WO2020042151A1

WO2020042151A1 - Unmanned aerial vehicle out-of-control protection method and device, unmanned aerial vehicle system protection method and unmanned aerial vehicle system

Info

Publication number: WO2020042151A1
Application number: PCT/CN2018/103549
Authority: WO
Inventors: 刘根淼; 张圣鑫; 王一皿; 伍勃; 胡奔; 莫颂权
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-05
Also published as: CN110291010A

Abstract

Provided are an unmanned aerial vehicle out-of-control protection method and device, an unmanned aerial vehicle system protection method and an unmanned aerial vehicle system. The unmanned aerial vehicle out-of-control protection method is applied to an unmanned aerial vehicle out-of-control protection device. The unmanned aerial vehicle out-of-control protection device includes a parachute. The method comprises: acquiring flight status information and/or power status information of the unmanned aerial vehicle (101); and if the flight status information of the unmanned aerial vehicle is abnormal and/or the power status information indicates that the power failure of the unmanned aerial vehicle exceeds a preset duration, controlling the parachute to open (102). By acquiring flight status information and/or power status information of an unmanned aerial vehicle, when the unmanned aerial vehicle is flying, if the flight attitude of the unmanned aerial vehicle is abnormal and/or the power status information indicates that the power failure of the unmanned aerial vehicle exceeds the preset duration, the parachute is controlled to open, so that effective protection is performed on the unmanned aerial vehicle.

Description

UAV out-of-control protection method, equipment, UAV system protection method and UAV system

Technical field

The present application relates to the technical field of drones, and in particular, to a method, a device, a method for protecting a drone system, and a drone system.

Background technique

In the field of drone industry, drones that mount expensive equipment will work at high altitudes in cities. There will inevitably be many people and cars under the city. When the aircraft encounters a dangerous situation and a bomber is opened, the parachute is opened, so that The speed of the landing of the aircraft is slow, and people have a reaction time to leave. The slow speed can reduce the damage to the ground and the equipment mounted on the aircraft.

Some manufacturers have adopted the scheme of using compression springs to eject the parachute, but they have the disadvantage of slow response. Some manufacturers use the compressed air ejection parachute solution, which has the disadvantages of complex structure and high use and maintenance costs.

Summary of the Invention

The present application provides a method, a device, a method for protecting a drone system, and a drone system for protecting a drone from uncontrollability, which can protect the drone.

In a first aspect, a drone runaway protection method is provided, which is applied to a drone runaway protection device, where the drone runaway protection device includes a parachute, including: obtaining flight status information of the drone and / Or power status information; if the drone ’s flight status information is abnormal and / or the power status information indicates that the power of the drone is powered off for more than a preset duration, controlling the parachute to open.

In a second aspect, a drone runaway protection device is provided, which includes a communication element for acquiring flight state information and / or power state information of the drone; an ejection device, including a parachute, for passing the parachute Providing buoyancy for the drone; a processor that controls the parachute operation of the ejection device according to the flight state information and / or power state information of the drone.

According to a third aspect, a drone runaway protection method is provided, which is applied to a drone runaway protection device, including: obtaining a working environment parameter of the drone runaway protection device, and judging a location based on the working environment parameter. Whether the drone runaway protection device can work normally; if it is judged that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the The abnormal working state is fed back to the drone.

According to a fourth aspect, a drone out-of-control protection device is provided, including an ejection device; a sensing device obtains an operating environment parameter of the ejection device; and a processor controls the drone to stop according to the operating environment parameter of the ejection device take off.

In a fifth aspect, a protection method for a drone system is provided, which is applied to a drone and a drone runaway protection device that is communicatively connected to the drone, where the drone runaway protection device includes a parachute, Including: controlling the flight status of the drone, and transmitting the flight status information and power status information of the drone; obtaining the flight status information and / or power status information of the drone; if the drone If the flight state information of the aircraft is abnormal and / or the power state information indicates that the power of the drone is powered off for more than a preset period of time, the parachute is controlled to open.

According to a sixth aspect, a drone system is provided, including a drone and a drone runaway protection device that is communicatively connected with the drone. The drone includes a flight controller, and the flight controller is used for the flight controller. For controlling the flight status of the drone, and transmitting the flight status information and power status information of the drone; a power source, the power source is used to power the drone; and the drone runaway protection device It includes: a communication element for acquiring flight state information and / or power state information of the drone; an ejection device including a parachute for providing buoyancy to the drone through the parachute; processing And controlling the parachute operation of the ejection device according to the flight state information and / or power state information of the drone.

According to a seventh aspect, a drone out-of-control protection device is provided, including an umbrella tube, a parachute, a combustible material, and an igniter. The umbrella tube is provided on a drone frame, and the combustible material is provided on the umbrella. At the bottom of the inner cavity of the cylinder, the parachute is disposed in the umbrella cylinder and is located at a side of the combustible material away from the frame, and the igniter is disposed at a position of the combustible object facing the frame. On the side, the igniter is used to ignite the combustible, and the combustible burns to generate a thrust to push the parachute in the umbrella tube to open.

According to an eighth aspect, an unmanned aerial vehicle system is provided, including a rack and the unmanned aerial vehicle protection equipment described in various implementation manners of the seventh aspect, wherein the unmanned aerial vehicle protection equipment is provided on the rack.

This application obtains the flight status information and / or power status information of the drone. When the drone is in flight, when the drone ’s flight attitude is abnormal and / or the power status information indicates that the drone ’s If the power is cut off for longer than the preset time, the parachute is controlled to open, effectively protecting the drone.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1a is a schematic diagram of an explosion structure of a drone runaway protection device according to an embodiment.

FIG. 1b is a schematic cross-sectional structure diagram of a drone runaway protection device according to an embodiment.

FIG. 1c is a schematic diagram of a partially enlarged structure at A in FIG. 1b.

FIG. 1d is a schematic diagram of a partially enlarged structure at B in FIG. 1b.

FIG. 1e is a schematic structural diagram of an umbrella tube according to an embodiment.

Fig. 1f is a schematic structural diagram of an insulating disc and an igniter according to an embodiment.

FIG. 1g is a schematic structural diagram of a connecting frame according to an embodiment.

FIG. 1h is a schematic structural diagram of a lower cover plate of a connection frame according to an embodiment.

FIG. 1i is a schematic structural diagram of the drone runaway protection device of FIG. 1a after installation.

FIG. 2a is a flowchart of a drone runaway protection method according to an embodiment.

Figure 2b is a schematic diagram of a drone runaway protection device according to an embodiment.

Figure 3a is a flowchart of a drone runaway protection method according to an embodiment.

FIG. 3b is a schematic diagram of a drone runaway protection device according to an embodiment.

FIG. 4a is a flowchart of a method for protecting an unmanned aerial vehicle system according to an embodiment of the present application.

FIG. 4b is a schematic diagram of a drone system according to an embodiment.

Specific embodiment

The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that when a component is called "fixed to" another component, it may be directly on another component or a centered component may exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of the present application is only for the purpose of describing specific embodiments, and is not intended to limit the present application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

The embodiments of the present application will be described in detail below with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1a. An embodiment of the present application provides a drone runaway protection device, which includes an umbrella tube 4, a parachute (not shown in the figure), a combustible material 5, and an igniter 8. The umbrella tube 4 is provided in an unmanned On the frame of the aircraft, the combustibles 5 are disposed at the bottom of the inner cavity of the umbrella tube 4, and the parachute is disposed in the umbrella tube 4 and located at a position away from the frame of the combustibles 5. Side, the igniter 8 is provided on a side of the combustible material 5 facing the frame, the igniter 8 is used to ignite the combustible material 5, and the combustible material 5 burns to generate thrust to push the umbrella The parachute inside the barrel 4 opens.

In the present application, the combustibles 5 are arranged in the umbrella tube 4 and the parachute is opened by using the thrust generated when the combustibles 5 burns. Compared with the prior art, the structure is simple, the reaction speed is fast, and the cost of combustibles can be controlled, thereby solving the problem There are disadvantages to technology.

In one embodiment, the combustible material 5 is plate-shaped, and the shape of the combustible material 5 corresponds to the shape of the inner cavity of the umbrella tube 4, and the combustible material 5 and the inner wall of the umbrella tube 4 surround fit.

For example, if the umbrella tube 4 has a cylindrical structure, the combustible material 5 corresponds to a circular plate shape, and the peripheral edge of the disc of the combustible material 5 is in contact with the inner wall of the umbrella tube 4. In this way, the thrust generated by the combustion of the combustible material 5 pushes the parachute to move along the axial direction of the umbrella tube 4, and the inner wall of the umbrella tube 4 forms a limit effect on the combustible material 5, which can improve the success rate of opening the umbrella.

Optionally, the combustible material 5 is nitrocellulose. Nitrocellulose is a flammable and explosive substance. When it is ignited and burns, it generates a large force and can be used to push the parachute out of the umbrella tube 4. Of course, the nitrocellulose 5 may be other substances, and is not limited thereto.

Since the igniter 8 is disposed on the side of the combustibles 5 facing the rack, that is, the side facing away from the parachute, when the igniter 8 is ignited, the combustibles 5 start burning from the surface of the side facing away from the parachute, pushing the parachute The umbrella tube 4 is ejected. When the parachute is ejected, the combustible material 5 can also be ejected from the umbrella tube 4 into the atmospheric environment, so that the combustible material will not ignite other structures of the drone, thereby ensuring safety. Of course, the combustibles 5 may remain in the umbrella tube 4 until they are burned out, and collected after the drone has landed to avoid situations such as mountain fires caused by the combustibles 5 in the atmospheric environment.

In one embodiment, in order to ensure that the combustible material 5 never burns to the parachute when it is burned in the umbrella tube 4, that is, the combustible material 5 cannot be burned to the surface near the parachute side before the parachute leaves the umbrella tube 4, so a combustible material 5 The thickness of the object 5 in the axial direction of the umbrella tube 4 is not less than a preset thickness, and the preset thickness is the maximum thickness that the combustible material 5 ablates during the period from the ignition of the combustible 5 to the time when the parachute leaves the umbrella tube 4.

In another embodiment, a heat insulation plate (not shown in the figure) may be provided between the combustible material 5 and the parachute. The heat insulation plate can insulate or isolate the flame. The structure of the heat insulation plate is similar to that of the combustible material 5. That is, it is also plate-shaped and fits around the inner wall of the umbrella tube 4. When the combustible material 5 is burned, the heat insulation plate is first moved, and the heat insulation plate is then moved by the parachute. In this way, the thickness and size of the combustible material 5 are not restricted. Due to the blocking effect of the heat shield, it will not burn to the parachute.

In one embodiment, please refer to FIG. 1a and FIG. 1f, the drone runaway protection device further includes an insulating disc 7, a hollow area is provided in the middle of the insulating disc 7, and the igniter 8 is disposed on the insulating disc 7, And at least partially extend out of the hollowed-out area.

Specifically, the igniter 8 includes a terminal 81, an ignition terminal 82, and a mounting portion 83. The mounting portion 83 is mounted on the insulating disc 7. The terminal 81 and the ignition terminal 82 are respectively provided on the mounting portion 83, and the ignition terminal 82 is provided. On the side facing the combustibles 5. The terminal 81 is connected to a power source and provides electrical energy to the ignition terminal 82. The ignition terminal 82 generates high temperature or flame through the action of electricity to ignite the combustible material 5. The insulating disc 7 is used to isolate the ignition end 82 so that the ignition end 82 only acts with the combustible material 5.

Optionally, the igniter 8 is a high-pressure pack igniter, which can excite an instantaneous high-voltage pulse to generate Mars, and the temperature of the Mars is higher than the ignition point of the combustible material 5.

In an embodiment, please refer to FIG. 1a. A spacer 6 is further provided between the insulating disc 7 and the combustible 5 of the drone runaway protection device, and the spacer 6 is used to make the igniter There is a space between 8 and the combustibles 5 to facilitate the ignition of the igniter 8. For example, if the igniter 8 and the combustible material 5 are closely arranged without a gap, the igniter 8 has no space to ignite. Therefore, a spacer 6 is provided to isolate the ignition space for the igniter 8.

Optionally, since the combustion of the combustible material 5 requires oxygen, the separator 6 should be in a mesh shape or other similar shape so that the combustible material 5 is in contact with the air. Preferably, the spacer 6 is a metal mesh.

Please refer to FIG. 1a, the drone runaway protection device further includes an umbrella tube bottom cover 9, a flame sensor (not shown in the figure), and a sensor main board 17. The umbrella tube bottom cover 9 is disposed on the umbrella tube 4 toward the The flame sensor is provided on the sensor main board 17 at the end of the frame, and the sensor main board 17 is provided on the rack, and the umbrella bottom cover 9 is provided with a through hole 91. A flame sensor extends out of the through hole 91. The flame sensor is used to sense the combustion state of the combustible material 5, and an electrical signal forming a flame is transmitted to the sensor main board 17. The electrical signal of the flame is used to determine Whether the combustible material 5 is burned, and further, whether the parachute is opened.

The drone runaway protection device further includes a temperature sensor (not shown in the figure) and / or a humidity sensor (not shown in the figure) provided near the combustible, and the temperature sensor is configured to sense the The temperature around the combustibles 5, the humidity sensor is used to sense the humidity around the combustibles 5, and form an electrical signal of temperature and / or humidity to be transmitted to the sensor main board 17, the temperature and / or humidity of the The electrical signal is used to determine whether the current temperature and / or humidity of the combustible material is within a temperature and / or humidity range capable of being burned.

Please refer to Fig. 1a, Fig. 1e and Fig. 1i, the drone runaway protection device further includes a pulling rope 3, the umbrella tube 4 includes a top end, a gap 42 is opened on the top end, and one end of the pulling rope 3 The other end is connected to the frame, and the other end extends into the umbrella tube 4 along the outer periphery of the umbrella tube 4 and connects with the parachute.

In one embodiment, please refer to FIG. 1a and FIG. 1g. The drone runaway protection device further includes a connecting frame 16 including a connecting portion 162 and a supporting portion 161. The supporting portion 161 is used for supporting The umbrella tube 4, the connection portion 162 is used to connect a drone, and the pulling rope 3 is connected to the connection portion 162.

In this embodiment, the connecting frame 16 is a part of the drone's out-of-control protection device. The connecting frame 16 is connected to the frame of the drone, so that the structure such as the umbrella tube 4 is fixed on the frame of the drone.

In this embodiment, the connecting portion 162 of the connecting frame 16 is a plurality of arms extending from the supporting portion 161, and a fixing member is provided at the end of the arm, and the fixing member is used for connecting with the drone. The frame is fixed. The fixing member may include a left buckle 13 and a right buckle 15, and the left buckle 13 and the right buckle 15 cooperate to form a complete buckle structure, and the buckle structure is used to fasten the drone's frame. In order to facilitate installation, a hand-tight screw 11 can be provided to fix the left and

right snaps

13 and 15. No professional tools are required, and the left and

right snaps

13 and 15 can be tightened or loosened by hand only. For installation and removal.

In this embodiment, a load bearing shaft 12 is provided at an end of a support arm of the connecting portion 162, and a receiving groove 1621 is provided on the support arm, and the receiving groove 1621 corresponds to the load bearing shaft from the support arm The position 12 extends to the installation position on the outer periphery of the umbrella tube 4, the pulling rope 3 is connected to the bearing shaft 12, and is accommodated in the receiving groove 1621.

In one embodiment, the number of the arms corresponds to the number of the arms provided on the drone frame, so that each arm is connected to the arm of the drone, and the structure is more stable.

For an embodiment, please refer to FIG. 1b, FIG. 1c, FIG. 1g, and FIG. 1h. A gap 165 is provided between the outer peripheral wall surface of the umbrella tube 4 and the connection frame 16, and a leakage hole 1611 is provided on the connection frame 16. The water flowing down through the gap 165 is drained through the leakage hole 1611. Preferably, the umbrella canopy bottom cover 9 also surrounds the outer periphery of the bottom of the umbrella canister 4, and a gap fit is formed between the umbrella canopy cover 9 and the connecting frame 16 to form the gap 165. Water passes through The gap 165 is left in the water leakage hole 1611 on the connecting frame 16. At the bottom of the connecting frame 16, a connecting frame lower cover plate 21 is also provided. The connecting frame lower cover plate 21 is also correspondingly provided with a water leakage hole 211. Water from the leakage hole 1611 on the connecting frame 16 passes through the connecting frame lower cover plate 21 The leak hole 211 is drained.

For an embodiment, please refer to FIG. 1a, FIG. 1b, and FIG. 1g. The support portion 161 of the connecting frame 16 is provided with a cavity 163, and the cavity 163 is used to accommodate a sensor main board of the drone runaway protection device. 17. The support portion 161 is provided with a sealing structure 10 to isolate the cavity 163 and the water leakage hole 1611. The sealing structure of this embodiment may be a sealing ring, and the shape and structure of the sealing ring correspond to the shape of the support portion 161, such as an “O” -shaped sealing ring, etc., without any restrictions.

In another embodiment, the connecting frame 16 is a drone frame, and structures such as the umbrella tube 4 can be directly fixed on the connecting frame 16 to realize the connection and fixing of the drone runaway protection device and the drone.

For an embodiment, please refer to FIGS. 1a, 1b, 1d, and 1e. The device further includes an umbrella tube cover 1 and a ball plunger 2, and the umbrella tube cover 1 is disposed on the umbrella tube 4. At the top end, the umbrella tube 4 is provided with a first connection hole 41, the umbrella tube cover 1 is also provided with a second connection hole (not labeled in the figure), and the ball plunger 2 is used to communicate with The first connection hole 41 and the second connection hole cooperate to fix the umbrella cover 1. The ball plunger 2 has elasticity. When the umbrella tube cover 1 receives the axial force of the umbrella tube 1, the ball head of the ball plunger 2 retracts, so that the umbrella tube cover 1 is opened. The ball plug 2 is connected to the umbrella tube cover 1 so that the parachute can push the umbrella tube cover 1 open.

Please refer to FIG. 1a. When an abnormality occurs in the drone and a user or a crowd needs to be warned, a warning device may be provided. In one embodiment, an exposed light guide post 14 is provided on the connecting frame 16, and the light guide post 14 can transmit light and serve as a warning.

In one embodiment, the device may further include a main board 18, and the sensor main board 17 may be provided on the main board 18. In addition, the main board 18 may be provided with various other components to form an integrated control center structure, which is convenient for device control. .

In one embodiment, the device may further be provided with an input interface 19 and an output interface 20, and the input interface 19 and the output interface 20 may be electrically connected to the drone to implement communication between the drone protection device and the drone.

An embodiment of the present application further provides a drone system including a rack and the drone protection device provided in the foregoing embodiment, where the drone protection device is disposed on the rack.

The drone system of this embodiment can effectively protect the drone by setting a drone protection device. Compared with the prior art, the structure is simple, the reaction speed is fast, and the cost of combustible materials can be controlled, thereby solving the existing problem. Disadvantages of technology.

It should be understood that the drone runaway protection devices and drone systems have been introduced above. How to protect drones during or near flight is an urgent problem that needs to be solved.

Referring to FIG. 2a, an embodiment of the present application provides a drone runaway protection method, which is applied to a drone runaway protection device. The drone runaway protection device includes a parachute, and the method includes:

In 101, flight status information and / or power supply status information of the drone are acquired.

Optionally, the flight status information of the drone may be attitude information, speed, and / or acceleration information, that is, it may be any one, any two, or three kinds of the above-mentioned three kinds of information. The power status information of the drone is information about whether the power supply is powered off. Further, if the power is turned off, the information is the duration of the power outage.

Optionally, attitude information of the drone sensed by the attitude sensor, and speed and / or acceleration information sensed by the speed sensor and / or acceleration sensor may be acquired. You can get the power status information transmitted by the flight controller.

In 102, if the flight status information of the drone is abnormal and / or the power status information indicates that the power failure of the drone exceeds a preset duration, the parachute is controlled to open.

Optionally, the abnormal flight status information includes abnormal attitude information, abnormal speed and / or acceleration information. If the drone is abnormally dropped or flipped, it will cause abnormal attitude information, speed and / or acceleration information. Therefore, it can be determined whether the drone is abnormal from the abnormal attitude information, speed and / or acceleration information. Status to determine if drone runaway protection devices need to be activated.

Optionally, the preset time period is a time period when the drone is powered off for more than the time period during which the drone can resume, at which time the drone loses power.

In this embodiment, by acquiring flight status information and / or power status information of the drone, when the drone is flying, when the drone is in an abnormal flight attitude and / or the power status information indicates that the If the power supply of the man-machine exceeds the preset time, the parachute is controlled to open, which effectively protects the drone.

In an embodiment, the method further includes:

Obtain a working environment parameter of the drone runaway protection device, and determine whether the drone runaway protection device can work normally according to the working environment parameter.

Further, if it is determined that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the abnormal state of the work is fed back to the drone. machine.

Optionally, the working environment parameter includes a temperature parameter and / or a humidity parameter.

Optionally, the working environment parameter includes a temperature parameter sensed by a temperature sensor and / or a humidity parameter sensed by a humidity sensor.

According to an embodiment, if it is determined that the drone runaway protection device can work normally according to the working environment parameter, and the flight status information of the drone is abnormal and / or the power status information indicates that the drone If the power of the aircraft is powered off for more than a preset period of time, it is determined whether the drone runaway protection device has opened the parachute.

Further, if it is determined that the drone runaway protection device has not opened the parachute, then control is opened again.

Please refer to FIG. 2b, an embodiment of the present application further provides a drone runaway protection device, including

A communication element for acquiring flight status information and / or power status information of the drone.

The ejection device includes a parachute for providing buoyancy to the drone by the parachute.

The processor controls the parachute operation of the ejection device according to the flight state information and / or power state information of the UAV.

Optionally, the device further includes:

The sensing device acquires a working environment parameter of the ejection device.

The processor determines whether the ejection device can work normally according to a working environment parameter of the ejection device.

In one embodiment, the ejection device includes a combustible and an igniter, the igniter is used to ignite the combustible, the combustible combusts and pops up the parachute, so that the parachute opens and the Man-machine provides buoyancy.

Optionally, the combustible material is nitrocellulose.

Optionally, the sensing device includes a temperature sensor and / or a humidity sensor, the temperature sensor is used to sense a temperature parameter of the combustible material, and the humidity sensor is used to sense a humidity parameter of the combustible material.

Further, the processor determines whether the combustible can be ignited according to a degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter.

Further, if the processor determines that the combustible cannot be ignited, the processor feeds back to the drone a signal that the combustible cannot be ignited.

In an embodiment, the sensing device further includes a flame sensor, the flame sensor is configured to sense a flame parameter generated by the combustion of the combustible material, and the processor determines whether the combustible material is ignited according to the flame parameter.

Further, if the processor determines that the combustible can be ignited, and the combustible is not ignited, controlling the igniter to ignite again to ignite the combustible.

Optionally, the combustible material is nitrocellulose.

Referring to FIG. 3a, an embodiment of the present application provides a drone runaway protection method, which is applied to a drone runaway protection device. The method includes:

In 201, a working environment parameter of the drone runaway protection device is obtained, and according to the working environment parameter, it is determined whether the drone runaway protection device can work normally.

In 202, if it is determined that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the abnormal working state is fed back to the drone. Man-machine.

In this embodiment, the drone obtains the working environment parameters of the drone runaway protection device before taking off. When it is judged that the drone runaway protection device cannot work normally according to the working environment parameters, it is determined as the The drone out-of-control protection device works abnormally and reports the abnormal working status to the drone. The drone can control the drone to stop taking off, or feedback information to the ground terminal, which is set on the display interface of the ground terminal. If there is an icon for taking off, the user can decide whether to take off. In this way, both the drone can be effectively protected, and corresponding actions can be taken according to the actual situation of the user.

Please refer to FIG. 3b, an embodiment of the present application provides a drone runaway protection device, including

Ejection device.

The processor controls the drone to stop taking off according to the working environment parameter of the ejection device.

The drone of the embodiment of the present application obtains the working environment parameters of the ejection device through the sensing device before taking off. When the working environment parameters of the ejection device are abnormal, controlling the drone to stop taking off can protect the drone and prevent The man-machine has an abnormality during flight and cannot use the ejection device.

Further, the ejection device includes a combustible and a parachute, and the combustible is used to prevent the combustible from burning when the drone is flying and the flight is abnormal, so as to pop the parachute, so that the parachute Open to provide buoyancy for the drone.

Further, if the processor determines that the combustible material cannot be ignited, a signal is fed back to the drone that the combustible material cannot be ignited.

Optionally, the combustible material is nitrocellulose.

Please refer to FIG. 4a. An embodiment of the present application provides a protection method for a drone system, which is applied to a drone and a drone out-of-control protection device that communicates with the drone, and the drone is out of control. The device includes a parachute, and the method includes:

In 301, the flight status of the drone is controlled, and the flight status information and power status information of the drone are transmitted.

In 302, acquiring flight status information and / or power status information of the drone;

Controlling the parachute to open if the flight status information of the drone is abnormal and / or the power status information indicates that the power failure of the drone exceeds a preset period of time.

Optionally, the abnormal flight status information includes abnormal attitude information, abnormal speed and / or acceleration information.

In an embodiment, the method further includes:

Further, if it is judged that the drone runaway protection device can work normally according to the working environment parameters, and the flight status information of the drone is abnormal and / or the power status information indicates the drone's If the power is cut off for a preset period of time, it is determined whether the drone runaway protection device has opened the parachute.

Optionally, if it is judged that the flight status information of the drone is normal and / or the power status information is normal, and the drone out of control protection device is abnormal, then the information of whether the drone is returning to flight is transmitted.

In an embodiment, the method further includes

The drone status information obtained by the drone runaway protection device is status information of the drone flying abnormality determined by the drone; or

The drone status information obtained by the drone runaway protection device includes status information of the drone obtained periodically, and the drone runaway protection device determines whether the drone is based on the status information of the drone. Flight is abnormal.

Wherein, if the time interval of the timing acquisition is sufficiently small, it is real-time acquisition.

In an embodiment, the method further includes

If the drone has not yet taken off, and if the drone obtains abnormal operation of the drone out-of-control protection device, the drone is controlled to stop further take-off actions.

Referring to FIG. 4b, an embodiment of the present application provides a drone system, including a drone and a drone runaway protection device that is communicatively connected with the drone.

The drone includes:

A flight controller configured to control the flight status of the drone, and transmit flight status information and power status information of the drone.

A power source for powering the drone. Optionally, the power supply may also provide power for the drone runaway protection device.

The drone runaway protection device includes:

A communication element, the communication element is configured to acquire flight state information and / or power state information of the drone.

The ejection device includes a parachute for providing buoyancy to the drone through the parachute.

The drone system in the embodiment of the present application can open a parachute when an abnormality occurs during the drone flight, and protect the drone.

In an embodiment, the drone runaway protection device further includes:

In an embodiment, if the drone is flying and the flight status information of the drone is abnormal and / or the power supply status information is abnormal, the processor controls the parachute of the ejection device to open.

In an embodiment, if the working environment parameter of the ejection device is abnormal, the processor controls the parachute of the ejection device to open again.

In an embodiment, if the drone is in flight, and the flight status information of the drone is normal, the power status information is normal, and the operating environment parameters of the ejection device are abnormal, the flight controller Transmits information on whether to return home.

In an embodiment, if the drone has not taken off, and if the drone obtains abnormal working environment parameters of the ejection device, the flight controller controls the drone to stop further take-off actions. . Optionally, the flight controller also feeds back information to the ground terminal. The display interface of the ground terminal is provided with an icon for taking off or not, and the user can decide whether to take off or not. In this way, both the drone can be effectively protected, and corresponding actions can be taken according to the actual situation of the user.

Optionally, the sensing device includes a temperature sensor and / or a humidity sensor, the temperature sensor is configured to sense a temperature parameter of the combustible, and the humidity sensor is configured to sense a humidity parameter of the combustible, The temperature parameter and the humidity parameter constitute the environmental parameter.

Optionally, the combustible material is nitrocellulose.

In an embodiment, the drone further includes an attitude sensor, a speed sensor, and an acceleration sensor, the attitude sensor is used to sense the flying attitude information of the drone, and the speed sensor is used to sense the Instantaneous speed information of the drone, the acceleration sensor is configured to sense instantaneous speed change information of the drone, and the flight attitude information, instantaneous speed information, and / or instantaneous speed change information of the drone constitute the Drone flight status information.

The embodiments of the present application have been described in detail above. Specific examples are used in this document to explain the principles and embodiments of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application. Persons of ordinary skill in the art may change the specific embodiments and application scopes according to the idea of the present application. In summary, the content of this description should not be construed as a limitation on the present application.

Claims

A drone runaway protection method is applied to a drone runaway protection device. The drone runaway protection device includes a parachute, and the method includes:

Acquiring flight status information and / or power status information of the drone;

Controlling the parachute to open if the flight status information of the drone is abnormal and / or the power status information indicates that the power failure of the drone exceeds a preset period of time.
The method for protecting a drone from losing control according to claim 1, wherein the abnormality of the flight state information includes abnormality of attitude information, abnormality of speed and / or acceleration information.
The uncontrolled drone protection method according to claim 1 or 2, wherein the method further comprises:

Obtain a working environment parameter of the drone runaway protection device, and determine whether the drone runaway protection device can work normally according to the working environment parameter.
The drone runaway protection method according to claim 3, wherein if it is determined that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device works Abnormal, and feedback the abnormal working state to the drone.
The uncontrolled drone protection method according to claim 3 or 4, wherein the working environment parameters include temperature parameters and / or humidity parameters.
The drone uncontrollable protection method according to claim 3, wherein if it is judged that the drone uncontrollable protection device can work normally according to the working environment parameter, and the flight status information of the drone is abnormal and / Or the power state information indicates that the power failure of the drone exceeds a preset time, it is determined whether the drone runaway protection device has opened the parachute.
The drone runaway protection method according to claim 6, wherein if it is determined that the drone runaway protection device has not opened the parachute, then the parachute is controlled to be opened again.
A drone runaway protection device, comprising:

A communication element for acquiring flight status information and / or power status information of the drone;

An ejection device, including a parachute for providing buoyancy to the drone through the parachute;

The processor controls the parachute operation of the ejection device according to the flight state information and / or power state information of the UAV.
The drone runaway protection device according to claim 8, wherein the device further comprises:

A sensing device to obtain a working environment parameter of the ejection device;

The processor determines whether the ejection device can work normally according to a working environment parameter of the ejection device.
The drone runaway protection device according to claim 9, wherein the ejection device comprises a combustible and an igniter, the igniter is used to ignite the combustible, and the combustible burns to bounce away the A parachute to open the parachute to provide buoyancy for the drone.
The drone runaway protection device according to claim 10, wherein the sensing device comprises a temperature sensor and / or a humidity sensor, and the temperature sensor is configured to sense a temperature parameter of the combustible material, and The humidity sensor is used to sense a humidity parameter of the combustible material.
The drone runaway protection device according to claim 11, wherein the processor determines the degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter Whether combustibles can ignite.
The drone runaway protection device according to claim 12, wherein if the processor determines that the combustible material cannot be ignited, the processor feeds back to the drone that the combustible material cannot be ignited. signal.
The drone runaway protection device according to claim 11, wherein the sensing device further comprises a flame sensor, the flame sensor is configured to sense a flame parameter generated by the combustion of the combustible material, and the processor It is determined whether the combustible is ignited according to the flame parameter.
The drone runaway protection device according to claim 14, wherein if the processor determines that the combustible can be ignited and the combustible is not ignited, the igniter is controlled to ignite again to ignite the igniter. Mentioned combustibles.
The drone runaway protection device according to any one of claims 9 to 15, wherein the combustible material is nitrocellulose.
A drone runaway protection method applied to a drone runaway protection device is characterized in that the method includes:

Obtaining a working environment parameter of the drone runaway protection device, and judging whether the drone runaway protection device can work normally according to the working environment parameter;

If it is determined that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the abnormal working state is fed back to the drone.
The uncontrolled drone protection method according to claim 17, wherein the working environment parameters include temperature parameters and / or humidity parameters.
A drone runaway protection device, comprising:

Ejection device

A sensing device to obtain a working environment parameter of the ejection device;

The processor controls the drone to stop taking off according to the working environment parameter of the ejection device.
The drone runaway protection device according to claim 19, wherein the ejection device includes a combustible and a parachute, and the combustible is used to prevent the drone from flying when the drone is flying and the flight is abnormal The combustibles burn and bounce off the parachute, so that the parachute opens to provide buoyancy for the drone.
The drone runaway protection device according to claim 20, wherein the sensing device comprises a temperature sensor and / or a humidity sensor, and the temperature sensor is configured to sense a temperature parameter of the combustible material, and The humidity sensor is used to sense a humidity parameter of the combustible material.
The drone runaway protection device according to claim 21, wherein the processor determines the degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter Whether combustibles can ignite.
The drone runaway protection device according to claim 22, wherein if the processor determines that the combustible material cannot be ignited, a signal is fed back to the drone that the combustible material cannot be ignited.
The drone runaway protection device according to any one of claims 20 to 23, wherein the combustible substance is nitrocellulose.
A protection method for a drone system is applied to a drone and a drone runaway protection device that is communicatively connected with the drone. The drone runaway protection device includes a parachute, and is characterized in that: Methods include:

Controlling the flight status of the drone, and transmitting the flight status information and power status information of the drone;

Acquiring flight status information and / or power status information of the drone;

Controlling the parachute to open if the flight status information of the drone is abnormal and / or the power status information indicates that the power failure of the drone exceeds a preset period of time.
The method for protecting an unmanned aerial vehicle system according to claim 25, wherein the abnormality of the flight status information includes abnormality of attitude information, abnormality of speed and / or acceleration information.
The method for protecting an unmanned aerial vehicle system according to claim 25 or 26, wherein the method further comprises:

Obtain a working environment parameter of the drone runaway protection device, and determine whether the drone runaway protection device can work normally according to the working environment parameter.
The method for protecting an unmanned aerial vehicle system according to claim 27, wherein the working environment parameter comprises a temperature parameter and / or a humidity parameter.
The protection method for a drone system according to claim 27 or 28, wherein if it is determined that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone is out of control The protection device works abnormally, and feeds back the drone with the abnormal working state.
The protection method for a drone system according to claim 27, wherein if it is judged that the drone runaway protection device can work normally according to the working environment parameter, and the flight status information of the drone is abnormal And / or the power state information indicates that the power failure of the drone exceeds a preset duration, it is determined whether the drone runaway protection device has opened the parachute.
The protection method for a drone system according to claim 30, wherein if it is determined that the drone out-of-control protection device does not open the parachute, it controls to open the parachute again.
The protection method for a drone system according to claim 25, wherein if it is determined that the flight status information of the drone is normal and / or the power status information is normal, and the drone is out of control protection device If it is abnormal, information is transmitted as to whether the drone is returning home.
The method for protecting a drone system according to claim 25, wherein the method further comprises

The drone flight status information obtained by the drone runaway protection device is status information of the drone flight abnormality determined by the drone; or

The drone flight status information obtained by the drone runaway protection device includes status information of the drone obtained periodically, and the drone runaway protection device determines the drone based on the drone flight status information. Whether the aircraft is flying abnormally.
The method for protecting a drone system according to claim 29, wherein the method further comprises

If the drone has not taken off, and if the drone obtains abnormal operation of the drone out of control protection device, the drone is controlled to stop further take-off actions.
A drone system, which is characterized by comprising a drone and a drone runaway protection device that is communicatively connected with the drone,

The drone includes:

A flight controller for controlling the flight status of the drone, and transmitting flight status information and power status information of the drone;

A power source for powering the drone;

The drone runaway protection device includes:

A communication element configured to obtain flight status information and / or power status information of the drone;

An ejection device, including a parachute for providing buoyancy to the drone through the parachute;

The processor controls the parachute operation of the ejection device according to the flight state information and / or power state information of the UAV.
The drone system of claim 35, wherein

The drone flight status information obtained by the communication element is status information of the drone flight abnormality determined by the drone; or

The drone flight status information obtained by the communication element includes status information of the drone obtained periodically, and the processor determines whether the drone is flying abnormally according to the drone flight status information.
The drone system of claim 35, wherein the drone runaway protection device further comprises:

A sensing device to obtain a working environment parameter of the ejection device;

The processor determines whether the ejection device can work normally according to a working environment parameter of the ejection device.
The drone system according to claim 37, wherein if the drone is flying and the flight status information of the drone is abnormal and / or the power supply status information is abnormal, the processing The device controls the parachute of the ejection device to open.
The drone system according to claim 38, wherein if the operating environment parameter of the ejection device is abnormal, the processor controls the parachute of the ejection device to open again.
The drone system according to claim 39, wherein if the drone is flying and the flight status information of the drone is normal, the power status information is normal, and the If the working environment parameter is abnormal, the flight controller transmits information on whether to return to home.
The drone system according to claim 39, wherein if the drone has not taken off, and if the drone obtains abnormal working environment parameters of the ejection device, the flight controller The drone is controlled to stop further take-off actions.
The drone system according to any one of claims 37 to 41, wherein the ejection device comprises a combustible material and an igniter, the igniter is used to ignite the combustible material, and the combustible material burns and bombs The parachute is opened so that the parachute is opened to provide buoyancy for the drone.
The drone system according to claim 37, wherein the sensing device comprises a temperature sensor and / or a humidity sensor, and the temperature sensor is configured to sense a temperature parameter of the combustible material, and the humidity sensor It is used to sense the humidity parameter of the combustible, and the temperature parameter and the humidity parameter constitute the environmental parameter.
The drone system according to claim 43, wherein the processor determines the combustible material according to a degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter. Whether it can be ignited.
The drone system of claim 44, wherein if the processor determines that the combustible material cannot be ignited, the processor feeds back to the drone a signal that the combustible material cannot be ignited.
The drone system according to claim 43, wherein the sensing device further comprises a flame sensor, the flame sensor is configured to sense a flame parameter generated by the combustion of the combustible material, and the processor is The flame parameter determines whether the combustible is ignited.
The drone system of claim 46, wherein if the processor determines that the combustible can be ignited and the combustible is not ignited, controlling the igniter to ignite again to ignite the combustible Thing.
The drone system according to any one of claims 42 to 47, wherein the combustible material is nitrocellulose.
The drone system according to any one of claims 35 to 48, wherein the drone further comprises an attitude sensor, a speed sensor, and an acceleration sensor, and the attitude sensor is configured to sense the drone The flying attitude information of the drone, the speed sensor is used to sense the instantaneous speed information of the drone, the acceleration sensor is used to sense the instantaneous speed change information of the drone, and the flying attitude of the drone The information, the instantaneous speed information, and / or the instantaneous speed change information constitute flight status information of the drone.
A drone runaway protection device is characterized in that it includes an umbrella tube, a parachute, a combustible material, and an igniter. The umbrella tube is provided on a frame of the drone, and the combustible material is provided on the umbrella tube. At the bottom of the inner cavity, the parachute is disposed in the umbrella tube and is located on a side of the combustible material away from the frame, and the igniter is disposed on a side of the combustible material facing the frame, The igniter is used for igniting the combustible, and the combustible burns to generate thrust to push the parachute in the umbrella tube to open.
The drone runaway protection device according to claim 50, wherein the combustible material is plate-shaped, and the shape of the combustible material corresponds to the shape of the inner cavity of the umbrella tube, and the combustible material is The inner wall of the umbrella tube is fit around.
The drone runaway protection device according to claim 50 or 51, further comprising an insulating disc, a hollow region is provided in the middle of the insulating disc, the igniter is disposed on the insulating disc, and is at least partially extended Out the hollowed out area.
The drone runaway protection device according to claim 52, wherein a spacer is provided between the insulating disc and the combustible, and the spacer is used to make the igniter and the combustible There is a space between objects to facilitate the ignition of the igniter.
The unmanned aircraft runaway protection device according to any one of claims 50 to 53, further comprising an umbrella tube bottom cover, a flame sensor, and a sensor main board, wherein the umbrella tube bottom cover is disposed in the direction of the umbrella tube. At the end of the rack, the flame sensor is provided on the sensor main board, the sensor main board is provided on the rack, and a through hole is provided on the bottom cover of the umbrella tube, and the flame sensor extends Out of the through hole, the flame sensor is used to sense the burning state of the combustible, and an electrical signal forming a flame is transmitted to the sensor main board, and the electrical signal of the flame is used to determine whether the combustible is burning , And then determine whether the parachute is open.
The drone runaway protection device according to claim 54, wherein the drone runaway protection device further comprises a temperature sensor and / or a humidity sensor provided near the combustible, and the temperature sensor is used for Sensing the temperature around the combustibles, the humidity sensor is used to sense the humidity around the combustibles, and form an electrical signal of temperature and / or humidity to be transmitted to the sensor motherboard, the temperature and / or humidity The electrical signal is used to determine whether the current temperature and / or humidity of the combustible material is within a temperature and / or humidity range capable of being burned.
The uncontrolled drone protection device according to any one of claims 50 to 55, wherein the combustible material is nitrocellulose.
The drone runaway protection device according to any one of claims 50 to 56, wherein the device further comprises a pulling rope, the umbrella tube further includes a top end, and a gap is formed on the top end, the One end of the pulling rope is connected to the frame, and the other end extends into the umbrella tube along the outer periphery of the umbrella tube and the gap to connect with the parachute.
The drone runaway protection device according to claim 57, wherein the drone runaway protection device further comprises a connecting frame, the connecting frame includes a connecting portion and a supporting portion, and the supporting portion is configured to support the drone The umbrella tube, the connection portion is used to connect a drone, and the pulling rope is connected to the connection portion.
The drone runaway protection device according to claim 58, wherein the connecting portion of the connecting frame is a plurality of arms extending from the supporting portion, and a fixing member is provided at the end of the arm And the fixing member is used for fixing with a drone frame.
The drone runaway protection device according to claim 59, wherein the number of the arm corresponds to the number of the arm provided on the frame of the drone.
The drone runaway protection device according to claim 59 or 60, wherein a load bearing shaft is provided at an end of a support arm of the connecting portion, and a receiving groove is provided on the support arm, and the receiving groove The pulling rope extends from a position of the support arm corresponding to the bearing shaft to an installation position on the outer periphery of the umbrella tube, and the pulling rope is connected to the bearing shaft and is accommodated in the receiving groove.
The drone runaway protection device according to claim 50, wherein the device further comprises an umbrella tube cover and a ball plunger, and the umbrella tube cover is provided at an end of a top end of the umbrella tube, The umbrella tube is provided with a first connection hole, the umbrella tube cover is also provided with a second connection hole, and the ball plunger is used to cooperate with the first connection hole and the second connection hole, To fix the umbrella tube cover.
The drone runaway protection device according to claim 58, wherein a gap is provided between an outer peripheral wall surface of the umbrella tube and a connection frame, and a leakage hole is provided on the connection frame, and Water is drained through the leak hole.
The drone runaway protection device according to claim 63, wherein a support portion of the connecting frame is provided with a cavity, and the cavity is used to accommodate a sensor main board of the drone runaway protection device. The support portion is provided with a sealing structure to isolate the cavity from the water leakage hole.
A drone system, comprising a rack and the drone protection device according to any one of claims 50 to 64, wherein the drone protection device is provided on the rack.