Parachute control system based on unmanned aerial vehicle and unmanned aerial vehicle system

Abstract

The invention discloses a parachute control system based on an unmanned aerial vehicle and an unmanned aerial vehicle system. The parachute control system based on the unmanned aerial vehicle comprises an airborne module used for receiving a starting instruction of a parachute control module to activate a flight control module; the flight control module is used for controlling the flight operation of the unmanned aerial vehicle, monitoring the flight state of the unmanned aerial vehicle and sending the data of the flight state to the parachute control module; the parachute control module is used for receiving data of the flight control module to judge whether the unmanned aerial vehicle needs to open a parachute or not and sending a parachute control signal to the parachute driving circuit module when the parachute needs to be opened; and the parachute driving circuit module is used for receiving the parachute control signal and controlling the parachute to unfold according to the parachute control signal. Whether the parachute needs to be opened or not is evaluated through the parachute control module. And when the requirement is confirmed, a control signal is sent to the parachute driving circuit module, so that the parachute is unfolded, and the safe landing of the unmanned aerial vehicle is ensured in an emergency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a parachute control system and an unmanned aerial vehicle system based on unmanned aerial vehicles. Background Art

[0002] With the rapid development of unmanned aerial vehicle technology, its applications have been widely penetrated into all aspects of social life, especially unmanned aerial vehicle cluster performances. However, with the continuous expansion of the scale of unmanned aerial vehicle cluster performances, the risks in the performances have also increased. Large-scale unmanned aerial vehicle performances increase the possibility of accidental falls of individual unmanned aerial vehicles, and the unique positions and attitudes of unmanned aerial vehicles in the performance make it difficult for the ground station to effectively monitor and intervene in all unmanned aerial vehicles in real time. When an unmanned aerial vehicle experiences a technical failure or is affected by external factors and falls, it will pose a threat to the safety of the audience.

[0003] Therefore, there is an urgent need to develop a parachute control system with autonomous safety detection and prevention functions, which can automatically activate the parachute when the unmanned aerial vehicle fails or faces potential dangers, effectively control the falling speed of the unmanned aerial vehicle, and reduce the impact force on the ground, thereby ensuring the safety of the on-site audience. Summary of the Invention

[0004] Embodiments of the present invention provide a parachute control system and an unmanned aerial vehicle system based on unmanned aerial vehicles, aiming to solve the problem that when an unmanned aerial vehicle falls in the air in the prior art, it will pose a threat to the safety of the audience.

[0005] In a first aspect, embodiments of the present invention provide a parachute control system based on an unmanned aerial vehicle, including: a parachute control module, a parachute drive circuit module, an on-board module, and a flight control module; wherein, the parachute drive circuit module, the on-board module, and the flight control module are all connected to the parachute control module;

[0006] The on-board module is configured to receive a start instruction from the parachute control module to activate the operation of the flight control module;

[0007] The flight control module is configured to control the flight operation of the unmanned aerial vehicle, monitor the flight state of the unmanned aerial vehicle at the same time, and send the data of the flight state to the parachute control module;

[0008] The parachute control module is configured to receive the data from the flight control module to determine whether the unmanned aerial vehicle needs to open the parachute, and send a parachute control signal to the parachute drive circuit module when the parachute needs to be opened;

[0009] The parachute drive circuit module is configured to receive the parachute control signal and control the deployment of the parachute according to the parachute control signal.

[0010] In a second aspect, an embodiment of the present invention provides a drone system, including a ground station and the drone-based parachute control system of the first aspect as described above, and communication is established between the drone-based parachute control system and the ground station.

[0011] An embodiment of the present invention provides a drone-based parachute control system, including an airborne module for receiving a start instruction from a parachute control module to activate the operation of a flight control module; the flight control module is used to control the flight operation of the drone, monitor the flight state of the drone at the same time, and send the data of the flight state to the parachute control module; the parachute control module is used to receive the data from the flight control module to judge whether the drone needs to open the parachute, and send a parachute control signal to the parachute drive circuit module when the parachute needs to be opened; the parachute drive circuit module is used to receive the parachute control signal and control the deployment of the parachute according to the parachute control signal. The present invention evaluates whether to open the parachute through the parachute control module. When it is confirmed that it is necessary, a control signal is sent to the parachute drive circuit module to deploy the parachute, so as to ensure the safe landing of the drone in an emergency.

[0012] An embodiment of the present invention also provides a drone system, which also has the above beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic block diagram of the drone-based parachute control system provided by the embodiment of the present invention;

[0015] Figure 2 It is another schematic block diagram of the drone-based parachute control system provided by the embodiment of the present invention;

[0016] Figure 3 It is the operation schematic of the parachute drive circuit module provided by the embodiment of the present invention Figure 1 ;

[0017] Figure 4 It is the operation schematic diagram of the airborne module provided by the embodiment of the present invention;

[0018] Figure 5 It is a schematic block diagram of the flight control module provided by the embodiment of the present invention;

[0019] Figure 6The decision flowchart of the parachute control system based on an unmanned aerial vehicle provided by an embodiment of the present invention;

[0020] Figure 7 The operation schematic diagram of the parachute control system based on an unmanned aerial vehicle provided by an embodiment of the present invention;

[0021] Figure 8 Another decision flowchart of the parachute control system based on an unmanned aerial vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0024] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0025] It should be further understood that the term " / and / " as used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] In combination with Figure 1As shown in the figure, an embodiment of the present invention provides a parachute control system based on a drone, including: a parachute control module, a parachute drive circuit module, an airborne module, and a flight control module; wherein, the parachute drive circuit module, the airborne module, and the flight control module are all connected to the parachute control module; the airborne module is used to receive the start instruction of the parachute control module to activate the operation of the flight control module; the flight control module is used to control the flight operation of the drone, monitor the flight state of the drone at the same time, and send the data of the flight state to the parachute control module; the parachute control module is used to receive the data of the flight control module to judge whether the drone needs to open the parachute, and send a parachute control signal to the parachute drive circuit module when the parachute needs to be opened; the parachute drive circuit module is used to receive the parachute control signal and control the deployment of the parachute according to the parachute control signal.

[0027] In this embodiment, the parachute control module (i.e., MCU, the same below) is responsible for integrating the flight data from the flight control module and timely judging whether the drone needs to activate the parachute. When the parachute control module detects that the drone is in an out-of-control state or faces a falling risk, it can quickly make a decision and send a start signal to the parachute drive circuit module. The parachute drive circuit module directly responds to the instruction of the parachute control module and controls the rapid deployment of the parachute. After receiving the instruction to deploy the parachute, the parachute drive circuit module will activate the parachute and use air resistance to relieve the descending speed of the drone to ensure the smooth landing of the drone. The airborne module is installed on the drone and is responsible for real-time monitoring and transmitting the flight state data of the drone to the parachute control module, and receiving the start instruction from the parachute control module to activate the flight control module. The flight control module controls the flight operation of the drone, monitors the flight state at the same time, such as position, speed, attitude, etc., and sends this data to the parachute control module in real time.

[0028] Specifically, the working process of the parachute control system based on the drone is as follows: During the flight of the drone, the flight control module continuously monitors the state of the drone and transmits data to the parachute control module. When it is determined that the drone is at risk, the parachute control module immediately instructs the parachute drive circuit module to start, and at the same time commands the propellers of the drone to stop rotating to reduce the further risk of out-of-control. Immediately afterwards, the parachute quickly unfolds, using air resistance to reduce the descending speed and ensure the safe landing of the drone. The parachute control system based on the drone of the present invention not only enhances the safety of the drone, but also improves the reliability of the drone performance, enabling the drone to perform flight tasks more stably and safely in various application scenarios.

[0029] Combined with Figure 2As shown, in one embodiment, the parachute control module is connected to the flight control module via a serial data bus to obtain the UAV altitude information, UAV status information, and motor speed information sent by the flight control module; the parachute control module is connected to the parachute drive circuit module via GPIO ports to control the detonation operation of the parachute drive circuit module; wherein, the detonation operation includes triggering the parachute control signal and triggering the current limiting control circuit of the parachute drive circuit module.

[0030] In this embodiment, the parachute control module is connected to the flight control module via a serial data bus (i.e., UART, the same below), which allows the parachute control module to obtain the altitude information, status information, and motor speed information of the UAV in real time. These data are key parameters for monitoring the flight state of the UAV and are used to determine whether to deploy the parachute. The parachute control module is the core control unit of the UAV-based parachute control system and has the ability to control GPIO ports. The GPIO ports can control the detonation operation of the parachute circuit to ensure that the parachute can be deployed at a critical moment. In addition, the parachute control module is also responsible for activating the on-board module and enabling the flight control module. The parachute control module is connected to the parachute drive circuit module via GPIO ports, and the parachute control module can control the detonation operation of the parachute drive circuit module. The detonation operation includes triggering the parachute control signal and activating the current limiting control circuit. By obtaining the altitude information and status information provided by the flight control module in real time, the MCU can accurately judge the flight state of the UAV and make corresponding control decisions accordingly.

[0031] Combined Figure 3 As shown, in one embodiment, the parachute control module is connected to the parachute drive circuit module via dual GPIO ports; the parachute drive circuit module uses a current limiting control circuit and is powered by a separate power supply; wherein, when the dual GPIO ports simultaneously meet the corresponding level requirements, the parachute control signal and the current limiting control circuit are triggered to respond to the detonation operation.

[0032] In this embodiment, the parachute control module is connected to the parachute drive circuit module through a dual GPIO port. This connection configuration allows the parachute control module to control the detonation operation of the parachute drive circuit module. The use of the dual GPIO port is to increase safety. Only when the level states of these two GPIO ports simultaneously meet specific conditions (one is high level and the other is low level, using an exclusive-OR gate), the detonation signal of the parachute will be triggered. This dual verification mechanism significantly reduces the risk of accidental detonation and provides a higher level of safety protection for the drone. To ensure the success rate of the detonation operation, the parachute drive circuit module is designed in terms of current output. The parachute drive circuit module needs to provide sufficient current to ensure that the detonation device can respond quickly and accurately when receiving the detonation signal. There is a battery cell in the parachute drive circuit module for power supply. It should be noted that the fully charged voltage of the battery cell is usually 4.2V, and the rated voltage is usually 3.6V.

[0033] Combined with Figure 4 and Figure 5 As shown, in one embodiment, the flight control module is used to obtain the drone state information by using an inertial sensor and the Mahony algorithm; the flight control module is used to obtain the drone altitude information by using a barometer and GPS positioning; the flight control module is used to obtain the motor speed information of the drone by using an electronic speed controller.

[0034] In this embodiment, the flight control module (i.e., the flight control system corresponding to Figure 5 , the same below) communicates closely with the IO interface of the on-board system. This communication mechanism ensures that the drone can quickly respond to switch commands, whether it is for startup or shutdown operations. The flight control module uses the integrated inertial sensor and the Mahony algorithm to obtain and solve the attitude data of the drone in real time, so as to monitor the spatial positioning and attitude changes of the drone. In addition, the flight control module is also equipped with a barometer and a GPS positioning system for obtaining the altitude information of the drone. The electronic speed controller (ESC, the same below) is used to monitor and adjust the motor speed of the drone. Through the electronic speed controller, the flight control module can obtain the motor speed information. With this integrated flight control module, the drone can demonstrate excellent performance and response speed when performing flight tasks, especially when rapid deployment of safety measures is required, such as automatically starting the parachute system to cope with possible flight failures or other emergencies.

[0035] Combined with Figure 6As shown, in one embodiment, the parachute control module is used to receive data from the flight control module to determine whether the drone needs to deploy the parachute, and when the parachute needs to be deployed, send a parachute control signal to the parachute drive circuit module, including: the parachute control module enters the first judgment process: judging whether the flight state meets the opening requirements and judging whether the permission to deploy the parachute has been obtained; after meeting the opening requirements and obtaining the permission to deploy the parachute, the parachute control module enters the second judgment process: judging whether the drone is in a lost connection state or an emergency state. If the lost connection state or the emergency state occurs, it is determined that the parachute needs to be deployed, and a parachute control signal is sent to the parachute drive circuit module.

[0036] In this embodiment, the parachute control module first performs the judgment process in the first stage, which involves receiving the drone flight state data provided by the flight control module, including key parameters such as altitude, speed, and attitude. In addition, the flight control module also checks whether the permission to deploy the parachute has been obtained. Only when all these basic conditions are met will the system enter the next judgment.

[0037] After the conditions in the first stage are met, the parachute control module enters the judgment process in the second stage to detect whether the drone is in a lost connection state or other emergency states. The lost connection state indicates that the flight control module on the drone has lost communication with the parachute control module, and the emergency state indicates that the drone is facing serious flight failures or external threats. If these situations are detected, it will be immediately determined that the parachute needs to be deployed. After confirming that the parachute needs to be deployed, the parachute control module will send a parachute control signal to the parachute drive circuit module. The parachute control signal triggers the operation of the parachute drive circuit module, including starting the current limiting control circuit and the detonating device, ensuring that the parachute can be deployed quickly and accurately at the necessary moment. The present invention not only improves the safety of the drone but also ensures the response efficiency in the face of flight risks and technical failures.

[0038] In one embodiment, the permission to deploy the parachute includes: the parachute control module judges whether the flight altitude of the drone is lower than a preset altitude. If the flight altitude is not lower than the preset altitude, it returns for re-judgment; if the flight altitude is lower than the preset altitude, it judges whether the parachute permission flag bit is a preset value. If it is not the preset value, it returns for re-judgment; if it is the preset value, the parachute control module controls the corresponding permission to deploy the parachute.

[0039] In this embodiment, the parachute control module first detects the current flight altitude of the drone and determines whether it is lower than the system preset altitude (e.g., the drone is 60 meters above the ground). This preset altitude is set according to the operating environment and safety requirements of the drone, aiming to ensure that safety landing measures are considered only when the drone descends below this altitude. If the flight altitude of the drone is not lower than this preset value, the system will return to the initial state for re - judgment to avoid unnecessary parachute deployment caused by misreading or temporary flight altitude changes. If the flight altitude of the drone is lower than the preset altitude, the parachute control module further checks the parachute permission flag bit, which is used to indicate whether parachute permission is allowed in the current situation. This parameter ensures that even if the flight altitude is lower than the safety threshold, other safety checks must be met to activate the parachute. If this flag bit is not the preset value (for example, it can be set to 1), the system returns for re - judgment again. This step is to prevent parachute permission under inappropriate conditions. When the flight altitude is lower than the preset altitude and the parachute permission flag bit is the preset value, the parachute control module will control the corresponding mechanism to enable parachute permission.

[0040] Combined with Figure 7 As shown, in one embodiment, determining that it is necessary to open the parachute and sending a parachute control signal to the parachute drive circuit module includes: when the parachute control module determines that it is necessary to open the parachute, the parachute control module first locks the drone blades, and after confirming that the parachute permission has been enabled, sends a parachute control signal to the parachute drive circuit module.

[0041] In this embodiment, usually the flight altitude of the drone is set between 200 and 300 meters. Since the distance between drones is small and there may be an overlapping situation up and down, directly opening the parachute may cause collisions between drones. Therefore, in the present invention, before parachute deployment, it is necessary to ensure that the flight altitude of the drone is within the preset range. When it is determined that it is necessary to open the parachute, the first operation performed by the parachute control module is to lock the drone blades, which is to stop the generation of further propulsion force of the drone and reduce the collision risk increased by the rapid movement of the drone. After the blades are locked, the system monitors the descending altitude of the drone until it reaches the safe altitude (e.g., the drone is 60 meters above the ground). When the altitude of the drone drops to about 60 meters and the permission to open the parachute has been confirmed, the parachute control module will send a parachute control signal to the parachute drive circuit module. The sending of the parachute control signal marks the activation of the parachute device, allowing the parachute to be safely deployed, thus ensuring a safe landing even at low altitude and reducing the probability of collision caused by rapid deployment in an emergency.

[0042] Combined with Figure 8As shown, in one embodiment, to determine whether the drone is in a lost connection state or an emergency state, if the lost connection state or the emergency state occurs, it is determined that the parachute needs to be opened, and a parachute control signal is sent to the parachute drive circuit module, including: the parachute control module determines whether the heartbeat packet of the drone is lost. If the heartbeat packet is not lost, it returns for re-judgment; if the heartbeat packet is lost, the parachute control module controls the corresponding parachute switch to be opened; or, the parachute control module determines whether the drone is falling. If it is not falling, it returns for re-judgment; if it is falling, the parachute control module controls the corresponding parachute switch to be opened; when the parachute control module confirms that both the parachute permission and the parachute switch are in the open state, a parachute control signal is sent to the parachute drive circuit module.

[0043] In this embodiment, the parachute control module first determines whether the heartbeat packet of the drone is lost to monitor whether the drone is in a lost connection state. The heartbeat packet is a signal regularly sent between the drone and the ground control system to confirm the stability of the communication link. If the heartbeat packet is not lost (usually set to 1.5 s), the system will return and re-judge to ensure that misjudgment is not caused by temporary communication interference. If the heartbeat packet is lost, the parachute control module opens the parachute switch. The on-board module has a powerful local area network building ability. By regularly sending heartbeat packets, it establishes a stable connection with the ground station and transmits flight data and status information to the ground station in real time. The on-board module sends heartbeat packets to the ground station through its built-in WIFI module.

[0044] Of course, it is also possible to determine whether the parachute switch needs to be opened based on the flight dynamic data of the drone, such as acceleration, altitude change, etc. If it is determined that the drone is not falling, the system will also return for re-judgment to avoid unnecessary parachute deployment due to data misreading. When the system confirms that the drone is indeed in a lost connection state or a falling state, the parachute control module controls the parachute switch to be opened. Only when both the parachute permission and the parachute switch are in the open state will the parachute control module send a parachute control signal to the parachute drive circuit module. When it is confirmed that all safety and permission conditions are met, the parachute control module will activate the parachute drive circuit module to start the parachute deployment procedure. This process includes sending control signals to deploy the parachute to ensure that the drone can land safely in an emergency.

[0045] In one embodiment, the parachute control module determines whether the UAV is falling, including: the parachute control module determines whether the UAV is in the manual control state or the locked state. If not, it returns to the determination again; if so, it respectively determines whether the inertial sensor is valid and determines whether the altitude of the UAV in the unlocked state is valid; if the inertial sensor is invalid, it determines that the UAV is falling; if the altitude of the UAV in the unlocked state is invalid, it determines that the UAV is falling; if the altitude of the UAV in the unlocked state is valid, it respectively determines whether the inclination angle of the inertial sensor exceeds a preset inclination angle value, whether the control amount of the UAV exceeds a preset control amount, and whether the error between the UAV and the target position exceeds a preset error value. When the inclination angle of the inertial sensor exceeds the preset inclination angle value, or the control amount of the UAV exceeds the preset control amount, or the error between the UAV and the target position exceeds the preset error value, it is determined that the UAV is falling.

[0046] In this embodiment, the parachute control module first determines whether the UAV is in the manual control state or the locked state. If the UAV is not in these two states, the system will return to the state determination again to ensure that all flight parameters are within the normal monitoring range. If the UAV is confirmed to be in the manual control or locked state, the parachute control module further checks whether the inertial measurement unit (IMU, the same below) is valid. If the IMU fails, it is determined that the UAV is falling is true, because the sensor failure will cause the inability to correctly obtain flight data and increase flight instability. At the same time, the module will determine whether the altitude of the UAV in the unlocked state is valid. If the altitude data is invalid, it will also be determined that the UAV is falling is true, because the altitude is a key parameter that determines whether the UAV can fly safely. If the altitude of the UAV in the unlocked state is valid, the parachute control module continues to check whether the inclination angle of the UAV exceeds the preset inclination angle value through the IMU. In addition, it will also check whether the control amount of the UAV exceeds the normal range, and whether the error between the UAV and the target position exceeds the preset error value. If any one exceeds the preset value, it is determined that the UAV is falling. After determining that the UAV is falling according to the above conditions, the parachute control module will activate the parachute drive circuit module to start the parachute deployment procedure.

[0047] An embodiment of the present invention also provides a UAV system, including a ground station and the UAV-based parachute control system as described above, and a communication is established between the UAV-based parachute control system and the ground station.

[0048] In this embodiment, the ground station serves as the control center, responsible for issuing commands, receiving data, and processing various flight information sent back by the drone. The parachute control system based on the drone is directly installed on the drone. The communication link between the ground station and the parachute control system based on the drone is achieved through radio waves, satellites, or other communication technologies, ensuring real-time transmission of information and a stable and reliable connection. Through this communication, the ground station can send flight control commands to the drone while receiving status data and alarm signals from the drone. The parachute control system based on the drone can independently respond when receiving commands from the ground station or automatically detecting abnormal flight conditions. The parachute control system based on the drone can evaluate multiple parameters such as flight altitude, speed, attitude, and mechanical status to determine whether to deploy the parachute.

[0049] Through this comprehensive drone system design, the present invention effectively integrates ground control and autonomous safety measures, providing a comprehensive solution to address various challenges and risks that drones may encounter in diverse application environments.

[0050] In summary, the present invention can automatically deploy the parachute, reduce human intervention, and lower the probability of accidents. Even in the case of a crash, it can ensure that the drone lands smoothly and keeps the airframe intact. It can monitor and automatically judge the flight status in real time and intelligently control the deployment of the parachute. During the monitoring mission of the drone swarm, if any drone detects a critical fault, the parachute control system is immediately activated to automatically deploy the parachute. After receiving the crash signal, the ground station quickly locates the crashed drone and guides the rescue team or an automated system to perform the recovery operation. Through the above design and configuration, the drone parachute control system of the embodiment of the present invention not only improves the safe landing performance of the drone but also greatly enhances the safety of drone use by reducing human operations and simplifying the rescue process.

[0051] Compared with traditional drones, the present invention lies in that the drone of the present invention is equipped with an internal parachute and its corresponding control system, enabling the drone to autonomously perform safety management operations without human intervention in case of an emergency, greatly reducing human errors and cumbersome rescue processes. By controlling the parachute, the drone can land smoothly while ensuring its own safety. With the support of the ground station, it can accurately locate and recover the crashed drone in any situation to ensure it is intact. During daily storage and maintenance, the system also takes into account the problem of accidental touch of the parachute. By designing a safe detonation strategy, the system can avoid potential risks caused by accidental touch while ensuring the safety of parachute control, ensuring the practicality and reliability of the system.

[0052] The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0053] It should also be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. An unmanned aerial vehicle-based parachute control system, characterized in that, Including: A parachute control module, a parachute drive circuit module, an airborne module, and a flight control module; wherein, the parachute drive circuit module, the airborne module, and the flight control module are all connected to the parachute control module; The airborne module is configured to receive a start instruction from the parachute control module to activate the operation of the flight control module; The flight control module is configured to control the flight operation of the drone, monitor the flight state of the drone at the same time, and send the data of the flight state to the parachute control module; The parachute control module is configured to receive the data from the flight control module to determine whether the drone needs to deploy the parachute, and send a parachute control signal to the parachute drive circuit module when the parachute needs to be deployed; The parachute drive circuit module is configured to receive the parachute control signal and control the deployment of the parachute according to the parachute control signal.

2. The parachute control system based on an unmanned aerial vehicle according to claim 1, characterized in that, The parachute control module is connected to the flight control module through a serial data bus to obtain the drone altitude information, drone status information, and motor speed information sent by the flight control module; The parachute control module is connected to the parachute drive circuit module through a GPIO port to control the detonation operation of the parachute drive circuit module; wherein, the detonation operation includes triggering the parachute control signal and triggering the current-limiting control circuit of the parachute drive circuit module.

3. The parachute control system based on an unmanned aerial vehicle according to claim 2, wherein The parachute control module is connected to the parachute drive circuit module through a dual GPIO port; the parachute drive circuit module adopts a current-limiting control circuit and is powered by a separate power supply; Wherein, when the dual GPIO ports simultaneously meet the corresponding level requirements, the parachute control signal and the current-limiting control circuit are triggered to respond to the detonation operation.

4. The parachute control system based on an unmanned aerial vehicle according to claim 1, wherein The flight control module is configured to obtain the drone status information by using an inertial sensor and the Mahony algorithm; The flight control module is configured to obtain the drone altitude information by using a barometer and GPS positioning; The flight control module is configured to obtain the motor speed information of the drone by using an electronic speed controller.

5. The parachute control system based on an unmanned aerial vehicle according to claim 1, wherein The parachute control module is configured to receive the data from the flight control module to determine whether the drone needs to deploy the parachute, and send a parachute control signal to the parachute drive circuit module when the parachute needs to be deployed, including: The parachute control module enters the first judgment process: judging whether the flight state meets the opening requirement, and judging whether the permission to deploy the parachute has been obtained; After meeting the opening requirement and obtaining the permission to deploy the parachute, the parachute control module enters the second judgment process: judging whether the drone is in a lost connection state or an emergency state. If the lost connection state or the emergency state occurs, it is determined that the parachute needs to be deployed, and a parachute control signal is sent to the parachute drive circuit module.

6. The parachute control system based on an unmanned aerial vehicle according to claim 5, wherein The permission to deploy the parachute includes: The parachute control module determines whether the flight altitude of the UAV is lower than the preset altitude. If the flight altitude is not lower than the preset altitude, it returns for re-judgment. If the flight altitude is lower than the preset altitude, it determines whether the parachute permission flag bit is the preset value. If it is not the preset value, it returns for re-judgment. If it is the preset value, the parachute control module controls to enable the corresponding parachute permission.

7. The parachute control system based on an unmanned aerial vehicle according to claim 6, characterized in that It is determined that the parachute needs to be opened, and a parachute control signal is sent to the parachute drive circuit module, including: When the parachute control module determines that the parachute needs to be opened, the parachute control module first locks the UAV propellers, and after confirming that the parachute permission has been enabled, sends a parachute control signal to the parachute drive circuit module.

8. The parachute control system based on an unmanned aerial vehicle according to claim 5, wherein It is determined whether the UAV is in a lost connection state or an emergency state. If the lost connection state or the emergency state occurs, it is determined that the parachute needs to be opened, and a parachute control signal is sent to the parachute drive circuit module, including: The parachute control module determines whether the heartbeat packet of the UAV is lost. If the heartbeat packet is not lost, it returns for re-judgment. If the heartbeat packet is lost, the parachute control module controls to turn on the corresponding parachute switch; or, the parachute control module determines whether the UAV is falling. If it is not falling, it returns for re-judgment. If it is falling, the parachute control module controls to turn on the corresponding parachute switch; When the parachute control module confirms that both the parachute permission and the parachute switch are in the on state, it sends a parachute control signal to the parachute drive circuit module.

9. The parachute control system based on an unmanned aerial vehicle according to claim 8, wherein The parachute control module determines whether the UAV is falling, including: The parachute control module determines whether the UAV is in a manual control state or a locked state. If not, it returns for re-judgment. If so, it respectively determines whether the inertial sensor is valid and whether the altitude of the UAV under the unlocked state is valid; If the inertial sensor is invalid, it is determined that the UAV is falling; If the altitude of the UAV under the unlocked state is invalid, it is determined that the UAV is falling; if the altitude of the UAV under the unlocked state is valid, it respectively determines whether the inclination angle of the inertial sensor exceeds the preset inclination angle value, whether the control amount of the UAV exceeds the preset control amount, and whether the error between the UAV and the target position exceeds the preset error value. When the inclination angle of the inertial sensor exceeds the preset inclination angle value, or the control amount of the UAV exceeds the preset control amount, or the error between the UAV and the target position exceeds the preset error value, it is determined that the UAV is falling.

10. A drone system, characterized in that, It includes a ground station and a UAV-based parachute control system according to any one of claims 1-9, and a communication is established between the UAV-based parachute control system and the ground station.

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