Light and small unmanned aerial vehicle collision safety level evaluation method

Abstract

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a light and small unmanned aerial vehicle collision safety level evaluation method, which comprehensively considers various factors such as the degree of injury caused by collision of an unmanned aerial vehicle to a human body, the structural strength of an unmanned aerial vehicle body and whether the unmanned aerial vehicle has active safety design or not, and sets different total scores respectively. Respectively testing and scoring through a strength test, and evaluating the injury degree through a scoring result; the method can be used for evaluating the injury degree of the unmanned aerial vehicle colliding with the human body, and can also be used for evaluating the collision safety level of the unmanned aerial vehicle; when the human body injury is represented, acute injury such as cut injury and puncture injury of the skin is comprehensively considered, blunt injury of the head, the neck and the chest is also considered, injury parts comprise main easily-injured parts of the human body, and evaluation is comprehensive and objective; all parameters in the established collision safety evaluation criterion can be actually measured, and all parameters can be quantified, so that the objectivity and reliability of the evaluation criterion are ensured.

Description

Technical Field

[0001] The present application belongs to the field of unmanned aerial vehicles, and in particular to a method for assessing the collision safety level of light and small unmanned aerial vehicles. Background Art

[0002] In recent years, the light and small UAV industry has flourished and has been widely used in many fields, reshaping people's work and life paradigms. At the same time, during the operation of UAVs, there is a temporal and spatial overlap with ground personnel, aircraft, vehicles, etc., resulting in frequent collision accidents. There are thousands of collision cases every year around the world, which has caused widespread concern among the public. The introduction of flight restrictions and flight control requirements has become a major challenge restricting the sustainable and healthy development of the UAV industry.

[0003] In order to clarify the safety bottom line and damage characteristics of light and small UAVs to ground personnel and property, we have carried out collision damage tests and evaluation studies on UAVs on ground personnel. Based on the relevant research results and test data, we have introduced the UAV operation management measures and graded and classified supervision system, and set restrictive conditions for UAV products.

[0004] Establishing a collision safety evaluation capability system for light and small UAVs and forming an authoritative and systematic collision safety testing and evaluation method are bottleneck problems that need to be overcome.

[0005] Therefore, how to achieve effective and comprehensive evaluation of the collision safety capabilities of light and small UAVs is a problem that needs to be solved. Summary of the invention

[0006] The purpose of this application is to provide a method for assessing the collision safety level of light and small UAVs to solve the problem that the current collision safety evaluation capability system of light and small UAVs is not perfect.

[0007] The technical solution of this application is: a method for assessing the collision safety level of a light and small UAV, comprising: Classify human injuries, select drones and test dummies, and set different test conditions according to the types of human injuries; set different flight environments and drone flight states according to different test conditions, and conduct injury tests of drone-human collision under different conditions in turn; obtain human injury data once each test condition is completed; set a total score for human injuries, set multiple levels of injury for different types of human injuries, and set different scores for different injury levels; after all test items are completed, count all human injury data of different types; classify and score all human injury data according to categories and injury levels, and obtain different types of sharp human injury scores and human blunt human injury scores; add up different types of scores to obtain the human injury score; Set the total score of the drone's structural strength and the reference load value F max , reference load value Fmax In order to consider the maximum load of the UAV during mission and maneuvering flight, static loads of different sizes are applied to the mounting points of the UAV to conduct strength tests on the UAV. max Set up a UAV structural strength grading and scoring table, obtain the structural deformation of the UAV, and score it using the UAV structural strength grading and scoring table to obtain the UAV structural strength score; Set the total score of the drone's active safety measures, obtain the type of active safety measures currently taken by the drone, and sort the obstacle avoidance effects of different types of active safety measures from high to low to form obstacle avoidance rules and scores of different types and different obstacle avoidance effects; select different active safety measures to conduct strength tests on the drone, obtain obstacle avoidance effect data and score them separately, and then add up all types of obstacle avoidance effect scores to determine the drone's active safety measures score; Check whether there are any unpassed items. If there are no unpassed items, add the human injury score, the UAV structural strength score and the UAV active safety measure score to obtain the UAV collision safety score and give the safety level of this type of UAV.

[0008] Preferably, the specific steps of obtaining the human body sharp injury score and the human body blunt injury score include: A human sharp injury evaluation table is established according to the injury level of human sharp injury; the human sharp injury data type is set to directly measure the size of human skin wounds caused by drone blades under the most severe working conditions, and different test conditions and drone flight conditions are selected to conduct strength tests of drone and human sharp collisions to obtain human sharp injury data, and then the human sharp injury data is compared with the human sharp injury evaluation table to determine the human sharp injury level and human sharp injury score; For blunt injuries caused by drones hitting the human body, the human head and chest are selected as the impact test parts, and different test conditions and drone flight conditions are selected to conduct strength tests of blunt collisions between drones and human bodies; various human blunt injury criteria are established respectively, including: Human head injury criterion H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injury After the injury test is completed, the blunt injury data of the test dummy's head, neck and chest are collected, and the level analysis is performed according to the various human blunt injury criteria to obtain the human head blunt injury level, human neck blunt injury level and human chest blunt injury level and score them respectively. When any score of the blunt injury level test of the dummy's head, neck and chest is 0, the item is judged as a failure item; Based on the human sharp injury evaluation table and human head injury criteria H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injury Establish a human body injury scoring basis table; obtain the human body sharp injury score, human body head blunt injury score, human body neck blunt injury score and human body chest blunt injury score, and perform grading based on the human body injury scoring basis table.

[0009] Preferably, the strength test of blunt collision between the drone and the human body is carried out in sequence under three working conditions: the drone vertically falls and hits the top of the head, the drone horizontally hits the forehead of the head, and the drone horizontally hits the chest. The drone flight working condition selects the most severe working condition of the drone; the process of the drone vertically falling and hitting the top of the head and the drone horizontally hitting the forehead of the head tests the degree of blunt injury to the head and neck, and the process of the drone horizontally hitting the chest tests the degree of blunt injury to the chest.

[0010] Preferably, the human head injury criterion H injury The mathematical expression is: ; In the formula, HIC 15 is the calculated value of the head injury factor, α max is the peak value of the head's 3ms accumulated acceleration, HIC 15crit for HIC 15 The limit value of α crit for α max The limit value of according to HIC 15 and α max The limit value of human head injury H injury The two-dimensional evaluation index is divided into four safety levels and one failure area, forming a grading area diagram for the degree of human head injury.

[0011] Preferably, based on comprehensive strength N ij , compression force F z and shear force F s Three indicators to establish the criterion for blunt injury of human neck N injury ; Comprehensive Strength Nij The mathematical expression is: ; In the formula, F z and M y Denote axial force and bending moment respectively, F int and M int denote the critical values ​​of axial force and bending moment respectively; Shear force F s The mathematical expression is: ; In the formula, F x and F y Respectively x Directional shear load, y Directional shear load.

[0012] Preferably, the comprehensive strength N ij , compression force F z and shear force F s The three indicators are set with four damage levels and failure intervals respectively, and the damage level is evaluated to obtain the damage level of the comprehensive strength indicator. , compression index damage level and shear force index damage level If the comprehensive force N ij , compression force F z and shear force F s If all three indicators are not in the failed range, the level of blunt injury to the human neck is for: .

[0013] Preferably, the human chest blunt injury criterion C injury The mathematical expression is: ; In the formula, α max It is the peak value of the synthetic acceleration of the spine at 3ms; D max is the maximum deformation of the chest; α crit It is the 3ms acceleration limit value; D crit It is the limit value of chest deformation.

[0014] Preferably, the human body neck blunt injury level is divided into four safe levels and one failed interval according to the value range; wherein, levels 1-4 all indicate that the degree of head injury is within an acceptable range, wherein level 1 is the safest level and level 4 is the least safe level; the failed area indicates that the degree of injury is unacceptable; The human body's blunt chest injury levels are divided into four safe levels and one failed area, forming a chest injury grading area diagram; among them, levels 1-4 all indicate that the degree of head injury is within an acceptable range, among which level 1 is the safest level and level 4 is the least safe level; the failed area indicates that the degree of injury is unacceptable.

[0015] Preferably, the step of obtaining the active safety measure score of the drone includes: On the basis of installing active obstacle avoidance measures on the UAV, humanoid obstacle avoidance tests were applied to the UAV in different horizontal directions and different light intensities. Then, the deformation data of humanoid obstacles were collected to determine whether the UAV avoided humanoid obstacles in different environments. The data were counted and scored based on the number of humanoid obstacles that the UAV was able to avoid, the horizontal direction, and the light intensity data. On the basis of installing blade protection measures on the UAV, the sharp damage test is carried out on the UAV under different blade protection measures and set times. The sharp damage data after the test is completed is collected and scored according to the obstacle avoidance rules of the blade protection measures; After the drone is equipped with the drop deceleration measures, the drone is equipped with the corresponding drop deceleration measures to carry out the drop test. After the test is completed, the deformation of the drone is collected and whether the drop deceleration measures are effective is determined; if so, the full score under the drop deceleration measures detection is obtained; if not, the score of this part is 0 points; After the drone is equipped with other active safety measures, the drone will carry out the corresponding strength test with the corresponding active safety measures, and judge whether the corresponding safety measures are effective based on the test results. If effective, the drone will obtain all the scores under the detection of other active safety measures; if not, the score of this part will be 0 points; The active safety measures of drones are scored by adding up the scores of each item.

[0016] Preferably, the total score for human injury is 60 points, the total score for UAV structural strength is 10 points, the total score for UAV active safety measures is 30 points, and when the UAV collision safety score is 80-100 points, the safety level is Level 1; when the UAV collision safety score is 60-79 points, the safety level is Level 2; when the UAV collision safety score is 40-59 points, the safety level is Level 3; when the UAV collision safety score is below 40 points, the safety level is Level 4.

[0017] The light and small UAV collision safety level assessment method of the present application has the following advantages: (1) It comprehensively considers multiple factors, such as the degree of injury caused by a drone colliding with a human body, the structural strength of the drone itself, and whether the drone has an active safety design. It can be used to evaluate the degree of injury caused by a drone colliding with a human body, and can also be used to assess the collision safety level of the drone itself; (2) When characterizing human injuries, sharp injuries such as cuts and punctures on the skin are taken into account, as well as blunt injuries to the head, neck, and chest. The injury sites include the main vulnerable parts of the human body, and the evaluation is comprehensive and objective; (3) All parameters in the developed collision safety evaluation criteria can be actually measured and quantified, ensuring the objectivity and reliability of the evaluation criteria. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.

[0019] Figure 1 This is a schematic diagram of the overall process of this application; Figure 2 This is the regional classification diagram of the degree of head injury in the human body for this application; Figure 3 This is a schematic diagram of the classification of various injury indicators of the human neck of the applicant; Figure 4 This is a chest injury classification area chart for this application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] A method for evaluating the collision safety level of light and small UAVs adopts a scoring system with a full score of 100 points, and gives a conclusion on the level of collision safety based on the test and scoring results of relevant models of UAV products of UAV manufacturers. The formulation and implementation of the UAV collision safety rating method will help regulate the market order of UAVs, improve the safety level of products and the collision safety design awareness of UAV manufacturers, thereby promoting the healthy and sustainable development of the UAV industry, while effectively protecting the personal safety of the public.

[0022] like Figure 1 As shown, it includes the following 4 stages and 10 steps: In the first stage, personal injury testing and scoring will be conducted in case of drone collision.

[0023] Specifically, human injuries are classified, drones and test dummies are selected, and different test conditions are set according to the types of human injuries; different flight environments and drone flight states are set according to different test conditions, and injury tests of drone-human collisions under different conditions are carried out in turn; after each test condition is completed, human injury data is obtained. Human injury classification includes sharp human injuries and blunt human injuries; human injury data includes sharp human injury data and blunt human injury data, which can be subdivided into a variety of different injuries.

[0024] Set a total score for human body injuries, set multiple levels of injury grades for different types of human body injuries, and set different scores for different injury grades; after all test items are completed, count all human body injury data of different types; classify and score all human body injury data according to categories and injury grades, and obtain different types of human body sharp injury scores and human body blunt injury scores; add up different types of scores to obtain the human body injury score.

[0025] This stage is the main part of the collision safety rating and is also the most concerned content of drone collision safety. The total score for human injury is 60 points, accounting for 60% of the total score. This stage mainly includes two steps, namely: testing and scoring the sharp injury of high-speed rotating blades to human skin, and testing and scoring the blunt injury of drone collision to the human body. The scores for sharp injury and blunt injury are both 30 points.

[0026] The specific steps of Phase 1 include: Step S100, conduct human sharp injury test and scoring, the score of this part is 30 points.

[0027] Establish a human sharp injury evaluation table based on the injury level of human sharp injuries. Determine the type of human sharp injury data. For sharp injuries such as cuts and stabs on human skin, it is not easy to use mechanical criteria to evaluate; therefore, the type of human sharp injury data is to directly measure the size of human skin wounds caused by drone blades under the most severe working conditions, such as length, area, depth, etc., select different test conditions and drone flight conditions to conduct strength tests of sharp collisions between drones and humans, obtain human sharp injury data, and then compare the human sharp injury data with the human sharp injury evaluation table to determine the human sharp injury level and human sharp injury score. The test conditions are various conditions of sharp injuries to the human body caused by high-speed rotating blades.

[0028] For test dummies, since real human skin tissue is difficult to obtain, pig skin that is similar to human skin can be used when conducting human sharp injury tests, or bionic skin that can simulate the properties and tissue structure of human skin can be used as a substitute.

[0029] The human body sharp injury classification table is shown in Table 1: Table 1 Human sharp injury classification table

[0030] Step S200, conduct human body blunt injury test and scoring, the score of this part is 30 points.

[0031] For blunt injuries caused by drones hitting the human body, the human head and chest are selected as the impact test parts according to the exposed area of ​​the human body surface and the severity of the consequences of injuries to different parts of the human body. Different test conditions and drone flight conditions are selected to conduct strength tests of blunt collisions between drones and human bodies. Various human blunt injury criteria are established respectively, including: Human head injury criteria H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injury After the injury test is completed, the blunt injury data of the test dummy's head, neck and chest are collected, and the level analysis is performed based on the various human blunt injury criteria to obtain the human head blunt injury level, human neck blunt injury level and human chest blunt injury level and score them respectively. When any score of the blunt injury level test of the dummy's head, neck and chest is 0, the item is judged as a failure item.

[0032] The test conditions are three conditions: the drone vertically falls and hits the top of the head, the drone horizontally hits the forehead, and the drone horizontally hits the chest. The drone flight condition selects the most severe condition of the drone. The process of the drone vertically falling and hitting the top of the head and the drone horizontally hitting the forehead tests the degree of blunt injury to the head and neck, and the process of the drone horizontally hitting the chest tests the degree of blunt injury to the chest.

[0033] Preferably, the score for blunt head injury is 10 points. HIC And the 3ms cumulative acceleration of the head forms the human head injury judgment criterion H injury , its mathematical expression is as follows: (1) In the formula, HIC 15 is the calculated value of the head injury factor, α maxis the peak value of the head's 3ms accumulated acceleration, HIC 15crit for HIC 15 The limit value of α crit for α max The limit values ​​are derived from FMV ss 208 (occupant crash protection standard) and U N R94 (Recommendations on the Transport of Dangerous Goods, Manual of Tests and Criteria). HIC 15crit The limit value is 700. α crit The limit value is 80g.

[0034] Preferably, a human head injury criterion is set H injury Two-dimensional evaluation index: according to HIC 15 and α max The limit value of human head injury H injury The two-dimensional evaluation index is divided into four safety levels and one failed area, forming a human head injury degree classification area diagram, such as Figure 2 Among them, levels 1-4 all indicate that the degree of head injury is within an acceptable range, with level 1 being the safest level and level 4 being the least safe level; the failed area indicates that the degree of injury is unacceptable.

[0035] Preferably, the blunt injury score of the human neck is 10 points. The mechanical response output of the human neck usually has 6 mechanical response test data, which are the three-dimensional force and three-dimensional moment of the neck. These 6 parameters are used to evaluate neck injuries. Based on the 6 mechanical response test data of the test dummy neck, considering the actual scene characteristics of the drone hitting the human body, this application is based on comprehensive force. N ij , compression force F z and shear force F s Three indicators to establish the criterion for blunt injury of human neck N injury .

[0036] Comprehensive Strength N ij The combined effects of the upper neck axial force (tension / compression) and the sagittal bending moment are considered to evaluate the risk of more serious neck injuries under head-on collision conditions. The limit value is 1, and its mathematical expression is as follows: (2) In the formula, F z and M y Denote axial force and bending moment respectively, F int and M int Represent the critical values ​​of axial force and bending moment respectively. y When testing the Brid III dummy, F int Value: 4500 N , when subjected to compressive load, M int Value: 310 Nm , under tensile load M int Value -125 Nm .

[0037] Compression force F z The index is used to evaluate the damage caused by a single compressive force on the upper neck. y When testing with a Brid III dummy, the limit is 4000 N .

[0038] Shear force F s Taking into account the neck F x and F y The combined effect of the limit value is 3000 N , its mathematical expression is as follows: (3) In the formula, F x and F y Respectively x Directional shear load, y Directional shear load.

[0039] The level of blunt neck injury is divided into four safety levels and one failure interval according to the range of values, such as Figure 2 As shown in Table 2. Among them, grades 1-4 all indicate that the degree of head injury is within an acceptable range, with grade 1 being the safest level and grade 4 being the least safe level; the failed area indicates that the degree of injury is unacceptable.

[0040] Table 2 Injury classification table for various indicators of blunt injury to human neck

[0041] Preferably, since human blunt neck injury involves three indicators, during the scoring process, if at least one of the indicators exceeds the limit, the drone will fail and the collision safety performance of the drone will be judged as unqualified. If all three indicators are not failed, the neck injury level will be calculated according to the most severe level, that is, the human blunt neck injury level. for: (4) In the formula, is the comprehensive strength index damage level, is the compression index damage level, It is the shear force index damage level.

[0042] Preferably, the score of blunt chest injury is 10 points. By comprehensively considering the chest 3ms acceleration and chest compression, the human chest blunt injury criterion C is obtained. injury , its mathematical expression is as follows: (5) In the formula, α max It is the peak value of the synthetic acceleration of the spine at 3ms; D max is the maximum deformation of the chest; α crit It is the 3ms acceleration limit value; D crit is the limit value of chest deformation. In the present invention, α crit The limit value is 90g, D crit The limit value is 103mm.

[0043] Preferably, the human chest blunt injury criterion C is used. injury As a criterion for blunt chest injury, the level of blunt chest injury is divided into four safety levels and one failed area, forming a chest injury grading area diagram, such as Figure 4 Among them, levels 1-4 all indicate that the degree of head injury is within an acceptable range, with level 1 being the safest level and level 4 being the least safe level; the failed area indicates that the degree of injury is unacceptable.

[0044] Step S300, conducting comprehensive scoring of human body injuries.

[0045] When a drone collides with a human body, the damage to the human body often involves multiple parts and multiple indicators. The damage indicator of a single part cannot objectively evaluate the actual degree of damage to the human body. It is necessary to link various indicators to obtain a comprehensive evaluation index.

[0046] Specifically: Based on the human sharp injury evaluation table and human head injury judgment criteria H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injuryEstablish a human body injury scoring basis table; obtain the human body sharp injury score, human body head blunt injury score, human body neck blunt injury score and human body chest blunt injury score, and perform grading based on the human body injury scoring basis table.

[0047] In the process of scoring the degree of human injury, if at least one of the indicators of sharp injury, blunt head injury, blunt neck injury and blunt chest injury exceeds the limit, the drone is recorded as failing the collision safety requirements and the collision safety level of the drone is recorded as unqualified. If all indicators do not exceed the limit, the score is queried according to the injury level of each injury type in each part in Table 3, and the scores of each part are added together to be recorded as the total score of the human injury test.

[0048] Table 3 Human body injury scoring basis

[0049] Phase 2 is to test and score the structural strength of the drone. This phase mainly assesses the structural strength characteristics of the drone itself. Structural strength is the basic premise for the normal flight and load-bearing of the drone. This phase has only one step, which is to carry out the load-bearing capacity test of the main structure and the collision load test.

[0050] Step S400, setting the total score of the drone structure strength and the reference load value F max , reference load value F max In order to consider the maximum load of the UAV in the case of mission load and maneuvering flight, static loads of different sizes are applied to the mounting points of the UAV to conduct strength tests on the UAV; based on the reference load value F max Set up the UAV structural strength grading and scoring table, obtain the structural deformation of the UAV and score it through the UAV structural strength grading and scoring table to get the UAV structural strength score; when the score is 0, the item is judged as a failed item. The total score of the UAV structural strength is 10 points.

[0051] Static loads were applied to the UAV to test its own carrying capacity. The scores are shown in Table 4.

[0052] Table 4 UAV structural strength classification and scoring table

[0053] In the third phase, active safety measures testing and scoring of drones will be carried out.

[0054] This stage mainly assesses whether the drone adopts active safety measures and the effectiveness of the measures to reduce or avoid the risk of injury from drone collisions with human bodies.

[0055] Specifically: set the total score of the drone's active safety measures, obtain the type of active safety measures currently taken by the drone, and rank the obstacle avoidance effects of different types of active safety measures from high to low to form obstacle avoidance rules and scores of different types and different obstacle avoidance effects; select different active safety measures to conduct strength tests on the drone, obtain obstacle avoidance effect data and score them separately, and then add up all types of obstacle avoidance effect scores to determine the drone's active safety measures score.

[0056] The total score for active safety measures for drones is 30 points, accounting for 30% of the overall score.

[0057] Active safety measures taken include but are not limited to installing blade guards, fall deceleration devices, active obstacle avoidance devices, etc. If drone manufacturers take other active safety measures, they can also participate in the test scoring based on their effectiveness.

[0058] It should be noted that there are no failed items in this stage. This stage includes 4 steps, namely: active obstacle avoidance measures detection, propeller protection measures detection, fall deceleration measures detection, and other active safety measures detection. The scores for active obstacle avoidance measures detection, propeller protection measures detection, and fall deceleration measures detection are all 10 points, and the scores for other active safety measures shall not exceed 10 points. The scores in this stage exceeding 30 points will be recorded as 30 points.

[0059] The specific steps include: Step S500, check whether the drone takes active obstacle avoidance measures and the effectiveness of the measures. The score for this part is 10 points.

[0060] Scoring is based on whether the drone takes active obstacle avoidance measures (such as installing cameras, lidar, ultrasonic radar and other active obstacle avoidance devices), and the effectiveness of the measures (whether they are effective in all directions, whether they are effective in all weather conditions, etc.). This part is worth 10 points.

[0061] On the basis of installing active obstacle avoidance measures on the UAV, the UAV is subjected to human-shaped obstacle avoidance tests in different horizontal directions and different light intensities. Then the deformation data of the human-shaped obstacles are collected to determine whether the UAV has avoided the human-shaped obstacles in different environments. The number of human-shaped obstacles that the UAV can avoid, the horizontal plane direction and the light intensity data are counted and scored.

[0062] The obstacle avoidance rules and scores for active obstacle avoidance measures are as follows: if the UAV takes active obstacle avoidance measures and can effectively avoid human-shaped obstacles in 360° horizontal plane and all-weather (under any light intensity conditions) during the test, it will be scored 10 points; if active obstacle avoidance measures are taken and human-shaped obstacles can only be avoided in a specific direction or only under a certain light intensity during the test, it will be scored 8 points; if active obstacle avoidance measures are taken and human-shaped obstacles can only be avoided in a specific direction and only under a certain light intensity during the test, it will be scored 6 points; if the UAV does not take active obstacle avoidance measures, or if the obstacle avoidance measures are taken but have no substantial effect, it will be scored 0 points.

[0063] Step S600, check whether the drone has taken blade protection measures and the effectiveness of the measures. The score for this part is 10 points.

[0064] On the basis of installing blade protection measures on the UAV, the UAV is subjected to sharp damage tests under different blade protection measures and set times. The sharp damage data after the test is completed is collected and scored according to the obstacle avoidance rules of the blade protection measures.

[0065] Points are awarded based on whether the drone has taken blade protection measures (such as a blade protection cover installed on the cantilever, a protection cover that wraps the entire drone, etc.) and the effectiveness of the measures. This part is worth 10 points.

[0066] The obstacle avoidance rules and scores for blade protection measures are as follows: if blade protection measures are taken and sharp injuries are completely avoided during the collision, it will be scored as 10 points; if blade protection measures are taken and sharp injuries are still incurred but reduced during the collision, it will be scored as 6 points; if no blade protection measures are taken, or if blade protection measures are taken but have no substantial effect, it will be scored as 0 points.

[0067] Step S700, check whether the drone has taken fall deceleration measures and the effectiveness of the measures. The score for this part is 10 points.

[0068] After the UAV is installed with the drop deceleration measures, the UAV is equipped with the corresponding drop deceleration measures for drop test. After the test, the deformation of the UAV is collected and it is judged whether the drop deceleration measures are effective; if so, the full score under the drop deceleration measures detection is obtained; if not, the score of this part is 0.

[0069] If no fall deceleration measures are taken, a score of 0 will also be given.

[0070] Step S800, check whether the drone has taken other active safety measures and the effectiveness of the measures. The score for this part is 10 points.

[0071] After the drone is installed with other active safety measures, the drone will carry out corresponding strength tests with the corresponding active safety measures, and judge whether the corresponding safety measures are effective based on the test results. If effective, the drone will obtain all the scores under the detection of other active safety measures; if not, the score for this part will be 0 points.

[0072] Scoring is based on whether the drone has taken other active safety measures and the effectiveness of the measures, with a total score of 10 points. If at least one active safety measure is taken and at least one measure is effective, 10 points will be given; if no active deceleration measures are taken, or if fall deceleration measures are taken but have no substantial effect, 0 points will be given.

[0073] Step S900, performing active safety comprehensive scoring.

[0074] According to the scoring results of steps S600-S900 in stage three, the active safety measures of the drone are scored by adding up the scores of each item. If the score exceeds 30 points, the score will be recorded as 30 points.

[0075] Phase 4: Conduct drone collision safety rating.

[0076] Step S1000, performing a collision safety rating of the drone.

[0077] Check whether there are any failed items in each strength test in step S100, step S200, and step S400. If there are at least one failed item, the collision safety level of this type of drone is determined to be unqualified. If there are no failed items, add the scoring results of stage one, stage two, and stage three to obtain the drone collision safety score and conduct a safety level evaluation. When the drone collision safety score is 80-100 points, the safety level is level 1; when the drone collision safety score is 60-79 points, the safety level is level 2; when the drone collision safety score is 40-59 points, the safety level is level 3; when the drone collision safety score is less than 40 points, the safety level is level 4.

[0078] In summary, this application has the following advantages: (1) It comprehensively considers multiple factors, such as the degree of injury caused by a drone colliding with a human body, the structural strength of the drone itself, and whether the drone has an active safety design. It can be used to evaluate the degree of injury caused by a drone colliding with a human body, and can also be used to assess the collision safety level of the drone itself; (2) When characterizing human injuries, sharp injuries such as cuts and punctures on the skin are taken into account, as well as blunt injuries to the head, neck, and chest. The injury sites include the main vulnerable parts of the human body, and the evaluation is comprehensive and objective; (3) All parameters in the developed collision safety evaluation criteria can be actually measured and quantified, ensuring the objectivity and reliability of the evaluation criteria.

[0079] Finally, it should be noted that: the drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for assessing the collision safety level of a light or small UAV, characterized in that: include: Classify human injuries, select drones and test dummies, and set different test conditions according to the types of human injuries; Different flight environments and drone flight states are set according to different test conditions, and injury tests of drone-human collision under different conditions are carried out in turn; human injury data is obtained after each test condition is completed; a total human injury score is set, and multiple injury levels are set for different types of human injuries, and different scores are set for different injury levels; after all test items are tested, all human injury data of different types are counted; all human injury data are classified and scored according to categories and injury levels, and different types of human sharp injury scores and human blunt injury scores are obtained; different types of scores are added up to obtain the human injury score; Set the total score of the drone's structural strength and the reference load value F max , reference load value F max In order to consider the maximum load of the UAV when carrying mission load and maneuvering flight, static loads of different sizes are applied to the mounting points of the UAV to conduct strength tests on the UAV; Based on the reference load value F max Set up a UAV structural strength grading and scoring table, obtain the structural deformation of the UAV, and score it using the UAV structural strength grading and scoring table to obtain the UAV structural strength score; Set the total score of the drone's active safety measures, obtain the type of active safety measures currently taken by the drone, and sort the obstacle avoidance effects of different types of active safety measures from high to low to form obstacle avoidance rules and scores of different types and different obstacle avoidance effects; select different active safety measures to conduct strength tests on the drone, obtain obstacle avoidance effect data and score them separately, and then add up all types of obstacle avoidance effect scores to determine the drone's active safety measures score; Check whether there are any unpassed items. If there are no unpassed items, add the human injury score, the UAV structural strength score and the UAV active safety measure score to obtain the UAV collision safety score and give the safety level of this type of UAV.

2. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 1, characterized in that: The specific steps of obtaining the human body sharp injury score and the human body blunt injury score include: A human sharp injury evaluation table is established according to the injury level of human sharp injury; the human sharp injury data type is set to directly measure the size of human skin wounds caused by drone blades under the most severe working conditions, and different test conditions and drone flight conditions are selected to conduct strength tests of drone and human sharp collisions to obtain human sharp injury data, and then the human sharp injury data is compared with the human sharp injury evaluation table to determine the human sharp injury level and human sharp injury score; For blunt injuries caused by drones hitting the human body, the human head and chest are selected as the impact test parts, and different test conditions and drone flight conditions are selected to conduct strength tests of blunt collisions between drones and human bodies; various human blunt injury criteria are established respectively, including: Human head injury criterion H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injury After the injury test is completed, the blunt injury data of the test dummy's head, neck and chest are collected, and the level analysis is performed according to the various human blunt injury criteria to obtain the human head blunt injury level, human neck blunt injury level and human chest blunt injury level and score them respectively. When any score of the blunt injury level test of the dummy's head, neck and chest is 0, the item is judged as a failure item; Based on the human sharp injury evaluation table and human head injury criteria H injury , Criteria for blunt injury to human neck N injury and human chest blunt injury criterion C injury Establish a human body injury scoring basis table; obtain the human body sharp injury score, human body head blunt injury score, human body neck blunt injury score and human body chest blunt injury score, and perform grading based on the human body injury scoring basis table.

3. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 2, characterized in that: The strength test of blunt collision between UAV and human body was carried out in sequence, namely, UAV vertically falling and hitting the top of the head, UAV horizontally hitting the forehead of the head, and UAV horizontally hitting the chest. The most severe working condition of the UAV was selected; the process of UAV vertically falling and hitting the top of the head and UAV horizontally hitting the forehead of the head was used to test the degree of blunt injury to the head and neck, and the process of UAV horizontally hitting the chest was used to test the degree of blunt injury to the chest.

4. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 2, wherein: The human head injury criterion H injury The mathematical expression is: ； In the formula, HIC 15 is the calculated value of the head injury factor, α max is the peak value of the head's 3ms accumulated acceleration, HIC 15crit for HIC 15 The limit value of α crit for α max The limit value of according to HIC 15 and α max The limit value of human head injury H injury The two-dimensional evaluation index is divided into four safety levels and one failure area, forming a grading area diagram for the degree of human head injury.

5. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 2, wherein: Based on comprehensive strength N ij , compression force F z and shear force F s Three indicators to establish the criterion for blunt injury of human neck N injury ; Comprehensive Strength N ij The mathematical expression is: ； In the formula, F z and M y Denote axial force and bending moment respectively, F int and M int denote the critical values ​​of axial force and bending moment respectively; Shear force F s The mathematical expression is: ； In the formula, F x and F y Respectively x Directional shear load, y Directional shear load.

6. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 5, characterized in that: The comprehensive strength N ij , compression force F z and shear force F s The three indicators are set with four damage levels and failure intervals respectively, and the damage level is evaluated to obtain the damage level of the comprehensive strength indicator. , compression index damage level and shear force index damage level If the comprehensive force N ij , compression force F z and shear force F s If all three indicators are not in the failed range, the level of blunt injury to the human neck is : 。 7. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 2, wherein: The criterion for blunt chest injury C injury The mathematical expression is: ； In the formula, α max It is the peak value of the synthetic acceleration of the spine at 3ms; D max is the maximum deformation of the chest; α crit It is the 3ms acceleration limit value; D crit It is the limit value of chest deformation.

8. The method for evaluating the collision safety level of a light and small unmanned aerial vehicle according to claim 2, characterized in that: The human body neck blunt injury level is divided into four safe levels and one failed zone according to the value range; among them, levels 1-4 all indicate that the degree of head injury is within the acceptable range, among which level 1 is the safest level and level 4 is the least safe level; the failed zone indicates that the degree of injury is unacceptable; The human body's blunt chest injury levels are divided into four safe levels and one failed area, forming a chest injury grading area diagram; among them, levels 1-4 all indicate that the degree of head injury is within an acceptable range, among which level 1 is the safest level and level 4 is the least safe level; the failed area indicates that the degree of injury is unacceptable.

9. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 1, characterized in that: The steps for obtaining the active safety measure score of the drone include: On the basis of installing active obstacle avoidance measures on the UAV, humanoid obstacle avoidance tests were applied to the UAV in different horizontal directions and different light intensities. Then, the deformation data of humanoid obstacles were collected to determine whether the UAV avoided humanoid obstacles in different environments. The data were counted and scored based on the number of humanoid obstacles that the UAV was able to avoid, the horizontal direction, and the light intensity data. On the basis of installing blade protection measures on the UAV, the sharp damage test is carried out on the UAV under different blade protection measures and set times. The sharp damage data after the test is completed is collected and scored according to the obstacle avoidance rules of the blade protection measures; After the drone is equipped with the drop deceleration measures, the drone is equipped with the corresponding drop deceleration measures to carry out the drop test. After the test is completed, the deformation of the drone is collected and whether the drop deceleration measures are effective is determined; if so, the full score under the drop deceleration measures detection is obtained; if not, the score of this part is 0 points; After the drone is equipped with other active safety measures, the drone will carry out the corresponding strength test with the corresponding active safety measures, and judge whether the corresponding safety measures are effective based on the test results. If effective, the drone will obtain all the scores under the detection of other active safety measures; if not, the score of this part will be 0 points; The active safety measures of drones are scored by adding up the scores of each item.

10. The method for evaluating the collision safety level of a light or small unmanned aerial vehicle according to claim 1, characterized in that: The total score for human injury is 60 points, the total score for UAV structural strength is 10 points, and the total score for UAV active safety measures is 30 points. When the UAV collision safety score is 80-100 points, the safety level is Level 1; when the UAV collision safety score is 60-79 points, the safety level is Level 2; when the UAV collision safety score is 40-59 points, the safety level is Level 3; when the UAV collision safety score is below 40 points, the safety level is Level 4.

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