CN110920887B - Autonomous water-landing detection and safety protection system and method for small unmanned aerial vehicle - Google Patents
Autonomous water-landing detection and safety protection system and method for small unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an autonomous water landing detection and safety protection system and method for a small unmanned aerial vehicle, which fully consider the system characteristics of the small fixed-wing aircraft, have simple and easily realized detection circuit, can be highly integrated in a flight control system, do not need to be provided with a water contact detection module independently, and have low cost, safety and reliability; the zero potential is fully utilized for water contact detection, and the non-zero electrode is subjected to electrostatic protection treatment, so that the design safety and reliability are high; the water landing is judged by fully combining the water contact detection and the water force analysis, no misjudgment occurs, and the design safety and reliability are high. The device can automatically carry out the water detection and the safety protection, and increases the system safety.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicle waterproof structures, in particular to a system and a method for autonomous water-landing detection and safety protection of a small unmanned aerial vehicle.
[ background of the invention ]
The waterproof technology that usually uses sets up into water detection circuit board in the equipment of protection, and this kind of waterproof technology, though can in time cut off the power supply after intaking and prevent the damage of wanting the protection equipment, can't prevent this various electronic components's on the detection circuit board that intakes damage, therefore, this detection circuit board that intakes usually can't use repeatedly.
Another waterproof technology is the method mentioned in the Chinese invention patent 'water inlet detection sensor, water inlet protection device, communication equipment and method' (publication No. 103115564B; published Japanese 2016-01-27) of Huacheng company. The water inflow detection sensor of the method includes: the water inlet detection device comprises at least two resistance network layers, an electric insulation water absorption plate and a detection circuit, wherein the electric insulation water absorption plate is located between the resistance network layers, and the detection circuit is connected with a conducting circuit of the resistance network layers and used for acquiring electric parameter change values between the resistance network layers and determining water inlet detection information according to the electric parameter change values. This approach has the advantage that the water ingress detection circuit can be reused.
The method needs to design an independent module, considers the volume or complexity, and cannot be simply integrated with a small-sized fixed wing unmanned aerial vehicle system; and the water-catching process of the unmanned aerial vehicle is complex, the flight condition needs to be considered, and the light rain flight and the water-catching need to be distinguished, so the invention provides a new method, which comprehensively considers the water-inlet detection and the water-catching judgment and carries out safety protection.
Accordingly, there is a need to develop a system to address the deficiencies of the prior art to address or mitigate one or more of the problems set forth above.
[ summary of the invention ]
In view of the above, the invention provides an autonomous water landing detection and safety protection system and method for a small unmanned aerial vehicle, which are easy to integrate and implement, have high reliability, meet the application occasions of water landing or accidental water falling of the unmanned aerial vehicle, and are mainly suitable for the small fixed-wing unmanned aerial vehicle.
In one aspect, the invention provides a light folding multi-rotor unmanned aerial vehicle horn locking multiplexing undercarriage, the system comprising: touch water detection module, detection module and safety protection module, touch water detection module with the detection module that catches water connects simultaneously safety protection module:
the landing detection module judges landing and water landing of the unmanned aerial vehicle according to the landing acceleration of the unmanned aerial vehicle;
when the water-catching detection module judges that the unmanned aerial vehicle lands, the water-touching detection module judges the water-touching state and the water-catching state of the unmanned aerial vehicle according to the water inlet information of the unmanned aerial vehicle;
safety protection module is when satisfying unmanned aerial vehicle and catching water descending or satisfying when landing descending and be in the state of catching water, carries out power-off protection to unmanned aerial vehicle.
The above aspects and any possible implementation manners further provide an implementation manner, where the water contact detection module includes an external water contact plate, a detection circuit, and a water inlet detection analysis unit;
the external water contact plate is positioned below the machine body and is used for contacting water, the external water contact plate comprises two electrodes, each electrode is provided with a conductive circuit, and the two conductive circuits are respectively connected with the detection circuit through connectors;
the detection circuit is built through a resistance network and is used for acquiring an electric parameter change value between two electrodes which are in contact with water and transmitting the electric parameter change value to the water inlet detection analysis unit;
the water inlet detection and analysis unit obtains water inlet information according to the electric parameter change value acquired by the detection circuit, and determines whether the unmanned aerial vehicle is in a water contact state or a water attachment state.
The above-mentioned aspect and any possible implementation manner further provide an implementation manner, where the criterion for the intake detection and analysis unit to determine that the unmanned aerial vehicle is in the water-catching state is: the voltage value between the two electrodes is not equal to the voltage value between the two electrodes when the two electrodes are suspended;
the determination criteria of the water contact state are as follows: the voltage value between the two electrodes is the voltage value between the two electrodes when the two electrodes are suspended.
The above aspects and any possible implementation manners further provide an implementation manner, where the water landing detection module includes an acceleration acquisition unit and a landing acceleration analysis unit;
the acceleration acquisition unit is used for directly measuring or calculating an acceleration value generated by the unmanned aerial vehicle due to impact force in the vertical direction of the landing surface at the moment when the unmanned aerial vehicle recovers to contact the landing surface;
the landing acceleration analysis unit judges whether the unmanned aerial vehicle is in a landing state or a landing state through an acceleration value generated by an impact force acquired by the acceleration acquisition unit.
According to the aspects and any possible implementation manner, an implementation manner is further provided, the safety protection module judges whether the unmanned aerial vehicle lands or lands on water through the water landing detection module, and when the unmanned aerial vehicle lands on water, the power of the avionic device is cut off for protection;
when unmanned aerial vehicle descends for landing, the rethread touches water detection module and judges that unmanned aerial vehicle is in the state of touching water or the state of catching water, when unmanned aerial vehicle is in the state of catching water, gives avionics equipment power-off protection.
The above-mentioned aspect and any possible implementation manner further provide a method for autonomous water intrusion detection and safety protection of a small unmanned aerial vehicle, where the method includes the following steps:
s1: judging whether the unmanned aerial vehicle lands or lands on water through a water detection module;
s2: when the unmanned aerial vehicle lands on water, the safety protection module is used for powering off and protecting the avionic equipment; when the unmanned aerial vehicle lands, performing S3;
s3: judging whether the unmanned aerial vehicle is in a water contact state or a water catching state through a water contact detection module;
s4: when unmanned aerial vehicle was in the state of catching water, give avionics equipment power-off protection through the safety protection module, when unmanned aerial vehicle was in the state of touching water, power-off protection did not start.
In the above aspect and any possible implementation manner, there is further provided an implementation manner, in S3, the method for determining whether the unmanned aerial vehicle is in the water-touching state or the water-catching state includes:
s31: when the two electrodes are not in contact with water, measuring the voltage value between the two electrodes to be ADC 1;
s32: when the two electrodes contact water, calculating the resistance of the water according to a formula R ═ rho L/S; in the formula, rho is the resistivity of water, L is the distance between two electrodes of the water contact plate, S is the water contact area of the electrodes, and R is the resistance of the water;
s33: forming water resistance between the electrodes by adjusting the positions of the two electrodes, and simultaneously keeping the rho change of the water contact point within a preset range in the process of adjusting the positions of the two electrodes;
s34: detecting that the voltage value ADC1 is not equal to the voltage value ADC2, namely the water catching state; when the voltage value ADC1 is equal to the voltage value ADC2, the water-touching state is detected.
As for the above-mentioned aspect and any possible implementation manner, an implementation manner is further provided, where the method for determining whether the unmanned aerial vehicle is in the landing state or the landing state in S1 is:
s11: obtaining the acceleration generated by the impact force when the unmanned aerial vehicle is on the water through an acceleration obtaining unit, and storing and sorting the acceleration values obtained for multiple times;
s12: based on the acceleration data stored in S11 for a plurality of times, Ft is set to mv-0 based on the law of conservation of momentum, and the acceleration threshold a during water immersion is setuF (h, v, m) |, where h is the displacement due to impact force, v is the speed at landing, and m is the unmanned aerial vehicle mass;
s13: acquiring or calculating a real-time acceleration value a according to an acceleration acquisition unit, and comparing the acceleration value a with a threshold value auAnd comparing to judge whether the unmanned aerial vehicle lands or catches water.
As for the above-mentioned aspect and any possible implementation manner, further providing an implementation manner, the specific cases of whether to give power-off protection in S2 and S4 include:
the water contact state is met, and when the unmanned aerial vehicle flies in the rain, power-off protection is not performed;
the requirement of landing after water is met, and when the unmanned aerial vehicle lands after water is accidentally caught, power-off protection is carried out;
satisfy the landing and descend, satisfy the state of catching water simultaneously, unmanned aerial vehicle is in the state of catching water when landing, carries out power protection.
Compared with the prior art, the invention can obtain the following technical effects:
(1) the method fully considers the system characteristics of the small fixed-wing aircraft, has a simple and easily-realized detection circuit, can be highly integrated in a flight control system, does not need to independently arrange a water contact detection module, and has low cost, safety and reliability;
(2) the zero potential is fully utilized for water contact detection, and the non-zero electrode is subjected to electrostatic protection treatment, so that the design safety and reliability are high;
(3) the water landing is judged by fully combining the water contact detection and the water force analysis, no misjudgment occurs, and the design safety and reliability are high.
(4) The device can automatically carry out the water detection and the safety protection, and increases the system safety.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of an overall framework for detection and protection techniques provided by an embodiment of the present invention;
fig. 2 is a schematic view of a water contact detection portion according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The invention provides a small unmanned aerial vehicle autonomous water-landing detection and safety protection system and a method thereof, as shown in figure 1, the system comprises: the device comprises a water contact detection module, a water landing detection module and a safety protection module, wherein the water contact detection module and the water landing detection module are simultaneously connected with the safety protection module;
the water contact detection module judges the water contact state and the water landing state of the unmanned aerial vehicle according to the water inlet information of the unmanned aerial vehicle, and comprises an external water contact plate, a detection circuit and a water inlet detection analysis unit;
the external water contact plate is positioned below the machine body and is used for contacting water, the external water contact plate comprises two electrodes, each electrode is provided with a conductive circuit, and the two conductive circuits are respectively connected with the detection circuit through connectors;
the detection circuit is built through a resistance network and is used for acquiring an electric parameter change value between two electrodes which are in contact with water and transmitting the electric parameter change value to the water inlet detection analysis unit;
when the detection module of intaking judges that unmanned aerial vehicle descends for landing, the detection module of intaking judges that unmanned aerial vehicle touches the water state and the state of intaking through unmanned aerial vehicle's the information of intaking, the electrical parameter variation value that the detection circuitry gathered is detected according to the detection circuitry to the detection analysis unit of intaking, confirms that unmanned aerial vehicle is for touching the water state still the state of intaking.
The water catching state in the water inlet detection and analysis unit is as follows: when the unmanned aerial vehicle touches water, the voltage value between the two electrodes is not equal to the voltage value between the two electrodes when the unmanned aerial vehicle is suspended, the water landing state is that a large amount of water generally passes through the external water touching plate, the coverage area of the water on the external water touching plate at least covers the two electrodes, for example, when the unmanned aerial vehicle lands, the ground has water puddles, the unmanned aerial vehicle accidentally falls into the water due to external factors such as weather;
the water contact state is as follows: when touching water, the voltage value between two electrodes is the voltage value between two electrodes when unsettled, touches the water state and generally is the condition when a small amount of water passes through external water board that touches, and the rainwater of rain for example gets into external water board that touches, and big fog weather, fog are at external water board liquefaction that touches etc..
The water landing detection module comprises an acceleration acquisition unit and a landing acceleration analysis unit;
the acceleration acquisition unit is used for acquiring or calculating an acceleration value generated by the unmanned aerial vehicle due to impact force in the vertical direction of a landing surface at the moment that the unmanned aerial vehicle contacts the landing surface when the unmanned aerial vehicle is recovered;
descending acceleration analysis unit is through the acceleration value that obtains the unit and acquire because of the impact force produces with higher speed, judges that unmanned aerial vehicle is in landing or landing, and landing is descended for unmanned aerial vehicle on land, including air park, ground etc. landing is descended for unmanned aerial vehicle in the surface of water, generally indicates unexpected descending, and the water storage unit that the water storage volume exceeds 20cm including pond, swimming pool, river, irrigation canals and ditches etc..
The safety protection module judges whether the unmanned aerial vehicle lands or lands on water through the water-landing detection module, and when the unmanned aerial vehicle lands on water, the power-off protection is carried out on the avionic equipment;
when unmanned aerial vehicle descends for landing, the rethread touches water detection module and judges that unmanned aerial vehicle is in the state of touching water or the state of catching water, when unmanned aerial vehicle is in the state of catching water, gives avionics equipment power-off protection.
When satisfying unmanned aerial vehicle landing or being in the state of landing promptly, carry out power-off protection to unmanned aerial vehicle.
A unmanned aerial vehicle autonomous water landing detection and safety protection method comprises the following steps:
s1: judging whether the unmanned aerial vehicle lands or lands on water through a water detection module;
s2: when the unmanned aerial vehicle lands on water, the safety protection module is used for powering off and protecting the avionic equipment; when the unmanned aerial vehicle lands, performing S3;
s3: judging whether the unmanned aerial vehicle is in a water contact state or a water catching state through a water contact detection module;
s4: when unmanned aerial vehicle was in the state of catching water, give avionics equipment power-off protection through the safety protection module, when unmanned aerial vehicle was in the state of touching water, power-off protection did not start.
The method for judging whether the unmanned aerial vehicle is in the water contact state or the water attachment state in the S3 comprises the following steps:
s31: when the two electrodes are not in contact with water, measuring the voltage value between the two electrodes to be ADC 1;
s32: when the two electrodes contact water, calculating the resistance of the water according to a formula R ═ rho L/S; in the formula, rho is the resistivity of water, L is the distance between two electrodes of the water contact plate, S is the water contact area of the electrodes, and R is the resistance of the water;
s33: forming water resistance between the electrodes by adjusting the positions of the two electrodes, and simultaneously keeping the rho change of the water contact point within a preset range in the process of adjusting the positions of the two electrodes;
s34: detecting that the voltage value ADC1 is not equal to the voltage value ADC2, namely the water catching state; when the voltage value ADC1 is equal to the voltage value ADC2, the water-touching state is detected.
The method for judging whether the unmanned aerial vehicle is in the landing state or the landing state in the S1 includes:
s11: obtaining the acceleration generated by the impact force when the unmanned aerial vehicle is on the water through an acceleration obtaining unit, and storing and sorting the acceleration values obtained for multiple times;
s12: based on the acceleration data stored in S11 for a plurality of times, Ft is set to mv-0 based on the law of conservation of momentum, and the acceleration threshold a during water immersion is setuF (h, v, m) |, where h is the displacement due to impact force, v is the speed at landing, and m is the unmanned aerial vehicle mass;
s13: acquiring or calculating a real-time acceleration value a according to an acceleration acquisition unit, and comparing the acceleration value a with a threshold value auAnd comparing to judge whether the unmanned aerial vehicle lands or catches water.
The specific cases of whether or not to give power-off protection in S2 and S4 include:
the water contact state is met, and when the unmanned aerial vehicle flies in the rain, power-off protection is not performed;
the requirement of landing after water is met, and when the unmanned aerial vehicle lands after water is accidentally caught, power-off protection is carried out;
satisfy the landing and descend, satisfy the state of catching water simultaneously, unmanned aerial vehicle is in the state of catching water when landing, carries out power protection.
Example 1
The invention needs to comprehensively consider the methods of water contact detection and hydraulic analysis to further carry out the method of safety protection. The water contact detection module comprises an external water contact plate, a detection circuit and a water inlet detection analysis unit; the water detection module is based on analysis landing acceleration for judge whether unmanned aerial vehicle is the landing on water.
The logic sequence of the automatic water-catching detection and the starting of the safety protection system is that the water-catching detection module is used for judging the landing mode, and the water-touching detection module is used for judging the water-touching condition of the external water-touching plate. And then according to two results, judge whether to carry out power-off protection to unmanned aerial vehicle.
As shown in fig. 2, the external water contact plate includes two electrodes WP _ a and WP _ B, which are located at the first water contact part when the body is wetted, the two electrodes need to be adjacent to each other, and the height of the electrode needs to be adjusted according to the application condition for contacting water, each electrode is provided with a conductive circuit, and is connected to the detection circuit through a connector;
the detection circuit is built through a resistor network, WP _ B is connected with GND of the detection circuit through a cable in the unmanned aerial vehicle cabin, and WP _ A is connected with resistor networks RA and RB; when the electrical parameter between the two water contact electrodes changes, the electrical parameter is converted into a signal suitable for being collected by a water inlet detection and analysis unit through a resistance network of the detection circuit, and water inlet detection information is analyzed and determined;
the specific detection method and principle of the water inlet detection and analysis unit are as follows:
when the two electrodes WP _ A and WP _ B do not touch water and are in a suspended state, the voltage value of WP _ ADC detected by the processor is ADC 1; when two electrodes WP _ A and WP _ B contact water, a formula R is rho L/S, water resistance can be calculated, rho is the resistivity of the water, L is the distance between the two electrodes of the water contact plate, and S is the water contact area of the electrodes, and the rho of a water contact point can be controlled within a certain range by adjusting the positions of the two electrodes, so that certain water resistance is formed between the electrodes, and the processor detects a voltage value ADC2 different from ADC1 and compares the voltage value with ADC1 to make water contact judgment. In addition, the method is applied to natural conditions, without considering the case of pure water.
And determining the water inlet detection information according to the electrical parameter change value acquired by the acquisition circuit, wherein the voltage change value is mainly considered.
And (3) analyzing the falling acceleration: through the experiment, unmanned aerial vehicle descends at the surface of water, and the acceleration that produces is different with ground descending comparison. When unmanned aerial vehicle retrieves, the contact landing face is in the twinkling of an eye, in the landing face vertical direction, according to momentum conservation law, Ft is mV-0, and unmanned aerial vehicle will receive great impact force, and then produces great acceleration, selects suitable acceleration threshold value auJudging the landing condition of the unmanned aerial vehicle as | f (h, v, m) |; during the air flight of the unmanned aerial vehicle, the threshold value a of the unmanned aerial vehicle cannot be higher than under the influence of 6-grade wind or gust and the likeuTherefore, whether the unmanned aerial vehicle lands or lands on water can be judged according to the condition.
Safety protection unit, unmanned aerial vehicle satisfy the landing or when satisfying the landing condition, are in the state of catching water, can cut off the power supply automatically for avionics equipment, play the guard action.
The power-off protection is carried out on the avionic equipment only when two conditions of the water landing state and the landing state are simultaneously met, so that misjudgment cannot occur in the case of flying in the rain; the unmanned aerial vehicle can also protect the avionics equipment from power failure when accidentally landing or landing.
The invention comprehensively considers the methods of water contact detection and hydraulic analysis, and further carries out the method of safety protection. The water contact detection part comprises an external water contact plate, a detection circuit and a detection analysis method; and the hydraulic analysis method is used for judging whether the unmanned aerial vehicle lands on water or not. The method has the advantages that the water absorption is analyzed through experiments, hardware parts are integrated in the aircraft, the method can be repeatedly used, and the method has strong applicability and portability.
In conclusion, the method fully considers the system characteristics of the small fixed-wing aircraft, the detection circuit is simple and easy to realize, the detection circuit can be highly integrated in a flight control system, a water contact detection module is not required to be arranged independently, and the method is low in cost, safe and reliable; the zero potential is fully utilized for water contact detection, and the non-zero electrode is subjected to electrostatic protection treatment, so that the design safety and reliability are high; the water landing is judged by fully combining the water contact detection and the water force analysis, no misjudgment occurs, and the design safety and reliability are high. The device can automatically carry out the water detection and the safety protection, and increases the system safety.
The autonomous water-landing detection and safety protection system and method for the small unmanned aerial vehicle are introduced in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (9)
1. The utility model provides a unmanned aerial vehicle is detection and safety protection system of independently catching water which characterized in that, the system includes: the device comprises a water contact detection module, a water landing detection module and a safety protection module, wherein the water contact detection module and the water landing detection module are simultaneously connected with the safety protection module;
the landing detection module judges landing and water landing of the unmanned aerial vehicle according to the landing acceleration of the unmanned aerial vehicle;
when the water-catching detection module judges that the unmanned aerial vehicle lands, the water-touching detection module judges the water-touching state and the water-catching state of the unmanned aerial vehicle according to the water inlet information of the unmanned aerial vehicle;
safety protection module is when satisfying unmanned aerial vehicle and catching water descending or satisfying when landing descending and be in the state of catching water, carries out power-off protection to unmanned aerial vehicle.
2. The system of claim 1, wherein the water-contact detection module comprises an external water-contact plate, a detection circuit and a water inlet detection analysis unit;
the external water contact plate is positioned below the machine body and is used for contacting water, the external water contact plate comprises two electrodes, each electrode is provided with a conductive circuit, and the two conductive circuits are respectively connected with the detection circuit through connectors;
the detection circuit is built through a resistance network and is used for acquiring an electric parameter change value between two electrodes which are in contact with water and transmitting the electric parameter change value to the water inlet detection analysis unit;
the water inlet detection and analysis unit obtains water inlet information according to the electric parameter change value acquired by the detection circuit, and determines whether the unmanned aerial vehicle is in a water contact state or a water attachment state.
3. The system of claim 2, wherein the water intrusion detection and analysis unit determines that the unmanned aerial vehicle is in the water intrusion state based on the following criteria: the voltage value between the two electrodes is not equal to the voltage value between the two electrodes when the two electrodes are suspended;
the determination criteria of the water contact state are as follows: the voltage value between the two electrodes is the voltage value between the two electrodes when the two electrodes are suspended.
4. The system of claim 2, wherein the water strike detection module comprises an acceleration acquisition unit and a landing acceleration analysis unit;
the acceleration acquisition unit is used for directly measuring or calculating an acceleration value generated by the unmanned aerial vehicle due to impact force in the vertical direction of the landing surface at the moment when the unmanned aerial vehicle recovers to contact the landing surface;
the landing acceleration analysis unit judges whether the unmanned aerial vehicle is in landing and landing or landing by the acceleration value generated by the impact force acquired by the acceleration acquisition unit.
5. The system according to claim 2, wherein the safety protection module judges whether the unmanned aerial vehicle lands or lands on water through the water landing detection module, and when the unmanned aerial vehicle lands on water, the power-off protection is performed on the avionic device; when unmanned aerial vehicle descends for landing, the rethread touches water detection module and judges that unmanned aerial vehicle is in the state of touching water or the state of catching water, when unmanned aerial vehicle is in the state of catching water, gives avionics equipment power-off protection.
6. A method for autonomous water intrusion detection and safety protection of a drone, comprising a system according to one of the preceding claims 1 to 5, characterized in that it comprises the following steps:
s1: judging whether the unmanned aerial vehicle lands or lands on water through a water detection module;
s2: when the unmanned aerial vehicle lands on water, the safety protection module is used for powering off and protecting the avionic equipment; when the unmanned aerial vehicle lands, performing S3;
s3: judging whether the unmanned aerial vehicle is in a water contact state or a water catching state through a water contact detection module;
s4: when unmanned aerial vehicle was in the state of catching water, give avionics equipment power-off protection through the safety protection module, when unmanned aerial vehicle was in the state of touching water, power-off protection did not start.
7. The method according to claim 6, wherein the method for determining whether the unmanned aerial vehicle is in the water contact state or the water attachment state in the S3 is as follows:
s31: when the two electrodes are not in contact with water, measuring the voltage value between the two electrodes to be ADC 1;
s32: when the two electrodes contact water, calculating the resistance of the water according to a formula R ═ rho L/S; in the formula, rho is the resistivity of water, L is the distance between two electrodes of the water contact plate, S is the water contact area of the electrodes, and R is the resistance of the water;
s33: forming water resistance between the electrodes by adjusting the positions of the two electrodes, and simultaneously keeping the rho change of the water contact point within a preset range in the process of adjusting the positions of the two electrodes;
s34: detecting that the voltage value ADC1 is not equal to the voltage value ADC2, namely the water catching state; when the voltage value ADC1 is equal to the voltage value ADC2, the water-touching state is detected.
8. The method according to claim 6, wherein the method for determining whether the unmanned aerial vehicle is in the landing state or the landing state in S1 is as follows:
s11: obtaining the acceleration generated by the impact force when the unmanned aerial vehicle is on the water through an acceleration obtaining unit, and storing and sorting the acceleration values obtained for multiple times;
s12: based on the acceleration data stored in S11 for a plurality of times, Ft is set to mv-0 based on the law of conservation of momentum, and the acceleration threshold a during water immersion is setuF (h, v, m) |, where h is the displacement due to impact force, v is the speed at landing, and m is the unmanned aerial vehicle mass;
s13: acquiring or calculating a real-time acceleration value a according to an acceleration acquisition unit, and comparing the acceleration value a with a threshold value auAnd comparing to judge whether the unmanned aerial vehicle lands or catches water.
9. The method of claim 6, wherein the specific cases of whether power-off protection is given in S2 and S4 include:
the water contact state is met, and when the unmanned aerial vehicle flies in the rain, power-off protection is not performed;
the requirement of landing after water is met, and when the unmanned aerial vehicle lands after water is accidentally caught, power-off protection is carried out;
satisfy the landing and descend, satisfy the state of catching water simultaneously, unmanned aerial vehicle is in the state of catching water when landing, carries out power protection.
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