WO2018149255A1 - 无人机的降落伞系统、安全保护方法及装置 - Google Patents

无人机的降落伞系统、安全保护方法及装置 Download PDF

Info

Publication number
WO2018149255A1
WO2018149255A1 PCT/CN2018/072263 CN2018072263W WO2018149255A1 WO 2018149255 A1 WO2018149255 A1 WO 2018149255A1 CN 2018072263 W CN2018072263 W CN 2018072263W WO 2018149255 A1 WO2018149255 A1 WO 2018149255A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
parachute
flight
controller
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/072263
Other languages
English (en)
French (fr)
Inventor
孙勇
刘艳光
王赟
尉世乾
彭贵勇
刘华祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to US16/486,692 priority Critical patent/US20200055608A1/en
Publication of WO2018149255A1 publication Critical patent/WO2018149255A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • B64D17/00—Parachutes
    • B64D17/40—Packs
    • B64D17/52—Opening, e.g. manual
    • B64D17/54—Opening, e.g. manual automatic
    • 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
    • B64D17/00—Parachutes
    • B64D17/40—Packs
    • B64D17/52—Opening, e.g. manual
    • B64D17/54—Opening, e.g. manual automatic
    • B64D17/58—Opening, e.g. manual automatic responsive to time-delay mechanism
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls
    • 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
    • B64D17/00—Parachutes
    • B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/005—Measuring inclination, e.g. by clinometers, by levels specially adapted for use in aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance

Definitions

  • the present disclosure provides a parachute system for a drone and a safety protection method for the drone, and relates to the field of smart storage technology.
  • the parachute system of the drone includes: a sensor; a controller; and a parachute; wherein the controller is electrically connected to the sensor and the parachute respectively, the sensor is used to detect the flight state of the drone, and the controller is used to acquire the flight of the drone from the sensor. State, control to turn on the parachute when the drone is in an unstable state. Thereby improving the safety of the drone.
  • the logistics drone needs to complete the whole process of self-delivery of the goods from the township distribution site to the rural promoters. Therefore, drones have very high safety requirements.
  • the reliability of the UAV system can be guaranteed to a certain extent, and the flight safety of the UAV in the whole process of the distribution process can be improved. Sex.
  • the inventors have recognized that due to the fact that the logistics drone is flying over the line of sight, the flight environment is complex and there is an unknown undesired external disturbance. By improving the robustness of the flight control system, it can resist the interference of the flight environment to a certain extent, so that the drone can maintain stable flight. However, if the interference of the flight environment exceeds the control capability of the flight control system, even if the control system is capable of being strong, it cannot resist the interference of the flight environment. In the case that the interference of the flight environment exceeds the control capability of the flight control system, how to improve the safety of the drone and reduce the damage and loss caused by the instability of the drone is an urgent problem to be solved.
  • One technical problem solved by the present disclosure is how to improve the safety of the drone.
  • a parachute system for a drone includes: a sensor; a controller; and a parachute; wherein the controller is electrically connected to the sensor and the parachute, respectively, and the sensor is configured to detect the drone In the flight state, the controller is configured to acquire the flight state of the drone from the sensor, and control to turn on the parachute when the drone is in an unstable state.
  • the controller is further configured to wait for the first preset time when the drone is in an unstable state, and the flight control system still does not detect the drone instability after the first preset time is reached , control to open the parachute.
  • the controller is further configured to: detect a height of the drone relative to the ground and control the sensor to open when the height of the drone relative to the ground is greater than a predetermined height.
  • the senor is configured to detect the drone pitch angle and the drone roll angle; and the controller is configured to determine whether an arithmetic square root of the sum of the drone angle of the drone and the roll angle of the drone is greater than Or equal to the preset angle, and determine that the drone is in an unstable state when greater than or equal to the preset angle; or, the sensor is configured to detect the height of the drone; and the controller is configured to determine the height of the drone Whether the rate of change is greater than a preset value, and when the value is greater than the preset value, it is determined that the drone is in an unstable state.
  • the controller is further configured to control the propeller to stop and control to turn on the parachute after a second predetermined time interval.
  • a drone control system including a flight control system and a parachute system of the drone according to any one of claims 1 to 5, the flight control system for detecting when When the drone is in an unstable state, control to open the parachute.
  • a security protection method for a drone which includes: a parachute system detects a flight state of the drone; and the parachute system controls the open parachute when the drone is in an unstable state. .
  • the parachute system controls the opening of the parachute when the drone is in an unstable state.
  • the parachute system waits for the first preset time when the drone is in an unstable state, and if the first preset time is reached, the flight is completed.
  • the control system has still not detected the drone instability, and the control opens the parachute.
  • the parachute system detects the flight state of the drone including: the parachute system detects the altitude of the drone relative to the ground; and the parachute system detects the flight state of the drone when the height of the drone relative to the ground is greater than a preset height .
  • the parachute system detects the flight state of the drone including: the parachute system detects the drone angle of the drone and the roll angle of the drone; and the parachute system determines the sum of the pitch angle of the drone and the roll angle of the drone Whether the square root of the arithmetic is greater than or equal to the preset angle, and judges that the drone is in an unstable state when it is greater than or equal to the preset angle; or, the parachute system detects the height of the drone; and the parachute system determines whether the altitude change rate of the drone is It is greater than the preset value and judges that the drone is in an unstable state when it is greater than the preset value.
  • the parachute system controls the opening of the parachute when the drone is in an unstable state.
  • the parachute system controls the propeller to stop and controls the opening of the parachute after a second predetermined time interval.
  • the method further comprises the flight control system controlling the opening of the parachute upon detecting that the drone is in an unstable state.
  • a security device for a drone includes: a memory; and a processor coupled to the memory, the processor configured to execute the foregoing based on an instruction stored in the memory The safety protection method of the drone.
  • a computer readable storage medium storing computer instructions for implementing the aforementioned security protection method for a drone when executed by a processor is provided.
  • the parachute system of the drone of the present disclosure can detect the flight state of the drone independently of the flight control system, and control the opening of the parachute when the drone is in an unstable state, thereby improving the safety of the drone.
  • FIG. 1 shows a schematic structural view of some embodiments of a parachute system of the disclosed drone.
  • FIG. 2 is a block diagram showing the structure of some embodiments of the disclosed drone control system.
  • FIG. 3 is a flow chart showing some embodiments of a security protection method for a disclosed drone.
  • FIG. 4 is a flow chart showing still another embodiment of the security protection method of the disclosed drone.
  • Figure 5 is a block diagram showing some embodiments of the security device of the disclosed drone.
  • Figure 6 shows a block diagram of further embodiments of the security device of the disclosed drone.
  • the inventors analyzed the process of opening a parachute by a drone in the prior art.
  • the flight control system relies on its own sensor to detect the flight state of the drone. When the flight control system determines that the drone is in an unstable state, the flight control system controls the parachute to be turned on.
  • the sensor of the flight control system may malfunction, and there may be a large error in the detection process.
  • the flight control system cannot accurately determine that the drone is in an unstable state; on the other hand, even the sensor of the flight control system accurately determines When the drone is in an unstable state, the flight control system may not be able to open the parachute in time.
  • the drone system of the drone can detect the flight state of the drone independently of the flight control system, and control the opening of the parachute when the drone is in an unstable state, thereby improving the safety of the drone.
  • the parachute system 10 of the drone of this embodiment includes a sensor 102, a controller 104, and a parachute 106.
  • the controller 104 is electrically connected to the sensor 102 and the parachute 106, respectively, and the sensor 102 is configured to detect the flight state of the drone.
  • the direction of the sensor 102 can be aligned with the direction of the sensor of the flight control system such that the indicator detected by the sensor 102 is the same as the indicator detected by the sensor of the flight control system.
  • the controller 104 is configured to acquire the flight status of the drone from the sensor 102 and control to turn on the parachute when the drone is in an unstable state.
  • the working process of the drone system 10 of the drone is:
  • the controller 104 detects the height of the drone relative to the ground and controls the sensor 102 to open when the height of the drone relative to the ground is greater than a predetermined height.
  • the controller can control the sensor to turn on when the height of the drone relative to the ground is greater than 10 meters.
  • the controller controls the opening of the sensor according to the height of the drone relative to the ground in order to prevent the controller from misjudged that the drone is in an unstable state.
  • the state of the unmanned aircraft fuselage may be different from the state of smooth flight; during the process of autonomously rising or descending the drone, the altitude change rate of the drone is large. If the sensor is on, the controller may misinterpret the drone being in an unstable state.
  • the sensor 102 detects the flight state of the drone.
  • sensor 102 can detect the drone angle of the drone and the roll angle of the drone. As another example, sensor 102 can detect the height of the drone.
  • the controller 104 acquires the flight state of the drone from the sensor 102 and determines whether the drone is in an unstable state.
  • the controller may determine whether the arithmetic square root of the sum of the square angle of the drone angle and the roll angle of the drone is greater than or equal to the preset angle, and determine that the drone is in an unstable state when greater than or equal to the preset angle. That is, the logic that the controller determines that the drone is unstable can be Equation (1):
  • ⁇ p is the drone angle of the drone collected by the sensor 102.
  • the controller may determine whether the altitude change rate of the drone is greater than a preset value, and determine that the drone is in an unstable state when greater than the preset value. That is, the logic that the controller determines that the drone is unstable can be Equation (2):
  • the controller 104 can continuously make judgments for a continuous period of 0.3s. When one of the formulas (1), (2) is satisfied within 0.3 s, the controller 104 determines that the drone is unstable.
  • the sensor 102 can collect other state indicators of the drone, and the controller can also use a combination of multiple state indicators as logic to determine the instability of the drone.
  • the controller 104 controls the opening of the parachute.
  • the controller After the controller determines that the drone is in an unstable state, it can first control the propeller to stop, and control the opening of the parachute after a period of time (for example, 0.2 seconds). After controlling the propeller to stop and then open the parachute, the interference caused by the propeller to the parachute during the opening process can be effectively avoided, and the parachute can be safely opened.
  • a period of time for example, 0.2 seconds
  • the controller may wait for a period of time (eg, 0.5 seconds) after determining that the drone is in an unstable state. During this time period, the flight control system will detect the flight status of the drone. If the flight control system also detects that the drone is in an unstable state, the flight control system can control the opening of the parachute. If the flight control system still does not detect the drone instability after 0.5 seconds, the controller controls the parachute to open.
  • a period of time eg, 0.5 seconds
  • the parachute system can detect the flight state of the drone independently of the flight control system, and control the opening of the parachute when the drone is in an unstable state, thereby improving the safety of the drone.
  • the drone control system 20 of this embodiment includes a parachute system 10 of the drone and a flight control system 202.
  • the flight control system 202 communicates with the drone system 10 of the drone through a serial port.
  • the flight control system 202 is configured to control the opening of the parachute when it detects that the drone is in an unstable state.
  • the drone system 10 of the drone determines that the drone is unstable, the drone system 10 of the drone sends a command to the flight control system 202 that the parachute system detects the drone instability.
  • the drone system 10 of the drone sends the flight control system 202 through the serial port.
  • the "opening" command the flight control system 202 stops the propeller after receiving the "opening umbrella” command, and controls the opening of the parachute after 0.2s.
  • the parachute system and the flight control system of the drone are two systems that are relatively independent.
  • the UAV's parachute system and flight control system can detect the flight status of the UAV relatively independently, and can also open the parachute with relatively independent control, thus improving the safety of the UAV.
  • Fig. 1 The embodiment shown in Fig. 1 has been described in detail from the side of the parachute system 10 of the drone to the state of the drone detection and the process of opening the parachute.
  • the following describes the state of the drone detection and the process of opening the parachute from the side of the flight control system 202 in conjunction with FIG. 3, specifically including the following:
  • the flight control system relies on its own sensor to detect the state of the drone to determine whether the drone is unstable.
  • the flight control system when the drone is located near the ground, the flight control system does not judge whether the drone is in an unstable state. After the drone takes off, when the height relative to the ground is greater than 10 meters, the flight control system judges whether the drone is in an unstable state, and sends an "open state detection" message to the parachute system 10 of the drone through the serial port. After receiving the command signal, the parachute system starts the logic to determine the instability of the drone.
  • the logic of the flight control system to determine the instability of the drone may be formula (3) or formula (4),
  • the UAV pitch angle deviation calculated for the flight control system, ⁇ 1 is the UAV rolling angle deviation calculated by the flight control system.
  • the flight control system continuously judges for a continuous period of 0.3 s.
  • the flight control system judges that the drone is unstable.
  • the flight control system controls the opening of the parachute when it detects that the drone is in an unstable state.
  • the flight control system When the drone is working stably, the flight control system does not send control commands to the parachute system through the serial port. When the flight control system determines that the drone is unstable, it continues to determine whether the drone is in an unstable state by the parachute system. If the flight control system receives the "parachute system detects the drone instability" command sent by the parachute system, that is, the flight control system and the parachute simultaneously determine that the drone is unstable, the flight control system system issues a propeller stop command and is spaced 0.2s issued an "open umbrella” command to perform an open umbrella operation.
  • the flight control system If the flight control system does not receive the "parachute system detects the drone instability" command sent by the parachute system within 0.5 seconds after determining that the drone is unstable, the flight control system system issues a propeller stop command, and An "opening" command is issued at intervals of 0.2 s to perform an open operation.
  • the security protection method of the drone of this embodiment includes step S302 and step S304.
  • step S302 the parachute system detects the flight state of the drone.
  • the parachute system detects the drone angle of the drone and the roll angle of the drone, and then the parachute system determines whether the arithmetic square root of the sum of the square of the drone angle and the roll angle of the drone is greater than or equal to the preset angle, and is greater than or equal to It is judged that the drone is in an unstable state when it is equal to the preset angle.
  • the parachute system detects the height of the drone, and then the parachute system determines whether the altitude change rate of the drone is greater than a preset value, and determines that the drone is in an unstable state when it is greater than a preset value.
  • step S304 the parachute system controls the opening of the parachute when the drone is in an unstable state.
  • the parachute system waits for the first preset time when the drone is in an unstable state, and if the flight control system does not detect the drone instability after the first preset time is reached, the control opens the parachute.
  • the parachute system controls the propeller to stop and controls the opening of the parachute after a second predetermined time interval.
  • the parachute system can detect the flight state of the drone independently of the flight control system, and control the opening of the parachute when the drone is in an unstable state, thereby improving the safety of the drone.
  • the security protection method of the unmanned aerial vehicle of this embodiment further includes:
  • Step S401 the parachute system detects the height of the drone relative to the ground, so that the parachute system detects the flight state of the drone when the height of the drone relative to the ground is greater than a preset height.
  • the parachute system controls whether to detect the flight state of the drone according to the height of the drone relative to the ground, and can effectively prevent the controller from misjudged that the drone is in an unstable state.
  • FIG. 5 is a block diagram showing some embodiments of the security device of the disclosed drone.
  • the security device 50 of the drone of this embodiment includes a memory 510 and a processor 520 coupled to the memory 510, and the processor 520 is configured to execute based on an instruction stored in the memory 510.
  • the memory 510 may include, for example, a system memory, a fixed non-volatile storage medium, or the like.
  • the system memory stores, for example, an operating system, an application, a boot loader, and other programs.
  • Figure 6 shows a block diagram of further embodiments of the security device of the disclosed drone.
  • the apparatus 60 of this embodiment includes a memory 510 and a processor 520, and may further include an input/output interface 630, a network interface 640, a storage interface 650, and the like. These interfaces 630, 640, 650 and the memory 510 and the processor 520 can be connected, for example, via a bus 650.
  • the input/output interface 630 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen.
  • Network interface 640 provides a connection interface for various networked devices.
  • the storage interface 650 provides a connection interface for an external storage device such as an SD card or a USB flash drive.
  • the present disclosure also includes a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the security protection method for a drone in any of the foregoing embodiments.
  • embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本公开提供了一种无人机的降落伞系统以及无人机的安全保护方法，涉及智慧仓储技术领域。无人机的降落伞系统包括：传感器；控制器；以及降落伞；其中，控制器分别与传感器以及降落伞电连接，传感器被配置为检测无人机的飞行状态，控制器被配置为从传感器获取无人机的飞行状态，当无人机处于失稳状态时控制开启降落伞。从而提升了无人机的安全性。

Description

无人机的降落伞系统、安全保护方法及装置
本申请是以CN申请号为201710089288.8，申请日为2017年2月20日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开提供了一种无人机的降落伞系统以及无人机的安全保护方法，涉及智慧仓储技术领域。无人机的降落伞系统包括：传感器；控制器；以及降落伞；其中，控制器分别与传感器以及降落伞电连接，传感器用于检测无人机的飞行状态，控制器用于从传感器获取无人机的飞行状态，当无人机处于失稳状态时控制开启降落伞。从而提升了无人机的安全性。
背景技术
物流无人机需要完成乡镇配送站点至乡村推广员间货物的全流程自主配送。因此，无人机对安全性的要求非常高。
通过提升无人机系统的硬件可靠性、软件可靠性、算法可靠性、或者结构可靠性，可以在一定程度上保证无人机系统的可靠性，提高无人机在全流程配送过程的飞行安全性。
发明内容
发明人认识到，由于物流无人机在超视距范围内飞行，飞行环境复杂，存在未知的不期望的外界干扰。通过提高飞行控制系统的鲁棒性能够在一定程度上抵抗飞行环境的干扰，使得无人机保持稳定飞行。然而，若飞行环境的干扰超过了飞行控制系统的控制能力，即使控制系统能力再强也无法抵抗飞行环境的干扰。在飞行环境的干扰超过了飞行控制系统的控制能力的情况下，如何提升无人机的安全性，降低由于无人机失稳造成的伤害和损失，是目前亟待解决的问题。
本公开解决的一个技术问题是，如何提升了无人机的安全性。
根据本公开实施例的一个方面，提供了一种无人机的降落伞系统，包括：传感器；控制器；以及降落伞；其中，控制器分别与传感器以及降落伞电连接，传感器被配置为检测无人机的飞行状态，控制器被配置为从传感器获取无人机的飞行状态，当无人 机处于失稳状态时控制开启降落伞。
在一些实施例中，控制器还被配置为：当无人机处于失稳状态时，等待第一预设时间，若达到第一预设时间后飞行控制系统仍未检测到无人机失稳，控制开启降落伞。
在一些实施例中，控制器还被配置为：检测无人机相对地面的高度，并在无人机相对地面的高度大于预设高度时控制传感器开启。
在一些实施例中，传感器被配置为检测无人机俯仰角与无人机滚转角；以及，控制器被配置为判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态；或者，传感器被配置为检测无人机的高度；以及，控制器被配置为判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。
在一些实施例中，控制器还被配置为控制螺旋桨停转，并间隔第二预设时间后控制开启降落伞。
根据本公开实施例的另一个方面，提供了一种无人机控制系统，包括飞行控制系统以及如权利要求1至5任一项的无人机的降落伞系统，飞行控制系统用于当检测到无人机处于失稳状态时，控制开启降落伞。
根据本公开实施例的又一个方面，提供了一种无人机的安全保护方法，其中，包括：降落伞系统检测无人机的飞行状态；降落伞系统在无人机处于失稳状态时控制开启降落伞。
在一些实施例中，降落伞系统在无人机处于失稳状态时控制开启降落伞包括：降落伞系统在无人机处于失稳状态时，等待第一预设时间，若达到第一预设时间后飞行控制系统仍未检测到无人机失稳，控制开启降落伞。
在一些实施例中，降落伞系统检测无人机的飞行状态包括：降落伞系统检测无人机相对地面的高度；降落伞系统在无人机相对地面的高度大于预设高度时检测无人机的飞行状态。
在一些实施例中，降落伞系统检测无人机的飞行状态包括：降落伞系统检测无人机俯仰角与无人机滚转角；降落伞系统判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态；或者，降落伞系统检测无人机的高度；降落伞系统判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。
在一些实施例中，降落伞系统在无人机处于失稳状态时控制开启降落伞包括：降 落伞系统控制螺旋桨停转，并间隔第二预设时间后控制开启降落伞。
在一些实施例中，方法还包括：飞行控制系统在检测到无人机处于失稳状态时，控制开启降落伞。
根据本公开实施例的再一个方面，提供了一种无人机的安全保护装置，包括：存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器中的指令，执行前述的无人机的安全保护方法。
根据本公开实施例的又一个方面，提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机指令，指令被处理器执行时实现前述的无人机的安全保护方法。
本公开中的无人机的降落伞系统，能够独立于飞行控制系统检测无人机的飞行状态，并在无人机处于失稳状态时控制开启降落伞，从而提升了无人机的安全性。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出本公开无人机的降落伞系统的一些实施例的结构示意图。
图2示出本公开无人机控制系统的一些实施例的结构示意图。
图3示出本公开无人机的安全保护方法的一些实施例的流程示意图。
图4示出本公开无人机的安全保护方法的另一些实施例的流程示意图。
图5示出了本公开无人机的安全保护装置的一些实施例的结构图。
图6示出了本公开无人机的安全保护装置的另一些实施例的结构图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其 应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
发明人对现有技术中无人机开启降落伞的过程进行了分析。现有技术中，由飞行控制系统依靠自身的传感器检测无人机的飞行状态。当飞行控制系统判断无人机处于失稳状态时，飞行控制系统控制开启降落伞。然而，现有技术中无人机开启降落伞的方式存在安全隐患。一方面，飞行控制系统的传感器可能出现故障，也可能在检测过程中出现较大误差，飞行控制系统无法准确判断无人机处于失稳状态；另一方面，即便飞行控制系统的传感器准确的判断出无人机处于失稳状态，飞行控制系统也可能无法及时开启降落伞。
基于以上分析，发明人创新设计了无人机的降落伞系统。无人机的降落伞系统能够独立于飞行控制系统检测无人机的飞行状态，并在无人机处于失稳状态时控制开启降落伞，从而提升无人机的安全性。
下面结合图1描述本公开提供的无人机的降落伞系统的一些实施例。
图1示出本公开无人机的降落伞系统的一些实施例的结构示意图。如图1所示，该实施例的无人机的降落伞系统10包括：传感器102，控制器104，以及降落伞106。其中，控制器104分别与传感器102以及降落伞106电连接，传感器102被配置为检测无人机的飞行状态。传感器102方向可以与飞行控制系统的传感器方向保持一致，以使得传感器102所检测的指标与飞行控制系统的传感器所检测的指标相同。控制器104被配置为从传感器102获取无人机的飞行状态，当无人机处于失稳状态时控制开启降落伞。
无人机的降落伞系统10的工作过程是：
(一)控制器104检测无人机相对地面的高度，并在无人机相对地面的高度大于预设高度时控制传感器102开启。
例如，控制器可以在无人机相对地面的高度大于10米时控制传感器开启。由控制器根据无人机相对地面的高度控制传感器的开启是为了防止控制器误判无人机处于失稳状态。无人机在近地面的转移过程中，无人机机身的状态可能不同于平稳飞行时的状态；无人机在自主上升或下降的过程中，无人机的高度变化率较大。如果传感器处于开启状态，控制器可能误判无人机处于失稳状态。
(二)传感器102检测无人机的飞行状态。
例如，传感器102可以检测无人机俯仰角与无人机滚转角。再比如，传感器102 可以检测无人机的高度。
(三)控制器104从传感器102获取无人机的飞行状态，并判断无人机是否处于失稳状态。
例如，控制器可以判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态。即，控制器判断无人机失稳的逻辑可以为公式(1)：
Figure PCTCN2018072263-appb-000001
其中，
Figure PCTCN2018072263-appb-000002
为传感器102采集到的无人机俯仰角，γ p为传感器102采集到的无人机滚转角。
或者，控制器可以判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。即，控制器判断无人机失稳的逻辑可以为公式(2)：
Figure PCTCN2018072263-appb-000003
其中，
Figure PCTCN2018072263-appb-000004
为控制器根据传感器102采集到的高度计算出的高度变化率。
可选的，控制器104可以在连续0.3s的时间内连续进行判断。当在0.3s时间内满足公式(1)、(2)中的两者之一时，控制器104判断无人机失稳。本领域技术人员应理解，传感器102可以采集无人机的其它状态指标，控制器也可以将多个状态指标的组合作为判断无人机失稳的逻辑。
(四)控制器104控制开启降落伞。
控制器在判断无人机处于失稳状态后，可以先控制螺旋桨停转，并间隔一段时间(例如0.2秒)后控制开启降落伞。控制螺旋桨停转之后再开启降落伞，可以有效避免螺旋桨对降落伞在开启过程中造成的干扰，保证降落伞安全开启。
在一些实施例中，控制器在判断无人机处于失稳状态后，可以等待一段时间(例如0.5秒)。在这一时间段内，飞行控制系统会对无人机的飞行状态进行检测。如果飞行控制系统也检测到无人机处于失稳状态，飞行控制系统可以控制开启降落伞。如果达到0.5秒后飞行控制系统仍未检测到无人机失稳，控制器控制开启降落伞。
上述实施例中，降落伞系统能够独立于飞行控制系统检测无人机的飞行状态，并在无人机处于失稳状态时控制开启降落伞，从而提升无人机的安全性。
下面结合图2描述本公开提供的无人机控制系统的一些实施例。
图2示出本公开无人机控制系统的一些实施例的结构示意图。如图2所示，该实施例中的无人机控制系统20包括无人机的降落伞系统10以及飞行控制系统202。其 中，飞行控制系统202与无人机的降落伞系统10之间通过串口互相通信，飞行控制系统202被配置为当检测到无人机处于失稳状态时，控制开启降落伞。
例如，当无人机的降落伞系统10判断出无人机失稳时，无人机的降落伞系统10向飞行控制系统202发送“降落伞系统检测到无人机失稳”指令。在此之后0.5s的时间内，如果一直接收不到飞行控制系统发送的“飞行控制系统检测到无人机失稳”指令，则无人机的降落伞系统10通过串口给飞行控制系统202发送“开伞”指令，飞行控制系统202接收到“开伞”指令后停转螺旋桨，并在0.2s后控制开启降落伞。
从上述实施例中可以看出，在无人机控制系统中，无人机的降落伞系统和飞行控制系统是相对独立的两个系统。无人机的降落伞系统和飞行控制系统都可以相对独立的对无人机的飞行状态进行检测，也可以相对独立的控制开启降落伞，从而提升了无人机的安全性。
图1所示实施例已经从无人机的降落伞系统10一侧对无人机状态检测和开启降落伞过程进行了详细描述。下面结合图3从飞行控制系统202一侧对无人机状态检测和开启降落伞过程进行说明，具体包括以下：
(一)飞行控制系统依靠自身的传感器对无人机状态进行检测，以判断无人机是否失稳。
其中，在无人机位于地面附近时，飞行控制系统不对无人机是否处于失稳状态进行判断。无人机起飞后，当相对地面的高度大于10米时，飞行控制系统对无人机是否处于失稳状态进行判断，并通过串口向无人机的降落伞系统10发送“开启状态检测”信息。降落伞系统收到该指令信号后，启动判断无人机失稳的逻辑。
其中，飞行控制系统判断无人机失稳的逻辑可以为公式(3)或者公式(4)，
Figure PCTCN2018072263-appb-000005
Figure PCTCN2018072263-appb-000006
其中，
Figure PCTCN2018072263-appb-000007
为飞行控制系统计算得到的无人机俯仰角偏差，Δγ 1为飞行控制系统计算得到的无人机滚动角偏差，
Figure PCTCN2018072263-appb-000008
为飞行控制系统计算得到的无人机高度变化率。
同理，飞行控制系统在连续0.3s的时间内连续判断，当在0.3s期间内满足公式(3)或(4)两者之一时，飞行控制系统判断无人机失稳。
(二)飞行控制系统在检测到无人机处于失稳状态时，控制开启降落伞。
当无人机稳定工作时，飞行控制系统不通过串口向降落伞系统发送控制指令。飞行控制系统判断出无人机失稳时，继续由降落伞系统判断无人机是否处于失稳状态。 如果飞行控制系统接收到降落伞系统发送的“降落伞系统检测到无人机失稳”指令，即飞行控制系统与降落伞同时判断到无人机失稳，飞行控制系统系统发出螺旋桨停转指令，并间隔0.2s发出“开伞”指令执行开伞操作。
如果飞行控制系统在判断出无人机失稳后的0.5秒期间内没有接收到降落伞系统发送的“降落伞系统检测到无人机失稳”指令，则飞行控制系统系统发出螺旋桨停转指令，并间隔0.2s发出“开伞”指令指令执行开伞操作。
下面结合图3描述本公开一些实施例的无人机的安全保护方法。
图3示出本公开无人机的安全保护方法的一些实施例的流程示意图。如图3所示，该实施例的无人机的安全保护方法包括步骤S302、步骤S304。
在步骤S302中，降落伞系统检测无人机的飞行状态。
例如，降落伞系统检测无人机俯仰角与无人机滚转角，然后降落伞系统判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态。
再比如，降落伞系统检测无人机的高度，然后降落伞系统判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。
在步骤S304中，降落伞系统在无人机处于失稳状态时控制开启降落伞。
可选的，降落伞系统在无人机处于失稳状态时，等待第一预设时间，若达到第一预设时间后飞行控制系统仍未检测到无人机失稳，控制开启降落伞。
可选的，降落伞系统控制螺旋桨停转，并间隔第二预设时间后控制开启降落伞。
上述实施例中，降落伞系统能够独立于飞行控制系统检测无人机的飞行状态，并在无人机处于失稳状态时控制开启降落伞，从而提升无人机的安全性。
下面结合图4描述本公开另一些实施例的无人机的安全保护方法。
图4示出本公开无人机的安全保护方法的另一些实施例的流程示意图。如图4所示，在图3所示实施例的基础上，本实施例的无人机的安全保护方法还包括：
步骤S401，降落伞系统检测无人机相对地面的高度，以便降落伞系统在无人机相对地面的高度大于预设高度时检测无人机的飞行状态。
上述实施例中，降落伞系统根据无人机相对地面的高度，控制是否开启对于无人机的飞行状态的检测，可以有效防止控制器误判无人机处于失稳状态。
图5示出了本公开无人机的安全保护装置的一些实施例的结构图。如图5所示，该实施例的无人机的安全保护装置50包括：存储器510以及耦接至该存储器510的 处理器520，处理器520被配置为基于存储在存储器510中的指令，执行前述任意一些实施例中的无人机的安全保护方法。
其中，存储器510例如可以包括系统存储器、固定非易失性存储介质等。系统存储器例如存储有操作系统、应用程序、引导装载程序(Boot Loader)以及其他程序等。
图6示出了本公开无人机的安全保护装置的另一些实施例的结构图。如图6所示，该实施例的装置60包括：存储器510以及处理器520，还可以包括输入输出接口630、网络接口640、存储接口650等。这些接口630，640，650以及存储器510和处理器520之间例如可以通过总线650连接。其中，输入输出接口630为显示器、鼠标、键盘、触摸屏等输入输出设备提供连接接口。网络接口640为各种联网设备提供连接接口。存储接口650为SD卡、U盘等外置存储设备提供连接接口。
本公开还包括一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现前述任意一些实施例中的无人机的安全保护方法。
本领域内的技术人员应明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算 机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅为本公开的较佳实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (14)

  1. 一种无人机的降落伞系统，包括：
    传感器；
    控制器；以及
    降落伞；
    其中，控制器分别与传感器以及降落伞电连接，传感器被配置为检测无人机的飞行状态，控制器被配置为从传感器获取无人机的飞行状态，当无人机处于失稳状态时控制开启降落伞。
  2. 如权利要求1所述的系统，其中，
    所述控制器还被配置为：当无人机处于失稳状态时，等待第一预设时间，若达到第一预设时间后飞行控制系统仍未检测到无人机失稳，控制开启降落伞。
  3. 如权利要求1所述的系统，其中，所述控制器还被配置为：
    检测无人机相对地面的高度，并在无人机相对地面的高度大于预设高度时控制传感器开启。
  4. 如权利要求1所述的系统，其中，
    所述传感器被配置为检测无人机俯仰角与无人机滚转角；以及，所述控制器被配置为判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态；
    或者，
    所述传感器被配置为检测无人机的高度；以及，所述控制器被配置为判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。
  5. 如权利要求1所述的系统，其中，所述控制器还被配置为控制螺旋桨停转，并间隔第二预设时间后控制开启降落伞。
  6. 一种无人机控制系统，包括飞行控制系统以及如权利要求1至5任一项所述的无人机的降落伞系统，所述飞行控制系统被配置为当检测到无人机处于失稳状态时，控制开启降落伞。
  7. 一种无人机的安全保护方法，包括：
    降落伞系统检测无人机的飞行状态；
    降落伞系统在无人机处于失稳状态时控制开启降落伞。
  8. 如权利要求7所述的方法，其中，所述降落伞系统在无人机处于失稳状态时控制开启降落伞包括：
    降落伞系统在无人机处于失稳状态时，等待第一预设时间，若达到第一预设时间后飞行控制系统仍未检测到无人机失稳，控制开启降落伞。
  9. 如权利要求7所述的方法，其中，所述降落伞系统检测无人机的飞行状态包括：
    降落伞系统检测无人机相对地面的高度；
    降落伞系统在无人机相对地面的高度大于预设高度时检测无人机的飞行状态。
  10. 如权利要求7所述的方法，其中，所述降落伞系统检测无人机的飞行状态包括：
    降落伞系统检测无人机俯仰角与无人机滚转角；
    降落伞系统判断无人机俯仰角与无人机滚转角的平方和的算术平方根是否大于或等于预设角度，并在大于或等于预设角度时判断无人机处于失稳状态；
    或者，
    降落伞系统检测无人机的高度；
    降落伞系统判断无人机的高度变化率是否大于预设值，并在大于预设值时判断无人机处于失稳状态。
  11. 如权利要求7所述的方法，其中，所述降落伞系统在无人机处于失稳状态时控制开启降落伞包括：
    降落伞系统控制螺旋桨停转，并间隔第二预设时间后控制开启降落伞。
  12. 如权利要求7至11任一项所述的方法，其中，所述方法还包括：飞行控制系统在检测到无人机处于失稳状态时，控制开启降落伞。
  13. 一种无人机的安全保护装置，其中，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如权利要求7至12中任一项所述的无人机的安全保护方法。
  14. 一种计算机可读存储介质，其中，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如权利要求7至12中任一项所述的无人机的安全保护方法。
PCT/CN2018/072263 2017-02-20 2018-01-11 无人机的降落伞系统、安全保护方法及装置 Ceased WO2018149255A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/486,692 US20200055608A1 (en) 2017-02-20 2018-01-11 Parachute system, safety protection method and device of unmanned aerial vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710089288.8A CN106628194B (zh) 2017-02-20 2017-02-20 无人机的降落伞系统、安全保护方法及装置
CN201710089288.8 2017-02-20

Publications (1)

Publication Number Publication Date
WO2018149255A1 true WO2018149255A1 (zh) 2018-08-23

Family

ID=58845557

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/072263 Ceased WO2018149255A1 (zh) 2017-02-20 2018-01-11 无人机的降落伞系统、安全保护方法及装置

Country Status (3)

Country Link
US (1) US20200055608A1 (zh)
CN (1) CN106628194B (zh)
WO (1) WO2018149255A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113658453A (zh) * 2020-05-12 2021-11-16 现代自动车株式会社 空中交通控制系统和空中交通控制方法

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106628194B (zh) * 2017-02-20 2019-02-05 北京京东尚科信息技术有限公司 无人机的降落伞系统、安全保护方法及装置
JP6905445B2 (ja) * 2017-10-16 2021-07-21 日本化薬株式会社 墜落検知装置、飛行体の墜落を検知する方法、パラシュートまたはパラグライダーの展開装置、およびエアバッグ装置
CN107914886A (zh) * 2017-11-08 2018-04-17 铜陵市宏达家电有限责任公司 一种智能降落伞装置
CN108238266A (zh) * 2018-01-15 2018-07-03 天津聚飞创新科技有限公司 无人机安全降落方法、装置及无人机
CN109592045A (zh) * 2018-12-21 2019-04-09 深圳飞马机器人科技有限公司 一种无人机应急开伞方法、装置、电子设备和介质
CN109683164A (zh) * 2019-01-25 2019-04-26 西南科技大学 一种基于飞行数据的无人机坠落行为识别方法
CN111752290A (zh) * 2019-03-29 2020-10-09 顺丰科技有限公司 降落伞的控制方法、装置、电子设备及存储介质
CN111338377A (zh) * 2020-03-06 2020-06-26 东莞火萤科技有限公司 一种飞行器、降落伞控制系统以及飞行器控制系统
CN111470049A (zh) * 2020-03-25 2020-07-31 中国电力科学研究院有限公司 一种多旋翼无人机巡检安全防护装置及防护方法
CN113895634A (zh) * 2020-07-06 2022-01-07 中光电智能机器人股份有限公司 具有降落伞的无人机及其控制方法
CN112373677B (zh) * 2020-11-18 2021-06-22 三生万物(北京)人工智能技术有限公司 一种六旋翼无人机动力缺失保护系统、保护方法
CN112389640B (zh) * 2020-11-27 2022-07-19 东莞火萤科技有限公司 一种无人机停桨控制系统
CN112793798A (zh) * 2021-02-26 2021-05-14 上海润璋智能科技股份有限公司 一种用于无人机的防撞装置
CN115167487B (zh) * 2021-04-02 2025-11-21 北京三快在线科技有限公司 无人机控制装置、方法、介质、电子设备及无人机
CN113433959B (zh) * 2021-06-18 2024-06-18 东莞火萤科技有限公司 一种无人机伞降方法及装置
CN113815871A (zh) * 2021-08-26 2021-12-21 广东汇天航空航天科技有限公司 载人飞行器降落伞控制方法、控制器系统及载人飞行器
CN114625168B (zh) * 2022-03-24 2023-03-24 珠海市凯越科技有限公司 无刷电机驱动方法、装置、存储介质及飞行设备
CN115270313A (zh) * 2022-09-27 2022-11-01 西安羚控电子科技有限公司 一种伞-机组合体的建模方法、装置、服务器和存储介质
CN119546520A (zh) * 2023-04-06 2025-02-28 深圳市闪至科技有限公司 飞行平台、降落伞装置、飞行器及其控制方法和系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103895870A (zh) * 2014-03-18 2014-07-02 华南农业大学 一种用于多旋翼无人机的紧急伞降装置及方法
CN104443398A (zh) * 2014-11-19 2015-03-25 东北农业大学 一种农用无人机自动开伞保护装置及方法
CN105947226A (zh) * 2016-05-26 2016-09-21 北京理工大学 一种旋翼式无人机智能失控保护系统及其保护方法
CN106054903A (zh) * 2016-07-27 2016-10-26 中南大学 一种多旋翼无人机自适应降落方法及系统
WO2016182750A1 (en) * 2015-04-28 2016-11-17 SkyFallX, LLC Autonomous safety and recovery system for unmanned aerial vehicles
CN106628194A (zh) * 2017-02-20 2017-05-10 北京京东尚科信息技术有限公司 无人机的降落伞系统、安全保护方法及装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100568143C (zh) * 2008-04-15 2009-12-09 北京航空航天大学 一种中小型无人机回收定位装置
CN205256682U (zh) * 2015-12-21 2016-05-25 威海三智科技有限公司 一种无人机伞降回收控制系统
CN105501449B (zh) * 2016-01-29 2018-07-17 成都云摄科技有限责任公司 一种自动且快速开伞的无人机降落伞系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103895870A (zh) * 2014-03-18 2014-07-02 华南农业大学 一种用于多旋翼无人机的紧急伞降装置及方法
CN104443398A (zh) * 2014-11-19 2015-03-25 东北农业大学 一种农用无人机自动开伞保护装置及方法
WO2016182750A1 (en) * 2015-04-28 2016-11-17 SkyFallX, LLC Autonomous safety and recovery system for unmanned aerial vehicles
CN105947226A (zh) * 2016-05-26 2016-09-21 北京理工大学 一种旋翼式无人机智能失控保护系统及其保护方法
CN106054903A (zh) * 2016-07-27 2016-10-26 中南大学 一种多旋翼无人机自适应降落方法及系统
CN106628194A (zh) * 2017-02-20 2017-05-10 北京京东尚科信息技术有限公司 无人机的降落伞系统、安全保护方法及装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113658453A (zh) * 2020-05-12 2021-11-16 现代自动车株式会社 空中交通控制系统和空中交通控制方法

Also Published As

Publication number Publication date
US20200055608A1 (en) 2020-02-20
CN106628194B (zh) 2019-02-05
CN106628194A (zh) 2017-05-10

Similar Documents

Publication Publication Date Title
WO2018149255A1 (zh) 无人机的降落伞系统、安全保护方法及装置
US10156854B2 (en) UAV and UAV landing control device and method
CN110226141B (zh) 用于无人驾驶飞行器的操作的安全系统
EP2513732B1 (en) Stall prevention/recovery system and method
CN106104203B (zh) 一种移动物体的距离检测方法、装置及飞行器
US20170176992A1 (en) Method and device for retrieving and flying unmanned aerial vehicle in handheld manner
EP2676883B1 (en) Stall management system
US20170291692A1 (en) Method and an apparatus for controlling a uav, and a uav take-off system
US20170221368A1 (en) Method and device for setting a flight route
US20180229842A1 (en) Systems and methods for execution of recovery actions on an unmanned aerial vehicle
CN104991561B (zh) 一种手持无人机回收的方法、装置及无人机
CN107340764A (zh) 无人机的异常处理方法及装置
US20170344026A1 (en) Uav, uav flight control method and device
CA2841285A1 (en) Method for predicting a trailing edge flap fault
EP3327534A3 (en) Flight control system with low-frequency instrument landing system localizer anomaly detection and method of use
TW201931040A (zh) 基於螺旋槳防護裝置的存在性來調整空中機器人式運載工具的飛行參數
CN110543800A (zh) 用于吊舱的目标识别跟踪方法、装置和吊舱
BR102017002018B1 (pt) Método para evitar contato da cauda de uma aeronave com o chão
CN105739533A (zh) 一种基于触摸感应交互的无人机控制方法及系统
WO2018170738A1 (zh) 控制方法和无人机
KR102022695B1 (ko) 드론 착륙을 제어하기 위한 방법 및 장치
CN110375710A (zh) 飞行器高度的确定方法、装置和飞行器系统
EP3728043B1 (en) Water surface detection method, unmanned aerial vehicle landing method and unmanned aerial vehicle
WO2019093504A1 (ja) ドローンを操作するための端末、方法及びそのためのプログラム
HK1237737B (zh) 无人机的降落伞系统、安全保护方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18754072

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 27/11/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 18754072

Country of ref document: EP

Kind code of ref document: A1