UAV parachute control method, device, electronic device and storage medium

Abstract

Embodiments of the present invention disclose a method, device, electronic device, and storage medium for controlling a parachute of a drone. An ultrasonic sensor and a barometer are provided on the drone. The method includes: obtaining a detection altitude value determined by the ultrasonic sensor and a pressure-altitude difference value determined by the barometer at the previous moment and the current moment; determining the drone's flight phase based on the detection altitude value and the pressure-altitude difference value; determining the drone's current true altitude based on the flight phase, the detection altitude value, the pressure-altitude difference value, and the drone's historical true altitude determined at the previous moment; obtaining the drone's vertical speed and rollover state, and determining a parachute deployment control command for the drone's parachute based on the vertical speed, rollover state, and current true altitude. This method can determine the drone's true altitude and accurately control the parachute based on the true altitude, thereby ensuring the drone's safety.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method, device, electronic device, and storage medium for controlling a parachute of an UAV. Background Art

[0002] In power systems, drones are often used for equipment inspections. They capture images of the equipment to determine if it's faulty. To prevent accidents and potential damage, drones can be equipped with parachutes.

[0003] Controlling a drone's parachute requires specific judgment based on the drone's actual height from the ground or the top of a building. In the prior art, a barometer is typically used to determine the drone's altitude, which is then used as the drone's altitude.

[0004] However, the height of the drone determined by the altitude is only an estimate and its reliability is poor, which leads to inaccurate control of the drone parachute and easily causes the drone to crash. Summary of the Invention

[0005] The present invention provides a method, device, electronic device and storage medium for controlling a drone parachute, so as to determine the true altitude of the drone and realize precise control of the drone parachute according to the true altitude.

[0006] According to one aspect of the present invention, a method for controlling a parachute of a drone is provided. An ultrasonic sensor and a barometer are provided on the drone. The method comprises:

[0007] Obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment;

[0008] Determining the flight phase of the UAV based on the detected altitude value and the air pressure altitude difference value;

[0009] Determine the current true altitude of the UAV at the current moment based on the flight phase, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the UAV determined at the last moment;

[0010] The vertical speed and flip state of the drone are obtained, and a parachute opening control instruction of the drone parachute is determined according to the vertical speed, the flip state and the current true altitude.

[0011] Optionally, a global positioning system (GPS) is provided on the drone, and the method further includes:

[0012] Obtaining the time information and the longitude and latitude information determined by the GPS; and obtaining weather information corresponding to the meteorological station based on the time information and the longitude and latitude information;

[0013] Determining a barometric altitude compensation value based on the weather information, the time information, and the latitude and longitude information;

[0014] The pressure altitude difference is corrected according to the pressure altitude compensation value.

[0015] Optionally, determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes:

[0016] When it is determined that the detected altitude value changes instantaneously from 0, determining that the flight phase of the UAV is the take-off phase;

[0017] Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes:

[0018] The tower height value of the drone take-off tower is obtained, and the sum of the detected height value and the tower height value is used as the current true height of the drone at the current moment.

[0019] Optionally, determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes:

[0020] When it is determined that the air pressure altitude difference is changing and the degree of change is greater than a preset threshold, determining that the flight phase of the UAV is an undulating flight phase;

[0021] Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes:

[0022] When it is determined that the undulating flight phase is an ascending motion according to the pressure altitude difference, the current true altitude of the UAV at the current moment is determined according to the sum of the historical true altitude and the pressure altitude difference;

[0023] When it is determined that the undulating flight phase is a descending motion based on the pressure altitude difference, if the detected altitude value is a null value, the current true altitude of the UAV at the current moment is determined based on the difference between the historical true altitude and the pressure altitude difference; if the detected altitude value is not a null value, the current true altitude of the UAV at the current moment is determined based on the detected altitude value.

[0024] Optionally, determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes:

[0025] When it is determined that the change degree of the air pressure altitude difference is less than or equal to a preset degree threshold, the flight phase of the UAV is determined to be a horizontal flight phase;

[0026] Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes:

[0027] If the detected altitude value is null, the current real altitude of the UAV at the current moment is determined based on the historical real altitude;

[0028] If the detected altitude value is not a null value, the current true altitude of the UAV at the current moment is determined according to the detected altitude value.

[0029] Optionally, get the vertical speed of the drone, including:

[0030] Determine the vertical speed of the UAV based on the pressure altitude difference and the time difference between the previous moment and the current moment; and / or,

[0031] The UAV is provided with an airspeed meter,

[0032] Obtain a speed value of the airspeed meter, and determine the vertical speed of the drone based on the speed value.

[0033] Optionally, determining a parachute opening control instruction for a drone parachute according to the vertical speed, the flip state, and the current true altitude includes:

[0034] When the vertical speed is greater than or equal to a preset speed and the current true altitude is less than a preset altitude, determining to send a parachute opening control instruction to the drone parachute;

[0035] When the vertical speed is greater than or equal to the preset speed, and the current true altitude and the preset altitude meet the parachute opening threshold condition, and when the flip state is detected to be righting, it is determined to send a parachute opening control instruction to the drone parachute.

[0036] According to another aspect of the present invention, a parachute control device for a drone is provided. The drone is provided with an ultrasonic sensor and a barometer. The device includes:

[0037] The altitude value acquisition module is used to obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment;

[0038] a flight phase determination module, configured to determine the flight phase of the UAV based on the detected altitude value and the pressure altitude difference value;

[0039] a true altitude determination module, configured to determine the current true altitude of the drone at a current moment based on the flight phase, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at a previous moment;

[0040] The parachute opening control instruction determination module is used to obtain the vertical speed and flip state of the drone, and determine the parachute opening control instruction of the drone parachute according to the vertical speed, the flip state and the current true altitude.

[0041] According to another aspect of the present invention, an electronic device is provided, comprising:

[0042] at least one processor; and

[0043] a memory communicatively connected to the at least one processor; wherein,

[0044] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the drone parachute control method described in any embodiment of the present invention.

[0045] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the drone parachute control method described in any embodiment of the present invention when executed.

[0046] The technical solution of the embodiment of the present invention is to set an ultrasonic sensor and a barometer on the drone, and obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment; determine the flight stage of the drone according to the detection altitude value and the pressure altitude difference; determine the current true altitude of the drone at the current moment according to the flight stage, the detection altitude value, the pressure altitude difference and the historical true altitude of the drone determined at the previous moment; obtain the vertical speed and flip state of the drone, and determine the parachute opening control instructions of the drone parachute according to the vertical speed, flip state and current true altitude, thereby solving the parachute opening control problem of the drone parachute, determining the true altitude of the drone, and accurately controlling the parachute according to the true altitude to ensure the safety of the drone.

[0047] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1a This is a flow chart of a method for controlling a parachute of a drone provided according to the first embodiment of the present invention;

[0050] Figure 1b This is a schematic structural diagram of a drone provided according to the first embodiment of the present invention;

[0051] Figure 2 This is a flow chart of a method for controlling a parachute of a drone provided according to a second embodiment of the present invention;

[0052] Figure 3 This is a structural diagram of a parachute control device for a drone provided according to a third embodiment of the present invention;

[0053] Figure 4 2 is a schematic diagram of the structure of an electronic device for implementing the drone parachute control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described are only 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 making creative efforts should fall within the scope of protection of the present invention.

[0055] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] Example 1

[0057] Figure 1a This is a flowchart of a drone parachute control method provided according to Example 1 of the present invention. This embodiment can be applied to controlling a drone parachute during the inspection of power equipment by a drone in a power system to avoid the crash of the drone. The method can be executed by a drone parachute control device, which can be implemented in the form of hardware and / or software. The drone parachute control device can be configured in an electronic device such as a drone or a device including a drone parachute controller.

[0058] The drone provided by the embodiment of the present invention is provided with an ultrasonic sensor and a barometer. Specifically, the ultrasonic sensor can be provided at the bottom of the drone to directly measure the distance between the bottom of the drone and an object vertically below. Figure 1b FIG. 1 is a schematic diagram of the structure of a drone provided according to the first embodiment of the present invention. Figure 1b As shown, a parachute can be set at the upper end of the drone. When it is determined that the parachute needs to be opened according to the drone parachute control method provided by an embodiment of the present invention, the parachute can be opened to slow down the landing speed of the drone and avoid the destruction of the drone.

[0059] like Figure 1a As shown, the method includes:

[0060] Step 110: Acquire the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference value determined by the barometer at the previous moment and the current moment.

[0061] An ultrasonic sensor can be mounted on the bottom of the drone. It can directly measure the distance between the bottom of the drone and objects vertically below it. The ultrasonic sensor's measurement range can be 0.2 meters to 50 meters. The detected altitude value can be the distance between the drone and the ground below or the top of a building on the ground, as measured by the ultrasonic sensor. A barometer can be mounted on the drone. The barometer can measure the drone's altitude. The barometer can measure air pressure values from -10,000 meters to 1,000 meters. The pressure altitude difference can be the difference between the current air pressure value measured by the barometer and the previous air pressure value. The ultrasonic sensor and barometer can transmit acquired data to the drone or drone controller via communication. The ultrasonic sensor and barometer can transmit data to the drone or drone controller at a preset frequency. The drone or drone controller can determine whether to deploy the parachute based on the data measured by the ultrasonic sensor and barometer.

[0062] Step 120: Determine the flight phase of the UAV based on the detected altitude value and the pressure altitude difference value.

[0063] A drone can have one or more flight phases. For example, a drone can have five flight phases: takeoff, heaving flight, level flight, level flight over rough terrain, and landing. By detecting altitude and pressure altitude difference, the flight phase of the drone can be determined.

[0064] For example, if the detected altitude value increases instantaneously, for example, from a value of approximately 0, it can be determined that the drone is in the takeoff phase. If the pressure altitude difference value is changing, and the degree of change in the pressure altitude difference value is greater than a preset threshold value, it can be determined that the drone is in the undulating flight phase. The undulating flight phase can include both ascending and descending movements. If the pressure altitude difference value is positive, and the degree of change in the pressure altitude difference value is greater than a preset threshold value, it can be determined that the drone is in the ascending movement of the undulating flight phase. If the pressure altitude difference value is negative, and the degree of change in the pressure altitude difference value is greater than a preset threshold value, it can be determined that the drone is in the descending movement of the undulating flight phase.

[0065] When the degree of change in the pressure altitude difference is less than or equal to a preset threshold, it can be determined that the drone is in the level flight phase. The preset threshold can be a value of approximately 0. During the level flight phase, the pressure altitude difference may fluctuate due to changes in the drone's environment.

[0066] When the pressure altitude difference is approximately 0 and the detected altitude changes, the drone is in level flight over rough terrain. Level flight over rough terrain can be understood as flying on a level surface with uneven structures above. Therefore, the method for determining the drone's true altitude during both level flight and level flight can be the same.

[0067] When the pressure altitude difference is negative and the detected altitude value decreases, the drone is in the landing phase. The landing phase is similar to the descent motion during the heaving flight phase. Specifically, during the descent motion during the heaving flight phase, the detected altitude values generally tend to increase; during the landing phase, the detected altitude values generally tend to decrease. However, when the ultrasonic sensor and barometer transmit data to the drone or drone controller at a high frequency, the detected altitude values decrease during the landing and heaving flight phases. Therefore, the method for determining the drone's true altitude during the landing and heaving flight phases can be the same.

[0068] Step 130: Determine the current true altitude of the UAV at the current moment based on the flight phase, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the UAV determined at the previous moment.

[0069] The method for determining the drone's current true altitude may vary during different flight phases. However, in each flight phase, the drone's current true altitude can be determined by combining the detected altitude value, the barometric altitude difference, and the drone's historical true altitude information determined at the previous moment. The drone's altitude determined by a barometer and ultrasonic sensor is more accurate, avoiding the inaccuracy of estimating the drone's altitude solely from the barometer's altitude.

[0070] In an optional embodiment of the present invention, determining the drone's flight phase based on the detected altitude value and the pressure altitude difference includes determining the drone's flight phase as takeoff when the detected altitude value is determined to have instantaneously changed from 0. Accordingly, determining the drone's current true altitude at the current moment based on the flight phase, the detected altitude value, the pressure altitude difference, and the drone's historical true altitude determined at a previous moment includes obtaining the tower height of the drone's takeoff tower and using the sum of the detected altitude value and the tower height value as the drone's current true altitude at the current moment.

[0071] When the aircraft is in the takeoff phase, the sum of the detected altitude value and the tower height value can be used as the current true altitude of the drone at that moment. The drone in this embodiment of the present invention can be used in a power system to inspect power equipment. The drone's takeoff point can be a tower. The tower has a certain height. If the ultrasonic sensor's detected altitude value is directly used as the current true altitude of the drone at that moment, the drone's altitude determination will be inaccurate, thereby affecting the accuracy of subsequent parachute deployment judgments. Therefore, in this embodiment of the present invention, the sum of the detected altitude value and the tower height value is used as the current true altitude of the drone at that moment, taking into account the drone's takeoff point.

[0072] In an optional implementation of an embodiment of the present invention, the flight stage of the drone is determined based on the detected altitude value and the pressure altitude difference, including: when it is determined that the pressure altitude difference is changing and the degree of change is greater than a preset degree threshold, the flight stage of the drone is determined to be an undulating flight stage; accordingly, the current true altitude of the drone at the current moment is determined based on the flight stage, the detected altitude value, the pressure altitude difference and the historical true altitude of the drone determined at the previous moment, including: when the undulating flight stage is determined to be an ascending movement based on the pressure altitude difference, the current true altitude of the drone at the current moment is determined based on the sum of the historical true altitude and the pressure altitude difference; when the undulating flight stage is determined to be a descending movement based on the pressure altitude difference, if the detected altitude value is a null value, the current true altitude of the drone at the current moment is determined based on the difference between the historical true altitude and the pressure altitude difference; if the detected altitude value is not a null value, the current true altitude of the drone at the current moment is determined based on the detected altitude value.

[0073] During the ascending phase of undulating flight, the drone's altitude typically exceeds the ultrasonic sensor's measurement range. Furthermore, during this ascending phase, the drone moves farther and farther from structures, often preventing the ultrasonic sensor from detecting objects below. Therefore, the drone's current true altitude can be determined by summing the difference between its historical true altitude and its barometric altitude, ensuring accurate altitude determination.

[0074] When a drone is descending during the undulating flight phase, there may be detectable structures below it. Therefore, when a detected altitude value exists (i.e., it is not null), the drone's current true altitude can be determined based on that value. When no detected altitude value exists (i.e., it is null), the drone's current true altitude is determined based on the difference between the historical true altitude and the pressure altitude. The method for determining the drone's current true altitude can be dynamically adjusted based on the presence or absence of detected altitude values, improving the accuracy and reliability of the drone's altitude determination.

[0075] In an optional implementation of an embodiment of the present invention, the flight stage of the drone is determined based on the detected altitude value and the air pressure altitude difference, including: when it is determined that the degree of change of the air pressure altitude difference is less than or equal to a preset degree threshold, the flight stage of the drone is determined to be a horizontal flight stage; accordingly, the current true altitude of the drone at the current moment is determined based on the flight stage, the detected altitude value, the air pressure altitude difference and the historical true altitude of the drone determined at the previous moment, including: if the detected altitude value is a null value, the current true altitude of the drone at the current moment is determined based on the historical true altitude; if the detected altitude value is not a null value, the current true altitude of the drone at the current moment is determined based on the detected altitude value.

[0076] When a drone is in horizontal flight, there may be detectable buildings below it. Therefore, when a detected altitude value exists (i.e., it is not null), the drone's current true altitude can be determined based on the detected altitude value. When no detected altitude value exists (i.e., it is null), the drone's current true altitude can be determined based on historical true altitudes. The method for determining the drone's current true altitude can be dynamically adjusted based on the presence or absence of detected altitude values, improving the accuracy and reliability of drone altitude determination.

[0077] Specifically, when the drone is in horizontal flight, the ultrasonic sensor on the bottom of the drone can refresh the drone's current true altitude when it detects an obstacle within 40 meters. If no obstacles are detected within 40 meters, the drone's current true altitude remains unchanged. The ultrasonic sensor can refresh the detected altitude value every 0.5 seconds.

[0078] Step 140: Obtain the vertical speed and flip state of the UAV, and determine the parachute opening control command of the UAV according to the vertical speed, flip state and current true altitude.

[0079] The vertical velocity can be the speed at which the drone moves downward. There are various ways to obtain the vertical velocity, for example, using an instrument or calculating it. The drone's rollover states can include righting and flipping. Righting can be when the drone's upper portion is facing upward. Flipping can be when the drone's upper portion is not facing upward, such as when the drone's upper portion is facing downward. When the drone is righting, deploying a parachute provides better protection for the drone. The flipping state can be determined based on the detected altitude value.

[0080] For example, if the detected altitude value is changing frequently, for example, if a detected altitude value existed at the previous moment but not at the current moment, and the detected altitude value at the next moment is smaller than the detected altitude value at the previous moment, it can be determined that the drone is in a flipped state. If a detected altitude value exists while the drone is in a flipped state, it can be determined that the drone is righting within the flipped state; if a detected altitude value does not exist while the drone is in a flipped state, it can be determined that the drone is in a flipped state within the flipped state.

[0081] Based on the vertical speed, roll state, and current true altitude, the most appropriate parachute deployment time can be selected to ensure the safety of the drone. For example, the parachute can be deployed to protect the drone when the vertical speed exceeds the preset speed, the drone is in the righting state, and the current true altitude is approximately the preset height.

[0082] The technical solution of this embodiment is to set an ultrasonic sensor and a barometer on the drone, and obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment; determine the flight stage of the drone according to the detection altitude value and the pressure altitude difference; determine the current true altitude of the drone at the current moment according to the flight stage, the detection altitude value, the pressure altitude difference and the historical true altitude of the drone determined at the previous moment; obtain the vertical speed and flip state of the drone, and determine the parachute opening control instructions of the drone parachute according to the vertical speed, flip state and current true altitude, which solves the parachute opening control problem of the drone parachute, can determine the true altitude of the drone, and accurately control the parachute according to the true altitude to ensure the safety of the drone.

[0083] Example 2

[0084] Figure 2This is a flow chart of a method for controlling a parachute of a drone according to the second embodiment of the present invention. This embodiment is a further refinement of the above technical solution. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 2 As shown, the method includes:

[0085] Step 210: Acquire the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference value determined by the barometer at the previous moment and the current moment.

[0086] Step 220: Obtain the time information and longitude and latitude information determined by the GPS; and obtain the weather information corresponding to the meteorological station based on the time information and longitude and latitude information.

[0087] The drone can be equipped with a Global Positioning System (GPS). GPS can determine the drone's latitude and longitude, as well as the current time. Based on this, the drone can obtain weather information corresponding to the actual information and latitude and longitude from the meteorological station using GPS information.

[0088] Step 230: Determine the barometric altitude compensation value based on the weather information, time information, and latitude and longitude information.

[0089] Among them, weather, time, and longitude and latitude information all have an impact on air pressure values. For example, air pressure values at the same location will vary in the morning, afternoon, and evening. Another example is that air pressure values at the same location will vary in different weather conditions. Furthermore, air pressure values will also vary at different longitudes and latitudes. When the air pressure altitude difference value is updated infrequently, weather, time, and longitude and latitude information will all cause deviations in the air pressure altitude difference value. Therefore, the air pressure altitude difference value can be compensated based on weather, time, and longitude and latitude information.

[0090] Specifically, there are various ways to determine the barometric altitude compensation value. For example, the impact of weather, time, and longitude and latitude information on barometric pressure can be determined experimentally in advance, and a mapping table can be set up locally on the drone. The barometric altitude compensation value can be determined by searching the mapping table based on the weather, time, and longitude and latitude information. Another example is to calculate how the barometric pressure should be compensated for each degree increase in longitude and latitude information. Another example is to calculate how the barometric pressure should be compensated for different weather conditions relative to sunny days. Another example is to calculate how the barometric pressure should be compensated for different times relative to a target reference time.

[0091] Step 240: Correct the pressure altitude difference value according to the pressure altitude compensation value.

[0092] The air pressure value at each moment can be updated by the air pressure altitude compensation value, so that the air pressure altitude difference can be corrected, and the accuracy of the real altitude of the drone can be achieved.

[0093] Step 250: Determine the flight phase of the UAV based on the detected altitude value and the pressure altitude difference value.

[0094] Step 260: Determine the current true altitude of the drone at the current moment based on the flight phase, the detected altitude value, the pressure altitude difference, and the historical true altitude of the drone determined at the previous moment.

[0095] In an optional implementation of an embodiment of the present invention, the flight stage of the drone is determined based on the detected altitude value and the air pressure altitude difference, including: when it is determined that the detected altitude value changes instantaneously from 0, the flight stage of the drone is determined to be the take-off stage; accordingly, the current true altitude of the drone at the current moment is determined based on the flight stage, the detected altitude value, the air pressure altitude difference and the historical true altitude of the drone determined at the previous moment, including: obtaining the tower height value of the drone take-off tower, and taking the sum of the detected altitude value and the tower height value as the current true altitude of the drone at the current moment.

[0096] In an optional implementation of an embodiment of the present invention, the flight stage of the drone is determined based on the detected altitude value and the pressure altitude difference, including: when it is determined that the pressure altitude difference is changing and the degree of change is greater than a preset degree threshold, the flight stage of the drone is determined to be an undulating flight stage; accordingly, the current true altitude of the drone at the current moment is determined based on the flight stage, the detected altitude value, the pressure altitude difference and the historical true altitude of the drone determined at the previous moment, including: when the undulating flight stage is determined to be an ascending movement based on the pressure altitude difference, the current true altitude of the drone at the current moment is determined based on the sum of the historical true altitude and the pressure altitude difference; when the undulating flight stage is determined to be a descending movement based on the pressure altitude difference, if the detected altitude value is a null value, the current true altitude of the drone at the current moment is determined based on the difference between the historical true altitude and the pressure altitude difference; if the detected altitude value is not a null value, the current true altitude of the drone at the current moment is determined based on the detected altitude value.

[0097] In an optional implementation of an embodiment of the present invention, the flight stage of the drone is determined based on the detected altitude value and the air pressure altitude difference, including: when it is determined that the degree of change of the air pressure altitude difference is less than or equal to a preset degree threshold, the flight stage of the drone is determined to be a horizontal flight stage; accordingly, the current true altitude of the drone at the current moment is determined based on the flight stage, the detected altitude value, the air pressure altitude difference and the historical true altitude of the drone determined at the previous moment, including: if the detected altitude value is a null value, the current true altitude of the drone at the current moment is determined based on the historical true altitude; if the detected altitude value is not a null value, the current true altitude of the drone at the current moment is determined based on the detected altitude value.

[0098] Step 270: Obtain the vertical speed and flip state of the drone.

[0099] In an optional implementation of an embodiment of the present invention, obtaining the vertical speed of the drone includes: determining the vertical speed of the drone based on the air pressure altitude difference and the time difference between the previous moment and the current moment; and / or, providing an airspeed meter on the drone, obtaining the speed value of the airspeed meter, and determining the vertical speed of the drone based on the speed value.

[0100] The barometer can update the air pressure value at a certain frequency. For example, it can update every 0.5 seconds. This means that the time difference between the previous moment and the current moment can be 0.5 seconds. The ratio of the air pressure altitude difference to the time difference can be used to determine the vertical speed of the drone.

[0101] Alternatively, an airspeed meter can be installed on the bottom of the drone to measure the air speed below the drone as the vertical speed of the drone.

[0102] Step 280: Determine the parachute opening control command of the drone according to the vertical speed, the flip state, and the current true altitude.

[0103] In an optional implementation of an embodiment of the present invention, a parachute opening control instruction of a drone parachute is determined based on the vertical speed, the flip state and the current true height, including: when the vertical speed is greater than or equal to the preset speed and the current true height is less than the preset height, determining to send a parachute opening control instruction to the drone parachute; when the vertical speed is greater than or equal to the preset speed and the current true height and the preset height meet the parachute opening threshold conditions, when the flip state is detected to be righting, determining to send a parachute opening control instruction to the drone parachute.

[0104] The preset speed can be 5 meters per second, and the preset altitude can be 10 meters. When the drone's vertical speed exceeds 5 meters per second and its current true altitude is less than 10 meters, it can be determined that the drone is rapidly falling and getting closer to the ground, and is about to collide with the ground. Therefore, the parachute deployment control command can be immediately issued to deploy the parachute, slowing the drone's descent and preventing a crash.

[0105] When the drone's vertical speed is greater than 5 meters per second and its current true altitude is greater than 10 meters, but the difference between the true altitude and 10 meters is small, that is, when the current true altitude and the preset altitude meet the parachute deployment threshold, the parachute deployment control command can be determined and deployed when the drone flips over. This ensures the stability of the drone and avoids the danger of deploying the parachute during a flip.

[0106] The technical solution of the embodiment of the present invention obtains the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference value determined by the barometer at the previous moment and the current moment; obtains the time information and longitude and latitude information determined by the GPS; and obtains the weather information corresponding to the meteorological station based on the time information and longitude and latitude information; determines the pressure altitude compensation value based on the weather information, time information and longitude and latitude information; corrects the pressure altitude difference value based on the pressure altitude compensation value; determines the flight phase of the drone based on the detection altitude value and the pressure altitude difference value; determines the current true altitude of the drone at the current moment based on the flight phase, the detection altitude value, the pressure altitude difference value and the historical true altitude of the drone determined at the previous moment; obtains the vertical speed and flip state of the drone; determines the parachute opening control command of the drone parachute based on the vertical speed, flip state and current true altitude, solves the parachute opening control problem of the drone parachute, can determine the true altitude of the drone, and accurately control the parachute based on the true altitude, select the most appropriate time to open the parachute, and ensure the safety of the drone.

[0107] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the altitude information and GPS-related information of the drone involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0108] Example 3

[0109] Figure 3 FIG. 1 is a schematic diagram of the structure of a parachute control device for a drone according to the third embodiment of the present invention. An ultrasonic sensor and a barometer are provided on the drone. Figure 3 As shown, the device includes: an altitude value acquisition module 310, a flight phase determination module 320, a true altitude determination module 330, and a parachute opening control instruction determination module 340.

[0110] The altitude value acquisition module 310 is used to obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment;

[0111] The flight phase determination module 320 is used to determine the flight phase of the UAV based on the detected altitude value and the pressure altitude difference value;

[0112] The real altitude determination module 330 is used to determine the current real altitude of the drone at the current moment based on the flight stage, the detected altitude value, the pressure altitude difference value, and the historical real altitude of the drone determined at the previous moment;

[0113] The parachute opening control instruction determination module 340 is used to obtain the vertical speed and flip state of the drone, and determine the parachute opening control instruction of the drone parachute based on the vertical speed, flip state and current true altitude.

[0114] Optionally, a global positioning system (GPS) is provided on the drone, and the device also includes:

[0115] The GPS information acquisition module is used to obtain the time information and longitude and latitude information determined by the GPS; and obtain the weather information corresponding to the meteorological station based on the time information and longitude and latitude information;

[0116] A barometric altitude compensation value determination module is used to determine a barometric altitude compensation value based on weather information, time information, and latitude and longitude information;

[0117] The pressure altitude difference correction module is used to correct the pressure altitude difference according to the pressure altitude compensation value.

[0118] Optionally, the flight phase determination module 320 includes:

[0119] a take-off phase determination unit, configured to determine that the flight phase of the UAV is the take-off phase when it is determined that the detected altitude value changes instantaneously from 0;

[0120] Accordingly, the real height determination module 330 includes:

[0121] The first real height determination unit is used to obtain the tower height value of the drone take-off tower, and use the sum of the detected height value and the tower height value as the current real height of the drone at the current moment.

[0122] Optionally, the flight phase determination module 320 includes:

[0123] an undulating flight phase determining unit, configured to determine that the flight phase of the UAV is an undulating flight phase when it is determined that the pressure altitude difference is changing and the degree of change is greater than a preset threshold;

[0124] Accordingly, the real height determination module 330 includes:

[0125] a second true altitude determining unit, configured to determine the current true altitude of the UAV at the current moment based on the sum of the historical true altitude and the pressure altitude difference when the undulating flight phase is determined to be an ascending motion based on the pressure altitude difference;

[0126] The third real altitude determination unit is used to determine the current real altitude of the UAV at the current moment based on the difference between the historical real altitude and the pressure altitude difference when the undulating flight stage is determined to be a descending motion based on the pressure altitude difference. If the detected altitude value is not a null value, the current real altitude of the UAV at the current moment is determined based on the detected altitude value.

[0127] Optionally, the flight phase determination module 320 includes:

[0128] a horizontal flight phase determination unit, configured to determine that the flight phase of the UAV is a horizontal flight phase when it is determined that the change degree of the pressure altitude difference is less than or equal to a preset degree threshold;

[0129] Accordingly, the real height determination module 330 includes:

[0130] a fourth real altitude determining unit, configured to determine the current real altitude of the UAV at a current moment based on historical real altitudes if the detected altitude value is null;

[0131] The fifth real height determination unit is used to determine the current real height of the drone at the current moment according to the detected height value if the detected height value is not a null value.

[0132] Optionally, the parachute opening control instruction determination module 340 includes:

[0133] a first vertical speed determination unit, configured to determine the vertical speed of the UAV based on the pressure altitude difference and the time difference between the previous moment and the current moment; and / or,

[0134] Set up an airspeed meter on the drone.

[0135] The second vertical speed determination unit is used to obtain the speed value of the airspeed meter and determine the vertical speed of the UAV according to the speed value.

[0136] Optionally, the parachute opening control instruction determination module 340 includes:

[0137] A first parachute opening control instruction sending unit is used to determine to send a parachute opening control instruction to the parachute of the UAV when the vertical speed is greater than or equal to a preset speed and the current true altitude is less than a preset altitude;

[0138] The second parachute opening control instruction sending unit is used to determine to send a parachute opening control instruction to the UAV parachute when the vertical speed is greater than or equal to the preset speed and the current true altitude and the preset altitude meet the parachute opening threshold condition and the flip state is detected to be upright.

[0139] The drone parachute control device provided in the embodiment of the present invention can execute the drone parachute control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0140] Example 4

[0141] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0142] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0143] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the drone parachute control method.

[0145] In some embodiments, the drone parachute control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the drone parachute control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the drone parachute control method in any other suitable manner (e.g., via firmware).

[0146] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0148] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0151] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0152] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0153] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for controlling a parachute of an unmanned aerial vehicle, characterized in that: The drone is provided with an ultrasonic sensor and a barometer, and the method includes: Obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment; Determining the flight phase of the UAV based on the detected altitude value and the air pressure altitude difference value; Determine the current true altitude of the UAV at the current moment based on the flight phase, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the UAV determined at the last moment; Obtaining the vertical speed and flip state of the drone, and determining a parachute opening control instruction for the drone according to the vertical speed, the flip state, and the current true altitude; Determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes: When it is determined that the detected altitude value changes instantaneously from 0, determining that the flight phase of the UAV is the take-off phase; Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes: The tower height value of the drone take-off tower is obtained, and the sum of the detected height value and the tower height value is used as the current true height of the drone at the current moment.

2. The method according to claim 1, characterized in that The UAV is provided with a global positioning system (GPS), and the method further comprises: Obtaining the time information and the longitude and latitude information determined by the GPS; and obtaining weather information corresponding to the meteorological station based on the time information and the longitude and latitude information; Determining a barometric altitude compensation value based on the weather information, the time information, and the latitude and longitude information; The pressure altitude difference is corrected according to the pressure altitude compensation value.

3. The method according to claim 1, characterized in that Determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes: When it is determined that the air pressure altitude difference is changing and the degree of change is greater than a preset degree threshold, determining that the flight phase of the UAV is an undulating flight phase; Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes: When it is determined that the undulating flight phase is an ascending motion according to the pressure altitude difference, the current true altitude of the UAV at the current moment is determined according to the sum of the historical true altitude and the pressure altitude difference; When it is determined that the undulating flight phase is a descending motion based on the pressure altitude difference, if the detected altitude value is a null value, the current true altitude of the UAV at the current moment is determined based on the difference between the historical true altitude and the pressure altitude difference; if the detected altitude value is not a null value, the current true altitude of the UAV at the current moment is determined based on the detected altitude value.

4. The method according to claim 1, wherein Determining the flight phase of the UAV according to the detected altitude value and the pressure altitude difference value includes: When it is determined that the change degree of the air pressure altitude difference is less than or equal to a preset degree threshold, the flight phase of the UAV is determined to be a horizontal flight phase; Accordingly, determining the current true altitude of the drone at the current moment according to the flight stage, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at the previous moment includes: If the detected altitude value is null, the current real altitude of the UAV at the current moment is determined based on the historical real altitude; If the detected altitude value is not a null value, the current true altitude of the UAV at the current moment is determined according to the detected altitude value.

5. The method according to claim 1, wherein Get the vertical speed of the drone, including: Determine the vertical speed of the UAV based on the pressure altitude difference and the time difference between the previous moment and the current moment; and / or, The UAV is provided with an airspeed meter, Obtain a speed value of the airspeed meter, and determine the vertical speed of the drone based on the speed value.

6. The method according to claim 1, characterized in that Determining a parachute opening control instruction for the drone according to the vertical speed, the flip state, and the current true altitude includes: When the vertical speed is greater than or equal to a preset speed and the current true altitude is less than a preset altitude, determining to send a parachute opening control instruction to the drone parachute; When the vertical speed is greater than or equal to the preset speed, and the current true altitude and the preset altitude meet the parachute opening threshold condition, and when the flip state is detected to be righting, it is determined to send a parachute opening control instruction to the drone parachute.

7. A parachute control device for a drone, characterized in that: The drone is provided with an ultrasonic sensor and a barometer, and the device includes: The altitude value acquisition module is used to obtain the detection altitude value determined by the ultrasonic sensor and the pressure altitude difference determined by the barometer at the previous moment and the current moment; a flight phase determination module, configured to determine the flight phase of the UAV based on the detected altitude value and the pressure altitude difference value; a true altitude determination module, configured to determine the current true altitude of the drone at a current moment based on the flight phase, the detected altitude value, the pressure altitude difference value, and the historical true altitude of the drone determined at a previous moment; A parachute opening control instruction determination module is used to obtain the vertical speed and flip state of the drone, and determine the parachute opening control instruction of the drone parachute according to the vertical speed, the flip state and the current true altitude; The flight phase determination module includes: a take-off phase determination unit, configured to determine that the flight phase of the UAV is the take-off phase when it is determined that the detected altitude value changes instantaneously from 0; Correspondingly, the real height determination module includes: a first real height determination unit, which is used to obtain the tower height value of the drone take-off tower, and use the sum of the detected height value and the tower height value as the current real height of the drone at the current moment.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the drone parachute control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the drone parachute control method according to any one of claims 1 to 6 when executed.

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