CN111752307A - Position marking device, unmanned aerial vehicle and position marking method - Google Patents
Position marking device, unmanned aerial vehicle and position marking method Download PDFInfo
- Publication number
- CN111752307A CN111752307A CN201911315169.5A CN201911315169A CN111752307A CN 111752307 A CN111752307 A CN 111752307A CN 201911315169 A CN201911315169 A CN 201911315169A CN 111752307 A CN111752307 A CN 111752307A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- flight
- processor
- flight controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000002159 abnormal effect Effects 0.000 claims abstract description 85
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 60
- 230000001133 acceleration Effects 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 23
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000001175 rotational moulding Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/12—Target-seeking control
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The application relates to the technical field of unmanned aerial vehicles, and provides a position marking device, an unmanned aerial vehicle and a position marking method, wherein the position marking device is installed on the unmanned aerial vehicle and comprises a floating ball, a processor and a light-emitting module, the processor and the light-emitting module are both arranged in the floating ball, and the processor, the light-emitting module and a flight controller of the unmanned aerial vehicle are both electrically connected; the processor is used for receiving a control instruction sent by the flight controller and controlling the light-emitting module in the floating ball to emit light according to the control instruction, wherein the control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state. This application can mark the luminous module of device through the control position and give out light in order to mark unmanned aerial vehicle's position after unmanned aerial vehicle falls unusually to guide people to find back unmanned aerial vehicle fast accurately.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a position marking device, an unmanned aerial vehicle and a position marking method.
Background
Unmanned aerial vehicles often work outdoors, especially fly in places where it is inconvenient to have access to, for example, mountain forests, gullies, water areas, and the like. Because the unmanned aerial vehicle target is less, if the unusual landing appears, the user is difficult to find back unmanned aerial vehicle usually, or needs to spend a large amount of time just can find back unmanned aerial vehicle.
Disclosure of Invention
An object of this application is to provide a position marks device, unmanned aerial vehicle and position and marks method for mark unmanned aerial vehicle's position when unmanned aerial vehicle descends unusually, ensure to find back unmanned aerial vehicle fast accurately.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, the application provides a position marking device, which is installed on an unmanned aerial vehicle, and comprises a floating ball, a processor and a light-emitting module, wherein the processor and the light-emitting module are both arranged in the floating ball, and the processor is electrically connected with the light-emitting module and a flight controller of the unmanned aerial vehicle; the processor is used for receiving a control instruction sent by the flight controller and controlling the light-emitting module in the floating ball to emit light according to the control instruction, wherein the control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state.
Optionally, the control instruction is a water-falling instruction, and the water-falling instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state falls into water; the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner; when the unmanned aerial vehicle falls into water, the float switch is turned on to enable the float ball to be exposed out of the accommodating part, and the processor is further used for receiving the water falling instruction sent by the flight controller and controlling the light emitting module in the float ball to emit light according to the water falling instruction.
Optionally, the control instruction is a ground falling instruction, and the ground falling instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is on the ground; the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner; when the unmanned aerial vehicle falls on the ground, the floating ball switch is closed to enable the floating ball to be accommodated in the accommodating part, and the processor is further used for receiving the ground falling instruction sent by the flight controller and controlling the light emitting module in the floating ball to emit light according to the ground falling instruction.
Optionally, the control instruction is a high-altitude out-of-control instruction, and the high-altitude out-of-control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is high-altitude out-of-control; the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner; when the unmanned aerial vehicle is out of control at high altitude, the float switch is closed to enable the float ball to be accommodated in the accommodating part, and the processor is further used for receiving the high altitude out-of-control instruction sent by the flight controller and controlling the light emitting module in the float ball to emit light according to the high altitude out-of-control instruction.
Optionally, the accommodating portion includes a base and a circumferential wall surrounding the base, the base is mounted on the unmanned aerial vehicle, the base and the circumferential wall enclose an accommodating space, the floating ball is accommodated in the accommodating space and connected to the base through a traction line, and the floating ball switch is disposed on the circumferential wall to open or close the accommodating portion under the control of the processor.
Optionally, the position indication device further includes a prism, and the prism is disposed in the floating ball and opposite to the light emitting module, and is configured to refract light emitted by the light emitting module.
In a second aspect, the present application further provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes a flight controller and a position marking device electrically connected to the flight controller, the position marking device is installed on the unmanned aerial vehicle and includes a floating ball, a processor and a light emitting module, the processor and the light emitting module are both disposed in the floating ball, and the processor is electrically connected to the light emitting module and the flight controller; the flight controller is used for generating a control instruction when the unmanned aerial vehicle is detected to be in an abnormal landing state, and sending the control instruction to the processor of the position marking device; the processor is used for controlling the light-emitting module in the floating ball to emit light when the control instruction sent by the flight controller is received.
Optionally, the drone further comprises an inertial measurement unit electrically connected to the flight controller; the inertial measurement unit is used for acquiring flight parameters of the unmanned aerial vehicle in real time and sending the flight parameters to the flight controller; the flight controller is also used for judging whether the unmanned aerial vehicle is in an abnormal landing state according to the flight parameters and generating a control instruction when the unmanned aerial vehicle is in the abnormal landing state.
Optionally, the abnormal landing state is a landing state in water, and the flight parameter includes a flight vibration value; the flight controller is further used for judging that the unmanned aerial vehicle falls into water and generating a water falling instruction when the flight vibration value is detected to be larger than a first threshold value.
Optionally, the abnormal landing state is a landing on the ground, and the flight parameter includes a flight vibration value; the flight controller is further used for judging that the unmanned aerial vehicle falls to the ground and generating a falling instruction when the flight vibration value is detected to be larger than a second threshold value.
Optionally, the abnormal landing state is high altitude runaway, and the flight parameters include flight acceleration and/or flight angular velocity; the flight controller is further used for judging that the unmanned aerial vehicle is out of control at high altitude and generating an out-of-control command at high altitude when the flight acceleration is detected to exceed a preset acceleration and/or the flight angular velocity exceeds a preset angular velocity.
Optionally, the flight controller is further configured to generate a brightness adjustment instruction when it is detected that the time length for which the unmanned aerial vehicle is in the abnormal landing state exceeds a preset time length, and send the brightness adjustment instruction to the processor of the position marking device; the processor is further used for increasing the light emitting brightness of the light emitting module when the brightness adjusting instruction sent by the flight controller is received.
In a third aspect, the present application further provides a position marking method, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a flight controller and a position marking device electrically connected to the flight controller, the position marking device is installed on the unmanned aerial vehicle and includes a floating ball, a processor and a light emitting module, the processor and the light emitting module are both disposed in the floating ball, and the processor is electrically connected to the light emitting module and the flight controller; the flight controller generates a control instruction when detecting that the unmanned aerial vehicle is in an abnormal landing state, and sends the control instruction to the processor of the position marking device; and the processor controls the light-emitting module in the floating ball to emit light when receiving the control instruction sent by the flight controller.
Compared with the prior art, the position marking device, the unmanned aerial vehicle and the position marking method provided by the application have the advantages that the position marking device is installed on the unmanned aerial vehicle, the flight controller can generate a control command and send the control command to the processor of the position marking device when detecting that the unmanned aerial vehicle is in an abnormal landing state, and the processor controls the light-emitting module in the floating ball to emit light according to the control command after receiving the control command. This application can mark the luminous module of device through the control position and give out light in order to mark unmanned aerial vehicle's position after unmanned aerial vehicle falls unusually to guide people to find back unmanned aerial vehicle fast accurately.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic block diagram illustrating a position indication apparatus according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a position indication device according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a part of a position indication device provided in an embodiment of the present application.
Fig. 4 is a schematic block diagram illustrating a position indication apparatus according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram illustrating a position indicating device according to an embodiment of the present disclosure.
Fig. 6 shows a block schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present application.
Fig. 7 shows another block schematic diagram of the unmanned aerial vehicle provided in the embodiment of the present application.
Fig. 8 is a flowchart illustrating a position indication method according to an embodiment of the present application.
Fig. 9 is a schematic flow chart illustrating a position indication method according to an embodiment of the present application.
Fig. 10 is a schematic flow chart illustrating a position indication method according to an embodiment of the present application.
Fig. 11 shows another schematic flow chart of the position indication method according to the embodiment of the present application.
Icon: 100-position indication means; 110-a processor; 120-a light emitting module; 130-a floating ball; 140-a float switch; 150-a locus of containment; 151-a base; 152-a peripheral wall; 160-a pull wire; 170-prism; 10-unmanned aerial vehicle; 200-a flight controller; 300-inertial measurement unit.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Unmanned aerial vehicles often work outdoors, especially fly in places where people are inconvenient to reach, such as mountains, ravines, water areas and the like, situations that some unmanned aerial vehicles are out of control at high altitude, fall to the ground in an out-of-control mode or fall into water in an out-of-control mode and the like inevitably occur, and the unmanned aerial vehicles are usually difficult to find back when abnormal landing situations occur due to small targets of the unmanned aerial vehicles.
At present, the following two schemes are mostly adopted to retrieve the unmanned aerial vehicle: firstly, adopt Global Positioning System (GPS) to fix a position unmanned aerial vehicle, secondly pass the picture through the picture after unmanned aerial vehicle falls and fix a position unmanned aerial vehicle. However, the accuracy of GPS positioning is low, the actual position of the drone cannot be accurately obtained, and the image-transmitted picture cannot be accurately positioned; simultaneously, when unmanned aerial vehicle is out of control and falls to ground or fall into the aquatic, unmanned aerial vehicle will cut off the power supply and lead to unable location.
To above-mentioned condition, can carry out the position mark when unmanned aerial vehicle appears unusual the descending to guide search personnel to find back unmanned aerial vehicle, at present, unmanned aerial vehicle adopts the high aerial parachute of popping out usually, falls to ground or fall into the aquatic after pop out the mode of gasbag and carry out the position mark, can solve the problem that can't fix a position when unmanned aerial vehicle is out of control to fall to ground or fall into aquatic to a certain extent. However, these methods can only mark the location of the drop point in the day, and are not suitable for use at night; simultaneously, the position mark is not obvious, under many conditions, even the search personnel is in near unmanned aerial vehicle after the landing, still hardly discover unmanned aerial vehicle in its visual range, perhaps need spend a large amount of time just can find unmanned aerial vehicle, even can't find back.
In order to solve the above problem, the present application provides a position marking device, an unmanned aerial vehicle and a position marking method, after the unmanned aerial vehicle abnormally descends, the light emitting module of the position marking device is controlled to emit light to mark the position of the unmanned aerial vehicle, so as to guide a searcher to quickly and accurately find the unmanned aerial vehicle, and the following detailed description is given.
Referring to fig. 1, 2 and 3, the present application provides a position marking device 100, where the position marking device 100 is installed on an unmanned aerial vehicle, and includes a processor 110, a light emitting module 120 and a floating ball 130, where the processor 110 and the light emitting module 120 are both disposed in the floating ball 130, and the processor 110 is electrically connected to the light emitting module 120 and to a flight controller of the unmanned aerial vehicle.
And the processor 110 is configured to receive a control instruction sent by the flight controller, and control the light-emitting module 120 in the floating ball 130 to emit light according to the control instruction, where the control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state.
In this embodiment, the abnormal landing condition may be, but is not limited to, falling into the water, falling to the ground, out of control at high altitude, and the like.
Correspondingly, the control instruction may be, but is not limited to, a water falling instruction, a land falling instruction, a high altitude runaway instruction, and the like, and the water falling instruction may be generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is falling into water; the landing command can be generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is that the unmanned aerial vehicle lands on the ground; the high-altitude out-of-control command can be generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is high-altitude out-of-control.
In this embodiment, the processor 110 may be electrically connected to the flight controller through a signal line so that the flight controller and the processor 110 can perform signal transmission through the signal line.
Alternatively, the processor 110 may be an embedded ARM, a single chip microcomputer, a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), or other chips. In addition, the processor 110 and the light emitting module 120 may be integrated on the same Printed Circuit Board (PCB).
In the present embodiment, the light emitting module 120 is used for emitting light under the control of the processor 110, and the light emitting module 120 may be a laser generator, an LED lamp, an infrared emitting device (e.g., an infrared light emitting diode, etc.). Taking light emitting module 120 as a laser generator as an example, when processor 110 receives a control instruction sent by the flight controller, the laser generator can be controlled to be opened according to the control instruction, and then the laser generator sends out multiple laser beams to indicate the location where the unmanned aerial vehicle abnormally lands.
Meanwhile, the light emitted by the light emitting module 120 may be flashing, and the flashing light beam is easy to attract the attention of the searching personnel, so as to confirm the general direction of the unmanned aerial vehicle out of control, for example, the laser generator emits a plurality of flashing lasers.
In this embodiment, the floating ball 130 may be a light-transmitting hollow ball, and the floating ball 130 may be a common navigation mark floating ball, a rotational molding floating ball, or the like.
Referring to fig. 4 and 5, the position indication apparatus further includes a float switch 140 and a receiving portion 150, the receiving portion 150 is mounted on the unmanned aerial vehicle, and the float 130 is received in the receiving portion 150 in an exposed manner.
In this embodiment, the float switch is a liquid level control device with simple structure and convenient use, does not need to provide a power supply, does not have a complex circuit, and has the advantages of small volume, long service life and the like compared with a common mechanical switch. Float switch 140 includes float, main part and magnet, and when unmanned aerial vehicle fell into the aquatic, water can float and play the float, and the float receives the influence of buoyancy to begin to remove and drives the main part simultaneously and remove, and the magnet of this moment the other end can command the switching action of its main part pole for float switch opens.
When the float switch 140 is closed, the float 130 is received in the receiving portion 150; when the float switch 140 is turned on, the float 130 is exposed from the receiving portion 150. Generally, the float switch 140 is in a closed state, and when the unmanned aerial vehicle falls into water, the float switch 140 is opened, so that the float 130 is exposed from the accommodating portion 150, and then the float 130 can float out of the water surface by means of its own buoyancy.
In this embodiment, the accommodating portion 150 may be made of a light-transmitting material or have a hollow portion, so that when the unmanned aerial vehicle is in an abnormal state, and the float switch 140 is turned off, and the float 130 is accommodated in the accommodating portion 150, the light emitted by the light emitting module 120 may be emitted through the light-transmitting accommodating portion 150 or the hollow portion of the accommodating portion 150.
Referring to fig. 5, the accommodating portion 150 includes a base 151 and a peripheral wall 152 surrounding the base 151, the base 151 is mounted on the unmanned aerial vehicle, the base 151 and the peripheral wall 152 enclose an accommodating space, the float 130 is accommodated in the accommodating space and connected to the base 151 through a pull line 160, and the float switch 140 is disposed on the peripheral wall 152 to open or close the accommodating portion 150 under the control of the processor 110.
In this embodiment, the peripheral wall 152 may be made of a light-transmitting material or have a hollow portion, meanwhile, the base 151 may be round, square, or the like, the peripheral wall 152 may be cylindrical, square, or the like, and the base 151 and the peripheral wall 152 may also be in other shapes that can be conceived by those skilled in the art as long as the accommodating space surrounded by the base 151 and the peripheral wall 152 can accommodate the floating ball 130.
In this embodiment, the pulling line 160 may be a common pulling rope, when the unmanned aerial vehicle falls into water, the float switch 140 is opened under the buoyancy of water, the float 130 exposes the accommodating portion 150, then the float 130 floats out of the water surface by its own buoyancy, the pulling line 160 can ensure that the float 130 does not float with the water, meanwhile, the flight controller can generate a control command and send the control command to the processor 110 of the position indication device 100 when detecting that the unmanned aerial vehicle falls into the water, the processor 110 controls the light-emitting module 120 to emit light to indicate the place of falling into the water after receiving the control command, after the seeker reaches the place of falling into the water according to the light-emitting indication, the unmanned aerial vehicle falling into the water can be fished out through the pulling line 160 connecting the float 130 and.
As an embodiment, when the drone falls into the water, the float switch 140 is turned on to expose the float 130 out of the receptacle; the processor 110 is further configured to receive a water-falling instruction sent by the flight controller, and control the light-emitting module 120 in the floating ball 130 to emit light according to the water-falling instruction.
In this embodiment, the water falling instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is falling into the water, that is, when the unmanned aerial vehicle falls into the water, the float switch 140 is opened under the buoyancy of the water, and the float 130 is exposed from the accommodating portion 150 and floats out of the water surface by virtue of the buoyancy of the float; meanwhile, when the flight controller detects that the unmanned aerial vehicle falls into water, a water falling instruction is generated and sent to the processor 110, and the processor 110 controls the light emitting module 120 to emit light after receiving the water falling instruction; according to the Tyndall effect of light, a searching person can quickly search the unmanned aerial vehicle falling into water position by visual observation of human eyes.
As another embodiment, when the drone lands on the ground, the float switch 140 is still closed to allow the float 130 to be received in the receptacle 150; the processor 110 is further configured to receive a ground command sent by the flight controller, and control the light emitting module 120 in the floating ball 130 to emit light according to the ground command.
In this embodiment, the landing command is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is landing on the ground, that is, when the unmanned aerial vehicle lands on the ground, the float switch 140 is still closed, and the float 130 is accommodated in the accommodating portion 150; meanwhile, when detecting that the unmanned aerial vehicle falls on the ground, the flight controller generates a ground falling instruction and sends the ground falling instruction to the processor 110, and the processor 110 controls the light emitting module 120 to emit light after receiving the ground falling instruction; according to the Tyndall effect of light, the searching personnel can quickly search the position of the unmanned aerial vehicle falling to the ground by visual observation of human eyes.
As another embodiment, when the unmanned aerial vehicle is out of control at high altitude, the float switch 140 is still closed to allow the float 130 to be accommodated in the accommodating portion 150; the processor 110 is further configured to receive a high-altitude runaway instruction sent by the flight controller, and control the light-emitting module 120 in the floating ball 130 to emit light according to the high-altitude runaway instruction.
In this embodiment, the high altitude runaway command is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is high altitude runaway, that is, when the unmanned aerial vehicle is in high altitude runaway, the float switch 140 is still closed, and the float 130 is accommodated in the accommodating portion 150; meanwhile, when detecting that the unmanned aerial vehicle is out of control at high altitude, the flight controller generates an out-of-control at high altitude instruction and sends the out-of-control at high altitude instruction to the processor 110, and the processor 110 controls the light-emitting module 120 to emit light after receiving the out-of-control at high altitude instruction; according to the Tyndall effect of light, a searcher can quickly find the abnormal landing position of the unmanned aerial vehicle by visual observation of human eyes.
Referring to fig. 3, the position indication apparatus 100 further includes a prism 170, and the prism 170 is disposed in the floating ball 130 and opposite to the light emitting module 120, and is used for refracting light emitted by the light emitting module 120.
In the present embodiment, the prism 170 is disposed in the floating sphere, and the prism 170 may be a polygon prism, or a plurality of single prisms combined together, etc.; meanwhile, the prism 170 is arranged opposite to the light emitting module 120, so that when the light emitting module 120 emits light, the prism 170 can refract the light emitted by the light emitting module 120 all the time to indicate the abnormal landing point of the unmanned aerial vehicle for searching personnel.
Referring to fig. 6, the present application further provides an unmanned aerial vehicle 10, where the unmanned aerial vehicle 10 includes a position indication device 100 and a flight controller 200, the position indication device 100 is installed on the unmanned aerial vehicle 10 and includes a processor 110, a light emitting module 120 and a floating ball 130, the processor 110 and the light emitting module 120 are both disposed in the floating ball 130, and the processor 110 is electrically connected to the light emitting module 120 and the flight controller 200.
The flight controller 200 is configured to generate a control instruction when the unmanned aerial vehicle 10 is detected to be in the abnormal landing state, and send the control instruction to the processor 110 of the position indication device 100.
In this embodiment, the unmanned aerial vehicle 10 is at the flight in-process, and flight controller 200 can be according to the unmanned aerial vehicle flight parameter of all kinds of sensor measurement on the unmanned aerial vehicle, and real-time detection unmanned aerial vehicle is in unusual landing state, promptly, whether unmanned aerial vehicle falls into the aquatic, falls to ground, high altitude out of control etc to produce control command when detecting to be in unusual landing state, later send control command to the processor 110 of position marking device 100 again.
And the processor 110 is used for controlling the light-emitting module 120 in the floating ball 130 to emit light when receiving the control instruction sent by the flight controller 200.
In this embodiment, after receiving the water-falling instruction sent by the flight controller 200, the processor 110 controls the light-emitting module 120 to emit light, so that the seeker can quickly find the abnormal landing position of the unmanned aerial vehicle by eye according to the tyndall effect of the light.
Referring to fig. 7, the unmanned aerial vehicle 10 provided by the present application further includes an inertial measurement unit 300, and the inertial measurement unit 300 is electrically connected to the flight controller 200.
And the inertial measurement unit 300 is configured to acquire flight parameters of the unmanned aerial vehicle in real time, and send the flight parameters to the flight controller 200.
In this embodiment, the inertial measurement unit 300 includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers are used for detecting the acceleration signals of the drone on three independent axes of the carrier coordinate system, and the gyroscopes are used for detecting the angular velocity signals of the carrier relative to the navigation coordinate system, so as to measure the flight acceleration and the flight angular velocity of the drone in the flight process.
In the present embodiment, the abnormal landing state may be, but is not limited to, falling into water, falling to the ground, high altitude runaway, etc., and the flight parameters may include flight acceleration, flight angular velocity, flight vibration value, etc. The flight vibration value refers to the fuselage swing amplitude of the unmanned aerial vehicle in the flight process, and is related to the flight acceleration of the unmanned aerial vehicle.
In the normal flight process of the unmanned aerial vehicle, flight parameters are relatively stable; when the unmanned aerial vehicle abnormally lands, flight parameters are suddenly changed, for example, when the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is in water, a flight vibration value is suddenly increased; when the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is the landing state on the ground, the flight vibration value is suddenly increased and is larger than the flight vibration value when the unmanned aerial vehicle falls into water; when the unmanned aerial vehicle is in an abnormal landing state and the abnormal landing state is high altitude out of control, the flight acceleration and/or the flight angular velocity are/is suddenly increased; therefore, whether the unmanned aerial vehicle is in an abnormal landing state or not can be judged according to the flight parameters of the unmanned aerial vehicle collected by the inertial measurement unit 300 in real time.
The flight controller 200 is further configured to determine whether the unmanned aerial vehicle 10 is in an abnormal landing state according to the flight parameters, and generate a control instruction when it is determined that the unmanned aerial vehicle is in the abnormal landing state.
In this embodiment, the control instruction may be, but is not limited to, a water-falling instruction, a land-falling instruction, a high-altitude runaway instruction, and the like, where the water-falling instruction may be generated when the flight controller 200 detects that the unmanned aerial vehicle 10 is in an abnormal landing state and the abnormal landing state is falling into water; the landing command may be generated when the flight controller 200 detects that the unmanned aerial vehicle 10 is in an abnormal landing state and the abnormal landing state is landing on the ground; the high altitude runaway command may be generated by the flight controller 200 when it detects that the drone 10 is in an abnormal landing state and the abnormal landing state is high altitude runaway.
As an embodiment, the flight controller 200 is further configured to determine that the unmanned aerial vehicle 10 falls into water and generate a water-falling instruction when the flight vibration value is detected to be greater than the first threshold value.
In this embodiment, during the normal flight of the unmanned aerial vehicle 10, the flight vibration value measured by the inertia measurement unit 300 is a small stable value, and when the unmanned aerial vehicle falls into water, the flight vibration value becomes large suddenly, that is, when the unmanned aerial vehicle hits the water surface, the flight vibration value measured by the inertia measurement unit 300 will have a large instantaneous value. Therefore, if the flight controller detects that the flight vibration value acquired by the inertia measurement unit 300 in real time is greater than the first threshold value, it may be determined that the unmanned aerial vehicle 10 falls into water while generating a water-falling instruction.
As another embodiment, the flight controller 200 is further configured to determine that the unmanned aerial vehicle 10 falls to the ground and generate a ground-based command when the flight vibration value is detected to be greater than the second threshold value.
In this embodiment, during normal flight of the unmanned aerial vehicle 10, the flight vibration value measured by the inertia measurement unit 300 is a small stable value, and when the unmanned aerial vehicle lands on the ground, the flight vibration value becomes large suddenly, that is, when the unmanned aerial vehicle hits the ground, the flight vibration value measured by the inertia measurement unit 300 has a large instantaneous value, which is larger than the instantaneous value measured by the inertia measurement unit 300 when the unmanned aerial vehicle hits the water surface. Therefore, if the flight controller detects that the flight vibration value acquired by the inertial measurement unit 300 in real time is greater than the second threshold value, it may be determined that the unmanned aerial vehicle 10 falls on the ground while generating the falling instruction.
As another embodiment, the flight controller 200 is further configured to determine that the unmanned aerial vehicle 10 is out of control at high altitude and generate an out-of-control-at-altitude instruction when it is detected that the flight acceleration exceeds the preset acceleration and/or the flight angular velocity exceeds the preset angular velocity.
In this embodiment, during the normal flight of the unmanned aerial vehicle 10, the flight acceleration and the flight angular velocity measured by the inertia measurement unit 300 are relatively stable, and when the unmanned aerial vehicle is out of control at high altitude, the flight acceleration or the flight angular velocity measured by the inertia measurement unit 300 may suddenly become large, for example, when the unmanned aerial vehicle drops at high altitude, the gravity acceleration may increase instantaneously. Therefore, if the flight controller detects that the flight acceleration acquired in real time by the inertial measurement unit 300 exceeds the preset acceleration, or the flight angular velocity exceeds the preset angular velocity, or the flight acceleration exceeds the preset acceleration and the flight angular velocity exceeds the preset angular velocity, it may be determined that the unmanned aerial vehicle 10 is out of control at high altitude, and a high altitude out-of-control instruction is generated at the same time.
Optionally, the flight controller 200 is further configured to generate a brightness adjustment instruction when it is detected that the duration of the abnormal landing state of the unmanned aerial vehicle 10 exceeds a preset duration, and send the brightness adjustment instruction to the processor 110 of the position indication device 100.
In this embodiment, after the unmanned aerial vehicle 10 abnormally lands, the brightness of the light emitting module 120 of the position indication device 100 may be adjusted according to the length of the abnormal landing, and the longer the length of the abnormal landing, the higher the brightness. The brightness adjustment command can be used to control the power of the light emitting module 120, and the longer the abnormal drop time is, the higher the power is, and the higher the brightness is.
The processor 110 is further configured to increase the light emitting brightness of the light emitting module 120 when receiving the brightness adjustment instruction sent by the flight controller 200.
Compared with the prior art, the method has the following beneficial effects:
firstly, by installing the position marking device 100 on the unmanned aerial vehicle 10, the flight controller 200 generates a control instruction and sends the control instruction to the processor 110 of the position marking device 100 when detecting that the unmanned aerial vehicle 10 is in an abnormal landing state, and after receiving the control instruction, the processor 110 controls the light-emitting module in the floating ball to emit light according to the control instruction so as to mark the position of the unmanned aerial vehicle, so that a seeker is guided to quickly and accurately find the unmanned aerial vehicle;
secondly, when the unmanned aerial vehicle 10 lands abnormally, the processor 110 receives the control instruction sent by the flight controller 200 and controls the light-emitting module 120 to emit light, so that a seeker can quickly find the abnormal landing position of the unmanned aerial vehicle by eye vision according to the Tyndall effect of the light;
thirdly, the light emitting module 120 may use a laser generator to emit a plurality of flashing lasers, and the flashing lasers are easy to attract the attention of the searching personnel, so as to confirm the approximate position of the unmanned aerial vehicle out of control;
finally, through the base 151 of pull wire 160 connection floater 130 and holding portion 150, when unmanned aerial vehicle fell into the aquatic, pull wire 160 can ensure that floater 130 can not float away with the water, and simultaneously, light-emitting module 120 is luminous to indicate the place of falling into the water, and after the search personnel arrived the place of falling into the water according to luminous instruction, can salvage the unmanned aerial vehicle that falls into the aquatic through pull wire 160 fast.
A position indication method applied to the unmanned aerial vehicle 10 is provided below, please refer to fig. 8, and fig. 8 shows a schematic flow chart of the position indication method provided in the embodiment of the present application, and the position indication method may include the following steps:
and S101, generating a control instruction by the flight controller when the unmanned aerial vehicle is detected to be in an abnormal landing state, and sending the control instruction to a processor of the position marking device.
And step S102, the processor controls the light-emitting module in the floating ball to emit light when receiving the control instruction sent by the flight controller.
Optionally, during the flight process of the unmanned aerial vehicle 10, the inertial measurement unit 300 needs to detect the flight state of the unmanned aerial vehicle in real time to detect whether the unmanned aerial vehicle is currently in the abnormal landing state, so on the basis of fig. 8, please refer to fig. 9, before step S101, the position marking method may further include steps S111 to S112.
And step S111, the inertial measurement unit collects the flight parameters of the unmanned aerial vehicle in real time and sends the flight parameters to the flight controller.
And step S112, the flight controller judges whether the unmanned aerial vehicle is in an abnormal landing state according to the flight parameters, and generates a control instruction when the unmanned aerial vehicle is judged to be in the abnormal landing state.
Alternatively, the flight parameters may include flight acceleration, flight angular velocity, flight vibration values, etc., and the abnormal landing state may include falling into water, falling to the ground, high altitude runaway, etc.
Alternatively, when the abnormal falling state is falling into water, referring to fig. 10 on the basis of fig. 9, step S112 may include sub-step S1121, step S101 may include sub-step S1011, and step S102 may include sub-step S1021.
In the substep S1121, when detecting that the flight vibration value is greater than the first threshold value, the flight controller determines that the unmanned aerial vehicle falls into water, and generates a water falling instruction.
In sub-step S1011, the flight controller sends the water-down command to the processor of the position indication device.
And in the substep S1021, the processor receives a water falling instruction sent by the flight controller, controls the float switch to be opened according to the water falling instruction so as to enable the floating ball to be exposed out of the accommodating part, and controls the light emitting module in the floating ball to emit light.
Alternatively, when the abnormal falling state is the falling to the ground, referring to fig. 10 on the basis of fig. 9, step S112 may include sub-step S1122, step S101 may include sub-step S1012, and step S102 may include sub-step S1022.
In the substep S1122, when detecting that the flight vibration value is greater than the second threshold value, the flight controller determines that the unmanned aerial vehicle falls on the ground, and generates a ground falling instruction.
In sub-step S1012, the flight controller sends a touchdown instruction to the processor of the position marker device.
In the substep S1022, the processor receives the ground falling instruction sent by the flight controller, and controls the float switch to close according to the ground falling instruction, so that the float is accommodated in the accommodating portion, and the light emitting module in the float is controlled to emit light.
Alternatively, when the abnormal landing state is high altitude runaway, referring to fig. 10 on the basis of fig. 9, step S112 may include sub-step S1123, step S101 may include sub-step S1013, and step S102 may include sub-step S1023.
And in the substep S1123, when detecting that the flight acceleration exceeds the preset acceleration and/or the flight angular velocity exceeds the preset angular velocity, the flight controller judges that the unmanned aerial vehicle is out of control at high altitude and generates an out-of-control command at high altitude.
In sub-step S1013, the flight controller sends the high altitude runaway instruction to the processor of the position marking device.
In the substep S1023, the processor receives the high altitude runaway instruction sent by the flight controller, and controls the float switch to close according to the high altitude runaway instruction so as to enable the float to be accommodated in the accommodating part and control the light emitting module in the float to emit light.
Optionally, after the unmanned aerial vehicle 10 abnormally lands, the brightness of the light emitting module 120 of the position indicating device 100 may be adjusted according to the abnormal landing duration, and the longer the duration, the higher the brightness, so on the basis of fig. 8, please refer to fig. 11, and after step S102, the position indicating method may further include steps S104 to S104.
And step S104, the flight controller generates a brightness adjusting instruction when detecting that the time length of the unmanned aerial vehicle in the abnormal landing state exceeds the preset time length, and sends the brightness adjusting instruction to the processor of the position marking device.
And step S104, when the processor receives the brightness adjusting instruction sent by the flight controller, the processor increases the brightness of the light emitting module.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific processes of the position indication method described above may refer to the hardware function descriptions of the position indication device 100 and the unmanned aerial vehicle 10 corresponding to the foregoing embodiments, and are not described herein again.
In summary, the position marking device, the unmanned aerial vehicle and the position marking method provided by the application are installed on the unmanned aerial vehicle, the position marking device comprises a floating ball, a processor and a light emitting module, the processor and the light emitting module are arranged in the floating ball, and the processor is electrically connected with the light emitting module and a flight controller of the unmanned aerial vehicle; the processor is used for receiving a control instruction sent by the flight controller and controlling the light-emitting module in the floating ball to emit light according to the control instruction, wherein the control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state. This application can mark the luminous module of device through the control position and give out light in order to mark unmanned aerial vehicle's position after unmanned aerial vehicle falls unusually to guide the seeker to find unmanned aerial vehicle back fast accurately.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (13)
1. A position marking device is characterized by being installed on an unmanned aerial vehicle and comprising a floating ball, a processor and a light-emitting module, wherein the processor and the light-emitting module are arranged in the floating ball, and the processor is electrically connected with the light-emitting module and a flight controller of the unmanned aerial vehicle;
the processor is used for receiving a control instruction sent by the flight controller and controlling the light-emitting module in the floating ball to emit light according to the control instruction, wherein the control instruction is generated when the flight controller detects that the unmanned aerial vehicle is in an abnormal landing state.
2. The position marking device according to claim 1, wherein the control command is a water-falling command, which is generated by the flight controller when the unmanned aerial vehicle is detected to be in an abnormal landing state and the abnormal landing state is falling into water;
the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner;
when the unmanned aerial vehicle falls into water, the float switch is turned on to enable the float ball to be exposed out of the accommodating part, and the processor is further used for receiving the water falling instruction sent by the flight controller and controlling the light emitting module in the float ball to emit light according to the water falling instruction.
3. The position marking apparatus according to claim 1, wherein the control command is a ground command, and the ground command is generated by the flight controller when the unmanned aerial vehicle is detected to be in an abnormal landing state and the abnormal landing state is a landing on the ground;
the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner;
when the unmanned aerial vehicle falls on the ground, the floating ball switch is closed to enable the floating ball to be accommodated in the accommodating part, and the processor is further used for receiving the ground falling instruction sent by the flight controller and controlling the light emitting module in the floating ball to emit light according to the ground falling instruction.
4. The position marking apparatus according to claim 1, wherein the control command is a high altitude runaway command, which is generated by the flight controller when the unmanned aerial vehicle is detected to be in an abnormal landing state and the abnormal landing state is high altitude runaway;
the position marking device further comprises an accommodating part and a floating ball switch, the accommodating part is mounted on the unmanned aerial vehicle, and the floating ball can be accommodated in the accommodating part in an exposed manner;
when the unmanned aerial vehicle is out of control at high altitude, the float switch is closed to enable the float ball to be accommodated in the accommodating part, and the processor is further used for receiving the high altitude out-of-control instruction sent by the flight controller and controlling the light emitting module in the float ball to emit light according to the high altitude out-of-control instruction.
5. The position marking apparatus as claimed in any one of claims 2 to 4, wherein the housing comprises a base and a peripheral wall surrounding the base, the base is mounted on the drone, the base and the peripheral wall enclose a housing space, the float ball is housed in the housing space and connected to the base by a pull line, and the float switch is disposed on the peripheral wall to open or close the housing under the control of the processor.
6. The position indicating device as claimed in claim 1, further comprising a prism disposed in the float and opposite to the light emitting module for refracting the light emitted from the light emitting module.
7. An unmanned aerial vehicle is characterized by comprising a flight controller and a position marking device electrically connected with the flight controller, wherein the position marking device is installed on the unmanned aerial vehicle and comprises a floating ball, a processor and a light-emitting module, the processor and the light-emitting module are both arranged in the floating ball, and the processor is electrically connected with the light-emitting module and the flight controller;
the flight controller is used for generating a control instruction when the unmanned aerial vehicle is detected to be in an abnormal landing state, and sending the control instruction to the processor of the position marking device;
the processor is used for controlling the light-emitting module in the floating ball to emit light when the control instruction sent by the flight controller is received.
8. The drone of claim 7, further comprising an inertial measurement unit electrically connected with the flight controller;
the inertial measurement unit is used for acquiring flight parameters of the unmanned aerial vehicle in real time and sending the flight parameters to the flight controller;
the flight controller is also used for judging whether the unmanned aerial vehicle is in an abnormal landing state according to the flight parameters and generating a control instruction when the unmanned aerial vehicle is in the abnormal landing state.
9. The drone of claim 8, wherein the abnormal landing condition is falling into water, the flight parameter includes a flight vibration value;
the flight controller is further used for judging that the unmanned aerial vehicle falls into water and generating a water falling instruction when the flight vibration value is detected to be larger than a first threshold value.
10. The drone of claim 8, wherein the abnormal landing condition is landing on the ground, the flight parameter includes a flight vibration value;
the flight controller is further used for judging that the unmanned aerial vehicle falls to the ground and generating a falling instruction when the flight vibration value is detected to be larger than a second threshold value.
11. The drone of claim 8, wherein the abnormal landing condition is high altitude runaway, the flight parameters including flight acceleration and/or flight angular velocity;
the flight controller is further used for judging that the unmanned aerial vehicle is out of control at high altitude and generating an out-of-control command at high altitude when the flight acceleration is detected to exceed a preset acceleration and/or the flight angular velocity exceeds a preset angular velocity.
12. The unmanned aerial vehicle of claim 7, wherein the flight controller is further configured to generate a brightness adjustment instruction when the time duration that the unmanned aerial vehicle is detected to be in the abnormal landing state exceeds a preset time duration, and send the brightness adjustment instruction to the processor of the position indication device;
the processor is further used for increasing the light emitting brightness of the light emitting module when the brightness adjusting instruction sent by the flight controller is received.
13. A position marking method is characterized by being applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a flight controller and a position marking device electrically connected with the flight controller, the position marking device is installed on the unmanned aerial vehicle and comprises a floating ball, a processor and a light-emitting module, the processor and the light-emitting module are both arranged in the floating ball, and the processor is electrically connected with the light-emitting module and the flight controller;
the flight controller generates a control instruction when detecting that the unmanned aerial vehicle is in an abnormal landing state, and sends the control instruction to the processor of the position marking device;
and the processor controls the light-emitting module in the floating ball to emit light when receiving the control instruction sent by the flight controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911315169.5A CN111752307A (en) | 2019-12-19 | 2019-12-19 | Position marking device, unmanned aerial vehicle and position marking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911315169.5A CN111752307A (en) | 2019-12-19 | 2019-12-19 | Position marking device, unmanned aerial vehicle and position marking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111752307A true CN111752307A (en) | 2020-10-09 |
Family
ID=72672990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911315169.5A Pending CN111752307A (en) | 2019-12-19 | 2019-12-19 | Position marking device, unmanned aerial vehicle and position marking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111752307A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114625168A (en) * | 2022-03-24 | 2022-06-14 | 珠海市凯越科技有限公司 | Brushless motor driving method and device, storage medium and flight equipment |
| CN115115707A (en) * | 2022-06-30 | 2022-09-27 | 小米汽车科技有限公司 | Vehicle drowning detection method, vehicle, computer readable storage medium and chip |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402395A (en) * | 2008-11-19 | 2009-04-08 | 中国人民解放军海军医学研究所 | Superaqueous searching controller with ultra-high luminescence lightness |
| CN104992576A (en) * | 2015-07-23 | 2015-10-21 | 览意科技（上海）有限公司 | Flight vehicle searching device and searching method thereof |
| CN204965773U (en) * | 2015-07-23 | 2016-01-13 | 览意科技（上海）有限公司 | Device is look for to aircraft |
| CN105652884A (en) * | 2016-02-15 | 2016-06-08 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle flying method and unmanned aerial vehicle flying system |
| CN106157538A (en) * | 2016-07-19 | 2016-11-23 | 华力森（苏州）信息科技有限公司 | The anti-drowning rescue system of intelligence |
| CN205738120U (en) * | 2016-06-21 | 2016-11-30 | 烟台朗欣航空技术有限公司 | It is a kind of that unmanned plane is out of control falls rear location position device |
| CN206841727U (en) * | 2017-03-31 | 2018-01-05 | 天津海润海上技术股份有限公司 | The overboard anti-lost machine device of unmanned plane |
| CN207725636U (en) * | 2017-11-20 | 2018-08-14 | 中国南方电网有限责任公司超高压输电公司柳州局 | A kind of self-service alarm of unmanned plane air crash and flight information return system |
| CN108791916A (en) * | 2018-06-08 | 2018-11-13 | 广东电网有限责任公司 | Unmanned plane and UAV system |
| CN208125162U (en) * | 2018-04-28 | 2018-11-20 | 张珀源 | Device for retrieving and aircraft assembly for aircraft |
| CN209765338U (en) * | 2019-03-19 | 2019-12-10 | 中国南方电网有限责任公司超高压输电公司昆明局 | unmanned aerial vehicle fault searching and positioning auxiliary equipment |
-
2019
- 2019-12-19 CN CN201911315169.5A patent/CN111752307A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402395A (en) * | 2008-11-19 | 2009-04-08 | 中国人民解放军海军医学研究所 | Superaqueous searching controller with ultra-high luminescence lightness |
| CN104992576A (en) * | 2015-07-23 | 2015-10-21 | 览意科技（上海）有限公司 | Flight vehicle searching device and searching method thereof |
| CN204965773U (en) * | 2015-07-23 | 2016-01-13 | 览意科技（上海）有限公司 | Device is look for to aircraft |
| CN105652884A (en) * | 2016-02-15 | 2016-06-08 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle flying method and unmanned aerial vehicle flying system |
| CN205738120U (en) * | 2016-06-21 | 2016-11-30 | 烟台朗欣航空技术有限公司 | It is a kind of that unmanned plane is out of control falls rear location position device |
| CN106157538A (en) * | 2016-07-19 | 2016-11-23 | 华力森（苏州）信息科技有限公司 | The anti-drowning rescue system of intelligence |
| CN206841727U (en) * | 2017-03-31 | 2018-01-05 | 天津海润海上技术股份有限公司 | The overboard anti-lost machine device of unmanned plane |
| CN207725636U (en) * | 2017-11-20 | 2018-08-14 | 中国南方电网有限责任公司超高压输电公司柳州局 | A kind of self-service alarm of unmanned plane air crash and flight information return system |
| CN208125162U (en) * | 2018-04-28 | 2018-11-20 | 张珀源 | Device for retrieving and aircraft assembly for aircraft |
| CN108791916A (en) * | 2018-06-08 | 2018-11-13 | 广东电网有限责任公司 | Unmanned plane and UAV system |
| CN209765338U (en) * | 2019-03-19 | 2019-12-10 | 中国南方电网有限责任公司超高压输电公司昆明局 | unmanned aerial vehicle fault searching and positioning auxiliary equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114625168A (en) * | 2022-03-24 | 2022-06-14 | 珠海市凯越科技有限公司 | Brushless motor driving method and device, storage medium and flight equipment |
| CN115115707A (en) * | 2022-06-30 | 2022-09-27 | 小米汽车科技有限公司 | Vehicle drowning detection method, vehicle, computer readable storage medium and chip |
| CN115115707B (en) * | 2022-06-30 | 2023-10-10 | 小米汽车科技有限公司 | Vehicle falling water detection method, vehicle, computer readable storage medium and chip |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2571439C1 (en) | Wind parameters indication | |
| US10023312B2 (en) | Helicopter hoist systems, devices, and methodologies | |
| US9341357B2 (en) | Throwable light source and network for operating the same | |
| CN108045596B (en) | Flight performance inspection and detection system and method for fixed-wing unmanned aerial vehicle | |
| US20200331609A1 (en) | Breaking apart a platform upon pending collision | |
| CN111752307A (en) | Position marking device, unmanned aerial vehicle and position marking method | |
| US10329029B2 (en) | Falling drone warning apparatuses and methods | |
| CN106444843B (en) | Unmanned plane relative bearing control method and device | |
| JP5346197B2 (en) | Luminous lifebuoy | |
| KR102223190B1 (en) | Drone landing system | |
| CN111867935A (en) | Aircraft and control method for aircraft | |
| JP6864485B6 (en) | Unmanned aircraft, control methods and control programs | |
| CN110719875A (en) | Night flight control method and device of aircraft, control device of aircraft and aircraft | |
| US11702214B2 (en) | Unmanned flight equipment, alarm device, aerial vehicle, and alarm device release apparatus | |
| EP3958238B1 (en) | Control device, notification system, and method | |
| CN113759951A (en) | Unmanned aerial vehicle tilt shooting measurement method and system | |
| ES2638515T3 (en) | Naval platform | |
| CN109425914A (en) | Mobile weather station and the intelligent catapult-launching gear using the movement weather station | |
| EP3166845B1 (en) | Helicopter hoist systems, devices, and methodologies | |
| CN114476085B (en) | Information prompting method and related device | |
| US20240051690A1 (en) | Storage device, unmanned aerial vehicle, and system | |
| KR20170021005A (en) | Drift ice observation system | |
| KR100424784B1 (en) | Apparatus for warning inverted flight | |
| CN113970933A (en) | Water surface landing auxiliary system of seaplane and control method | |
| CN116679732A (en) | Accurate landing method and device for aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| CB02 | Change of applicant information |