WO2020119720A1

WO2020119720A1 - Auxiliary unmanned aerial vehicle finding method and apparatus, and unmanned aerial vehicle

Info

Publication number: WO2020119720A1
Application number: PCT/CN2019/124569
Authority: WO
Inventors: 杨坚
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2018-12-12
Filing date: 2019-12-11
Publication date: 2020-06-18
Also published as: CN109573028B; CN109573028A

Abstract

An auxiliary unmanned aerial vehicle finding method and apparatus, and an unmanned aerial vehicle. The unmanned aerial vehicle comprises an auxiliary finding warning sound apparatus (130). The auxiliary unmanned aerial vehicle finding method comprises: determining that an unmanned aerial vehicle lands due to severely low battery or a fault; determining whether the unmanned aerial vehicle is able to obtain position information of a remote control or a drone pilot; if the unmanned aerial vehicle is unable to obtain position information of the remote control or the drone pilot, determining whether a distance between the unmanned aerial vehicle and a return point is greater than a first preset value; if yes, starting the auxiliary finding warning sound apparatus (130) to send out an auxiliary finding warning sound. By starting the auxiliary finding warning sound apparatus (130) when an unmanned aerial vehicle lands due to severely low battery or a fault and a distance between the unmanned aerial vehicle and a return point is too far, so as to send out an auxiliary finding warning sound to remind a searching person to pay attention, the unmanned aerial vehicle can easily be found, especially for a hidden unmanned aerial vehicle. Moreover, the auxiliary unmanned aerial vehicle finding method can be implemented by means of software upgrade on the basis of existing unmanned aerial vehicles.

Description

Auxiliary drone retrieval method, device and drone

Technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an auxiliary unmanned aerial vehicle retrieval method, device and unmanned aerial vehicle.

Background technique

With the development of social technology, drones play a variety of important roles in various fields. Whether it is military use at the national level or entertainment use at the personal level, there are drones. Development, more people will be keen on the use of drones, especially consumer-grade drones.

When the user uses the drone to fly, when an abnormal situation occurs, the drone may crash. For example, when the drone is flying over a long distance, the battery power is too fast, it triggers a severe low battery alarm, and the landing is caused. The battery is alarmed and landed, which is like a drone flying due to a critical sensor failure.

However, due to the high price of drones and the need to analyze the drone logs for human reasons or the problems caused by the drones themselves, users need to find the missing drones at this time.

Existing technologies usually search for an aircraft based on the geographic location and horizontal speed of satellite positioning when the UAV on the remote control is disconnected. But sometimes the plane hangs on the grass or branches. When the user walks near the drone with the remote control, even if the communication connection with the drone returns to normal, it may not be possible to find the plane quickly. If the concealment is strong, it is very It is difficult to find drones, which takes time and effort, which is not conducive to the promotion of drones.

Summary of the invention

Embodiments of the present invention provide an auxiliary drone retrieval method, device, and unmanned aerial vehicle, which can better implement an auxiliary retrieval warning sound when the drone is dropped due to severe low power or due to a drone failure The device emits an auxiliary recovery warning sound to remind the search personnel to pay attention, which is convenient for the recovery of the drone, especially the drone that falls in a hidden place.

A first aspect of an embodiment of the present invention provides an auxiliary drone retrieval method. The drone includes an auxiliary retrieval warning sound device. The drone retrieval method includes:

Determine that the drone landed due to severe low power or due to a malfunction of the drone;

Determine whether the drone can obtain the position information of the remote control or the pilot;

If the drone cannot obtain the position information of the remote control or the pilot, then:

Determine whether the distance between the drone and the home point is greater than the first preset value;

If yes, the auxiliary retrieval warning sound device is activated to issue an auxiliary retrieval warning sound.

In some embodiments, the assisted drone retrieval method further includes:

If the drone can obtain the position information of the remote controller or the pilot, then:

Determine whether the position information of the drone away from the remote control or the pilot is greater than a second preset value;

If yes, determine whether the distance between the drone and the home point is greater than the first preset value;

If yes, the auxiliary retrieval warning sound device is activated to emit the auxiliary retrieval warning sound.

In some embodiments, the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.

In some embodiments, the auxiliary alarm sound device includes the motor of the drone and the buzzer, and the method further includes:

Determine whether the motor stops;

If yes, the buzzer is controlled to issue the auxiliary recovery warning sound.

In some embodiments, the assisted drone retrieval method further includes:

If the motor does not stop, then:

Judging whether the current power of the drone is sufficient to cause the motor to issue the auxiliary recovery warning sound;

If yes, the motor is controlled to issue the auxiliary recovery warning sound.

In some embodiments, the assisted drone retrieval method further includes:

If the current power of the drone is insufficient to cause the motor to emit the auxiliary retrieval warning sound, the buzzer is controlled to emit the auxiliary retrieval warning sound.

In some embodiments, the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the drone Power supply, the method also includes:

Determine whether the main power supply is normal;

If the power supply of the main power supply is abnormal, the standby power supply is controlled to supply power to the buzzer.

A second aspect of an embodiment of the present invention provides an auxiliary drone retrieval device. The auxiliary drone retrieval device includes:

A determination module for determining that the drone has landed due to severe low power or due to a malfunction of the drone;

The judgment module is used to judge whether the drone can obtain the position information of the remote controller or the pilot;

Auxiliary retrieval warning tone module, used to issue auxiliary retrieval warning tone; and

A control module for controlling the auxiliary retrieval warning sound module to issue the auxiliary retrieval warning sound;

When the judgment module judges that the drone cannot obtain the position information of the remote controller or the pilot, the judgment module is also used to:

When the distance between the drone and the home point is greater than the first preset value, the control module controls the auxiliary retrieval warning sound module to emit the auxiliary retrieval warning sound.

In some embodiments, when the drone can obtain the position information of the remote controller or the flying hand, the judgment module is further used to:

If yes, the control module controls the auxiliary retrieval warning sound module to issue the auxiliary retrieval warning sound.

In some embodiments, the auxiliary alarm sound device includes the motor of the drone and the buzzer, and the judgment module is further configured to:

Determine whether the motor stops;

If yes, the control module controls the buzzer to issue the auxiliary retrieval warning sound.

In some embodiments, if the determination module determines that the motor has not stopped, the determination module is further used to:

If yes, the control module controls the motor to issue the auxiliary retrieval warning sound.

In some embodiments, if the judging module judges that the current power of the drone is insufficient to cause the motor to emit the auxiliary retrieval warning sound, the control module is used to control the buzzer to emit The assistant retrieves the warning sound.

In some embodiments, the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the drone Power supply, the judgment module is also used to:

Determine whether the main power supply is normal;

If the judgment module judges that the main power supply is abnormal, the control module controls the backup power supply to supply power to the buzzer.

A third aspect of an embodiment of the present invention provides a drone, including a fuselage, a controller provided on the fuselage, a memory communicatively connected to the controller, and an auxiliary retrieval device electrically connected to the controller In the warning sound device, the memory stores program instructions, and the controller is used to execute the program instructions to implement the above-mentioned auxiliary drone retrieval method.

In some embodiments, the fuselage includes an arm, and the auxiliary alarm sound recovery device includes a motor provided on the arm.

In some embodiments, the auxiliary retrieval warning sound device includes a buzzer provided on the fuselage.

In some embodiments, the buzzer has a main power supply and a backup power supply, wherein the main power supply is the power supply of the drone.

Compared with the prior art, the beneficial effects of the embodiments of the present invention are: by starting the assistant when the drone is landing due to severe low power or due to a failure of the drone, and the distance between the drone and the home point is too far Retrieve warning sound device, to issue auxiliary retrieval warning sound to remind the search personnel to pay attention, to facilitate the retrieval of drones, especially the drones falling in a hidden place. Moreover, the method for assisting the retrieval of the unmanned aerial vehicle of this embodiment can be realized through software upgrade on the basis of the existing unmanned aerial vehicle.

BRIEF DESCRIPTION

One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary descriptions do not constitute a limitation on the embodiments, and elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the figures in the drawings do not constitute a scale limitation.

FIG. 1 is a flowchart of an embodiment of a method for assisting a drone retrieval according to the present invention;

2 is a flow chart of another embodiment of a method for assisting UAV retrieval in the present invention;

FIG. 3 is a flowchart of another embodiment of the auxiliary drone retrieval method of the present invention when the buzzer includes a main power supply and a backup power supply;

4 is a structural block diagram of an auxiliary drone retrieval device of the present invention;

5 is a structural block diagram of a drone according to the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, which are all within the protection scope of the present invention. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the division of the modules in the schematic diagram of the device or the sequence in the flowchart may be performed differently. The steps shown or described.

Figure 1 shows a schematic flow chart of a method for assisting the retrieval of drones.

Exemplarily, the drone is specifically a rotary-wing drone, which includes at least one motor, the motor has a power mode, and the motor is used to provide power for driving the drone in the power mode.

Exemplarily, the drone includes four motors, and each motor is used to drive a propeller. When the drone is in normal flight, the motor provides power for the flight from the drone. The processor of an exemplary UAV controls the corresponding motor through electronic tuning.

As shown in FIG. 1, the method for assisting the recovery of an unmanned aerial vehicle includes the following steps:

Step S110: It is determined that the drone has landed due to severe low power or due to a malfunction of the drone.

When the drone is in autonomous flight or controlled by a user (such as a pilot), the drone or control device can monitor the drone hardware status and/or flight attitude in real time, such as battery power and power consumption Speed, motor temperature, wind speed, flight speed, sensor status, etc. At the same time, some information that can reflect the abnormal state of the drone can be pre-stored in the memory and processor of the drone. When the drone is in an abnormal state, the drone has a high probability of communication interruption, flight loss control, and/or crash.

Exemplary, abnormal conditions include: drone battery power down too fast, battery power is too low, wind speed exceeds the wind speed threshold, headwind when returning from the wind when flying away, main sensors (such as inertial measurement unit (IMU, Inertial Measurement Unit) ), barometer, etc.) failure, motor failure in the power system, the falling speed is greater than the falling threshold, or the communication connection fails, etc.

Exemplarily, if it is determined that an abnormal condition is satisfied according to the hardware status and/or flight attitude of the drone, the drone will land due to severe low power or due to a failure of the drone; Unusual drone.

Exemplarily, when the power of the drone is lower than the preset severe low power threshold, such as when the remaining power is less than 5% of the total power or the output voltage of the drone power is lower than the preset low voltage threshold, the severe low is triggered Power alarm, and automatically landed.

UAV failures include inertial measurement unit IMU failure, barometer failure, power system failure, etc. Exemplarily, when a key sensor such as an inertial measurement unit (IMU, Inertial Measurement Unit) or barometer of a UAV fails or even fails, or a power system failure of the UAV occurs, the UAV fails and no one is present. The aircraft is automatically controlled landing or runaway landing.

Step S120: Determine whether the drone can obtain the position information of the remote controller or the pilot.

In some feasible embodiments, a communication connection may be established between the drone and the terminal used by the remote controller or the pilot. After it is determined in step S110 that the drone has landed due to severe low power or due to a malfunction of the drone, the drone attempts to establish communication with the terminal used by the remote control or pilot and obtain the position of the terminal used by the remote controller or pilot information.

If it is determined that the drone cannot obtain the position information of the remote controller or the pilot, step S130 is executed.

Step S130: Determine whether the distance between the drone and the home point is greater than a first preset value.

If the drone cannot obtain the position information of the terminal used by the remote control or the pilot, the distance between the drone and the home point is calculated according to the position of the drone itself and the position of the home point.

Exemplarily, the home point can be the take-off point, end point, etc. of the drone, the position information of the drone home point can be preset before the flight, and the drone can get unmanned according to its own position and the position information of the home point The distance between the aircraft and the home point.

Exemplarily, the first preset value can be set by the user, such as 10 meters. It can be set according to the drone flight environment and drone performance. The first preset value may be larger if flying in a place where the obstruction is lower and less; if flying in a place where the obstruction is higher and denser, the first preset value needs to be set smaller.

Exemplarily, the distance between the drone and the home point is specifically the distance in the horizontal direction.

If step S130 determines that the distance between the drone and the home point is greater than the first preset value, step S140 is executed.

In this embodiment, when the drone is far away from the personnel at the home point, that is, greater than the first preset value, auxiliary retrieval is required, and the user is paid attention by controlling the drone to issue an auxiliary retrieval warning sound.

Exemplarily, when the distance between the drone and the home point is too small, such as less than the first preset value, the person at the home point can also look for the drone visually without assistance.

Step S140: Activate the auxiliary retrieval warning sound device to issue an auxiliary retrieval warning sound.

In some feasible embodiments, the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.

Exemplarily, taking the auxiliary retrieval warning sound device as an example of a motor, a pulse signal may be preset to control the vibration of the drone motor to emit an auxiliary retrieval warning sound. For example, the UAV's processor inputs a set drive signal to the ESC, so that the rotor of the ESC drive motor vibrates at a certain frequency to sound.

Exemplarily, the motor is controlled to accelerate and/or decelerate to emit an auxiliary retrieval warning sound. For example, the UAV's processor accelerates the motor's rotation speed several times through ESCs, or alternately accelerates and decelerates to make a "babble" sound.

Exemplarily, the control motor drives the propeller of the drone to rotate, and the rotation speed of the motor is less than a preset value, so that the propeller emits an auxiliary retrieval warning sound. The motor drives the propeller to rotate slowly, such as one revolution per second, which can cause the propeller to touch the leaves, grass, etc. and issue an auxiliary retrieval warning sound.

As a further improvement of the embodiment of the present invention, in the first embodiment of the present invention, as shown in FIG. 1, if step S120 determines that the drone can obtain the position information of the remote controller or the flying hand, then the step is performed S150.

Step S150: Determine whether the position information of the drone away from the remote controller or the flying pilot is greater than a second preset value.

If the drone can obtain the position information of the terminal used by the remote control or the pilot, then calculate the relationship between the drone and the remote control or the pilot according to the position of the drone itself and the location of the remote control or the terminal used by the pilot The distance between.

If step S150 determines that the position information of the drone from the remote controller or the pilot is greater than the second preset value, it is determined whether the distance between the drone and the home point is greater than the first preset value. If it is determined that the distance between the drone and the home point is greater than the first preset value, the auxiliary retrieval warning sound device is activated to emit the auxiliary retrieval warning sound.

In this embodiment, when the position information of the drone away from the remote control or the flying hand is greater than the second preset value, it is difficult for the flying hand or its assistant to directly look for the drone; Whether the distance between the points is greater than the first preset value, if the distance between the drone and the home point is also greater than the first preset value, it is difficult for the staff at the home point to directly look for the drone; Control the UAV to issue an auxiliary retrieval warning sound to arouse the user's attention. If the distance between the drone and the home point is not greater than the first preset value, the staff at the home point can directly look for the drone without assistance.

Exemplarily, if the position information of the drone away from the remote controller or the flying hand is not greater than the second preset value, the flying hand or its assistant can directly look for the drone without assistance; thus also There is no need to determine whether the distance between the drone and the home point is greater than the first preset value, and there is no need for the staff at the home point to find the aircraft.

Exemplarily, the second preset value can be set by the user, such as 200 meters. It can be set according to the drone flight environment and drone performance. The second preset value may be larger if the flight is low and the obstruction is low; if the flight is high and dense, the second preset value needs to be set smaller. It is worth noting that the first preset value and the second preset value may be the same or different, and are determined according to actual needs.

Exemplarily, the distance between the position information of the drone and the remote controller or the pilot is specifically the distance in the horizontal direction.

In an embodiment of the present invention, the auxiliary retrieval warning sound device includes the motor and the buzzer of the drone, and the auxiliary drone retrieval method further includes:

Step S101: Determine whether the motor stops.

Step S102: If the motor stops, control the buzzer to issue the auxiliary recovery warning sound.

Some faults, such as ESC failure and motor failure, the motor stops. At this time, the motor cannot run in the auxiliary retrieval mode, nor can it issue the auxiliary retrieval warning sound; you need to control the buzzer to issue the auxiliary retrieval warning sound. , To assist personnel looking for drones.

In an embodiment of the present invention, as shown in FIG. 2, if it is determined in step S101 that the motor has not stopped, step S103 is executed.

Step S103: Determine whether the current power of the drone is sufficient to cause the motor to issue the auxiliary recovery warning sound. If yes, step S104 is executed.

Step S104: Control the motor to issue the auxiliary retrieval warning sound.

When the motor does not stop due to a corresponding failure and can run in the auxiliary retrieval mode to issue an auxiliary retrieval warning sound, it is further determined whether the current power of the drone is sufficient to cause the motor to issue the auxiliary retrieval warning sound.

Exemplarily, when the power of the drone is greater than the preset auxiliary power threshold, it is determined that the power is sufficient to cause the motor to emit the auxiliary retrieval warning sound; therefore, the motor is controlled to emit the auxiliary retrieval warning sound.

In some embodiments, the preset auxiliary power threshold is not greater than the preset severe low power threshold. When the auxiliary power threshold is less than the severely low battery threshold, even if the drone falls due to severe low power, the motor can be controlled to issue an auxiliary retrieval warning sound when the drone's power is greater than the auxiliary power threshold.

In some feasible embodiments, as shown in FIG. 2, if the current power of the drone is insufficient to cause the motor to emit the auxiliary retrieval warning sound, step S105 is executed.

Step S105: Control the buzzer to issue the auxiliary retrieval warning sound.

In some feasible embodiments, if the power of the drone is less than the preset auxiliary power threshold, if the motor is still running in the preset auxiliary recovery mode to issue an auxiliary recovery warning sound, it may cause damage to the battery. It may be that the searching personnel have no time to find the drone because the power is quickly exhausted; therefore, it is judged that the power is insufficient to cause the motor to issue the auxiliary recovery warning sound, and at this time, the buzzer is controlled to emit the auxiliary recovery warning sound.

In some embodiments, if the preset auxiliary power threshold is equal to the preset severe low power threshold, when the drone is landing due to severe low power, the motor will not control the buzzer to issue an auxiliary recovery warning sound A warning tone for assisting retrieval is issued to assist personnel searching for drones.

In some feasible embodiments, when the drone is landing due to severe low power or due to a failure of the drone, if the battery power is sufficient to allow the motor to issue the auxiliary recovery warning sound, the motor on the drone can be used For example, if the four motors simultaneously emit a warning sound to help retrieve the aircraft, the sound is louder, which is more conducive to finding the drone.

In some feasible embodiments, the motor runs in a preset auxiliary retrieval mode and emits an auxiliary retrieval warning sound, which consumes the power of the drone. Therefore, it is necessary to monitor whether the current power of the drone is lower than the preset power threshold.

In some feasible embodiments, if it is determined that the current power of the drone is lower than the preset power threshold, which is not sufficient to cause the motor to issue the auxiliary recovery warning sound, the control of the motor to stop running at the predetermined auxiliary search is stopped. In the return mode, the auxiliary retrieval warning sound is stopped, and the buzzer is controlled to emit the auxiliary retrieval warning sound to assist the personnel searching for the drone.

In some feasible embodiments, the buzzer includes a main power supply and a backup power supply, both of which are used to supply power to the buzzer, wherein the main power supply is the Man-machine power supply.

Exemplarily, the backup power source is a rechargeable coin cell or capacitor.

In an embodiment of the present invention, as shown in FIG. 3, the method for assisting UAV retrieval further includes:

Step S106: Determine whether the main power supply is normal.

Step S107: If the main power supply is abnormal, control the standby power supply to supply power to the buzzer.

Exemplarily, if the power of the main power supply powering the drone, such as the power of the power battery is too low, the backup power supply is controlled to supply power to the buzzer. If the main power supply of the drone is thrown out or unable to supply power for other reasons, the buzzer can also be powered by the backup power supply, thereby controlling the buzzer to issue an auxiliary retrieval warning sound to assist the personnel searching for the drone.

Exemplarily, if the main power supply is normal, the buzzer can be operated by the main power supply; if the main power supply is abnormal or severely low in power, the buzzer can be operated by the backup power supply. Exemplarily, the operation of the buzzer can be designed according to the power saving mode to emit a sound at a certain frequency, for example, 1 Hz, that is, one sound per second. On the one hand, the warning time of the warning sound is extended; on the other hand, even if the main power supply of the abnormal bomber drone is thrown out during the landing of the aircraft, it can still issue an auxiliary retrieval warning sound.

Each step of the assisted drone retrieval method in the above embodiment may be performed by a drone. As another feasible embodiment, some or all steps of the assisted drone retrieval method may be communicated with the drone The connected remote controller and other control devices execute.

When the processor of the control device such as the remote controller executes some steps of the auxiliary UAV retrieval method, it coordinates with the UAV processor through a communication connection, and the UAV processor performs at least the auxiliary UAV retrieval method. Other steps; when the processor of the control device executes all the steps of the auxiliary drone retrieval method, the processor of the control device sends an instruction to the processor of the drone, and the processor of the drone directly controls the motor according to the instruction It runs in the preset auxiliary retrieval mode, so that the control device can indirectly control the UAV's motor to run in the preset auxiliary retrieval mode to issue an auxiliary retrieval warning sound.

The assisted drone retrieval method performed by the remote control and other control devices and the assisted drone retrieval method performed by the drone are based on two aspects under the same inventive concept. The implementation process of the human-machine retrieval method is described in detail, so those skilled in the art can clearly understand the implementation process of the auxiliary drone retrieval method performed by the control device in this implementation according to the foregoing description. I will not repeat them here.

Figure 4 is a schematic structural diagram of an auxiliary UAV retrieval device.

The auxiliary UAV retrieval device includes:

The determination module 110 is used to determine that the drone has landed due to severe low power or due to a failure of the drone;

The judgment module 120 is used to judge whether the drone can obtain the position information of the remote controller or the pilot;

The auxiliary retrieval warning sound module 130 is used to issue an auxiliary retrieval warning sound; and

The control module 140 is used to control the auxiliary retrieval warning sound module 130 to issue an auxiliary retrieval warning sound;

When the judgment module 120 judges that the drone cannot obtain the position information of the remote controller or the pilot, the judgment module 120 is also used to:

When the distance between the drone and the home point is greater than the first preset value, the control module 140 controls the auxiliary retrieval warning sound module 130 to emit an auxiliary retrieval warning sound.

In some feasible embodiments, when the drone can obtain the position information of the remote controller or the pilot, the judgment module 120 is further used to:

Determine whether the position information of the drone away from the remote control or the pilot is greater than the second preset value;

If yes, the control module 140 controls the auxiliary retrieval warning sound module 130 to issue an auxiliary retrieval warning sound.

In some feasible embodiments, the auxiliary alarm sound device 130 includes a drone motor and/or a buzzer.

In some feasible embodiments, the auxiliary alarm sound recovery device 130 includes a drone motor and a buzzer, and the judgment module 120 is further used to:

Determine whether the motor stops;

If yes, the control module 140 controls the buzzer to issue an auxiliary retrieval warning sound.

In some feasible embodiments, if the determination module 120 determines that the motor is not stopped, the determination module 120 is further used to:

Determine whether the current power of the drone is enough to cause the motor to issue an auxiliary retrieval warning sound;

If yes, the control module 140 controls the motor to issue an auxiliary retrieval warning sound.

In some feasible embodiments, if the judgment module 120 judges that the current power of the drone is insufficient for the motor to issue an auxiliary retrieval warning sound, the control module 140 is used to control the buzzer to emit an auxiliary retrieval warning sound.

In some feasible embodiments, the buzzer includes a main power supply and a backup power supply. Both the main power supply and the backup power supply are used to supply power to the buzzer, where the main power supply is the power supply of the drone, and the judgment module 120 is also used to :

Determine whether the main power supply is normal;

If the determination module 120 determines that the main power supply is abnormal, the control module 140 controls the backup power supply to supply power to the buzzer.

The auxiliary drone retrieval device and the auxiliary drone retrieval method according to the embodiments of the present invention are based on two aspects under the same inventive concept. The implementation process of the auxiliary drone retrieval method has been described in detail above Therefore, those skilled in the art can clearly understand the implementation process of the auxiliary drone retrieval device in this embodiment according to the foregoing description, and for the sake of brevity of the description, they will not be repeated here.

It can be known from the description of the above embodiments that those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or part that contributes to the existing technology, and the computer software product can be stored in a storage medium, such as ROM/RAM, magnetic disk , CD, etc., including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention or some parts of the embodiments, such as:

A storage medium stores a computer program. If the computer program is executed by a processor, the steps of the aforementioned method for assisting the recovery of an unmanned aerial vehicle are realized.

The invention can be used in many general-purpose or special-purpose computing system environments or configurations. Such as drones and so on.

Figure 5 shows a schematic diagram of the structure of a UAV. The drone includes a fuselage 210, a controller 220 provided on the fuselage 210, a memory 230 communicatively connected to the controller 220, and an auxiliary retrieval sound device 240 electrically connected to the controller 220. The memory 230 stores program instructions. The controller 220 is used to execute program instructions to implement the above-mentioned auxiliary UAV retrieval method.

In the first embodiment of the unmanned aerial vehicle of the present invention, as shown in FIG. 5, the fuselage 210 includes an arm 211, and the auxiliary alarm sound recovery device 240 includes a motor 10 provided on the arm 211.

In some feasible embodiments, the auxiliary alarm sound device 240 includes a buzzer 20 provided on the body 210.

In some feasible embodiments, the buzzer 20 has a main power supply 31 and a backup power supply 32, wherein the main power supply 31 is the power supply of the drone.

The drone in this embodiment and the method in the previous embodiment are based on different aspects under the same inventive concept. The method implementation process has been described in detail above, so those skilled in the art can clearly understand from the foregoing description The structure and implementation process of the drone in this implementation will not be repeated here for the sake of brevity of the description.

The auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are achieved by landing on the drone due to severe low power or due to a failure of the drone, When the distance between the points is too far, the auxiliary retrieval warning sound device is activated to issue the auxiliary retrieval warning sound to remind the searching personnel to pay attention, so that it is easy to retrieve the UAV, especially the UAV that falls in a hidden place. Moreover, the method for assisting the retrieval of the unmanned aerial vehicle of this embodiment can be realized through software upgrade on the basis of the existing unmanned aerial vehicle.

Further, the auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are operated by the drone motor to assist the retrieval when the power of the drone is sufficient Mode, sounding the warning sound for assisting in retrieving the aircraft, which is more conducive to finding personnel to find the flying drone through the sound.

Further, the auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention control the motor to run in a preset auxiliary retrieval mode at an appropriate timing by estimating the starting time The warning sound is turned on only after the search personnel arrive at the scene, to a certain extent, reducing the possibility of the drone being found and picked up by others.

Further, the auxiliary drone retrieval method, the auxiliary drone retrieval device and the drone provided by the embodiments of the present invention are extended on the one hand by the combination of a backup power supply, especially a rechargeable backup power supply and a buzzer The warning time of the warning sound is displayed. On the other hand, even if the battery of the abnormal bomber drone is thrown out during the landing of the drone, the warning sound can still be issued.

The above-mentioned embodiments are only preferred embodiments of the present invention, which cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by those skilled in the art on the basis of the present invention belong to the present invention. The scope of protection.

Claims

An auxiliary drone retrieval method, characterized in that the drone includes an auxiliary retrieval warning sound device, and the drone retrieval method includes:

Determine that the drone landed due to severe low power or due to a malfunction of the drone;

Determine whether the drone can obtain the position information of the remote control or the pilot;

If the drone cannot obtain the position information of the remote control or the pilot, then:

Determine whether the distance between the drone and the home point is greater than the first preset value;

If yes, the auxiliary retrieval warning sound device is activated to issue an auxiliary retrieval warning sound.
The method of claim 1, further comprising:

If the drone can obtain the position information of the remote controller or the pilot, then:

Determine whether the position information of the drone away from the remote control or the pilot is greater than a second preset value;

If yes, determine whether the distance between the drone and the home point is greater than the first preset value;

If yes, the auxiliary retrieval warning sound device is activated to emit the auxiliary retrieval warning sound.
The method according to claim 1 or 2, characterized in that the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.
The method according to claim 3, wherein the auxiliary alarm sound recovery device includes the motor and the buzzer of the drone, and the method further includes:

Determine whether the motor stops;

If yes, the buzzer is controlled to issue the auxiliary recovery warning sound.
The method of claim 4, further comprising:

If the motor does not stop, then:

Judging whether the current power of the drone is sufficient to cause the motor to issue the auxiliary recovery warning sound;

If yes, the motor is controlled to issue the auxiliary recovery warning sound.
The method according to claim 5, wherein the method further comprises:

If the current power of the drone is insufficient to cause the motor to emit the auxiliary retrieval warning sound, the buzzer is controlled to emit the auxiliary retrieval warning sound.
The method according to claim 4 or 6, wherein the buzzer includes a main power supply and a backup power supply, and both the main power supply and the backup power supply are used to supply power to the buzzer, wherein If the main power source is the power source of the drone, the method further includes:

Determine whether the main power supply is normal;

If the power supply of the main power supply is abnormal, the standby power supply is controlled to supply power to the buzzer.
An auxiliary UAV retrieval device, characterized in that the auxiliary UAV retrieval device includes:

A determination module for determining that the drone has landed due to severe low power or due to a malfunction of the drone;

The judgment module is used to judge whether the drone can obtain the position information of the remote controller or the pilot;

Auxiliary retrieval warning tone module, used to issue auxiliary retrieval warning tone; and

A control module for controlling the auxiliary retrieval warning sound module to issue the auxiliary retrieval warning sound;

When the judgment module judges that the drone cannot obtain the position information of the remote controller or the pilot, the judgment module is also used to:

Determine whether the distance between the drone and the home point is greater than the first preset value;

When the distance between the drone and the home point is greater than the first preset value, the control module controls the auxiliary retrieval warning sound module to emit the auxiliary retrieval warning sound.
The apparatus according to claim 8, wherein when the drone can obtain the position information of the remote controller or the flying hand, the judgment module is further used to:

Determine whether the position information of the drone away from the remote control or the pilot is greater than a second preset value;

If yes, determine whether the distance between the drone and the home point is greater than the first preset value;

If yes, the control module controls the auxiliary retrieval warning sound module to issue the auxiliary retrieval warning sound.
The device according to claim 8 or 9, characterized in that the auxiliary alarm sound device includes a motor and/or a buzzer of the drone.
The device according to claim 10, characterized in that the auxiliary recovery warning sound device includes the motor and the buzzer of the drone, and the judgment module is further used to:

Determine whether the motor stops;

If yes, the control module controls the buzzer to issue the auxiliary retrieval warning sound.
The device according to claim 11, wherein if the judgment module judges that the motor has not stopped, the judgment module is further used to:

Judging whether the current power of the drone is sufficient to cause the motor to issue the auxiliary recovery warning sound;

If yes, the control module controls the motor to issue the auxiliary retrieval warning sound.
The device according to claim 12, wherein if the judgment module judges that the current power of the drone is insufficient to cause the motor to issue the auxiliary retrieval warning sound, the control module is used to The buzzer is controlled to emit the auxiliary recovery warning sound.
The device according to claim 11 or 13, wherein the buzzer includes a main power supply and a backup power supply, and both the main power supply and the backup power supply are used to supply power to the buzzer, wherein If the main power source is the power source of the drone, the judgment module is also used to:

Determine whether the main power supply is normal;

If the judgment module judges that the main power supply is abnormal, the control module controls the backup power supply to supply power to the buzzer.
A drone, characterized in that it includes a fuselage, a controller provided on the fuselage, a memory communicatively connected to the controller, and an auxiliary retrieval warning sound device electrically connected to the controller. The memory stores program instructions, and the controller is used to execute the program instructions to implement the auxiliary drone retrieval method according to any one of claims 1-7.
The unmanned aerial vehicle according to claim 15, wherein the fuselage includes an arm, and the auxiliary retrieval warning sound device includes a motor provided on the arm.
The unmanned aerial vehicle according to claim 15 or 16, characterized in that the auxiliary retrieval warning sound device includes a buzzer provided on the fuselage.
The drone according to claim 17, wherein the buzzer has a main power supply and a backup power supply, wherein the main power supply is the power supply of the drone.