Unmanned aerial vehicle out-of-control falling accurate positioning system and unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle out-of-control falling accurate positioning system and an unmanned aerial vehicle, the unmanned aerial vehicle out-of-control falling accurate positioning system comprises a shell, the shell is provided with a containing cavity; the controller is arranged in the accommodating cavity; a posture detection module; and a sound-light alarm module. The unmanned aerial vehicle is optimized and upgraded on the basis of existing positioning of an original unmanned aerial vehicle, and a sound-light alarm module and a smoke positioning module are additionally arranged, so that when a posture detection module monitors that the unmanned aerial vehicle is in an out-of-control state, a buzzer is turned on to give an alarm, an alarm lamp flickers, and an out-of-control message is sent to a worker; and meanwhile, the MAC ceramic heating ring emits heat to enable the tobacco cake to be heated to generate smoke, the smoke is exhausted from the smoke exhaust hole, a worker can rapidly position the falling unmanned aerial vehicle according to the smoke and sound, and the technical problem that in the prior art, the unmanned aerial vehicle is out of control to fall and cannot be accurately positioned is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a precise positioning system for an unmanned aerial vehicle falling out of control and the unmanned aerial vehicle. Background Art

[0002] Currently, most drones in the market rely on GPS for positioning, but this method has obvious disadvantages. On the one hand, it is easily affected by signal interference, resulting in positioning deviations, and GPS positioning can only give a wide range of positions, making it difficult to accurately lock the specific landing point; on the other hand, drones may also lose signals after crashing, making it difficult to be found and running out of power, making it impossible to achieve accurate positioning, which makes it quite inconvenient to find a drone after it loses control and crashes. Summary of the invention

[0003] The main purpose of the present invention is to provide a precise positioning system for a drone that has fallen out of control and a drone, so as to solve the technical problem in the prior art that a drone that has fallen out of control cannot be precisely positioned.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a precise positioning system for an unmanned aerial vehicle (UAV) falling out of control, comprising: a shell having a containing cavity; a controller, the controller being arranged in the containing cavity; a posture detection module, the posture detection module being arranged in the containing cavity, the posture detection module being electrically connected to the controller, the posture detection module being used to detect the flight posture of the UAV and feed back to the controller; and an audible and visual alarm module, the sound and light alarm module being arranged in the containing cavity, the sound and light alarm module being electrically connected to the controller, the controller generating an alarm message when the posture detection module detects that the flight posture of the UAV is abnormal.

[0005] Furthermore, the shell includes: a partition, which is arranged in the accommodating chamber to divide the accommodating chamber into a control chamber and a combustion chamber, and the controller, the posture detection module and the sound and light alarm module are arranged in the control chamber.

[0006] Furthermore, the unmanned aerial vehicle out-of-control falling precise positioning system comprises: a smoke positioning module, wherein the smoke positioning module is arranged in the combustion chamber (112), and the smoke positioning module is used to generate smoke.

[0007] Furthermore, the smoke positioning module includes a MAC ceramic heating coil and a smoke cake, the MAC ceramic heating coil is electrically connected to the controller, the MAC ceramic heating coil and the smoke cake are arranged in the combustion chamber, and the controller generates a heating instruction when the attitude detection module detects that the flight attitude of the drone is abnormal.

[0008] Furthermore, at least one side wall of the combustion chamber is provided with a smoke exhaust hole, and the smoke exhaust hole is used to allow the smoke generated by the smoke cake to be discharged outside the shell.

[0009] Furthermore, a one-way waterproof and breathable membrane is arranged in the smoke exhaust hole.

[0010] Furthermore, the unmanned aerial vehicle out-of-control falling precise positioning system includes: a battery, which is used to supply power to the attitude detection module, the sound and light alarm module and the MAC ceramic heating coil after being stabilized by the controller.

[0011] Furthermore, the sound and light alarm module includes: a buzzer and an alarm light.

[0012] Furthermore, the unmanned aerial vehicle out-of-control falling precise positioning system comprises: a first cover plate, the first cover plate is used to seal the combustion chamber; and a second cover plate, the second cover plate is used to seal the control chamber.

[0013] According to another aspect of an embodiment of the present invention, there is further provided a drone, comprising the above-mentioned precise positioning system for a drone that loses control and falls.

[0014] By applying the technical solution of the present invention, an optimization and upgrade is performed on the existing positioning basis of the original UAV, and an audio-visual alarm module and a smoke positioning module are added. When the attitude detection module detects that the UAV is in an out-of-control state, a buzzer alarm is turned on, an alarm light flashes, and an out-of-control message is sent to the staff. At the same time, the MAC ceramic heating coil emits heat to heat the smoke cake to produce smoke that is discharged from the smoke exhaust hole. The staff can quickly locate the fallen UAV based on the smoke and sound, thereby solving the technical problem in the prior art that the UAV that loses control and falls cannot be accurately located. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 A structural schematic diagram of an embodiment of a system for accurately locating an uncontrolled falling drone according to the present invention is shown.

[0017] Figure 2 A structural schematic diagram of an embodiment of a system for accurately locating an uncontrolled falling drone according to the present invention is shown.

[0018] Figure 3 An electrical structure diagram of an embodiment of a system for accurately locating a drone that has fallen out of control according to the present invention is shown.

[0019] The above drawings include the following reference numerals:

[0020] 1. Shell;

[0021] 2. The first cover plate;

[0022] 3. The second cover plate;

[0023] 4. Battery;

[0024] 5. Controller;

[0025] 6. MAC ceramic heating coil;

[0026] 7. Sound and light alarm module;

[0027] 8. Posture detection module;

[0028] 9. Tobacco cakes;

[0029] 11. Accommodating cavity;

[0030] 12. Partition;

[0031] 13. Smoke exhaust hole;

[0032] 111. Control chamber;

[0033] 112. Combustion chamber. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0038] At present, with the rapid development of drone technology, the positioning system, as one of its core technologies, plays a vital role in the flight safety and mission execution of drones. However, most drones on the market currently rely on GPS for positioning. The GPS positioning system determines the position of objects on the ground or in the air by receiving signals transmitted by satellites in the earth's orbit. When a drone is flying in the air, it captures signals from at least four satellites through the GPS receiver on board, and uses the arrival time difference of these signals to calculate its own three-dimensional position coordinates. This process involves complex mathematical calculations and conversions to ensure the accuracy of positioning. However, GPS positioning also has its inherent weaknesses. For example, GPS signals are susceptible to interference, especially in urban canyons, dense forests or other environments with many obstructions, where signals may be blocked or reflected, resulting in positioning deviations. In addition, GPS can only provide a relatively wide position range, making it difficult to achieve accurate positioning, which is an obvious limitation for tasks that require high-precision navigation.

[0039] When discussing the issue of drone positioning, we have to mention the issue of positioning a drone after it crashes. Once a drone malfunctions or crashes due to an operator error, it will be very difficult to retrieve it if it is located in a remote or inaccessible area. In this case, even if the drone's GPS module is still working, if the communication module is damaged or the battery is exhausted, the remote controller will not be able to query the drone's location through the server. This results in the fact that in actual operation, once the drone loses control and crashes, it is quite inconvenient to find it.

[0040] In view of the deficiencies in the prior art, the present invention provides a system for accurately locating a drone that has fallen out of control and a drone, so as to solve the technical problem in the prior art that a drone that has fallen out of control cannot be accurately located.

[0041] Combination Figure 1 and 2 As shown, according to a specific embodiment of the present application, a precise positioning system for an uncontrolled falling drone is provided, including: a housing 1, a controller 5, a posture detection module 8, an audio-visual alarm module 7, a smoke positioning module and a battery 4. The specific structure of each of the above components and the connection relationship between them will be introduced in detail below.

[0042] First, the lower shell 1 has a accommodating chamber 11, and the partition 12 is installed in the accommodating chamber 11 to divide the accommodating chamber 11 into a control chamber 111 and a combustion chamber 112. The controller 5 is installed at the bottom of the control chamber 111 by bolts, and the posture detection module 8 and the battery 4 are fixedly installed on the controller 5 by bolts or hot melt adhesive. The sound and light alarm module 7 is fixedly installed on the posture detection module 8 by hot melt adhesive. The smoke positioning module includes a MAC ceramic heating coil 6 and a smoke cake 9, and the MAC ceramic heating coil 6 is fixedly installed at the bottom of the combustion chamber 112 by bolts or hot melt adhesive. The first cover plate 2 is buckled at the top opening of the combustion chamber 112, and the second cover plate 3 is buckled at the top opening of the control chamber 111.

[0043] An embodiment of the present invention, as Figure 3 As shown, the controller 5 is electrically connected to the posture detection module 8, the sound and light alarm module 7, the MAC ceramic heating coil 6 and the battery 4 respectively.

[0044] The attitude detection module 8 is used to detect the flight attitude of the UAV and feed back the attitude to the controller 5 .

[0045] In another embodiment of the present application, the attitude detection module 8 uses a gyroscope of the MPU6050 device. The attitude detection module 8 obtains the data of the three axes through the gyroscope as the reference angle. During normal flight, the controller 5 obtains the horizontal angle fluctuation amplitude of the flight attitude less than or equal to 30 degrees. When the drone is out of control, the drone will be in a rolling and falling process. The horizontal angle fluctuation amplitude is greater than 30 degrees, and the continuous change time is more than five seconds. The controller 5 determines that the flight attitude is abnormal. Generate an alarm message and send it to the sound and light alarm module 7 and generate a heating instruction and send it to the MAC ceramic heating coil 6.

[0046] In one embodiment of the present invention, the sound and light alarm module 7 includes a buzzer and an alarm light. When receiving an alarm message, the buzzer can emit a loud sound warning, and the alarm light has a strong visual stimulation effect. The flash time and color of the flash light can also be set according to different scenes.

[0047] The working principle of MAC Ceramic Heating Ring 6 is mainly based on the resistance heating effect. The heating ring is usually made of highly heat-resistant ceramic material, and the outer layer is wrapped with a metal resistance wire with good electrical conductivity, such as nickel-chromium alloy. When current passes through these metal resistance wires, due to the existence of resistance, the electrical energy is converted into heat energy, thereby increasing the surface temperature of the ceramic heating ring. This process is not only efficient, but also safer during use due to the good insulation of the ceramic material, and it is not easy to short-circuit or leak.

[0048] The cigarette cake 9 is usually made of a mixture of charcoal, saltpeter, sulfur and other materials, which release a large amount of heat energy and gas when burned. When the heat generated by the MAC ceramic heating ring 6 is transferred to the cigarette cake, the combustible material in the cigarette cake begins to burn and produce smoke.

[0049] In one embodiment of the present invention, in order to allow the smoke generated by the heated cigarette cake 9 to be discharged outside the shell 1, at least one side wall of the combustion chamber 112 is provided with a smoke exhaust hole 13, and a one-way waterproof and breathable membrane is installed in the smoke exhaust hole 13. The one-way waterproof and breathable membrane is made of a special polymer material, and the surface has an extremely fine microporous structure. These micropores allow gas molecules to pass through, but prevent the penetration of liquid molecules. When the smoke concentration in the chamber is high, the smoke can be discharged outside the combustion chamber 112 through these micropores; and when it rains outside, rainwater cannot enter the room through these micropores, thereby achieving a one-way waterproof and breathable effect.

[0050] In one embodiment of the present invention, the battery 4 is stabilized by a voltage stabilizing circuit in a controller 5 to supply power to a posture detection module 8 , an audible and visual alarm module 7 and a MAC ceramic heating coil 6 .

[0051] In another embodiment of the present application, the battery 4 is a 3.7 volt lithium polymer battery, which is lightweight and compact, making it particularly suitable for the limited space in the control compartment 111, and has built-in overcharge, short circuit, and overheat protection functions to ensure safe use. It has high energy density and low self-discharge, making it suitable for long-term storage and use.

[0052] When the battery 4 is a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0053] Another embodiment of the present application provides a control method for a precise positioning system for a drone falling out of control, including:

[0054] The controller 5 obtains the flight attitude. When the horizontal angle fluctuation amplitude is less than or equal to 30 degrees, the flight attitude of the UAV is judged to be normal.

[0055] When the fluctuation amplitude of the horizontal angle of the drone is greater than 30 degrees and the continuous change time is more than five seconds, the controller 5 determines that the flight posture of the drone is abnormal and out of control, generates an alarm message and sends it to the sound and light alarm module 7 and generates a heating instruction and sends it to the MAC ceramic heating coil 6.

[0056] Another embodiment of the present invention provides a method embodiment of a control method for a precise positioning system of an uncontrolled falling drone. 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.

[0057] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a controller as an example, the terminal may include one or more processors (processors may include but are not limited to central processing units (CPU), graphics processing units (GPU), digital signal processing (DSP) chips, microcontroller units (MCU), programmable logic devices (Field Programmable Gate Array, FPGA), neural network processors (Neural-network Processor Unit, NPU), tensor processors (Tensor Processing Unit, TPU), artificial intelligence (Artificial Intelligence, AI) type processors and other processing devices) and a memory for storing data. Optionally, the controller may also include a transmission device, an input and output device, and a display device for communication functions. It can be understood by those skilled in the art that the above structural description is only illustrative and does not limit the structure of the above controller. For example, the controller may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0058] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the vehicle atmosphere lamp in the embodiment of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, realizing the control method of the vehicle atmosphere lamp mentioned above. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the mobile terminal 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.

[0059] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0060] The peripheral device interface 303 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302. In some embodiments, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0061] The radio frequency circuit is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 304 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0062] The touch display screen is used to display the UI (User Interface). The UI may include graphics, text, icons, videos and any combination thereof. The touch display also has the ability to collect touch signals on the surface or above the surface of the touch display screen. The touch signal can be input to the processor as a control signal for processing. The touch display screen is used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the touch display screen can be one, and the front panel of the terminal is set; in other embodiments, the touch display screen can be at least two, which are respectively set on different surfaces of the terminal or in a folding design; in some other embodiments, the touch display screen can be a flexible display screen, which is set on the curved surface or folding surface of the terminal. Even, the touch display screen can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The touch display screen can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode) and the like.

[0063] The camera assembly is used to capture images or videos. Optionally, the camera assembly 306 includes a front camera and a rear camera. Typically, the front camera is used to realize video calls or selfies, and the rear camera is used to realize the shooting of photos or videos. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, and a wide-angle camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, and the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting functions. In some embodiments, the camera assembly may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0064] The accelerometer can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal. For example, the accelerometer can be used to detect the components of gravity acceleration on the three coordinate axes. The processor can control the touch screen to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the accelerometer. The accelerometer can also be used to collect game or user motion data.

[0065] The gyroscope sensor can detect the direction and rotation angle of the terminal. The gyroscope sensor can work with the acceleration sensor to collect the user's 3D (3D) actions on the terminal. The processor can implement the following functions based on the data collected by the gyroscope sensor: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0066] The pressure sensor can be set on the side frame of the terminal and / or the lower layer of the touch display screen. When the pressure sensor is set on the side frame of the terminal, it can detect the user's holding signal of the terminal, and perform left and right hand recognition or shortcut operations according to the holding signal. When the pressure sensor is set on the lower layer of the touch display screen, the operability controls on the UI interface can be controlled according to the user's pressure operation on the touch display screen. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0067] The fingerprint sensor is used to collect the user's fingerprint and identify the user based on the collected fingerprint. When the user's identity is identified as a trusted identity, the processor authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings. The fingerprint sensor can be set on the front, back, or side of the terminal. When a physical button or manufacturer logo is set on the terminal, the fingerprint sensor can be integrated with the physical button or manufacturer logo.

[0068] The optical sensor is used to collect the ambient light intensity. In one embodiment, the processor can control the display brightness of the touch display screen according to the ambient light intensity collected by the optical sensor. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen is increased; when the ambient light intensity is low, the display brightness of the touch display screen is decreased. In another embodiment, the processor can also dynamically adjust the shooting parameters of the camera assembly according to the ambient light intensity collected by the optical sensor.

[0069] The proximity sensor, also known as the distance sensor, is usually set on the front of the terminal. The proximity sensor is used to collect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor detects that the distance between the user and the front of the terminal is gradually decreasing, the processor controls the touch display screen to switch from the screen-on state to the screen-off state; when the proximity sensor detects that the distance between the user and the front of the terminal is gradually increasing, the processor controls the touch display screen to switch from the screen-off state to the screen-on state.

[0070] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, or by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product.

[0071] According to one embodiment of the present invention, there is also provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the control method of the unmanned aerial vehicle out-of-control falling precise positioning system is executed when the program is running.

[0072] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0073] Obtain the flight attitude. When the horizontal angle fluctuation is less than or equal to 30 degrees, the UAV flight attitude is judged to be normal;

[0074] When the fluctuation amplitude of the horizontal angle of the drone is greater than 30 degrees and the continuous change time is more than five seconds, the flight attitude of the drone is judged to be abnormal and out of control, an alarm message is generated and sent to the sound and light alarm module 7, and a heating instruction is generated and sent to the MAC ceramic heating coil 6.

[0075] According to one embodiment of the present invention, a computer-readable storage medium is also provided, and the computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the control method of the above-mentioned unmanned aerial vehicle out-of-control falling precise positioning system.

[0076] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0077] Obtain the flight attitude. When the horizontal angle fluctuation is less than or equal to 30 degrees, the UAV flight attitude is judged to be normal;

[0078] When the fluctuation amplitude of the horizontal angle of the drone is greater than 30 degrees and the continuous change time is more than five seconds, the flight attitude of the drone is judged to be abnormal and out of control, an alarm message is generated and sent to the sound and light alarm module 7, and a heating instruction is generated and sent to the MAC ceramic heating coil 6.

[0079] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0080] According to one embodiment of the present invention, a computer program product is also provided, including a computer program, which implements the control method of the above-mentioned unmanned aerial vehicle out-of-control falling precise positioning system when executed by a processor.

[0081] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0082] Obtain the flight attitude. When the horizontal angle fluctuation is less than or equal to 30 degrees, the UAV flight attitude is judged to be normal;

[0083] When the fluctuation amplitude of the horizontal angle of the drone is greater than 30 degrees and the continuous change time is more than five seconds, the flight attitude of the drone is judged to be abnormal and out of control, an alarm message is generated and sent to the sound and light alarm module 7, and a heating instruction is generated and sent to the MAC ceramic heating coil 6.

[0084] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0085] Another embodiment of the present invention provides a drone, comprising the above-mentioned precise positioning system for the uncontrolled falling drone.

[0086] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0087] By optimizing and upgrading the existing positioning of the original drone, an audio-visual alarm module and a smoke positioning module are added. When the attitude detection module detects that the drone is out of control, the buzzer alarm is turned on, the alarm light flashes, and the out-of-control message is sent to the staff. At the same time, the MAC ceramic heating coil emits heat to heat the smoke cake and produce smoke that is discharged from the exhaust hole. The staff can quickly locate the fallen drone based on the smoke and sound, solving the technical problem in the prior art that the drone cannot be accurately located when it falls out of control.

[0088] By adding a branch air intake system, the present invention can respond quickly when the grid frequency decreases and there is a compliance gap, increase the unit climbing rate, and improve the system response rate. Through the technical solution of the present invention, the CAES system can operate more stably when facing grid fluctuations, which plays an important role in promoting the commercial application of compressed air energy storage technology.

[0089] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0092] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0095] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0096] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present invention.

[0097] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A precise positioning system for uncontrolled falling drones, characterized in that: include: A housing (1), wherein the housing (1) has a receiving chamber (11); A controller (5), wherein the controller (5) is disposed in the accommodating chamber (11); A posture detection module (8), the posture detection module (8) being arranged in the accommodating cavity (11), the posture detection module (8) being electrically connected to the controller (5), and the posture detection module (8) being used to detect the flight posture of the drone; An audible and visual alarm module (7), the audible and visual alarm module (7) being arranged in the accommodating cavity (11), the audible and visual alarm module (7) being electrically connected to the controller, and the controller (5) generating an alarm message when the attitude detection module (8) detects that the flight attitude of the unmanned aerial vehicle is abnormal.

2. The unmanned aerial vehicle falling out of control precise positioning system according to claim 1 is characterized in that: The housing (1) comprises: A partition (12) is arranged in the accommodating chamber (11) to divide the accommodating chamber (11) into a control chamber (111) and a combustion chamber (112); the controller (5), the posture detection module (8) and the sound and light alarm module (7) are arranged in the control chamber (111).

3. The unmanned aerial vehicle falling out of control precise positioning system according to claim 2 is characterized in that: The unmanned aerial vehicle out-of-control falling precise positioning system comprises: A smoke positioning module is disposed in the combustion chamber (112) and is used to generate smoke.

4. The uncontrolled falling drone precise positioning system according to claim 3 is characterized in that: The smoke positioning module comprises a MAC ceramic heating coil (6) and a smoke cake (9), the MAC ceramic heating coil (6) being electrically connected to the controller, the MAC ceramic heating coil (6) and the smoke cake (9) being arranged in the combustion chamber (112), and the controller (5) generating a heating instruction when the attitude detection module (8) detects that the flight attitude of the drone is abnormal.

5. The unmanned aerial vehicle falling out of control precise positioning system according to claim 4 is characterized in that: At least one side wall of the combustion chamber (112) is provided with a smoke exhaust hole (13), and the smoke exhaust hole (13) is used to allow smoke generated by the smoke cake (9) to be discharged to the outside of the shell (1).

6. The uncontrolled falling drone accurate positioning system according to claim 5 is characterized in that: A one-way waterproof and breathable membrane is arranged in the smoke exhaust hole (13).

7. The uncontrolled falling drone precise positioning system according to claim 6 is characterized in that: The unmanned aerial vehicle out-of-control falling precise positioning system comprises: The battery (4) is used to supply power to the posture detection module (8), the sound and light alarm module (7) and the MAC ceramic heating coil (6) after voltage stabilization by the controller (5).

8. The uncontrolled falling drone precise positioning system according to claim 7 is characterized in that: The sound and light alarm module (7) comprises a buzzer and an alarm light.

9. The uncontrolled falling drone precise positioning system according to claim 8 is characterized in that: The unmanned aerial vehicle out-of-control falling precise positioning system comprises: A first cover plate (2), wherein the first cover plate (2) seals the combustion chamber; A second cover plate (3), wherein the second cover plate (3) seals the control compartment.

10. A drone, characterized in that: It comprises a precise positioning system for an uncontrolled falling drone as described in any one of claims 1 to 9.

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