Control method and device of unmanned aerial vehicle system, unmanned aerial vehicle system and storage medium

Abstract

A control method and device for an unmanned aerial vehicle system, an unmanned aerial vehicle system, and a storage medium. The unmanned aerial vehicle system includes an unmanned aerial vehicle and a parachute installed on the unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a propeller for providing flight power; the control method includes: obtaining a propeller lock instruction of the unmanned aerial vehicle; controlling the propeller to stop and lock the propeller in response to the propeller lock instruction; and opening the parachute. The technical solution provided in this embodiment obtains the propeller lock instruction of the unmanned aerial vehicle, controls the propeller to stop and lock the propeller based on the propeller lock instruction, and then opens the parachute, thereby effectively realizing that after the unmanned aerial vehicle controls the propeller to stop and locks the propeller, the parachute is opened, which effectively avoids the entanglement between the propeller on the unmanned aerial vehicle and the parachute rope on the parachute, which not only ensures the protection effect of the parachute on the unmanned aerial vehicle, but also ensures the safety and reliability of the operation of the unmanned aerial vehicle system.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a control method and device for an unmanned aerial vehicle system, an unmanned aerial vehicle system, and a storage medium. Background Art

[0002] With the rapid development of science and technology, drones have played an increasingly important role in modern production and life. With the popularity of drones, the safety of drone operations has gradually attracted people's attention. In order to prevent drones from falling from high altitudes, a common practice is to mount a parachute on the drone. The principle is: by installing an external parachute, the parachute is triggered to open after detecting an abnormality in the drone, which can reduce the damage to the drone itself and ground equipment caused by high-speed falls.

[0003] Most existing parachutes use electronic openers to trigger the opening action. After the parachute is opened, as the drone is in a continuous descent, the blades of the motor on the drone will be continuously rotated by the rising airflow, and excessive rotation speed may entangle the parachute rope, which will not only affect the protection effect of the parachute, but may even cause damage to personnel before landing. Summary of the invention

[0004] The embodiments of the present invention provide a control method and device for an unmanned aerial vehicle system, an unmanned aerial vehicle system and a storage medium, which are used to solve the problem in the prior art that after the parachute is opened, the blades of the motor on the unmanned aerial vehicle may be entangled with the parachute rope, which not only affects the protective effect of the parachute but may even cause damage to personnel before landing.

[0005] A first aspect of the present invention is to provide a control method for an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system comprises an unmanned aerial vehicle and a parachute mounted on the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a propeller for providing flight power, and the method comprises:

[0006] Obtaining a propeller lock instruction of the drone;

[0007] In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller;

[0008] The parachute is deployed.

[0009] A second aspect of the present invention is to provide a method for controlling a drone, wherein a parachute is installed on the drone, and the drone includes a propeller for providing flight power, the method comprising:

[0010] Obtaining a propeller lock instruction of the drone;

[0011] In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller;

[0012] The parachute is deployed.

[0013] A third aspect of the present invention is to provide a method for controlling a parachute, wherein the parachute is mounted on a drone and is in communication connection with the drone, wherein the drone includes a propeller for providing flight power, and the method includes:

[0014] Get the propeller lock command;

[0015] Sending a propeller lock instruction to the drone, so as to control the propeller of the drone to stop and lock the propeller based on the propeller lock instruction;

[0016] The parachute is activated.

[0017] A fourth aspect of the present invention is to provide a control device for an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system comprises an unmanned aerial vehicle and a parachute mounted on the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a propeller for providing flight power, and wherein the control device comprises:

[0018] Memory for storing computer programs;

[0019] A processor, configured to run the computer program stored in the memory to implement:

[0020] Obtaining a propeller lock instruction of the drone;

[0021] In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller;

[0022] The parachute is deployed.

[0023] A fifth aspect of the present invention is to provide a drone, wherein a parachute is installed on the drone, the drone comprises a propeller for providing flight power, and the drone comprises:

[0024] Memory for storing computer programs;

[0025] A processor, configured to run the computer program stored in the memory to implement:

[0026] Obtaining a propeller lock instruction of the drone;

[0027] In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller;

[0028] The parachute is deployed.

[0029] A sixth aspect of the present invention is to provide a parachute, the parachute being mounted on a drone and being communicatively connected to the drone, the drone comprising a propeller for providing flight power, the parachute comprising:

[0030] Memory for storing computer programs;

[0031] A processor, configured to run the computer program stored in the memory to implement:

[0032] Get the propeller lock command;

[0033] Sending a propeller lock instruction to the drone, so as to control the propeller of the drone to stop and lock the propeller based on the propeller lock instruction;

[0034] The parachute is activated.

[0035] The seventh aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores program instructions, and the program instructions are used for the control method of the drone system described in the first aspect.

[0036] The eighth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores program instructions, and the program instructions are used for the control method of the drone described in the second aspect.

[0037] The ninth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores program instructions, and the program instructions are used for the parachute control method described in the third aspect.

[0038] The tenth aspect of the present invention is to provide a drone system, comprising:

[0039] Unmanned aerial vehicles, including propellers for providing flight power;

[0040] A parachute, mounted on the drone;

[0041] The control device of the drone system described in the fourth aspect above, wherein the control device is used to control the drone and the parachute.

[0042] The eleventh aspect of the present invention is to provide an unmanned aerial vehicle system, comprising:

[0043] The UAV described in the fifth aspect above comprises a propeller for providing flight power;

[0044] A parachute is installed on the UAV.

[0045] A twelfth aspect of the present invention is to provide an unmanned aerial vehicle system, comprising:

[0046] Unmanned aerial vehicles, including propellers for providing flight power;

[0047] The parachute described in the sixth aspect is installed on the drone.

[0048] The technical solution provided by the embodiment of the present invention obtains the propeller lock instruction of the UAV, controls the propeller to stop and lock the propeller based on the propeller lock instruction, and then opens the parachute, thereby effectively realizing that the parachute is opened after the UAV controls the propeller to stop and locks the propeller, which effectively avoids the entanglement between the propeller on the UAV and the parachute rope on the parachute, which not only ensures the protection effect of the parachute on the UAV, but also ensures the safety and reliability of the operation of the UAV system, and effectively improves the practicality of the UAV system. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0050] Figure 1 A schematic diagram of a flow chart of a control method for a drone system provided by an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of a scenario of a method for controlling a drone system provided by an embodiment of the present invention;

[0052] Figure 3 Schematic diagram of obtaining the locking propeller instruction of the drone provided in an embodiment of the present invention Figure 1 ;

[0053] Figure 4 Schematic diagram of obtaining the locking propeller instruction of the drone provided in an embodiment of the present invention Figure 2 ;

[0054] Figure 5 Schematic diagram of obtaining the locking propeller instruction of the drone provided in an embodiment of the present invention Figure 3 ;

[0055] Figure 6 Schematic diagram of obtaining the locking propeller instruction of the drone provided in an embodiment of the present invention Figure 4 ;

[0056] Figure 7 A flow chart of obtaining parachute fault indication information and refusing to respond to a user's take-off command provided by an embodiment of the present invention;

[0057] Figure 8 A schematic diagram of a process for obtaining fault indication information of the parachute provided in an embodiment of the present invention;

[0058] Fig. 9 A schematic flow chart of another method for controlling a drone system provided by an embodiment of the present invention;

[0059] Fig.10 A schematic flow chart of another method for controlling a drone system provided by an embodiment of the present invention;

[0060] Fig.11 A schematic flow chart of another method for controlling a drone system provided by an embodiment of the present invention;

[0061] Fig.12 A schematic diagram of the structure of a drone provided by an application embodiment of the present invention;

[0062] Fig.13 A schematic diagram of the principle of a control method for a drone system provided by an application embodiment of the present invention;

[0063] Fig.14 A schematic diagram of another control method for a drone system provided by an application embodiment of the present invention;

[0064] Fig.15 A schematic diagram of the principle of another control method for a drone system provided by an application embodiment of the present invention;

[0065] Fig.16 A schematic diagram of a flow chart of a method for controlling a drone provided by an embodiment of the present invention;

[0066] Fig.17 A schematic flow chart of a parachute control method provided by an embodiment of the present invention;

[0067] Fig.18 A schematic diagram of the structure of a control device for a drone system provided by an embodiment of the present invention;

[0068] Fig.19 A schematic diagram of the structure of a drone provided by an embodiment of the present invention;

[0069] Fig. 20 A schematic structural diagram of a parachute provided by an embodiment of the present invention;

[0070] Fig.21 A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 1 ;

[0071] Fig. 22A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 2 ;

[0072] Fig.23 A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 3 . DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0075] In order to facilitate understanding of the technical solutions and technical effects of the present application, the prior art is briefly described below:

[0076] With the rapid development of science and technology, drones have played an increasingly important role in modern production and life. With the popularity of drones, the safety of drone operations has gradually attracted people's attention. In order to prevent drones from falling from high altitudes, a common practice is to mount a parachute on the drone. The principle is: by installing an external parachute, the parachute is triggered to open after detecting an abnormality in the drone, which can reduce the damage to the drone itself and ground equipment caused by high-speed falls.

[0077] Most existing parachutes use electronic parachute openers to trigger the parachute opening action. Specifically, electronic parachute openers are generally divided into two categories, manual parachute openers and automatic parachute openers. Among them, the automatic parachute opener is mainly composed of a pressure sensor, a temperature sensor, an acceleration sensor, an MCU processing circuit, a battery, a trigger (such as a detonator), etc. When a problem occurs with the drone, the pressure sensor collects the change in air pressure to detect the altitude, the temperature sensor collects the change in temperature to perform altitude compensation, and the acceleration sensor collects the acceleration to determine the falling state and distance. If the drone reaches a preset height from the ground and the parachute meets the parachute opening conditions, the MCU processing circuit outputs an electrical signal to trigger the detonator or gas cylinder, open the parachute bag, and complete the parachute opening action. The manual parachute opener is often connected to a remote controller, and the parachute opening action is performed through the operator's remote command. The mechanism of the parachute opening action is similar to that of the electronic parachute opener. For details, please refer to the above description content, which will not be repeated here.

[0078] For drones, the drone body is usually equipped with interfaces that can be used for power supply and communication. The payload on the drone can communicate with the drone through the preset interface, and can also perform status monitoring, information synchronization, command triggering, etc. However, since the parachute is independent of the drone and needs to be powered independently, the parachute cannot transmit its own status to the drone. Therefore, existing drones have the following defects:

[0079] (1) When the parachute on the drone malfunctions, the drone cannot make an accurate judgment. At this time, if the drone takes off normally without protection, there will be a safety hazard.

[0080] (2) Even if the parachute functions normally when the drone takes off, considering the various uncertainties in the air, the parachute cannot transmit the latest status information in real time, which makes it difficult for the operator to judge the potential risks of the drone during operation.

[0081] (3) Even if the parachute is in good condition and can be opened normally, after the parachute is opened, because the drone is in a continuous descent process, the propeller blades of the drone's motor will be continuously rotated by the rising airflow, and excessive rotation speed may entangle the parachute rope, which will not only affect the protection effect of the parachute, but may even cause injury to personnel before landing.

[0082] In order to solve the above technical problems, in conjunction with the accompanying drawings, this embodiment provides a control method, device, drone system and storage medium for a drone system, and some implementation methods of the present invention are described in detail below. In the case of no conflict between the embodiments, the following embodiments and features in the embodiments can be combined with each other.

[0083] Figure 1 A schematic diagram of a flow chart of a control method for a drone system provided by an embodiment of the present invention; Figure 2 A schematic diagram of a control method for a drone system provided by an embodiment of the present invention; see attached Figure 1-Figure 2 As shown, this embodiment provides a control method for an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system may include an unmanned aerial vehicle 1 and a parachute 2 mounted on the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 includes a propeller for providing flight power. In addition, the execution subject of the above method may be a control device of the unmanned aerial vehicle system. It can be understood that the control device of the unmanned aerial vehicle system may be implemented as software or a combination of software and hardware. In specific implementation, the control device of the unmanned aerial vehicle system may be arranged on the unmanned aerial vehicle 1 or on the parachute 2, or the control device of the unmanned aerial vehicle system may be arranged independently of the unmanned aerial vehicle 1 and the parachute 2. In this case, the control device may be connected to the unmanned aerial vehicle 1 and the parachute 2 in communication so as to be able to control the unmanned aerial vehicle 1 and the parachute 2.

[0084] Specifically, the control method of the drone system may include the following steps:

[0085] Step S101: Obtaining a propeller lock instruction of the drone 1.

[0086] Step S102: In response to the propeller lock instruction, the propeller is controlled to stop and lock.

[0087] Step S103: Open the parachute 2.

[0088] The following is a detailed description of each of the above steps:

[0089] Step S101: Obtaining a propeller lock instruction of the drone 1.

[0090] Among them, the propeller lock instruction refers to the instruction information used to stop and lock the propellers on the drone 1. Specifically, the present embodiment does not limit the specific method for obtaining the propeller lock instruction, and those skilled in the art can set it according to the specific application scenario or application requirements. In some instances, the drone system may include a sensor for sensing the flight status data of the drone 1, wherein the sensor may be provided in the drone 1 or in the parachute 2, or the sensor may include a first sensor provided in the drone 1 and a second sensor provided in the parachute 2, and then the propeller lock instruction of the drone may be obtained through the sensor included in the drone system. In specific implementation, there are the following implementation methods:

[0091] Implementation method 1: when the drone system may include a sensor for sensing the flight status data of the drone 1, the sensor may be disposed in the drone 1, or the sensor may be disposed in the parachute 2. At this time, obtaining the propeller lock instruction of the drone 1 may include: obtaining the flight status data of the drone 1 collected by the sensor; and generating a propeller lock instruction if it is determined that the drone 1 has a flight failure according to the flight status data.

[0092] Example 1, see Attachment Figure 3 As shown, when a sensor 3 for detecting flight status data is provided on the drone 1, the flight status data of the drone 1 can be collected by the sensor 3, and the flight status data can include at least one of the following: pressure data, temperature data, acceleration data, speed data, etc. After the flight status data is acquired, the flight status data can be analyzed and processed to determine whether the drone 1 has a flight failure. Specifically, the flight status data can be analyzed and compared with a standard status data range used to identify that the drone 1 has no flight failure. When the flight status data is not within the standard status data range, it can be determined that the drone 1 has a flight failure, that is, the drone 1 is operating abnormally; when the flight status data is within the standard status data range, it can be determined that the drone 1 has no flight failure, that is, the drone 1 is operating normally.

[0093] When it is determined that the drone 1 has a flight failure, it means that the drone system is operating abnormally at this time, and the parachute 2 needs to be activated. In order to avoid the situation where the parachute rope is entangled between the parachute 2 and the propeller on the drone 1, a propeller lock instruction of the drone 1 can be generated. The propeller lock instruction is used to stop and lock the propeller of the drone 1, and then start the parachute 2, so that the propeller lock instruction of the drone 1 can be stably obtained. When it is determined that the drone 1 has no flight failure, it means that the drone system is operating normally at this time, and there is no need to activate the parachute 2. In order to avoid affecting the normal operation of the drone 1, the activation of the parachute 2 can be prohibited.

[0094] Example 2, see Attachment Figure 4 As shown, when a sensor 3 for detecting flight status data is provided on the parachute 2, since the parachute 2 is provided on the drone 1, the flight status data of the drone 1 can also be collected by the sensor 3. After acquiring the flight status data, the parachute 2 can analyze and process the flight status data to determine whether the drone 1 has a flight failure. Among them, the specific implementation process of the above-mentioned "determining whether the drone 1 has a flight failure" is similar to the specific implementation process of "determining whether the drone 1 has a flight failure" included in the above-mentioned Example 1. For details, please refer to the above-mentioned statements, which will not be repeated here.

[0095] After parachute 2 determines that drone 1 has a flight failure, it means that the drone system is operating abnormally and parachute 2 needs to be activated. In order to avoid the parachute rope being entangled between parachute 2 and the propeller on drone 1, a propeller lock command of drone 1 can be generated, so that the propeller lock command of drone 1 can be stably obtained. When it is determined that drone 1 has no flight failure, it means that the drone system is operating normally and parachute 2 does not need to be activated. In order to avoid affecting the normal operation of drone 1, parachute 2 can be prohibited from being activated.

[0096] It should be noted that in this embodiment, the subject that performs the analysis and processing of the flight status data is the parachute 2. It is understandable that the subject that performs the analysis and processing of the flight status data is not limited to the parachute 2, but may also be the drone 1. Specifically, after the parachute 2 obtains the flight status data, the parachute 2 may send the flight status data to the drone 1. After the drone 1 obtains the flight status data, the flight status data may be analyzed and processed to determine whether the drone 1 has a flight failure.

[0097] Example 3, see Attachment Figure 5 As shown, when the sensor includes a first sensor 3' disposed in the drone 1 and a second sensor 3'' disposed in the parachute 2, at this time, obtaining the flight status data of the drone collected by the sensor in this embodiment may include: obtaining the first flight status data of the drone 1 collected by the first sensor 3'; obtaining the second flight status data of the drone 1 collected by the second sensor 3''. Correspondingly, if it is determined according to the flight status data that the drone 1 has a flight failure, generating a lock-propeller instruction may include: determining whether the drone 1 has a flight failure based on at least one of the first flight status data and the second flight status data; and generating a lock-propeller instruction if it is determined that the drone 1 has a flight failure.

[0098] When the flight status data of the drone 1 includes: the first flight status data of the drone 1 collected by the first sensor 3' and the second flight status data of the drone 1 collected by the second sensor 3', it can be determined whether the drone has a flight failure based on at least one of the first flight status data and the second flight status data. In some instances, if it is determined that the drone 1 has a flight failure based on the first flight status data or it is determined that the drone 1 has a flight failure based on the second flight status data, the propeller lock instruction is generated. Alternatively, if it is determined that the drone 1 has a flight failure based on the first flight status data and it is determined that the drone 1 has a flight failure based on the second flight status data, a propeller lock instruction is generated.

[0099] Specifically, there are the following implementation methods:

[0100] Implementation method one, after obtaining the first flight status data and the second flight status data, when it is determined that the UAV 1 has a flight failure based on the first flight status data, at this time, regardless of whether the UAV 1 has a flight failure based on the second flight status data, it can be determined that the UAV 1 has a flight failure; otherwise, it is determined that the UAV 1 has not had a flight failure.

[0101] Implementation method 2: After obtaining the first flight status data and the second flight status data, when determining that the UAV 1 has a flight failure according to the second flight status data, at this time, regardless of whether the UAV 1 has a flight failure determined based on the first flight status data, it can be determined that the UAV 1 has a flight failure; otherwise, it is determined that the UAV 1 has not a flight failure. In the above-mentioned implementation methods 1 and 2, since when the UAV 1 is detected to have a flight failure based on any sensor data, it can be determined that the UAV has a flight failure, which can effectively ensure the safety of personnel under the UAV 1.

[0102] Implementation method three, after obtaining the first flight status data and the second flight status data, it can be determined whether the UAV 1 has a flight failure based on the first flight status data and the second flight status data. Specifically, only when it is determined that the UAV 1 has a flight failure according to the first flight status data and it is determined that the UAV 1 has a flight failure according to the second flight status data, it can be determined that the UAV 1 has a flight failure; otherwise, it is determined that the UAV 1 has not had a flight failure.

[0103] In this implementation, the UAV 1 is determined to be in a flight fault state only when both the first flight status data and the second flight status data determine that the UAV 1 has a flight fault. This effectively ensures the accuracy and reliability of detecting whether the UAV 1 is in a flight fault, avoids false detection due to one of the sensor data, and reduces the number of times the UAV 1 activates the parachute and controls the landing of the UAV due to false detection. This not only reduces the cost of replacing the parachute due to activating the parachute, but also reduces the risk of the UAV 1 colliding with the ground or other obstacles due to landing with the propellers stopped, further improving the safety and reliability of the UAV operation.

[0104] In other instances, other methods may be used in this embodiment to obtain the propeller lock instruction of the drone 1. Specifically, obtaining the propeller lock instruction of the drone 1 in this embodiment may include: obtaining the propeller lock instruction sent by a control terminal that is communicated with the drone system, wherein the propeller lock instruction is generated by the control terminal detecting the user's propeller lock instruction operation.

[0105] Reference Figure 6As shown, the UAV system is communicatively connected to a control terminal 4, which can control the UAV 1 and parachute 2 included in the UAV system. The control terminal 4 can be provided with an operation interface for controlling the UAV system. The user can input a propeller lock instruction operation on the operation interface to generate a propeller lock instruction based on the input propeller lock instruction operation, and then the propeller lock instruction can be sent to the UAV system, so that the UAV system can stably and effectively obtain the propeller lock instruction sent by the control terminal.

[0106] Of course, those skilled in the art may also adopt other methods to obtain the propeller lock command of the drone 1, as long as the accuracy and reliability of obtaining the propeller lock command of the drone 1 can be guaranteed, which will not be repeated here.

[0107] Step S102: In response to the propeller lock instruction, the propeller is controlled to stop and lock.

[0108] After the lock propeller instruction is obtained, the lock propeller instruction can be analyzed and processed to control the propeller to stop and lock the propeller. In some examples, the drone 1 may include a motor for installing and driving the propeller. In this case, controlling the propeller to stop and lock the propeller may include: controlling the motor to stop rotating and preventing the motor from rotating, so as to stop the propeller and lock the propeller.

[0109] Specifically, after obtaining the propeller lock instruction, a zero voltage vector or a fixed voltage vector can be generated based on the propeller lock instruction, and then the motor is controlled to stop rotating based on the zero voltage vector or the fixed voltage vector. At this time, the motor will not rotate with the aerodynamic force in the environment, thereby effectively avoiding entanglement between the motor and the propeller, and then effectively realizing the propeller stopping and locking operations.

[0110] In addition, in order to ensure the safety and reliability of the operation of the drone system, in some instances, after obtaining the propeller lock command of the drone 1, the method in this embodiment may also include: detecting whether the drone 1 is in a flight state; when the drone 1 is in a flight state, allowing a response to the propeller lock command; when the drone 1 is not in a flight state, refusing to respond to the propeller lock command.

[0111] Specifically, the operating status data of the drone 1 can be obtained, and the operating status data (including: temperature data, pressure data, distance data from the ground, etc.) can be used to detect whether the drone 1 is in a flying state. When the drone 1 is in a flying state, it means that the drone 1 is flying in the sky at this time. If the drone 1 system is in an abnormal operating state, for example: the parachute 2 is abnormal, the drone 1 is abnormal, etc., at this time, in order to avoid or reduce the damage to the drone 1 itself and the ground equipment caused by the high-speed fall, it is necessary to stop the propeller of the drone 1 from rotating, and the propeller can be locked, and then the parachute 2 can be opened. Therefore, after obtaining the lock propeller instruction, the drone 1 is allowed to respond to the lock propeller instruction, which effectively realizes that when the drone 1 is in a flying state and the drone 1 has a flight failure, the propeller can be controlled to stop and lock the propeller first, and then the parachute 2 can be opened, which effectively ensures the protection effect of the parachute 2 on the drone 1.

[0112] When the drone 1 is not in flight, it means that the drone 1 is on the ground and not in the sky. At this time, no matter whether the drone 1 is in an abnormal operation state or not, there is no need to open the parachute 2. Therefore, after the propeller lock instruction is obtained, the drone 1 can be prohibited from responding to the propeller lock instruction, which effectively realizes that when the drone 1 is not in flight, there is no need to open the parachute 2, thereby avoiding invalid parachute 2 opening operations, and further improving the flexibility and reliability of the control method.

[0113] Step S103: Open the parachute 2.

[0114] After the propellers are stopped and locked, the parachute 2 can be opened, thereby effectively realizing that the parachute 2 is activated only after the propellers are stopped and locked, effectively avoiding entanglement between the propellers on the UAV 1 and the parachute ropes of the parachute 2, thereby ensuring the safety and reliability of the operation of the UAV system.

[0115] In addition, the present embodiment does not limit the specific implementation method of opening the parachute 2, and those skilled in the art can set it according to the specific application scenario or application requirements. For example, the parachute 2 is provided with an opening device for automatically starting the parachute 2. After the propeller is stopped and locked, an electrical signal for opening the parachute 2 can be generated, and the opening device is controlled by the electrical signal to realize the operation of automatically opening the parachute 2 through the opening device. Alternatively, the parachute 2 is provided with a mechanical device for opening the parachute 2. After the propeller is stopped and locked, the mechanical device can be manually adjusted to realize the operation of passively opening the parachute 2 through the mechanical device.

[0116] The control method of the drone system provided in the present embodiment obtains the propeller lock command of the drone, controls the propeller to stop and lock the propeller based on the propeller lock command, and then opens the parachute, thereby effectively realizing that the parachute is opened after the drone controls the propeller to stop and locks the propeller, which effectively avoids the entanglement between the propeller on the drone and the parachute rope on the parachute, which not only ensures the protection effect of the parachute on the drone, but also ensures the safety and reliability of the operation of the drone system, and effectively improves the practicality of the drone system.

[0117] On the basis of the above embodiment, in order to further improve the practicality of the control method of the drone system, the method in this embodiment may further include: monitoring the working status of the parachute to determine whether fault indication information of the parachute is obtained.

[0118] Among them, during the operation of the drone system, for the parachute included in the drone system, the working state of the parachute may include a normal state or an abnormal state, and different operating states of the parachute will affect the operating state of the drone system. Therefore, in order to ensure the safety and reliability of the operation of the drone system, the working state of the parachute can be monitored. Specifically, a sensor for monitoring the working state of the parachute can be set on the parachute, and the sensor can include at least one of the following: a pressure sensor and a temperature sensor. Then, the working state of the parachute can be monitored by the sensor data obtained by the sensor to determine whether the fault indication information of the parachute is obtained. The fault indication information may include at least one of the following: the parachute is in a fault state, fault location information, fault suggestion information, etc. Specifically, when it is determined that the parachute is in a fault state based on the obtained sensor data, for example: when the sensor data exceeds the preset standard data range, it means that the parachute is in a fault state; when the sensor data is within the standard data range, it means that the parachute is not in a fault state. When it is determined that the parachute is in a fault state, the fault indication information of the parachute can be obtained. When it is determined that the parachute is not in a fault state based on the obtained sensor data, the fault indication information of the parachute will not be obtained.

[0119] In some instances, after monitoring the operating status of the parachute, the method in this embodiment may further include: if fault indication information is obtained, uploading the identity information of the drone or the drone user and / or the location of the drone to the regulatory agency, or performing a fault indication information recording operation.

[0120] Among them, the drone system includes a storage device, which can store data such as the drone's identity (serial number) and the drone user's identity information; if fault indication information is obtained, it means that the parachute is in a faulty state. At this time, if the drone in the drone system is still operating normally, there is a certain operational risk. Therefore, in order to ensure the safety and reliability of the operation of the drone system, the drone system can upload the drone or drone user's identity information and / or the drone's location to the regulatory agency, so that the regulatory agency can promptly obtain relevant information about the drone system with operational risks, thereby facilitating the regulatory agency to conduct regulatory operations on the drone system based on at least one of the reported drone, drone user's identity information and drone location.

[0121] For example 1, when the fault indication information of the parachute is obtained, it means that the parachute in the UAV system is in a faulty state. At this time, the identity information of the UAV system (for example, the identity of the UAV, the identity of the UAV user, etc.) can be uploaded to the regulatory agency (for example, the Aviation Administration). After the regulatory agency obtains the identity information of the UAV system, it can perform regulatory operations on the UAV system with the parachute in a faulty state based on the identity information of the UAV system.

[0122] For example 2, when the parachute fault indication information is obtained, it means that the parachute in the UAV system is in a faulty state. At this time, the location information of the UAV can be uploaded to the regulatory agency (for example, the Aviation Administration). After the regulatory agency obtains the location information of the UAV, it can perform regulatory operations on the UAV system with the parachute in a faulty state based on the location information of the UAV, and facilitate the search and positioning operations of the UAV system based on the location information of the UAV.

[0123] Example 3: When the fault indication information of the parachute is obtained, it means that the parachute in the UAV system is in a faulty state. At this time, the UAV system can be controlled to record the fault indication information, so that when the UAV system operates abnormally, the operating data and fault indication information of the UAV system can be viewed or retrieved, and the retrieved operating data and fault indication information can be analyzed and processed to determine the cause of the abnormality, thereby facilitating the updating of the operating algorithm of the UAV system based on the cause of the abnormality to improve the safety and reliability of the operation of the UAV system.

[0124] In other examples, the drone system includes a storage device, which is used to store fault indication information and associate it with the drone's identity. Specifically, if fault indication information is obtained, it means that the parachute is in a fault state. At this time, if the drone system has an abnormal operation, such as explosion or crash, in order to facilitate the viewing and retrieval of the drone system's operating data, the fault indication information can be recorded, that is, the fault indication information recording operation is performed. Specifically, the fault indication information can be associated with the drone's identity. This facilitates the analysis of the operating state of the drone system and the parachute's fault indication information, further improving the stability and reliability of the control of the drone system.

[0125] In this embodiment, the working status of the parachute is monitored to determine whether the fault indication information of the parachute is obtained, and if the fault indication information is obtained, the identity information of the drone or the drone user and / or the location of the drone is uploaded to the regulatory agency, or the fault indication information recording operation is performed, thereby effectively enabling the regulatory agency to perform regulatory operations on the drone system through at least one of the received drone identity, drone user identity and drone location, further ensuring the safety and reliability of the operation of the drone system.

[0126] In some instances, since the drones in the drone system may be in flight or not in flight, in order to ensure the safety and reliability of the drone operation, different control strategies may be used when the drone is in different operating states. Specifically, the method in this embodiment may also include: when the drone is in flight, if the parachute fault indication information is obtained, controlling the drone to perform the first safety operation.

[0127] Among them, when the UAV is in a flying state and the fault indication information of the parachute is obtained, it means that when the UAV is operating in the air, the parachute mounted on the UAV is in a faulty operating state. At this time, in order to ensure the safety and reliability of the operation of the UAV system, the UAV can be controlled to perform a first safety operation. Specifically, controlling the UAV to perform the first safety operation may include: controlling the UAV to land or return.

[0128] Specifically, after determining that the drone is in a state of flying over a crowd, in order to ensure the safety of the drone and the crowd, controlling the drone to land or return may include: determining a landing route or a return route for the drone, wherein the landing route or the return route avoids an area where the crowd is located, and then controlling the drone to perform landing or return operations according to the landing route or the return route, thereby effectively ensuring the safety of the drone system operation and the personal safety of the crowd.

[0129] In some other examples, controlling the drone to land or return may also include: detecting whether the drone is in a state of flying over a crowd; and when it is determined that the drone is in a state of flying over a crowd, controlling the drone to land or return.

[0130] Specifically, when the drone is in flight, the drone may be in a state of flying over a crowd. At this time, in order to ensure the safety of the drone operation and the personal safety of the crowd, the drone can be controlled to land or return. In some examples, detecting whether the drone is in a state of flying over a crowd may include: determining whether the drone is located in a crowd activity area; if the drone is located in the crowd activity area, determining that the drone is in a state of flying over a crowd.

[0131] Among them, determining whether the drone is located in a crowd activity area may include: obtaining a position collected by a satellite positioning device of the drone; determining whether the drone is located in a crowd activity area based on the position; if it is determined that the drone is located in a crowd activity area, determining that the drone is in a state of flying over the crowd; otherwise, determining that the drone is not in a state of flying over the crowd.

[0132] It should be noted that the crowd activity area may refer to the area range where humans are carrying out activities, the area range where humans can carry out activities, or the area range where humans may carry out activities. For example, the crowd activity range may be an area where human activities exist, a building area (residential buildings, gymnasiums, shopping malls, etc.), a square area, etc. In order to accurately detect whether the drone is in a state of flying over the crowd, a satellite positioning device is provided on the drone, and the location information of the drone can be collected through the satellite positioning device, and then the location can be analyzed and processed to determine whether the drone is in the crowd activity area. Specifically, the collected location of the drone is analyzed and compared with the pre-set area range for identifying the crowd activity area. When the location of the drone is in the crowd activity area, it can be determined that the drone is in a state of flying over the crowd. When the location of the drone is not in the crowd activity area, it can be determined that the drone is not in a state of flying over the crowd, thereby effectively realizing the detection operation of whether the drone is in a state of flying over the crowd.

[0133] In other instances, detecting whether the drone is in a state of flying over a crowd may include: acquiring sensor data collected by an imaging device or a temperature sensor of the drone; detecting whether there are crowds of people in the surrounding environment of the drone based on the sensor data; if it is determined that there are crowds of people in the surrounding environment of the drone, determining that the drone is in a state of flying over the crowd; otherwise, determining that the drone is not in a state of flying over the crowd.

[0134] Among them, in order to accurately detect whether the drone is in a state of flying over a crowd, an imaging device or a temperature sensor is provided on the drone. It is understandable that the sensor data corresponding to the crowd activity area is different from the sensor data corresponding to the non-crowd activity area. For example, the sensor data corresponding to the crowd acquisition area includes crowd images, or the environmental temperature information corresponding to the sensor data corresponding to the crowd activity area is within a set range. The sensor data corresponding to the non-crowd activity area includes non-crowd images, or the environmental temperature information corresponding to the sensor data corresponding to the crowd activity area is not within a set range. Therefore, it is possible to determine whether the drone is in a crowd activity area through the sensor data collected by the drone's imaging device or temperature sensor.

[0135] In some instances, the collected image data can be obtained through an imaging device, and the temperature data of the area where the drone is located can be collected through a temperature sensor. Specifically, when there are people in the surrounding environment where the drone is located, the temperature data of the surrounding environment where the drone is located will be greater than the temperature data of the surrounding environment when there are no people; when there are people in the surrounding environment where the drone is located, the image data collected by the imaging device on the drone may include at least one person. Specifically, after obtaining the above-mentioned collected sensor data, the sensor data can be analyzed and processed to detect whether there are people in the surrounding environment where the drone is located. When it is determined that there are people in the surrounding environment where the drone is located, it can be determined that the drone is in a state of flying over the crowd; when it is determined that there are no people in the surrounding environment where the drone is located, it can be determined that the drone is not in a state of flying over the crowd, thereby effectively realizing the detection operation of whether the drone is in a state of flying over the crowd.

[0136] Of course, those skilled in the art may use other methods to detect whether the drone is in a state of flying over a crowd, as long as the accuracy and reliability of detecting whether the drone is in a state of flying over a crowd can be guaranteed, which will not be elaborated here.

[0137] In other examples, the method in this embodiment may further include: before the drone takes off, if parachute fault indication information is obtained, refusing to respond to the user's take-off command.

[0138] Specifically, before a drone in the drone system takes off, if parachute fault indication information is obtained, it means that the parachute set on the drone is in a faulty state. At this time, in order to ensure the safety and reliability of the operation of the drone system, when the take-off command of the drone is obtained, it can refuse to respond to the user's take-off command, that is, when the parachute is in a faulty state, if the drone is not in a take-off state, the drone can be prohibited from performing flight operations.

[0139] In addition, refer to the attached Figure 7As shown, obtaining the parachute fault indication information and refusing to respond to the user's take-off instruction may include:

[0140] Step S701: Determine whether the drone is located in a crowd activity area.

[0141] Among them, before the drone takes off, in the process of controlling the drone to land or return, in order to ensure the safety and reliability of the drone operation, it is possible to detect whether the drone is located in the crowd activity area. Specifically, this embodiment does not limit the implementation method of detecting whether the drone is located in the crowd activity area. Those skilled in the art can set it according to specific application scenarios or application requirements. In some instances, determining whether the drone is located in the crowd activity area may include: obtaining the position collected by the satellite positioning device of the drone; determining whether the position of the drone is located in the crowd activity area according to the position; if the position is in the set crowd activity area, determining that the drone is in the crowd activity area; otherwise, determining that the drone is not in the crowd activity area.

[0142] Specifically, the crowd activity area may refer to the area range where the crowd can carry out activities or the area range where the crowd may carry out activities. For example, the crowd activity range may be a building area (residential building, gymnasium, shopping mall, etc.), a square area, etc. In order to accurately detect whether the drone is located in the crowd activity area, a satellite positioning device is provided on the drone, and the location information of the drone can be collected by the satellite positioning device, and then the location can be analyzed and processed to determine whether the drone is in the crowd activity area. Specifically, the collected location of the drone is analyzed and compared with the pre-set area range for identifying the crowd activity area. When the drone is located in the crowd activity area, it can be determined that the drone is in a state of flying over the crowd. When the drone is not located in the crowd activity area, it can be determined that the drone is not located in the crowd activity area, thereby effectively realizing the detection operation of whether the drone is in the crowd activity area.

[0143] In other instances, determining whether the drone is located in a crowd activity area may include: acquiring sensor data collected by an imaging device or a temperature sensor of the drone; determining whether the drone is located in a crowd activity area based on the sensor data; if it is determined that there are crowds in the surrounding environment of the drone, determining that the drone is in a crowd activity area; otherwise, determining that the drone is not in a crowd activity area.

[0144] In order to accurately detect whether the drone is in a crowd activity area, an imaging device or a temperature sensor is provided on the drone, and the collected image data can be obtained through the imaging device, and the temperature data of the area where the drone is located can be collected through the temperature sensor. Specifically, when there are crowds in the surrounding environment where the drone is located, the temperature data of the surrounding environment where the drone is located will be greater than the temperature data of the surrounding environment when there are no crowds; when there are crowds in the surrounding environment where the drone is located, the image data collected by the imaging device on the drone may include at least one person. Specifically, after obtaining the above-mentioned collected sensor data, the sensor data can be analyzed and processed to detect whether there are crowds in the surrounding environment where the drone is located. When it is determined that there are crowds in the surrounding environment where the drone is located, it can be determined that the drone is in a crowd activity area; when it is determined that there are no crowds in the surrounding environment where the drone is located, it can be determined that the drone is not in a flying crowd activity area, thereby effectively realizing the detection operation of whether the drone is in a crowd activity area.

[0145] Of course, those skilled in the art may use other methods to determine whether the drone is located in a crowd activity area, as long as the accuracy and reliability of detecting whether the drone is located in a crowd activity area can be guaranteed, which will not be described in detail here.

[0146] Step S702: When the UAV is located in a crowd activity area and obtains the fault indication information of the parachute, it refuses to respond to the user's take-off command.

[0147] When it is determined that the drone is located in a crowd activity area and the fault indication information of the parachute is obtained, at this time, if the drone is controlled to take off, the safety of the drone's operation cannot be guaranteed because the parachute is in a faulty state. Furthermore, if the drone is located in a crowd activity area, it will also pose a threat to the personal safety of the people in the crowd activity area. Therefore, in order to ensure the safety and reliability of the drone's operation and the personal safety of the crowd, it can refuse to respond to the user's take-off command to prohibit the drone from taking off.

[0148] Figure 8 A schematic diagram of a process for obtaining parachute fault indication information provided by an embodiment of the present invention; based on the above embodiment, refer to the attached Figure 8 As shown, this embodiment provides an implementation method for obtaining fault indication information of a parachute. Specifically, obtaining fault indication information of a parachute in this embodiment may include:

[0149] Step S801: Obtain the operating status of the parachute.

[0150] The operating state of the parachute may include a normal state or an abnormal state, and parachutes in different states will have different effects on the operating safety of the UAV system. Therefore, in order to accurately ensure the safety and reliability of the operation of the UAV system, the operating state of the parachute can be obtained. Specifically, obtaining the operating state of the parachute may include: obtaining periodic self-check information of the parachute; and determining the operating state of the parachute based on the self-check information.

[0151] Specifically, in order to ensure the safety and reliability of the operation of the drone system, the parachute can perform periodic self-inspection operations, so as to obtain periodic self-inspection information of the parachute, and the self-inspection information may include at least one of the following: self-inspection information of the equipment included in the parachute, self-inspection information of the environment where the parachute is located, and the self-inspection information of the equipment included in the above-mentioned parachute may include at least one of the following: self-inspection information of the MCU, self-inspection information of the parachute bag, equipment shelf life information, communication connection status information, etc. The self-inspection information of the environment where the above-mentioned parachute is located may include at least one of the following: pressure information, humidity information, temperature information, etc.

[0152] After obtaining the periodic self-test information of the parachute, the periodic self-test information of the parachute can be analyzed and processed to determine the operating status of the parachute. Specifically, determining the operating status of the parachute based on the self-test information can include: when the self-test information meets the set conditions, determining that the operating status of the parachute is a normal state; when the self-test information does not meet the set conditions, determining that the operating status of the parachute is an abnormal state, thereby effectively ensuring the accuracy and reliability of the detection of the operating status of the parachute.

[0153] It should be noted that the executing entity for obtaining the operating status of the parachute can be a parachute or a drone. When the executing entity for obtaining the operating status of the parachute is a drone, the parachute can perform periodic self-inspection operations, so that the periodic self-inspection information of the parachute can be obtained. After obtaining the periodic self-inspection information of the parachute, the parachute can send the self-inspection information to the drone, so that the drone can obtain the periodic self-inspection information of the parachute, and then determine the operating status of the parachute based on the self-inspection information.

[0154] When the executor of obtaining the operating status of the parachute is the parachute, the parachute can perform periodic self-inspection operations, so that periodic self-inspection information of the parachute can be obtained. After obtaining the periodic self-inspection information of the parachute, the operating status of the parachute can be determined based on the self-inspection information; and then the parachute can send the obtained operating status of the parachute to the drone, so that the drone can stably obtain the operating status of the parachute.

[0155] Step S802: when the operating state is a fault state, the fault indication information of the parachute is obtained.

[0156] When it is determined that the operating state of the parachute is a fault state, fault indication information of the parachute can be obtained, and the fault indication information may include at least one of the following: fault state, fault location, fault suggestion information, etc. When it is determined that the operating state of the parachute is a non-fault state, it means that the operating state of the parachute is a normal state, and the fault indication information of the parachute will not be obtained.

[0157] In some examples, after acquiring the fault indication information of the parachute, the method in this embodiment may further include: displaying the fault indication information of the parachute.

[0158] Specifically, the drone is communicatively connected to a control terminal. After obtaining the fault indication information of the parachute, the fault indication information of the parachute can be sent to the control terminal, so that the fault indication information can be displayed through the control terminal, so that the user can quickly and directly obtain the fault indication information of the parachute.

[0159] In this embodiment, by acquiring the operating status of the parachute, when the operating status is a faulty state, the fault indication information of the parachute is acquired, thereby achieving stable and effective acquisition of the fault indication information of the parachute when the parachute operates abnormally; correspondingly, when the operating status of the parachute is a normal state, the fault indication information of the parachute will not be generated, thereby further improving the safety and reliability of the operation of the UAV system.

[0160] Fig. 9 A flow chart of another control method of a drone system provided by an embodiment of the present invention; based on the above embodiment, refer to the attached Fig. 9 As shown, the method of this embodiment may further include:

[0161] Step S901: Determine the abnormal cause corresponding to the fault indication information.

[0162] Step S902: Display the fault indication information and abnormality cause.

[0163] Among them, after obtaining the fault indication information, in order to facilitate the user to understand the fault type of the parachute and to troubleshoot or adjust the parachute fault, the abnormal cause corresponding to the fault indication information can be determined. Specifically, there can be a mapping relationship between the abnormal cause and the fault indication information. After determining the fault indication information, the abnormal cause can be determined based on the above mapping relationship. After obtaining the fault indication information and the abnormal cause, the fault indication information and the abnormal cause can be sent to the control terminal to display the fault indication information and the abnormal cause through the control terminal, so that the user can understand the fault information of the parachute through the displayed fault indication information and the abnormal cause, and it is convenient for the user to perform troubleshooting operations on the parachute based on the learned fault information, further improving the practicality of the control method of the drone system.

[0164] Fig.10 A flow chart of another control method of a drone system provided by an embodiment of the present invention; based on the above embodiment, continue to refer to the attached Fig.10 As shown, after the parachute is activated, the method in this embodiment may further include:

[0165] Step S1101: Obtain the landing location information of the drone.

[0166] Step S1102: Send the landing position information to a control terminal that is communicatively connected to the drone, so that the landing position information is displayed via the control terminal.

[0167] Among them, after starting the parachute, the UAV can slowly land under the action of the parachute. In order to accurately find the landed UAV, the landing position information of the UAV can be obtained. Specifically, the landing position information of the UAV can be obtained through the global positioning system set on the UAV, and then the landing position information is sent to a control terminal that is communicatively connected to the UAV, so that the landing position information can be displayed through the control terminal, so that the user can quickly find the landed UAV through the displayed landing position information, further improving the practicality of the control method.

[0168] In this embodiment, the landing position information of the drone is obtained and then displayed, so that the user can quickly find the landed drone through the displayed landing position information, thereby facilitating the collection operation of the drone, which further improves the practicality of the control method.

[0169] Fig.11 A flow chart of another control method of a drone system provided by an embodiment of the present invention; based on the above embodiment, refer to the attached Fig.11 As shown, the method in this embodiment may further include:

[0170] Step S1201: Obtain device information sent by Parachute.

[0171] Step S1202: Send the device information to a control terminal that is connected to the drone for communication, so that the device information is displayed or stored via the control terminal.

[0172] Among them, before the drone system is started, in order to ensure the safety and reliability of the operation of the drone in the drone system, a parachute can be installed on the drone. When the parachute is installed on the drone, a communication connection can be established between the parachute and the control terminal of the drone system. Specifically, the device information sent by the parachute can be obtained, and the device information can include at least one of the following: device number, manufacturer, device date, communication connection address, etc. After obtaining the device information sent by the parachute, the device information can be sent to the control terminal that is connected to the drone in communication, so that the control terminal displays the device information and stores the device information sent by the parachute, so as to facilitate the establishment of a communication connection with the parachute based on the device information sent by the parachute. In this way, the drone or parachute can be controlled by the control terminal, further improving the stability and reliability of the control of the drone system.

[0173] In this embodiment, the device information sent by the parachute is obtained, and then the device information is sent to the control terminal connected to the communication of the UAV, so that the control terminal displays the device information or stores the device information, thereby effectively realizing data communication between the parachute and the UAV. This makes it convenient to control the UAV or parachute through the control terminal, and further improves the stability and reliability of the control of the UAV system.

[0174] In specific application, this application embodiment provides a control method for an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system includes a unmanned aerial vehicle and a parachute arranged on the unmanned aerial vehicle, wherein the unmanned aerial vehicle may include an aircraft for realizing aerial photography operations, modeling operations, throwing operations, detection and other operational tasks, and the parachute can be connected to the unmanned aerial vehicle through a set interface, so that the unmanned aerial vehicle can power the parachute through the above-mentioned interface, and data communication can be realized between the unmanned aerial vehicle and the parachute.

[0175] In order to realize data communication between the parachute and the drone, the hardware structure is as follows: Fig.12As shown, the drone 1 can provide a communication interface and a power supply interface to the outside, the communication interface can realize data communication operations, and the power supply interface can power the parachute. It can be understood that for ease of use, the communication interface and the power supply interface can be made into the same interface 101, for example: the interface 101 on the drone 1 can be a type-C interface, so that the parachute can be connected to the drone 1 through the interface 101 provided on the drone 1. The interface 101 can not only provide power for the parachute, but also support two-way communication between the parachute and the drone 1.

[0176] In addition, the drone 1 can also provide a software development kit (SDK) function, that is, it can support third-party developers to develop SDK application devices on its platform. Specifically, the parachute can adapt to the SDK application device to complete data interaction or part of the data interaction operation.

[0177] When the parachute is mounted on the drone, in order to ensure the safety and reliability of the parachute being mounted on the drone, a threaded mounting hole or a buckle point may be provided on the drone, and the above-mentioned mounting hole or buckle point may be used to install the mounting bracket of the parachute, and then the main part of the parachute may be connected to the mounting bracket through a quick connector, thereby effectively realizing the detachable mounting of the parachute on the drone. Among them, when the parachute is mounted on the drone, in order to ensure the safety and reliability of the use of the parachute, the parachute needs to be installed on the high-strength structure of the drone, so that the tension of the parachute after opening can act on the high-strength structure of the drone. Specifically, the high-strength structure can be the arm of the drone, that is, the tension of the parachute after opening can act on the arm of the drone. During the use of the drone system, the mounting bracket can be left on the drone for a long time and can be loaded into the packaging box of the drone, and the main part of the parachute can be quickly disassembled and packaged separately for transportation.

[0178] In terms of software, in order to enable data transmission between the drone and the parachute, the drone can provide a registration protocol to the outside world. When the parachute MCU sends a registration command according to the agreed communication protocol, the drone can record the relevant registration information and push part of the parachute information to the ground terminal. The relevant registration information of the parachute can also be displayed through the ground terminal. The displayed relevant registration information can prompt the user of the communication connection status between the parachute and the drone.

[0179] In addition, the drone can also support the display of third-party status protocols. After the parachute MCU sends status data according to the agreed protocol, the drone can display the corresponding information on the ground terminal, so as to remind the user to promptly know the operating status of the parachute on the drone. This makes it convenient to trigger protective actions such as preventing takeoff, returning, and landing when abnormal operations occur on the parachute or drone.

[0180] In addition, the drone can provide a propeller stop protocol. When the parachute MCU sends a propeller stop command according to the agreed protocol, it can send a propeller stop command to each ESC on the drone based on the propeller stop command. After receiving the propeller stop command, the ESC can stop the drive motor from rotating, causing the drone to lose power immediately. Furthermore, in order to prevent the propeller blades from continuing to rotate due to airflow during landing, the ESC will enter active propeller lock mode.

[0181] Specifically, Fig.13 As shown, this embodiment provides an implementation principle of a control method for a drone system. The drone system may include an avionics system, which is used to provide power for the drone and the parachute. The parachute can perform self-checking operations based on the power provided by the avionics system. When the parachute self-checks that the parachute is in an abnormal state, it can send status information to the drone. The status information may include abnormal reason text information or a flight blocking command, and then the drone can be prohibited from flying based on the flight blocking command. For example, the drone can be controlled to shut down the power operation. After obtaining the abnormal reason text information, the abnormal reason text can be forwarded to the terminal APP, so that the terminal APP can display the abnormal reason text, so that the user can quickly and intuitively understand the abnormal information of the drone system through the displayed abnormal reason text.

[0182] The following is an explanation of the working process of the UAV system. Fig.14 As shown, the execution subject of the control method of the drone system in this embodiment is the control terminal of the drone system. When the control terminal executes the control method of the drone system, the following steps may be included:

[0183] Step 1: Install the parachute on the drone.

[0184] Among them, a reserved interface for installing a parachute is provided on the drone, and the parachute can be inserted into the reserved interface on the drone to enable the parachute to be installed on the drone.

[0185] Step 2: Power on the drone and parachute.

[0186] For a parachute, the working process of the parachute may include: when the parachute is connected to the drone, the parachute will be powered by the drone. Furthermore, an energy storage unit, such as a capacitor, may be reserved in the parachute, so that when the drone battery suddenly loses power abnormally, the reserved energy storage unit can still ensure that the parachute can work normally for a period of time, which is conducive to improving the safety and reliability of the operation of the drone system.

[0187] Step 3: The parachute sends registration information to the drone so that the control terminal can record the registration information of the parachute.

[0188] After the parachute is powered on, the parachute can register relevant parachute information with the drone, such as parachute brand, production date, product code, etc. The above parachute information can be recorded in the flight log and partially pushed to the ground terminal for display, for example, displaying the parachute brand information on the terminal APP, etc.

[0189] Step 4: The parachute performs a self-check operation.

[0190] Among them, the parachute starts to perform continuous self-inspection operations. If any major functional abnormality is found, a flight-stop command can be sent to the drone, and the specific reason can be sent to the terminal APP through the drone.

[0191] Step 5: Determine whether there is any abnormality with the parachute.

[0192] Specifically, the self-test data obtained by the self-test operation is analyzed and compared with a preset standard data range. When the self-test data is within the standard data range, it is determined that the parachute is operating normally; when the self-test data exceeds the standard data range, it is determined that the parachute is operating abnormally.

[0193] Step 6: After confirming that the parachute is operating normally, the drone can perform normal takeoff operations. At this time, the parachute can be successfully activated to protect the drone. After that, the parachute can periodically perform self-check operations.

[0194] Step 7: After determining that the parachute is operating abnormally, you can check whether the drone is in flight.

[0195] Step 8: When the drone is in flight, the parachute operation abnormalities and causes may be displayed so that the user can perform troubleshooting operations based on the displayed parachute operation abnormalities and causes.

[0196] Among them, after the drone takes off, the parachute can periodically communicate with the drone, so as to obtain the operating status of the parachute and give different prompts to the user about the operating status of the parachute.

[0197] Step 9: When the UAV is not in flight, the parachute can send a flight blocking command to the UAV to indicate the cause of the fault, so as to prohibit the UAV from flying based on the flight blocking command.

[0198] Specifically, when the UAV is not in a flying state (before the UAV takes off) and the parachute is in a faulty state, a flight-blocking command can be generated, and the UAV can be prohibited from performing flight operations based on the flight-blocking command, that is, the UAV can avoid normal rotation and takeoff operations when the parachute is in an abnormal state. This can effectively reduce the safety hazards that exist during the operation of the UAV system.

[0199] Step 10: The reason why the drone cannot take off is displayed on the display device on the control terminal so that the user can know the operating status of the drone in time.

[0200] Specifically, if an abnormality is detected in the parachute during the flight of the UAV, the reason for the failure to take off can be displayed on the ground terminal, and user operation suggestions can be given. The user can perform troubleshooting operations based on the displayed prompt information and operation suggestions. After the troubleshooting, the UAV enters a flightable state and the parachute's flight protection function for the UAV can be activated, which effectively ensures the stability and reliability of the control method of the UAV system.

[0201] Step 11: When the drone is in flight and it is detected that the drone is in an abnormal state, the parachute protection function can be triggered.

[0202] Reference Fig.15 As shown, when the drone is in flight and the drone is detected to be in an abnormal state, the protection function of the parachute can be triggered. Specifically, a stop propeller command can be generated and sent to the drone. After the drone obtains the stop propeller command, the propeller on the drone can be controlled to stop and the propeller on the drone can be locked. In some instances, after the stop propeller command is obtained, the electric regulator on the drone can output a zero voltage vector immediately after receiving the stop propeller command. Specifically, after the electric regulator brakes the blades, it will still keep outputting a zero voltage vector until the landing is completed to increase the rotational resistance of the motor and the blades, so that the propeller on the drone can be quickly braked. Alternatively, the electric regulator can also be controlled to output a fixed voltage vector, so that the motor and the propeller can be locked in a fixed electrical position. It can be understood that the duration of the braking process can vary based on the motor and the blades. Generally, the duration of the braking process can range from a few milliseconds to hundreds of milliseconds.

[0203] In order to prevent the propeller of the drone from rotating due to the influence of the rising air flow during the descent, thereby entangled in the parachute rope and affecting the deployment and protection effect of the parachute, the parachute can be opened after the propeller is stopped and locked. That is, after the blade braking is completed, the parachute is controlled to start popping out. Specifically, the parachute can be thrown out by explosion or high-pressure gas, so that the drone after stopping the propellers can slowly land under the protection of the parachute, thereby effectively realizing the landing of the drone at a controllable speed. After landing, the user can find the drone nearby according to the last position transmitted back by the drone.

[0204] In other instances, when the drone is in flight, in addition to triggering the parachute's protection function when the parachute relies on sensors to detect that the drone is in an abnormal and uncontrollable state, the parachute's protection function can also be triggered when the user actively triggers the parachute opening command. This effectively realizes the parachute's protection function for the drone when the user actively triggers it.

[0205] The control method of the drone system provided in this application embodiment, wherein the drone and the parachute can be connected to each other through a communication interface. The communication interface has both communication and power supply functions relative to the parachute. Therefore, the control method can implement the following process:

[0206] (1) After the drone and the parachute are connected in communication, the parachute can periodically perform self-check operations. Before the user controls the drone to take off, the parachute can self-check and communicate to inform the drone. The user can intuitively and quickly know the operating status of the parachute. When the parachute is in an abnormal state, the drone can be prevented from flying, and an alarm indication can be generated, thereby avoiding unprotected flight.

[0207] (2) When the UAV is in flight, the parachute will perform periodic self-checks and communicate with the UAV. If a parachute malfunctions, an alarm will be generated so that the user can know the malfunction status of the parachute in a timely manner and take appropriate safety measures based on the malfunction status to reduce the potential safety hazards of the UAV flight.

[0208] (3) When the drone is in flight and a malfunction occurs, for example, when the drone's posture is detected to be uncontrollable (by sensor detection or user observation), it can be determined that the drone has malfunctioned. At this time, in order to ensure the safety and reliability of the drone's operation, a propeller stop command can be generated. After the drone receives the propeller stop command, the motor can be triggered to stop the propeller and lock the propeller. After locking the propeller, the parachute can be opened, so that the drone can brake and lock the power system in the first place, and can also effectively avoid or reduce the risk of the parachute rope being entangled between the parachute and the propeller, thereby ensuring the safety and reliability of the drone's operation.

[0209] Fig.16 A flowchart of a method for controlling a drone provided by an embodiment of the present invention; see attached Fig.16 As shown, this embodiment provides a method for controlling a drone, wherein a parachute is installed on the drone, and the drone includes a propeller for providing flight power. In addition, the execution subject of the above method can be a control device of the drone. It can be understood that the control device of the drone can be implemented as software or a combination of software and hardware. In specific implementation, the control device of the drone can be set on the drone, or the control device of the drone can be set independently of the drone. In this case, the control device can be connected to the drone and the parachute in communication to control the drone and the parachute.

[0210] Specifically, the control method of the drone may include the following steps:

[0211] Step S1701: Obtain the propeller lock instruction of the drone.

[0212] Step S1702: In response to the propeller lock instruction, the propeller is controlled to stop and lock.

[0213] Step S1703: Open the parachute.

[0214] Specifically, the implementation method and implementation effect of the above steps in this embodiment are similar to the implementation method and implementation effect of steps S101 to S103 in the above embodiment. For details, please refer to the above statements and will not be repeated here.

[0215] In some instances, the drone is provided with a sensor for sensing the flight status data of the drone; obtaining the propeller lock instruction of the drone may include: obtaining the flight status data of the drone collected by the sensor; if it is determined that the drone has a flight failure based on the flight status data, generating a propeller lock instruction.

[0216] In some instances, obtaining a propeller lock instruction for the drone may include: obtaining a propeller lock instruction sent by a control terminal that is communicatively connected to the drone, wherein the propeller lock instruction is generated by the control terminal detecting a user's propeller lock instruction operation.

[0217] In some examples, the drone includes a motor for installing and driving a propeller, and controlling the propeller to stop and lock the propeller may include: controlling the motor to stop rotating and preventing the motor from rotating to stop the propeller and lock the propeller.

[0218] In some instances, after obtaining the propeller lock command of the drone, the method in this embodiment may also include: detecting whether the drone is in a flight state; when the drone is in a flight state, allowing a response to the propeller lock command; when the drone is not in a flight state, refusing to respond to the propeller lock command.

[0219] In some examples, the method in this embodiment may further include: when the drone is in flight, if parachute fault indication information is obtained, controlling the drone to perform a first safety operation.

[0220] In some examples, controlling the drone to perform the first safety operation may include: controlling the drone to land or return.

[0221] In some examples, controlling the drone to land or return may include: detecting whether the drone is in a state of flying over a crowd; and when it is determined that the drone is in a state of flying over a crowd, controlling the drone to land or return.

[0222] In some examples, detecting whether the drone is in a state of flying over a crowd may include: determining whether the drone is located in a crowd activity area; if it is determined that the drone is located in the crowd activity area, determining that the drone is in a state of flying over a crowd.

[0223] In some instances, the method in this embodiment may further include: before the drone takes off, if fault indication information of the parachute is obtained, refusing to respond to the user's take-off instruction.

[0224] In other instances, obtaining fault indication information of the parachute and refusing to respond to the user's take-off instruction may include: determining whether the drone is located in a crowd activity area; and refusing to respond to the user's take-off instruction when the drone is located in a crowd activity area and obtaining fault indication information of the parachute.

[0225] In some instances, determining whether the drone is located in a crowd activity area may include: obtaining a position collected by a satellite positioning device of the drone; determining whether the drone is located in a crowd activity area based on the position; if the position is within a preset crowd activity area, determining that the drone is located in the crowd activity area; otherwise, determining that the drone is not located in the crowd activity area.

[0226] In some instances, determining whether a drone is located in a crowd activity area may include: acquiring sensor data collected by an imaging device or a temperature sensor of the drone; detecting whether there are crowds in the surrounding environment of the drone based on the sensor data; if it is determined that there are crowds in the surrounding environment of the drone, determining that the drone is located in a crowd activity area; otherwise, determining that the drone is not located in a crowd activity area.

[0227] In some instances, after the parachute is activated, the method in this embodiment may further include: obtaining the landing position information of the UAV; sending the landing position information to a control terminal that is communicatively connected to the UAV, so as to display the landing position information through the control terminal.

[0228] The specific implementation process and implementation effect of the above steps in this embodiment are the same as those in the above Figure 1-16 The specific implementation process and implementation effects of the steps in the embodiments are similar, and specific reference may be made to the above statements, which will not be repeated here.

[0229] Fig.17 A schematic diagram of a parachute control method provided by an embodiment of the present invention; Fig.17 As shown, this embodiment provides a method for controlling a parachute, wherein the parachute is mounted on a drone and is in communication connection with the drone, and the drone includes a propeller for providing flight power. In addition, the execution subject of the above method may be a control device for the parachute, and it is understood that the control device for the parachute may be implemented as software or a combination of software and hardware. In specific implementation, the control device for the parachute may be arranged on the parachute, or the control device for the parachute may be arranged independently of the parachute, and the control device may be in communication connection with the parachute to control the parachute.

[0230] Specifically, the parachute control method may include the following steps:

[0231] Step S1801: Obtain the propeller lock instruction of the drone.

[0232] Among them, the implementation method and implementation effect of the above steps in this embodiment are similar to the implementation method and implementation effect of step S101 in the above embodiment. For details, please refer to the above statements and will not be repeated here.

[0233] Step S1802: Send a propeller lock command to the drone to control the propeller of the drone to stop and lock the propeller based on the propeller lock command.

[0234] Among them, after obtaining the propeller lock instruction, in order to accurately control the drone, a propeller lock instruction can be sent to the drone to control the propeller of the drone to stop and lock the propeller based on the propeller lock instruction.

[0235] Step S1803: Activate the parachute.

[0236] After controlling the drone's propellers to stop and lock them, the parachute can be started, thereby effectively ensuring that the parachute is opened after the propellers are stopped and locked, effectively avoiding entanglement between the motor and the propeller, and thus ensuring the safety and reliability of the drone's operation.

[0237] In some instances, the parachute includes a sensor; obtaining the propeller lock instruction of the drone may include: obtaining flight status data of the drone collected by the sensor; if it is determined that the drone has a flight failure based on the flight status data, generating a propeller lock instruction.

[0238] In some instances, obtaining a propeller lock instruction for the drone may include: obtaining a propeller lock instruction sent by a control terminal that is in communication with the parachute, wherein the propeller lock instruction is generated by the control terminal detecting a user's propeller lock instruction operation.

[0239] In some instances, the method in this embodiment may further include: monitoring the operating status of the parachute to determine whether fault indication information of the parachute is obtained.

[0240] In some examples, monitoring the working state of the parachute may include: obtaining the operating state of the parachute; and when the operating state is a fault state, obtaining fault indication information of the parachute.

[0241] In some examples, obtaining the operating status of the parachute may include: obtaining periodic self-check information of the parachute; and determining the operating status of the parachute based on the self-check information.

[0242] In some examples, the self-test information includes at least one of the following: self-test information of equipment included in the parachute, and self-test information of the environment in which the parachute is located.

[0243] In some examples, determining the operating state of the parachute based on the self-check information may include: when the self-check information meets the set conditions, determining that the operating state of the parachute is a normal state; when the self-check information does not meet the set conditions, determining that the operating state of the parachute is an abnormal state.

[0244] In some instances, the method in this embodiment may further include: if fault indication information of the parachute is obtained, sending the fault indication information to a control terminal that is communicatively connected to the parachute, so that the fault indication information is displayed through the control terminal.

[0245] In some instances, the method further includes: if fault indication information of the parachute is obtained, determining the abnormal cause corresponding to the fault indication information; sending the fault indication information and the abnormal cause to a control terminal that is communicatively connected to the parachute, so as to display the fault indication information and the abnormal cause through the control terminal.

[0246] In some instances, after monitoring the operating status of the parachute, the method in this embodiment may further include: sending the operating status of the parachute to a drone, so that the drone determines whether to obtain the fault indication information based on the operating status.

[0247] In some instances, after obtaining the fault indication information of the parachute, the method in this embodiment may further include: detecting whether the UAV is in a flight state; when the UAV is in a flight state, generating a return instruction or a landing instruction corresponding to the UAV, and sending the return instruction or the landing instruction to the UAV; when the UAV is not in a flight state, generating a prohibition flight instruction corresponding to the UAV, and sending the prohibition flight instruction to the UAV.

[0248] The specific implementation process and implementation effect of the above steps in this embodiment are the same as those in the above Figure 1-16 The specific implementation process and implementation effects of the steps in the embodiments are similar, and specific reference may be made to the above statements, which will not be repeated here.

[0249] Fig.18 A schematic diagram of a control device for a drone system according to an embodiment of the present invention; see attached Fig.18 As shown, this embodiment provides a control device for an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system includes an unmanned aerial vehicle and a parachute mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle includes a propeller for providing flight power; the control device of the unmanned aerial vehicle system can execute the above Figure 1 The control method of the UAV system shown in the figure, specifically, the control device may include:

[0250] A first memory 12, used for storing computer programs;

[0251] The first processor 11 is configured to run the computer program stored in the first memory 12 to implement:

[0252] Get the drone's propeller lock command;

[0253] In response to the propeller lock instruction, the propeller is controlled to stop and lock;

[0254] Open the parachute.

[0255] Optionally, the processor 11 is further configured to execute the aforementioned Figure 1-Figure 15 All or part of the steps in at least some of the embodiments shown.

[0256] The structure of the electronic device may further include a first communication interface 13, which is used for the electronic device to communicate with other devices or a communication network.

[0257] In some instances, the UAV system includes a sensor for sensing flight status data of the UAV; when the first processor 11 obtains a propeller lock instruction of the UAV, the first processor 11 is used to: obtain the flight status data of the UAV collected by the sensor; if it is determined based on the flight status data that the UAV has a flight failure, generate a propeller lock instruction.

[0258] In some examples, the sensor is located in a drone or in a parachute.

[0259] In some examples, the sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute; when the first processor 11 acquires the flight status data of the drone acquired by the sensor, the first processor 11 is used to: acquire the first flight status data of the drone acquired by the first sensor; acquire the second flight status data of the drone acquired by the second sensor;

[0260] If the first processor 11 determines that the UAV has a flight failure based on the flight status data and generates a propeller lock instruction, the first processor 11 is used to: generate the propeller lock instruction if it is determined that the UAV has a flight failure based on the first flight status data or if it is determined that the UAV has a flight failure based on the second flight status data.

[0261] In some examples, the sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute; when the first processor 11 acquires the flight status data of the drone acquired by the sensor, the first processor 11 is used to: acquire the first flight status data of the drone acquired by the first sensor; acquire the second flight status data of the drone acquired by the second sensor;

[0262] If the first processor 11 determines that the UAV has a flight fault based on the flight status data and generates the propeller lock instruction, the first processor 11 is used to: if it is determined that the UAV has a flight fault based on the first flight status data and if it is determined that the UAV has a flight fault based on the second flight status data, generate the propeller lock instruction.

[0263] In some instances, when the first processor 11 obtains a propeller lock instruction of the drone, the first processor 11 is used to: obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone system, wherein the propeller lock instruction is generated by the control terminal detecting a user's propeller lock instruction operation.

[0264] In some instances, the drone includes a motor for installing and driving a propeller. When the first processor 11 controls the propeller to stop and lock the propeller, the first processor 11 is used to: control the motor to stop rotating and prevent the motor from rotating to stop and lock the propeller.

[0265] In some examples, the first processor 11 is further used to monitor the operating status of the parachute to determine whether fault indication information of the parachute is obtained.

[0266] In some instances, the first processor 11 is further used to: if fault indication information is obtained, upload the identity information of the drone or the drone user and / or the location of the drone to the regulatory agency, or perform a fault indication information recording operation.

[0267] In some instances, the first processor 11 is further used to: if the fault indication information is acquired, send the fault indication information to a control terminal that is communicatively connected to the drone, so as to display the fault indication information through the control terminal.

[0268] In some examples, the first processor 11 is further configured to: if the fault indication information is acquired, determine an abnormality cause corresponding to the fault indication information;

[0269] The fault indication information and the abnormal cause are sent to a control terminal that is communicatively connected to the drone, so that the fault indication information and the abnormal cause are displayed through the control terminal.

[0270] In some instances, after obtaining the propeller lock instruction of the drone, the first processor 11 is also used to: detect whether the drone is in a flight state; when the drone is in a flight state, allow response to the propeller lock instruction; when the drone is not in a flight state, refuse to respond to the propeller lock instruction.

[0271] In some examples, the first processor 11 is further used to: when the UAV is in flight, if parachute fault indication information is obtained, control the UAV to perform a first safety operation.

[0272] In some examples, when the first processor 11 controls the drone to perform the first safety operation, the first processor 11 is also used to control the drone to land or return.

[0273] In some examples, when the first processor 11 controls the drone to land or return, the first processor 11 is also used to: detect whether the drone is in a state of flying over a crowd; and when it is determined that the drone is in a state of flying over a crowd, control the drone to land or return.

[0274] In some instances, when the first processor 11 detects whether the drone is in a state of flying over a crowd, the first processor 11 is used to: determine whether the drone is located in a crowd activity area; if it is determined that the drone is located in the crowd activity area, determine that the drone is in a state of flying over a crowd.

[0275] In some examples, the first processor 11 in this embodiment is also used for: before the UAV takes off, if fault indication information of the parachute is obtained, refusing to respond to the user's take-off instruction.

[0276] In some instances, when the first processor 11 obtains fault indication information of the parachute and refuses to respond to the user's take-off instruction, the first processor 11 is used to: determine whether the drone is located in a crowd activity area; when the drone is located in a crowd activity area and obtains fault indication information of the parachute, refuse to respond to the user's take-off instruction.

[0277] In some instances, when the first processor 11 determines whether the drone is located in a crowd activity area, the first processor 11 is further used to: obtain the position collected by the satellite positioning device of the drone; determine whether the drone is located in the crowd activity area based on the position; if the position is within the preset crowd activity area, determine that the drone is located in the crowd activity area; otherwise, determine that the drone is not located in the crowd activity area.

[0278] In some instances, when the first processor 11 determines whether the drone is located in a crowd activity area, the first processor 11 is further used to: obtain sensor data collected by the drone's imaging device or temperature sensor; determine whether the drone is located in a crowd activity area based on the sensor data; if it is determined that there are crowds in the surrounding environment of the drone, determine that the drone is located in the crowd activity area; otherwise, determine that the drone is not located in the crowd activity area.

[0279] In some examples, when the first processor 11 obtains the fault indication information of the parachute, the first processor 11 is further used to: obtain the operating state of the parachute; when the operating state is a fault state, obtain the fault indication information of the parachute.

[0280] In some examples, when the first processor 11 obtains the operating status of the parachute, the first processor 11 is further used to: obtain periodic self-check information of the parachute; and determine the operating status of the parachute based on the self-check information.

[0281] In some examples, the self-test information includes at least one of the following: self-test information of equipment included in the parachute, and self-test information of the environment in which the parachute is located.

[0282] In some instances, when the first processor 11 determines the operating state of the parachute based on the self-test information, the first processor 11 is also used to: when the self-test information meets the set conditions, determine that the operating state of the parachute is a normal state; when the self-test information does not meet the set conditions, determine that the operating state of the parachute is an abnormal state.

[0283] In some examples, the first processor 11 is further configured to display fault indication information of the parachute.

[0284] In some examples, the first processor 11 is further used to: determine the abnormality cause corresponding to the fault indication information; and display the fault indication information and the abnormality cause.

[0285] In some instances, after the parachute is activated, the first processor 11 is further used to: obtain the landing position information of the UAV; send the landing position information to a control terminal that is communicatively connected to the UAV, so as to display the landing position information through the control terminal.

[0286] In some instances, the first processor 11 is further used to: obtain device information sent by the parachute; send the device information to a control terminal that is communicatively connected to the drone, so as to display the device information through the control terminal, or store the device information.

[0287] Fig.18 The device shown can perform Figures 1 to 15 For the method of the embodiment shown in the figure, the part not described in detail in this embodiment can be referred to Figures 1 to 15 The implementation process and technical effects of this technical solution refer to Figures 1 to 15 The description in the illustrated embodiment will not be repeated here.

[0288] In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by electronic devices, which includes instructions for executing the above Figure 1-Figure 15 The procedures involved in the control method of the drone system in at least some of the embodiments shown.

[0289] Fig.19 A schematic diagram of the structure of a drone provided by an embodiment of the present invention; see attached Fig.19 As shown, this embodiment provides a drone, wherein a parachute can be installed on the drone, and the drone includes a propeller for providing flight power; the drone can perform the above Fig.16 The control method of the drone shown, specifically, the drone may include:

[0290] A second memory 22, for storing computer programs;

[0291] The second processor 21 is configured to run the computer program stored in the second memory 22 to implement:

[0292] Get the drone's propeller lock command;

[0293] In response to the propeller lock instruction, the propeller is controlled to stop and lock;

[0294] Open the parachute.

[0295] Optionally, the second processor 21 is further configured to execute the aforementioned Figure 1-Figure 15 All or part of the steps in at least some of the embodiments shown.

[0296] The structure of the electronic device may further include a second communication interface 23 for the electronic device to communicate with other devices or a communication network.

[0297] In some instances, the drone is provided with a sensor for sensing the flight status data of the drone; when the second processor 21 obtains the propeller lock instruction of the drone, the second processor 21 is used to: obtain the flight status data of the drone collected by the sensor; if it is determined that the drone has a flight failure based on the flight status data, generate a propeller lock instruction.

[0298] In some instances, when the second processor 21 obtains a propeller lock instruction of the drone, the second processor 21 is used to: obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone, wherein the propeller lock instruction is generated by the control terminal detecting a user's propeller lock instruction operation.

[0299] In some instances, the drone includes a motor for installing and driving a propeller. When the second processor 21 controls the propeller to stop and lock the propeller, the second processor 21 is used to: control the motor to stop rotating and prevent the motor from rotating to stop and lock the propeller.

[0300] In some instances, after obtaining the propeller lock instruction of the drone, the second processor 21 is also used to: detect whether the drone is in a flight state; when the drone is in a flight state, allow response to the propeller lock instruction; when the drone is not in a flight state, refuse to respond to the propeller lock instruction.

[0301] In some examples, the second processor 21 is further used to: when the UAV is in flight, if parachute fault indication information is obtained, control the UAV to perform a first safety operation.

[0302] In some examples, when the second processor 21 controls the drone to perform the first safety operation, the second processor 21 is used to control the drone to land or return.

[0303] In some examples, when the second processor 21 controls the drone to land or return, the second processor 21 is used to: detect whether the drone is in a state of flying over a crowd; and when it is determined that the drone is in a state of flying over a crowd, control the drone to land or return.

[0304] In some examples, when the second processor 21 detects whether the drone is in a state of flying over a crowd, the second processor 21 is used to: determine whether the drone is located in a crowd activity area; if it is determined that the drone is located in the crowd activity area, determine that the drone is in a state of flying over a crowd.

[0305] In some examples, the second processor 21 is further configured to: before the drone takes off, if fault indication information of the parachute is obtained, refuse to respond to a take-off command from the user.

[0306] In some instances, when the second processor 21 obtains fault indication information of the parachute and refuses to respond to the user's take-off instruction, the second processor 21 is further used to: determine whether the drone is located in a crowd activity area; and refuse to respond to the user's take-off instruction when the drone is located in a crowd activity area and obtains fault indication information of the parachute.

[0307] In some instances, when the second processor 21 detects whether the drone is in a state of flying over a crowd, the second processor 21 is used to: obtain the position collected by the satellite positioning device of the drone; determine whether the drone is located in a crowd activity area based on the position; if the position is within a preset crowd activity area, determine that the drone is located in the crowd activity area; otherwise, determine that the drone is not located in the crowd activity area.

[0308] In some instances, when the second processor 21 detects whether the drone is in a state of flying over a crowd, the second processor 21 is used to: obtain sensor data collected by the drone's imaging device or temperature sensor; detect whether there are crowds in the surrounding environment of the drone based on the sensor data; if it is determined that there are crowds in the surrounding environment of the drone, then it is determined that the drone is located in the crowd activity area; otherwise, it is determined that the drone is not located in the crowd activity area.

[0309] In some instances, after the parachute is activated, the second processor 21 is also used to: obtain the landing position information of the UAV; send the landing position information to a control terminal that is communicatively connected to the UAV, so as to display the landing position information through the control terminal.

[0310] Fig.19The drone shown can perform Figures 1 to 15 For the method of the embodiment shown in the figure, the part not described in detail in this embodiment can be referred to Figures 1 to 15 The implementation process and technical effects of this technical solution refer to Figures 1 to 15 The description in the illustrated embodiment will not be repeated here.

[0311] In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by electronic devices, which includes instructions for executing the above Figure 1-Figure 15 The procedures involved in the control method of the drone in at least some of the embodiments shown.

[0312] Fig. 20 A schematic diagram of the structure of a parachute provided in an embodiment of the present invention; Fig. 20 As shown, this embodiment provides a parachute, which can be installed on a drone and communicated with the drone, and the drone includes a propeller for providing flight power; specifically, the parachute can perform the above Fig.17 The control method of the parachute shown, specifically, the parachute may include:

[0313] A third memory 32, for storing computer programs;

[0314] The third processor 31 is configured to run the computer program stored in the third memory 32 to implement:

[0315] Get the drone's propeller lock command;

[0316] Sending a propeller lock command to the drone, so as to control the propeller of the drone to stop and lock the propeller based on the propeller lock command;

[0317] Activate the parachute.

[0318] Optionally, the third processor 31 is also used to execute the aforementioned Figure 1-Figure 15 All or part of the steps in at least some of the embodiments shown.

[0319] The structure of the electronic device may further include a third communication interface 33 for the electronic device to communicate with other devices or a communication network.

[0320] In some instances, the parachute includes a sensor; when the third processor 31 obtains the propeller lock instruction of the UAV, the third processor 31 is also used to: obtain the flight status data of the UAV collected by the sensor; determine whether the UAV has a flight failure based on the flight status data, and if it is determined that the UAV has a flight failure, generate a propeller lock instruction.

[0321] In some instances, when the third processor 31 obtains a propeller lock instruction, the third processor 31 is further used to: obtain a propeller lock instruction sent by a control terminal that is connected to the parachute for communication, wherein the propeller lock instruction is generated by the control terminal detecting a user's propeller lock instruction operation.

[0322] In some examples, the third processor 31 is further used to monitor the operating status of the parachute to determine whether fault indication information of the parachute is obtained.

[0323] In some examples, when the third processor 31 obtains the fault indication information of the parachute, the third processor 31 is further used to: obtain the operating state of the parachute; when the operating state is a fault state, obtain the fault indication information of the parachute.

[0324] In some examples, when the third processor 31 obtains the operating status of the parachute, the third processor 31 is further used to: obtain periodic self-check information of the parachute; and determine the operating status of the parachute based on the self-check information.

[0325] In some examples, the self-test information includes at least one of the following: self-test information of equipment included in the parachute, and self-test information of the environment in which the parachute is located.

[0326] In some instances, when the third processor 31 determines the operating state of the parachute based on the self-test information, the third processor 31 is also used to: when the self-test information meets the set conditions, determine that the operating state of the parachute is a normal state; when the self-test information does not meet the set conditions, determine that the operating state of the parachute is an abnormal state.

[0327] In some examples, the third processor 31 is further used for: if fault indication information of the parachute is obtained, sending the fault indication information to a control terminal that is communicatively connected to the parachute, so as to display the fault indication information through the control terminal.

[0328] In some instances, the third processor 31 is also used to: if fault indication information of the parachute is obtained, determine the abnormal cause corresponding to the fault indication information; send the fault indication information and the abnormal cause to a control terminal that is communicatively connected to the parachute, so as to display the fault indication information and the abnormal cause through the control terminal.

[0329] In some examples, after monitoring the operating status of the parachute, the third processor 31 is further used to: send the operating status of the parachute to the drone, so that the drone determines whether to obtain the fault indication information according to the operating status.

[0330] In some instances, after obtaining the fault indication information of the parachute, the third processor 31 is also used to: detect whether the UAV is in a flight state; when the UAV is in a flight state, generate a return instruction or a landing instruction corresponding to the UAV, and send the return instruction or the landing instruction to the UAV; when the UAV is not in a flight state, generate a prohibition flight instruction corresponding to the UAV, and send the prohibition flight instruction to the UAV.

[0331] Fig. 20 The parachute shown can be performed Figures 1 to 15 For the method of the embodiment shown in the figure, the part not described in detail in this embodiment can be referred to Figures 1 to 15 The implementation process and technical effects of this technical solution refer to Figures 1 to 15 The description in the illustrated embodiment will not be repeated here.

[0332] In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by electronic devices, which includes instructions for executing the above Figure 1-Figure 15 The procedures involved in the parachute control method in at least some embodiments shown.

[0333] Fig.21 A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 1 ; Reference Attachment Fig.21 As shown, this embodiment provides a drone system, which may include:

[0334] The drone 41 includes a propeller for providing flight power;

[0335] A parachute 42, mounted on the drone 41;

[0336] Above Fig.18 The control device 43 of the drone system is shown, and the control device 43 is used to control the drone 41 and the parachute 42.

[0337] The control device 43 can be arranged on the drone 41 or the parachute 42. Fig.21 The implementation principle, effect and process of the UAV system shown are the same as those mentioned above. Fig.18 The implementation principle, implementation effect and implementation process of the control device of the drone system in the embodiment are similar, and can be seen in detail. Fig.18 The description in the illustrated embodiment will not be repeated here.

[0338] Fig. 22 A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 2 ; Reference Attachment Fig. 22As shown, this embodiment provides a drone system, which may include:

[0339] Above Fig.19 The drone 51 includes a propeller for providing flight power;

[0340] The parachute 52 is installed on the drone 51 .

[0341] Fig. 22 The implementation principle, effect and process of the UAV system shown are the same as those mentioned above. Fig.19 The implementation principle, implementation effect and implementation process of the drone 51 in the embodiment are similar, and can be found in detail. Fig.19 The description in the illustrated embodiment will not be repeated here.

[0342] Fig.23 A schematic diagram of the structure of a drone system provided by an embodiment of the present invention Figure 3 ; Reference Attachment Fig.23 As shown, this embodiment provides a drone system, which may include:

[0343] The drone 61 includes a propeller for providing flight power;

[0344] Above Fig. 20 The parachute 62 shown is installed on the drone 61.

[0345] Fig.23 The implementation principle, effect and process of the UAV system shown are the same as those mentioned above. Fig. 20 The implementation principle, implementation effect and implementation process of the parachute 62 in the embodiment are similar, and can be specifically referred to in Fig. 20 The description in the illustrated embodiment will not be repeated here.

[0346] The technical solutions and technical features in the above embodiments can be used separately or in combination when they conflict with this invention. As long as they do not exceed the cognitive scope of those skilled in the art, they are equivalent embodiments within the protection scope of this application.

[0347] In the several embodiments provided by the present invention, it should be understood that the disclosed related remote control devices and methods can be implemented in other ways. For example, the remote control device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the remote control device or unit can be electrical, mechanical or other forms.

[0348] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0349] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0350] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer processor to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0351] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

[0352] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an unmanned aerial vehicle system, characterized in that: The drone system includes a drone and a parachute mounted on the drone, the drone includes a propeller for providing flight power, and the method includes: Obtaining a propeller lock instruction of the drone; In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller; opening the parachute; The drone includes a motor for installing and driving the propeller, and the method of controlling the propeller to stop and lock the propeller includes: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

2. The method according to claim 1, characterized in that The UAV system includes a sensor for sensing flight status data of the UAV, and obtaining a propeller lock instruction of the UAV includes: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

3. The method according to claim 2, characterized in that The sensor is arranged in the drone or in the parachute.

4. The method according to claim 2, characterized in that: The sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute, and obtaining the flight status data of the drone collected by the sensor includes: Acquire first flight status data of the drone collected by the first sensor; Acquire second flight state data of the UAV collected by the second sensor; If it is determined according to the flight status data that the UAV has a flight failure, generating the propeller lock instruction includes: If it is determined that the UAV has a flight failure based on the first flight status data or if it is determined that the UAV has a flight failure based on the second flight status data, the propeller lock instruction is generated.

5. The method according to claim 2, characterized in that: The sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute, and obtaining the flight status data of the drone collected by the sensor includes: Acquire first flight status data of the drone collected by the first sensor; Acquire second flight state data of the UAV collected by the second sensor; If it is determined according to the flight status data that the UAV has a flight failure, generating the propeller lock instruction includes: If it is determined that the UAV has a flight failure according to the first flight status data and if it is determined that the UAV has a flight failure according to the second flight status data, the propeller lock instruction is generated.

6. The method according to claim 1, characterized in that Obtain the propeller lock command of the drone, including: Obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone system, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

7. The method according to claim 1, characterized in that The method further comprises: The operating state of the parachute is monitored to determine whether fault indication information of the parachute is obtained.

8. The method according to claim 7, characterized in that The method further comprises: If the fault indication information is obtained, the identity information of the drone or the drone user and / or the location of the drone is uploaded to the regulatory agency, or a fault indication information recording operation is performed.

9. The method according to claim 7, characterized in that: The method further comprises: If the fault indication information is obtained, the fault indication information is sent to a control terminal that is communicatively connected to the drone, so that the fault indication information is displayed through the control terminal.

10. The method according to claim 7, characterized in that The method further comprises: If the fault indication information is obtained, determining the abnormal cause corresponding to the fault indication information; The fault indication information and the abnormal cause are sent to a control terminal that is communicatively connected to the drone, so that the fault indication information and the abnormal cause are displayed through the control terminal.

11. The method according to claim 1, characterized in that: After obtaining the propeller lock instruction of the drone, the method further includes: Detecting whether the drone is in a flying state; When the UAV is in flight, it is allowed to respond to the propeller lock instruction; When the drone is not in flight, it refuses to respond to the propeller lock instruction.

12. The method according to claim 1 or 11, characterized in that: The method further comprises: When the UAV is in a flight state, if the fault indication information of the parachute is obtained, the UAV is controlled to perform a first safety operation.

13. The method according to claim 12, characterized in that The controlling the drone to perform a first safety operation includes: Control the drone to land or return.

14. The method according to claim 13, characterized in that Controlling the drone to land or return, including: Detecting whether the drone is in a state of flying over a crowd; When it is determined that the drone is in a state of flying over a crowd, the drone is controlled to land or return.

15. The method according to claim 14, characterized in that Detecting whether the drone is in a state of flying over a crowd includes: Determine whether the drone is in a crowd area; If the drone is located in the crowd activity area, it is determined that the drone is in a state of flying over the crowd.

16. The method according to claim 1, characterized in that The method further comprises: Before the drone takes off, if the parachute failure indication information is obtained, the drone refuses to respond to the user's take-off command.

17. The method according to claim 16, characterized in that Obtaining the fault indication information of the parachute and refusing to respond to the user's take-off instruction includes: Determining whether the drone is located in a crowd activity area; When the UAV is located in a crowd activity area and obtains the fault indication information of the parachute, it refuses to respond to the user's take-off instruction.

18. The method according to claim 15 or 17, characterized in that Determining whether the drone is located in a crowd activity area includes: Obtaining a position collected by a satellite positioning device of the UAV; Determine whether the drone is located in a crowd activity area based on the location; or, Acquiring sensor data collected by an imaging device or a temperature sensor of the drone; Determine whether the drone is located in a crowd activity area based on the sensor data.

19. The method according to claim 1, characterized in that After activating the parachute, the method further comprises: Obtaining landing location information of the UAV; The landing position information is sent to a control terminal that is communicatively connected to the drone, so that the landing position information is displayed through the control terminal.

20. The method according to claim 1, characterized in that The method further comprises: Obtaining device information sent by the parachute; The device information is sent to a control terminal that is communicatively connected to the drone, so that the device information is displayed or stored by the control terminal.

21. A method for controlling an unmanned aerial vehicle, characterized in that: The drone is equipped with a parachute, and the drone includes a propeller for providing flight power. The method includes: Obtaining a propeller lock instruction of the drone; In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller; opening the parachute; The drone includes a motor for installing and driving the propeller, and the method of controlling the propeller to stop and lock the propeller includes: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

22. The method according to claim 21, characterized in that The drone is provided with a sensor for sensing flight status data of the drone, and obtaining a propeller lock instruction of the drone includes: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

23. The method according to claim 21, characterized in that Obtain the propeller lock command of the drone, including: Obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

24. The method according to claim 21, characterized in that After obtaining the propeller lock instruction of the drone, the method further includes: Detecting whether the drone is in a flying state; When the UAV is in flight, it is allowed to respond to the propeller lock instruction; When the drone is not in flight, it refuses to respond to the propeller lock instruction.

25. The method according to claim 21 or 24, characterized in that The method further comprises: When the UAV is in a flight state, if the fault indication information of the parachute is obtained, the UAV is controlled to perform a first safety operation.

26. The method according to claim 25, characterized in that The controlling the drone to perform a first safety operation includes: Control the drone to land or return.

27. The method according to claim 26, characterized in that Controlling the drone to land or return, including: Detecting whether the drone is in a state of flying over a crowd; When it is determined that the drone is in a state of flying over a crowd, the drone is controlled to land or return.

28. The method according to claim 27, characterized in that Detecting whether the drone is in a state of flying over a crowd includes: Determine whether the drone is in a crowd area; If it is determined that the drone is located in the crowd activity area, then it is determined that the drone is in a state of flying over the crowd.

29. The method according to claim 21, characterized in that The method further comprises: Before the drone takes off, if the parachute failure indication information is obtained, the drone refuses to respond to the user's take-off command.

30. The method according to claim 29, characterized in that Obtaining the fault indication information of the parachute and refusing to respond to the user's take-off instruction includes: Determining whether the drone is located in a crowd activity area; When the UAV is located in a crowd activity area and obtains the fault indication information of the parachute, it refuses to respond to the user's take-off instruction.

31. The method according to claim 28 or 30, characterized in that: Determine whether the drone is in a crowded area, including: Obtaining a position collected by a satellite positioning device of the UAV; Determine whether the drone is located in a crowd activity area based on the location; or, Acquiring sensor data collected by an imaging device or a temperature sensor of the drone; Determine whether the drone is located in a crowd activity area based on the sensor data.

32. The method according to claim 21, characterized in that After activating the parachute, the method further comprises: Obtaining landing location information of the UAV; The landing position information is sent to a control terminal that is communicatively connected to the drone, so that the landing position information is displayed through the control terminal.

33. A method for controlling a parachute, characterized in that: The parachute is mounted on a drone and is in communication connection with the drone, the drone includes a propeller for providing flight power, and the method includes: Obtaining a propeller lock instruction of the drone; Sending a propeller lock instruction to the drone, so as to control the propeller of the drone to stop and lock the propeller based on the propeller lock instruction; activating the parachute; The drone includes a motor for installing and driving the propeller, and the method of controlling the propeller to stop and lock the propeller includes: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

34. The method according to claim 33, characterized in that The parachute includes a sensor to obtain the locking blade instruction of the drone, including: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

35. The method according to claim 33, characterized in that Obtain the propeller lock command of the drone, including: A propeller lock instruction sent by a control terminal that is communicatively connected to the parachute is obtained, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

36. The method according to claim 33, characterized in that The method further comprises: The operating state of the parachute is monitored to determine whether fault indication information of the parachute is obtained.

37. The method according to claim 36, characterized in that Monitoring the operating status of the parachute includes: Obtaining the operating status of the parachute; When the operating state is a fault state, fault indication information of the parachute is obtained.

38. The method according to claim 37, characterized in that Obtaining the operating status of the parachute, including: Obtaining periodic self-test information of the parachute; An operating state of the parachute is determined based on the self-test information.

39. The method according to claim 38, characterized in that The self-test information includes at least one of the following: Self-inspection information of the equipment included in the parachute and the self-inspection information of the environment in which the parachute is located.

40. The method according to claim 38, characterized in that Determining the operating state of the parachute based on the self-check information includes: When the self-check information meets the set conditions, it is determined that the operating state of the parachute is a normal state; When the self-check information does not meet the set conditions, it is determined that the operating state of the parachute is an abnormal state.

41. The method according to claim 35, characterized in that The method further comprises: If the fault indication information of the parachute is obtained, the fault indication information is sent to a control terminal that is communicatively connected to the parachute, so that the fault indication information is displayed through the control terminal.

42. The method according to claim 35, characterized in that The method further comprises: If the fault indication information of the parachute is obtained, determining the abnormal cause corresponding to the fault indication information; The fault indication information and the abnormal cause are sent to a control terminal that is communicatively connected to the parachute, so that the fault indication information and the abnormal cause are displayed through the control terminal.

43. The method according to claim 36, characterized in that After monitoring the operating status of the parachute, the method further comprises: The operating status of the parachute is sent to the drone, so that the drone determines whether to obtain the fault indication information according to the operating status.

44. The method according to claim 35, characterized in that After acquiring the fault indication information of the parachute, the method further includes: Detecting whether the drone is in a flying state; When the UAV is in a flight state, a return instruction or a landing instruction corresponding to the UAV is generated, and the return instruction or the landing instruction is sent to the UAV; In the drone, a flight prohibition instruction corresponding to the drone is generated, and the flight prohibition instruction is sent to the drone.

45. A control device for an unmanned aerial vehicle system, characterized in that: The drone system includes a drone and a parachute mounted on the drone, the drone includes a propeller for providing flight power, and the control device includes: Memory for storing computer programs; A processor, configured to run the computer program stored in the memory to implement: Obtaining a propeller lock instruction of the drone; In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller; opening the parachute; The drone includes a motor for installing and driving the propeller, and when the processor controls the propeller to stop and lock the propeller, the processor is used to: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

46. ​​The device according to claim 45, characterized in that The UAV system includes a sensor for sensing flight status data of the UAV, and when the processor obtains a propeller lock instruction of the UAV, the processor is configured to: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

47. The device according to claim 46, characterized in that The sensor is arranged in the drone or in the parachute.

48. The device according to claim 46, characterized in that The sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute. When the processor acquires the flight status data of the drone collected by the sensor, the processor is used to: Acquire first flight status data of the drone collected by the first sensor; Acquire second flight state data of the UAV collected by the second sensor; When the processor determines, according to the flight status data, that the UAV has a flight failure and generates the propeller lock instruction, the processor is used to: If it is determined that the UAV has a flight failure based on the first flight status data or if it is determined that the UAV has a flight failure based on the second flight status data, the propeller lock instruction is generated.

49. The device according to claim 46, characterized in that The sensor includes: a first sensor disposed in the drone and a second sensor disposed in the parachute. When the processor acquires the flight status data of the drone collected by the sensor, the processor is used to: Acquire first flight status data of the drone collected by the first sensor; Acquire second flight state data of the UAV collected by the second sensor; When the processor determines, according to the flight status data, that the UAV has a flight failure and generates the propeller lock instruction, the processor is used to: If it is determined that the UAV has a flight failure according to the first flight status data and if it is determined that the UAV has a flight failure according to the second flight status data, the propeller lock instruction is generated.

50. The device according to claim 45, characterized in that When the processor obtains the propeller lock instruction of the drone, the processor is used to: Obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone system, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

51. The device according to claim 45, characterized in that The processor is further configured to: The operating state of the parachute is monitored to determine whether fault indication information of the parachute is obtained.

52. The device according to claim 51, characterized in that The processor is further configured to: If the fault indication information is obtained, the identity information of the drone or the drone user and / or the location of the drone is uploaded to the regulatory agency, or a fault indication information recording operation is performed.

53. The device according to claim 51, characterized in that The processor is further configured to: If the fault indication information is obtained, the fault indication information is sent to a control terminal that is communicatively connected to the drone, so that the fault indication information is displayed through the control terminal.

54. The device according to claim 51, characterized in that The processor is further configured to: If the fault indication information is obtained, determining the abnormal cause corresponding to the fault indication information; The fault indication information and the abnormal cause are sent to a control terminal that is communicatively connected to the drone, so that the fault indication information and the abnormal cause are displayed through the control terminal.

55. The device according to claim 45, characterized in that After obtaining the propeller lock instruction of the drone, the processor is further used to: Detecting whether the drone is in a flying state; When the UAV is in flight, it is allowed to respond to the propeller lock instruction; When the drone is not in flight, it refuses to respond to the propeller lock instruction.

56. The device according to claim 45 or 55, characterized in that The processor is further configured to: When the UAV is in a flight state, if the fault indication information of the parachute is obtained, the UAV is controlled to perform a first safety operation.

57. The device according to claim 56, characterized in that When the processor controls the drone to perform a first safety operation, the processor is further configured to: Control the drone to land or return.

58. The device according to claim 57, characterized in that When the processor controls the drone to land or return, the processor is further configured to: Detecting whether the drone is in a state of flying over a crowd; When it is determined that the drone is in a state of flying over a crowd, the drone is controlled to land or return.

59. The device according to claim 58, characterized in that When the processor detects whether the drone is in a state of flying over a crowd, the processor is configured to: Determine whether the drone is located in a crowd activity area; If it is determined that the drone is located in the crowd activity area, then it is determined that the drone is in a state of flying over the crowd.

60. The device according to claim 45, characterized in that The processor is further configured to: Before the drone takes off, if the parachute failure indication information is obtained, the drone refuses to respond to the user's take-off command.

61. The device according to claim 60, characterized in that When the processor obtains the fault indication information of the parachute and refuses to respond to the user's take-off instruction, the processor is used to: Determining whether the drone is located in a crowd activity area; When the UAV is located in a crowd activity area and obtains the fault indication information of the parachute, it refuses to respond to the user's take-off instruction.

62. The device according to claim 59 or 61, characterized in that When the processor determines whether the drone is located in a crowd activity area, the processor is used to: Obtaining a position collected by a satellite positioning device of the UAV; Determine whether the drone is located in a crowd activity area based on the location; or, Acquiring sensor data collected by an imaging device or a temperature sensor of the drone; Determine whether the drone is located in a crowd activity area based on the sensor data.

63. The device according to claim 45, characterized in that After activating the parachute, the processor is further configured to: Obtaining landing location information of the UAV; The landing position information is sent to a control terminal that is communicatively connected to the drone, so that the landing position information is displayed through the control terminal.

64. The device according to claim 45, characterized in that The processor is further configured to: Obtaining device information sent by the parachute; The device information is sent to a control terminal that is communicatively connected to the drone, so that the device information is displayed or stored by the control terminal.

65. A drone, characterized in that: The drone is equipped with a parachute, and the drone includes a propeller for providing flight power; the drone includes: Memory for storing computer programs; A processor, configured to run the computer program stored in the memory to implement: Obtaining a propeller lock instruction of the drone; In response to the propeller lock instruction, controlling the propeller to stop and lock the propeller; opening the parachute; The drone includes a motor for installing and driving the propeller, and when the processor controls the propeller to stop and lock the propeller, the processor is used to: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

66. The drone according to claim 65, characterized in that: The drone is provided with a sensor for sensing flight status data of the drone. When the processor obtains a propeller lock instruction of the drone, the processor is used to: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

67. The drone according to claim 65, characterized in that: When the processor obtains the propeller lock instruction of the drone, the processor is used to: Obtain a propeller lock instruction sent by a control terminal that is communicatively connected to the drone, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

68. The drone according to claim 65, characterized in that: After obtaining the propeller lock instruction of the drone, the processor is further used to: Detecting whether the drone is in a flying state; When the UAV is in flight, it is allowed to respond to the propeller lock instruction; When the drone is not in flight, it refuses to respond to the propeller lock instruction.

69. The drone according to claim 65 or 68, characterized in that: The processor is further configured to: When the UAV is in a flight state, if the fault indication information of the parachute is obtained, the UAV is controlled to perform a first safety operation.

70. The drone according to claim 69, characterized in that: When the processor controls the drone to perform a first safety operation, the processor is configured to: Control the drone to land or return.

71. The drone according to claim 70, characterized in that: When the processor controls the drone to land or return, the processor is used to: Detecting whether the drone is in a state of flying over a crowd; When it is determined that the drone is in a state of flying over a crowd, the drone is controlled to land or return.

72. The drone according to claim 71, characterized in that: When the processor detects whether the drone is in a state of flying over a crowd, the processor is configured to: Determine whether the drone is in a crowd area; If it is determined that the drone is located in the crowd activity area, then it is determined that the drone is in a state of flying over the crowd.

73. The drone according to claim 65, characterized in that: The processor is further configured to: Before the drone takes off, if the parachute failure indication information is obtained, the drone refuses to respond to the user's take-off command.

74. The drone according to claim 73, characterized in that: When the processor obtains the fault indication information of the parachute and refuses to respond to the user's take-off instruction, the processor is used to: Determining whether the drone is located in a crowd activity area; When the UAV is located in a crowd activity area and obtains the fault indication information of the parachute, it refuses to respond to the user's take-off instruction.

75. The drone according to claim 72 or 74, characterized in that: When the processor determines whether the drone is located in a crowd activity area, the processor is configured to: Obtaining a position collected by a satellite positioning device of the UAV; Determine whether the drone is located in a crowd activity area based on the location; or, Acquiring sensor data collected by an imaging device or a temperature sensor of the drone; Determine whether the drone is located in a crowd activity area based on the sensor data.

76. The drone according to claim 65, characterized in that: After activating the parachute, the processor is further configured to: Obtaining landing location information of the UAV; The landing position information is sent to a control terminal that is communicatively connected to the drone, so that the landing position information is displayed through the control terminal.

77. A parachute, characterized in that: The parachute is mounted on a drone and is in communication connection with the drone. The drone includes a propeller for providing flight power. The parachute includes: Memory for storing computer programs; A processor, configured to run the computer program stored in the memory to implement: Obtaining a propeller lock instruction of the drone; Sending a propeller lock instruction to the drone, so as to control the propeller of the drone to stop and lock the propeller based on the propeller lock instruction; activating the parachute; The drone includes a motor for installing and driving the propeller, and when the processor controls the propeller to stop and lock the propeller, the processor is used to: A zero voltage vector or a preset fixed voltage vector is generated based on the propeller lock instruction, and the motor is controlled to stop rotating and prevented from rotating based on the zero voltage vector or the fixed voltage vector, and the zero voltage vector or the preset fixed voltage vector is kept output to stop the propeller and lock the propeller, and keep the propeller in a locked state.

78. The parachute according to claim 77, characterized in that The parachute includes a sensor, and when the processor obtains the locking blade instruction of the drone, the processor is further used to: Acquire the flight status data of the drone collected by the sensor; If it is determined according to the flight status data that the UAV has a flight failure, the propeller lock instruction is generated.

79. The parachute according to claim 77, characterized in that: When the processor obtains the propeller lock instruction of the drone, the processor is further configured to: A propeller lock instruction sent by a control terminal that is communicatively connected to the parachute is obtained, wherein the propeller lock instruction is generated by the control terminal detecting a propeller lock instruction operation of a user.

80. The parachute of claim 77, wherein: The processor is further configured to: The operating state of the parachute is monitored to determine whether fault indication information of the parachute is obtained.

81. The parachute according to claim 80, characterized in that: When the processor monitors the working state of the parachute, the processor is further configured to: Obtaining the operating status of the parachute; When the operating state is a fault state, fault indication information of the parachute is obtained.

82. The parachute according to claim 81, characterized in that: When the processor acquires the operating state of the parachute, the processor is further configured to: Obtaining periodic self-test information of the parachute; An operating state of the parachute is determined based on the self-test information.

83. The parachute according to claim 82, characterized in that: The self-test information includes at least one of the following: Self-inspection information of the equipment included in the parachute and the self-inspection information of the environment in which the parachute is located.

84. The parachute according to claim 82, characterized in that: When the processor determines the operating state of the parachute based on the self-check information, the processor is further configured to: When the self-check information meets the set conditions, it is determined that the operating state of the parachute is a normal state; When the self-check information does not meet the set conditions, it is determined that the operating state of the parachute is an abnormal state.

85. The parachute according to claim 80, characterized in that: The processor is further configured to: If the fault indication information of the parachute is obtained, the fault indication information is sent to a control terminal that is communicatively connected to the parachute, so that the fault indication information is displayed through the control terminal.

86. The parachute according to claim 80, characterized in that: The processor is further configured to: If the fault indication information of the parachute is obtained, determining the abnormal cause corresponding to the fault indication information; The fault indication information and the abnormal cause are sent to a control terminal that is communicatively connected to the parachute, so that the fault indication information and the abnormal cause are displayed through the control terminal.

87. The parachute according to claim 80, characterized in that: After monitoring the operating status of the parachute, the processor is further configured to: The operating status of the parachute is sent to the drone, so that the drone determines whether to obtain the fault indication information according to the operating status.

88. The parachute according to claim 80, characterized in that: After acquiring the fault indication information of the parachute, the processor is further used to: Detecting whether the drone is in a flying state; When the UAV is in a flight state, a return instruction or a landing instruction corresponding to the UAV is generated, and the return instruction or the landing instruction is sent to the UAV; In the drone, a flight prohibition instruction corresponding to the drone is generated, and the flight prohibition instruction is sent to the drone.

89. An unmanned aerial vehicle system, characterized in that: include: Unmanned aerial vehicles, including propellers for providing flight power; A parachute, mounted on the drone; A control device for a drone system as described in any one of claims 45-64, wherein the control device is used to control the drone and the parachute.

90. A drone system, characterized in that: include: The drone of any one of claims 65 to 76, comprising a propeller for providing flight power; A parachute is installed on the UAV.

91. An unmanned aerial vehicle system, characterized in that: include: Unmanned aerial vehicles, including propellers for providing flight power; The parachute described in any one of claims 77-88 is installed on the drone.

92. A computer-readable storage medium, characterized in that The storage medium is a computer-readable storage medium, in which program instructions are stored, and the program instructions are used to implement the control method of the drone system described in any one of claims 1-20.

93. A computer-readable storage medium, characterized in that The storage medium is a computer-readable storage medium, in which program instructions are stored, and the program instructions are used to implement the control method of the drone described in any one of claims 21-32.

94. A computer-readable storage medium, characterized in that The storage medium is a computer-readable storage medium, in which program instructions are stored, and the program instructions are used to implement the parachute control method described in any one of claims 33-44.

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