Method and system for detecting buoyancy of unmanned aerial vehicle and medium

Abstract

The embodiment of the invention provides an unmanned aircraft buoyancy detection method and system and a medium, and the method comprises the steps: obtaining the parameter information of an aircraft, and calculating the preset buoyancy information of the floating state of the aircraft according to the parameter information of the aircraft; obtaining water quality information, and calculating standard buoyancy information of the corresponding water area according to the water quality information; subtracting the standard buoyancy information from the preset buoyancy information to obtain aircraft buoyancy information; adjusting information is generated according to the aircraft buoyancy information, and the aircraft buoyancy information is adjusted according to the adjusting information; transmitting the adjusted buoyancy information of the aircraft according to a preset mode; buoyancy information needing to be provided in an aircraft buoyancy system is judged by judging the lowest buoyancy enabling the aircraft to float and standard buoyancy of a corresponding water area, the aircraft buoyancy system is controlled and adjusted by calculating the buoyancy information, meanwhile, buoyancy data needing to be provided by the aircraft are detected in real time, storage and analysis are conducted, and the buoyancy information is obtained. And the aircraft buoyancy detection precision is improved.

Description

Technical Field

[0001] This application relates to the field of aircraft buoyancy detection. Specifically, it relates to a method, system, and medium for detecting the buoyancy of unmanned aircraft. Background Art

[0002] In existing aircraft buoyancy detection methods, the standard buoyancy in the water area is not analyzed and judged. Different water areas have different buoyancies. By calculating the buoyancy of different water areas with the minimum buoyancy that can support the aircraft to float, the buoyancy that the aircraft needs to provide can be obtained. It is impossible to accurately detect and analyze the buoyancy by analyzing the buoyancy that the aircraft needs to provide, and the analysis error is relatively large. In view of the above problems, effective technical solutions are urgently needed at present. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, system, and medium for detecting the buoyancy of unmanned aircraft. The buoyancy information that needs to be provided in the aircraft buoyancy system can be judged by comparing the minimum buoyancy that enables the aircraft to float with the standard buoyancy of the corresponding water area. The aircraft buoyancy system can be controlled and adjusted by calculating the buoyancy information. At the same time, the buoyancy data that the aircraft needs to provide is detected in real time, stored, and analyzed to provide a technology for improving the accuracy of aircraft buoyancy detection.

[0004] The embodiments of this application also provide a method for detecting the buoyancy of unmanned aircraft, including:

[0005] Obtain aircraft parameter information, and calculate the preset buoyancy information in the floating state of the aircraft according to the aircraft parameter information;

[0006] Obtain water quality information, and calculate the standard buoyancy information of the corresponding water area according to the water quality information;

[0007] Subtract the standard buoyancy information from the preset buoyancy information to obtain the aircraft buoyancy information;

[0008] Generate adjustment information according to the aircraft buoyancy information, and adjust the aircraft buoyancy information according to the adjustment information;

[0009] Transmit the adjusted aircraft buoyancy information in a predetermined manner.

[0010] Optionally, in the method for detecting the buoyancy of unmanned aircraft described in the embodiments of this application, the obtaining of the aircraft parameter information and calculating the preset buoyancy information in the floating state of the aircraft according to the aircraft parameter information is specifically:

[0011] Obtain the shape and size of the aircraft, and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft;

[0012] Determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, and denote it as the floating contact area;

[0013] Perform area segmentation on the floating contact area to obtain multiple sub-areas;

[0014] Screen according to the distribution positions of the sub-areas, and perform positioning of the aircraft head, aircraft tail, left side of the aircraft, and right side of the aircraft to form calibrated sub-areas;

[0015] Calculate the floating state of the aircraft according to the floating states of the calibrated sub-areas, detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate the total preset buoyancy information.

[0016] Optionally, in the method for detecting the buoyancy of an unmanned aircraft described in the embodiments of the present application, after the screening is performed according to the distribution positions of the sub-areas, and the positioning of the aircraft head, aircraft tail, left side of the aircraft, and right side of the aircraft is performed to form calibrated sub-areas, it further includes:

[0017] Obtain the buoyancy information of each calibrated sub-area;

[0018] Compare the buoyancy information of each calibrated sub-area with the preset information to obtain a buoyancy difference;

[0019] Determine whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold;

[0020] If it is greater than or equal to, adjust the buoyancy information of the corresponding calibrated sub-area;

[0021] If it is less than, generate the floating state of the calibrated sub-area and calculate the floating state of the aircraft.

[0022] Optionally, in the method for detecting the buoyancy of an unmanned aircraft described in the embodiments of the present application, the obtaining the buoyancy information of each calibrated sub-area specifically includes:

[0023] Obtain the draft depth information of the aircraft in each calibrated sub-area, and calculate the first buoyancy information of the calibrated sub-area according to the draft depth information;

[0024] Obtain the water flow direction information and water flow velocity information of each calibrated sub-area, and calculate the second buoyancy information of each calibrated sub-area according to the water flow direction information and water flow velocity information;

[0025] Perform weighted calculation on the first buoyancy information and the second buoyancy information to obtain the total buoyancy information of each calibrated sub-area.

[0026] Optionally, in the method for detecting the buoyancy of an unmanned aerial vehicle according to the embodiments of the present application, the step of obtaining the draft depth information of each calibrated sub-region and calculating the first buoyancy information of the calibrated sub-region based on the draft depth information is specifically as follows:

[0027] Obtain the draft depth information of the head of the aircraft, the draft depth information of the tail of the aircraft, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft;

[0028] Compare the draft depth information of the head of the aircraft, the draft depth information of the tail of the aircraft, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft with the preset depth information to obtain a depth deviation rate;

[0029] Determine whether the depth deviation rate is greater than or equal to a preset deviation rate threshold;

[0030] If it is greater than or equal to, generate buoyancy adjustment information, and adjust the buoyancy of the corresponding calibrated sub-region according to the buoyancy adjustment information;

[0031] If it is less than, calculate the first buoyancy information of the aircraft based on the draft depth information of the head of the aircraft, the draft depth information of the tail of the aircraft, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft.

[0032] Optionally, in the method for detecting the buoyancy of an unmanned aerial vehicle according to the embodiments of the present application, the step of calculating the floating state of the aircraft according to the floating state of the calibrated sub-region, detecting the buoyancy of the calibrated sub-region, and synthesizing the buoyancy of the calibrated sub-region to generate total preset buoyancy information is specifically as follows:

[0033] Obtain the buoyancy of the calibrated sub-region, and perform vector decomposition on the buoyancy to obtain a buoyancy vector;

[0034] Calculate the included angle between the buoyancy vector and a preset vector to obtain a vector included angle;

[0035] Determine whether the vector included angle is greater than a preset angle;

[0036] If it is greater than, generate correction information, and correct the buoyancy vector according to the correction information;

[0037] If it is less than, synthesize the buoyancy vectors of the calibrated sub-region to generate total preset buoyancy information.

[0038] In a second aspect, an embodiment of the present application provides a system for detecting the buoyancy of an unmanned aerial vehicle. The system includes: a memory and a processor. The memory includes a program for the method for detecting the buoyancy of an unmanned aerial vehicle. When the program for the method for detecting the buoyancy of an unmanned aerial vehicle is executed by the processor, the following steps are implemented:

[0039] Obtain aircraft parameter information and calculate the preset buoyancy information of the aircraft floating state according to the aircraft parameter information;

[0040] Obtain water quality information and calculate the standard buoyancy information of the corresponding water area according to the water quality information;

[0041] Subtract the standard buoyancy information from the preset buoyancy information to obtain the aircraft buoyancy information;

[0042] Generate adjustment information according to the aircraft buoyancy information and adjust the aircraft buoyancy information according to the adjustment information;

[0043] Transmit the adjusted aircraft buoyancy information in a predetermined manner.

[0044] Optionally, in the unmanned aircraft buoyancy detection system described in the embodiments of the present application, the obtaining of the aircraft parameter information and calculating the preset buoyancy information of the aircraft floating state according to the aircraft parameter information are specifically as follows:

[0045] Obtain the shape and size of the aircraft and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft;

[0046] Determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, denoted as the floating contact area;

[0047] Divide the floating contact area into multiple sub-areas;

[0048] Screen according to the distribution positions of the sub-areas, and perform regional positioning of the aircraft head, aircraft tail, aircraft left side, and aircraft right side to form calibrated sub-areas;

[0049] Calculate the floating state of the aircraft according to the floating states of the calibrated sub-areas, detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate the total preset buoyancy information.

[0050] Optionally, in the unmanned aircraft buoyancy detection system described in the embodiments of the present application, after screening according to the distribution positions of the sub-areas and performing regional positioning of the aircraft head, aircraft tail, aircraft left side, and aircraft right side to form calibrated sub-areas, it further includes:

[0051] Obtain the buoyancy information of each calibrated sub-area;

[0052] Compare the buoyancy information of each calibrated sub-area with the preset information to obtain a buoyancy difference;

[0053] Judge whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold;

[0054] If it is greater than or equal to, adjust the buoyancy information of the corresponding calibrated sub-area;

[0055] If it is less than, generate the floating state of the calibrated sub-region and calculate the floating state of the aircraft.

[0056] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a program for the method of detecting the buoyancy of an unmanned aerial vehicle. When the program for the method of detecting the buoyancy of an unmanned aerial vehicle is executed by a processor, the steps of the method of detecting the buoyancy of an unmanned aerial vehicle as described in any one of the above are implemented.

[0057] As can be seen from the above, a method, a system and a medium for detecting the buoyancy of an unmanned aerial vehicle provided by an embodiment of the present application obtain aircraft parameter information, calculate preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information; obtain water quality information, and calculate standard buoyancy information of the corresponding water area according to the water quality information; subtract the standard buoyancy information from the preset buoyancy information to obtain aircraft buoyancy information; generate adjustment information according to the aircraft buoyancy information, and adjust the aircraft buoyancy information according to the adjustment information; transmit the adjusted aircraft buoyancy information in a predetermined manner; judge the buoyancy information required to be provided in the aircraft buoyancy system by judging the lowest buoyancy that enables the aircraft to float and the standard buoyancy of the corresponding water area, control and adjust the aircraft buoyancy system by calculating the buoyancy information, and at the same time, detect in real time the buoyancy data required to be provided by the aircraft, store and analyze it, and provide the technology for improving the accuracy of aircraft buoyancy detection.

[0058] Other features and advantages of the present application will be described in the subsequent specification. The objectives and advantages of the present application can be realized and obtained through the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0060] Figure 1 It is a flowchart of the method for detecting the buoyancy of an unmanned aerial vehicle provided by an embodiment of the present application;

[0061] Figure 2 It is a flowchart for calculating preset buoyancy information of the method for detecting the buoyancy of an unmanned aerial vehicle provided by an embodiment of the present application;

[0062] Figure 3 It is a flowchart for obtaining the floating state of an aircraft of the method for detecting the buoyancy of an unmanned aerial vehicle provided by an embodiment of the present application;

[0063] Figure 4 This is a schematic structural diagram of the buoyancy detection system for an unmanned aerial vehicle provided by an embodiment of the present application. Detailed implementation manners

[0064] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0065] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0066] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for detecting the buoyancy of an unmanned aerial vehicle in some embodiments of the present application. This method for detecting the buoyancy of an unmanned aerial vehicle is used in a terminal device and includes the following steps:

[0067] S101, obtain aircraft parameter information, and calculate preset buoyancy information in the floating state of the aircraft according to the aircraft parameter information;

[0068] S102, obtain water quality information, and calculate standard buoyancy information of the corresponding water area according to the water quality information;

[0069] S103, subtract the standard buoyancy information from the preset buoyancy information to obtain aircraft buoyancy information;

[0070] S104, generate adjustment information according to the aircraft buoyancy information, and adjust the aircraft buoyancy information according to the adjustment information;

[0071] S105, transmit the adjusted aircraft buoyancy information in a predetermined manner.

[0072] It should be noted that obtaining aircraft parameter information includes, but is not limited to, the weight, shape, size, center of gravity position of the aircraft, and distribution parameters of the buoyancy device. Calculate the displacement volume of the aircraft in still water through the three-dimensional model or sensor data of the aircraft, which is used to calculate and generate preset buoyancy information. Obtain the water quality information of the current water area through the water quality sensor, where the water quality information includes, but is not limited to, the density, temperature, salinity, etc. of the water; then calculate the standard buoyancy information based on the water quality information. Calculate the difference between the preset buoyancy information and the standard buoyancy information to obtain the actual buoyancy difference that the aircraft needs to provide. If the difference is positive, buoyancy needs to be increased; if it is negative, buoyancy needs to be decreased. Generate an adjustment instruction according to the difference, and dynamically adjust the buoyancy through the buoyancy control system; among them, the control system for adjusting the buoyancy includes, but is not limited to, adjusting the volume of the airbag, increasing or decreasing the water loading volume, or adjusting the thrust of the thruster; thus ensuring the floating stability of the aircraft. Finally, encrypt the adjusted buoyancy data and transmit it to the background control center through the wireless communication module, and record it in the local memory of the aircraft. Please refer to Figure 2 , Figure 2 is a flowchart for calculating preset buoyancy information of a buoyancy detection method for an unmanned aircraft in some embodiments of the present application. According to an embodiment of the present invention, obtain aircraft parameter information, and calculate the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information. Specifically:

[0073] S201, obtain the shape and size of the aircraft, and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft;

[0074] S202, determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, and record it as the floating contact area;

[0075] S203, divide the floating contact area into multiple sub-areas;

[0076] S204, screen according to the distribution positions of the sub-areas, and perform regional positioning on the head, tail, left side, and right side of the aircraft to form calibrated sub-areas;

[0077] S205, calculate the floating state of the aircraft according to the floating states of the calibrated sub-areas, detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate the total preset buoyancy information.

[0078] It should be noted that in this example, a calculation process for the floating state of the aircraft is provided. Specifically: calculate the bottom edge line of the aircraft based on the obtained shape and size of the aircraft to determine the floating contact area; divide the floating contact area into multiple sub-areas; screen according to the distribution positions of the sub-areas to obtain calibrated sub-areas; detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate the total preset buoyancy information.

[0079] First, before the aircraft leaves the factory, the external shape data of the aircraft is obtained through laser scanning or three-dimensional modeling, and the external shape data of the aircraft is stored in the local memory of the aircraft. By reading the external shape data in the memory, the bottom contour line is extracted, and then the bottom edge line of the aircraft is calculated. Then, based on the edge line and combined with the real-time water level sensor data, the contact area between the bottom of the aircraft and the water surface is determined, denoted as the floating contact area. Based on a preset grid size, such as a 10 cm × 10 cm grid, the floating contact area is divided into grids to obtain multiple sub-regions. According to the structural characteristics of the aircraft, such as a pointed head, a high tail, a wide left / right side, etc., the sub-regions are screened for priority, and the key areas of the aircraft are marked, including but not limited to positions such as the head, the tail, the left / right side, etc. Finally, according to the floating state of the key sub-regions, that is, the water entry situation, real-time monitoring is carried out, and the local buoyancy of each sub-region is estimated; then the buoyancy data of each sub-region is vectorially superimposed to calculate the total buoyancy, and the total preset buoyancy information is obtained.

[0080] Please refer to Figure 3 , Figure 3 is a flowchart for obtaining the floating state of an aircraft in a method for detecting the buoyancy of an unmanned aircraft in some embodiments of the present application. According to the embodiments of the present invention, after screening according to the distribution positions of the sub-regions and positioning the areas of the aircraft head, the aircraft tail, the left side of the aircraft, and the right side of the aircraft to form calibrated sub-regions, it further includes:

[0081] S301, obtaining the buoyancy information of each calibrated sub-region;

[0082] S302, comparing the buoyancy information of each calibrated sub-region with the preset information to obtain a buoyancy difference;

[0083] S303, determining whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold;

[0084] S304, if it is greater than or equal to, adjusting the buoyancy information of the corresponding calibrated sub-region;

[0085] S305, if it is less than, generating the floating state of the calibrated sub-region and calculating the floating state of the aircraft.

[0086] It should be noted that the real-time buoyancy values of each calibrated sub-region are measured by the distributed buoyancy sensors, which are recorded as buoyancy information. Based on the preset reference buoyancy safety range, the buoyancy reference benchmark value is obtained; the difference between the real-time buoyancy value of each calibrated sub-region and the buoyancy reference benchmark value is calculated to obtain the buoyancy difference. If the buoyancy difference is greater than or equal to the buoyancy information of the corresponding calibrated sub-region, the buoyancy is dynamically adjusted through the buoyancy control system to make the real-time buoyancy value of the corresponding sub-region return to the safety range; otherwise, data fusion is performed based on the real-time buoyancy values of each sub-region to update the overall floating state of the aircraft.

[0087] According to the embodiments of the present invention, obtaining the buoyancy information of each calibrated sub-region specifically includes:

[0088] Obtaining the aircraft draft depth information of each calibrated sub-region, and calculating the first buoyancy information of the calibrated sub-region according to the draft depth information;

[0089] Obtaining the water flow direction information and water flow velocity information of each calibrated sub-region, and calculating the second buoyancy information of each calibrated sub-region according to the water flow direction information and water flow velocity information;

[0090] Performing weighted calculation on the first buoyancy information and the second buoyancy information to obtain the total buoyancy information of each calibrated sub-region.

[0091] It should be noted that first, the draft depth of each calibrated sub-region is measured by a water depth sensor, such as an ultrasonic water depth sensor, and the first buoyancy information of the calibrated sub-region is obtained based on the buoyancy calculation formula. Then, through the preset flow velocity sensors in multiple directions, the water flow direction and water flow velocity are obtained based on the data of each flow velocity sensor; and then, according to the preset dynamic influence of the water flow on the buoyancy, the second buoyancy information of the calibrated sub-region is obtained. Finally, weighted synthesis is performed on the first buoyancy information and the second buoyancy information based on the preset weighting weights to obtain the total buoyancy information; wherein, the weighting weight of the first buoyancy information is higher than the weighting weight of the second buoyancy information. By superimposing the influences of the draft depth, water flow direction and water flow velocity, the total buoyancy information is calculated to improve the accuracy of aircraft buoyancy detection.

[0092] According to the embodiments of the present invention, obtaining the aircraft draft depth information of each calibrated sub-region, and calculating the first buoyancy information of the calibrated sub-region according to the draft depth information, specifically:

[0093] Obtaining the aircraft head draft depth information, aircraft tail draft depth information, aircraft left side draft depth information and aircraft right side draft depth information;

[0094] Compare the aircraft nose draft information, aircraft tail draft information, aircraft left side draft information, and aircraft right side draft information with the preset draft information to obtain a draft deviation rate;

[0095] Determine whether the draft deviation rate is greater than or equal to a preset deviation rate threshold;

[0096] If it is greater than or equal to, generate buoyancy adjustment information and adjust the buoyancy of the corresponding calibrated sub-region according to the buoyancy adjustment information;

[0097] If it is less than, calculate the first buoyancy information of the aircraft according to the aircraft nose draft information, aircraft tail draft information, aircraft left side draft information, and aircraft right side draft information.

[0098] It should be noted that in this embodiment, a calculation process for the first buoyancy information is provided, specifically: obtain the first draft depth at a preset position of the aircraft, where the preset position includes the nose, tail, left side, and right side of the aircraft; compare the first draft depth with the preset draft information to obtain a draft deviation rate; determine whether the draft deviation rate is less than the preset deviation rate threshold; if not, generate buoyancy adjustment information for adjusting the buoyancy of the corresponding calibrated sub-region; if so, calculate the first buoyancy information according to the first draft depth.

[0099] First, measure the draft depths of the nose, tail, left side, and right side of the aircraft through a water depth sensor, denoted as the first draft depth information. Compare with the preset draft information for the draft depths of the nose, tail, left side, and right side of the aircraft respectively to obtain deviation values for calculating the average deviation value; then, based on the average deviation value and the preset draft information, obtain the draft deviation rate. If the draft deviation rate is greater than or equal to the preset deviation rate threshold, it indicates imbalance, and dynamically adjust the buoyancy through the buoyancy control system to balance the aircraft; otherwise, based on the first draft depth, obtain the corresponding first buoyancy information according to the buoyancy calculation formula.

[0100] According to an embodiment of the present invention, calculate the floating state of the aircraft according to the floating state of the calibrated sub-region, detect the buoyancy of the calibrated sub-region, and synthesize the buoyancy of the calibrated sub-region to generate the total preset buoyancy information, specifically:

[0101] Obtain the buoyancy of the calibrated sub-region and perform vector decomposition on the buoyancy to obtain a buoyancy vector;

[0102] Calculate the included angle between the buoyancy vector and a preset vector to obtain a vector included angle;

[0103] Determine whether the vector included angle is greater than a preset angle;

[0104] If it is greater than, correction information is generated, and the buoyancy vector is corrected according to the correction information;

[0105] If it is less than, the buoyancy vectors of the calibration sub-regions are synthesized to generate the total preset buoyancy information.

[0106] It should be noted that first, the buoyancy of the calibration sub-region is vectorially decomposed to obtain the direction and magnitude of the buoyancy of the calibration sub-region, that is, the buoyancy vector. Then, based on the angle between the direction of the buoyancy vector and the preset vector, the vector angle is obtained. If the vector angle is greater than the preset angle, the magnitude of the buoyancy vector is adjusted based on the correction information. If the vector angle is less than the preset angle, the buoyancy vectors of each calibration sub-region are vectorially synthesized to obtain the total preset buoyancy information. By jointly analyzing the magnitude and direction of the buoyancy, the buoyancy information can be accurately detected and adjusted, improving the detection accuracy of the buoyancy.

[0107] It is worth mentioning that it also includes:

[0108] Set the acquisition time window and obtain the water flow velocity under adjacent time windows;

[0109] Perform a subtraction calculation on the water flow velocities under adjacent time windows to obtain the flow velocity change rate;

[0110] Judge whether the flow velocity change rate is greater than or equal to the preset velocity change rate;

[0111] If it is greater than or equal to, feedback information is generated, and the floating state of the aircraft is adjusted according to the feedback information;

[0112] If it is less than, the buoyancy information of the aircraft is obtained in real time.

[0113] It should be noted that a preset time window is set. For example, the water flow velocity is measured once every 3 s. Based on the water flow velocities of adjacent windows and the time window interval, the water flow velocity change rate is calculated. If the water flow change rate is greater than or equal to the preset velocity change rate, the buoyancy is dynamically adjusted through the buoyancy control system, thereby adjusting the floating state of the aircraft; otherwise, the buoyancy information of the aircraft is calculated and fed back in real time. By judging the water flow velocities at different times, in the case of a relatively rapid flow velocity, the floating state of the aircraft can be adjusted to prevent the aircraft from tipping over.

[0114] It is worth mentioning that it also includes:

[0115] Obtain historical data records, including at least the draft depth, water flow velocity, buoyancy adjustment parameters, and floating stability labels;

[0116] Input the historical data record into a preset first deep learning model to obtain the buoyancy prediction value;

[0117] Calculate the difference between the predicted buoyancy value and the total buoyancy information to obtain the buoyancy demand difference;

[0118] If the buoyancy demand difference is greater than the preset demand threshold, adjust the floating state in advance according to the predicted buoyancy value.

[0119] It should be noted that based on historical data records, at least including draft depth, water flow velocity, buoyancy adjustment parameters, and floating stability labels (stable or unstable), through a preset first deep learning model, the predicted buoyancy value is obtained. When the difference between the predicted buoyancy value and the total buoyancy information exceeds the preset demand threshold, the buoyancy control system is dynamically adjusted in advance to improve stability.

[0120] It is worth mentioning that it also includes:

[0121] Obtain environmental dynamic parameters;

[0122] Input the environmental dynamic parameters into a pre-trained second deep learning model to generate a dynamic buoyancy compensation coefficient;

[0123] Correct the buoyancy information of the aircraft according to the dynamic buoyancy compensation coefficient.

[0124] It should be noted that environmental dynamic parameters are obtained through meteorological sensors, etc., including but not limited to wind speed, wave height, tidal period, and water flow turbulence intensity. The environmental parameters are input into a pre-trained second deep learning model to predict the buoyancy fluctuation trend of the water area within a future time window, so as to generate a dynamic buoyancy compensation coefficient for correcting the buoyancy information of the aircraft; thereby reducing the impact of environmental dynamic parameters on buoyancy and improving the accuracy of buoyancy detection.

[0125] Please refer to Figure 4 , Figure 4 is a schematic structural diagram of a buoyancy detection system for an unmanned aircraft in some embodiments of the present application. Second, the embodiments of the present application provide a buoyancy detection system 4 for an unmanned aircraft. The system includes: a memory 41 and a processor 42. The memory 41 includes a program for the buoyancy detection method of the unmanned aircraft. When the program for the buoyancy detection method of the unmanned aircraft is executed by the processor, the following steps are implemented:

[0126] Obtain aircraft parameter information and calculate the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information;

[0127] Obtain water quality information and calculate the standard buoyancy information of the corresponding water area according to the water quality information;

[0128] Subtract the standard buoyancy information from the preset buoyancy information to obtain the buoyancy information of the aircraft;

[0129] Generate adjustment information based on the buoyancy information of the aircraft, and adjust the aircraft buoyancy information according to the adjustment information;

[0130] Transmit the adjusted aircraft buoyancy information in a predetermined manner.

[0131] It should be noted that the aircraft parameter information is obtained, including but not limited to the weight, shape, size, center of gravity position of the aircraft and the distribution parameters of the buoyancy device. Calculate the drainage volume of the aircraft in still water through the three-dimensional model or sensor data of the aircraft, which is used to calculate and generate the preset buoyancy information. Obtain the water quality information of the current water area through the water quality sensor, where the water quality information includes but not limited to the density, temperature, salinity, etc. of the water; then calculate the standard buoyancy information based on the water quality information. Calculate the difference between the preset buoyancy information and the standard buoyancy information to obtain the buoyancy difference that the aircraft actually needs to provide. If the difference is positive, the buoyancy needs to be increased; if it is negative, the buoyancy needs to be reduced. Generate an adjustment instruction according to the difference, and dynamically adjust the buoyancy through the buoyancy control system; among them, the control system for adjusting the buoyancy includes but not limited to adjusting the airbag volume, increasing or decreasing the water loading volume, or adjusting the thruster thrust; thus ensuring the floating stability of the aircraft. Finally, encrypt the adjusted buoyancy data and transmit it to the background control center through the wireless communication module, and record it in the local memory of the aircraft.

[0132] According to the embodiments of the present invention, obtain the aircraft parameter information, and calculate the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information, specifically:

[0133] Obtain the shape and size of the aircraft, and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft;

[0134] Determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, which is recorded as the floating contact area;

[0135] Divide the floating contact area into multiple sub-areas;

[0136] Screen according to the distribution positions of the sub-areas, and perform regional positioning of the head, tail, left side and right side of the aircraft to form calibrated sub-areas;

[0137] Calculate the floating state of the aircraft according to the floating states of the calibrated sub-areas, detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate the total preset buoyancy information.

[0138] It should be noted that in this example, a calculation process for the floating state of an aircraft is provided, specifically as follows: Based on the acquired shape and dimensions of the aircraft, the bottom edge line of the aircraft is calculated to determine the floating contact area; the floating contact area is divided into multiple sub-areas; the sub-areas are screened according to their distribution positions to obtain the calibrated sub-areas; the buoyancy of the calibrated sub-areas is detected, and the buoyancy of the calibrated sub-areas is synthesized to generate the total preset buoyancy information.

[0139] First, before the aircraft leaves the factory, the external shape data of the aircraft is obtained through laser scanning or three-dimensional modeling, and the external shape data of the aircraft is stored in the local memory of the aircraft. By reading the external shape data in the memory, the bottom contour line is extracted, and thus the bottom edge line of the aircraft is calculated. Then, based on the edge line and combined with the real-time water level sensor data, the contact area between the bottom of the aircraft and the water surface is determined, denoted as the floating contact area. Based on a preset grid size, such as a 10 cm × 10 cm grid, the floating contact area is divided into grids to obtain multiple sub-areas. According to the structural characteristics of the aircraft, such as a pointed head, a high tail, a wide left / right side, etc., the sub-areas are screened for priority, and the key areas of the aircraft are marked, including but not limited to positions such as the head, the tail, the left / right side, etc. Finally, according to the floating state of the key sub-areas, that is, the water entry situation, real-time monitoring is carried out to estimate the local buoyancy of each sub-area; then the buoyancy data of each sub-area is vectorially superimposed to calculate the total buoyancy and obtain the total preset buoyancy information.

[0140] According to the embodiment of the present invention, after screening according to the distribution positions of the sub-areas and positioning the areas of the aircraft head, the aircraft tail, the left side of the aircraft, and the right side of the aircraft to form the calibrated sub-areas, it further includes:

[0141] Obtain the buoyancy information of each calibrated sub-area;

[0142] Compare the buoyancy information of each calibrated sub-area with the preset information to obtain a buoyancy difference;

[0143] Judge whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold;

[0144] If it is greater than or equal to, adjust the buoyancy information of the corresponding calibrated sub-area;

[0145] If it is less than, generate the floating state of the calibrated sub-area and calculate the floating state of the aircraft.

[0146] It should be noted that the real-time buoyancy values of each calibrated sub-region are measured by the distributed buoyancy sensors, which are recorded as buoyancy information. Based on the preset reference buoyancy safety range, a buoyancy reference benchmark value is obtained; the difference between the real-time buoyancy value of each calibrated sub-region and the buoyancy reference benchmark value is calculated to obtain the buoyancy difference. If the buoyancy difference is greater than or equal to the buoyancy information of the corresponding calibrated sub-region, the buoyancy is dynamically adjusted through the buoyancy control system to make the real-time buoyancy value of the corresponding sub-region return to the safety range; otherwise, data fusion is performed based on the real-time buoyancy values of each sub-region to update the overall floating state of the aircraft.

[0147] According to an embodiment of the present invention, obtaining the buoyancy information of each calibrated sub-region specifically includes:

[0148] Obtaining the draft depth information of the aircraft in each calibrated sub-region, and calculating the first buoyancy information of the calibrated sub-region according to the draft depth information;

[0149] Obtaining the water flow direction information and water flow velocity information of each calibrated sub-region, and calculating the second buoyancy information of each calibrated sub-region according to the water flow direction information and water flow velocity information;

[0150] Performing weighted calculation on the first buoyancy information and the second buoyancy information to obtain the total buoyancy information of each calibrated sub-region.

[0151] It should be noted that first, the draft depth of each calibrated sub-region is measured by a water depth sensor, such as an ultrasonic water depth sensor, and the first buoyancy information of the calibrated sub-region is obtained based on the buoyancy calculation formula. Then, through the preset flow velocity sensors in multiple directions, the water flow direction and water flow velocity are obtained based on the data of each flow velocity sensor; and then, according to the preset dynamic influence of the water flow on the buoyancy, the second buoyancy information of the calibrated sub-region is obtained. Finally, the first buoyancy information and the second buoyancy information are weighted and synthesized based on the preset weighting weights to obtain the total buoyancy information; wherein, the weighting weight of the first buoyancy information is higher than the weighting weight of the second buoyancy information. By superimposing the influences of the draft depth, water flow direction and water flow velocity, the total buoyancy information is calculated to improve the accuracy of aircraft buoyancy detection.

[0152] According to an embodiment of the present invention, obtaining the draft depth information of the aircraft in each calibrated sub-region, and calculating the first buoyancy information of the calibrated sub-region according to the draft depth information, specifically:

[0153] Obtaining the draft depth information of the aircraft head, the draft depth information of the aircraft tail, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft;

[0154] Compare the draft depth information of the aircraft's nose, the draft depth information of the aircraft's tail, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft with the preset depth information to obtain the depth deviation rate;

[0155] Determine whether the depth deviation rate is greater than or equal to the preset deviation rate threshold;

[0156] If it is greater than or equal to, generate buoyancy adjustment information and adjust the buoyancy of the corresponding calibrated sub-region according to the buoyancy adjustment information;

[0157] If it is less than, calculate the first buoyancy information of the aircraft according to the draft depth information of the aircraft's nose, the draft depth information of the aircraft's tail, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft.

[0158] It should be noted that in this embodiment, a calculation process for the first buoyancy information is provided. Specifically: obtain the first draft depth at the preset position of the aircraft, where the preset position includes the nose, tail, left side, and right side of the aircraft; compare the first draft depth with the preset depth information to obtain the depth deviation rate; determine whether the depth deviation rate is less than the preset deviation rate threshold; if not, generate buoyancy adjustment information for adjusting the buoyancy of the corresponding calibrated sub-region; if so, calculate the first buoyancy information according to the first draft depth.

[0159] First, measure the draft depths of the nose, tail, left side, and right side of the aircraft through a water depth sensor, denoted as the first draft depth information. Compare with the draft depths of the nose, tail, left side, and right side of the aircraft respectively according to the preset depth information to obtain deviation values for calculating the average deviation value; then obtain the depth deviation rate according to the average deviation value and the preset depth information. If the depth deviation rate is greater than or equal to the preset deviation rate threshold, it indicates imbalance, and the buoyancy is dynamically adjusted through the buoyancy control system to balance the aircraft; otherwise, the corresponding first buoyancy information is obtained based on the first draft depth according to the buoyancy calculation formula.

[0160] According to the embodiment of the present invention, calculate the floating state of the aircraft according to the floating state of the calibrated sub-region, detect the buoyancy of the calibrated sub-region, and synthesize the buoyancy of the calibrated sub-region to generate the total preset buoyancy information. Specifically:

[0161] Obtain the buoyancy of the calibrated sub-region and perform vector decomposition on the buoyancy to obtain the buoyancy vector;

[0162] Calculate the included angle between the buoyancy vector and the preset vector to obtain the vector included angle;

[0163] Determine whether the vector included angle is greater than the preset angle;

[0164] If it is greater than, correction information is generated, and the buoyancy vector is corrected according to the correction information;

[0165] If it is less than, the buoyancy vectors of the calibration sub-regions are synthesized to generate the total preset buoyancy information.

[0166] It should be noted that first, the buoyancy of the calibration sub-region is vectorially decomposed to obtain the direction and magnitude of the buoyancy of the calibration sub-region, that is, the buoyancy vector. Then, based on the angle between the direction of the buoyancy vector and the preset vector, the vector angle is obtained. If the vector angle is greater than the preset angle, the magnitude of the buoyancy vector is adjusted based on the correction information. If the vector angle is less than the preset angle, the buoyancy vectors of each calibration sub-region are vectorially synthesized to obtain the total preset buoyancy information. By jointly analyzing the magnitude and direction of the buoyancy, the buoyancy information can be accurately detected and adjusted, improving the detection accuracy of the buoyancy.

[0167] It is worth mentioning that it also includes:

[0168] Set the acquisition time window to obtain the water flow velocity under adjacent time windows;

[0169] Perform subtraction calculation on the water flow velocities under adjacent time windows to obtain the flow velocity change rate;

[0170] Judge whether the flow velocity change rate is greater than or equal to the preset velocity change rate;

[0171] If it is greater than or equal to, feedback information is generated, and the floating state of the aircraft is adjusted according to the feedback information;

[0172] If it is less than, the buoyancy information of the aircraft is obtained in real time.

[0173] It should be noted that a preset time window is set. For example, the water flow velocity is measured once every 3 s. Based on the water flow velocities of adjacent windows and the time window interval, the water flow velocity change rate is calculated. If the water flow change rate is greater than or equal to the preset velocity change rate, the buoyancy is dynamically adjusted through the buoyancy control system, thereby adjusting the floating state of the aircraft; otherwise, the buoyancy information of the aircraft is calculated and fed back in real time. By judging the water flow velocities at different times, in the case of a rapid flow rate, the floating state of the aircraft can be adjusted to prevent the aircraft from tipping over.

[0174] It is worth mentioning that it also includes:

[0175] Obtain historical data records, including at least the draft depth, water flow velocity, buoyancy adjustment parameters, and floating stability labels;

[0176] Input the historical data record into a preset first deep learning model to obtain the buoyancy prediction value;

[0177] Calculate the difference between the predicted buoyancy value and the total buoyancy information to obtain the buoyancy demand difference;

[0178] If the buoyancy demand difference is greater than the preset demand threshold, initiate the adjustment in the floating state in advance according to the predicted buoyancy value.

[0179] It should be noted that based on historical data records, including at least draft depth, water flow velocity, buoyancy adjustment parameters, and floating stability labels (stable or unstable), through a preset first deep learning model, the predicted buoyancy value is obtained. When the difference between the predicted buoyancy value and the total buoyancy information exceeds the preset demand threshold, the buoyancy control system is dynamically adjusted in advance to improve stability.

[0180] It is worth mentioning that it also includes:

[0181] Obtain environmental dynamic parameters;

[0182] Input the environmental dynamic parameters into a pre-trained second deep learning model to generate a dynamic buoyancy compensation coefficient;

[0183] Correct the buoyancy information of the aircraft according to the dynamic buoyancy compensation coefficient.

[0184] It should be noted that environmental dynamic parameters are obtained through meteorological sensors, etc., including but not limited to wind speed, wave height, tidal period, and water flow turbulence intensity. The environmental parameters are input into a pre-trained second deep learning model to predict the buoyancy fluctuation trend in the water area within a future time window, so as to generate a dynamic buoyancy compensation coefficient for correcting the buoyancy information of the aircraft; thereby reducing the impact of environmental dynamic parameters on buoyancy and improving the accuracy of buoyancy detection.

[0185] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for the buoyancy detection method of an unmanned aircraft. When the program for the buoyancy detection method of the unmanned aircraft is executed by a processor, the steps of the buoyancy detection method of the unmanned aircraft as described in any one of the above are implemented.

[0186] A method, system and medium for detecting the buoyancy of an unmanned aerial vehicle disclosed by the present invention obtain aircraft parameter information, calculate preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information; obtain water quality information, and calculate standard buoyancy information of the corresponding water area according to the water quality information; subtract the standard buoyancy information from the preset buoyancy information to obtain aircraft buoyancy information; generate adjustment information according to the aircraft buoyancy information, and adjust the aircraft buoyancy information according to the adjustment information; transmit the adjusted aircraft buoyancy information in a predetermined manner; judge the minimum buoyancy required for the aircraft to float and the standard buoyancy of the corresponding water area to judge the buoyancy information required to be provided in the aircraft buoyancy system, control and adjust the aircraft buoyancy system by calculating the buoyancy information, and at the same time, detect in real time the buoyancy data required to be provided by the aircraft, store and analyze it, and provide a technology for improving the accuracy of aircraft buoyancy detection.

[0187] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0188] The units described as separate components above may or may not be physically separated, and the components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0190] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0191] Alternatively, if the above integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

Claims

1. A buoyancy detection method for an unmanned aerial vehicle, characterized in that Including: Obtain aircraft parameter information, and calculate preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information; Obtain water quality information, and calculate standard buoyancy information of the corresponding water area according to the water quality information; Subtract the standard buoyancy information from the preset buoyancy information to obtain aircraft buoyancy information; Generate adjustment information according to the aircraft buoyancy information, and adjust the aircraft buoyancy information according to the adjustment information; Transmit the adjusted aircraft buoyancy information in a predetermined manner.

2. The method for detecting the buoyancy of an unmanned aerial vehicle according to claim 1, wherein The obtaining of the aircraft parameter information and calculating the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information are specifically as follows: Obtain the shape and size of the aircraft, and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft; Determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, and record it as the floating contact area; Perform area segmentation on the floating contact area to obtain a plurality of sub-areas; Screen according to the distribution positions of the sub-areas, and perform regional positioning of the aircraft head, aircraft tail, aircraft left side, and aircraft right side to form calibrated sub-areas; Calculate the floating state of the aircraft according to the floating states of the calibrated sub-areas, detect the buoyancy of the calibrated sub-areas, and synthesize the buoyancy of the calibrated sub-areas to generate total preset buoyancy information.

3. The method for detecting the buoyancy of an unmanned aerial vehicle according to claim 1, wherein After the screening according to the distribution positions of the sub-areas and performing regional positioning of the aircraft head, aircraft tail, aircraft left side, and aircraft right side to form calibrated sub-areas, it further includes: Obtain the buoyancy information of each calibrated sub-area; Compare the buoyancy information of each calibrated sub-area with preset information to obtain a buoyancy difference; Judge whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold; If it is greater than or equal to, adjust the buoyancy information of the corresponding calibrated sub-area; If it is less than, generate the floating state of the calibrated sub-area and calculate the floating state of the aircraft.

4. The method for detecting the buoyancy of an unmanned aerial vehicle according to claim 3, wherein The obtaining of the buoyancy information of each calibrated sub-area specifically includes: Obtain the draft depth information of the aircraft in each calibrated sub-area, and calculate the first buoyancy information of the calibrated sub-area according to the draft depth information; Obtain the water flow direction information and water flow velocity information of each calibrated sub-area, and calculate the second buoyancy information of each calibrated sub-area according to the water flow direction information and water flow velocity information; Perform weighted calculation on the first buoyancy information and the second buoyancy information to obtain the total buoyancy information of each calibrated sub-area.

5. The method for detecting the buoyancy of an unmanned aerial vehicle according to claim 4, wherein The obtaining of the draft depth information of the aircraft in each calibrated sub-area and calculating the first buoyancy information of the calibrated sub-area according to the draft depth information are specifically as follows: Obtain the draft depth information of the aircraft head, the draft depth information of the aircraft tail, the draft depth information of the aircraft left side, and the draft depth information of the aircraft right side; Compare the draft depth information of the aircraft head, the draft depth information of the aircraft tail, the draft depth information of the aircraft left side, and the draft depth information of the aircraft right side with preset depth information to obtain a depth deviation rate; Judge whether the depth deviation rate is greater than or equal to a preset deviation rate threshold; If it is greater than or equal to, generate buoyancy adjustment information, and adjust the buoyancy of the corresponding calibrated sub-area according to the buoyancy adjustment information; If it is less, calculate the first buoyancy information of the aircraft according to the draft depth information of the aircraft head, the draft depth information of the aircraft tail, the draft depth information of the left side of the aircraft, and the draft depth information of the right side of the aircraft.

6. The method for detecting the buoyancy of an unmanned aerial vehicle according to claim 5, wherein Calculating the floating state of the aircraft according to the floating state of the calibrated sub-region, detecting the buoyancy of the calibrated sub-region, and synthesizing the buoyancy of the calibrated sub-region to generate the total preset buoyancy information, specifically: Obtain the buoyancy of the calibrated sub-region, and decompose the buoyancy into vectors to obtain a buoyancy vector; Calculate the included angle between the buoyancy vector and a preset vector to obtain a vector included angle; Determine whether the vector included angle is greater than a preset angle; If it is greater, generate correction information and correct the buoyancy vector according to the correction information; If it is less, synthesize the buoyancy vectors of the calibrated sub-regions to generate the total preset buoyancy information.

7. An unmanned aerial vehicle buoyancy detection system, characterized in that, The system includes: a memory and a processor. The memory includes a program for the method of detecting the buoyancy of an unmanned aircraft. When the program for the method of detecting the buoyancy of an unmanned aircraft is executed by the processor, the following steps are implemented: Obtain aircraft parameter information and calculate the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information; Obtain water quality information and calculate the standard buoyancy information of the corresponding water area according to the water quality information; Subtract the standard buoyancy information from the preset buoyancy information to obtain the aircraft buoyancy information; Generate adjustment information according to the aircraft buoyancy information and adjust the aircraft buoyancy information according to the adjustment information; Transmit the adjusted aircraft buoyancy information in a predetermined manner.

8. The buoyancy detection system for an unmanned aerial vehicle according to claim 7, wherein The obtaining of the aircraft parameter information and calculating the preset buoyancy information of the floating state of the aircraft according to the aircraft parameter information is specifically: Obtain the shape and size of the aircraft and calculate the bottom edge line of the aircraft according to the shape and size of the aircraft; Determine the area where the bottom of the aircraft contacts the water surface according to the bottom edge line of the aircraft, denoted as the floating contact area; Divide the floating contact area into multiple sub-regions; Screen according to the distribution positions of the sub-regions, and locate the areas of the aircraft head, the aircraft tail, the left side of the aircraft, and the right side of the aircraft to form calibrated sub-regions; Calculate the floating state of the aircraft according to the floating state of the calibrated sub-region, detect the buoyancy of the calibrated sub-region, and synthesize the buoyancy of the calibrated sub-region to generate the total preset buoyancy information.

9. The buoyancy detection system for an unmanned aerial vehicle according to claim 8, wherein, After screening according to the distribution positions of the sub-regions and locating the areas of the aircraft head, the aircraft tail, the left side of the aircraft, and the right side of the aircraft to form calibrated sub-regions, it further includes: Obtain the buoyancy information of each calibrated sub-region; Compare the buoyancy information of each calibrated sub-region with preset information to obtain a buoyancy difference; Determine whether the buoyancy difference is greater than or equal to a preset buoyancy difference threshold; If it is greater than or equal to, adjust the buoyancy information of the corresponding calibrated sub-region; If it is less, generate the floating state of the calibrated sub-region and calculate the floating state of the aircraft.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for an unmanned aerial vehicle buoyancy detection method. When the program for the unmanned aerial vehicle buoyancy detection method is executed by a processor, the steps of the unmanned aerial vehicle buoyancy detection method according to any one of claims 1 to 6 are implemented.

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