WO2020042151A1 - 无人机失控保护方法、设备、无人机***的保护方法和无人机*** - Google Patents

无人机失控保护方法、设备、无人机***的保护方法和无人机*** Download PDF

Info

Publication number
WO2020042151A1
WO2020042151A1 PCT/CN2018/103549 CN2018103549W WO2020042151A1 WO 2020042151 A1 WO2020042151 A1 WO 2020042151A1 CN 2018103549 W CN2018103549 W CN 2018103549W WO 2020042151 A1 WO2020042151 A1 WO 2020042151A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
protection device
status information
runaway protection
parachute
Prior art date
Application number
PCT/CN2018/103549
Other languages
English (en)
French (fr)
Inventor
刘根淼
张圣鑫
王一皿
伍勃
胡奔
莫颂权
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880010518.XA priority Critical patent/CN110291010A/zh
Priority to PCT/CN2018/103549 priority patent/WO2020042151A1/zh
Publication of WO2020042151A1 publication Critical patent/WO2020042151A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/40—Packs
    • B64D17/52—Opening, e.g. manual
    • B64D17/54—Opening, e.g. manual automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like

Definitions

  • the present application relates to the technical field of drones, and in particular, to a method, a device, a method for protecting a drone system, and a drone system.
  • Some manufacturers have adopted the scheme of using compression springs to eject the parachute, but they have the disadvantage of slow response. Some manufacturers use the compressed air ejection parachute solution, which has the disadvantages of complex structure and high use and maintenance costs.
  • the present application provides a method, a device, a method for protecting a drone system, and a drone system for protecting a drone from uncontrollability, which can protect the drone.
  • a drone runaway protection method is provided, which is applied to a drone runaway protection device, where the drone runaway protection device includes a parachute, including: obtaining flight status information of the drone and / Or power status information; if the drone ’s flight status information is abnormal and / or the power status information indicates that the power of the drone is powered off for more than a preset duration, controlling the parachute to open.
  • a drone runaway protection device which includes a communication element for acquiring flight state information and / or power state information of the drone; an ejection device, including a parachute, for passing the parachute Providing buoyancy for the drone; a processor that controls the parachute operation of the ejection device according to the flight state information and / or power state information of the drone.
  • a drone runaway protection method is provided, which is applied to a drone runaway protection device, including: obtaining a working environment parameter of the drone runaway protection device, and judging a location based on the working environment parameter. Whether the drone runaway protection device can work normally; if it is judged that the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the The abnormal working state is fed back to the drone.
  • a drone out-of-control protection device including an ejection device; a sensing device obtains an operating environment parameter of the ejection device; and a processor controls the drone to stop according to the operating environment parameter of the ejection device take off.
  • a protection method for a drone system is provided, which is applied to a drone and a drone runaway protection device that is communicatively connected to the drone, where the drone runaway protection device includes a parachute, Including: controlling the flight status of the drone, and transmitting the flight status information and power status information of the drone; obtaining the flight status information and / or power status information of the drone; if the drone If the flight state information of the aircraft is abnormal and / or the power state information indicates that the power of the drone is powered off for more than a preset period of time, the parachute is controlled to open.
  • a drone system including a drone and a drone runaway protection device that is communicatively connected with the drone.
  • the drone includes a flight controller, and the flight controller is used for the flight controller.
  • the flight controller is used for the flight controller.
  • the drone runaway protection device It includes: a communication element for acquiring flight state information and / or power state information of the drone; an ejection device including a parachute for providing buoyancy to the drone through the parachute; processing And controlling the parachute operation of the ejection device according to the flight state information and / or power state information of the drone.
  • a drone out-of-control protection device including an umbrella tube, a parachute, a combustible material, and an igniter.
  • the umbrella tube is provided on a drone frame, and the combustible material is provided on the umbrella.
  • the parachute is disposed in the umbrella cylinder and is located at a side of the combustible material away from the frame, and the igniter is disposed at a position of the combustible object facing the frame. On the side, the igniter is used to ignite the combustible, and the combustible burns to generate a thrust to push the parachute in the umbrella tube to open.
  • an unmanned aerial vehicle system including a rack and the unmanned aerial vehicle protection equipment described in various implementation manners of the seventh aspect, wherein the unmanned aerial vehicle protection equipment is provided on the rack.
  • This application obtains the flight status information and / or power status information of the drone.
  • the drone When the drone is in flight, when the drone ’s flight attitude is abnormal and / or the power status information indicates that the drone ’s If the power is cut off for longer than the preset time, the parachute is controlled to open, effectively protecting the drone.
  • FIG. 1a is a schematic diagram of an explosion structure of a drone runaway protection device according to an embodiment.
  • FIG. 1b is a schematic cross-sectional structure diagram of a drone runaway protection device according to an embodiment.
  • FIG. 1c is a schematic diagram of a partially enlarged structure at A in FIG. 1b.
  • FIG. 1d is a schematic diagram of a partially enlarged structure at B in FIG. 1b.
  • FIG. 1e is a schematic structural diagram of an umbrella tube according to an embodiment.
  • Fig. 1f is a schematic structural diagram of an insulating disc and an igniter according to an embodiment.
  • FIG. 1g is a schematic structural diagram of a connecting frame according to an embodiment.
  • FIG. 1h is a schematic structural diagram of a lower cover plate of a connection frame according to an embodiment.
  • FIG. 1i is a schematic structural diagram of the drone runaway protection device of FIG. 1a after installation.
  • FIG. 2a is a flowchart of a drone runaway protection method according to an embodiment.
  • Figure 2b is a schematic diagram of a drone runaway protection device according to an embodiment.
  • Figure 3a is a flowchart of a drone runaway protection method according to an embodiment.
  • FIG. 3b is a schematic diagram of a drone runaway protection device according to an embodiment.
  • FIG. 4a is a flowchart of a method for protecting an unmanned aerial vehicle system according to an embodiment of the present application.
  • FIG. 4b is a schematic diagram of a drone system according to an embodiment.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • An embodiment of the present application provides a drone runaway protection device, which includes an umbrella tube 4, a parachute (not shown in the figure), a combustible material 5, and an igniter 8.
  • the umbrella tube 4 is provided in an unmanned On the frame of the aircraft, the combustibles 5 are disposed at the bottom of the inner cavity of the umbrella tube 4, and the parachute is disposed in the umbrella tube 4 and located at a position away from the frame of the combustibles 5.
  • the igniter 8 is provided on a side of the combustible material 5 facing the frame, the igniter 8 is used to ignite the combustible material 5, and the combustible material 5 burns to generate thrust to push the umbrella
  • the parachute inside the barrel 4 opens.
  • the combustibles 5 are arranged in the umbrella tube 4 and the parachute is opened by using the thrust generated when the combustibles 5 burns.
  • the structure is simple, the reaction speed is fast, and the cost of combustibles can be controlled, thereby solving the problem There are disadvantages to technology.
  • the combustible material 5 is plate-shaped, and the shape of the combustible material 5 corresponds to the shape of the inner cavity of the umbrella tube 4, and the combustible material 5 and the inner wall of the umbrella tube 4 surround fit.
  • the combustible material 5 corresponds to a circular plate shape, and the peripheral edge of the disc of the combustible material 5 is in contact with the inner wall of the umbrella tube 4.
  • the thrust generated by the combustion of the combustible material 5 pushes the parachute to move along the axial direction of the umbrella tube 4, and the inner wall of the umbrella tube 4 forms a limit effect on the combustible material 5, which can improve the success rate of opening the umbrella.
  • the combustible material 5 is nitrocellulose.
  • Nitrocellulose is a flammable and explosive substance. When it is ignited and burns, it generates a large force and can be used to push the parachute out of the umbrella tube 4.
  • the nitrocellulose 5 may be other substances, and is not limited thereto.
  • the igniter 8 Since the igniter 8 is disposed on the side of the combustibles 5 facing the rack, that is, the side facing away from the parachute, when the igniter 8 is ignited, the combustibles 5 start burning from the surface of the side facing away from the parachute, pushing the parachute
  • the umbrella tube 4 is ejected.
  • the combustible material 5 can also be ejected from the umbrella tube 4 into the atmospheric environment, so that the combustible material will not ignite other structures of the drone, thereby ensuring safety.
  • the combustibles 5 may remain in the umbrella tube 4 until they are burned out, and collected after the drone has landed to avoid situations such as mountain fires caused by the combustibles 5 in the atmospheric environment.
  • a combustible material 5 in order to ensure that the combustible material 5 never burns to the parachute when it is burned in the umbrella tube 4, that is, the combustible material 5 cannot be burned to the surface near the parachute side before the parachute leaves the umbrella tube 4, so a combustible material 5
  • the thickness of the object 5 in the axial direction of the umbrella tube 4 is not less than a preset thickness, and the preset thickness is the maximum thickness that the combustible material 5 ablates during the period from the ignition of the combustible 5 to the time when the parachute leaves the umbrella tube 4.
  • a heat insulation plate (not shown in the figure) may be provided between the combustible material 5 and the parachute.
  • the heat insulation plate can insulate or isolate the flame.
  • the structure of the heat insulation plate is similar to that of the combustible material 5. That is, it is also plate-shaped and fits around the inner wall of the umbrella tube 4.
  • the drone runaway protection device further includes an insulating disc 7, a hollow area is provided in the middle of the insulating disc 7, and the igniter 8 is disposed on the insulating disc 7, And at least partially extend out of the hollowed-out area.
  • the igniter 8 includes a terminal 81, an ignition terminal 82, and a mounting portion 83.
  • the mounting portion 83 is mounted on the insulating disc 7.
  • the terminal 81 and the ignition terminal 82 are respectively provided on the mounting portion 83, and the ignition terminal 82 is provided.
  • the terminal 81 is connected to a power source and provides electrical energy to the ignition terminal 82.
  • the ignition terminal 82 generates high temperature or flame through the action of electricity to ignite the combustible material 5.
  • the insulating disc 7 is used to isolate the ignition end 82 so that the ignition end 82 only acts with the combustible material 5.
  • the igniter 8 is a high-pressure pack igniter, which can excite an instantaneous high-voltage pulse to generate Mars, and the temperature of the Mars is higher than the ignition point of the combustible material 5.
  • a spacer 6 is further provided between the insulating disc 7 and the combustible 5 of the drone runaway protection device, and the spacer 6 is used to make the igniter There is a space between 8 and the combustibles 5 to facilitate the ignition of the igniter 8. For example, if the igniter 8 and the combustible material 5 are closely arranged without a gap, the igniter 8 has no space to ignite. Therefore, a spacer 6 is provided to isolate the ignition space for the igniter 8.
  • the separator 6 should be in a mesh shape or other similar shape so that the combustible material 5 is in contact with the air.
  • the spacer 6 is a metal mesh.
  • the drone runaway protection device further includes an umbrella tube bottom cover 9, a flame sensor (not shown in the figure), and a sensor main board 17.
  • the umbrella tube bottom cover 9 is disposed on the umbrella tube 4 toward the
  • the flame sensor is provided on the sensor main board 17 at the end of the frame, and the sensor main board 17 is provided on the rack, and the umbrella bottom cover 9 is provided with a through hole 91.
  • a flame sensor extends out of the through hole 91.
  • the flame sensor is used to sense the combustion state of the combustible material 5, and an electrical signal forming a flame is transmitted to the sensor main board 17.
  • the electrical signal of the flame is used to determine Whether the combustible material 5 is burned, and further, whether the parachute is opened.
  • the drone runaway protection device further includes a temperature sensor (not shown in the figure) and / or a humidity sensor (not shown in the figure) provided near the combustible, and the temperature sensor is configured to sense the The temperature around the combustibles 5, the humidity sensor is used to sense the humidity around the combustibles 5, and form an electrical signal of temperature and / or humidity to be transmitted to the sensor main board 17, the temperature and / or humidity of the The electrical signal is used to determine whether the current temperature and / or humidity of the combustible material is within a temperature and / or humidity range capable of being burned.
  • the drone runaway protection device further includes a pulling rope 3, the umbrella tube 4 includes a top end, a gap 42 is opened on the top end, and one end of the pulling rope 3 The other end is connected to the frame, and the other end extends into the umbrella tube 4 along the outer periphery of the umbrella tube 4 and connects with the parachute.
  • the drone runaway protection device further includes a connecting frame 16 including a connecting portion 162 and a supporting portion 161.
  • the supporting portion 161 is used for supporting The umbrella tube 4, the connection portion 162 is used to connect a drone, and the pulling rope 3 is connected to the connection portion 162.
  • the connecting frame 16 is a part of the drone's out-of-control protection device.
  • the connecting frame 16 is connected to the frame of the drone, so that the structure such as the umbrella tube 4 is fixed on the frame of the drone.
  • the connecting portion 162 of the connecting frame 16 is a plurality of arms extending from the supporting portion 161, and a fixing member is provided at the end of the arm, and the fixing member is used for connecting with the drone.
  • the frame is fixed.
  • the fixing member may include a left buckle 13 and a right buckle 15, and the left buckle 13 and the right buckle 15 cooperate to form a complete buckle structure, and the buckle structure is used to fasten the drone's frame.
  • a hand-tight screw 11 can be provided to fix the left and right snaps 13 and 15. No professional tools are required, and the left and right snaps 13 and 15 can be tightened or loosened by hand only. For installation and removal.
  • a load bearing shaft 12 is provided at an end of a support arm of the connecting portion 162, and a receiving groove 1621 is provided on the support arm, and the receiving groove 1621 corresponds to the load bearing shaft from the support arm
  • the position 12 extends to the installation position on the outer periphery of the umbrella tube 4, the pulling rope 3 is connected to the bearing shaft 12, and is accommodated in the receiving groove 1621.
  • the number of the arms corresponds to the number of the arms provided on the drone frame, so that each arm is connected to the arm of the drone, and the structure is more stable.
  • a gap 165 is provided between the outer peripheral wall surface of the umbrella tube 4 and the connection frame 16, and a leakage hole 1611 is provided on the connection frame 16.
  • the water flowing down through the gap 165 is drained through the leakage hole 1611.
  • the umbrella canopy bottom cover 9 also surrounds the outer periphery of the bottom of the umbrella canister 4, and a gap fit is formed between the umbrella canopy cover 9 and the connecting frame 16 to form the gap 165.
  • Water passes through The gap 165 is left in the water leakage hole 1611 on the connecting frame 16.
  • a connecting frame lower cover plate 21 is also provided.
  • the connecting frame lower cover plate 21 is also correspondingly provided with a water leakage hole 211. Water from the leakage hole 1611 on the connecting frame 16 passes through the connecting frame lower cover plate 21 The leak hole 211 is drained.
  • the support portion 161 of the connecting frame 16 is provided with a cavity 163, and the cavity 163 is used to accommodate a sensor main board of the drone runaway protection device. 17.
  • the support portion 161 is provided with a sealing structure 10 to isolate the cavity 163 and the water leakage hole 1611.
  • the sealing structure of this embodiment may be a sealing ring, and the shape and structure of the sealing ring correspond to the shape of the support portion 161, such as an “O” -shaped sealing ring, etc., without any restrictions.
  • the connecting frame 16 is a drone frame, and structures such as the umbrella tube 4 can be directly fixed on the connecting frame 16 to realize the connection and fixing of the drone runaway protection device and the drone.
  • the device further includes an umbrella tube cover 1 and a ball plunger 2, and the umbrella tube cover 1 is disposed on the umbrella tube 4.
  • the umbrella tube 4 is provided with a first connection hole 41
  • the umbrella tube cover 1 is also provided with a second connection hole (not labeled in the figure)
  • the ball plunger 2 is used to communicate with The first connection hole 41 and the second connection hole cooperate to fix the umbrella cover 1.
  • the ball plunger 2 has elasticity.
  • a warning device may be provided.
  • an exposed light guide post 14 is provided on the connecting frame 16, and the light guide post 14 can transmit light and serve as a warning.
  • the device may further include a main board 18, and the sensor main board 17 may be provided on the main board 18.
  • the main board 18 may be provided with various other components to form an integrated control center structure, which is convenient for device control. .
  • the device may further be provided with an input interface 19 and an output interface 20, and the input interface 19 and the output interface 20 may be electrically connected to the drone to implement communication between the drone protection device and the drone.
  • An embodiment of the present application further provides a drone system including a rack and the drone protection device provided in the foregoing embodiment, where the drone protection device is disposed on the rack.
  • the drone system of this embodiment can effectively protect the drone by setting a drone protection device.
  • the structure is simple, the reaction speed is fast, and the cost of combustible materials can be controlled, thereby solving the existing problem. Disadvantages of technology.
  • an embodiment of the present application provides a drone runaway protection method, which is applied to a drone runaway protection device.
  • the drone runaway protection device includes a parachute, and the method includes:
  • flight status information and / or power supply status information of the drone are acquired.
  • the flight status information of the drone may be attitude information, speed, and / or acceleration information, that is, it may be any one, any two, or three kinds of the above-mentioned three kinds of information.
  • the power status information of the drone is information about whether the power supply is powered off. Further, if the power is turned off, the information is the duration of the power outage.
  • attitude information of the drone sensed by the attitude sensor and speed and / or acceleration information sensed by the speed sensor and / or acceleration sensor may be acquired. You can get the power status information transmitted by the flight controller.
  • the parachute is controlled to open.
  • the abnormal flight status information includes abnormal attitude information, abnormal speed and / or acceleration information. If the drone is abnormally dropped or flipped, it will cause abnormal attitude information, speed and / or acceleration information. Therefore, it can be determined whether the drone is abnormal from the abnormal attitude information, speed and / or acceleration information. Status to determine if drone runaway protection devices need to be activated.
  • the preset time period is a time period when the drone is powered off for more than the time period during which the drone can resume, at which time the drone loses power.
  • the parachute is controlled to open, which effectively protects the drone.
  • the method further includes:
  • the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the abnormal state of the work is fed back to the drone. machine.
  • the working environment parameter includes a temperature parameter and / or a humidity parameter.
  • the working environment parameter includes a temperature parameter sensed by a temperature sensor and / or a humidity parameter sensed by a humidity sensor.
  • the drone runaway protection device can work normally according to the working environment parameter, and the flight status information of the drone is abnormal and / or the power status information indicates that the drone If the power of the aircraft is powered off for more than a preset period of time, it is determined whether the drone runaway protection device has opened the parachute.
  • control is opened again.
  • an embodiment of the present application further provides a drone runaway protection device, including
  • a communication element for acquiring flight status information and / or power status information of the drone for acquiring flight status information and / or power status information of the drone.
  • the ejection device includes a parachute for providing buoyancy to the drone by the parachute.
  • the processor controls the parachute operation of the ejection device according to the flight state information and / or power state information of the UAV.
  • the device further includes:
  • the sensing device acquires a working environment parameter of the ejection device.
  • the processor determines whether the ejection device can work normally according to a working environment parameter of the ejection device.
  • the ejection device includes a combustible and an igniter, the igniter is used to ignite the combustible, the combustible combusts and pops up the parachute, so that the parachute opens and the Man-machine provides buoyancy.
  • the combustible material is nitrocellulose.
  • the sensing device includes a temperature sensor and / or a humidity sensor, the temperature sensor is used to sense a temperature parameter of the combustible material, and the humidity sensor is used to sense a humidity parameter of the combustible material.
  • the processor determines whether the combustible can be ignited according to a degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter.
  • the processor determines that the combustible cannot be ignited, the processor feeds back to the drone a signal that the combustible cannot be ignited.
  • the sensing device further includes a flame sensor, the flame sensor is configured to sense a flame parameter generated by the combustion of the combustible material, and the processor determines whether the combustible material is ignited according to the flame parameter.
  • the processor determines that the combustible can be ignited, and the combustible is not ignited, controlling the igniter to ignite again to ignite the combustible.
  • the combustible material is nitrocellulose.
  • an embodiment of the present application provides a drone runaway protection method, which is applied to a drone runaway protection device.
  • the method includes:
  • a working environment parameter of the drone runaway protection device is obtained, and according to the working environment parameter, it is determined whether the drone runaway protection device can work normally.
  • the drone obtains the working environment parameters of the drone runaway protection device before taking off.
  • the drone out-of-control protection device works abnormally and reports the abnormal working status to the drone.
  • the drone can control the drone to stop taking off, or feedback information to the ground terminal, which is set on the display interface of the ground terminal. If there is an icon for taking off, the user can decide whether to take off. In this way, both the drone can be effectively protected, and corresponding actions can be taken according to the actual situation of the user.
  • the working environment parameter includes a temperature parameter and / or a humidity parameter.
  • an embodiment of the present application provides a drone runaway protection device, including
  • the sensing device acquires a working environment parameter of the ejection device.
  • the processor controls the drone to stop taking off according to the working environment parameter of the ejection device.
  • the drone of the embodiment of the present application obtains the working environment parameters of the ejection device through the sensing device before taking off.
  • controlling the drone to stop taking off can protect the drone and prevent The man-machine has an abnormality during flight and cannot use the ejection device.
  • the ejection device includes a combustible and a parachute, and the combustible is used to prevent the combustible from burning when the drone is flying and the flight is abnormal, so as to pop the parachute, so that the parachute Open to provide buoyancy for the drone.
  • the sensing device includes a temperature sensor and / or a humidity sensor, the temperature sensor is used to sense a temperature parameter of the combustible material, and the humidity sensor is used to sense a humidity parameter of the combustible material.
  • the processor determines whether the combustible can be ignited according to a degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter.
  • a signal is fed back to the drone that the combustible material cannot be ignited.
  • the combustible material is nitrocellulose.
  • An embodiment of the present application provides a protection method for a drone system, which is applied to a drone and a drone out-of-control protection device that communicates with the drone, and the drone is out of control.
  • the device includes a parachute, and the method includes:
  • the flight status of the drone is controlled, and the flight status information and power status information of the drone are transmitted.
  • the abnormal flight status information includes abnormal attitude information, abnormal speed and / or acceleration information.
  • the method further includes:
  • the working environment parameter includes a temperature parameter and / or a humidity parameter.
  • the drone runaway protection device cannot work normally according to the working environment parameter, it is determined that the drone runaway protection device is working abnormally, and the abnormal state of the work is fed back to the drone. machine.
  • the drone runaway protection device can work normally according to the working environment parameters, and the flight status information of the drone is abnormal and / or the power status information indicates the drone's If the power is cut off for a preset period of time, it is determined whether the drone runaway protection device has opened the parachute.
  • control is opened again.
  • the information of whether the drone is returning to flight is transmitted.
  • the method further includes
  • the drone status information obtained by the drone runaway protection device is status information of the drone flying abnormality determined by the drone.
  • the drone status information obtained by the drone runaway protection device includes status information of the drone obtained periodically, and the drone runaway protection device determines whether the drone is based on the status information of the drone. Flight is abnormal.
  • the time interval of the timing acquisition is sufficiently small, it is real-time acquisition.
  • the method further includes
  • the drone If the drone has not yet taken off, and if the drone obtains abnormal operation of the drone out-of-control protection device, the drone is controlled to stop further take-off actions.
  • an embodiment of the present application provides a drone system, including a drone and a drone runaway protection device that is communicatively connected with the drone.
  • the drone includes:
  • a flight controller configured to control the flight status of the drone, and transmit flight status information and power status information of the drone.
  • a power source for powering the drone may also provide power for the drone runaway protection device.
  • the drone runaway protection device includes:
  • a communication element configured to acquire flight state information and / or power state information of the drone.
  • the ejection device includes a parachute for providing buoyancy to the drone through the parachute.
  • the processor controls the parachute operation of the ejection device according to the flight state information and / or power state information of the UAV.
  • the drone system in the embodiment of the present application can open a parachute when an abnormality occurs during the drone flight, and protect the drone.
  • the drone runaway protection device further includes:
  • the sensing device acquires a working environment parameter of the ejection device.
  • the processor determines whether the ejection device can work normally according to a working environment parameter of the ejection device.
  • the processor controls the parachute of the ejection device to open.
  • the processor controls the parachute of the ejection device to open again.
  • the flight controller Transmits information on whether to return home.
  • the flight controller controls the drone to stop further take-off actions. .
  • the flight controller also feeds back information to the ground terminal.
  • the display interface of the ground terminal is provided with an icon for taking off or not, and the user can decide whether to take off or not. In this way, both the drone can be effectively protected, and corresponding actions can be taken according to the actual situation of the user.
  • the ejection device includes a combustible and an igniter, the igniter is used to ignite the combustible, the combustible combusts and pops up the parachute, so that the parachute opens and the Man-machine provides buoyancy.
  • the sensing device includes a temperature sensor and / or a humidity sensor, the temperature sensor is configured to sense a temperature parameter of the combustible, and the humidity sensor is configured to sense a humidity parameter of the combustible,
  • the temperature parameter and the humidity parameter constitute the environmental parameter.
  • the processor determines whether the combustible can be ignited according to a degree of deviation of the temperature parameter and / or the humidity parameter from a preset temperature parameter and / or a humidity parameter.
  • the processor determines that the combustible cannot be ignited, the processor feeds back to the drone a signal that the combustible cannot be ignited.
  • the sensing device further includes a flame sensor, the flame sensor is configured to sense a flame parameter generated by the combustion of the combustible material, and the processor determines whether the combustible material is ignited according to the flame parameter.
  • the processor determines that the combustible can be ignited, and the combustible is not ignited, controlling the igniter to ignite again to ignite the combustible.
  • the combustible material is nitrocellulose.
  • the drone further includes an attitude sensor, a speed sensor, and an acceleration sensor
  • the attitude sensor is used to sense the flying attitude information of the drone
  • the speed sensor is used to sense the Instantaneous speed information of the drone
  • the acceleration sensor is configured to sense instantaneous speed change information of the drone
  • the flight attitude information, instantaneous speed information, and / or instantaneous speed change information of the drone constitute the Drone flight status information.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Selective Calling Equipment (AREA)
  • Toys (AREA)

Abstract

本申请提供一种无人机失控保护方法、设备、无人机***的保护方法和无人机***，该无人机失控保护方法应用于无人机失控保护设备处，所述无人机失控保护设备包括降落伞，包括：获取所述无人机的飞行状态信息和/或电源状态信息(101)；若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开(102)。通过获取所述无人机的飞行状态信息和/或电源状态信息，无人机在飞行时，当无人机飞行姿态异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制降落伞打开，对无人机进行了有效保护。

Description

无人机失控保护方法、设备、无人机***的保护方法和无人机*** 技术领域
本申请涉及无人机技术领域，具体涉及一种无人机失控保护方法、设备、无人机***的保护方法和无人机***。
背景技术
在无人机行业领域中，无人机会挂载昂贵的设备会工作在城市的高空，城市下方难免会存在人多车多的情况，当飞机遇到危险情况出现炸机的时候打开降落伞，使飞机落地的速度缓慢，让人有反应的时间离开，速度慢能减少对地面事物和飞机上挂载的设备的破坏。
有的厂商有采用压缩弹簧弹射降落伞的方案，但存在反应慢的缺点。有的厂商采用压缩空气弹射降落伞的方案，存在结构复杂、使用和维护成本高的缺点。
发明内容
本申请提供一种无人机失控保护方法、设备、无人机***的保护方法和无人机***，能对无人机进行保护。
第一方面，提供了一种无人机失控保护方法，应用于无人机失控保护设备处，所述无人机失控保护设备包括降落伞，包括：获取所述无人机的飞行状态信息和/或电源状态信息；若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
第二方面，提供了一种无人机失控保护设备，包括通信元件，所述通信元件用于获取无人机的飞行状态信息和/或电源状态信息；弹射装置，包括降落伞，用于通过降落伞为所述无人机提供浮力；处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
第三方面，提供了一种无人机失控保护方法，应用于无人机失控保护设备处，包括：获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作；若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
第四方面，提供了一种无人机失控保护设备，包括弹射装置；感测装置，获取所述弹射装置的工作环境参数；处理器，根据所述弹射装置的工作环境参数控制无人机停止起飞。
第五方面，提供了一种无人机***的保护方法，应用于无人机及与所述无人机通信连接的无人机失控保护设备处，所述无人机失控保护设备包括降落伞，包括：控制所述无人机的飞行状态，并传输所述无人机的飞行状态信息和电源状态信息；获取所述无人机的飞行状态信息和/或电源状态信息；若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
第六方面，提供了一种无人机***，包括无人机和与所述无人机通信连接的无人机失控保护设备，所述无人机包括：飞行控制器，所述飞行控制器用于控制所述无人机的飞行 状态，并传输所述无人机的飞行状态信息和电源状态信息；电源，所述电源用于为所述无人机供电；所述无人机失控保护设备包括：通信元件，所述通信元件用于获取所述无人机的飞行状态信息和/或电源状态信息；弹射装置，包括降落伞，用于通过所述降落伞为所述无人机提供浮力；处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
第七方面，提供了一种无人机失控保护设备，包括伞筒、降落伞、可燃物和点火器，所述伞筒设于无人机的机架上，所述可燃物设于所述伞筒的内腔的底部，所述降落伞设于所述伞筒内，且位于所述可燃物远离所述机架的一侧，所述点火器设于所述可燃物朝向所述机架的一侧，所述点火器用于点燃所述可燃物，所述可燃物燃烧产生推力而推动所述伞筒内的降落伞打开。
第八方面，提供了一种无人机***，包括机架和第七方面各种实现方式所述的无人机保护设备，所述无人机保护设备设于所述机架上。
本申请通过获取所述无人机的飞行状态信息和/或电源状态信息，无人机在飞行时，当无人机飞行姿态异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制降落伞打开，对无人机进行了有效保护。
附图说明
图1a是一种实施例的无人机失控保护设备的***结构示意图。
图1b是一种实施例的无人机失控保护设备的剖视结构示意图。
图1c是图1b中A处的局部放大结构示意图。
图1d是图1b中B处的局部放大结构示意图。
图1e是一种实施例的伞筒的结构示意图。
图1f是一种实施例的绝缘盘和点火器的结构示意图。
图1g是一种实施例的连接架的结构示意图。
图1h是一种实施例的连接架下盖板的结构示意图。
图1i是图1a的无人机失控保护设备安装后的结构示意图。
图2a是一种实施例的无人机失控保护方法的流程图。
图2b是一种实施例的无人机失控保护设备的示意图。
图3a是一种实施例的无人机失控保护方法的流程图。
图3b是一种实施例的无人机失控保护设备的示意图。
图4a是本申请实施例提供的一种无人机***的保护方法的流程图。
图4b是一种实施例的无人机***的示意图。
具体实施例
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参考图1a，本申请实施例提供一种无人机失控保护设备，包括伞筒4、降落伞(图中未示出)、可燃物5和点火器8，所述伞筒4设于无人机的机架上，所述可燃物5设于所述伞筒4的内腔的底部，所述降落伞设于所述伞筒4内，且位于所述可燃物5远离所述机架的一侧，所述点火器8设于所述可燃物5朝向所述机架的一侧，所述点火器8用于点燃所述可燃物5，所述可燃物5燃烧产生推力而推动所述伞筒4内的降落伞打开。
本申请通过在伞筒4内设置可燃物5，利用可燃物5燃烧时产生的推力推动降落伞打开，相比于现有技术，结构简单，反应速度快，可燃物成本可以控制，从而解决了现有技术所存在的缺点。
一种实施例中，所述可燃物5呈板状，且所述可燃物5的形状与所述伞筒4的内腔的形状对应，所述可燃物5与所述伞筒4的内壁四周贴合。
例如，伞筒4为圆筒结构，则可燃物5与之对应呈圆板状，可燃物5的圆板的周缘与伞筒4的内壁贴合。如此设置，使得可燃物5燃烧产生的推力推动降落伞沿着伞筒4的轴线方向运动，伞筒4的内壁对可燃物5形成限位作用，可提高开伞成功率。
可选的，可燃物5为硝化棉，硝化棉是一种易燃易爆物，当其被引燃而燃烧时，产生较大的作用力，能用于推动降落伞离开伞筒4。当然，硝化棉5也可以为其他的物质，并不限制于此。
由于点火器8设置在可燃物5朝向机架的一侧，即背向降落伞的一侧，当点火器8点火后，可燃物5先从背向降落伞的一侧的表面开始燃烧，推动降落伞从伞筒4中弹出。当降落伞弹出后，可燃物5也可从伞筒4中弹出至大气环境中，使得燃烧的可燃物不会引燃无人机的其他结构，保证了安全。当然，可燃物5也可留在伞筒4内，直至烧尽，当无人机落地后收集，避免在大气环境中的可燃物5引起山火等情况发生。
一种实施例，为了确保可燃物5在伞筒4内燃烧时从不会烧到降落伞，即在降落伞离开伞筒4前可燃物5不能烧穿至靠近降落伞一侧的表面，故而可设置可燃物5在伞筒4的轴线方向上的厚度不低于预设厚度，预设厚度为可燃物5从点燃至降落伞离开伞筒4这段时间所烧蚀的最大厚度。
另一种实施例，可在可燃物5与降落伞之间设置一隔热板(图中未示出)，隔热板能隔热或隔离火焰，隔热板的结构与可燃物5的结构类似，即也呈板状且与伞筒4的内壁四周贴合。当可燃物5燃烧时，首先推动隔热板移动，隔热板再推动降落伞移动，如此，可不对可燃物5的厚度尺寸进行限制，当可燃物5烧穿至靠近降落伞一侧的表面时，由于隔热 板的阻隔作用，也不会烧到降落伞。
一种实施例中，请参考图1a和图1f，无人机失控保护设备还包括绝缘盘7，所述绝缘盘7中部设镂空区域，所述点火器8设置于所述绝缘盘7上，并至少部分伸出所述镂空区域。
具体而言，点火器8包括接线端81、点火端82和安装部83，安装部83安装在绝缘盘7上，接线端81和点火端82分别设置在安装部83上，且点火端82设置在朝向可燃物5一侧。接线端81与电源连接，为点火端82提供电能，点火端82在通过电的作用，产生高温或火焰而点燃可燃物5。绝缘盘7用于隔离点火端82，使得点火端82仅与可燃物5作用。
可选的，点火器8为高压包点火器，能激励出瞬时的高压脉冲，产生火星，火星的温度高于可燃物5的燃点。
一种实施例中，请参考图1a，无人机失控保护设备的所述绝缘盘7与所述可燃物5之间还设有一隔离件6，所述隔离件6用于使得所述点火器8与所述可燃物5之间具有间隔，以便于所述点火器8点火。如所述点火器8与所述可燃物5之间紧贴设置，而没有间隔，会导致点火器8没有空间点火，故而设置隔离件6，为点火器8隔离出点火的空间。
可选的，由于可燃物5的燃烧需要氧气，故隔离件6应为网状或其他类似形状，以使可燃物5与空气接触。优选的，隔离件6为金属网。
请参考图1a，无人机失控保护设备还包括伞筒底盖9、火焰传感器(图中未示出)和传感器主板17，所述伞筒底盖9盖设在所述伞筒4朝向所述机架的端部，所述火焰传感器设于所述传感器主板17上，所述传感器主板17设于所述机架上，且所述伞筒底盖9上设有通孔91，所述火焰传感器伸出所述通孔91，所述火焰传感器用于感测所述可燃物5的燃烧状态，并形成火焰的电信号传输至所述传感器主板17，所述火焰的电信号用于判断所述可燃物5是否燃烧，进而判断所述降落伞是否打开。
所述无人机失控保护设备还包括设于所述可燃物附近的温度传感器(图中未示出)和/或湿度传感器(图中未示出)，所述温度传感器用于感测所述可燃物5周围的温度，所述湿度传感器用于感测所述可燃物5周围的湿度，并形成温度和/或湿度的电信号传输至所述传感器主板17，所述温度和/或湿度的电信号用于判断所述可燃物的当前温度和/或湿度是否在能够燃烧的温度和/或湿度范围内。
请参考图1a、图1e和图1i，所述无人机失控保护设备还包括牵拉绳3，所述伞筒4包括顶端，所述顶端上开设有缺口42，所述牵拉绳3一端连接所述机架，另一端沿着所述伞筒4的外周及所述缺口42伸入所述伞筒4内与所述降落伞连接。
一种实施例中，请参考图1a和图1g，所述无人机失控保护设备还包括连接架16，所述连接架16包括连接部162以及支撑部161，所述支撑部161用于支撑所述伞筒4，所述连接部162用于连接无人机，所述牵拉绳3连接至所述连接部162。
本实施例中，连接架16为无人机失控保护设备的一部分，连接架16与无人机的机架连接，从而将伞筒4等结构连接固定在无人机的机架上。
本实施例中，连接架16的连接部162为从所述支撑部161延伸出来的多个支臂，并在支臂末端设置有固定件，且所述固定件用于与无人机的机架固定。固定件可包括左卡扣13和右卡扣15，左卡扣13和右卡扣15配合形成一个完整的卡扣结构，该卡扣结构用于扣紧 无人机的机架。为了便于安装，可设置手拧螺丝11用来固定左卡扣13和右卡扣15，不需要专业工具，只需手拧动即可将左卡扣13和右卡扣15拧紧或者拧松，实现安装和拆卸。
本实施例中，所述连接部162的支臂的端部设有承力轴12，所述支臂上开设有容纳槽1621，所述容纳槽1621自所述支臂对应所述承力轴12的位置延伸至所述伞筒4外周的安装位置，所述牵拉绳3连接在所述承力轴12上，且容置在所述容纳槽1621中。
一种实施例中，所述支臂的数目与无人机的机架上设置的机臂的数目对应，使得每个支臂均连接到无人机的机臂上，结构更稳定。
一种实施例，请参考图1b、图1c、图1g和图1h，所述伞筒4的外周壁面与连接架16之间设有间隙165，所述连接架16上设有漏水孔1611，通过所述间隙165流下的水经过所述漏水孔1611排掉。优选的，伞筒底盖9还包围伞筒4底部的外周，伞筒底盖9与连接架16之间为间隙配合，从而形成该间隙165，水通过伞筒底盖9和连接架16之间的间隙165留入连接架16上的漏水孔1611。在连接架16底部还设有连接架下盖板21，在连接架下盖板21上对应也设有漏水孔211，连接架16上的漏水孔1611的水经连接架下盖板21上的漏水孔211排掉。
一种实施例，请参考图1a，图1b和图1g，所述连接架16的支撑部161设有腔室163，所述腔室163用于容纳所述无人机失控保护设备的传感器主板17，所述支撑部161上设有密封结构10，以隔离所述腔室163和所述漏水孔1611。本实施例的密封结构可以为密封圈，密封圈的形状和结构与支撑部161的形状对应，如“O”型密封圈等，不做过多限制。
另一种实施例中，连接架16即为无人机的机架，可直接将伞筒4等结构固定在连接架16上，实现无人机失控保护设备与无人机的连接固定。
一种实施例，请参考图1a、图1b、图1d图和1e，所述设备还包括伞筒盖1和球头柱塞2，所述伞筒盖1盖设于所述伞筒4的顶端的端部，所述伞筒4上开设有第一连接孔41，所述伞筒盖1上还设有第二连接孔(图中未标号)，所述球头柱塞2用于与所述第一连接孔41和所述第二连接孔配合，以固定所述伞筒盖1。球头柱塞2具有弹性，当伞筒盖1受到伞筒1的轴向方向的力的作用时，球头柱塞2的球头会回缩，使得伞筒盖1被打开，因此，设置球头塞柱2来连接伞筒盖1，便于降落伞推开伞筒盖1。
请参考图1a，当无人机发生异常，需要警示用户或者人群时，可设置警示装置。一种实施例中，在连接架16上设置外露的导光柱14，导光柱14可传导灯光，起到警示的作用。
一种实施例，所述设备还可包括主板18，传感器主板17可设置于主板18上，此外，主板18上可以设置其他的多种元件，形成集成化的控制中心的结构，便于设备的控制。
一种实施例中，所述设备还可设置输入接口19和输出接口20，输入接口19和输出接口20可电连接至无人机，实现无人机保护设备与无人机之间的通信。
本申请实施例还提供一种无人机***包括机架和前述实施例提供的无人机保护设备，所述无人机保护设备设于所述机架上。
本实施例的无人机***，通过设置无人机保护设备，可以有效的保护无人机，相比于现有技术，结构简单，反应速度快，可燃物成本可以控制，从而解决了现有技术所存在的缺点。
应理解，以上已经介绍了无人机失控保护设备和无人机***，在无人机飞行中或即将 飞行时，如何对无人机进行保护是一项亟需解决的难题。
请参考图2a，本申请实施例提供一种无人机失控保护方法，应用于无人机失控保护设备处，所述无人机失控保护设备包括降落伞，所述方法包括：
在101中，获取所述无人机的飞行状态信息和/或电源状态信息。
可选的，无人机的飞行状态信息可以为姿态信息、速度和/或加速度信息，即可以是上述三种信息的任意一种、任意两种或三种信息。无人机的电源状态信息为电源是否断电的信息。进一步的，若断电，则为断电时长的信息。
可选的，可以获取姿态传感器感测的无人机的姿态信息、速度传感器和/或加速度传感器感测的速度和/或加速度信息。可以获取飞行控制器传输的电源状态信息。
在102中，若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
可选的，所述飞行状态信息异常包括姿态信息异常、速度和/或加速度信息异常。如无人机出现异常坠落、翻转等状况时，会导致包括姿态信息异常、速度和/或加速度信息异常，故从姿态信息异常、速度和/或加速度信息异常可判断出无人机是否处于异常状态，从而确定是否需要启动无人机失控保护设备。
可选的，所述预设时长为无人机断电超过可以复机的时长，此时无人机失去动力。
本实施例中，通过获取所述无人机的飞行状态信息和/或电源状态信息，无人机在飞行时，当无人机飞行姿态异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制降落伞打开，对无人机进行了有效保护。
一种实施例，所述方法还包括：
获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作。
进一步的，若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
可选的，所述工作环境参数包括温度参数和/或湿度参数。
可选的，所述工作环境参数包括温度传感器感测的温度参数和/或湿度传感器感测的湿度参数。
一种实施例，若根据所述工作环境参数判断所述无人机失控保护设备能正常工作，且所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则判断所述无人机失控保护设备是否已打开所述降落伞。
进一步的，若判断所述无人机失控保护设备未打开所述降落伞，则控制再次打开所述降落伞。
请参考图2b，本申请实施例还提供一种无人机失控保护设备，包括
通信元件，所述通信元件用于获取无人机的飞行状态信息和/或电源状态信息。
弹射装置，包括降落伞，用于通过降落伞为所述无人机提供浮力。
处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
可选的，所述设备还包括：
感测装置，获取所述弹射装置的工作环境参数。
所述处理器根据所述弹射装置的工作环境参数确定所述弹射装置是否能够正常工作。
一种实施例，所述弹射装置包括可燃物和点火器，所述点火器用于点燃所述可燃物，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无人机提供浮力。
可选的，所述可燃物为硝化棉。
可选的，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数。
进一步的，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否能点燃。
进一步的，若所述处理器确定所述可燃物不能点燃，则所述处理器向所述无人机反馈所述可燃物不能点燃的信号。
一种实施例，所述感测装置还包括火焰传感器，所述火焰传感器用于感测所述可燃物燃烧产生的火焰参数，所述处理器根据所述火焰参数确定所述可燃物是否点燃。
进一步的，若所述处理器确定所述可燃物能点燃，且所述可燃物未点燃时，再次控制所述点火器点火以点燃所述可燃物。
可选的，所述可燃物为硝化棉。
请参考图3a，本申请实施例提供一种无人机失控保护方法，应用于无人机失控保护设备处，所述方法包括：
在201中，获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作。
在202中，若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
本实施例中，无人机在尚未起飞前，即获取无人机失控保护设备的工作环境参数，当根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机，无人机可控制无人机停止起飞，或者反馈信息给地面终端，地面终端的显示界面上设置有是否起飞的图标，可由用户自主决定是否起飞。如此，既可有效的保护无人机，也可根据用户的实际状况采取对应的动作。
可选的，所述工作环境参数包括温度参数和/或湿度参数。
请参考图3b，本申请实施例提供一种无人机失控保护设备，包括
弹射装置。
感测装置，获取所述弹射装置的工作环境参数。
处理器，根据所述弹射装置的工作环境参数控制无人机停止起飞。
本申请实施例的无人机在尚未起飞前，通过感测装置获取弹射装置的工作环境参数，当弹射装置的工作环境参数异常时，控制无人机停止起飞，可保护无人机，避免无人机在飞行过程中发生异常而无法使用弹射装置。
进一步的，所述弹射装置包括可燃物和降落伞，所述可燃物用于预防当所述无人机在飞行且飞行异常时，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无 人机提供浮力。
可选的，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数。
进一步的，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否能点燃。
进一步的，若所述处理器确定所述可燃物不能点燃，则向所述无人机反馈所述可燃物不能点燃的信号。
可选的，所述可燃物为硝化棉。
请参考图4a，本申请实施例提供一种无人机***的保护方法，应用于无人机及与所述无人机通信连接的无人机失控保护设备处，所述无人机失控保护设备包括降落伞，所述方法包括：
在301中，控制所述无人机的飞行状态，并传输所述无人机的飞行状态信息和电源状态信息。
在302中，获取所述无人机的飞行状态信息和/或电源状态信息；
若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
可选的，所述飞行状态信息异常包括姿态信息异常、速度和/或加速度信息异常。
一种实施例，所述方法还包括：
获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作。
可选的，所述工作环境参数包括温度参数和/或湿度参数。
进一步的，若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
进一步的，若根据所述工作环境参数判断所述无人机失控保护设备能正常工作，且所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则判断所述无人机失控保护设备是否已打开所述降落伞。
进一步的，若判断所述无人机失控保护设备未打开所述降落伞，则控制再次打开所述降落伞。
可选的，若判断所述无人机的飞行状态信息正常和/或所述电源状态信息正常，且所述无人机失控保护设备异常，则传输所述无人机是否返航的信息。
一种实施例，所述方法还包括
所述无人机失控保护设备获取的无人机状态信息为经过所述无人机确定的无人机飞行异常的状态信息；或者
所述无人机失控保护设备获取的无人机状态信息包括定时获取的无人机的状态信息，所述无人机失控保护设备根据所述无人机的状态信息确定所述无人机是否飞行异常。
其中，若定时获取的时间间隔足够小，则为实时获取。
一种实施例，所述方法还包括
若所述无人机尚未起飞，且若所述无人机获取到无人机失控保护设备工作异常，则控 制所述无人机停止进一步的起飞动作。
请参考图4b，本申请实施例提供一种无人机***，包括无人机和与所述无人机通信连接的无人机失控保护设备。
所述无人机包括：
飞行控制器，所述飞行控制器用于控制所述无人机的飞行状态，并传输所述无人机的飞行状态信息和电源状态信息。
电源，所述电源用于为所述无人机供电。可选的，所述电源还可为所述无人机失控保护设备供电。
所述无人机失控保护设备包括：
通信元件，所述通信元件用于获取所述无人机的飞行状态信息和/或电源状态信息。
弹射装置，包括降落伞，用于通过所述降落伞为所述无人机提供浮力。
处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
本申请实施例的无人机***，可以在无人机飞行过程中发生异常时打开降落伞，起到保护无人机的作用。
一种实施例，所述无人机失控保护设备还包括：
感测装置，获取所述弹射装置的工作环境参数。
所述处理器根据所述弹射装置的工作环境参数确定所述弹射装置是否能够正常工作。
一种实施例，若所述无人机在飞行，且所述无人机的飞行状态信息异常和/或所述电源状态信息异常，则所述处理器控制所述弹射装置的降落伞打开。
一种实施例，若所述弹射装置的工作环境参数异常，则所述处理器控制所述弹射装置的降落伞再次打开。
一种实施例，若所述无人机在飞行，且所述无人机的飞行状态信息正常、所述电源状态信息正常，且所述弹射装置的工作环境参数异常，则所述飞行控制器传输是否返航的信息。
一种实施例，若所述无人机尚未起飞，且若所述无人机获取到所述弹射装置的工作环境参数异常，则所述飞行控制器控制所述无人机停止进一步的起飞动作。可选的，所述飞行控制器还反馈信息给地面终端，地面终端的显示界面上设置有是否起飞的图标，可由用户自主决定是否起飞。如此，既可有效的保护无人机，也可根据用户的实际状况采取对应的动作。
一种实施例，所述弹射装置包括可燃物和点火器，所述点火器用于点燃所述可燃物，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无人机提供浮力。
可选的，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数，所述温度参数和所述湿度参数构成所述环境参数。
进一步的，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否能点燃。
进一步的，若所述处理器确定所述可燃物不能点燃，则所述处理器向所述无人机反馈 所述可燃物不能点燃的信号。
一种实施例，所述感测装置还包括火焰传感器，所述火焰传感器用于感测所述可燃物燃烧产生的火焰参数，所述处理器根据所述火焰参数确定所述可燃物是否点燃。
进一步的，若所述处理器确定所述可燃物能点燃，且所述可燃物未点燃时，再次控制所述点火器点火以点燃所述可燃物。
可选的，所述可燃物为硝化棉。
一种实施例中，所述无人机还包括姿态传感器、速度传感器和加速度传感器，所述姿态传感器用于感测所述无人机的飞行姿态信息，所述速度传感器用于感测所述无人机的瞬时速度信息，所述加速度传感器用于感测所述无人机的瞬时速度变化信息，所述无人机的飞行姿态信息、瞬时速度信息和/或瞬时速度变化信息构成所述无人机的飞行状态信息。
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (65)

  1. 一种无人机失控保护方法，应用于无人机失控保护设备处，所述无人机失控保护设备包括降落伞，其特征在于，所述方法包括：
    获取所述无人机的飞行状态信息和/或电源状态信息；
    若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
  2. 如权利要求1所述的无人机失控保护方法，其特征在于，所述飞行状态信息异常包括姿态信息异常、速度和/或加速度信息异常。
  3. 如权利要求1或2所述的无人机失控保护方法，其特征在于，所述方法还包括：
    获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作。
  4. 如权利要求3所述的无人机失控保护方法，其特征在于，若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
  5. 如权利要求3或4所述的无人机失控保护方法，其特征在于，所述工作环境参数包括温度参数和/或湿度参数。
  6. 如权利要求3所述的无人机失控保护方法，其特征在于，若根据所述工作环境参数判断所述无人机失控保护设备能正常工作，且所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则判断所述无人机失控保护设备是否已打开所述降落伞。
  7. 如权利要求6所述的无人机失控保护方法，其特征在于，若判断所述无人机失控保护设备未打开所述降落伞，则控制再次打开所述降落伞。
  8. 一种无人机失控保护设备，其特征在于，包括
    通信元件，所述通信元件用于获取无人机的飞行状态信息和/或电源状态信息；
    弹射装置，包括降落伞，用于通过降落伞为所述无人机提供浮力；
    处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
  9. 如权利要求8所述的无人机失控保护设备，其特征在于，所述设备还包括：
    感测装置，获取所述弹射装置的工作环境参数；
    所述处理器根据所述弹射装置的工作环境参数确定所述弹射装置是否能够正常工作。
  10. 如权利要求9所述的无人机失控保护设备，其特征在于，所述弹射装置包括可燃物和点火器，所述点火器用于点燃所述可燃物，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无人机提供浮力。
  11. 如权利要求10所述的无人机失控保护设备，其特征在于，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数。
  12. 如权利要求11所述的无人机失控保护设备，其特征在于，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否 能点燃。
  13. 如权利要求12所述的无人机失控保护设备，其特征在于，若所述处理器确定所述可燃物不能点燃，则所述处理器向所述无人机反馈所述可燃物不能点燃的信号。
  14. 如权利要求11所述的无人机失控保护设备，其特征在于，所述感测装置还包括火焰传感器，所述火焰传感器用于感测所述可燃物燃烧产生的火焰参数，所述处理器根据所述火焰参数确定所述可燃物是否点燃。
  15. 如权利要求14所述的无人机失控保护设备，其特征在于，若所述处理器确定所述可燃物能点燃，且所述可燃物未点燃时，再次控制所述点火器点火以点燃所述可燃物。
  16. 如权利要求9至15任一项所述的无人机失控保护设备，其特征在于，所述可燃物为硝化棉。
  17. 一种无人机失控保护方法，应用于无人机失控保护设备处，其特征在于，所述方法包括：
    获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作；
    若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
  18. 如权利要求17所述的无人机失控保护方法，其特征在于，所述工作环境参数包括温度参数和/或湿度参数。
  19. 一种无人机失控保护设备，其特征在于，包括
    弹射装置；
    感测装置，获取所述弹射装置的工作环境参数；
    处理器，根据所述弹射装置的工作环境参数控制无人机停止起飞。
  20. 如权利要求19所述的无人机失控保护设备，其特征在于，所述弹射装置包括可燃物和降落伞，所述可燃物用于预防当所述无人机在飞行且飞行异常时，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无人机提供浮力。
  21. 如权利要求20所述的无人机失控保护设备，其特征在于，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数。
  22. 如权利要求21所述的无人机失控保护设备，其特征在于，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否能点燃。
  23. 如权利要求22所述的无人机失控保护设备，其特征在于，若所述处理器确定所述可燃物不能点燃，则向所述无人机反馈所述可燃物不能点燃的信号。
  24. 如权利要求20至23任一项所述的无人机失控保护设备，其特征在于，所述可燃物为硝化棉。
  25. 一种无人机***的保护方法，应用于无人机及与所述无人机通信连接的无人机失控保护设备处，所述无人机失控保护设备包括降落伞，其特征在于，所述方法包括：
    控制所述无人机的飞行状态，并传输所述无人机的飞行状态信息和电源状态信息；
    获取所述无人机的飞行状态信息和/或电源状态信息；
    若所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则控制所述降落伞打开。
  26. 如权利要求25所述的无人机***的保护方法，其特征在于，所述飞行状态信息异常包括姿态信息异常、速度和/或加速度信息异常。
  27. 如权利要求25或26所述的无人机***的保护方法，其特征在于，所述方法还包括：
    获取所述无人机失控保护设备的工作环境参数，根据所述工作环境参数，判断所述无人机失控保护设备是否能正常工作。
  28. 如权利要求27所述的无人机***的保护方法，其特征在于，所述工作环境参数包括温度参数和/或湿度参数。
  29. 如权利要求27或28所述的无人机***的保护方法，其特征在于，若根据所述工作环境参数判断所述无人机失控保护设备无法正常工作，则确定为所述无人机失控保护设备工作异常，并将所述工作异常状态反馈给所述无人机。
  30. 如权利要求27所述的无人机***的保护方法，其特征在于，若根据所述工作环境参数判断所述无人机失控保护设备能正常工作，且所述无人机的飞行状态信息异常和/或所述电源状态信息中指示所述无人机的电源断电超过预设时长，则判断所述无人机失控保护设备是否已打开所述降落伞。
  31. 如权利要求30所述的无人机***的保护方法，其特征在于，若判断所述无人机失控保护设备未打开所述降落伞，则控制再次打开所述降落伞。
  32. 如权利要求25所述的无人机***的保护方法，其特征在于，若判断所述无人机的飞行状态信息正常和/或所述电源状态信息正常，且所述无人机失控保护设备异常，则传输所述无人机是否返航的信息。
  33. 如权利要求25所述的无人机***的保护方法，其特征在于，所述方法还包括
    所述无人机失控保护设备获取的无人机飞行状态信息为经过所述无人机确定的无人机飞行异常的状态信息；或者
    所述无人机失控保护设备获取的无人机飞行状态信息包括定时获取的无人机的状态信息，所述无人机失控保护设备根据所述无人机的飞行状态信息确定所述无人机是否飞行异常。
  34. 如权利要求29所述的无人机***的保护方法，其特征在于，所述方法还包括
    若所述无人机尚未起飞，且若所述无人机获取到无人机失控保护设备工作异常，则控制所述无人机停止进一步的起飞动作。
  35. 一种无人机***，其特征在于，包括无人机和与所述无人机通信连接的无人机失控保护设备，
    所述无人机包括：
    飞行控制器，所述飞行控制器用于控制所述无人机的飞行状态，并传输所述无人机的飞行状态信息和电源状态信息；
    电源，所述电源用于为所述无人机供电；
    所述无人机失控保护设备包括：
    通信元件，所述通信元件用于获取所述无人机的飞行状态信息和/或电源状态信息；
    弹射装置，包括降落伞，用于通过所述降落伞为所述无人机提供浮力；
    处理器，根据所述无人机的飞行状态信息和/或电源状态信息控制所述弹射装置的降落伞工作。
  36. 如权利要求35所述的无人机***，其特征在于，
    所述通信元件获取的无人机飞行状态信息为经过所述无人机确定的无人机飞行异常的状态信息；或者
    所述通信元件获取的无人机飞行状态信息包括定时获取的无人机的状态信息，所述处理器根据所述无人机的飞行状态信息确定所述无人机是否飞行异常。
  37. 如权利要求35所述的无人机***，其特征在于，所述无人机失控保护设备还包括：
    感测装置，获取所述弹射装置的工作环境参数；
    所述处理器根据所述弹射装置的工作环境参数确定所述弹射装置是否能够正常工作。
  38. 如权利要求37所述的无人机***，其特征在于，若所述无人机在飞行，且所述无人机的飞行状态信息异常和/或所述电源状态信息异常，则所述处理器控制所述弹射装置的降落伞打开。
  39. 如权利要求38所述的无人机***，其特征在于，若所述弹射装置的工作环境参数异常，则所述处理器控制所述弹射装置的降落伞再次打开。
  40. 如权利要求39所述的无人机***，其特征在于，若所述无人机在飞行，且所述无人机的飞行状态信息正常、所述电源状态信息正常，且所述弹射装置的工作环境参数异常，则所述飞行控制器传输是否返航的信息。
  41. 如权利要求39所述的无人机***，其特征在于，若所述无人机尚未起飞，且若所述无人机获取到所述弹射装置的工作环境参数异常，则所述飞行控制器控制所述无人机停止进一步的起飞动作。
  42. 如权利要求37至41任一项所述的无人机***，其特征在于，所述弹射装置包括可燃物和点火器，所述点火器用于点燃所述可燃物，所述可燃物燃烧而弹开所述降落伞，以使所述降落伞打开而为所述无人机提供浮力。
  43. 如权利要求37所述的无人机***，其特征在于，所述感测装置包括温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物的温度参数，所述湿度传感器用于感测所述可燃物的湿度参数，所述温度参数和所述湿度参数构成所述环境参数。
  44. 如权利要求43所述的无人机***，其特征在于，所述处理器根据所述温度参数和/或所述湿度参数与预设温度参数和/或湿度参数的偏离程度确定所述可燃物是否能点燃。
  45. 如权利要求44所述的无人机***，其特征在于，若所述处理器确定所述可燃物不能点燃，则所述处理器向所述无人机反馈所述可燃物不能点燃的信号。
  46. 如权利要求43所述的无人机***，其特征在于，所述感测装置还包括火焰传感器，所述火焰传感器用于感测所述可燃物燃烧产生的火焰参数，所述处理器根据所述火焰参数确定所述可燃物是否点燃。
  47. 如权利要求46所述的无人机***，其特征在于，若所述处理器确定所述可燃物能 点燃，且所述可燃物未点燃时，再次控制所述点火器点火以点燃所述可燃物。
  48. 如权利要求42至47任一项所述的无人机***，其特征在于，所述可燃物为硝化棉。
  49. 如权利要求35至48任一项所述的无人机***，其特征在于，所述无人机还包括姿态传感器、速度传感器和加速度传感器，所述姿态传感器用于感测所述无人机的飞行姿态信息，所述速度传感器用于感测所述无人机的瞬时速度信息，所述加速度传感器用于感测所述无人机的瞬时速度变化信息，所述无人机的飞行姿态信息、瞬时速度信息和/或瞬时速度变化信息构成所述无人机的飞行状态信息。
  50. 一种无人机失控保护设备，其特征在于，包括伞筒、降落伞、可燃物和点火器，所述伞筒设于无人机的机架上，所述可燃物设于所述伞筒的内腔的底部，所述降落伞设于所述伞筒内，且位于所述可燃物远离所述机架的一侧，所述点火器设于所述可燃物朝向所述机架的一侧，所述点火器用于点燃所述可燃物，所述可燃物燃烧产生推力而推动所述伞筒内的降落伞打开。
  51. 如权利要求50所述的无人机失控保护设备，其特征在于，所述可燃物呈板状，且所述可燃物的形状与所述伞筒的内腔的形状对应，所述可燃物与所述伞筒的内壁四周贴合。
  52. 如权利要求50或51所述的无人机失控保护设备，其特征在于，还包括绝缘盘，所述绝缘盘中部设镂空区域，所述点火器设置于所述绝缘盘上，并至少部分伸出所述镂空区域。
  53. 如权利要求52所述的无人机失控保护设备，其特征在于，所述绝缘盘与所述可燃物之间还设有一隔离件，所述隔离件用于使得所述点火器与所述可燃物之间具有间隔，以便于所述点火器点火。
  54. 如权利要求50至53任一项所述的无人机失控保护设备，其特征在于，还包括伞筒底盖、火焰传感器和传感器主板，所述伞筒底盖盖设在所述伞筒朝向所述机架的端部，所述火焰传感器设于所述传感器主板上，所述传感器主板设于所述机架上，且所述伞筒底盖上设有通孔，所述火焰传感器伸出所述通孔，所述火焰传感器用于感测所述可燃物的燃烧状态，并形成火焰的电信号传输至所述传感器主板，所述火焰的电信号用于判断所述可燃物是否燃烧，进而判断所述降落伞是否打开。
  55. 如权利要求54所述的无人机失控保护设备，其特征在于，所述无人机失控保护设备还包括设于所述可燃物附近的温度传感器和/或湿度传感器，所述温度传感器用于感测所述可燃物周围的温度，所述湿度传感器用于感测所述可燃物周围的湿度，并形成温度和/或湿度的电信号传输至所述传感器主板，所述温度和/或湿度的电信号用于判断所述可燃物的当前温度和/或湿度是否在能够燃烧的温度和/或湿度范围内。
  56. 如权利要求50至55任一项所述的无人机失控保护设备，其特征在于，所述可燃物为硝化棉。
  57. 如权利要求50至56任一项所述的无人机失控保护设备，其特征在于，所述设备还包括牵拉绳，所述伞筒还包括顶端，所述顶端上开设有缺口，所述牵拉绳一端连接所述机架，另一端沿着所述伞筒的外周及所述缺口伸入所述伞筒内与所述降落伞连接。
  58. 如权利要求57所述的无人机失控保护设备，其特征在于，所述无人机失控保护设 备还包括连接架，所述连接架包括连接部以及支撑部，所述支撑部用于支撑所述伞筒，所述连接部用于连接无人机，所述牵拉绳连接至所述连接部。
  59. 如权利要求58所述的无人机失控保护设备，其特征在于，所述连接架的所述连接部为从所述支撑部延伸出来的多个支臂，并在支臂末端设置有固定件，且所述固定件用于与无人机的机架固定。
  60. 如权利要求59所述的无人机失控保护设备，其特征在于，所述支臂的数目与无人机的机架上设置的机臂的数目对应。
  61. 如权利要求59或60所述的无人机失控保护设备，其特征在于，所述连接部的支臂的端部设有承力轴，所述支臂上开设有容纳槽，所述容纳槽自所述支臂对应所述承力轴的位置延伸至所述伞筒外周的安装位置，所述牵拉绳连接在所述承力轴上，且容置在所述容纳槽中。
  62. 如权利要求50所述的无人机失控保护设备，其特征在于，所述设备还包括伞筒盖和球头柱塞，所述伞筒盖盖设于所述伞筒的顶端的端部，所述伞筒上开设有第一连接孔，所述伞筒盖上还设有第二连接孔，所述球头柱塞用于与所述第一连接孔和所述第二连接孔配合，以固定所述伞筒盖。
  63. 如权利要求58所述的无人机失控保护设备，其特征在于，所述伞筒的外周壁面与连接架之间设有间隙，所述连接架上设有漏水孔，通过所述间隙流下的水经过所述漏水孔排掉。
  64. 如权利要求63所述的无人机失控保护设备，其特征在于，所述连接架的支撑部设有腔室，所述腔室用于容纳所述无人机失控保护设备的传感器主板，所述支撑部上设有密封结构，以隔离所述腔室和所述漏水孔。
  65. 一种无人机***，其特征在于，包括机架和如权利要求50至64任一项所述的无人机保护设备，所述无人机保护设备设于所述机架上。
PCT/CN2018/103549 2018-08-31 2018-08-31 无人机失控保护方法、设备、无人机***的保护方法和无人机*** WO2020042151A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880010518.XA CN110291010A (zh) 2018-08-31 2018-08-31 无人机失控保护方法、设备、无人机***的保护方法和无人机***
PCT/CN2018/103549 WO2020042151A1 (zh) 2018-08-31 2018-08-31 无人机失控保护方法、设备、无人机***的保护方法和无人机***

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/103549 WO2020042151A1 (zh) 2018-08-31 2018-08-31 无人机失控保护方法、设备、无人机***的保护方法和无人机***

Publications (1)

Publication Number Publication Date
WO2020042151A1 true WO2020042151A1 (zh) 2020-03-05

Family

ID=68001272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/103549 WO2020042151A1 (zh) 2018-08-31 2018-08-31 无人机失控保护方法、设备、无人机***的保护方法和无人机***

Country Status (2)

Country Link
CN (1) CN110291010A (zh)
WO (1) WO2020042151A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009529A (zh) * 2022-07-08 2022-09-06 广东电网有限责任公司 一种电力巡检多旋翼无人机坠机自救保护装置和***
CN115586798A (zh) * 2022-12-12 2023-01-10 广东电网有限责任公司湛江供电局 一种无人机防坠毁方法和***
DE102022121276A1 (de) 2022-08-23 2024-02-29 Globe UAV GmbH Fallschirmvorrichtung für ein unbemanntes Luftfahrzeug

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112334781A (zh) * 2019-10-29 2021-02-05 深圳市大疆创新科技有限公司 返航方法、返航用电量确定方法及装置
CN111650962B (zh) * 2020-05-29 2023-04-07 自然资源部第二地理信息制图院(黑龙江省第五测绘地理信息工程院) 一种适用于带状测区的多旋翼无人机航线规划与航摄方法
CN111813147A (zh) * 2020-07-01 2020-10-23 江苏中利电子信息科技有限公司 自组网无人机失控自动回航到可控范围的方法
JP7455049B2 (ja) 2020-11-25 2024-03-25 日本化薬株式会社 アクチュエータ、安全装置、および、安全装置を備えた飛行体
CN114502463A (zh) * 2021-06-16 2022-05-13 深圳市大疆创新科技有限公司 无人机***的控制方法、装置、无人机***和存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2570348A1 (en) * 2011-09-19 2013-03-20 Piergiovanni Marega Support unit to connect a ballistic parachute to a helicopter
CN103935522A (zh) * 2014-03-03 2014-07-23 浙江大学 一种旋翼式无人机失控坠落保护装置以及保护方法
CN104369871A (zh) * 2014-10-29 2015-02-25 武汉天降科技有限公司 一种实用安全降落设备及降落方法
CN106054903A (zh) * 2016-07-27 2016-10-26 中南大学 一种多旋翼无人机自适应降落方法及***
CN106809396A (zh) * 2017-02-28 2017-06-09 中航维拓（天津）科技有限公司 一种使用产气药的旋翼飞行器伞降装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5409187A (en) * 1992-11-13 1995-04-25 Dunham; John Rocket deployment system for parachutes and the like
IL229068A (en) * 2013-10-24 2016-06-30 Amir Tsaliah Facility and method for rapid parachute deployment
CN206598985U (zh) * 2017-03-28 2017-10-31 武庭宇 无人机防坠毁装置
CN107933933A (zh) * 2017-11-26 2018-04-20 合肥赛为智能有限公司 一种无人机降落伞新型弹射结构装置
CN208775024U (zh) * 2018-08-31 2019-04-23 深圳市大疆创新科技有限公司 无人机失控保护设备和无人机***

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2570348A1 (en) * 2011-09-19 2013-03-20 Piergiovanni Marega Support unit to connect a ballistic parachute to a helicopter
CN103935522A (zh) * 2014-03-03 2014-07-23 浙江大学 一种旋翼式无人机失控坠落保护装置以及保护方法
CN104369871A (zh) * 2014-10-29 2015-02-25 武汉天降科技有限公司 一种实用安全降落设备及降落方法
CN106054903A (zh) * 2016-07-27 2016-10-26 中南大学 一种多旋翼无人机自适应降落方法及***
CN106809396A (zh) * 2017-02-28 2017-06-09 中航维拓（天津）科技有限公司 一种使用产气药的旋翼飞行器伞降装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009529A (zh) * 2022-07-08 2022-09-06 广东电网有限责任公司 一种电力巡检多旋翼无人机坠机自救保护装置和***
CN115009529B (zh) * 2022-07-08 2024-04-12 广东电网有限责任公司 一种电力巡检多旋翼无人机坠机自救保护装置
DE102022121276A1 (de) 2022-08-23 2024-02-29 Globe UAV GmbH Fallschirmvorrichtung für ein unbemanntes Luftfahrzeug
CN115586798A (zh) * 2022-12-12 2023-01-10 广东电网有限责任公司湛江供电局 一种无人机防坠毁方法和***
CN115586798B (zh) * 2022-12-12 2023-03-24 广东电网有限责任公司湛江供电局 一种无人机防坠毁方法和***

Also Published As

Publication number Publication date
CN110291010A (zh) 2019-09-27

Similar Documents

Publication Publication Date Title
WO2020042151A1 (zh) 无人机失控保护方法、设备、无人机***的保护方法和无人机***
CN103935522B (zh) 一种旋翼式无人机失控坠落保护装置以及保护方法
CN104118564A (zh) 一种多旋翼飞行器安全保护***
CN109094788A (zh) 一种无人机弹射装置及***
CN202113522U (zh) 壁挂式遥控、自动引爆干粉灭火器
CN112933461B (zh) 一种***覆土和释放二氧化碳双重灭火***及方法
WO2021043331A1 (zh) 飞行器报警方法、装置及飞行器
CN109603031A (zh) 一种定高自爆式民用航空灭火炸弹
CN110694207B (zh) 一种机载灭火弹及灭火方法
CN211752025U (zh) 仓储机器人
CN210437388U (zh) 森林灭火察打固定翼无人机
KR100313597B1 (ko) 화재진화용 소화탄
CN208775024U (zh) 无人机失控保护设备和无人机***
CN209795841U (zh) 一种无人机降落伞控制***
CN109331387B (zh) 一种高楼层遥控温控扑火装置及扑火方法
KR102264604B1 (ko) 무인 비행체를 이용한 발화체 투하 장치 및 이를 포함하는 발화체 투하 시스템
WO2016032651A1 (en) Battery containment mesh
CN113267094A (zh) 消雷火箭弹
CN109774956A (zh) 一种警用侦查无人机
CN210963638U (zh) 一种撑开型延时森林灭火弹
KR101214303B1 (ko) 멀티작동 타입의 고체에어로졸 소화기
CN209112455U (zh) 一种无人机弹射装置及***
CN112810815B (zh) 一种低成本***式灭火方法及无人机
CN220281661U (zh) 一种无人机用灭火弹搭载装置
KR102291594B1 (ko) 산불 감시 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18931788

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18931788

Country of ref document: EP

Kind code of ref document: A1