A method, device, equipment, medium and product for preventing drone from falling

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a method, device, equipment, medium and product for preventing unmanned aerial vehicles from falling. A parachute transceiver and a jet device are installed on the unmanned aerial vehicle, and the jet device includes at least one jet port. The method includes: judging whether the unmanned aerial vehicle triggers a protection condition based on the flight state of the unmanned aerial vehicle; when the unmanned aerial vehicle triggers the protection condition, turning on the jet device and the parachute transceiver of the unmanned aerial vehicle; updating the flight state of the unmanned aerial vehicle, and adjusting the working state of each jet port in the jet device based on the updated flight state. The present invention can protect the structure of the unmanned aerial vehicle and control the falling direction of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment, medium and product for preventing unmanned aerial vehicles from falling. Background Art

[0002] With the gradual improvement of drone technology and the gradual maturity of the application market, the application of drones has been booming. Various new technologies and new application models have emerged around drones, and they have been widely used in remote sensing mapping, security monitoring, emergency rescue, power inspection and other industries.

[0003] In the case of a malfunction in the flight of a drone, it is easy to crash. In the related art, a parachute is installed on the top of the drone body, or an airbag is installed on the bottom of the drone body. Although it can provide some protection, the parachute cannot protect the bracket and gimbal under the drone body, and the airbag cannot control the direction of the drone's fall.

[0004] In view of this, a method for preventing a drone from falling is needed, which can protect the drone structure and control the falling direction of the drone. Summary of the invention

[0005] In view of this, the present invention provides a method for preventing a drone from falling, which can protect the drone structure and control the falling direction of the drone.

[0006] In a first aspect, the present invention provides a method for preventing a drone from falling. A parachute transceiver and a jet device are installed on the drone, and the jet device includes at least one jet port. The method includes: judging whether the drone triggers a protection condition based on the flight state of the drone; when the drone triggers the protection condition, turning on the jet device and the parachute transceiver of the drone; updating the flight state of the drone, and adjusting the working state of each jet port in the jet device based on the updated flight state.

[0007] In this embodiment, the flight state of the drone is used to determine whether the drone triggers a protection condition, and when the drone triggers the protection condition, the jet device and parachute transceiver of the drone are turned on, and then the working state of each jet port in the jet device is adjusted based on the updated flight state of the drone. Through the above scheme, when the drone triggers a protection condition, the jet device and the parachute transceiver can be turned on to maintain the integrity of the drone fuselage after the drone falls, which can well protect the drone from being damaged. Based on the updated flight state, the working state of each jet port in the jet device can be adjusted to adjust the directionality of the drone's fall.

[0008] In an optional implementation, judging whether the drone triggers a protection condition based on the flight state of the drone includes: acquiring the flight attitude of the drone based on the flight state of the drone; when the flight attitude of the drone is weightlessness, the drone triggers the protection condition.

[0009] In this embodiment, when the flight posture of the drone is weightless, the drone triggers a protection condition, which can ensure the flight safety of the drone and prevent the risk of the drone crashing.

[0010] In an optional implementation, judging whether the drone triggers a protection condition based on the flight status of the drone also includes: obtaining a motor operating status of the drone based on the flight status of the drone; when the motor operating status is stopped, the drone triggers the protection condition.

[0011] In this embodiment, when the motor of the drone is in the stopped state, the drone triggers a protection condition, which can reduce the damage caused by the drone falling.

[0012] In an optional embodiment, updating the flight status of the UAV and adjusting the working status of each jet port in the jet device based on the flight status includes: obtaining the flight speed of the UAV based on the updated flight status; obtaining the flight environment of the UAV and determining the safe falling speed of the UAV based on the flight environment; adjusting the working status of each jet port in the jet device based on the flight speed and the safe falling speed.

[0013] In this embodiment, the safe falling speed of the drone is determined according to the flight environment of the drone, so as to protect the integrity of the drone equipment. Based on the flight speed and safe falling speed of the drone, the working state of each jet port in the jet device is adjusted, so that the drone can fall safely and prevent the risk of crashing.

[0014] In an optional embodiment, adjusting the working state of each jet port in the jet device based on the flight speed and the safe fall speed includes: comparing the flight speed and the safe fall speed, and determining the target jet flow rate of the jet port in the jet device based on the comparison result; and adjusting the working state of each jet port in the jet device based on the target jet flow rate.

[0015] In this embodiment, the flight speed and the safe falling speed are compared, and based on the comparison result, the jet flow rate of the jet port in the jet device is determined, so as to adjust the working state of each jet port in the jet device, thereby controlling the falling speed of the drone and preventing the drone from being damaged by the falling drone.

[0016] In an optional embodiment, updating the flight status of the UAV and adjusting the working status of each jet port in the jet device based on the flight status also includes: obtaining the flight attitude of the UAV based on the updated flight status; comparing the flight attitude of the UAV with the target attitude, and determining the thrust distribution of each jet port in the jet device based on the comparison result.

[0017] In this embodiment, the flight attitude of the UAV is compared with the target attitude, and the thrust distribution of each jet port in the jet device is determined according to the comparison result, so as to adjust the flight attitude of the UAV and improve the safety of the UAV.

[0018] In a second aspect, the present invention provides an anti-fall device for a drone, the device comprising: a judgment module, used to judge whether the drone triggers a protection condition based on the flight status of the drone; a response module, used to turn on the drone's jet device and parachute transceiver when the drone triggers the protection condition; an adjustment module, used to update the flight status of the drone and adjust the working status of each jet port in the jet device based on the updated flight status.

[0019] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the drone anti-fall method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0020] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the drone anti-fall method of the first aspect or any corresponding embodiment thereof.

[0021] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, wherein the computer instructions are used to enable a computer to execute the drone anti-fall method of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a schematic diagram of a flow chart of a method for preventing a drone from falling according to an embodiment of the present invention;

[0024] Figure 2is a flow chart of another method for preventing a drone from falling according to an embodiment of the present invention;

[0025] Figure 3 is a front schematic diagram of a drone according to an embodiment of the present invention;

[0026] Figure 4 is a bottom-up schematic diagram of a drone according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a drone according to an embodiment of the present invention;

[0028] Figure 6 is a flow chart of a method for preventing a drone from falling according to an embodiment of the present invention;

[0029] Figure 7 is a structural block diagram of a drone anti-fall device according to an embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0032] The embodiment of the present invention provides a method for preventing a drone from falling. The method determines whether the drone triggers a protection condition through the flight state of the drone, and turns on the jet device and parachute transceiver of the drone when the drone triggers the protection condition. Then, based on the updated flight state of the drone, the working state of each jet port in the jet device is adjusted. When the drone triggers the protection condition, the jet device and the parachute transceiver can be turned on to maintain the integrity of the drone fuselage after the drone falls, which can well protect the drone from being damaged. By adjusting the working state of each jet port in the jet device based on the updated flight state, the directionality of the drone fall can be adjusted.

[0033] According to an embodiment of the present invention, an embodiment of a method for preventing a drone from falling is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] In this embodiment, a method for preventing a drone from falling is provided. Figure 1 is a flow chart of a method for preventing a drone from falling according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0035] Step S101, based on the flight status of the drone, determining whether the drone triggers a protection condition.

[0036] The flight status of the drone can be obtained through the sensors carried by the drone. The sensors may include accelerometers, gyroscopes, barometers, and positioning systems. If the flight status of the drone is abnormal, the drone will trigger the protection condition. If the flight status of the drone is normal, the drone will not trigger the protection condition. The flight status of the drone may include the flight attitude, flight altitude, flight speed, etc. of the drone.

[0037] In the case where the sensor includes an accelerometer, the accelerometer can measure the acceleration of the drone in all directions. In the case of abnormal acceleration of the drone, the drone will trigger a protection condition. In the case where the sensor includes a gyroscope, the gyroscope can detect the attitude changes of the drone, such as roll, pitch and yaw angles. Once the changes of these angles exceed the normal flight range, the drone will trigger a protection condition. In the case where the sensor includes a barometer, the altitude of the drone can be monitored. In the case of a rapid drop in altitude of the drone, the drone will trigger a protection condition.

[0038] After the drone receives the data collected by each sensor, it can pre-process the sensor data, and then determine the flight status of the drone based on the pre-processed data. The pre-processing may include data cleaning, etc.

[0039] By judging whether the flight status of the drone is abnormal, and thus determining whether the drone has triggered the protection conditions, it is possible to quickly determine whether the drone has crashed and respond to it in a timely manner, thereby improving the safety of drone flight.

[0040] Step S102, when the drone triggers the protection condition, the jet device and parachute transceiver of the drone are turned on.

[0041] When the drone triggers the protection conditions, the parachute transceiver of the drone can be turned on first to increase air resistance, reduce the falling speed of the drone, and prevent the drone from rolling when falling, so that the jet outlet in the jet device carried by the drone can be in a pre-designed direction.

[0042] The jet ports in the jet device are placed in a pre-designed direction, that is, the direction and speed of the drone's fall can be controlled by controlling each jet port in the jet device.

[0043] Step S103, updating the flight status of the UAV, and adjusting the working status of each jet port in the jet device based on the updated flight status.

[0044] Among them, several sensors can be placed on the drone, and the flight status of the drone can be determined based on the data collected by the sensors. The acquisition of the flight status of the drone can be seen in step S101, which will not be repeated here.

[0045] After obtaining the flight status of the drone, the working status of each jet port in the jet device installed on the drone can be adjusted according to the newly obtained flight status. The force generated by the jet device can make the falling motion of the drone a uniform deceleration motion or a variable speed motion. In some optional embodiments, by using a relevant algorithm, by adjusting the working status of each jet port in the jet device, the landing speed of the drone can be made 0, so as to maintain the integrity of the drone after the drone falls, thereby protecting the drone from being destroyed.

[0046] In some optional embodiments, if the falling speed of the drone is high, the jet power of the downward jet port can be increased to generate an upward thrust to reduce the falling speed of the drone. If the falling speed of the drone is slow, the jet power of the downward jet port can be reduced, or even the jet power of the upward jet port can be increased.

[0047] In some optional embodiments, a plurality of jet nozzles in different directions may be provided on the drone to adjust the flight direction of the drone. The flight direction of the drone may be adjusted by adjusting the jet power of different jet nozzles of the drone. A rotatable jet nozzle may also be provided to apply the reaction force of the jet to different directions, thereby controlling the falling trajectory of the drone. By adjusting the falling direction of the drone, dangerous areas and crowds may be avoided.

[0048] The drone anti-fall method provided in this embodiment determines whether the drone triggers a protection condition through the flight state of the drone, and turns on the jet device and parachute transceiver of the drone when the drone triggers the protection condition, and then adjusts the working state of each jet port in the jet device based on the updated drone flight state. Through the above scheme, when the drone triggers the protection condition, the jet device and parachute transceiver can be turned on to maintain the integrity of the drone fuselage after the drone falls, which can well protect the drone from being damaged. Based on the updated flight state, the working state of each jet port in the jet device can be adjusted to adjust the directionality of the drone's fall.

[0049] In this embodiment, a method for preventing a drone from falling is provided. Figure 2 is a flow chart of a method for preventing a drone from falling according to an embodiment of the present invention. Figure 2As shown, the process includes the following steps:

[0050] Step S201: Based on the flight status of the drone, determine whether the drone triggers a protection condition.

[0051] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0052] In some optional implementations, the above step S201 includes:

[0053] Step S2011, based on the flight status of the UAV, obtain the flight attitude of the UAV.

[0054] The flight status of the drone can be obtained by installing a variety of sensors on the drone. The sensors may include an inertial measurement unit. After obtaining the data collected by the inertial measurement unit, it can be calibrated and filtered to accurately estimate the attitude angle of the drone. Then, based on the processed data, the pitch angle, roll angle, and yaw angle of the drone are calculated. Based on the pitch angle, roll angle, and yaw angle obtained after the calculation, the flight attitude of the drone can be determined.

[0055] Step S2012: When the UAV's flight attitude is weightlessness, the UAV triggers a protection condition.

[0056] The method for determining whether the drone's flight attitude is weightless can be set by the staff. It can be determined based on the acceleration of the drone in the vertical direction. When the acceleration of the drone in the vertical direction is close to the acceleration of gravity, the drone's flight attitude is determined to be weightless.

[0057] It is also possible to determine that the flight attitude of the drone is weightless when the drone is detected to have changes in attitude such as rolling or tilting.

[0058] When the drone's flight attitude is weightless, the drone triggers the protection condition, which can ensure the drone's flight safety and prevent the risk of the drone crashing.

[0059] In some other optional implementations, the above step S201 further includes:

[0060] Step S2013, based on the flight status of the drone, obtaining the motor operation status of the drone.

[0061] Among them, the actual speed, actual current and other information of the motor of the drone can be extracted through a specific communication protocol according to the flight control system of the drone. Then, the motor operation status of the drone can be judged based on the extracted information.

[0062] In some optional practical applications, when the actual speed of the motor deviates greatly from the preset speed, the motor may be faulty. When the actual speed is 0, it can be determined that the motor is in a stopped state.

[0063] When the actual current of the drone motor is 0, it can be judged that the motor operation state is stopped.

[0064] Step S2014, when the motor is in the stopped state, the drone triggers a protection condition.

[0065] When the motor stops running, it means that the drone will lose its main power source and cannot overcome gravity and start to fall, which triggers the protection condition.

[0066] When the motor of the drone is in the stopped state, the drone triggers the protection condition, which can reduce the damage caused by the drone falling.

[0067] Step S202: When the drone triggers a protection condition, the jet device and parachute transceiver of the drone are turned on.

[0068] For details, please see Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0069] Step S203, updating the flight status of the UAV, and adjusting the working status of each jet port in the jet device based on the updated flight status.

[0070] Specifically, the above step S203 includes:

[0071] Step S2031, based on the updated flight status, obtain the flight speed of the UAV.

[0072] Among them, the flight speed of the drone can be obtained based on the sensors carried by the drone. When the drone is equipped with a positioning system, the flight speed of the drone can be determined based on the change in the position of the drone over a period of time.

[0073] When an inertial measurement unit is installed on a drone, the acceleration of the drone in each axis can be measured, and the acceleration can be integrated to obtain the flight speed of the drone.

[0074] Step S2032, obtaining the flight environment of the drone, and determining the safe falling speed of the drone based on the flight environment.

[0075] The safe falling speed of a drone varies in different flight environments. For example, in a forest environment, you can investigate the vegetation type and tree growth conditions in the forest to determine the appropriate safe falling speed.

[0076] In an urban environment, a drone may hit a building when it falls, so the safe falling speed needs to be reduced. In some optional embodiments, the safe falling speed can be 0.

[0077] Step S2033, based on the flight speed and the safe falling speed, adjusting the working state of each jet port in the jet device.

[0078] Based on the difference between the flight speed and the safe falling speed, the working state of each jet port in the jet device is adjusted to reduce the difference between the flight speed and the safe falling speed, so that the UAV can fall safely. In the case where the UAV is flying at a high speed in the first direction, the jet flow rate of the jet port in the jet device on the UAV in the first direction can be increased to reduce the UAV's flight speed in the first direction.

[0079] In some optional embodiments, when the descent rate of the UAV's flight speed is greater than the safe falling speed, the jet flow rate of the UAV's downward jet port can be increased to reduce the UAV's descent speed.

[0080] In some optional implementations, the above step S2033 includes:

[0081] Step a1, comparing the flight speed and the safe falling speed, and determining the target jet flow rate of the jet port in the jet device based on the comparison result.

[0082] Among them, by comparing the flying speed and the safe falling speed, the difference between the flying speed and the safe falling speed can be determined.

[0083] First, the relationship between the jet flow rate and the speed is obtained. Among them, the thrust of the jet port and the reaction force on the UAV can be determined according to the jet flow rate of the jet port in the jet device, and then the influence of different jet flow rates on the falling speed of the UAV can be calculated according to the reaction force.

[0084] Step a2: adjusting the working state of each jet port in the jet device based on the target jet flow rate.

[0085] Based on the target jet flow rate, the jet flow rate of the jet port in the corresponding jet device is adjusted, wherein the jet flow rate of the jet port can be adjusted by adjusting the opening of the jet port valve.

[0086] By comparing the flight speed and the safe falling speed, and based on the comparison results, determining the jet flow rate of the jet port in the jet device, thereby adjusting the working state of each jet port in the jet device, the falling speed of the drone can be controlled to prevent the drone from being damaged by the falling drone.

[0087] In some optional implementations, the above step S203 further includes:

[0088] Step b1, based on the updated flight status, obtain the flight attitude of the UAV.

[0089] The flight attitude of the UAV can be calculated according to the updated flight state and the attitude calculation method, wherein the attitude calculation method can be a complementary filter algorithm, an extended Kalman filter algorithm, and the like.

[0090] Step b2, comparing the flight attitude of the UAV with the target attitude, and determining the thrust distribution of each jet port in the jet device based on the comparison result.

[0091] The target posture is the safe posture of the drone when it falls to the ground. It can be set directly by the staff. In some optional embodiments, the target posture of the drone can be that the drone belly is facing down and the fuselage is kept horizontal.

[0092] By comparing the UAV's flight attitude and target attitude, the UAV attitude error can be determined. Then, according to the layout and function of the jet nozzle in the UAV jet device, an attitude adjustment model is established and a jet nozzle control strategy is formulated. Then, according to the control strategy, a control command is sent to the jet nozzle through the flight control system to adjust the jet flow. During the adjustment process, the flight attitude change is continuously monitored in real time with the help of sensors. If the attitude change does not meet expectations, the attitude error is recalculated, the jet control strategy is adjusted, and the control command is sent again until the UAV flight attitude reaches the target attitude.

[0093] By comparing the flight attitude of the UAV with the target attitude and determining the thrust distribution of each jet port in the jet device based on the comparison results, the flight attitude of the UAV can be adjusted to improve the safety of the UAV.

[0094] The drone fall prevention method provided in this embodiment determines the safe falling speed of the drone according to the flight environment of the drone, and can protect the integrity of the drone equipment. Based on the flight speed and safe falling speed of the drone, the working state of each jet port in the jet device is adjusted, so that the drone can fall safely and prevent the risk of crashing.

[0095] In this embodiment, a schematic diagram of a drone of a method for preventing a drone from falling is provided, such as Figure 3-Figure 5 As shown, a parachute transceiver is installed on the top of the drone. When the drone falls, the parachute transceiver is opened and connected to the parachute through the parachute rope. A jet device is placed under the wing of the drone.

[0096] In this embodiment, a method for preventing a drone from falling is also provided. Figure 6As shown, the flight status of the drone is obtained, and then based on the flight status of the drone, it is determined whether the trigger condition is met. After the trigger condition is met, the jet device and the parachute opening device will be triggered. After the jet device is triggered, the jet device will be commanded to generate a reaction force and acceleration according to the speed and height of the object and the person to slow down the drone. At the same time, the reverse thrust of different jet ports in the jet device can be adjusted to change the direction and location of the drone's fall, so as to avoid dangerous areas and people. Among them, the dangerous area can be a water surface area, a building, etc. After the parachute opening device is triggered, the parachute is opened to keep the drone in a stable state.

[0097] If the triggering condition is not met, it means that there is no abnormality in the flight of the drone, and the drone can be remotely controlled normally or automatically return according to the preset settings.

[0098] In some optional implementations, the trigger conditions may include the following four:

[0099] (1) The drone inertial module detects that the drone is completely weightless or partially weightless, and the downward acceleration of the drone is the preset acceleration and is maintained for a first time, or the vertical speed of the drone is greater than the first speed. The preset acceleration may be 0.6g, where g represents the acceleration due to gravity; the first time may be 1.7s; and the first speed may be 10m / s.

[0100] (2) The drone motor stops due to various abnormal faults.

[0101] (3) The drone failed to avoid obstacles, resulting in the crash.

[0102] (4) Human operation of the remote control for emergency response and avoidance.

[0103] In this embodiment, a drone anti-fall device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated here. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0104] This embodiment provides a drone anti-fall device, such as Figure 7 As shown, including:

[0105] The judgment module 301 is used to judge whether the drone triggers a protection condition based on the flight status of the drone.

[0106] The response module 302 is used to activate the jet device and parachute transceiver of the drone when the drone triggers a protection condition.

[0107] The adjustment module 303 is used to update the flight status of the UAV and adjust the working status of each jet port in the jet device based on the updated flight status.

[0108] In some optional implementations, the determination module 301 includes:

[0109] The attitude acquisition unit is used to acquire the flight attitude of the UAV based on the flight status of the UAV.

[0110] The first condition triggering unit is used for the drone to trigger a protection condition when the drone's flight posture is weightlessness.

[0111] In some optional implementations, the determination module 301 includes:

[0112] The motor operation status acquisition unit is used to acquire the motor operation status of the drone based on the flight status of the drone.

[0113] The second condition triggering unit is used to trigger the protection condition of the drone when the motor is in the stopped state.

[0114] In some optional implementations, the response module 302 includes:

[0115] The flight speed acquisition unit is used to acquire the flight speed of the UAV based on the updated flight status.

[0116] The falling speed determination unit is used to obtain the flight environment of the UAV and determine the safe falling speed of the UAV based on the flight environment.

[0117] The jet adjustment unit is used to adjust the working state of each jet port in the jet device based on the flight speed and the safe falling speed.

[0118] In some optional embodiments, the jet adjustment unit includes:

[0119] A comparison subunit, used for comparing the flight speed and the safe falling speed, and determining a target jet flow rate of the jet port in the jet device based on the comparison result;

[0120] The adjustment subunit is used to adjust the working state of each jet port in the jet device based on the target jet flow rate.

[0121] In some optional implementations, the adjustment module 303 includes:

[0122] The attitude acquisition unit is used to acquire the flight attitude of the UAV based on the updated flight status.

[0123] The thrust distribution unit is used to compare the flight attitude of the UAV with the target attitude, and based on the comparison result, determine the thrust distribution of each jet port in the jet device.

[0124] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0125] The drone anti-fall device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0126] The embodiment of the present invention also provides a computer device having the above Figure 7 The drone anti-fall device shown.

[0127] See also Figure 8 , Figure 8 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 8 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 A processor 10 is taken as an example.

[0128] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0129] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0130] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0131] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0132] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0133] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0134] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0135] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0136] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for preventing a drone from falling, characterized in that: The drone is equipped with a parachute transceiver and a jet device, wherein the jet device includes at least one jet port, and the method includes: Based on the flight status of the drone, determining whether the drone triggers a protection condition; When the drone triggers a protection condition, turning on the jet device and parachute transceiver of the drone; The flight status of the UAV is updated, and based on the updated flight status, the working status of each jet port in the jet device is adjusted.

2. The method according to claim 1, characterized in that The determining whether the drone triggers a protection condition based on the flight status of the drone includes: Based on the flight state of the UAV, obtaining the flight attitude of the UAV; When the flight posture of the UAV is weightless, the UAV triggers a protection condition.

3. The method according to claim 1, characterized in that The step of judging whether the drone triggers a protection condition based on the flight status of the drone further includes: Based on the flight status of the drone, obtaining the motor operation status of the drone; When the motor is in the stopped state, the drone triggers a protection condition.

4. The method according to claim 1, characterized in that: The updating of the flight state of the UAV and adjusting the working state of each jet port in the jet device based on the flight state includes: Based on the updated flight status, obtaining the flight speed of the UAV; Acquiring a flight environment of the drone, and determining a safe falling speed of the drone based on the flight environment; Based on the flight speed and the safe falling speed, the working state of each jet port in the jet device is adjusted.

5. The method according to claim 4, characterized in that The adjusting the working state of each jet port in the jet device based on the flight speed and the safe falling speed includes: comparing the flight speed with the safe falling speed, and determining a target jet flow rate of a jet port in the jet device based on the comparison result; Based on the target jet flow rate, the working state of each jet port in the jet device is adjusted.

6. The method according to claim 4, characterized in that The updating of the flight state of the drone and adjusting the working state of each jet port in the jet device based on the flight state also includes: Based on the updated flight status, obtaining the flight attitude of the UAV; The flight attitude of the UAV and the target attitude are compared, and based on the comparison result, the thrust distribution of each jet port in the jet device is determined.

7. A drone anti-fall device, characterized in that: The device comprises: A judgment module, used to judge whether the drone triggers a protection condition based on the flight status of the drone; A response module, used for turning on the jet device and parachute transceiver of the drone when the drone triggers a protection condition; The adjustment module is used to update the flight status of the UAV and adjust the working status of each jet port in the jet device based on the updated flight status.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the drone anti-fall method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute a drone anti-fall method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute a method for preventing a drone from falling as claimed in any one of claims 1 to 6.

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