An unmanned aerial vehicle safety protection method and device, and an unmanned aerial vehicle

Abstract

The present application relates to the technical field of unmanned aerial vehicle safety protection, and particularly relates to an unmanned aerial vehicle safety protection method, device and unmanned aerial vehicle. The method comprises: acquiring ultrasonic information and a flight state of an unmanned aerial vehicle, wherein the flight state comprises a normal flight state and a descending state; and performing safety protection on the unmanned aerial vehicle according to the ultrasonic information and the flight state. This embodiment can reduce the probability of the unmanned aerial vehicle being blown up at a high altitude, losing control at a high altitude and being unable to descend, ascend, move left or move right, and the probability of the unmanned aerial vehicle landing without deceleration and violently crashing to the ground when ultrasonic information is abnormal, thereby improving the safety of the unmanned aerial vehicle and enhancing user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle safety protection, and particularly relates to an unmanned aerial vehicle safety protection method and device and unmanned aerial vehicle. BACKGROUND

[0002] The height from the ground is a key information when the unmanned aerial vehicle takes off and lands. If the height from the ground is inaccurate, the take-off and landing performance of the unmanned aerial vehicle will be affected, especially the landing performance. At present, ultrasonic waves are used to measure the height from the ground. A downward-looking ultrasonic radar is usually used to sense the ground, so as to realize safe take-off and landing of the unmanned aerial vehicle and normal flight of the unmanned aerial vehicle.

[0003] However, the ultrasonic waves are unstable and susceptible to interference. The main manifestations are that the ultrasonic data will be intermittently interrupted or inaccurate, the ultrasonic data will occasionally appear as a constant deception value, the ultrasonic waves will be completely damaged after the aircraft is aged or bombed for many times, and the ultrasonic data will be seriously delayed. These abnormal situations of the ultrasonic waves will cause the unmanned aerial vehicle to appear the following phenomena: the unmanned aerial vehicle is bombed at a high altitude, the unmanned aerial vehicle cannot descend, ascend, move left and move right due to loss of control at a high altitude, and the unmanned aerial vehicle does not slow down and violently crashes to the ground when landing. Therefore, the performance of the unmanned aerial vehicle and the user experience are seriously affected. SUMMARY

[0004] The present application aims to solve the technical problem of the unmanned aerial vehicle bombed at a high altitude, the unmanned aerial vehicle cannot descend, ascend, move left and move right due to loss of control at a high altitude, and the unmanned aerial vehicle does not slow down and violently crashes to the ground when landing.

[0005] In one aspect of the present application, a method for protecting the safety of an unmanned aerial vehicle is provided. The method comprises the following steps:

[0006] acquiring ultrasonic information and a flight state of the unmanned aerial vehicle, wherein the flight state comprises a normal flight state and a descending state;

[0007] protecting the safety of the unmanned aerial vehicle according to the ultrasonic information and the flight state.

[0008] Optionally, when the flight state is the normal flight state, the step of protecting the safety of the unmanned aerial vehicle according to the ultrasonic information and the flight state comprises the following steps:

[0009] determining whether the ultrasonic information is valid;

[0010] if the ultrasonic information is valid, then:

[0011] detecting whether the height measured by the ultrasonic waves is less than a first preset value;

[0012] if the height measured by the ultrasonic waves is less than the first preset value, then limiting the descending speed of the unmanned aerial vehicle to be not greater than a first speed threshold.

[0013] Optionally, when the flight state is the normal flight state, the safety protection of the UAV according to the ultrasonic information and the flight state comprises:

[0014] controlling the UAV to fly normally when the ultrasonic measured height is greater than or equal to the first preset value.

[0015] Optionally, when the flight state is the normal flight state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0016] if the ultrasonic information is invalid, then:

[0017] detecting whether the fusion height is less than the first preset value;

[0018] if yes, then limiting the descent speed of the UAV to be not greater than the first speed threshold.

[0019] Optionally, when the flight state is the normal flight state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0020] controlling the UAV to fly normally when the fusion height is greater than or equal to the first preset value.

[0021] Optionally, when the flight state is the descent state, the safety protection of the UAV according to the ultrasonic information and the flight state comprises:

[0022] judging whether the ultrasonic information is valid;

[0023] if invalid, then judging whether the fusion height is within a preset interval;

[0024] if yes, then limiting the descent speed of the UAV to be not greater than a second speed threshold, and setting a stall threshold of the UAV as a first stall threshold.

[0025] Optionally, when the flight state is the descent state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0026] judging whether the UAV lands through acceleration of the UAV;

[0027] if yes, then controlling the UAV to stall;

[0028] if no, then limiting the descent speed of the UAV to be not greater than the second speed threshold, and setting the stall threshold of the UAV as the first stall threshold.

[0029] Optionally, the judging whether the UAV lands comprises:

[0030] obtaining a Z-axis acceleration Az and a specific thrust T of the UAV;

[0031] calculating a value of A according to a formula A=-Az-T;

[0032] judging whether the value of A is greater than a first stall threshold, if the value of A is greater than the first stall threshold, the UAV lands, if the value of A is not greater than the first stall threshold, the UAV does not land.

[0033] Optionally, when the flight state is a descending state, the safety protection of the UAV according to the ultrasonic information and the flight state comprises:

[0034] if the fused height is not in a preset interval, controlling the UAV to continue descending.

[0035] Optionally, when the flight state is a descending state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0036] when the ultrasonic information is valid, detecting whether a height of the UAV above the ground is less than a second preset value;

[0037] if yes, limiting a descending speed of the UAV to be not greater than a third speed threshold, and setting a stall threshold of the UAV as a second stall threshold.

[0038] Optionally, when the flight state is a descending state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0039] judging whether the UAV lands through an acceleration of the UAV;

[0040] if yes, controlling the UAV to stall;

[0041] if no, limiting the descending speed of the UAV to be not greater than the third speed threshold, and setting the stall threshold of the UAV as the second stall threshold.

[0042] Optionally, the judging whether the UAV lands comprises:

[0043] obtaining a Z-axis acceleration Az and a specific thrust T of the UAV;

[0044] calculating a value of A according to a formula A=-Az-T;

[0045] determining whether the value of A is greater than the second pitch stop threshold value, if the value of A is greater than the second pitch stop threshold value, the UAV lands, if the value of A is not greater than the second pitch stop threshold value, the UAV does not land.

[0046] Optionally, when the flight state is a descending state, the safety protection of the UAV according to the ultrasonic information and the flight state further comprises:

[0047] When the height of the UAV above the ground is greater than or equal to the second preset value, the UAV is controlled to continue descending.

[0048] Optionally, the determination of whether the ultrasonic information is valid comprises:

[0049] The fusion height of the UAV is obtained.

[0050] The ultrasonic credibility detection result is obtained according to the fusion height and the ultrasonic information, and the ultrasonic update detection result is obtained according to the ultrasonic information.

[0051] When the ultrasonic credibility detection result and the ultrasonic update detection result both meet the preset value, it is determined that the ultrasonic information is valid, otherwise, it is determined that the ultrasonic information is invalid.

[0052] Another aspect of the embodiment of the application provides a UAV safety protection device, the device comprising:

[0053] An information acquisition module is configured to acquire ultrasonic information and a flight state of a UAV, wherein the flight state comprises a normal flight state and a descending state.

[0054] A safety protection module is configured to perform safety protection of the UAV according to the ultrasonic information and the flight state.

[0055] Optionally, when the flight state is a normal flight state, the safety protection module is configured to:

[0056] determine whether the ultrasonic information is valid;

[0057] If valid, then:

[0058] determine whether the ultrasonic measurement height is less than a first preset value;

[0059] If yes, the descending speed of the UAV is limited to be not greater than a first speed threshold value.

[0060] Optionally, when the flight state is a normal flight state, the safety protection module is configured to:

[0061] When the ultrasonic measurement height is greater than or equal to the first preset value, the UAV is controlled to fly normally.

[0062] Optionally, when the flight state is the normal flight state, the safety protection module is further configured to:

[0063] If the ultrasonic information is invalid, the safety protection module is configured to:

[0064] detect whether the fusion height is less than the first preset value;

[0065] If yes, limit the descending speed of the UAV to be not greater than the first speed threshold.

[0066] Optionally, when the flight state is the normal flight state, the safety protection module is further configured to:

[0067] When the fusion height is greater than or equal to the first preset value, control the UAV to fly normally.

[0068] Optionally, when the flight state is the descending state, the safety protection module is configured to:

[0069] judge whether the ultrasonic information is valid;

[0070] If invalid, judge whether the fusion height is within a preset interval;

[0071] If yes, limit the descending speed of the UAV to be not greater than a second speed threshold, and set a stop-rotor threshold of the UAV to be a first stop-rotor threshold.

[0072] Optionally, when the flight state is the descending state, the safety protection module is further configured to:

[0073] judge whether the UAV lands through acceleration of the UAV;

[0074] If yes, control the UAV to stop rotating;

[0075] If no, limit the descending speed of the UAV to be not greater than the second speed threshold, and set the stop-rotor threshold of the UAV to be the first stop-rotor threshold.

[0076] Optionally, when the flight state is the descending state, the safety protection module is configured to:

[0077] If the fusion height is not within the preset interval, control the UAV to continue descending.

[0078] Optionally, when the flight state is the descending state, the safety protection module is further configured to:

[0079] When the ultrasonic information is valid, detect whether the height of the UAV above the ground is less than a second preset value;

[0080] If yes, the descent speed of the UAV is limited to be not greater than a third speed threshold, and a stall threshold of the UAV is set as a second stall threshold.

[0081] Optionally, when the flight state is the descent state, the safety protection module is further configured to:

[0082] whether the UAV lands is determined by acceleration of the UAV;

[0083] If yes, the UAV is controlled to stall;

[0084] If no, the descent speed of the UAV is limited to be not greater than the third speed threshold, and the stall threshold of the UAV is set as the second stall threshold.

[0085] Optionally, when the flight state is the descent state, the safety protection module is further configured to:

[0086] When the height of the UAV above the ground is greater than or equal to the second preset value, the UAV is controlled to continue to descend.

[0087] In still another aspect of the embodiments of the present application, a UAV is provided, comprising: a fuselage; an arm connected to the fuselage; a power device arranged on the arm and configured to provide power for flight of the UAV; and a flight controller arranged on the fuselage; the flight controller comprises: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0088] In still another aspect of the embodiments of the present application, a non-volatile computer readable storage medium is provided, which stores computer executable instructions for causing a computer to perform the method as described above.

[0089] In the embodiment of the present application, the ultrasonic information and the flight state of the unmanned aerial vehicle are acquired, so that the unmanned aerial vehicle is protected according to the ultrasonic information and the flight state. The ultrasonic information can be normal data information collected by normal ultrasonic information or abnormal data information collected by abnormal ultrasonic information, and the flight state includes take-off, landing and normal flight of the unmanned aerial vehicle. When the unmanned aerial vehicle is protected according to the ultrasonic information and the flight state, corresponding protection modes can be adopted according to different ultrasonic information and different flight states. This embodiment can reduce the probability of the unmanned aerial vehicle being crashed in high altitude, losing control in high altitude, not being able to descend, ascend, move left or right, and not being able to slow down and crash the ground when landing, and improve the safety of the unmanned aerial vehicle and the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0090] One or more embodiments are illustrated by way of example in the figures that form a part of this patent document. These example are not intended to limit the application, but rather to clarify and make apparent to those skilled in the art the principles of the application, and the circumstances in which the principles are applied. The same reference numbers in different drawings identify the same components and the drawings are not limited to scale.

[0091] Figure 1 is a flowchart of a method for protecting the safety of an unmanned aerial vehicle according to an embodiment of the present application;

[0092] Figure 2 is a flowchart of a method for protecting the safety of an unmanned aerial vehicle according to the ultrasonic information and the flight state according to an embodiment of the present application;

[0093] Figure 3 is a flowchart of a method for determining whether the ultrasonic information is valid in a method for protecting the safety of an unmanned aerial vehicle according to an embodiment of the present application;

[0094] Figure 4 is a flowchart of a method for protecting the safety of an unmanned aerial vehicle according to the ultrasonic information and the flight state according to another embodiment of the present application;

[0095] Figure 5 is a structural schematic diagram of a device for protecting the safety of an unmanned aerial vehicle according to an embodiment of the present application;

[0096] Figure 6 is a structural schematic diagram of an unmanned aerial vehicle according to an embodiment of the present application;

[0097] Figure 7 is a hardware structural schematic diagram of an unmanned aerial vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0098] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0099] It should be noted that the various features of the embodiments of the present application can be combined with each other if there is no conflict, and all are within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device schematic diagram or the order in the flowchart.

[0100] The unmanned aerial vehicle safety protection method and device provided by the embodiments of the present application can be applied to various types of unmanned aerial vehicles. Generally, the unmanned aerial vehicle perceives the ground through a downward-looking ultrasonic radar. When the unmanned aerial vehicle takes off, lands and normally flies, the unmanned aerial vehicle detects the height of the aircraft from the ground through the ultrasonic radar installed on the unmanned aerial vehicle. If the ultrasonic radar has a problem, it will affect the take-off, landing and normal flight of the aircraft. Therefore, the core of the embodiments of the present application is to implement different safety protections on the unmanned aerial vehicle according to the ultrasonic condition of the unmanned aerial vehicle, including normal ultrasonic and abnormal ultrasonic, and the current specific flight state of the unmanned aerial vehicle. Thus, the safety of the unmanned aerial vehicle is improved, and the flexibility of the safety protection of the unmanned aerial vehicle is improved.

[0101] Please refer to Figure 1 , Figure 1 is a flowchart of an unmanned aerial vehicle safety protection method provided by the embodiments of the present application. The method is applied to an unmanned aerial vehicle and is specifically executed by a flight controller of the unmanned aerial vehicle. The method comprises the following steps:

[0102] Step 11, obtaining ultrasonic information and flight state of the unmanned aerial vehicle.

[0103] The ultrasonic information refers to information detected by an ultrasonic radar of the UAV, and specifically includes an ultrasonic measurement height, a timestamp sequence of ultrasonic return flight control, etc. The ultrasonic measurement height refers to a height of the UAV from the ground detected by ultrasonic detection. The timestamp sequence of ultrasonic return flight control refers to a sequence of time nodes corresponding to the ultrasonic data, each ultrasonic data corresponding to a time node, which is used to indicate when the ultrasonic measurement height is measured. For example, the timestamps include 0.1 seconds, 0.2 seconds, and 0.3 seconds; the ultrasonic measurement heights include 0.5 meters, 0.6 meters, and 0.9 meters; when the UAV sends the ultrasonic measurement height 0.5 meters to the flight control, the timestamp 0.1 seconds is attached, indicating that the ultrasonic measurement height detected at 0.1 seconds is 0.5 meters; when the UAV sends the ultrasonic measurement height 0.6 meters to the flight control, the timestamp 0.2 seconds is attached, indicating that the ultrasonic measurement height detected at 0.2 seconds is 0.6 meters; when the UAV sends the ultrasonic measurement height 0.9 meters to the flight control, the timestamp 0.3 seconds is attached, indicating that the ultrasonic measurement height detected at 0.3 seconds is 0.9 meters. Thus, the flight control can obtain the ultrasonic measurement height detected at what time.

[0104] The flight state refers to a flight state of the UAV, and the flight state includes a descending state, a normal flight state, a take-off state, etc. The normal flight state can include accelerated flight, decelerated flight, etc.

[0105] Step 12, performing safety protection on the UAV according to the ultrasonic information and the flight state.

[0106] In this embodiment, different safety protection methods are implemented on the UAV based on the ultrasonic condition of the UAV, including ultrasonic normal and ultrasonic abnormal, and the UAV being in a normal flight state or a descending state, thereby improving the safety of the aircraft and the flexibility of the safety protection of the aircraft.

[0107] The safety protection method of the UAV will be described in detail from the two flight states of the UAV being in a normal flight state and a descending state.

[0108] As shown in Figure 2 When the flight state of the UAV is a normal flight state, the safety protection on the UAV according to the ultrasonic information and the flight state includes:

[0109] Step 101, determining whether the ultrasonic information is valid.

[0110] Determining whether the ultrasonic information is valid also means determining whether the ultrasonic of the UAV is abnormal, and specifically, as shown in Figure 3 The determination of whether the ultrasonic information is valid includes:

[0111] Step 1011, obtaining a fusion height of the UAV;

[0112] The fusion height, also referred to as a flight height, refers to a height of the UAV from a take-off point, and the fusion height is detected by various sensors. The sensors include a barometer, an accelerometer, an ultrasonic sensor, a radar sensor, and the like.

[0113] Step 1012, obtaining an ultrasonic credibility detection result according to the fusion height and the ultrasonic information, and obtaining an ultrasonic update detection result according to the ultrasonic information;

[0114] The ultrasonic credibility detection result is used to determine whether a value of ultrasonic output of the UAV is available. In this embodiment, the ultrasonic credibility detection result can be represented by a digital signal, for example, when the ultrasonic credibility detection result is “1”, it indicates that the value of the ultrasonic output is available, and when the ultrasonic credibility detection result is “0”, it indicates that the value of the ultrasonic output is unavailable.

[0115] The ultrasonic update detection result is used to identify whether ultrasonic data of the UAV is still being updated normally. In this embodiment, the ultrasonic data passes through an update detection module, and the update detection module obtains an ultrasonic update detection result according to the ultrasonic data. The ultrasonic update detection result can also be represented by a digital signal, for example, when the ultrasonic update detection result is “1”, it indicates that the ultrasonic data is being updated normally, and when the ultrasonic update detection result is “0”, it indicates that the ultrasonic data is not being updated normally.

[0116] In this embodiment, obtaining the ultrasonic credibility detection result according to the fusion height and the ultrasonic information includes: obtaining an ultrasonic measurement height according to the ultrasonic information, respectively deriving the ultrasonic measurement height and the fusion height, and outputting differential information of the ultrasonic measurement height and differential information of the fusion height; respectively filtering the differential information of the ultrasonic measurement height and the differential information of the fusion height to obtain filtered differential information of the ultrasonic measurement height and filtered differential information of the fusion height; and obtaining the ultrasonic credibility detection result according to the differential information of the ultrasonic measurement height and the differential information of the fusion height.

[0117] Since the ultrasonic measurement height and the fusion height detected by the ultrasonic may not be equal when the aircraft is descending, but the respective first-order derivatives representing the ascending / descending speed of the aircraft should be relatively close, the ascending / descending speed of the aircraft represented by the first-order derivatives is taken as a judgment basis, the ultrasonic measurement height is differentiated to output the derivative information of the ultrasonic measurement height, the fusion height is differentiated to output the derivative information of the fusion height, and the difference between the two derivative information is compared to determine whether the value output by the ultrasonic is available.

[0118] The filter can be a differential filter, and since the signals in engineering generally contain noise, the filter is used to filter the noise to more accurately obtain the approximate derivatives of the ultrasonic measurement height and the fusion height.

[0119] The ultrasonic reliability detection result is obtained according to the derivative information of the ultrasonic measurement height and the derivative information of the fusion height, specifically including: comparing the derivative information of the ultrasonic measurement height and the derivative information of the fusion height, when the result of the difference comparison is within a preset range, outputting that the ultrasonic reliability detection result is reliable, and when the result of the difference comparison is not within the preset range, outputting that the ultrasonic reliability detection result is unreliable.

[0120] The derivative information of the ultrasonic measurement height and the derivative information of the fusion height can be the same or different, and when the two derivatives are the same or the difference between the two derivatives is within the preset range, the ultrasonic reliability detection result is reliable, that is, the value output by the ultrasonic is available, otherwise, the ultrasonic reliability detection result is unreliable, and the value output by the ultrasonic is not available. The preset range can be manually defined or set by the system.

[0121] In this embodiment, the ultrasonic update detection result is obtained according to the ultrasonic information, including: performing timestamp update detection, ultrasonic value change detection and ultrasonic value anomaly detection according to the ultrasonic information to obtain timestamp update detection result, ultrasonic value change detection result and ultrasonic value anomaly detection result; and performing logical operation on the timestamp update detection result, the ultrasonic value change detection result and the ultrasonic value anomaly detection result to obtain the ultrasonic update detection result.

[0122] The timestamp update detection result is obtained according to the timestamp update detection. The timestamp update detection is specifically detecting the difference between the time of the current step and the time of the previous step. If the difference between the time and the preset time step value is within a preset range, the timestamp update detection result outputs 1, indicating that the timestamp update is normal. If the difference between the time and the preset time step value is zero or the difference is not within the preset range, the timestamp update detection result outputs 0, indicating that the timestamp update is not normal.

[0123] The ultrasonic value change detection result is obtained according to the ultrasonic value change detection. The ultrasonic value change detection is specifically judging the ultrasonic measurement height corresponding to the current moment and the ultrasonic measurement height corresponding to the preset number (such as 3 or 5, etc.) of moments before the current moment. If any three ultrasonic measurement heights are not equal, the ultrasonic value change detection result outputs 1, indicating that the change of the ultrasonic value is normal. Otherwise, the ultrasonic value change detection result outputs 0, indicating that the change of the ultrasonic value is not normal. It should be noted that the number of ultrasonic measurement heights that are not equal can be any number other than 3, which is not limited here.

[0124] The ultrasonic value anomaly detection result is obtained according to the ultrasonic value anomaly detection. The ultrasonic value anomaly detection is specifically detecting the difference between the ultrasonic value of the current step and the ultrasonic value of the previous step, and the difference between the ultrasonic value of the previous step and the ultrasonic value of the step before the previous step. If the difference between the ultrasonic values of the five consecutive steps is 0, the ultrasonic value anomaly detection result outputs 0, indicating that the ultrasonic value is abnormal. Otherwise, the ultrasonic value anomaly detection result outputs 1, indicating that the ultrasonic value is normal. It should be noted that the number of steps of the ultrasonic value can be any number between 3 and 10, not just 5.

[0125] The logical operation of the timestamp update detection result, the ultrasonic value change detection result and the ultrasonic value anomaly detection result is specifically a logical AND operation of the timestamp update detection result, the ultrasonic value change detection result and the ultrasonic value anomaly detection result. Only when the timestamp update detection result, the ultrasonic value change detection result and the ultrasonic value anomaly detection result all output 1, i.e. all three results are normal, the ultrasonic update detection result is normal, outputting the ultrasonic normal update flag bit 1. Otherwise, the ultrasonic update detection result is not normal, outputting the ultrasonic abnormal update flag bit 0. It should be noted that the above logical operation can be other logical operations, such as logical OR, etc. In this embodiment, the logical AND operation is preferred.

[0126] Step 1013, when the ultrasonic credibility detection result and the ultrasonic update detection result both meet the preset value, determining that the ultrasonic information is valid, otherwise, determining that the ultrasonic information is invalid.

[0127] wherein, when the ultrasonic credibility detection result is credible and the ultrasonic update detection result indicates that the ultrasonic is in normal update, it is determined that the ultrasonic information is valid, otherwise it is determined that the ultrasonic information is invalid.

[0128] In the embodiment, when the ultrasonic credibility detection result and the ultrasonic update detection result are both represented by digital signals 0 and 1, that is, 1 represents that the ultrasonic credibility detection result is credible and the ultrasonic is in normal update, and 0 represents that the ultrasonic credibility detection result is not credible and the ultrasonic is not in normal update, at this time, the ultrasonic update detection result and the ultrasonic credibility detection result can be logically AND operated, when the result output of the logical AND operation is 1, it indicates that the ultrasonic information is valid, and when the result output of the logical AND operation is 0, it indicates that the ultrasonic information is invalid.

[0129] The validity of the ultrasonic information can be determined according to the above steps 1011 to 1013.

[0130] If the ultrasonic information is valid, the following step 102 is performed.

[0131] Step 102, detecting whether the ultrasonic measurement height is less than a first preset value.

[0132] The ultrasonic measurement height can be obtained according to the ultrasonic information. The first preset value can be any value between 2 meters and 6 meters, for example, the first preset value is 5 meters.

[0133] If the ultrasonic measurement height is less than the first preset value, the following step 103 is performed.

[0134] Step 103, limiting the descent speed of the unmanned aerial vehicle to be not greater than a first speed threshold.

[0135] The first speed threshold can be 2 m / s, and the first speed threshold can also be any value between 1 m / s and 3 m / s.

[0136] If the ultrasonic measurement height is greater than or equal to the first preset value, the following step 104 is performed.

[0137] Step 104, controlling the unmanned aerial vehicle to fly normally.

[0138] The above is the case when the unmanned aerial vehicle is in a normal flight state and the ultrasonic information is valid. When the ultrasonic information is invalid, that is, the ultrasonic is abnormal, the following step 105 is performed.

[0139] Step 105, detecting whether the fusion height is less than the first preset value.

[0140] The fusion height, also referred to as a flight height, refers to a height of the UAV from a take-off point, and is detected by various sensors, including a barometric altimeter, an accelerometer, an ultrasonic sensor, a radar sensor, and the like.

[0141] If the fusion height is less than the first preset value, step 106 is performed.

[0142] Step 106: limiting a descending speed of the UAV to be not greater than the first speed threshold.

[0143] The first speed threshold can be 2 m / s, and can also be any value between 1 m / s and 3 m / s.

[0144] If the fusion height is greater than or equal to the first preset value, step 107 is performed.

[0145] Step 107: controlling the UAV to normally fly.

[0146] The embodiment of the application is a specific process of protecting the UAV according to the ultrasonic information and the normal flight state when the UAV is in a normal flight state. The embodiment can make corresponding processing in time according to the ultrasonic information of the UAV, thereby ensuring normal flight of the UAV and avoiding high-altitude bombing and other accidents, and improving stability and safety of the UAV in normal flight.

[0147] As shown in FIG. Figure 4 The protecting the UAV according to the ultrasonic information and the flight state when the UAV is in a descending state includes:

[0148] Step 201: determining whether the ultrasonic information is valid.

[0149] The detailed process of determining whether the ultrasonic information is valid can refer to steps 1011 to 1013 in the above embodiment.

[0150] If the ultrasonic information is invalid, step 202 is performed.

[0151] Step 202: determining whether a fusion height is in a preset range.

[0152] The fusion height, also referred to as a flight height, refers to a height of the UAV from a take-off point, and is detected by various sensors, including a barometric altimeter, an accelerometer, an ultrasonic sensor, a radar sensor, and the like.

[0153] The preset interval can be specifically -2 meters to 2 meters, that is, it is judged whether the fusion height is greater than or equal to -2 meters and less than or equal to 2 meters. The preset interval can be customized by the user according to personal habits, or can be defined by the system, and the specific value can be set according to the actual application scenario.

[0154] If the fusion height is in the preset interval, step 203 is performed.

[0155] In step 203, the descending speed of the UAV is limited to be not greater than a second speed threshold, and a propeller stopping threshold of the UAV is set to a first propeller stopping threshold.

[0156] The second speed threshold can be any value between 0.5 m / s and 1.5 m / s, for example, the second speed threshold is 1 m / s. The first propeller stopping threshold is specifically an acceleration judgment threshold when the UAV lands, and the first propeller stopping threshold corresponding to the second speed threshold can be 7.5, or any value between 5 and 9.

[0157] In some embodiments, also please refer to Figure 4 After performing the step 203, the method further includes:

[0158] In step 204, whether the UAV lands is judged by acceleration of the UAV.

[0159] The judgment of whether the UAV lands includes: obtaining Z-axis acceleration Az and specific thrust T of the UAV; calculating the value of A according to the formula A = -Az-T; judging whether the value of A is greater than the first propeller stopping threshold, if the value of A is greater than the first propeller stopping threshold, the UAV lands, if the value of A is not greater than the first propeller stopping threshold, the UAV does not land.

[0160] The direction of the Z-axis acceleration Az is vertically downward, which is specifically the acceleration of the inertial measurement unit of the UAV. The specific thrust T is specifically the ratio of the motor pull to the weight of the aircraft. The value of A is compared with the first propeller stopping threshold, for example, A is compared with 7.5, when A > 7.5, the UAV lands, at which time the propeller is stopped, otherwise, the UAV does not land, at which time the step of obtaining the Z-axis acceleration Az and the specific thrust T of the UAV can be jumped to continue to judge whether the UAV lands, at the same time, the descending speed of the UAV is controlled to be the second speed threshold, and the first propeller stopping threshold corresponding to the second speed threshold is set.

[0161] It should be noted that in addition to judging whether the UAV lands by the above method, other methods can also be used.

[0162] If the UAV lands, step 205 is performed.

[0163] Step 205, control the UAV to stop propelling.

[0164] If the UAV does not land, jump to perform step 203.

[0165] In some embodiments, if the fusion height is not within the preset range, step 206 is performed.

[0166] Step 206, control the UAV to continue descending.

[0167] In some embodiments, if the ultrasonic information is valid, step 207 is performed.

[0168] Step 207, detect whether the height of the UAV above the ground is less than a second preset value.

[0169] Since the ultrasonic anomaly usually occurs when the aircraft descends to a distance of 0.5 meters from the ground, the second preset value is preferably 0.5 meters, and of course, in actual applications, the second preset value can be any value between 0.3 meters and 0.8 meters.

[0170] If the height above the ground is less than the second preset value, step 208 is performed.

[0171] Step 208, limit the descending speed of the UAV to be not greater than a third speed threshold, and set the stopping propelling threshold of the UAV to be a second stopping propelling threshold.

[0172] The third speed threshold can be specifically 0.2 m / s, and the third speed threshold can also be any value between 0.1 m / s and 0.4 m / s. The second stopping propelling threshold is specifically an acceleration judgment threshold when the UAV lands, and the second stopping propelling threshold corresponding to the third speed threshold can be specifically 2.8, and can also be any value between 2 and 4.

[0173] If the height above the ground is greater than or equal to the second preset value, step 209 is performed.

[0174] Step 209, control the UAV to continue descending.

[0175] In some embodiments, also please refer to Figure 4 After performing step 208, the method further includes:

[0176] Step 210, judge whether the UAV lands by the acceleration of the UAV.

[0177] The judging whether the UAV lands comprises: acquiring Z-axis acceleration Az and specific thrust T of the UAV; calculating a value of A according to a formula A=-Az-T; judging whether the value of A is greater than the second propeller stopping threshold, if the value of A is greater than the second propeller stopping threshold, the UAV lands, and if the value of A is not greater than the second propeller stopping threshold, the UAV does not land.

[0178] The direction of the Z-axis acceleration Az is vertically downward, and specifically the acceleration of an inertial measurement unit of the UAV. The specific thrust T is specifically a ratio of a motor pulling force to an aircraft weight. The value of A is compared with the second propeller stopping threshold, for example, A is compared with 2.8, when A>2.8, the UAV lands, at this time, the propeller stopping is started, otherwise, the UAV does not land, at this time, the step of acquiring the Z-axis acceleration Az and the specific thrust T of the UAV can be executed to continue to judge whether the UAV lands, at the same time, the descending speed of the UAV is controlled to be a third speed threshold, and the second propeller stopping threshold corresponding to the third speed threshold is set.

[0179] It should be noted that, in addition to judging whether the UAV lands by the above method, other methods can also be used.

[0180] If the UAV lands, the following step 211 is executed.

[0181] The step 211 controls the UAV to stop the propeller.

[0182] If the UAV does not land, the step 208 is executed.

[0183] The embodiment of the application is a specific process of the UAV in the descending state, which is protected according to the ultrasonic information and the descending state. The embodiment can make corresponding processing in time according to the ultrasonic information of the UAV, and adjust the descending speed of the UAV by the fusion height and the height above the ground of the UAV, and protect the UAV landing. The embodiment can avoid the phenomenon that the UAV does not slow down and violently crashes the ground when landing, and improves the safety of the UAV when landing.

[0184] The embodiment of the present application provides a kind of unmanned plane safety protection method, the method is by obtaining the ultrasonic information and flight state of unmanned plane, to carry out safety protection to the unmanned plane according to the ultrasonic information and the flight state.Therein, the ultrasonic information can be the data information collected by normal ultrasonic, it can also be the data information collected by abnormal ultrasonic, it includes ultrasonic measurement height, the flight state includes landing state and normal flight state, when carrying out safety protection to the unmanned plane according to the ultrasonic information and the flight state, different safety protection mode is specifically adopted according to the abnormal situation of the ultrasonic information and current flight state.This embodiment improves the flexibility of unmanned plane safety protection, reduces the probability of occurrence of unmanned plane high-altitude bombing, high-altitude out of control and cannot descend, rise, left shift and right shift, and landing does not decelerate and violently crashes ground and other phenomena when ultrasonic appears abnormal, improves the safety of unmanned plane, improves user experience.

[0185] Please refer to Figure 5 , Figure 5 It is a kind of unmanned plane safety protection device structure schematic diagram provided by the embodiment of the present application.The device is applied to unmanned plane, and the device 20 includes information acquisition module 21 and safety protection module 22.In an embodiment of the present application, information acquisition module 21 and safety protection module 22 can be flight controller in unmanned plane.

[0186] Therein, the information acquisition module 21 is used to obtain the ultrasonic information and flight state of unmanned plane;The safety protection module 22 is used to carry out safety protection to the unmanned plane according to the ultrasonic information and the flight state.

[0187] In the embodiment, the flight state includes normal flight state and descending state.The safety protection of the unmanned plane according to the two flight states and ultrasonic information is specifically described as follows.

[0188] When the flight state is normal flight state, the safety protection module 22 is specifically used for: judging whether the ultrasonic information is valid;If valid, the safety protection module 22 is used for:

[0189] detecting whether ultrasonic measurement height is less than first preset value;

[0190] If yes, limit the descending speed of the unmanned plane not more than first speed threshold.

[0191] When the ultrasonic measurement height is greater than or equal to the first preset value, the safety protection module 22 is used for: controlling the unmanned plane to fly normally.

[0192] In some embodiments, when the flight state is normal flight state, if the ultrasonic information is invalid, the safety protection module 22 is also used for:

[0193] detecting whether the fusion height is less than the first preset value;

[0194] If yes, the safety protection module 22 is further configured to limit the descending speed of the UAV to be not greater than the first speed threshold.

[0195] When the fusion height is greater than or equal to the first preset value, the safety protection module 22 is further configured to control the UAV to fly normally.

[0196] When the flight state is the descending state, the safety protection module 22 is specifically configured to: judge whether the ultrasonic information is valid; if not, judge whether the fusion height is in a preset interval; if yes, the safety protection module 22 is configured to:

[0197] limit the descending speed of the UAV to be not greater than a second speed threshold, and set the propeller stopping threshold of the UAV to be a first propeller stopping threshold.

[0198] If the fusion height is not in the preset interval, the safety protection module 22 is configured to control the UAV to continue descending.

[0199] In some embodiments, when the flight state is the descending state, the safety protection module 22 is further configured to: judge whether the UAV lands by acceleration of the UAV; if yes, control the UAV to stop the propeller; if not, limit the descending speed of the UAV to be not greater than the second speed threshold, and set the propeller stopping threshold of the UAV to be the first propeller stopping threshold.

[0200] The judgment of whether the UAV lands includes: obtaining Z-axis acceleration Az and specific thrust T of the UAV; calculating the value of A according to the formula A = -Az-T; judging whether the value of A is greater than the first propeller stopping threshold, if the value of A is greater than the first propeller stopping threshold, the UAV lands, if the value of A is not greater than the first propeller stopping threshold, the UAV does not land.

[0201] In some embodiments, when the flight state is the descending state, the safety protection module 22 is further configured to:

[0202] When the ultrasonic information is valid, detecting whether the height of the UAV above the ground is less than a second preset value; if yes, limiting the descending speed of the UAV to be not greater than a third speed threshold, and setting the propeller stopping threshold of the UAV to be a second propeller stopping threshold. When detecting that the height of the UAV above the ground is greater than or equal to the second preset value, controlling the UAV to continue descending.

[0203] In some embodiments, when the flight state is a descending state, the safety protection module 22 is further configured to:

[0204] determining whether the UAV is landing by acceleration of the UAV; if yes, controlling the UAV to stop propelling; if no, limiting the descending speed of the UAV to be not greater than the third speed threshold, and setting the stop propelling threshold of the UAV to be the second stop propelling threshold.

[0205] The determining whether the UAV is landing comprises: obtaining Z-axis acceleration Az and specific thrust T of the UAV; calculating the value of A according to the formula A=-Az-T; and determining whether the value of A is greater than the second stop propelling threshold, if the value of A is greater than the second stop propelling threshold, the UAV is landing, if the value of A is not greater than the second stop propelling threshold, the UAV is not landing.

[0206] The determining whether the ultrasonic information is valid comprises: obtaining a fusion height of the UAV; obtaining an ultrasonic credibility detection result according to the fusion height and the ultrasonic information, and obtaining an ultrasonic update detection result according to the ultrasonic information; when the ultrasonic credibility detection result and the ultrasonic update detection result both meet a preset value, determining that the ultrasonic information is valid, otherwise, determining that the ultrasonic information is invalid.

[0207] It is worth noting that the information interaction, execution process and the like between the modules and units in the above device, since the same concept as the method embodiments of the present application, the specific content can be referred to the description in the method embodiments of the present application, and will not be described here.

[0208] The embodiments of the present application provide a UAV safety protection device, which obtains ultrasonic information and flight state of the UAV, and performs safety protection on the UAV according to the ultrasonic information and the flight state. The ultrasonic information can be normal ultrasonic data information or abnormal ultrasonic data information, and includes ultrasonic measurement height. The flight state includes landing state and normal flight state. When safety protection is performed on the UAV according to the ultrasonic information and the flight state, different safety protection modes are adopted according to abnormal conditions of the ultrasonic information and the current flight state. This embodiment improves the flexibility of UAV safety protection, reduces the probability of high-altitude crashes, high-altitude loss of control, inability to descend, ascend, move left and right, and violent landing without deceleration, and improves the safety of the UAV and the user experience.

[0209] Please refer to Figure 6 and Figure 7 , Figure 6 andFigure 7 is a schematic diagram of a hardware structure of a UAV provided by an embodiment of the present application, as shown in Figure 6 and Figure 7 , the UAV 30 comprises a fuselage 301, four arms 302 extending from the fuselage 301, a power device 303 respectively arranged on each arm 301, and a flight controller arranged in the fuselage 301. The flight controller comprises at least one processor 304 and a memory 305 in communication connection with the at least one processor 304.

[0210] Figure 6 The UAV 30 shown in the figure is a quadcopter, and the number of power devices 303 is four. In other possible embodiments, the UAV 30 can be any other type of unmanned aerial vehicle, such as a fixed-wing unmanned aerial vehicle, etc. In the case where the power device 303 is applied to other types of unmanned aerial vehicles, the number of power devices 303 can be changed according to actual needs, and the present application does not limit this.

[0211] In an embodiment of the application, the arm 302 is fixedly connected with the fuselage 301, and preferably, the arm 302 is integrally formed with the fuselage 301. In other possible embodiments, the arm 302 can also be connected with the fuselage 301 in a manner of being unfolded or folded relative to the fuselage 301. For example, the arm 302 can be connected with the fuselage 301 through a rotating shaft mechanism to realize the unfolding or folding of the arm 302 relative to the fuselage 301.

[0212] In an embodiment of the present application, the power device 303 comprises a driving device 3031 and a propeller assembly 3032 driven by the driving device 3031, the propeller assembly 3032 being arranged on the output shaft of the driving device 3031, and the propeller assembly 3032 rotating under the drive of the driving device 3031 to generate lift or thrust to make the UAV 30 fly. The driving device 3031 can be any suitable type of motor, such as a brush motor, a brushless motor, a direct current motor, a stepping motor, an alternating current induction motor, etc.

[0213] Please refer to Figure 7 , Figure 7 for an example of a processor 304. The processor 304 and the memory 305 can be connected through a bus or other means, Figure 7 for an example of connection through a bus.

[0214] The memory 305, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the UAV safety protection method in the embodiments of the present application (for example, the UAV safety protection method in the embodiments of the present application can be stored in the memory 305 in the form of a computer program product). Figure 5The information acquisition module 21 and the security protection module 22 shown are implemented by the processor 304. The processor 304 performs various function applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 305, i.e., implements the UAV security protection method of the above method embodiments.

[0215] The memory 305 can include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required by a function. The data storage area can store data created during use of the UAV security protection device, etc. In addition, the memory 305 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 305 can optionally include a memory remotely disposed relative to the processor 304, which can be connected to the UAV security protection device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0216] The one or more modules are stored in the memory 305 and, when executed by the one or more processors 304, perform the UAV security protection method in any of the above method embodiments, e.g., perform the method steps 11 to 12 in Figure 1 the method steps 101 to 107 in Figure 2 the method steps 1011 to 1013 in Figure 3 the method steps 201 to 212 in Figure 4 to implement the functions of the modules 21-22 in Figure 5 .

[0217] The above products can perform the method provided by the embodiments of the present application, and have the corresponding function modules and beneficial effects of performing the method. Technical details not described in detail in the embodiments can be referred to the method provided by the embodiments of the present application.

[0218] The UAV of the embodiments of the present application exists in various forms, including but not limited to a quadcopter, etc.

[0219] The embodiments of the present application provide a non-volatile computer readable storage medium, which stores computer executable instructions. The computer executable instructions are executed by a UAV to perform the UAV security protection method in any of the above method embodiments, e.g., perform the method steps 11 to 12 in Figure 1 the method steps 101 to 107 in Figure 2 the method steps 1011 to 1013 in Figure 3 .Figure 4 the method steps 201-212 in the method in Figure 5 the functions of the modules 21-22 in the method in

[0220] The embodiment of the present application provides a computer program product, including a computer program stored in a nonvolatile computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer executes the UAV safety protection method in any method embodiment described above, for example, executes the method steps 11-12 in the method in Figure 1 the method steps 101-107 in the method in Figure 2 the method steps 1011-1013 in the method in Figure 3 the method steps 201-212 in the method in Figure 4 the functions of the modules 21-22 in the method in Figure 5 the functions of the modules 21-22 in the method in

[0221] The above-described apparatus embodiments are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0222] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM), etc.

[0223] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not limited to them; under the idea of the present application, the technical features of the above examples or different examples can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for protecting the safety of unmanned aerial vehicles (UAVs), characterized in that, The method comprises: acquiring ultrasonic information and flight state of the unmanned aerial vehicle, wherein the flight state comprises normal flight state and descending state; acquiring ultrasonic credibility detection result and ultrasonic update detection result; when the ultrasonic credibility detection result and the ultrasonic update detection result both conform to preset values, determining that the ultrasonic information is valid; performing safety protection on the unmanned aerial vehicle according to the valid ultrasonic information and flight state of the unmanned aerial vehicle; wherein the acquiring ultrasonic credibility detection result and ultrasonic update detection result comprises: confirming the ultrasonic credibility detection result, which is acquired by respectively performing differential calculation on ultrasonic height data and fusion height data; confirming the ultrasonic update detection result, which is acquired according to timestamp update detection result, ultrasonic value change detection result and ultrasonic value anomaly detection result.

2. The method of claim 1, wherein, The confirming the ultrasonic credibility detection result, which is acquired by respectively performing differential calculation on ultrasonic height data and fusion height data comprises: acquiring ultrasonic measurement height according to the ultrasonic information, respectively performing derivation on the ultrasonic measurement height and the fusion height, and outputting differential information of the ultrasonic measurement height and differential information of the fusion height; respectively performing filtering on the differential information of the ultrasonic measurement height and the differential information of the fusion height to acquire filtered differential information of the ultrasonic measurement height and filtered differential information of the fusion height; performing difference comparison on the differential information of the ultrasonic measurement height and the differential information of the fusion height, and when the difference comparison result is within a preset range, outputting that the ultrasonic credibility detection result is credible; otherwise, outputting that the ultrasonic credibility detection result is not credible.

3. The method of claim 1, wherein, The confirming the ultrasonic update detection result, which is acquired according to timestamp update detection result, ultrasonic value change detection result and ultrasonic value anomaly detection result comprises: performing timestamp update detection, ultrasonic value change detection and ultrasonic value anomaly detection according to the ultrasonic information to acquire timestamp update detection result, ultrasonic value change detection result and ultrasonic value anomaly detection result; performing logical operation on the timestamp update detection result, the ultrasonic value change detection result and the ultrasonic value anomaly detection result; when the logical operation result conforms to preset values, outputting that the ultrasonic information is normally updated; otherwise, outputting that the ultrasonic information is abnormally updated.

4. The method according to any one of claims 1 to 3, characterized in that, When the flight state is normal flight state, the performing safety protection on the unmanned aerial vehicle according to the valid ultrasonic information and flight state of the unmanned aerial vehicle comprises: if the ultrasonic information is valid, then: detecting whether the ultrasonic measurement height is less than a first preset value; if yes, then limiting the descending speed of the unmanned aerial vehicle to be not greater than a first speed threshold.

5. The method according to any one of claims 1 to 3, characterized in that, When the flight state is normal flight state, the method comprises: if the ultrasonic information is not valid, then: detecting whether the fusion height is less than a first preset value; if yes, then limiting the descending speed of the unmanned aerial vehicle to be not greater than a first speed threshold.

6. The method of claim 5, wherein, When the flight state is normal flight state, the method comprises: When the fusion height is greater than or equal to the first preset value, the unmanned aerial vehicle is controlled to fly normally.

7. The method according to any one of claims 1-3, characterized in that, When the flight state is a descending state, the method comprises: judging whether the ultrasonic information is valid; if not, judging whether the fusion height is within a preset interval; if yes, limiting the descending speed of the unmanned aerial vehicle to be not greater than a second speed threshold, and setting the propeller stopping threshold of the unmanned aerial vehicle to be a first propeller stopping threshold.

8. The method of claim 7, wherein, When the flight state is a descending state, the method comprises: judging whether the unmanned aerial vehicle lands through the acceleration of the unmanned aerial vehicle; if yes, controlling the unmanned aerial vehicle to stop propelling; if not, limiting the descending speed of the unmanned aerial vehicle to be not greater than the second speed threshold, and setting the propeller stopping threshold of the unmanned aerial vehicle to be the first propeller stopping threshold.

9. The method of claim 8, wherein, The judgment of whether the unmanned aerial vehicle lands comprises: obtaining the Z-axis acceleration Az and specific thrust T of the unmanned aerial vehicle; calculating the value of A according to the formula A = -Az-T; judging whether the value of A is greater than the first propeller stopping threshold, if the value of A is greater than the first propeller stopping threshold, the unmanned aerial vehicle lands, if the value of A is not greater than the first propeller stopping threshold, the unmanned aerial vehicle does not land.

10. The method according to any one of claims 7 or 9, characterized in that, When the flight state is a descending state, the method further comprises: if the fusion height is not within the preset interval, controlling the unmanned aerial vehicle to continue descending.

11. The method of claim 10, wherein, When the flight state is a descending state, the safety protection of the unmanned aerial vehicle according to the ultrasonic information and the flight state further comprises: when the ultrasonic information is valid, detecting whether the height of the unmanned aerial vehicle above the ground is less than a second preset value; if yes, limiting the descending speed of the unmanned aerial vehicle to be not greater than a third speed threshold, and setting the propeller stopping threshold of the unmanned aerial vehicle to be a second propeller stopping threshold.

12. The method of claim 11, wherein, When the flight state is a descending state, the safety protection of the unmanned aerial vehicle according to the ultrasonic information and the flight state further comprises: judging whether the unmanned aerial vehicle lands through the acceleration of the unmanned aerial vehicle; if yes, controlling the unmanned aerial vehicle to stop propelling; if not, limiting the descending speed of the unmanned aerial vehicle to be not greater than the third speed threshold, and setting the propeller stopping threshold of the unmanned aerial vehicle to be the second propeller stopping threshold.

13. The method of claim 12, wherein, The judgment of whether the unmanned aerial vehicle lands comprises: obtaining the Z-axis acceleration Az and specific thrust T of the unmanned aerial vehicle; calculating the value of A according to the formula A = -Az-T; judging whether the value of A is greater than the second propeller stopping threshold, if the value of A is greater than the second propeller stopping threshold, the unmanned aerial vehicle lands, if the value of A is not greater than the second propeller stopping threshold, the unmanned aerial vehicle does not land.

14. The method according to any one of claims 11-13, characterized in that, When the flight state is a descending state, the safety protection of the unmanned aerial vehicle according to the ultrasonic information and the flight state further comprises: when it is detected that the height of the unmanned aerial vehicle above the ground is greater than or equal to the second preset value, controlling the unmanned aerial vehicle to continue descending.

15. A safety protection device for a drone, characterized in that, The device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 14.

16. A drone, comprising: Comprise: A machine body; A machine arm connected with the machine body; A power device arranged on the machine arm, used to provide power for flight of the unmanned aerial vehicle; And A flight controller arranged on the machine body; The flight controller comprises: At least one processor; and A memory in communication connection with the at least one processor; wherein The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 14.

17. A non-transitory computer readable storage medium, comprising: The non-volatile computer readable storage medium stores computer executable instructions for causing a computer to perform the method of any one of claims 1 to 14.

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