WO2021008624A1 - 一种无人机安全保护方法、装置及无人机 - Google Patents

一种无人机安全保护方法、装置及无人机 Download PDF

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Publication number
WO2021008624A1
WO2021008624A1 PCT/CN2020/103045 CN2020103045W WO2021008624A1 WO 2021008624 A1 WO2021008624 A1 WO 2021008624A1 CN 2020103045 W CN2020103045 W CN 2020103045W WO 2021008624 A1 WO2021008624 A1 WO 2021008624A1
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Prior art keywords
drone
threshold
flight state
safety protection
ultrasound
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PCT/CN2020/103045
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English (en)
French (fr)
Inventor
张添保
李颖杰
陈刚
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深圳市道通智能航空技术有限公司
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Publication of WO2021008624A1 publication Critical patent/WO2021008624A1/zh
Priority to US17/577,608 priority Critical patent/US11964774B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/606—Compensating for or utilising external environmental conditions, e.g. wind or water currents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/008—Devices for detecting or indicating hard landing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft

Definitions

  • This application relates to the technical field of UAV safety protection, in particular to a UAV safety protection method, device and UAV.
  • the ground height is a key information. If the ground height is not accurate, it will affect the drone's take-off and landing performance, especially the landing performance. At present, ultrasound is used to measure the height of the ground, and down-looking ultrasonic radar is often used to sense the ground, so as to realize the safe take-off and landing of the UAV and the normal flight of the UAV.
  • ultrasound is susceptible to interference and unstable.
  • the main manifestation is that the ultrasound data will be intermittently interrupted or the measurement is inaccurate.
  • the ultrasound data will occasionally show normal deceptive values, which may cause the ultrasound to be completely damaged after the aircraft ages or bombs repeatedly.
  • the ultrasound data is seriously delayed, etc.
  • These abnormal ultrasonic conditions can cause drones to explode at high altitudes, lose control at high altitudes and cannot descend, rise, move left and right, and do not slow down and slam the ground when landing, which seriously affects the performance and user experience of the drone. .
  • the technical problem to be solved by the present invention is to provide a safety protection method for drones, which solves the problem that the drone can not descend, rise, move left and right when it is out of control at high altitude, and it does not slow down and slam the ground when landing. problem.
  • a drone safety protection method including:
  • the UAV is safely protected according to the ultrasound information and the flight status.
  • the safety protection of the drone based on the ultrasound information and the flight state includes:
  • the safety protection of the drone based on the ultrasound information and the flight state includes:
  • the drone When the ultrasonic measurement height is greater than or equal to the first preset value, the drone is controlled to fly normally.
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the safety protection of the drone based on the ultrasound information and the flight state includes:
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the determining whether the drone is on the ground includes:
  • the safety protection of the drone based on the ultrasound information and the flight state includes:
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the determining whether the drone is on the ground includes:
  • the safety protection of the drone based on the ultrasound information and the flight state further includes:
  • the determining whether the ultrasound information is valid includes:
  • a drone safety protection device including:
  • the information acquisition module is used to acquire the ultrasonic information and flight status of the UAV, where the flight status includes a normal flight status and a descent status;
  • the safety protection module is used for safety protection of the UAV according to the ultrasonic information and the flight status.
  • the safety protection module is used to:
  • the safety protection module is used to:
  • the drone When the ultrasonic measurement height is greater than or equal to the first preset value, the drone is controlled to fly normally.
  • the safety protection module is further configured to:
  • the safety protection module is further configured to:
  • the safety protection module is used to:
  • the safety protection module is further configured to:
  • the safety protection module is used to:
  • the safety protection module is further configured to:
  • the safety protection module is further configured to:
  • the safety protection module is further configured to:
  • an unmanned aerial vehicle which includes: a fuselage; an arm connected to the fuselage; and a power device provided on the arm to provide the drone for flying And a flight controller, which is provided in the fuselage; the flight controller includes: at least one processor; and, a memory communicatively connected with the at least one processor; wherein the memory stores the An instruction executed by the at least one processor, the instruction being executed by the at least one processor, so that the at least one processor can execute the method as described above.
  • a non-volatile computer-readable storage medium stores computer-executable instructions that are used to make a computer Perform the method described above.
  • the drone by acquiring the ultrasonic information and flight status of the drone, the drone is safely protected according to the ultrasonic information and the flight status.
  • the ultrasound information may be data information collected by normal ultrasound or data information collected by abnormal ultrasound.
  • the flight status includes the take-off, landing, and normal flight of the UAV.
  • corresponding security protection methods can be adopted according to different ultrasonic information and different flight status.
  • This implementation method can reduce the probability of unmanned aerial bombers caused by abnormalities in ultrasound, such as losing control at high altitude and unable to descend, ascend, move left and right, and land without decelerating and violently hitting the ground. The safety of man and machine improves user experience.
  • FIG. 1 is a flowchart of a method for protecting drone safety according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for safety protection of the UAV according to the ultrasonic information and the flight status provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for judging whether the ultrasound information is valid in a drone security protection method provided by an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for safety protection of the drone based on the ultrasound information and the flight status according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a UAV safety protection device provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the hardware structure of a drone provided by an embodiment of the present invention.
  • the safety protection method and device for drones provided by the embodiments of the present invention can be applied to various types of drones.
  • UAVs usually perceive the ground through down-looking ultrasonic radar.
  • the UAV uses its own ultrasonic radar to detect the altitude of the aircraft from the ground. If there is a problem with the ultrasonic radar, it will affect Take-off, landing and normal flight of airplanes. Therefore, the core of the embodiments of the present invention is to implement different safety protections for the UAV according to the ultrasound conditions of the UAV, including normal and abnormal ultrasound, and the current specific flight status of the UAV. As a result, the safety of UAVs and the flexibility of safety protection for UAVs are improved.
  • Fig. 1 is a flowchart of a UAV safety protection method according to an embodiment of the present invention. The method is applied to the UAV and is specifically executed by the flight controller of the UAV. The method includes:
  • Step 11 Obtain the UAV's ultrasound information and flight status.
  • the ultrasonic information refers to the information detected by the ultrasonic radar of the unmanned aerial vehicle, which specifically includes the ultrasonic measuring height, the time stamp sequence of the ultrasonic returning to the flight control, and the like.
  • the ultrasonic measurement height refers to the height of the drone from the ground detected by ultrasonic.
  • the time stamp sequence of the ultrasound returning to the flight controller refers to the time node sequence corresponding to the ultrasound data, and each ultrasound data corresponds to a time node, which is used to indicate when the ultrasound measurement height is measured.
  • the time stamp includes: 0.1 second, 0.2 second, 0.3 second; the ultrasonic measurement height includes: 0.5 m, 0.6 m, 0.9 m; wherein, the UAV sends the ultrasonic measurement altitude 0.5 m to the flight controller with time Stamping 0.1 second means that the ultrasonic measurement height detected in 0.1 second is 0.5 meters; when sending the ultrasonic measurement height 0.6 meters, the time stamp is 0.2 seconds, indicating that the ultrasonic measurement height detected in 0.2 seconds is 0.6 meters; sending the said When the ultrasonic measurement height is 0.9 meters, the time stamp is 0.3 seconds, which means that the ultrasonic measurement height detected at 0.3 seconds is 0.9 meters. In this way, the flight controller can obtain the ultrasonic measurement height detected at what time.
  • the flight state refers to the flight state of the drone, and the flight state includes a descending state, a normal flight state, a take-off state, and the like.
  • the normal flight state may include accelerated flight, decelerated flight, and the like.
  • Step 12 Perform safety protection on the drone according to the ultrasound information and the flight status.
  • the UAV is mainly based on the ultrasonic conditions of the UAV, including normal and abnormal ultrasound, and when the UAV is in a normal flight state or a descending state, different safety measures are implemented on the UAV.
  • the protection method thus improves the safety of the aircraft and the flexibility of the safety protection of the aircraft.
  • the safety protection method of the UAV will be described in detail below from the two flight states of the UAV in the normal flight state and the descent state.
  • the safety protection of the drone according to the ultrasonic information and the flight state includes:
  • Step 101 Determine whether the ultrasound information is valid.
  • Determining whether the ultrasound information is valid is to determine whether the UAV's ultrasound is abnormal. Specifically, as shown in Fig. 3, the judging whether the ultrasound information is valid includes:
  • Step 1011 Obtain the fusion height of the drone
  • the fusion height is also called flying height, which refers to the height of the drone from the take-off point, and the fusion height is detected by various sensors.
  • the sensors include barometric altimeters, accelerometers, ultrasonic sensors, radar sensors, and so on.
  • Step 1012 Obtain an ultrasound credibility detection result according to the fusion height and the ultrasound information, and obtain an ultrasound update detection result according to the ultrasound information;
  • the ultrasonic credibility test result is used to determine whether the value of the UAV’s ultrasonic output is available.
  • the ultrasonic credibility test result can be represented by a digital signal, for example, when the ultrasonic When the reliability detection result is "1", it indicates that the ultrasonic output value is available, and when the ultrasonic reliability detection result is "0", it indicates that the ultrasonic output value is not available.
  • the ultrasonic update detection result is used to identify whether the ultrasonic data of the drone is still being updated normally.
  • the ultrasonic data passes through the update detection module, and the update detection module obtains the ultrasonic update detection result according to the ultrasonic data.
  • the ultrasonic update detection result can also be represented by a digital signal, for example, when the ultrasonic update detection When the result is "1", it means that the ultrasound data is being updated normally, and when the ultrasound update detection result is "0", it means that the ultrasound data is not being updated normally.
  • obtaining the ultrasound credibility detection result according to the fusion height and the ultrasound information includes: obtaining the ultrasound measurement height according to the ultrasound information, and deriving the ultrasound measurement height and the fusion height respectively , Output the differential information of the ultrasonic measurement height and the differential information of the fusion height; respectively filter the differential information of the ultrasonic measurement height and the differential information of the fusion height to obtain the filtered ultrasonic measurement height.
  • the differential information of the fusion height and the differential information of the fusion height; the ultrasonic credibility detection result is obtained according to the differential information of the ultrasonic measurement height and the differential information of the fusion height.
  • the ultrasonic measurement height detected by the ultrasound may not be equal to the fusion height, but the ascent and descent speeds of the aircraft represented by their respective one-section differentials should be relatively close.
  • the characterization of the aircraft’s ascent and descent speed is used as a basis for judgment.
  • the fusion altitude is derived to output the fusion altitude Differential information, by comparing the difference between the two differential information, so as to determine whether the value of ultrasound output is available.
  • the filter may specifically be a differential filter. Since the signal in the project generally contains noise, the noise is filtered through the filter to obtain the approximate derivative of the ultrasonic measurement height and the fusion height more accurately .
  • the acquiring the ultrasonic credibility detection result according to the differential information of the ultrasonic measurement height and the differential information of the fusion height specifically includes: combining the differential information of the ultrasonic measurement height and the differential information of the fusion height Perform difference comparison, when the result of the difference comparison is within a preset range, output the credibility of the ultrasound credibility detection result, and when the result of the difference comparison is not within the preset range, output the credibility of the ultrasound The test result is not credible.
  • the differential information of the ultrasonic measurement height and the differential information of the fusion height may be the same or there may be differences.
  • the two differentials are the same or the difference between the two differentials is within the preset range, the The ultrasonic credibility test result is credible, which means that the ultrasonic output value is available, otherwise the ultrasonic credibility test result is not credible, and the ultrasonic output value is not available.
  • the preset range can be manually defined or set by the system.
  • obtaining the ultrasound update detection result according to the ultrasound information includes: performing time stamp update detection, ultrasound value change detection, and ultrasound value abnormality detection according to the ultrasound information to obtain the time stamp update detection result and ultrasound value change
  • the detection result and the ultrasound value abnormality detection result; the timestamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result are logically operated to obtain the ultrasound update detection result.
  • the time stamp update detection result is obtained according to the time stamp update detection.
  • the time stamp update detection specifically includes detecting the time difference between the current step and the previous step, and if the time difference and the preset time step value are within a preset range, the time stamp update detection result Output 1 indicates that the timestamp update is normal; if the difference between the time difference and the preset time step value is zero or the difference is not within the preset range, the timestamp update detection result outputs 0, indicating that the timestamp update unusual.
  • the ultrasonic value change detection result is obtained according to the ultrasonic value change detection.
  • the ultrasonic value change detection is specifically to take the ultrasonic measurement height corresponding to the current moment and the ultrasonic measurement height corresponding to the preset number (for example, 3 or 5, etc.) before the current moment for judgment. If the measured heights are not equal, the output of the ultrasonic value change detection result is 1, indicating that the ultrasonic value change is normal; otherwise, the ultrasonic value change detection result is output as 0, which indicates that the ultrasonic value change is abnormal. It should be noted that, besides 3, the number of unequal ultrasonic measurement heights can also be any other number, which is not limited here.
  • the ultrasonic value abnormality detection result is obtained according to the ultrasonic value abnormality detection.
  • the ultrasound value abnormality detection specifically includes detecting the difference between the ultrasound value of the current step and the previous step, and the difference between the ultrasound value of the previous step and the previous step. If the difference between the ultrasound values of the last 5 steps is 0, then The output of the abnormal ultrasound value detection result is 0, indicating that the ultrasound is abnormal; otherwise, the output of the abnormal ultrasound value detection result is 1, which indicates that the ultrasound is normal.
  • the number of ultrasonic steps is not only 5 steps, but can also be any number of steps between 3 and 10.
  • the logical operation of the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormal detection result is specifically to update the time stamp detection result, the ultrasound value change detection result, and the The ultrasonic value abnormality detection result performs logical AND operation, and only when the time stamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormality detection result are all output as 1, that is, the three results are normal, the If the ultrasonic update detection result is normal, the ultrasonic normal update flag 1 is output; otherwise, the ultrasonic update detection result is abnormal, and the ultrasonic abnormal update flag 0 is output.
  • the aforementioned logical operation may also be other logical operations, such as logical OR. In this embodiment, it is preferably a logical AND operation.
  • Step 1013 When the ultrasound reliability detection result and the ultrasound update detection result both meet the preset value, determine that the ultrasound information is valid; otherwise, determine that the ultrasound information is invalid.
  • the ultrasound credibility detection result is credible and the ultrasound update detection result indicates that ultrasound is being updated normally, it is determined that the ultrasound information is valid, otherwise it is determined that the ultrasound information is invalid.
  • the ultrasonic reliability detection result and the ultrasonic update detection result are both represented by digital signals 0 and 1, that is, 1 indicates that the ultrasonic reliability detection result is reliable and the ultrasonic In the normal update, 0 means that the ultrasound credibility detection result is not credible and the ultrasound is not being updated normally.
  • the ultrasound update detection result and the ultrasound credibility detection result can be logically ANDed, when When the result of the logical AND operation is output as 1, it indicates that the ultrasound information is valid, and when the result of the logical AND operation is output as 0, it indicates that the ultrasound information is invalid.
  • step 102 is executed.
  • Step 102 Detect whether the ultrasonic measurement height is less than a first preset value.
  • the ultrasonic measurement height can be obtained according to the ultrasonic information.
  • the first preset value may be any value between 2 meters and 6 meters, for example, the first preset value is 5 meters.
  • step 103 If the ultrasonic measurement height is less than the first preset value, the following step 103 is executed.
  • Step 103 Limit the descending speed of the drone to not be greater than a first speed threshold.
  • the first speed threshold may specifically be 2m/s, and the first speed threshold may also be any value between 1m/s and 3m/s.
  • step 104 If the ultrasonic measurement height is greater than or equal to the first preset value, the following step 104 is executed.
  • Step 104 Control the drone to fly normally.
  • the above is the situation when the drone is in a normal flight state and the ultrasound information is valid.
  • the ultrasound information is invalid, that is, the ultrasound is abnormal, the following step 105 is executed.
  • Step 105 Detect whether the fusion height is less than the first preset value.
  • the fusion height is also called flying height, which refers to the height of the drone from the take-off point, and the fusion height is detected by various sensors.
  • the sensors include barometric altimeters, accelerometers, ultrasonic sensors, radar sensors, and so on.
  • the first preset value may be any value between 2 meters and 6 meters, for example, the first preset value is 5 meters.
  • step 106 is executed.
  • Step 106 Limit the descending speed of the drone to not be greater than the first speed threshold.
  • the first speed threshold may specifically be 2m/s, and the first speed threshold may also be any value between 1m/s and 3m/s.
  • step 107 is executed.
  • Step 107 Control the drone to fly normally.
  • the embodiment of the present invention is a specific process for safety protection of the drone according to the ultrasonic information and the normal flight state when the drone is in a normal flight state.
  • This implementation mode can make corresponding processing in time according to the ultrasonic condition of the UAV, thereby ensuring the normal flight of the aircraft, avoiding accidents such as high-altitude bombing, and improving the stability and safety of the UAV during normal flight.
  • the safety protection of the drone according to the ultrasonic information and the flight state includes:
  • Step 201 Determine whether the ultrasound information is valid.
  • step 1011 For the detailed process of determining whether the ultrasound information is valid, reference may be made to step 1011 to step 1013 in the foregoing embodiment.
  • step 202 is executed.
  • Step 202 Determine whether the fusion height is within a preset interval.
  • the fusion height is also called flying height, which refers to the height of the drone from the take-off point, and the fusion height is detected by various sensors.
  • the sensors include barometric altimeters, accelerometers, ultrasonic sensors, radar sensors, and so on.
  • the preset interval may specifically be -2 meters to 2 meters, that is, it is determined whether the fusion height is greater than or equal to -2 meters and less than or equal to 2 meters.
  • the preset interval can be customized by the user according to personal habits, or can be defined by the system, and its specific value can be set according to actual application scenarios.
  • step 203 is executed.
  • Step 203 Limit the descent speed of the drone to not be greater than a second speed threshold, and set the stalling threshold of the drone as the first stalling threshold.
  • the second speed threshold may be any value between 0.5 m/s and 1.5 m/s, for example, the second speed threshold is 1 m/s.
  • the first stopping threshold is specifically the acceleration judgment threshold when the drone is landing, and the first stopping threshold corresponding to the second speed threshold may specifically be 7.5, or any value between 5 and 9 .
  • the method further includes:
  • Step 204 Determine whether the drone touches the ground based on the acceleration of the drone.
  • the direction of the Z-axis acceleration Az is vertical downward, which is specifically the acceleration of the UAV inertial measurement unit.
  • the specific thrust T is specifically the ratio of the pulling force of the motor to the weight of the aircraft.
  • the value of A is compared with the first stopping threshold, for example, A is compared with 7.5. When A>7.5, the drone touches the ground and starts to stop the propeller. Otherwise, the If the drone is not on the ground, you can jump to the step of acquiring the Z-axis acceleration Az and the specific thrust T of the drone to continue to determine whether the drone is on the ground, and at the same time, control the drone
  • the descending speed of the aircraft is the second speed threshold, and the first stopping threshold corresponding to the second speed threshold is set.
  • step 205 is executed.
  • Step 205 Control the drone to stop its propellers.
  • step 203 If the drone does not touch the ground, jump to step 203.
  • step 206 if the fusion height is not within the preset interval, the following step 206 is executed.
  • Step 206 Control the drone to continue descending.
  • step 207 if the ultrasound information is valid, the following step 207 is executed.
  • Step 207 Detect whether the ground height of the drone is less than a second preset value.
  • the second preset value is preferably 0.5 meters.
  • the second preset value can be 0.3 meters to 0.8. Any value between meters.
  • step 208 is executed.
  • Step 208 Limit the descent speed of the drone not to be greater than the third speed threshold, and set the stopping threshold of the drone as the second stopping threshold.
  • the third speed threshold may specifically be 0.2 m/s, and the third speed threshold may also be any value between 0.1 m/s and 0.4 m/s.
  • the second stopping threshold is specifically the acceleration judgment threshold when the drone is landing, and the second stopping threshold corresponding to the third speed threshold may specifically be 2.8, or any value between 2 and 4. .
  • step 209 is executed.
  • Step 209 Control the drone to continue descending.
  • the method further includes:
  • Step 210 Determine whether the drone touches the ground based on the acceleration of the drone.
  • the direction of the Z-axis acceleration Az is vertical downward, which is specifically the acceleration of the UAV inertial measurement unit.
  • the specific thrust T is specifically the ratio of the pulling force of the motor to the weight of the aircraft.
  • the value of A is compared with the second stopping threshold, for example, A is compared with 2.8.
  • A>2.8 the drone touches the ground and starts stopping the propeller at this time; otherwise, the If the drone is not on the ground, you can jump to the step of acquiring the Z-axis acceleration Az and the specific thrust T of the drone to continue to determine whether the drone is on the ground, and at the same time, control the drone
  • the descending speed of the aircraft is a third speed threshold, and a second stopping threshold corresponding to the third speed threshold is set.
  • step 211 is executed.
  • Step 211 Control the drone to stop its propellers.
  • step 208 If the drone is not on the ground, jump to step 208.
  • the embodiment of the present invention is a specific process for safety protection of the drone according to the ultrasonic information and the descending state when the drone is in a descending state.
  • This implementation mode can make corresponding processing in time according to the ultrasonic situation of the UAV, adjust the descent speed of the aircraft through the fusion height and the ground height of the aircraft respectively, and carry out corresponding protection for the aircraft landing.
  • This embodiment can avoid the phenomenon that the aircraft does not slow down and violently hits the ground when landing, and improves the safety of the UAV when landing.
  • the embodiment of the present invention provides a safety protection method for an unmanned aerial vehicle.
  • the method obtains the ultrasound information and flight status of the unmanned aerial vehicle, thereby protecting the unmanned aerial vehicle safely according to the ultrasound information and the flight status.
  • the ultrasound information may be data information collected by normal ultrasound, or data information collected by abnormal ultrasound, which includes the height measured by ultrasound, and the flight status includes landing status and normal flight status.
  • different security protection methods are specifically adopted according to the abnormal situation of the ultrasonic information and the current flight status.
  • This implementation method improves the flexibility of the UAV safety protection, reduces the UAV high-altitude bombing caused by the abnormality of the ultrasound, the high altitude is out of control and cannot descend, rise, move left and right, and the landing does not decelerate violently.
  • the probability of occurrence of phenomena such as smashing the ground improves the safety of drones and improves user experience.
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle safety protection device provided by an embodiment of the present invention.
  • the device is applied to an unmanned aerial vehicle, and the device 20 includes an information acquisition module 21 and a safety protection module 22.
  • the information acquisition module 21 and the safety protection module 22 may be flight controllers in the drone.
  • the information acquisition module 21 is used to acquire the ultrasonic information and flight status of the drone;
  • the safety protection module 22 is used to securely protect the drone according to the ultrasonic information and the flight status .
  • the flight state includes a normal flight state and a descent state.
  • the safety protection of the drone will be described in detail below based on these two flight states and ultrasound information.
  • the safety protection module 22 is specifically configured to: determine whether the ultrasound information is valid; if it is valid, the safety protection module 22 is configured to:
  • the safety protection module 22 is used to control the normal flight of the drone.
  • the safety protection module 22 is further configured to:
  • the safety protection module 22 is also used to limit the descending speed of the drone to not be greater than the first speed threshold.
  • the safety protection module 22 is also used to control the normal flight of the drone.
  • the safety protection module 22 is specifically configured to: determine whether the ultrasound information is valid; if it is invalid, determine whether the fusion height is within a preset interval; if so, the safety protection Module 22 is used to:
  • the safety protection module 22 is used to control the drone to continue descending.
  • the safety protection module 22 is further used to determine whether the drone is on the ground based on the acceleration of the drone; if so, control the drone.
  • the man-machine stops the propeller; if not, the descending speed of the drone is restricted not to be greater than the second speed threshold, and the propeller stop threshold of the drone is set to the first stop propeller threshold.
  • the safety protection module 22 is further used to:
  • the ultrasound information When the ultrasound information is valid, it is detected whether the altitude of the drone is less than the second preset value; if so, the descending speed of the drone is restricted to not be greater than the third speed threshold, and the The stopping threshold of the man-machine is set as the second stopping threshold. When it is detected that the ground height of the drone is greater than or equal to the second preset value, the drone is controlled to continue descending.
  • the safety protection module 22 is further used to:
  • the judging whether the ultrasound information is valid includes: obtaining the fusion height of the drone; obtaining the ultrasound credibility detection result according to the fusion height and the ultrasound information, and obtaining ultrasound according to the ultrasound information Update the detection result; when the ultrasound reliability detection result and the ultrasound update detection result both meet the preset value, it is determined that the ultrasound information is valid, otherwise, it is determined that the ultrasound information is invalid.
  • the embodiment of the present invention provides a UAV safety protection device, which obtains the UAV's ultrasonic information and flight status, thereby protecting the UAV based on the ultrasonic information and the flight status.
  • the ultrasound information may be data information collected by normal ultrasound, or data information collected by abnormal ultrasound, which includes the height measured by ultrasound, and the flight status includes landing status and normal flight status.
  • different security protection methods are specifically adopted according to the abnormal situation of the ultrasonic information and the current flight status.
  • This implementation method improves the flexibility of the UAV safety protection, reduces the UAV high-altitude bombing caused by the abnormality of the ultrasound, the high altitude is out of control and cannot descend, rise, move left and right, and the landing does not decelerate violently.
  • the probability of occurrence of phenomena such as smashing the ground improves the safety of drones and improves user experience.
  • Figures 6 and 7 are schematic diagrams of the hardware structure of the drone provided by an embodiment of the present invention.
  • the drone 30 includes: a fuselage 301, four An arm 302 extending from the fuselage 301, a power unit 303 respectively installed on each arm 301, and a flight controller installed in the fuselage 301.
  • the flight controller includes at least one processor 304 and a memory 305 communicatively connected with the at least one processor 304.
  • the UAV 30 shown in FIG. 6 is a four-rotor unmanned aerial vehicle, and the number of power devices 303 is four.
  • the unmanned aerial vehicle 30 may be any other type of unmanned aerial vehicle, such as a fixed-wing unmanned aerial vehicle.
  • the power unit 303 is applied to other types of unmanned aerial vehicles, the number of the power unit 303 can be changed according to actual needs, which is not limited in the present invention.
  • the arm 302 and the body 301 are fixedly connected, and preferably, the arm 302 and the body 301 are integrally formed.
  • the arm 302 may also be connected to the body 301 in a manner that can be expanded or folded relative to the body 301.
  • the arm 302 can be connected to the body 301 through a rotating shaft mechanism, so that the arm 302 can be expanded or folded relative to the body 301.
  • the power device 303 includes a driving device 3031 and a propeller assembly 3032 driven by the driving device 3031.
  • the propeller assembly 3032 is installed on the output shaft of the driving device 3031.
  • the propeller assembly 3032 is driven by the driving device 3031. Rotate downward to generate lift or thrust that makes the drone 30 fly.
  • the driving device 3031 may be any suitable type of motor, such as a brushed motor, a brushless motor, a DC motor, a stepper motor, an AC induction motor, etc.
  • FIG. 7 a processor 304 is taken as an example.
  • the processor 304 and the memory 305 may be connected through a bus or in other ways.
  • the connection through a bus is taken as an example.
  • the memory 305 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the drone security protection method in the embodiment of the present invention.
  • Program instructions/modules for example, the information acquisition module 21 and the security protection module 22 shown in FIG. 5.
  • the processor 304 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 305, that is, realizing the drone security protection method of the foregoing method embodiment.
  • the memory 305 may include a storage program area and a storage data area, where the storage program area can store the operating system and at least one application required by the function; the storage data area can store data created based on the use of the drone safety protection device, etc. .
  • the memory 305 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 305 may optionally include a memory remotely provided with respect to the processor 304, and these remote memories may be connected to the drone safety protection device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 305, and when executed by the one or more processors 304, the drone security protection method in any of the above method embodiments is executed, for example, the above-described
  • the method steps 11 to 12 in FIG. 1, the method steps 101 to 107 in FIG. 2, the method steps 1011 to 1013 in FIG. 3, and the method steps 201 to 212 in FIG. 4 implement the modules in FIG. 5 21-22 function.
  • the drones of the embodiments of the present invention exist in various forms, including but not limited to quadrotor drones.
  • the embodiment of the present invention provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are implemented by a drone by executing any of the above methods
  • the safety protection method of the drone in the example for example, executes the method steps 11 to 12 in Fig. 1, the method steps 101 to 107 in Fig. 2, and the method steps 1011 to 1013 in Fig. 3, as shown in Fig. Steps 201 to 212 of the method in 4 realize the functions of modules 21-22 in FIG. 5.
  • the embodiment of the present invention provides a computer program product, including a calculation program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, cause the
  • the computer executes the drone security protection method in any of the above method embodiments, for example, executes the method steps 11 to 12 in FIG. 1 described above, the method steps 101 to 107 in FIG. 2 and the method steps in FIG. 3 Steps 1011 to 1013, method steps 201 to 212 in FIG. 4, implement the functions of modules 21-22 in FIG. 5.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the method of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program.
  • the program can be stored in a computer readable storage medium. When executed, it may include the processes of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种无人机安全保护方法、装置（20）及无人机（30），涉及无人机安全保护技术领域。该方法包括：获取无人机的超声信息和飞行状态（11），其中，飞行状态包括正常飞行状态和下降状态；根据超声信息和飞行状态对无人机进行安全保护（12）。该方法能够降低在超声出现异常时所造成的无人机高空炸机，高空失控而不能下降、上升、左移以及右移，以及降落不减速猛烈砸地等现象的发生概率，提高了无人机的安全性，提升了用户体验。

Description

一种无人机安全保护方法、装置及无人机
本申请要求于2019年7月18日提交中国专利局、申请号为201910650531.8、申请名称为“一种无人机安全保护方法、装置及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机安全保护技术领域，尤其涉及一种无人机安全保护方法、装置及无人机。
背景技术
无人机在起飞和降落时，对地高度是一个关键的信息，若对地高度不准确，会影响无人机的起飞降落性能，特别是降落性能。目前，采用超声来实现对地高度的测量，常采用下视超声雷达来感知地面，实现无人机的安全起飞和降落，以及无人机的正常飞行。
然而，超声容易受到干扰而不稳定，其主要表现在超声数据会间歇性中断或测量不准确，超声数据偶尔会出现常值欺骗值，在飞机老化或者炸机多次后可能引起超声完全损坏，超声数据出现严重延迟等等。这些超声异常情况会导致无人机出现高空炸机，高空失控而不能下降、上升、左移以及右移，降落时不减速猛烈砸地等现象，从而严重影响了无人机的性能和用户体验。
发明内容
本发明要解决的技术问题是提供一种无人机安全保护方法，解决无人机高空炸机，高空失控而不能下降、上升、左移以及右移，以及降落时不减速猛烈砸地的技术问题。
本发明实施例的一个方面，提供一种无人机安全保护方法，所述方法包括：
获取无人机的超声信息和飞行状态，其中，所述飞行状态包括正常飞行状态和下降状态；
根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
可选地，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
判断所述超声信息是否有效；
若有效，则：
检测超声测量高度是否小于第一预设值；
若是，则限制所述无人机的下降速度不大于第一速度阈值。
可选地，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
当所述超声测量高度大于或等于所述第一预设值时，控制所述无人机正常 飞行。
可选地，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
若所述超声信息无效，则：
检测融合高度是否小于所述第一预设值；
若是，则限制所述无人机的下降速度不大于所述第一速度阈值。
可选地，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
当所述融合高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
判断所述超声信息是否有效；
若无效，则判断融合高度是否在预设区间内；
若是，则限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
通过所述无人机的加速度判断所述无人机是否着地；
若是，则控制所述无人机停桨；
若否，则限制所述无人机的下降速度不大于所述第二速度阈值，并将所述无人机的停桨阈值设定为所述第一停桨阈值。
可选地，所述判断所述无人机是否着地，包括：
获取所述无人机的Z轴加速度Az和比推力T；
根据公式A＝-Az-T计算所述A的值；
判断所述A的值是否大于所述第一停桨阈值，若所述A的值大于所述第一停桨阈值，则所述无人机着地，若所述A的值不大于所述第一停桨阈值，则所述无人机未着地。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
若所述融合高度不在预设区间内，则控制所述无人机继续下降。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
当所述超声信息有效时，检测所述无人机的对地高度是否小于第二预设值；
若是，则限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞 行状态对所述无人机进行安全保护，还包括：
通过所述无人机的加速度判断所述无人机是否着地；
若是，则控制所述无人机停桨；
若否，则限制所述无人机的下降速度不大于所述第三速度阈值，并将所述无人机的停桨阈值设定为所述第二停桨阈值。
可选地，所述判断所述无人机是否着地，包括：
获取所述无人机的Z轴加速度Az和比推力T；
根据公式A＝-Az-T计算所述A的值；
判断所述A的值是否大于所述第二停桨阈值，若所述A的值大于所述第二停桨阈值，则所述无人机着地，若所述A的值不大于所述第二停桨阈值，则所述无人机未着地。
可选地，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
当检测所述无人机的对地高度大于或等于所述第二预设值时，控制所述无人机继续下降。
可选地，所述判断所述超声信息是否有效，包括：
获取所述无人机的融合高度；
根据所述融合高度和所述超声信息获取超声可信度检测结果，并且根据所述超声信息获取超声更新检测结果；
在所述超声可信度检测结果和所述超声更新检测结果均符合预设值时，确定所述超声信息有效，否则，确定所述超声信息无效。
本发明实施例的另一个方面，提供一种无人机安全保护装置，所述装置包括：
信息获取模块，用于获取无人机的超声信息和飞行状态，其中，所述飞行状态包括正常飞行状态和下降状态；
安全保护模块，用于根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
可选地，当所述飞行状态为正常飞行状态时，所述安全保护模块用于：
判断所述超声信息是否有效；
若有效，则：
检测超声测量高度是否小于第一预设值；
若是，则限制所述无人机的下降速度不大于第一速度阈值。
可选地，当所述飞行状态为正常飞行状态时，所述安全保护模块用于：
当所述超声测量高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
可选地，当所述飞行状态为正常飞行状态时，所述安全保护模块还用于：
若所述超声信息无效，则：
检测融合高度是否小于所述第一预设值；
若是，则限制所述无人机的下降速度不大于所述第一速度阈值。
可选地，当所述飞行状态为正常飞行状态时，所述安全保护模块还用于：
当所述融合高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
可选地，当所述飞行状态为下降状态时，所述安全保护模块用于：
判断所述超声信息是否有效；
若无效，则判断融合高度是否在预设区间内；
若是，则限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
可选地，当所述飞行状态为下降状态时，所述安全保护模块还用于：
通过所述无人机的加速度判断所述无人机是否着地；
若是，则控制所述无人机停桨；
若否，则限制所述无人机的下降速度不大于所述第二速度阈值，并将所述无人机的停桨阈值设定为所述第一停桨阈值。
可选地，当所述飞行状态为下降状态时，所述安全保护模块用于：
若所述融合高度不在预设区间内，则控制所述无人机继续下降。
可选地，当所述飞行状态为下降状态时，所述安全保护模块还用于：
当所述超声信息有效时，检测所述无人机的对地高度是否小于第二预设值；
若是，则限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。
可选地，当所述飞行状态为下降状态时，所述安全保护模块还用于：
通过所述无人机的加速度判断所述无人机是否着地；
若是，则控制所述无人机停桨；
若否，则限制所述无人机的下降速度不大于所述第三速度阈值，并将所述无人机的停桨阈值设定为所述第二停桨阈值。
可选地，当所述飞行状态为下降状态时，所述安全保护模块还用于：
当检测所述无人机的对地高度大于或等于所述第二预设值时，控制所述无人机继续下降。
本发明实施例的又一个方面，提一种无人机，包括：机身；机臂，与所述机身相连；动力装置，设于所述机臂，用于提供所述无人机飞行的动力；以及飞行控制器，设于所述机身；所述飞行控制器包括：至少一个处理器；以及，与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的方法。
本发明实施例的再一个方面，提一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的方法。
在本发明实施例中，通过获取无人机的超声信息和飞行状态，从而根据所述超声信息和所述飞行状态对所述无人机进行安全保护。其中，所述超声信息可以是正常的超声所采集的数据信息，也可以是不正常的超声所采集的数据信息，所述飞行状态包括无人机的起飞、降落以及正常飞行，在根据所述超声信息和所述飞行状态对所述无人机进行安全保护时，可以根据不同的超声信息和不同的飞行状态采取对应的安全保护方式。该实施方式能够降低在超声出现异常时所造成的无人机高空炸机，高空失控而不能下降、上升、左移以及右移，以及降落不减速猛烈砸地等现象的发生概率，提高了无人机的安全性，提升了用户体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种无人机安全保护方法的流程图；
图2是本发明实施例提供的一种根据所述超声信息和所述飞行状态对所述无人机进行安全保护的方法的流程图；
图3是本发明实施例提供的一种无人机安全保护方法中判断所述超声信息是否有效的方法的流程图；
图4是本发明另一实施例提供的一种根据所述超声信息和所述飞行状态对所述无人机进行安全保护的方法的流程图；
图5是本发明实施例提供的一种无人机安全保护装置的结构示意图；
图6是本发明实施例提供的一种无人机的结构示意图；
图7是本发明实施例提供的一种无人机的硬件结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互组合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块的划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置示意图中的模块划分，或流程图中的顺序执行所示出或描述的步骤。
本发明实施例提供的无人机安全保护方法和装置，可以应用于各种不同类型的无人机。通常无人机通过下视超声雷达来感知地面，在无人机起飞、降落以及正常飞行时，无人机通过自身安装的超声雷达来检测飞机距离地面的高度，如果超声雷达出现问题，将影响飞机的起飞、降落以及正常飞行等。因此， 本发明实施例的核心在于根据无人机的超声情况，包括超声正常和超声不正常，以及无人机当前具体的飞行状态来对所述无人机实施不同的安全保护。由此，提高无人机的安全性，以及对无人机进行安全保护的灵活性。
请参阅图1，图1是本发明实施例提供的一种无人机安全保护方法的流程图，该方法应用于无人机，具体由无人机的飞行控制器来执行，该方法包括：
步骤11、获取无人机的超声信息和飞行状态。
其中，所述超声信息指的是所述无人机的超声雷达检测到的信息，其具体包括超声测量高度、超声返回飞控的时间戳序列等。所述超声测量高度指的是通过超声检测出的所述无人机距离地面的高度。所述超声返回飞控的时间戳序列指的是所述超声数据所对应的时间节点序列，每一超声数据对应一时间节点，其用于表示所述超声测量高度是在什么时间被测量的。例如，时间戳包括：0.1秒、0.2秒、0.3秒；超声测量高度包括：0.5米、0.6米、0.9米；其中，所述无人机向飞控发送所述超声测量高度0.5米时附带时间戳0.1秒，表示0.1秒时所检测的超声测量高度为0.5米；发送所述超声测量高度0.6米时附带时间戳0.2秒，表示0.2秒时所检测的超声测量高度为0.6米；发送所述超声测量高度0.9米时附带时间戳0.3秒，表示0.3秒时所检测的超声测量高度为0.9米。由此，飞控能够获取在什么时间检测的超声测量高度是多少。
其中，所述飞行状态指的是所述无人机的飞行状态，所述飞行状态包括下降状态、正常飞行状态、起飞状态等。所述正常飞行状态可以包括加速飞行、减速飞行等。
步骤12、根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
在本实施例中，主要是基于所述无人机的超声情况，包括超声正常和超声不正常，以及无人机为正常飞行状态或者下降状态时，来对所述无人机实施不同的安全保护方法，由此，提高了飞机的安全性，以及飞机安全保护的灵活性。
下面分别从无人机为正常飞行状态和下降状态这两种飞行状态来对所述无人机的安全保护方法进行具体阐述。
如图2所示，当所述无人机的飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
步骤101、判断所述超声信息是否有效。
判断超声信息是否有效也即判断无人机的超声是否出现异常，具体地，如图3所示，所述判断所述超声信息是否有效，包括：
步骤1011、获取所述无人机的融合高度；
所述融合高度又称飞行高度，其指的是所述无人机距离起飞点的高度，所述融合高度通过各种传感器检测得到。所述传感器包括气压高度计、加速度计、超声传感器、雷达传感器等等。
步骤1012、根据所述融合高度和所述超声信息获取超声可信度检测结果，并且根据所述超声信息获取超声更新检测结果；
所述超声可信度检测结果用于确定所述无人机的超声输出的数值是否可 用，在本实施例中，可以通过数字信号表示所述超声可信度检测结果，比如，当所述超声可信度检测结果为“1”时，说明所述超声输出的数值可用，当所述超声可信度检测结果为“0”时，说明所述超声输出的数值不可用。
所述超声更新检测结果用于识别所述无人机的超声数据是否还在正常更新。在本实施例中，所述超声数据经过更新检测模块，更新检测模块根据所述超声数据获取超声更新检测结果，也可以通过数字信号表示所述超声更新检测结果，比如，当所述超声更新检测结果为“1”时，说明所述超声数据在正常的更新，当所述超声更新检测结果为“0”时，说明所述超声数据不在正常的更新。
在本实施例中，根据所述融合高度和所述超声信息获取超声可信度检测结果包括：根据所述超声信息获取超声测量高度，将所述超声测量高度和所述融合高度分别进行求导，输出所述超声测量高度的微分信息和所述融合高度的微分信息；对所述超声测量高度的微分信息和所述融合高度的微分信息分别进行滤波，以获取滤波后的所述超声测量高度的微分信息和所述融合高度的微分信息；根据所述超声测量高度的微分信息和所述融合高度的微分信息获取所述超声可信度检测结果。
由于飞机在下降时，超声所检测出的超声测量高度和所述融合高度可能不相等，但其各自的一节微分所表征飞机的上升下降速度应当较为接近，因此，将所述一节微分所表征的飞机的上升下降速度作为一个判断依据，通过对所述超声测量高度进行求导，以输出所述超声测量高度的微分信息，对所述融合高度进行求导，以输出所述融合高度的微分信息，通过比较这两个微分信息之间的差异，从而确定超声输出的值是否可用。
其中，所述滤波器具体可以是微分滤波器，由于工程中的信号一般含有噪声，通过所述滤波器过滤所述噪声，以更准确的获取所述超声测量高度和所述融合高度的近似导数。
其中，所述根据所述超声测量高度的微分信息和所述融合高度的微分信息获取所述超声可信度检测结果具体包括：将所述超声测量高度的微分信息和所述融合高度的微分信息进行差异比较，当所述差异比较的结果在预设范围内时，输出所述超声可信度检测结果可信，当所述差异比较的结果不在预设范围内时，输出所述超声可信度检测结果不可信。
其中，所述超声测量高度的微分信息和所述融合高度的微分信息可以相同，也可以存在差异，两者微分相同或者两者微分之间的差异在所述预设范围内时，则所述超声可信度检测结果可信，即说明超声输出的数值是可用的，否则所述超声可信度检测结果不可信，超声输出的数值不可用。所述预设范围可以人工自定义，也可以由系统设置。
在本实施例中，根据所述超声信息获取超声更新检测结果包括：根据所述超声信息进行时间戳更新检测、超声值变化检测以及超声值异常检测，以获取时间戳更新检测结果、超声值变化检测结果以及超声值异常检测结果；将所述 时间戳更新检测结果、所述超声值变化检测结果以及所述超声值异常检测结果进行逻辑运算，从而获取所述超声更新检测结果。
其中，根据所述时间戳更新检测来获取所述时间戳更新检测结果。所述时间戳更新检测具体为，检测当前步与上一步的时间的差异，如果所述时间的差异与预设的时间步长值的差异在预设范围内，则所述时间戳更新检测结果输出1，表示时间戳更新正常；如果所述时间的差异与预设的时间步长值的差异为零或者差异不在预设范围内，则所述时间戳更新检测结果输出0，表示时间戳更新不正常。
其中，根据所述超声值变化检测来获取所述超声值变化检测结果。所述超声值变化检测具体为，取当前时刻对应的超声测量高度以及当前时刻前的预设数目(比如3个或者5个等)个时刻对应的超声测量高度进行判断，如果其中任意3个超声测量高度不相等，则所述超声值变化检测结果输出为1，表示超声值的变化是正常的；否则所述超声值变化检测结果输出为0，表示超声值的变化是不正常的。需要说明的是，其中超声测量高度不相等的个数除了是3个之外，还可以是其他任意个数，在此不做限定。
其中，根据所述超声值异常检测获取所述超声值异常检测结果。所述超声值异常检测具体为，检测当前步与上一步的超声值之差，以及上一步与上上一步的超声值之差，如果持续5步的超声值之差都为0，则所述超声值异常检测结果输出为0，表示超声异常；否则所述超声值异常检测结果输出为1，表示超声正常。需要说明的是，超声值步数不仅仅为5步，还可以是3至10之间的任意步数。
其中，将所述时间戳更新检测结果、所述超声值变化检测结果以及所述超声值异常检测结果进行逻辑运算具体是将所述时间戳更新检测结果、所述超声值变化检测结果以及所述超声值异常检测结果进行逻辑与运算，只有在所述时间戳更新检测结果、所述超声值变化检测结果以及所述超声值异常检测结果均输出为1，即三个结果都正常时，所述超声更新检测结果正常，输出超声正常更新标志位1，否则，所述超声更新检测结果不正常，输出超声异常更新标志位0。需要说明的是，上述逻辑运算除了是逻辑与之外，也可以是其他逻辑运算，比如逻辑或等。在本实施例中，优选为逻辑与运算。
步骤1013、在所述超声可信度检测结果和所述超声更新检测结果均符合预设值时，确定所述超声信息有效，否则，确定所述超声信息无效。
其中，当所述超声可信度检测结果可信，并且所述超声更新检测结果表示超声在正常更新时，确定所述超声信息有效，否则确定所述超声信息无效。
在本实施例中，当所述超声可信度检测结果和所述超声更新检测结果均用数字信号0和1表示时，即，1表示所述超声可信度检测结果可信以及所述超声在正常更新，0表示所述超声可信度检测结果不可信以及所述超声不在正常更新，此时，可以将所述超声更新检测结果和所述超声可信度检测结果进行逻辑与运算，当所述逻辑与运算的结果输出为1时，表示超声信息有效，当所述 逻辑与运算的结果输出为0时，表示超声信息无效。
可以根据上述步骤1011至步骤1013判断所述超声信息是否有效。
若所述超声信息有效，则执行下述步骤102。
步骤102、检测超声测量高度是否小于第一预设值。
其中，所述超声测量高度可以根据所述超声信息获得。所述第一预设值可以是2米至6米之间的任意值，比如，第一预设值为5米。
若所述超声测量高度小于第一预设值，则执行下述步骤103。
步骤103、限制所述无人机的下降速度不大于第一速度阈值。
其中，所述第一速度阈值具体可以是2m/s，所述第一速度阈值还可以是1m/s至3m/s之间的任意值。
若所述超声测量高度大于或等于所述第一预设值，则执行下述步骤104。
步骤104、控制所述无人机正常飞行。
上述是在所述无人机为正常飞行状态，并且所述超声信息有效时的情况。当所述超声信息无效，也即超声异常时，执行下述步骤105。
步骤105、检测融合高度是否小于所述第一预设值。
其中，所述融合高度又称飞行高度，其指的是所述无人机距离起飞点的高度，所述融合高度通过各种传感器检测得到。所述传感器包括气压高度计、加速度计、超声传感器、雷达传感器等等。所述第一预设值可以是2米至6米之间的任意值，比如，第一预设值为5米。
若所述融合高度小于所述第一预设值，则执行下述步骤106。
步骤106、限制所述无人机的下降速度不大于所述第一速度阈值。
其中，所述第一速度阈值具体可以是2m/s，所述第一速度阈值还可以是1m/s至3m/s之间的任意值。
若所述融合高度大于或等于所述第一预设值，则执行下述步骤107。
步骤107、控制所述无人机正常飞行。
本发明实施例为所述无人机处于正常飞行状态时，根据所述超声信息和所述正常飞行状态对所述无人机进行安全保护的具体过程。该实施方式能够根据无人机的超声情况及时作出相应的处理，从而确保飞机的正常飞行，避免了高空炸机等意外情况的发生，提高了无人机正常飞行时的稳定性和安全性。
如图4所示，当所述无人机的飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
步骤201、判断所述超声信息是否有效。
其中，判断所述超声信息是否有效的详细过程可以参考上述实施例中的步骤1011至步骤1013。
若所述超声信息无效，则执行下述步骤202。
步骤202、判断融合高度是否在预设区间内。
所述融合高度又称飞行高度，其指的是所述无人机距离起飞点的高度，所述融合高度通过各种传感器检测得到。所述传感器包括气压高度计、加速度计、 超声传感器、雷达传感器等等。
所述预设区间具体可以是-2米至2米，即判断所述融合高度是否是大于等于-2米并且小于等于2米。所述预设区间可以由用户根据个人习惯进行自定义，也可以由系统定义，其具体值可以根据实际应用场景进行设置。
若所述融合高度在预设区间内，则执行下述步骤203。
步骤203、限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
其中，所述第二速度阈值可以是0.5m/s至1.5m/s之间的任意值，比如，所述第二速度阈值为1m/s。所述第一停桨阈值具体是所述无人机落地时的加速度判断阈值，所述第二速度阈值对应的第一停桨阈值具体可以是7.5，还可以是5至9之间的任意值。
在一些实施例中，同样请参阅图4，在执行所述步骤203后，所述方法还包括：
步骤204、通过所述无人机的加速度判断所述无人机是否着地。
其中，判断所述无人机是否着地包括：获取所述无人机的Z轴加速度Az和比推力T；根据公式A＝-Az-T计算所述A的值；判断所述A的值是否大于所述第一停桨阈值，若所述A的值大于所述第一停桨阈值，则所述无人机着地，若所述A的值不大于所述第一停桨阈值，则所述无人机未着地。
其中，所述Z轴加速度Az的方向为竖直向下，其具体是所述无人机惯性测量单元的加速度。所述比推力T具体是电机拉力与飞机重量之比。其中，将所述A的值与第一停桨阈值进行比较，比如将A与7.5进行比较，当A>7.5时，则所述无人机着地，此时启动停桨，否则，则所述无人机未着地，此时可以跳转执行获取所述无人机的Z轴加速度Az和比推力T的步骤，以继续判断所述无人机是否着地，与此同时，控制所述无人机的下降速度为第二速度阈值，并且设置所述第二速度阈值对应的第一停桨阈值。
需要说明的是，除了通过上述方法判断所述无人机是否着地之外，还可以采用其他方法。
若所述无人机着地，则执行下述步骤205。
步骤205、控制所述无人机停桨。
若所述无人机未着地，则跳转执行步骤203。
在一些实施例中，若融合高度不在预设区间内，则执行下述步骤206。
步骤206、控制所述无人机继续下降。
在一些实施例中，若所述超声信息有效，则执行下述步骤207。
步骤207、检测所述无人机的对地高度是否小于第二预设值。
由于飞机下降时，通常在距离地面0.5米时容易发生超声异常，因此所述第二预设值优选为0.5米，当然，在实际应用中，所述第二预设值可以是0.3米至0.8米之间的任意值。
若对地高度小于第二预设值，则执行下述步骤208。
步骤208、限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。
其中，所述第三速度阈值具体可以是0.2m/s，所述第三速度阈值还可以是0.1m/s至0.4m/s之间的任意值。所述第二停桨阈值具体是所述无人机落地时的加速度判断阈值，所述第三速度阈值对应的第二停桨阈值具体可以是2.8，还可以是2至4之间的任意值。
若对地高度大于或等于第二预设值，则执行下述步骤209。
步骤209、控制所述无人机继续下降。
在一些实施例中，同样请参阅图4，在执行所述步骤208后，所述方法还包括：
步骤210、通过所述无人机的加速度判断所述无人机是否着地。
其中，所述判断所述无人机是否着地，包括：获取所述无人机的Z轴加速度Az和比推力T；根据公式A＝-Az-T计算所述A的值；判断所述A的值是否大于所述第二停桨阈值，若所述A的值大于所述第二停桨阈值，则所述无人机着地，若所述A的值不大于所述第二停桨阈值，则所述无人机未着地。
其中，所述Z轴加速度Az的方向为竖直向下，其具体是所述无人机惯性测量单元的加速度。所述比推力T具体是电机拉力与飞机重量之比。其中，将所述A的值与第二停桨阈值进行比较，比如将A与2.8进行比较，当A>2.8时，则所述无人机着地，此时启动停桨，否则，则所述无人机未着地，此时可以跳转执行获取所述无人机的Z轴加速度Az和比推力T的步骤，以继续判断所述无人机是否着地，与此同时，控制所述无人机的下降速度为第三速度阈值，并且设置所述第三速度阈值对应的第二停桨阈值。
需要说明的是，除了通过上述方法判断所述无人机是否着地之外，还可以采用其他方法。
若所述无人机着地，则执行下述步骤211。
步骤211、控制所述无人机停桨。
若所述无人机未着地，则跳转执行步骤208。
本发明实施例为所述无人机处于下降状态时，根据所述超声信息和所述下降状态对所述无人机进行安全保护的具体过程。该实施方式能够根据无人机的超声情况及时作出相应的处理，通过飞机的融合高度和对地高度分别调整飞机的下降速度，以及对飞机着地进行相应的保护。该实施例能够避免飞机在降落时不减速猛烈砸地等现象，提高了无人机降落时的安全性。
本发明实施例提供了一种无人机安全保护方法，该方法通过获取无人机的超声信息和飞行状态，从而根据所述超声信息和所述飞行状态对所述无人机进行安全保护。其中，所述超声信息可以是正常的超声所采集的数据信息，也可以是不正常的超声所采集的数据信息，其包括超声测量高度，所述飞行状态包括降落状态和正常飞行状态，在根据所述超声信息和所述飞行状态对所述无人机进行安全保护时，具体根据所述超声信息的异常情况和当前的飞行状态采取 不同的安全保护方式。该实施方式提高了无人机安全保护的灵活性，降低了在超声出现异常时所造成的无人机高空炸机，高空失控而不能下降、上升、左移以及右移，以及降落不减速猛烈砸地等现象的发生概率，提高了无人机的安全性，提升了用户体验。
请参阅图5，图5是本发明实施例提供的一种无人机安全保护装置的结构示意图。该装置应用于无人机，该装置20包括信息获取模块21和安全保护模块22。在本发明的一实施例中，信息获取模块21和安全保护模块22可以是无人机内的飞行控制器。
其中，所述信息获取模块21，用于获取无人机的超声信息和飞行状态；所述安全保护模块22，用于根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
在本实施例中，所述飞行状态包括正常飞行状态和下降状态。下面根据这两种飞行状态和超声信息对所述无人机的安全保护进行具体阐述。
当所述飞行状态为正常飞行状态时，所述安全保护模块22具体用于：判断所述超声信息是否有效；若有效，则所述安全保护模块22用于：
检测超声测量高度是否小于第一预设值；
若是，则限制所述无人机的下降速度不大于第一速度阈值。
当所述超声测量高度大于或等于所述第一预设值时，所述安全保护模块22用于：控制所述无人机正常飞行。
在一些实施例中，当所述飞行状态为正常飞行状态时，若所述超声信息无效，所述安全保护模块22还用于：
检测融合高度是否小于所述第一预设值；
若是，则所述安全保护模块22还用于：限制所述无人机的下降速度不大于所述第一速度阈值。
当所述融合高度大于或等于所述第一预设值时，所述安全保护模块22还用于：控制所述无人机正常飞行。
当所述飞行状态为下降状态时，所述安全保护模块22具体用于：判断所述超声信息是否有效；若无效，则判断融合高度是否在预设区间内；若是，则，所述安全保护模块22用于：
限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
若所述融合高度不在预设区间内，则所述安全保护模块22用于：控制所述无人机继续下降。
在一些实施例中，当所述飞行状态为下降状态时，所述安全保护模块22还用于：通过所述无人机的加速度判断所述无人机是否着地；若是，则控制所述无人机停桨；若否，则限制所述无人机的下降速度不大于所述第二速度阈值，并将所述无人机的停桨阈值设定为所述第一停桨阈值。
其中，所述判断所述无人机是否着地包括：获取所述无人机的Z轴加速度 Az和比推力T；根据公式A＝-Az-T计算所述A的值；判断所述A的值是否大于所述第一停桨阈值，若所述A的值大于所述第一停桨阈值，则所述无人机着地，若所述A的值不大于所述第一停桨阈值，则所述无人机未着地。
在一些实施例中，当所述飞行状态为下降状态时，所述安全保护模块22还用于：
当所述超声信息有效时，检测所述无人机的对地高度是否小于第二预设值；若是，则限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。当检测所述无人机的对地高度大于或等于所述第二预设值时，则控制所述无人机继续下降。
在一些实施例中，当所述飞行状态为下降状态时，所述安全保护模块22还用于：
通过所述无人机的加速度判断所述无人机是否着地；若是，则控制所述无人机停桨；若否，则限制所述无人机的下降速度不大于所述第三速度阈值，并将所述无人机的停桨阈值设定为所述第二停桨阈值。
其中，所述判断所述无人机是否着地包括：获取所述无人机的Z轴加速度Az和比推力T；根据公式A＝-Az-T计算所述A的值；判断所述A的值是否大于所述第二停桨阈值，若所述A的值大于所述第二停桨阈值，则所述无人机着地，若所述A的值不大于所述第二停桨阈值，则所述无人机未着地。
其中，所述判断所述超声信息是否有效，包括：获取所述无人机的融合高度；根据所述融合高度和所述超声信息获取超声可信度检测结果，并且根据所述超声信息获取超声更新检测结果；在所述超声可信度检测结果和所述超声更新检测结果均符合预设值时，确定所述超声信息有效，否则，确定所述超声信息无效。
值得说明的是，上述装置内的模块、单元之间的信息交互、执行过程等内容，由于与本发明的方法实施例基于同一构思，具体内容可以参考本发明方法实施例中的叙述，此处不再赘述。
本发明实施例提供了一种无人机安全保护装置，该装置通过获取无人机的超声信息和飞行状态，从而根据所述超声信息和所述飞行状态对所述无人机进行安全保护。其中，所述超声信息可以是正常的超声所采集的数据信息，也可以是不正常的超声所采集的数据信息，其包括超声测量高度，所述飞行状态包括降落状态和正常飞行状态，在根据所述超声信息和所述飞行状态对所述无人机进行安全保护时，具体根据所述超声信息的异常情况和当前的飞行状态采取不同的安全保护方式。该实施方式提高了无人机安全保护的灵活性，降低了在超声出现异常时所造成的无人机高空炸机，高空失控而不能下降、上升、左移以及右移，以及降落不减速猛烈砸地等现象的发生概率，提高了无人机的安全性，提升了用户体验。
请参阅图6和图7，图6和图7是本发明实施例提供的无人机的硬件结构示意图，如图6和图7所示，该无人机30包括：机身301、四个自机身301 延伸的机臂302、分别装设在每个机臂301上的动力装置303以及设于所述机身301内的飞行控制器。其中，飞行控制器包括至少一个处理器304以及与所述至少一个处理器304通信连接的存储器305。
图6所示的无人机30为四旋翼无人飞行器，动力装置303的数量为四个。在其他可能的实施例中，无人机30可以是其他任何类型的无人飞行器，例如固定翼无人机飞行器等。在动力装置303应用于其他类型无人飞行器的场合，动力装置303的数量可以根据实际需要改变，本发明对此不作限定。
在发明的一实施例中，机臂302与机身301固定连接，优选地，机臂302与机身301一体成型。在其他可能的实施例中，机臂302还可以可相对于机身301展开或折叠的方式与机身301相连。例如，机臂302可以通过一转轴机构与机身301相连，以实现机臂302可相对于机身301展开或折叠。
在本发明的一实施例中，动力装置303包括驱动装置3031和由驱动装置3031驱动的螺旋桨组件3032，螺旋桨组件3032装设于驱动装置3031的输出轴上，螺旋桨组件3032在驱动装置3031的驱动下旋转以产生使无人机30飞行的升力或推力。驱动装置3031可以是任何合适类型的电机，例如有刷电机、无刷电机、直流电机、步进电机、交流感应电机等。
请参阅图7，图7中以一个处理器304为例。处理器304和存储器305可以通过总线或者其他方式连接，图7中以通过总线连接为例。
存储器305作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的无人机安全保护方法对应的程序指令/模块(例如，附图5所示的信息获取模块21和安全保护模块22)。处理器304通过运行存储在存储器305中的非易失性软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例的无人机安全保护方法。
存储器305可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据无人机安全保护装置的使用所创建的数据等。此外，存储器305可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器305可选包括相对于处理器304远程设置的存储器，这些远程存储器可以通过网络连接至无人机安全保护装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器305中，当被所述一个或者多个处理器304执行时，执行上述任意方法实施例中的无人机安全保护方法，例如，执行以上描述的图1中的方法步骤11至步骤12，图2中的方法步骤101至步骤107，图3中的方法步骤1011至步骤1013，图4中的方法步骤201至步骤212，实现图5中的模块21-22的功能。
上述产品可执行本发明实施例所提供的方法，具备执行方法相应的功能模 块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明实施例所提供的方法。
本发明实施例的无人机以多种形式存在，包括但不限于四旋翼无人机，等。
本发明实施例提供了一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被无人机执行上述任意方法实施例中的无人机安全保护方法，例如，执行以上描述的图1中的方法步骤11至步骤12，图2中的方法步骤101至步骤107，图3中的方法步骤1011至步骤1013，图4中的方法步骤201至步骤212，实现图5中的模块21-22的功能。
本发明实施例提供了一种计算机程序产品，包括存储在非易失性计算机可读存储介质上的计算程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时时，使所述计算机执行上述任意方法实施例中的无人机安全保护方法，例如，执行以上描述的图1中的方法步骤11至步骤12，图2中的方法步骤101至步骤107，图3中的方法步骤1011至步骤1013，图4中的方法步骤201至步骤212，实现图5中的模块21-22的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件来实现。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (27)

  1. 一种无人机安全保护方法，其特征在于，所述方法包括：
    获取无人机的超声信息和飞行状态，其中，所述飞行状态包括正常飞行状态和下降状态；
    根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
  2. 根据权利要求1所述的方法，其特征在于，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
    判断所述超声信息是否有效；
    若有效，则：
    检测超声测量高度是否小于第一预设值；
    若是，则限制所述无人机的下降速度不大于第一速度阈值。
  3. 根据权利要求2所述的方法，其特征在于，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
    当所述超声测量高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
  4. 根据权利要求2或3所述的方法，其特征在于，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    若所述超声信息无效，则：
    检测融合高度是否小于所述第一预设值；
    若是，则限制所述无人机的下降速度不大于所述第一速度阈值。
  5. 根据权利要求4所述的方法，其特征在于，当所述飞行状态为正常飞行状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    当所述融合高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
    判断所述超声信息是否有效；
    若无效，则判断融合高度是否在预设区间内；
    若是，则限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
  7. 根据权利要求6所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    通过所述无人机的加速度判断所述无人机是否着地；
    若是，则控制所述无人机停桨；
    若否，则限制所述无人机的下降速度不大于所述第二速度阈值，并将所述无人机的停桨阈值设定为所述第一停桨阈值。
  8. 根据权利要求7所述的方法，其特征在于，所述判断所述无人机是否着地，包括：
    获取所述无人机的Z轴加速度Az和比推力T；
    根据公式A＝-Az-T计算所述A的值；
    判断所述A的值是否大于所述第一停桨阈值，若所述A的值大于所述第一停桨阈值，则所述无人机着地，若所述A的值不大于所述第一停桨阈值，则所述无人机未着地。
  9. 根据权利要求6-8中任一项所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，包括：
    若所述融合高度不在预设区间内，则控制所述无人机继续下降。
  10. 根据权利要求6-9中任一项所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    当所述超声信息有效时，检测所述无人机的对地高度是否小于第二预设值；
    若是，则限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。
  11. 根据权利要求9或10所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    通过所述无人机的加速度判断所述无人机是否着地；
    若是，则控制所述无人机停桨；
    若否，则限制所述无人机的下降速度不大于所述第三速度阈值，并将所述无人机的停桨阈值设定为所述第二停桨阈值。
  12. 根据权利要求11所述的方法，其特征在于，所述判断所述无人机是否着地，包括：
    获取所述无人机的Z轴加速度Az和比推力T；
    根据公式A＝-Az-T计算所述A的值；
    判断所述A的值是否大于所述第二停桨阈值，若所述A的值大于所述第二停桨阈值，则所述无人机着地，若所述A的值不大于所述第二停桨阈值，则所述无人机未着地。
  13. 根据权利要10-12中任一项所述的方法，其特征在于，当所述飞行状态为下降状态时，所述根据所述超声信息和所述飞行状态对所述无人机进行安全保护，还包括：
    当检测所述无人机的对地高度大于或等于所述第二预设值时，控制所述无人机继续下降。
  14. 根据权利要求2-13中任一项所述的方法，其特征在于，所述判断所述超声信息是否有效，包括：
    获取所述无人机的融合高度；
    根据所述融合高度和所述超声信息获取超声可信度检测结果，并且根据所述超声信息获取超声更新检测结果；
    在所述超声可信度检测结果和所述超声更新检测结果均符合预设值时，确定所述超声信息有效，否则，确定所述超声信息无效。
  15. 一种无人机安全保护装置，其特征在于，所述装置包括：
    信息获取模块，用于获取无人机的超声信息和飞行状态，其中，所述飞行状态包括正常飞行状态和下降状态；
    安全保护模块，用于根据所述超声信息和所述飞行状态对所述无人机进行安全保护。
  16. 根据权利要求15所述的装置，其特征在于，当所述飞行状态为正常飞行状态时，所述安全保护模块用于：
    判断所述超声信息是否有效；
    若有效，则：
    检测超声测量高度是否小于第一预设值；
    若是，则限制所述无人机的下降速度不大于第一速度阈值。
  17. 根据权利要求16所述的装置，其特征在于，当所述飞行状态为正常飞行状态时，所述安全保护模块用于：
    当所述超声测量高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
  18. 根据权利要求16或17所述的装置，其特征在于，当所述飞行状态为正常飞行状态时，所述安全保护模块还用于：
    若所述超声信息无效，则：
    检测融合高度是否小于所述第一预设值；
    若是，则限制所述无人机的下降速度不大于所述第一速度阈值。
  19. 根据权利要求18所述的装置，其特征在于，当所述飞行状态为正常飞行状态时，所述安全保护模块还用于：
    当所述融合高度大于或等于所述第一预设值时，控制所述无人机正常飞行。
  20. 根据权利要求15至19中任一项所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块用于：
    判断所述超声信息是否有效；
    若无效，则判断融合高度是否在预设区间内；
    若是，则限制所述无人机的下降速度不大于第二速度阈值，并将所述无人机的停桨阈值设定为第一停桨阈值。
  21. 根据权利要求20所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块还用于：
    通过所述无人机的加速度判断所述无人机是否着地；
    若是，则控制所述无人机停桨；
    若否，则限制所述无人机的下降速度不大于所述第二速度阈值，并将所述无人机的停桨阈值设定为所述第一停桨阈值。
  22. 根据权利要求20或21所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块用于：
    若所述融合高度不在预设区间内，则控制所述无人机继续下降。
  23. 根据权利要求20至22中任一项所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块还用于：
    当所述超声信息有效时，检测所述无人机的对地高度是否小于第二预设值；
    若是，则限制所述无人机的下降速度不大于第三速度阈值，并将所述无人机的停桨阈值设定为第二停桨阈值。
  24. 根据权利要求22或23所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块还用于：
    通过所述无人机的加速度判断所述无人机是否着地；
    若是，则控制所述无人机停桨；
    若否，则限制所述无人机的下降速度不大于所述第三速度阈值，并将所述无人机的停桨阈值设定为所述第二停桨阈值。
  25. 根据权利要求23或24所述的装置，其特征在于，当所述飞行状态为下降状态时，所述安全保护模块还用于：
    当检测所述无人机的对地高度大于或等于所述第二预设值时，控制所述无人机继续下降。
  26. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂，用于提供所述无人机飞行的动力；以及
    飞行控制器，设于所述机身；
    所述飞行控制器包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1至14中任一项所述的方法。
  27. 一种非易失性计算机可读存储介质，其特征在于，所述非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行权利要求1至14中任一项所述的方法。
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