherein

The state of motion of the unmanned aerial vehicle includes one or more of the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle, and the attitude of the unmanned aerial vehicle.
The device according to claim 50, characterized in that

The processor is specifically configured to determine that the unmanned aerial vehicle loses power or loses part of power when the speed of the unmanned aerial vehicle is greater than a preset speed threshold.
A device according to claim 50 or 51, wherein

The processor is configured to determine that the unmanned aerial vehicle loses power or loses part of power when the acceleration of the unmanned aerial vehicle is greater than a preset acceleration threshold.
A device according to any of claims 50-52, characterized in that

The processor is configured to determine that the UAV loses power or loses part of the power when the roll angle or the pitch angle of the UAV is greater than a preset angle threshold.
Apparatus according to any of claims 50-53, wherein

The processor is specifically configured to determine, according to the dynamic model observer, whether the unmanned aerial vehicle loses power or loses part of power.
Apparatus according to any of claims 43-54, wherein

The processor is specifically configured to issue a control command to open a parachute loaded on the load.
The device according to claim 55, characterized in that

a second sensor system for detecting a motion state of the load;

The processor is specifically configured to acquire the motion state from the second sensor system, and when a preset motion state of the load is acquired, issue a control command to open the parachute.
The device according to claim 56, wherein

The motion state includes a speed of the load;

The processor is specifically configured to issue a control command to open the parachute when the speed of the load is greater than or equal to a preset speed threshold after the load is separated from the unmanned aerial vehicle.
A device according to claim 56 or 57, wherein

The motion state includes an acceleration of a load;

The processor is specifically configured to issue a control command to open the parachute when the acceleration of the load is greater than or equal to a preset acceleration threshold after the load is separated from the unmanned aerial vehicle.
Apparatus according to any of claims 55-58, wherein

The processor is specifically configured to issue a control command to open the parachute after the load drops a preset distance or after the load falls for more than a preset time.
Apparatus according to any of claims 43-54, wherein

The processor is configured to control a power system of the unmanned aerial vehicle and use residual power to perform a forced landing.
The device according to claim 60, wherein

The processor is configured to control a power system of the unmanned aerial vehicle to make the body of the unmanned aerial vehicle level.
Device according to claim 60 or 61, characterized in that

The processor is configured to control a power system of the unmanned aerial vehicle such that the unmanned aerial vehicle spins to make the body of the unmanned aerial vehicle level.
Apparatus according to any of claims 60-62, wherein

The processor is further configured to control a tripod of the UAV to absorb a landing impact of the UAV.
An unmanned aerial vehicle characterized by comprising a power system and claims 43-54, 60-63 Any of the equipment for forced landing control.
A load mounted on an unmanned aerial vehicle, characterized by comprising a parachute and the apparatus for controlling a forced landing as claimed in any one of claims 43-59.