A method, system, storage medium and intelligent terminal for protecting drone from loss of control

Abstract

The present application relates to a method, system, storage medium and intelligent terminal for protecting a drone from loss of control, and relates to the field of drone safety technology, which includes obtaining current flight information and theoretical flight information; controlling a safety partition in a preset parachute carrier box to open in a preset fully open state when the current flight position does not fall into the theoretical flight trajectory; controlling a safety partition in a preset parachute carrier box to open in a fully open state when the current flight position falls into the theoretical flight trajectory but the current flight posture is different from the theoretical flight posture; controlling a safety partition in a parachute carrier box to close in a fully closed state when the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture. The present application has the effect of being separated by a safety partition and not easily exploding, and improving the anti-accidental touch performance of the parachute that is not easy to open during correct flight or shutdown without affecting the accurate ejection of the parachute.

Description

Technical Field

[0001] The present application relates to the field of drone safety technology, and in particular to a drone out-of-control protection method, system, storage medium and intelligent terminal. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV" in English, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently autonomously by an on-board computer.

[0003] During the flight of a small drone, any malfunction in any component or link may cause the aircraft to lose control and crash, thereby causing damage to the aircraft itself and onboard equipment. Since drones and onboard remote sensing equipment are currently very valuable, a crash will cause huge property value. Therefore, in order to reduce losses, parachutes are usually set up for use when the drone loses control. When the drone is detected to be out of control, the parachute will be automatically dropped to reduce the drone's descent speed, thereby protecting the drone and reducing accident losses.

[0004] The following problems exist in the prior art. In the prior art, the parachute carrier box usually does not have any measures to prevent accidental touch. Therefore, once the normal driving trajectory of the drone has some ups and downs or is close to the state of out-of-control judgment but is not out-of-control, it is easy to cause misjudgment of the out-of-control state and open the parachute, causing the drone to fail to work normally. There is still room for improvement. Summary of the invention

[0005] In order to improve the problem that once the drone's normal driving trajectory has some ups and downs or is close to the out-of-control state but is not out-of-control, it is easy to misjudge the out-of-control state and open the parachute, causing the drone to fail to work normally, the application provides a drone out-of-control protection method, system, storage medium and intelligent terminal.

[0006] In the first aspect, the present application provides a method for protecting a drone from loss of control, which adopts the following technical solution:

[0007] A method for protecting a drone from losing control, comprising:

[0008] Acquire current flight information and theoretical flight information, wherein the current flight information includes a current flight position and a current flight posture, and the theoretical flight information includes a theoretical flight trajectory and a theoretical flight posture corresponding to the theoretical flight trajectory;

[0009] When the current flight position does not fall into the theoretical flight trajectory, the safety baffle in the preset parachute carrier box is controlled to open according to the preset fully open state, so that the reaction explosives inside the parachute carrier box are mixed and exploded, so as to open the box cover of the parachute carrier box, the parachute carrier box includes a box body and a parachute, the parachute is arranged in the box body, the box body is provided with an opening for sending the parachute out of the box body, the box body is also provided with a box cover for covering the opening, the box body is provided with a safety baffle that is slidably connected to the box body and divides the box body into two cavities, the box body is provided with explosives that are respectively arranged in the two cavities and will cause a slight explosion after mixing, which is enough to push the box cover open, and the bottom of the inner side of the box body is gradually inclined from the side away from the safety baffle to the side close to the safety baffle, so that the explosive has a tendency to approach the safety baffle under the action of gravity;

[0010] When the current flight position falls into the theoretical flight trajectory but the current flight posture is different from the theoretical flight posture, the safety partition in the preset parachute carrier box is controlled to open according to the preset fully opened state;

[0011] When the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture, the safety partition in the parachute carrier box is controlled to close according to the preset fully closed state.

[0012] By adopting the above technical solution, whether it is out of control is determined by the flight position and flight attitude. If it is out of control, the safety partition can be opened, so that the two explosives mix and explode to eject the parachute. When it is not out of control, they are separated by the safety partition and will not explode easily. Under the condition of not affecting the accurate ejection of the parachute, the anti-accidental touch performance of the parachute that is not easy to open during correct flight or parking is improved.

[0013] Optionally, when the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture, the method for controlling the safety partition in the parachute carrier box to close in a fully closed state includes:

[0014] Analyze the theoretical flight trajectory based on the current flight position to obtain the current flight acceleration;

[0015] Decompose the current flight acceleration to get the mixed direction acceleration;

[0016] Acquire a first explosive height and a second explosive height at the start of operation, wherein the first explosive height and the second explosive height are heights of the explosives in the two cavities respectively;

[0017] When the acceleration in the mixing direction is equal to zero, selecting the larger value of the first explosive height and the second explosive height as the initial explosive height;

[0018] Find the corresponding critical isolation state from a preset hybrid database based on the initial explosive height;

[0019] Control the safety partition to open according to the critical isolation state;

[0020] When the acceleration in the mixed direction is not equal to zero, the safety baffle in the parachute carrier box is controlled to be closed in a fully closed state.

[0021] By adopting the above technical solution, in order to make the explosives mix faster, the acceleration generated at every moment is also judged. It is only necessary to isolate the position where the explosives move normally in theory, and there is no need to isolate it completely, so that the safety partition can be opened at the first time, thereby improving the sensitivity of protection after loss of control; on the other hand, the out-of-control state can also be judged from the acceleration aspect, and the out-of-control state can be judged in advance before the speed is used to judge the out-of-control state, thereby improving the accuracy of the out-of-control state judgment.

[0022] Optionally, the method for finding the corresponding critical isolation state from the mixed database based on the initial explosive height includes:

[0023] When the theoretical flight posture is a preset horizontal posture, the corresponding critical isolation state is found from the hybrid database based on the initial explosive height;

[0024] When the theoretical flight posture is a tilted posture, searching a preset impact database for a corresponding first impact ratio and a second impact ratio based on the theoretical flight posture and the preset explosive type;

[0025] Based on the first influence ratio and the second influence ratio, respectively, the first explosive height and the second explosive height are corrected to obtain an actual first explosive height and an actual second explosive height;

[0026] Selecting a larger value between an actual first explosive height and an actual second explosive height as an actual initial explosive height;

[0027] Based on the actual initial explosive height, the corresponding actual critical isolation state is found from the hybrid database and output as the critical isolation state.

[0028] By adopting the above technical solution, when the object is tilted, only the highest position in the tilted state needs to be isolated, without the need to completely isolate the entire space, which further enables the safety partition to be opened at the first time, thereby improving the sensitivity of protection after loss of control.

[0029] Optionally, when the acceleration in the mixed direction is not equal to zero, the method for controlling the safety partition in the parachute carrier box to close in a fully closed state includes:

[0030] Finding a corresponding mixed direction impact ratio from a preset mixed direction impact database based on the mixed direction acceleration and the type of explosive;

[0031] Correcting the first explosive height or the second explosive height based on the mixing direction influence ratio to obtain the first explosive height in the mixing direction or the second explosive height in the mixing direction;

[0032] When the height of the first explosive in the mixing direction or the height of the second explosive in the mixing direction is greater than a preset fully closed height, the safety partition in the parachute carrier box is controlled to be closed in a fully closed state;

[0033] When the first explosive height in the mixing direction or the second explosive height in the mixing direction is less than the fully closed height, the first explosive height in the mixing direction or the second explosive height in the mixing direction is used as the explosive height in the mixing direction based on the mixing direction acceleration;

[0034] Based on the height of the explosive in the mixing direction, the corresponding critical isolation state of the mixing direction is found from the mixing database;

[0035] Control the safety partition to open according to the critical isolation state in the mixing direction.

[0036] By adopting the above technical solution, by determining the direction of acceleration, if the heights of the two are different, it is possible to select which explosive will enter the other cavity according to the direction, accurately determine the isolation height, avoid blindly selecting a larger height, and further enable the safety partition to be opened at the first time, thereby improving the sensitivity of protection after loss of control.

[0037] Optionally, a method for checking the initial height of the explosive is also included, the method comprising:

[0038] Outputting a preset filling signal when the initial height of the explosive is less than a preset reasonable explosion height range;

[0039] When the initial explosive height falls within the reasonable explosion height range, the initial explosive height is normally output;

[0040] When the initial explosive height is greater than the reasonable explosion height range, determine the maximum value of the reasonable explosion height range and define it as the maximum reasonable explosion height;

[0041] Calculate the explosion height difference based on the initial explosive height and the maximum reasonable explosion height;

[0042] Determine the height of the permissible reactive explosive based on the preset single descent height difference and the height of the explosive in the mixing direction;

[0043] Based on the height of the explosives allowed to react, the corresponding critical isolation state allowed to react is searched from the mixed database;

[0044] When the acceleration in the mixing direction is not equal to zero, the safety baffle is controlled to open according to the critical isolation state of the allowed reaction and the current height of the explosive is continuously obtained until the current height of the explosive is reduced to the height of the allowed reaction explosive, and is updated to the initial height of the explosive;

[0045] When the updated initial explosive height is still greater than the maximum reasonable explosion height, the critical isolation state of the allowed reaction is updated again when the acceleration in the mixing direction is not equal to zero until the initial explosive height is less than or equal to the maximum reasonable explosion height.

[0046] By adopting the above technical solution, when there are too many explosives, the amount of explosives can be gradually reduced by an amount that will not have an impact in a single reaction, so that the explosives can reach a reasonable explosion amount and explode normally when out of control, thereby improving the controllability of the amount of explosives.

[0047] Optionally, a method for obtaining the current height of the explosive is also included, the method comprising:

[0048] Determine the region where the reaction products fall based on the acceleration in the mixing direction;

[0049] Based on the single descent height difference and the type of explosive, the corresponding product height is found from the preset product database;

[0050] Correcting the first explosive height in the mixing direction or the second explosive height in the mixing direction based on the reaction product falling area and the product height to obtain a corrected explosive height;

[0051] The corrected first explosive height and the first explosive height in the mixing direction or the second explosive height in the mixing direction other than the corrected first explosive height are screened and output as the current explosive height.

[0052] By adopting the above technical solution, when the products after the reaction fall, the influence of these products on the height of the explosive needs to be removed from the corresponding area to avoid affecting the measurement of the actual height of the explosive, thereby improving the accuracy of obtaining the height of the explosive.

[0053] Optionally, when the acceleration in the mixing direction is not equal to zero, the method for controlling the safety partition to open according to the critical isolation state of the allowed reaction includes:

[0054] Analyze the current positive and negative nature of the mixed direction acceleration when the mixed direction acceleration is not equal to zero;

[0055] Acquire a first reactant type in a preset first reactant region and a second reactant type in a preset second reactant region, wherein the height of the first reactant type in the first reactant region is a first explosive height, and the height of the second reactant type in the second reactant region is a second explosive height;

[0056] determining a reaction product species based on the first reactant species and the second reactant species;

[0057] determining a first region precipitation type based on a first reactant type and a reaction product type;

[0058] determining a second region precipitation type based on a second reactant type and a reaction product type;

[0059] Determining the positive or negative value of the theoretical value of the acceleration in the mixing direction based on the first reactant region or the second reactant region when the precipitation type in the first region is the reaction product type or the precipitation type in the second region is the reaction product type;

[0060] When the current positive and negative values ​​are the same as the theoretical value positive and negative, the safety partition is controlled to open according to the critical isolation state of the allowed reaction;

[0061] When the current positive and negative values ​​are not the same as the theoretical positive and negative values, the safety partition is controlled to open in a critical isolation state in the mixed direction.

[0062] By adopting the above technical solution, the reactants after the explosion are sent to the side of the pre-reaction items with low density, so that the reactants after the explosion sink to the bottom and cover the pre-reaction items, avoiding the situation where the explosion does not occur in the first place, thereby ensuring the sensitivity of the explosion of the reactants.

[0063] In the second aspect, the present application provides a UAV out-of-control protection system, which adopts the following technical solution:

[0064] A UAV out-of-control protection system, comprising:

[0065] An acquisition module, used to acquire current flight information, theoretical flight information, a first explosive height, a second explosive height, a first reactant type, and a second reactant type;

[0066] A memory, used to store a program of a control method of any of the above-mentioned unmanned aerial vehicle out-of-control protection methods;

[0067] The program in the processor and the memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned unmanned aerial vehicle out-of-control protection methods.

[0068] By adopting the above technical solution, whether it is out of control is determined by the flight position and flight attitude. If it is out of control, the safety partition can be opened, so that the two explosives mix and explode to eject the parachute. When it is not out of control, they are separated by the safety partition and will not explode easily. Under the condition of not affecting the accurate ejection of the parachute, the anti-accidental touch performance of the parachute that is not easy to open during correct flight or parking is improved.

[0069] In the third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0070] The intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned unmanned aerial vehicle out-of-control protection methods.

[0071] By adopting the above technical solution, whether it is out of control is determined by the flight position and flight attitude. If it is out of control, the safety partition can be opened, so that the two explosives mix and explode to eject the parachute. When it is not out of control, they are separated by the safety partition and will not explode easily. Under the condition of not affecting the accurate ejection of the parachute, the anti-accidental touch performance of the parachute that is not easy to open during correct flight or parking is improved.

[0072] Fourthly, the present application provides a computer storage medium that can store corresponding programs and has the characteristics of fast interaction with memory big data.

[0073] Computer readable storage medium, using the following technical solution:

[0074] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned unmanned aerial vehicle out-of-control protection methods.

[0075] By adopting the above technical solution, whether it is out of control is determined by the flight position and flight attitude. If it is out of control, the safety partition can be opened, so that the two explosives mix and explode to eject the parachute. When it is not out of control, they are separated by the safety partition and will not explode easily. Under the condition of not affecting the accurate ejection of the parachute, the anti-accidental touch performance of the parachute that is not easy to open during correct flight or parking is improved.

[0076] In summary, the present application includes at least the following beneficial technical effects:

[0077] 1. When not out of control, it is separated by a safety partition and will not explode easily. Without affecting the accurate ejection of the parachute, it improves the anti-accidental touch performance of the parachute when flying correctly or stopping;

[0078] 2. By using small-dose reactions, the amount of explosives can be reduced so that the explosives can reach a reasonable amount and explode normally when out of control, thus improving the controllability of the amount of explosives. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a flow chart of a method for protecting a drone from loss of control in an embodiment of the present application.

[0080] Figure 2 It is a schematic diagram of the structure of the parachute carrier box in an embodiment of the present application.

[0081] Figure 3It is a flow chart of a method for controlling the safety partition in the parachute carrier box to close to a fully closed state when the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture in an embodiment of the present application.

[0082] Figure 4 It is a flow chart of a method for searching a corresponding critical isolation state from a mixed database based on an initial explosive height in an embodiment of the present application.

[0083] Figure 5 It is a flow chart of a method for controlling the safety partition in the parachute carrier box to close to a fully closed state when the acceleration in the mixed direction is not equal to zero in an embodiment of the present application.

[0084] Figure 6 It is a flow chart of the method for checking the initial explosive height in the embodiment of the present application.

[0085] Figure 7 It is a flow chart of the method for obtaining the current height of the explosive in an embodiment of the present application.

[0086] Figure 8 It is a flow chart of a method for controlling the safety partition to open in accordance with a critical isolation state allowing a reaction when the acceleration in the mixing direction is not equal to zero in an embodiment of the present application.

[0087] Fig. 9 It is a system module diagram of a method for protecting a drone from loss of control in an embodiment of the present application.

[0088] Explanation of the accompanying reference numerals: 1. box body; 11. opening; 12. box cover; 13. safety partition; 14. cavity; 2. parachute; 3. explosive. DETAILED DESCRIPTION

[0089] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0090] The present application embodiment discloses a method for protecting a drone from losing control. Figure 1 , a method for protecting a drone from losing control includes:

[0091] Step 100: Obtain current flight information and theoretical flight information.

[0092] The current flight information includes the current flight position and the current flight posture. The current flight position is the position to which the current UAV is flying, and the current flight posture is the posture of the current UAV. The theoretical flight information includes the theoretical flight trajectory and the theoretical flight posture corresponding to the theoretical flight trajectory. The theoretical flight position is the trajectory of the current UAV flight, and the theoretical flight posture is the posture of the UAV at any position on the theoretical flight trajectory. The acquisition method can be a manual input method.

[0093] Step 101: When the current flight position does not fall into the theoretical flight trajectory, the safety baffle 13 in the preset parachute carrier box is controlled to open according to the preset fully open state, so that the reaction explosive 3 inside the parachute carrier box is mixed and reacted to explode, so as to open the box cover 12 of the parachute carrier box.

[0094] Reference Figure 2 The parachute carrier box includes a box body 1 and a parachute 2. The parachute 2 is placed in the box body 1. The box body 1 has an opening 11. The parachute 2 can be separated from the box body 1 at the opening 11 of the box body 1 and opened. The box body 1 is also equipped with a box cover 12 for covering the opening 11. The box body 1 has a safety partition 13, which is slidably connected to the box body 1 to divide the box body 1 into two cavities 14. The bottom of the inner side of the box body 1 gradually tilts from the side away from the safety partition 13 to the side close to the safety partition 13, so that the explosive 3 is close to the safety partition 13 under the action of gravity. The box body 1 has an explosive 3. The explosive 3 is two chemical objects that produce a large amount of gas when mixed, for example: sodium bicarbonate (NaHCO3) and acid will produce carbon dioxide gas when mixed, such as the reaction of solid acid such as sodium acetate and solid base such as sodium bicarbonate. The two chemicals are placed in the two cavities 14 respectively and will produce a slight explosion after mixing, which is enough to push the box cover 12 open.

[0095] The fully open state is a state in which the safety partition 13 completely opens the two cavities 14 so that the two are fully mixed. If the two cavities 14 do not fall into the air, it means that the drone is out of control, so the safety partition 13 is opened to mix the two explosives 3.

[0096] Step 102: When the current flight position falls into the theoretical flight trajectory but the current flight posture is different from the theoretical flight posture, the safety partition 13 in the preset parachute carrier box is controlled to open according to the preset fully opened state.

[0097] When the current flight position falls into the theoretical flight trajectory but the current flight posture is different from the theoretical flight posture, it means that the UAV is also out of control, so the safety partition 13 is opened to mix the two explosives 3.

[0098] Step 103: When the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture, the safety partition 13 in the parachute carrier box is controlled to close according to the preset fully closed state.

[0099] The fully closed state is a state in which the safety partition 13 completely closes the two cavities 14, so that the explosive 3 is completely out of contact. When the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture, it means that the drone is not out of control at this time. In order to prevent accidental contact, the safety partition 13 is closed in the fully closed state.

[0100] Reference Figure 3 The method of controlling the safety partition 13 in the parachute carrier box to close in a fully closed state when the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture includes:

[0101] Step 200: Analyze the theoretical flight trajectory based on the current flight position to obtain the current flight acceleration.

[0102] The current flight acceleration is the acceleration at the current flight position. This can be obtained by calculation, that is, the current position and the next position are divided by the unit time to get the speed, and then the current speed and the next speed are divided by the unit time to get the acceleration. It can also be manually input, that is, when manually inputting the theoretical flight trajectory, the acceleration at the corresponding position is also input.

[0103] Step 201: Decompose the current flight acceleration to obtain the mixed direction acceleration.

[0104] The mixed direction acceleration is the acceleration in the direction that can mix the two. Here, the mixed direction is as follows Figure 2 The left and right directions shown in the figure. The decomposition method can be a vector decomposition method, that is, the current flight acceleration is decomposed into three-dimensional directions, and one of the dimensional directions is the horizontal left and right direction.

[0105] Step 202: Obtain the first explosive height and the second explosive height at the start of operation.

[0106] The first explosive height and the second explosive height are respectively the heights of the explosives 3 in the two cavities 14. The method for obtaining the heights here can be to install a height sensor in each of the two internal cavities 14 and read the value of the height sensor to obtain the heights.

[0107] Step 203: When the acceleration in the mixing direction is equal to zero, select the larger value of the first explosive height and the second explosive height as the initial explosive height.

[0108] The initial explosive height is a reference explosive height set artificially. When the mixing direction acceleration is equal to zero, it means that the explosive 3 will not be mixed by shaking left and right, so a single height can be selected as the initial explosive height.

[0109] Step 204: Find the corresponding critical isolation state from the preset hybrid database based on the initial explosive height.

[0110] The critical isolation state is a state in which the two explosives 3 will not enter the other side to mix and explode when the safety partition 13 is in this state. The database stores the mapping relationship between the initial explosive height and the critical isolation state, which can be obtained by calculation, that is, the height of the safety partition 13 corresponding to the critical isolation state is equal to the initial explosive height, and the explosive 3 just cannot pass through the safety partition 13 to the other side. When the system receives the corresponding initial explosive height, it automatically finds the corresponding critical isolation state from the database and outputs it.

[0111] Step 205: Control the safety partition 13 to open according to the critical isolation state.

[0112] Step 206: When the mixed direction acceleration is not equal to zero, the safety baffle 13 in the parachute carrier box is controlled to be closed in a fully closed state.

[0113] When it is not equal to zero, it means that the two explosives 3 are easy to shake. In order to avoid mixing, the safety partition 13 in the parachute carrier box is controlled to be closed in a fully closed state.

[0114] Reference Figure 4 , the method for finding the corresponding critical isolation state from the mixed database based on the initial explosive height includes:

[0115] Step 300: When the theoretical flight posture is a preset horizontal posture, a corresponding critical isolation state is searched from a hybrid database based on the initial explosive height.

[0116] The horizontal posture is a posture in which the flight posture is horizontal. Here, it is generally assumed that when the drone is horizontal, the parachute carrier box is also horizontal. The height of the explosive 3 measured by the height sensor is the actual height. When the theoretical flight posture is horizontal, it means that the height measurement is accurate, so the initial explosive height is also accurate. Therefore, the corresponding critical isolation state can be directly found from the hybrid database through the initial explosive height.

[0117] Step 301: When the theoretical flight posture is a tilted posture, searching a preset influence database for a corresponding first influence ratio and a second influence ratio based on the theoretical flight posture and a preset explosive type.

[0118] The first impact ratio is the degree of impact on the height of the first explosive under the theoretical flight posture. The database stores the mapping relationship between the theoretical flight posture, the type of explosive, the first impact ratio and the second impact ratio. The staff in this field places the posture according to a large number of experiments, and then calculates the ratio between the actual height of the explosive and the acquired height value for comparison. When the system receives the corresponding theoretical flight posture and type of explosive, it automatically finds the corresponding first impact ratio and second impact ratio from the database and outputs them.

[0119] Step 302: Correcting the first explosive height and the second explosive height based on the first influence ratio and the second influence ratio respectively to obtain the actual first explosive height and the actual second explosive height.

[0120] The actual first explosive height is the actual first explosive height relative to the safety partition 13. The actual second explosive height is the actual second explosive height relative to the safety partition 13. The correction method is to multiply the two corresponding values.

[0121] Step 303: Filter the larger value of the actual first explosive height and the actual second explosive height as the actual initial explosive height.

[0122] Step 304: Based on the actual initial explosive height, the corresponding actual critical isolation state is searched from the hybrid database and output as the critical isolation state.

[0123] Reference Figure 5 The method of controlling the safety partition 13 in the parachute carrier box to close in a fully closed state when the acceleration in the mixed direction is not equal to zero includes:

[0124] Step 400: searching a preset mixed direction influence database for a corresponding mixed direction influence ratio based on the mixed direction acceleration and the type of explosive.

[0125] The mixed direction impact ratio is the impact ratio of the mixed direction acceleration on the height. Due to the existence of the mixed direction acceleration, the corresponding reactant will impact and lift in the opposite direction of the mixed direction acceleration, so the corresponding height is not the measured height. The database stores the mapping relationship between the mixed direction acceleration, the type of explosive, and the mixed direction impact ratio. The establishment method of the mixed direction impact database is similar to that of the impact database, so it will not be repeated here. When the system receives the corresponding mixed direction acceleration, it automatically finds the corresponding mixed direction impact ratio from the database and outputs it.

[0126] Step 401: Correcting the first explosive height or the second explosive height based on the mixing direction influence ratio to obtain the first explosive height in the mixing direction or the second explosive height in the mixing direction.

[0127] The first explosive height in the mixed direction is the actual first explosive height after the mixed direction acceleration exists. The second explosive height in the mixed direction is the actual second explosive height after the mixed direction acceleration exists. The calculation method is to multiply the two.

[0128] Here, it should be noted that the direction opposite to the mixed directional acceleration is calculated toward the height of the explosive in the other cavity 14 , while the other one is not affected because it does not enter the other cavity 14 .

[0129] Step 402: When the height of the first explosive in the mixing direction or the height of the second explosive in the mixing direction is greater than a preset fully closed height, the safety partition 13 in the parachute carrier box is controlled to be closed in a fully closed state.

[0130] The fully closed height is the height at which the safety partition 13 completely separates the two cavities 14. When the height of the first explosive in the mixing direction or the height of the second explosive in the mixing direction is greater than the fully closed height, it means that the closing limit has been reached at this time, and a slight opening will cause mixing, so the safety partition 13 in the parachute carrier box is controlled to be closed in a fully closed state.

[0131] Step 403: When the first explosive height in the mixing direction or the second explosive height in the mixing direction is less than the fully closed height, the first explosive height in the mixing direction or the second explosive height in the mixing direction is used as the explosive height in the mixing direction based on the mixing direction acceleration.

[0132] The height of the explosive in the mixing direction is the initial height of the explosive under the influence of the acceleration in the mixing direction. Since the acceleration in the mixing direction will push the explosive 3 in one direction, if the explosive 3 is pushed to the sides, it will deviate from the other explosive 3. Therefore, only the direction close to the other explosive 3 is the mixing direction. Therefore, the mixed explosive 3 can be determined by the acceleration in the mixing direction, so that it is sufficient to prevent the explosive 3 from passing through the safety partition 13 under normal circumstances.

[0133] Step 404: Based on the height of the explosive in the mixing direction, the corresponding critical isolation state of the mixing direction is searched from the mixing database.

[0134] The mixed direction critical isolation state is the critical isolation state under the influence of mixed direction acceleration.

[0135] Step 405: Control the safety partition 13 to open according to the critical isolation state of the mixing direction.

[0136] Reference Figure 6 , and also includes a method for checking the initial explosive height, the method comprising:

[0137] Step 500: Output a preset filling signal when the initial height of the explosive is less than a preset reasonable explosion height range.

[0138] The reasonable explosion height range is the height corresponding to the amount of explosives that can open the box cover 12 and push the parachute 2 out of the parachute carrying box. The filling signal is a signal that the explosive 3 needs to be filled. The output method can be a text output method, and the output time node is when the box cover 12 is closed after the explosive 3 is filled before takeoff. When it is less than, it means that the amount of explosives is insufficient at this time and it is impossible to produce enough explosion, so the amount of explosives needs to be increased.

[0139] Step 501: When the initial explosive height falls within a reasonable explosion height range, the initial explosive height is normally output.

[0140] When it falls in, it means that the box cover 12 is just opened at this time, and the parachute 2 is pushed out of the parachute carrying box, so the normal output is sufficient.

[0141] Step 502: When the initial explosive height is greater than the reasonable explosion height range, determine the maximum value of the reasonable explosion height range and define it as the maximum reasonable explosion height.

[0142] If it is greater than , it means that the amount of explosive is too much, and the parachute 2 is easily damaged during the explosion, so the amount of explosive needs to be reduced.

[0143] Step 503: Calculate the explosion height difference based on the initial explosive height and the maximum reasonable explosion height.

[0144] The explosion height difference is the height difference required to lower the initial explosive height to the maximum reasonable explosive height. The calculation method is to subtract the two.

[0145] Step 504: Determine the height of the explosives allowed to react based on the preset single descent height difference and the height of the explosives in the mixing direction.

[0146] The height difference of a single descent is the height value corresponding to the amount of explosives that will not open the box cover 12 after a single explosion. Here, under a slight influence, a certain small amount of explosives will not affect the opening of the box cover 12. If necessary, a gas outlet nozzle that can allow the gas generated by the explosion to flow out is set on the box body 1, but this gas outlet nozzle limits the gas outlet speed, that is, the gas flowing out per unit time is limited, and will not affect the huge gas pressure generated by the explosion after all the explosives 3 are mixed. The height of the allowed reactive explosive is the height of the reactive explosive 3 after descending the single descent height difference, that is, the height is limited so that the reactants above this height react and the amount of explosives is reduced.

[0147] Step 505: Based on the height of the explosive that allows reaction, the corresponding critical isolation state that allows reaction is found from the mixed database.

[0148] The permissible reaction critical isolation state is the critical isolation state corresponding to the permissible reaction explosive height.

[0149] Step 506: When the acceleration in the mixing direction is not equal to zero, the safety baffle 13 is controlled to open according to the critical isolation state allowing the reaction and the current explosive height is continuously obtained until the current explosive height is reduced to the explosive height allowing the reaction and updated to the initial explosive height.

[0150] When the acceleration in the mixing direction is not equal to zero, it means that there will be shaking at this time, which makes mixing easy. At this time, the safety baffle 13 is controlled to be opened according to the critical isolation state of the allowed reaction, so that the explosive 3 higher than the height of the allowed reaction explosive enters the other side and causes a slight explosion, thereby reducing the amount of explosives.

[0151] Step 507: When the updated initial explosive height is still greater than the maximum reasonable explosion height, the allowed reaction critical isolation state is updated again when the mixing direction acceleration is not equal to zero until the initial explosive height is less than or equal to the maximum reasonable explosion height.

[0152] When the updated initial height of the explosive is still greater than the maximum reasonable explosion height, it means that it is still greater than, then continue to descend, and the single amount of descent is the single descent height difference.

[0153] Reference Figure 7 , and also includes a method for obtaining the current height of the explosive, the method comprising:

[0154] Step 600: Determine the region where the reaction products fall based on the mixing direction acceleration.

[0155] The reaction product falling area is the area where the solid product after the reaction falls. Here, it is possible to determine which explosive 3 moves through the safety partition 13 through the mixing direction acceleration, and then determine the reaction area.

[0156] Step 601: searching for the corresponding product height from a preset product database based on the single descent height difference and the type of explosive.

[0157] The product height is the height of the product after the explosive 3 reacts corresponding to the single drop height difference. The database stores the mapping relationship between the single drop height difference, the type of explosive and the product height. It is obtained by the staff in this field according to the actual working situation through experiments, that is, the reactant corresponding to the single drop height difference is put in, and then the product height is measured. When the system receives the corresponding single drop height difference, it automatically finds the corresponding product height from the database and outputs it.

[0158] Step 602: Based on the reaction product falling area and the product height, the first explosive height in the mixing direction or the second explosive height in the mixing direction is corrected to obtain a corrected explosive height.

[0159] The corrected explosive height is the actual height of the explosive 3 in the region where the reaction product falls. The correction method here is to subtract the product height from the first explosive height in the mixing direction or the second explosive height in the mixing direction.

[0160] Step 603: Filter the corrected first explosive height and the first explosive height in the mixed direction or the second explosive height in the mixed direction other than the corrected first explosive height and output them as the current explosive height.

[0161] Reference Figure 8 The method of controlling the safety baffle 13 to open in accordance with the critical isolation state of the reaction when the acceleration in the mixing direction is not equal to zero includes:

[0162] Step 700: Analyze the current positive or negative property of the mixed directional acceleration when the mixed directional acceleration is not equal to zero.

[0163] The current positive or negative value is the positive or negative value of the mixed direction acceleration. Here, the positive or negative value represents the direction. For example, the mixed direction acceleration is Figure 2 If the value is in the left direction, then positive values ​​represent the left direction and negative values ​​represent the right direction.

[0164] Step 701: Obtain a first reactant type in a preset first reactant region and a second reactant type in a preset second reactant region.

[0165] The first reactant area is one of the reactant areas. The second reactant area is another reactant area. The first and second here are intended to distinguish between two areas. The first reactant type is the explosive type in the first reactant area. The second reactant type is the explosive type in the second reactant area. The acquisition method is a manual input method.

[0166] The height of the first reactant species in the first reactant region is the first explosive height. The height of the second reactant species in the second reactant region is the second explosive height.

[0167] Step 702: Determine a reaction product type based on a first reactant type and a second reactant type.

[0168] The type of reaction product is the type of product after the chemical reaction occurs after the mixture. The determination method can be a manual input method or a method of reading the reaction equation through AI.

[0169] Step 703: Determine the type of precipitation in the first region based on the type of the first reactant and the type of the reaction product.

[0170] The first region precipitation type is the type in the lower layer when the first reactant type and the reaction product type are put together and layered. The determination method can be read by a database or by looking up the corresponding density. Here, the precipitation type does not necessarily need to be completely layered, but only needs to be roughly layered.

[0171] Step 704: Determine the type of precipitation in the second region based on the type of the second reactant and the type of the reaction product.

[0172] The second region precipitation type is the type in the lower layer when the second reactant type and the reaction product type are put together and layered. The determination method can be read by a database or by looking up the corresponding density. Here, the precipitation type does not necessarily need to be completely layered, but only needs to be roughly layered.

[0173] Step 705: Determine the positive or negative value of the theoretical value of the mixing direction acceleration based on the first reactant region or the second reactant region when the first region precipitation type is the reaction product type or the second region precipitation type is the reaction product type.

[0174] The theoretical value positive and negative is the positive and negative that the theoretical direction acceleration should reach in theory, that is, under this positive and negative condition, the corresponding reactant enters the first reactant area or the second reactant area due to the inertia of the mixed direction acceleration to react, and the generated product is precipitated at the bottom. When the first area precipitation type is the reaction product type or the second area precipitation type is the reaction product type, it means that the explosive 3 of the first reactant type or the second reactant type can be placed on the upper layer in the area without being covered by the reaction product, and the explosion reaction can occur immediately when it is out of control. Therefore, the mixed means can be adopted when the theoretical value positive and negative acceleration is mixed in the direction, so that the product under the means adopted to reduce the amount of explosives does not affect the later explosion reaction.

[0175] Step 706: When the current positive and negative values ​​are the same as the theoretical value positive and negative, the safety partition 13 is controlled to open according to the critical isolation state of the allowed reaction.

[0176] When the current positive and negative values ​​are the same as the theoretical positive and negative values, it means that measures can be taken to reduce the amount of explosives, so the safety partition 13 is controlled to open according to the critical isolation state of the allowed reaction.

[0177] Step 707: When the current positive and negative values ​​are not the same as the theoretical positive and negative values, the safety partition 13 is controlled to open in a critical isolation state in the mixed direction.

[0178] When they are not the same, it means that if measures are taken to reduce the amount of explosives, the explosive 3 will be covered by the reaction products and cannot explode immediately. Therefore, no measures are taken to reduce the amount of explosives. Therefore, the safety baffle 13 is controlled to open in the critical isolation state in the mixing direction.

[0179] Based on the same inventive concept, an embodiment of the present invention provides a UAV out-of-control protection system.

[0180] Reference Fig. 9 , a UAV out-of-control protection system, comprising:

[0181] An acquisition module, used to acquire current flight information, theoretical flight information, a first explosive height, a second explosive height, a first reactant type, and a second reactant type;

[0182] A memory, used to store a program of a control method of a UAV out-of-control protection method;

[0183] The program in the processor memory can be loaded and executed by the processor to implement a control method for a UAV out-of-control protection method.

[0184] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0185] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a method for protecting a drone from loss of control.

[0186] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0187] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a method for protecting a drone from loss of control.

[0188] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for protecting a drone from loss of control, characterized in that: include: Acquire current flight information and theoretical flight information, wherein the current flight information includes a current flight position and a current flight posture, and the theoretical flight information includes a theoretical flight trajectory and a theoretical flight posture corresponding to the theoretical flight trajectory; When the current flight position does not fall into the theoretical flight trajectory, the safety baffle (13) in the preset parachute carrier box is controlled to open in a preset fully open state, so that the explosive (3) inside the parachute carrier box is mixed and reacted to explode, so as to open the box cover (12) of the parachute carrier box. The parachute carrier box comprises a box body (1) and a parachute (2), wherein the parachute (2) is arranged in the box body (1), and the box body (1) is provided with an opening (11) for sending the parachute (2) out of the box body (1), and the box body (1) is also provided with a cover (12) for covering the opening (11). A box cover (12), wherein a safety partition (13) is provided in the box body (1) and is slidably connected to the box body (1) and divides the box body (1) into two cavities (14); an explosive (3) is provided in the box body (1) and is arranged in the two cavities (14) respectively and is capable of slightly exploding after mixing to push the box cover (12) open; the bottom of the inner side of the box body (1) is gradually inclined from a side away from the safety partition (13) to a side close to the safety partition (13), so that the explosive (3) has a tendency to approach the safety partition (13) under the action of gravity; When the current flight position falls into the theoretical flight trajectory but the current flight posture is different from the theoretical flight posture, the safety partition (13) in the preset parachute carrier box is controlled to open according to the preset fully opened state; When the current flight position falls into the theoretical flight trajectory and the current flight posture is the same as the theoretical flight posture, the theoretical flight trajectory is analyzed based on the current flight position to obtain the current flight acceleration; Decomposing the current flight acceleration to obtain a mixed direction acceleration, where the mixed direction acceleration is an acceleration in a direction that can mix the two; Obtaining a first explosive height and a second explosive height at the start of operation, wherein the first explosive height and the second explosive height are respectively heights of the explosives (3) in the two cavities (14); When the acceleration in the mixing direction is equal to zero, selecting the larger value of the first explosive height and the second explosive height as the initial explosive height; When the theoretical flight posture is a preset horizontal posture, the corresponding critical isolation state is found from the hybrid database based on the initial explosive height; When the theoretical flight posture is a tilted posture, searching a preset impact database for a corresponding first impact ratio and a second impact ratio based on the theoretical flight posture and the preset explosive type; Based on the first influence ratio and the second influence ratio, respectively, the first explosive height and the second explosive height are corrected to obtain an actual first explosive height and an actual second explosive height; Selecting a larger value between an actual first explosive height and an actual second explosive height as an actual initial explosive height; Based on the actual initial height of the explosive, a corresponding actual critical isolation state is found from the mixing database and output as the critical isolation state, wherein when the safety partition (13) is in this state, the two explosives (3) will not enter the other side to mix and explode; Controlling the safety partition (13) to open according to the critical isolation state; When the mixed direction acceleration is not equal to zero, based on the mixed direction acceleration and the type of explosive, a corresponding mixed direction influence ratio is searched from a preset mixed direction influence database; Correcting the first explosive height or the second explosive height based on the mixing direction influence ratio to obtain the first explosive height in the mixing direction or the second explosive height in the mixing direction; When the height of the first explosive in the mixing direction or the height of the second explosive in the mixing direction is greater than a preset fully closed height, the safety partition (13) in the parachute carrier box is controlled to be closed in a fully closed state; When the first explosive height in the mixing direction or the second explosive height in the mixing direction is less than the fully closed height, the first explosive height in the mixing direction or the second explosive height in the mixing direction is used as the explosive height in the mixing direction based on the mixing direction acceleration; Finding a corresponding critical isolation state in the mixing direction from a mixing database based on the height of the explosive in the mixing direction, wherein the critical isolation state in the mixing direction is a critical isolation state under the influence of the acceleration in the mixing direction; The safety partition (13) is controlled to open according to the critical isolation state in the mixing direction.

2. A method for protecting a drone from loss of control according to claim 1, characterized in that: Also included is a method for verifying the initial explosive height, the method comprising: Outputting a preset filling signal when the initial height of the explosive is less than a preset reasonable explosion height range; When the initial explosive height falls within the reasonable explosion height range, the initial explosive height is normally output; When the initial explosive height is greater than the reasonable explosion height range, determine the maximum value of the reasonable explosion height range and define it as the maximum reasonable explosion height; Calculate the explosion height difference based on the initial explosive height and the maximum reasonable explosion height; Determining the height of the explosive material to be allowed to react based on a preset single descent height difference and the height of the explosive material in the mixing direction, wherein the height of the explosive material to be allowed to react is the height of the explosive material (3) after descending the single descent height difference; Based on the height of the permissible reaction explosive, a corresponding permissible reaction critical isolation state is searched from the mixed database, wherein the permissible reaction critical isolation state is a critical isolation state corresponding to the height of the permissible reaction explosive; Analyze the current positive and negative nature of the mixed direction acceleration when the mixed direction acceleration is not equal to zero; Acquire a first reactant type in a preset first reactant region and a second reactant type in a preset second reactant region, wherein the height of the first reactant type in the first reactant region is a first explosive height, and the height of the second reactant type in the second reactant region is a second explosive height; determining a reaction product species based on the first reactant species and the second reactant species; determining a first region precipitation type based on a first reactant type and a reaction product type; determining a second region precipitation type based on a second reactant type and a reaction product type; Determining the positive or negative value of the theoretical value of the acceleration in the mixing direction based on the first reactant region or the second reactant region when the precipitation type in the first region is the reaction product type or the precipitation type in the second region is the reaction product type; When the current positive and negative values ​​are the same as the theoretical value positive and negative, the safety partition (13) is controlled to open according to the critical isolation state of the allowed reaction; When the current positive and negative values ​​are not the same as the theoretical positive and negative values, the safety partition (13) is controlled to open according to the critical isolation state of the mixing direction; Continuously obtain the current explosive height until the current explosive height is reduced to the height that allows the explosive to react, and update it to the initial explosive height; When the updated initial explosive height is still greater than the maximum reasonable explosion height, the critical isolation state of the allowed reaction is updated again when the acceleration in the mixing direction is not equal to zero until the initial explosive height is less than or equal to the maximum reasonable explosion height.

3. A method for protecting a drone from loss of control according to claim 2, characterized in that: Also included is a method for obtaining the current height of the explosive, the method comprising: Determine the region where the reaction products fall based on the acceleration in the mixing direction; Based on the single descent height difference and the type of explosive, the corresponding product height is found from the preset product database; Correcting the first explosive height in the mixing direction or the second explosive height in the mixing direction based on the reaction product falling area and the product height to obtain a corrected explosive height; The corrected first explosive height and the first explosive height in the mixing direction or the second explosive height in the mixing direction other than the corrected first explosive height are screened and output as the current explosive height.

4. A UAV out-of-control protection system, characterized in that: include: An acquisition module, used to acquire current flight information, theoretical flight information, a first explosive height, a second explosive height, a first reactant type, and a second reactant type; A memory, used to store a program of a control method of a UAV out-of-control protection method according to any one of claims 1 to 3; The program in the processor memory can be loaded and executed by the processor to implement the control method of the unmanned aerial vehicle out-of-control protection method as described in any one of claims 1 to 3.

5. Intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for protecting a drone from loss of control as claimed in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and executes a method for protecting a drone from loss of control as claimed in any one of claims 1 to 3.

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