An unmanned aerial vehicle emergency escape and automatic landing method and unmanned aerial vehicle device
Patent Information
- Application Number
- CN202610453452.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-08
- Publication Date
- 2026-08-28
AI Technical Summary
[0005]本发明提供一种无人机紧急避险与自动降落方法及无人机设备，用以解决现有技术中无人机在低空场景下发生故障时，传统防护方式响应迟缓、避险效果差的缺陷
主旋翼系统，设置于所述机体上；
Smart Images
Figure CN122653286A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft technology, and in particular to a method and equipment for emergency avoidance and automatic landing of unmanned aerial vehicles (UAVs). Background Technology
[0002] With the widespread application of drones in fields such as inspection, security, surveying and mapping, and emergency response, their operating environment is becoming increasingly complex. During actual flight, drones may experience loss of control or crash due to reasons such as sudden drop in battery power, power system failure, communication anomalies, or external interference.
[0003] Current drones typically rely on main rotor deceleration, electronically controlled landing, or parachutes for protection when malfunctions occur, but these methods still have the following shortcomings: The main rotor is unlikely to provide effective deceleration when the power or control system fails. Parachute devices have complex structures and take a long time to deploy, resulting in limited safety protection in low-altitude fall scenarios. Existing safety devices are mostly single-protection methods and lack adaptive buffering mechanisms for changes in the attitude of drones.
[0004] Therefore, there is an urgent need for a technical solution that is simple in structure, responds quickly, and can automatically deploy and decelerate to avoid danger the moment the drone crashes. Summary of the Invention
[0005] This invention provides an emergency avoidance and automatic landing method and equipment for unmanned aerial vehicles (UAVs) to solve the shortcomings of traditional protection methods in the prior art when UAVs malfunction in low-altitude scenarios, which are slow to respond and have poor avoidance effects.
[0006] This invention provides a method for emergency avoidance and automatic landing of a drone, comprising the following steps: Step S1: Collect the UAV's flight status information in real time, including altitude information, attitude information, linear acceleration information, and vertical velocity information; Step S2: Perform a risk assessment based on the flight status information and generate a risk assessment result; Step S3: When the drone's altitude enters the preset trigger window, determine whether to trigger the pop-up command based on the risk assessment results and the duration. Step S4: If the triggering condition is met, generate and execute the pop-up command for the second fan blade unit, driving the second fan blade unit to unfold; Step S5: After the fan blades unfold, the system enters the hazard avoidance control state, decelerates and limits attitude, and completes a safe landing.
[0007] According to the UAV emergency avoidance and automatic landing method provided by the present invention, a data preprocessing step is further included between step S1 and step S2. The data preprocessing step includes: The collected altitude information is filtered and the altitude reliability is judged. The altitude information is any one or more of the following: relative ground altitude (AGL), barometric altitude, laser ranging altitude, or visual ranging fusion altitude. When the source of altitude data is abnormal or the inconsistency between different altitude source data exceeds a threshold, it is judged as an untrusted mode.
[0008] According to the UAV emergency avoidance and automatic landing method provided by the present invention, step S2, which involves risk assessment based on flight status information, includes: Calculate the comprehensive risk score R obtained from the combination of multiple risk factors; The multiple risk factors include at least two of the following: fall risk factor, free fall risk factor, attitude instability factor, dynamic anomaly factor, and control disconnection factor.
[0009] According to the UAV emergency avoidance and automatic landing method provided by the present invention, the preset trigger window is the range between a first altitude value and a second altitude value, and the second altitude value is greater than the first altitude value; The preset trigger window is entered when the drone's altitude drops below a first altitude value, and exited when the altitude rises above a second altitude value or the risk is eliminated.
[0010] According to the UAV emergency avoidance and automatic landing method provided by the present invention, the triggering condition in step S3 includes any of the following rules: Rule A: The comprehensive risk score R exceeds the first preset threshold Rt, and the duration exceeds the confirmation time T; Rule B: The vertical velocity vz of the UAV exceeds the velocity threshold vt, and the attitude instability factor is met; Rule C: The power anomaly flag is triggered, and the altitude drops rapidly.
[0011] The emergency avoidance and automatic landing method for unmanned aerial vehicles provided by the present invention further includes a safety interlock and anti-accidental triggering mechanism, wherein the generation of the ejection command is prohibited if any interlock condition is met, and the interlock conditions include: The drone is in normal landing mode or automatic landing mode and the descent rate is less than the threshold, the flight control determines that the descent is controllable, the ground detection signal is established, and the second fan blade unit has been deployed or the actuator is in a non-repeatable triggering state.
[0012] The UAV emergency avoidance and automatic landing method provided by the present invention further includes a trigger latching step after executing the ejection command: The trigger state of the second fan blade unit is latched. Once triggered and popped, it will not respond to subsequent trigger judgments unless reset.
[0013] According to the UAV emergency avoidance and automatic landing method provided by the present invention, after the second fan blade unit is deployed, the avoidance control state in step S6 includes: Attitude stability control that limits pitch or roll angular velocity; If the main rotor is still usable, it will enter a deceleration coordination mode to reduce horizontal speed, limit steering, and maintain attitude. Depending on the descent, the blade deployment angle or damping can be dynamically adjusted, or the main rotor output can be adjusted to achieve a slow landing.
[0014] Secondly, the present invention also provides a drone device, including a processor, a memory, and a drone emergency avoidance device, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the drone emergency avoidance and automatic landing method as described in the first aspect.
[0015] According to the drone equipment provided by the present invention, the drone emergency avoidance device includes: Organism; The main rotor system is mounted on the fuselage; The second fan blade unit is disposed on the machine body; The pop-out mechanism is connected to the second fan blade unit and is used to drive the second fan blade unit to switch from the retracted state to the deployed state; wherein, in the retracted state, the second fan blade unit is fixed inside the body or attached to the surface of the body, and in the deployed state, it forms a rotating or damping structure to increase air resistance. A triggering mechanism is provided to trigger the pop-up mechanism when an anomaly is detected in the drone. The triggering mechanism includes at least one of an attitude tilt angle detection unit, an acceleration detection unit, or a gravity direction change detection unit. The attitude tilt angle detection unit is configured to detect the pitch angle or roll angle of the drone, and the acceleration detection unit is configured to detect the linear acceleration magnitude of the drone.
[0016] This invention provides an emergency avoidance and automatic landing method and device for unmanned aerial vehicles (UAVs). By collecting various types of flight information such as altitude, attitude, linear acceleration, and vertical velocity in real time, it overcomes the limitations of existing single-parameter triggering methods, avoids missed risk assessments due to relying on a single parameter, significantly reduces the probability of false triggering during normal flight, and improves the reliability of avoidance. It quantifies the risk level by assessing flight status information such as attitude instability, free fall, and dynamic anomalies. Triggering is only determined when the UAV's altitude enters a preset trigger window, combined with the duration of the risk score, forming a dual verification of risk level and altitude range. This ensures rapid response in emergency situations while preventing false actions in non-emergency scenarios. It also solves the problem of insufficient low-altitude parachute deployment time and ineffective avoidance in existing UAVs when anomalies occur, ensuring that the second blade unit effectively decelerates at high altitudes. The system triggers within a certain timeframe, avoiding premature deployment that leads to air resistance failure and delayed deployment that leaves no buffer time. Once the trigger condition is met, the second blade unit is directly driven to deploy rapidly, using the blades to increase air resistance and directly achieving deceleration through aerodynamic structure. The response speed is much faster than parachute deployment, and even in extreme scenarios where the main rotor power fails completely, it can still quickly reduce the descent speed, contributing to a safe landing. After the blades deploy, the system enters a hazard avoidance control state, which can stabilize the aircraft's attitude by limiting pitch / roll angular velocities, preventing the drone from rolling or crashing, and significantly improving the success rate of safe landing. This invention significantly improves the drone's hazard avoidance capabilities under sudden failures, especially in low-altitude and complex scenarios where traditional protection methods fail. It can be used on existing drone platforms in various fields such as inspection, security, and surveying, solving the problems of high integration difficulty and application cost of traditional complex hazard avoidance devices such as parachutes. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This is a flowchart of an emergency avoidance and automatic landing method for unmanned aerial vehicles provided in an embodiment of the present invention.
[0019] Figure 2 This is a structural schematic diagram of the unmanned aerial vehicle (UAV) device provided in an embodiment of the present invention.
[0020] Figure 3 This is a schematic diagram of the structure of the UAV based on the first fan blade unit in normal flight state according to an embodiment of the present invention.
[0021] Figure 4This is a schematic diagram of the second fan blade unit of the UAV in its deployed state, provided in an embodiment of the present invention.
[0022] Figure 5 This is a schematic diagram of the process for emergency avoidance and automatic landing of a drone provided in an embodiment of the present invention.
[0023] Figure label: 1. Processor; 2. Communication interface; 3. Memory; 4. Communication bus. Detailed Implementation
[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0025] The following is combined with Figures 1 to 5 This invention describes an emergency avoidance and automatic landing method for unmanned aerial vehicles (UAVs) and the UAV equipment thereof.
[0026] Reference Figure 1 This embodiment provides a method for emergency avoidance and automatic landing of a drone, including the following steps: Step S1: Collect the UAV's flight status information in real time, including altitude information, attitude information, linear acceleration information, and vertical velocity information; Step S2: Conduct a risk assessment based on flight status information and generate risk assessment results; Step S3: When the drone's altitude enters the preset trigger window, determine whether to trigger the pop-up command based on the risk assessment results and the duration. Step S4: If the triggering condition is met, generate and execute the pop-up command for the second fan blade unit, driving the second fan blade unit to unfold; Step S5: After the fan blades unfold, the system enters the hazard avoidance control state, decelerates and limits attitude, and completes a safe landing.
[0027] As can be seen from the above scheme, this invention overcomes the limitations of existing single-parameter triggering by collecting various types of flight information such as altitude, attitude, linear acceleration, and vertical velocity in real time. This avoids missed risk assessments caused by relying solely on a single parameter, significantly reducing the probability of false triggering during normal flight and improving the reliability of risk avoidance. By assessing the risks of flight status information such as attitude instability, free fall, and dynamic anomalies, the risk level is quantified. Triggering is only determined when the drone's altitude enters a preset trigger window, combined with the duration of the risk score, forming a dual verification of risk level and altitude range. This ensures rapid response in emergencies while preventing false actions in non-emergency scenarios. It also solves the problem of insufficient low-altitude parachute deployment time and ineffective risk avoidance in existing drones when anomalies occur, ensuring that the second blade unit triggers within the effective deceleration altitude and avoiding premature triggering. This invention addresses the issues of air resistance failure during deployment and lack of buffer time for late deployment. Upon meeting the trigger conditions, it directly drives the second blade unit to rapidly deploy, increasing air resistance through the blades and achieving deceleration directly through aerodynamic structure. The response speed is far faster than parachute deployment, and even in extreme scenarios where the main rotor power fails completely, it can still quickly reduce descent speed, contributing to a safe landing. After the blades deploy, the system enters a hazard avoidance control state, stabilizing the aircraft's attitude by limiting pitch / roll angular velocities, preventing the drone from rolling or crashing, and significantly improving the success rate of safe landing. This invention significantly enhances the drone's hazard avoidance capabilities under sudden malfunctions, especially in low-altitude, complex scenarios where traditional protection methods fail. It can be applied to existing drone platforms in various fields such as inspection, security, and surveying, solving the problems of high integration difficulty and application cost of traditional complex hazard avoidance devices such as parachutes.
[0028] Furthermore, between step S1 and step S2, a data preprocessing step is also included, which includes: The collected altitude information is filtered or processed by moving average, and the altitude reliability is judged. The altitude information is any one or more of the following: relative altitude (AGL), barometric altitude, laser ranging altitude, or visual ranging fusion altitude.
[0029] When the altitude data source is abnormal or the inconsistency between different altitude source data exceeds the threshold, it is judged as an untrusted altitude mode, and stricter triggering conditions are adopted in this mode, such as increasing the risk score threshold and extending the duration verification requirements, to prevent unnecessary blade deployment caused by data abnormalities during normal flight and reduce interference with the normal flight of the UAV.
[0030] Optionally, the altitude data is low-pass filtered: altitude changes during normal flight (ascent, level flight, slow descent) or abnormal crashes of the UAV have a low frequency (slow and continuous changes) and are used as useful signals; while instantaneous jumps caused by sensor interference and airflow turbulence have a high frequency (fast and irregular changes) and are used as noise signals; the low-pass filter sets a frequency threshold through an algorithm to allow low-frequency true altitude signals to pass through while suppressing high-frequency noise signals, thereby obtaining smoothed altitude data.
[0031] The altitude data is processed using a moving average: A fixed sampling window size, such as 5 consecutive sampling points or data collected over 0.5 seconds, is used to calculate the average of all altitude data within the window in real time. This average value replaces the original altitude value at the current moment. Subsequent windows slide sequentially over time (discarding the earliest data point and incorporating the latest), continuously outputting the smoothed altitude value. For example, assuming the drone's altitude sampling frequency is 10Hz (10 data points per second), and the sliding window is set to "5 consecutive sampling points": Original data: 25.3m, 24.9m, 25.5m, 24.7m, 25.1m (including noise fluctuations); After moving average: (25.3+24.9+25.5+24.7+25.1) / 5 = 25.1m. This method can quickly offset the influence of a single or a few abnormal sampling points, making the change of height data more continuous and avoiding height determination deviation caused by instantaneous sampling errors.
[0032] This embodiment effectively filters out instantaneous data fluctuations caused by sensor noise, airflow interference, electromagnetic interference, etc. by filtering the collected altitude information, smoothing the altitude signal and avoiding misjudgments caused by data jitter (such as misjudging slight altitude fluctuations during normal flight as a falling trend).
[0033] Meanwhile, the altitude information supports multiple sources such as relative altitude (AGL), barometric altitude, laser ranging altitude, and visual ranging fusion altitude, which can be adapted to different flight environments such as indoor and outdoor, complex weather, and obstructed scenarios. This ensures that reliable altitude data can still be obtained when a single altitude source fails or is not accurate enough, thus guaranteeing the stability and comprehensiveness of data collection.
[0034] By using high reliability assessment, abnormal states of altitude data can be quickly identified, such as data jumps, drifts, or invalid values caused by sensor malfunctions, or inconsistencies where the difference between barometric altitude and laser / visual ranging altitude exceeds a threshold. This avoids using unreliable altitude data for trigger determination, solving the problem of false or missed triggers caused by a single altitude source anomaly (such as unrecognized altitude data failure during a real fall) in existing technologies.
[0035] This setup effectively addresses issues such as sensor interference and data anomalies in complex environments. Whether it's strong airflow at high altitudes, low-altitude obstruction, or temporary sensor malfunctions, this step can filter out valid data or trigger strategies, ensuring the stable and effective execution of subsequent processes such as risk scoring and altitude window determination. This enhances the adaptability and reliability of the entire emergency avoidance method in real-world complex application scenarios.
[0036] In this embodiment, the risk assessment based on flight status information in step S2 includes: Calculate the comprehensive risk score R obtained from the combination of multiple risk factors; Multiple risk factors include at least two of the following: fall risk factor, free fall risk factor, attitude instability factor, dynamic anomaly factor, and control disconnection factor.
[0037] Specifically, the fall risk factor is when the vertical velocity exceeds the threshold and the duration exceeds the threshold; the free fall risk factor is when the linear acceleration modulus |a| is close to the gravitational acceleration and the altitude decreases continuously; the attitude instability factor is when the pitch or roll angle exceeds the threshold or the angular velocity is too large; the power anomaly factor is when the motor or thrust feedback is abnormal (such as the deviation between the motor speed feedback and the command, or the power output abnormality flag); the control disconnection factor is when the link is abnormal or the flight control alarm is (such as the loss of the remote control link, the flight control anomaly, the failure to return to home, etc.).
[0038] Furthermore, the preset trigger window is the range between the first altitude value and the second altitude value, and the second altitude value is greater than the first altitude value; the preset trigger window enters when the drone's altitude drops below the first altitude value, and exits when the altitude rises above the second altitude value or the risk is eliminated.
[0039] It should be noted that the preset trigger window is a height range. The first height value, such as 20m, is the lower threshold of the trigger window, and the second height value, such as 22m, is the upper threshold of the trigger window. The trigger window is only entered when the drone descends and exceeds the first altitude value, rather than when it touches the first altitude value during ascent. This ensures that the trigger window is only for risk scenarios such as fall or descent, and excludes accidental entry during normal ascent flight. The first altitude value is set as a low-altitude threshold to adapt to the second blade unit, avoiding premature deployment at high altitude that would cause air resistance failure, or deployment too late without buffer time.
[0040] The conditions for exiting the window are that the drone must rise to the second altitude value or the risk status must disappear (such as attitude stabilization, power recovery, or cessation of free fall). This is to avoid the drone repeatedly entering and exiting the window when it fluctuates slightly near the first altitude value, which would cause repeated determinations on whether to pop up the second blade unit. At the same time, if the risk has been eliminated (such as the drone successfully stabilizing its attitude and stopping its fall), the drone can also exit the window without affecting subsequent normal flight.
[0041] This setting allows for further verification of risk scores and duration only after entering the trigger window, thus avoiding both missing actual crashes and misjudging normal flight.
[0042] In this embodiment, the triggering condition in step S3 includes any of the following rules: Rule A: The overall risk score R exceeds the first preset threshold Rt, and the duration exceeds the confirmation time T; Rule B: The vertical velocity vz of the drone exceeds the velocity threshold vt, and the attitude instability factor is met; Rule C: The power anomaly flag is triggered, and the altitude drops rapidly. The power anomaly flag indicates a failure of the main power source or a serious malfunction, such as a large deviation between the motor speed feedback and the command, or zero thrust.
[0043] Each rule employs a dual-condition overlay logic to avoid blind triggering based on a single parameter. For example, if the vertical speed exceeds the limit during normal flight (e.g., during rapid descent to avoid obstacles) but the attitude remains stable, rule B is invalid; if the power system experiences a slight temporary fluctuation but the altitude does not decrease rapidly, rule C is invalid; and if the instantaneous risk score exceeds the limit but does not persist, rule A is invalid. This effectively filters out various interference signals during normal flight, significantly reducing the impact of false triggers on the normal operation of the UAV.
[0044] Reference Figure 5 Furthermore, it also includes a safety interlock and anti-accidental triggering mechanism. If any interlock condition is met, the generation of pop-up commands will be prohibited. The interlock conditions include: The drone is in normal landing mode or automatic landing mode with a descent rate less than a threshold, the flight control determines that the descent is controllable, the ground detection signal is established, and the second blade unit has been deployed or the actuator is in a non-repeatable triggering state. For example, when the drone performs a preset automatic landing, even if there are short-term attitude fluctuations or speed changes during the descent, the second blade unit will not be mistakenly deployed because the interlocking conditions of controllable descent and normal landing mode are met, thus avoiding interference with normal flight operations. The interlocking condition of the ground detection signal ensures that once the drone has touched the ground, regardless of whether other flight parameters are abnormal, the ejection command is prohibited. This design can prevent the second blade unit from being mistakenly deployed after the drone lands, reducing unnecessary losses. The interlocking condition of the second blade unit being deployed or the actuator being in a non-repeatable triggering state means that once the blades have been deployed to perform a hazard avoidance mission, or the actuator cannot repeat the action due to structural limitations (such as a blasting drive component), the system will prohibit the generation of the ejection command again, avoiding mechanical failure and attitude disorder caused by repeated triggering (such as repeated deployment actions interfering with the already stable falling attitude).
[0045] This setup accurately filters out normal landing scenarios and avoids false triggering. Compared to a single design to prevent false triggering, this interlocking mechanism can more comprehensively eliminate interference from sensor noise, data anomalies, and scene misjudgments, reducing the overall probability of false triggering without affecting rapid response in real fall risk scenarios.
[0046] Furthermore, after executing the pop command, a latching step is also included: The trigger state of the second fan blade unit is latched. Once triggered and popped, it will not respond to subsequent trigger judgments unless reset.
[0047] This trigger latching step locks the trigger state of the second blade unit, ensuring that once the second blade unit deploys, it will not respond to new trigger commands regardless of whether the trigger conditions are still met (e.g., parameters remain abnormal during the fall). This avoids overload damage to the ejection mechanism due to repeated triggering (e.g., repeated extension and retraction of the spring assembly, or failure of the explosive drive assembly due to secondary triggering), and also prevents repeated deployment actions from interfering with the already stable fall posture, thus ensuring the stability of the hazard avoidance process.
[0048] In this embodiment, the risk avoidance control state in step S5 includes: Attitude stabilization control that limits pitch or roll angular velocity. By limiting pitch or roll angular velocity, attitude stabilization control directly suppresses the rolling and tilting tendencies of the UAV during descent caused by airflow interference, center of gravity shift, or abnormal initial attitude. Compared to avoidance methods that rely solely on blade drag, this design ensures that the UAV maintains a relatively stable attitude throughout the descent, avoiding problems such as blade drag failure and improper landing angle caused by body roll, and significantly improving landing stability in complex environments (such as strong airflow and low-altitude turbulence).
[0049] If the main rotor is still usable, it enters a deceleration coordination mode, reducing horizontal speed, limiting steering, and maintaining attitude. In this way, on the one hand, the reduction in horizontal speed can reduce the risk of collision with obstacles during the fall, and limiting steering can prevent attitude disorder; on the other hand, if the main rotor is usable, the deceleration effect is better than a single deceleration method, which can further reduce the landing impact force and protect the fuselage from damage.
[0050] Furthermore, it also includes: dynamically adjusting the blade deployment angle or damping, or adjusting the main rotor output to achieve a slow landing (if the structure supports it), depending on the descent.
[0051] For example, when the altitude is rapidly decreasing, the blade deployment angle or damping can be increased to enhance drag; when the altitude decreases gradually, the main rotor output can be finely adjusted to avoid hovering instability caused by excessive deceleration; when approaching the ground, this dynamic adjustment mechanism can adapt to different scenarios with varying fall speeds and altitude change trends, significantly reducing the probability of equipment damage.
[0052] This invention also provides a drone device, including a processor, a memory, and a drone emergency avoidance device, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described method.
[0053] The emergency avoidance device for unmanned aerial vehicles (UAVs) in this embodiment includes: a fuselage, a main rotor system, a second blade unit, an ejection mechanism, and a triggering mechanism. The main rotor system is mounted on the fuselage. The second blade unit is mounted on the fuselage. The ejection mechanism is connected to the second blade unit and drives the second blade unit to switch from a retracted state to an deployed state. In the retracted state, the second blade unit is fixed to the fuselage body or attached to the fuselage surface. In the deployed state, it forms a rotating or damping structure to increase air resistance. For example, after deployment, the second blade unit can self-rotate under airflow to further increase air resistance and stabilize the fuselage attitude. The triggering mechanism is used to trigger the ejection mechanism when an anomaly is detected in the UAV. The triggering mechanism includes at least one of an attitude tilt angle detection unit, an acceleration detection unit, or a gravity direction change detection unit. The attitude tilt angle detection unit is configured to detect the pitch angle or roll angle of the UAV, and the acceleration detection unit is configured to detect the linear acceleration modulus of the UAV.
[0054] It should be noted that existing UAV main rotor systems typically include four rotors, namely the first fan-blade unit, such as... Figure 3 As shown.
[0055] Furthermore, the second fan blade unit includes multiple fan blades, which are symmetrically arranged radially along the body. For example... Figure 4As shown, specifically, radially symmetrical arrangement refers to multiple blades, such as four, evenly distributed in a circle around the central axis of the UAV body. The four blades correspond to the front, rear, left, and right directions of the body, with an included angle of 90°. When the blades are deployed, the drag surface of each blade is perpendicular to the radial direction of the body, forming a ring-shaped drag layer around the body. Multiple radially symmetrical blades provide evenly distributed air resistance, with the magnitude and direction of the drag from each blade symmetrically canceling each other out, preventing the fuselage from tilting or rolling due to overload on one side of the drag. This further ensures attitude stability, especially in strong airflow and low-altitude turbulence scenarios.
[0056] Optionally, a limiting structure is provided between the second fan blade unit and the fuselage to limit the unfolding angle of the second fan blade unit. This limiting structure can be a protruding block on the fuselage, an angle latch at the fan blade shaft, or a flexible limiting pin, etc., and is located at the connection point between the second fan blade unit and the fuselage. When the second fan blade unit unfolds under the drive of the pop-out mechanism, the limiting structure can fix its unfolding angle within a preset range, such as 30°-60°, specifically designed according to the weight and dimensions of the drone.
[0057] This design ensures that the second blade unit reaches the angle required for the preset resistance after unfolding, guaranteeing the deceleration effect; it also prevents the blades from colliding with parts of the fuselage such as the arms, main rotor, or onboard equipment after over-unfolding, thus extending the service life of the second blade unit.
[0058] Optionally, the ejection mechanism includes any one or more of a spring assembly, a drive motor, or a blasting miniature drive assembly. The drive motor and blasting assembly are small in size (such as miniature servos or miniature blasting detonators) and can be modularly integrated with the second fan blade unit without occupying too much body space; when the spring assembly is pre-compressed and stored, it can be directly attached to the inside or outside of the body without the need for complex pipes, cables, or control modules.
[0059] Optionally, the explosive micro-drive assembly includes a micro-explosive detonator and a thrust piston. After the micro-explosive detonator is triggered, it generates an instantaneous thrust, which drives the second blade unit to deploy rapidly through the thrust piston. Alternatively, the spring assembly is pre-compressed and placed in the storage position of the second blade unit. The spring assembly stores elastic potential energy in the pre-compressed state. The spring assembly includes a pre-compressed spring and an electromagnetic latch. The pre-compressed spring is pre-compressed and placed in the storage position along the ejection direction of the second blade unit. After the triggering mechanism (such as the attitude detection unit) issues a command, the electromagnetic latch receives the trigger command and releases the locking latch, causing the pre-compressed spring to release its elastic potential energy and drive the second blade unit to deploy.
[0060] The pop-out mechanism of this invention has a compact structure and a high degree of modularity, and can be directly integrated into existing drone platforms.
[0061] Figure 2 An example is a schematic diagram of the physical structure of a drone device, such as... Figure 2As shown, the device may include: a processor 1, a communications interface 2, a memory 3, and a communication bus 4, wherein the processor 1, communications interface 2, and memory 3 communicate with each other through the communication bus 4. The processor 1 can call logical instructions in the memory 3 to execute methods.
[0062] Furthermore, the logical instructions in the aforementioned memory 3 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0064] When the unmanned aerial vehicle (UAV) device of the present invention needs to perform emergency avoidance and automatic landing, it first acquires flight status data in real time, including parameters such as altitude, attitude, linear acceleration, and vertical velocity; then the data is preprocessed, and signal filtering and noise reduction and altitude data reliability assessment are performed to ensure that the basic data for subsequent judgments are reliable. Based on the preprocessed data, the system calculates a comprehensive risk score R by combining factors such as attitude instability, free fall, dynamic anomalies, and control anomalies. Next, it determines whether the drone has entered the altitude trigger window. If not, the system maintains its original flight state and does not trigger any avoidance actions. If it enters the window, it further verifies that the comprehensive risk score R exceeds a first preset threshold Rt and the duration exceeds the confirmation time T.
[0065] Once the risk conditions are met, the system initiates a safety interlock judgment: if the UAV is in normal landing mode, controllable descent state, ground contact state, or the second blade unit has been deployed / the actuator cannot be triggered repeatedly, the interlock will take effect and the triggering will be terminated if any of the conditions are met; if the interlock is not met, the system will immediately trigger the second blade unit to pop out and perform a trigger latch once.
[0066] After the fan blades are deployed, the system enters an emergency descent control state: the second fan blade unit increases air resistance to stabilize the aircraft's attitude, and if the main rotor is still usable, it is controlled synchronously to achieve a slow descent and a safe landing.
[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for emergency avoidance and automatic landing of an unmanned aerial vehicle (UAV), characterized in that, Includes the following steps: Step S1: Collect the UAV's flight status information in real time, including altitude information, attitude information, linear acceleration information, and vertical velocity information; Step S2: Perform a risk assessment based on the flight status information and generate a risk assessment result; Step S3: When the drone's altitude enters the preset trigger window, determine whether to trigger the pop-up command based on the risk assessment results and the duration. Step S4: If the triggering condition is met, generate and execute the pop-up command for the second fan blade unit, drive the second fan blade unit to unfold, increase air resistance and help stabilize the drone's attitude; Step S5: After the fan blades unfold, the system enters the hazard avoidance control state, decelerates and limits attitude, and completes a safe landing.
2. The method for emergency avoidance and automatic landing of a drone according to claim 1, characterized in that, Between step S1 and step S2, there is also a data preprocessing step, which includes: The collected altitude information is filtered and the altitude reliability is judged. The altitude information is any one or more of the following: relative ground altitude (AGL), barometric altitude, laser ranging altitude, or visual ranging fusion altitude. When the source of altitude data is abnormal or the inconsistency between different altitude source data exceeds a threshold, it is judged as an untrusted mode.
3. The method for emergency avoidance and automatic landing of a drone according to claim 2, characterized in that, Step S2, which involves risk assessment based on flight status information, includes: Calculate the comprehensive risk score R obtained from the combination of multiple risk factors; The multiple risk factors include at least two of the following: fall risk factor, free fall risk factor, attitude instability factor, dynamic anomaly factor, and control disconnection factor.
4. The method for emergency avoidance and automatic landing of a drone according to claim 3, characterized in that, The preset trigger window is the range between the first height value and the second height value, and the second height value is greater than the first height value; The preset trigger window is entered when the drone's altitude drops below a first altitude value, and exited when the altitude rises above a second altitude value or the risk is eliminated.
5. The method for emergency avoidance and automatic landing of a drone according to claim 4, characterized in that, The conditions for triggering in step S3 include any of the following rules: Rule A: The comprehensive risk score R exceeds the first preset threshold Rt, and the duration exceeds the confirmation time T; Rule B: The vertical velocity vz of the UAV exceeds the velocity threshold vt, and the attitude instability factor is met; Rule C: The power anomaly flag is triggered, and the altitude drops rapidly.
6. The method for emergency avoidance and automatic landing of a drone according to claim 5, characterized in that, It also includes a safety interlock and anti-accidental triggering mechanism. If any interlock condition is met, the generation of the pop-up command will be prohibited. The interlock conditions include: The drone is in normal landing mode or automatic landing mode and the descent rate is less than the threshold, the flight control determines that the descent is controllable, the ground detection signal is established, and the second fan blade unit has been deployed or the actuator is in a non-repeatable triggering state.
7. The method for emergency avoidance and automatic landing of a drone according to claim 1, characterized in that, After executing the pop-up command, a latching step is also included: The trigger state of the second fan blade unit is latched. Once triggered and popped, it will not respond to subsequent trigger judgments unless reset.
8. The method for emergency avoidance and automatic landing of a drone according to claim 1, characterized in that, In step S5, the risk avoidance control state includes: Attitude stability control that limits pitch or roll angular velocity; If the main rotor is still usable, it enters a deceleration coordination mode, reducing horizontal speed, limiting steering, and maintaining attitude.
9. A drone device, comprising a processor, a memory, and a drone emergency avoidance device, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the drone emergency avoidance and automatic landing method as described in any one of claims 1-8.
10. The unmanned aerial vehicle (UAV) device according to claim 9, characterized in that, The drone emergency avoidance device includes: Organism; The main rotor system is mounted on the fuselage; The second fan blade unit is disposed on the body; The pop-out mechanism is connected to the second fan blade unit and is used to drive the second fan blade unit to switch from the retracted state to the deployed state; wherein, in the retracted state, the second fan blade unit is fixed inside the body or attached to the surface of the body, and in the deployed state, it forms a rotating or damping structure to increase air resistance. A triggering mechanism is provided to trigger the pop-up mechanism when an anomaly is detected in the drone. The triggering mechanism includes at least one of an attitude tilt angle detection unit, an acceleration detection unit, or a gravity direction change detection unit. The attitude tilt angle detection unit is configured to detect the pitch angle or roll angle of the drone, and the acceleration detection unit is configured to detect the linear acceleration magnitude of the drone.