阅读说明：本技术 一种能够进行应急处理的无人机和无人机应急处理方法 (Unmanned aerial vehicle capable of performing emergency treatment and unmanned aerial vehicle emergency treatment method ) 是由 岳焕印 叶虎平 廖小罕 于 2021-07-23 设计创作，主要内容包括：本发明涉及一种能够进行应急处理的无人机和无人机应急处理方法,包括芯片和无人机本体,芯片用于按照预设频率,在无人机本体的当前飞行位置的预设范围内,获取无人机本体对应的目标停机位置,并生成用于控制无人机本体从当前飞行位置飞至目标停机位置的飞行策略；当无人机本体发生故障时,根据最新的飞行策略控制无人机进行飞行,在无人机发生故障后,节省了选取停机位置以及生成飞行策略的耗时,能够最大概率上使无人机降落至最新的飞行策略对应的目标停机位置,进而能够极大降低无人机损毁的概率,而且,在无人机发生故障之前,有足够的时间选取目标停机位置即最优的停机位置,避免操作人员所带来的干扰,进一步降低无人机损毁的概率。(The invention relates to an unmanned aerial vehicle capable of carrying out emergency treatment and an unmanned aerial vehicle emergency treatment method, wherein the unmanned aerial vehicle comprises a chip and an unmanned aerial vehicle body, the chip is used for acquiring a target stop position corresponding to the unmanned aerial vehicle body within a preset range of the current flight position of the unmanned aerial vehicle body according to preset frequency and generating a flight strategy for controlling the unmanned aerial vehicle body to fly from the current flight position to the target stop position; when the unmanned aerial vehicle body breaks down, fly according to latest flight strategy control unmanned aerial vehicle, after unmanned aerial vehicle breaks down, saved and selected the stop position and generated flight strategy consuming time, can make unmanned aerial vehicle descend to the target stop position that latest flight strategy corresponds on the maximum probability, and then can greatly reduce the probability that unmanned aerial vehicle destroys, and, before unmanned aerial vehicle breaks down, have sufficient time to select target stop position and be optimal stop position, avoid the interference that operating personnel brought, further reduce the probability that unmanned aerial vehicle destroys.)

1. The utility model provides an unmanned aerial vehicle that can carry out emergency treatment, its characterized in that, includes chip and unmanned aerial vehicle body, the chip is used for:

according to a preset frequency, in a preset range of a current flight position of an unmanned aerial vehicle body, acquiring a target stop position corresponding to the unmanned aerial vehicle body, and generating a flight strategy for controlling the unmanned aerial vehicle body to fly from the current flight position to the target stop position;

when the unmanned aerial vehicle body breaks down, control according to latest flight strategy the unmanned aerial vehicle body flies.

2. The unmanned aerial vehicle capable of emergency treatment according to claim 1, wherein the unmanned aerial vehicle body is provided with an air pump having a plurality of air outlets, each air outlet of the air pump is connected with an air pipe, each air outlet of the air pump is arranged under each rotor of the unmanned aerial vehicle body and extends downwards, each air outlet of the air pump is provided with a control valve for adjusting the size of the air flow, and the chip is further used for:

when the unmanned aerial vehicle body is controlled to fly according to the latest flight strategy, the lift force of each rotor wing of the unmanned aerial vehicle body is acquired;

when the deviation between the maximum lift force and the minimum lift force exceeds a preset lift force deviation, starting the air pump, and adjusting the size of the air flow of an air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

3. The unmanned aerial vehicle capable of emergency treatment according to claim 2, wherein the undercarriage of the unmanned aerial vehicle body comprises two opposite cavity supports with a U-shaped structure, a telescopic rod and a buffer rubber pad are arranged in the cavity of two opposite vertical rods of each cavity support, and each buffer rubber pad is connected to the telescopic end of the corresponding telescopic rod, so that the chip is further configured to:

when according to latest flight strategy control the unmanned aerial vehicle body flies, just when the flying height of unmanned aerial vehicle body is less than preset high threshold value, control every telescopic link and stretch out the buffering cushion in the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body.

4. The unmanned aerial vehicle capable of emergency treatment according to any one of claims 1 to 3, wherein the process of acquiring the target stop position corresponding to the unmanned aerial vehicle body by the chip comprises:

controlling the cameras of the unmanned aerial vehicle body to shoot at least two images towards the ground at different positions;

constructing a three-dimensional image according to the obtained overlapping area of the at least two images;

and determining the target stop position according to the three-dimensional image.

5. An unmanned aerial vehicle emergency processing method is characterized by comprising the following steps:

according to a preset frequency, in a preset range of a current flight position of an unmanned aerial vehicle body, acquiring a target stop position corresponding to the unmanned aerial vehicle body, and generating a flight strategy for controlling the unmanned aerial vehicle body to fly from the current flight position to the target stop position;

when the unmanned aerial vehicle body breaks down, control according to latest flight strategy the unmanned aerial vehicle body flies.

6. The emergency processing method of the unmanned aerial vehicle according to claim 5, wherein an air pump having a plurality of air outlets is disposed on the unmanned aerial vehicle body, each air outlet of the air pump is connected to an air pipe, the air outlet of each air pipe is disposed under each rotor of the unmanned aerial vehicle body and extends downward, a control valve for adjusting the size of the air flow is disposed at each air outlet of the air pump, and the method further comprises:

when the unmanned aerial vehicle body is controlled to fly according to the latest flight strategy, the lift force of each rotor wing of the unmanned aerial vehicle body is acquired;

when the deviation between the maximum lift force and the minimum lift force exceeds a preset lift force deviation, starting the air pump, and adjusting the size of the air flow of an air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

7. The emergency handling method of the unmanned aerial vehicle according to claim 6, wherein the undercarriage of the main body of the unmanned aerial vehicle comprises two opposite hollow brackets with a U-shaped structure, a telescopic rod and a cushion rubber pad are arranged in the hollow cavities of the two opposite vertical rods of each hollow bracket, and each cushion rubber pad is connected to the telescopic end of the corresponding telescopic rod, and the method further comprises:

when according to latest flight strategy control the unmanned aerial vehicle body flies, just when the flying height of unmanned aerial vehicle body is less than preset high threshold value, control every telescopic link and stretch out the buffering cushion in the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body.

8. The emergency processing method of the unmanned aerial vehicle according to any one of claims 5 to 7, wherein the obtaining of the target stop position corresponding to the unmanned aerial vehicle body includes:

controlling the cameras of the unmanned aerial vehicle body to shoot at least two images towards the ground at different positions;

constructing a three-dimensional image according to the obtained overlapping area of the at least two images;

and determining the target stop position according to the three-dimensional image.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle capable of carrying out emergency treatment and an unmanned aerial vehicle emergency treatment method.

Background

Unmanned aerial vehicle has with low costs, the survivability is strong, mobility can be good etc. advantage, all has extensive application in each field, at present, when unmanned aerial vehicle takes place to damage and needs urgent compel to land, operating personnel can select the parking position, then generates the flight orbit to control flies at unmanned aerial vehicle according to the flight orbit, so that unmanned aerial vehicle descends at the parking position, but has following problem:

1) when the unmanned aerial vehicle is damaged and needs to be urgently forced to land, the time consumed by operators is reduced, and the selected stop position is not the optimal stop position due to the tension of the operators, so that the flight time of the unmanned aerial vehicle can be prolonged, and the damage probability of the unmanned aerial vehicle is increased;

2) the operating personnel can select the parking position, then generate the flight track to control and fly at unmanned aerial vehicle according to the flight track, this process consuming time overlength has also increased the probability that unmanned aerial vehicle damaged.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art and provides an unmanned aerial vehicle capable of carrying out emergency treatment and an unmanned aerial vehicle emergency treatment method.

The technical scheme of the unmanned aerial vehicle capable of carrying out emergency treatment comprises the following steps:

including chip and unmanned aerial vehicle body, the chip is used for:

according to a preset frequency, in a preset range of a current flight position of an unmanned aerial vehicle body, acquiring a target stop position corresponding to the unmanned aerial vehicle body, and generating a flight strategy for controlling the unmanned aerial vehicle body to fly from the current flight position to the target stop position;

when the unmanned aerial vehicle body breaks down, control according to latest flight strategy the unmanned aerial vehicle body flies.

The unmanned aerial vehicle capable of carrying out emergency treatment has the following beneficial effects:

when the unmanned aerial vehicle of the application is flying, the target stop position is determined in real time, and a flight strategy for controlling the unmanned aerial vehicle to fly from the current flight position to the target stop position is generated, when the unmanned aerial vehicle of the application breaks down and needs emergency landing, the unmanned aerial vehicle can be directly controlled to fly according to the latest flight strategy, namely, after the unmanned aerial vehicle of the application breaks down, the time consumed for selecting the stop position and generating the flight strategy is saved, the unmanned aerial vehicle can land to the target stop position corresponding to the latest flight strategy at the maximum probability, and further the damage probability of the unmanned aerial vehicle can be greatly reduced, and before the unmanned aerial vehicle of the application breaks down, the target stop position, namely the optimal stop position, can be selected in enough time, the interference caused by operators is avoided, and the damage probability of the unmanned aerial vehicle is further reduced, therefore, the unmanned aerial vehicle capable of carrying out emergency treatment is realized.

On the basis of the scheme, the unmanned aerial vehicle capable of carrying out emergency treatment can be further improved as follows.

Further, be equipped with the air pump that has a plurality of gas outlets on the unmanned aerial vehicle body, an trachea is connected respectively to every gas outlet of air pump, and every tracheal gas outlet is established respectively under every rotor of unmanned aerial vehicle body and downwardly extending, every gas outlet department of air pump all is equipped with the control valve that is used for adjusting the air current size, the chip still is used for:

when the unmanned aerial vehicle body is controlled to fly according to the latest flight strategy, the lift force of each rotor wing of the unmanned aerial vehicle body is acquired;

when the deviation between the maximum lift force and the minimum lift force exceeds a preset lift force deviation, starting the air pump, and adjusting the size of the air flow of an air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

The beneficial effect of adopting the further scheme is that: when deviation between maximum lift and the minimum lift surpassed and predetermine the lift deviation, according to the deviation, the air current size of the gas outlet through target control valve adjustment target trachea provides the lift for the rotor that minimum lift corresponds, avoids unmanned aerial vehicle to take place serious slope when promptly compelling to land, further reduces the probability that unmanned aerial vehicle damaged.

Further, the undercarriage of unmanned aerial vehicle body includes the cavity support of two relative "U" font structures that set up, is equipped with telescopic link and buffering cushion in the cavity of the montant of two relative settings of every cavity support, and every buffering cushion connects the flexible end at corresponding telescopic link, then the chip still is used for:

when according to latest flight strategy control the unmanned aerial vehicle body flies, just when the flying height of unmanned aerial vehicle body is less than preset high threshold value, control every telescopic link and stretch out the buffering cushion in the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body.

The beneficial effect of adopting the further scheme is that: the flexible volume of every telescopic link of inclination adjustment according to the unmanned aerial vehicle body to guarantee the buffering cushion of unmanned aerial vehicle body and land simultaneously to the at utmost, further reduce the probability that unmanned aerial vehicle damaged.

Further, the chip acquires the process of the target stop position corresponding to the unmanned aerial vehicle body, including:

controlling the cameras of the unmanned aerial vehicle body to shoot at least two images towards the ground at different positions;

constructing a three-dimensional image according to the obtained overlapping area of the at least two images;

and determining a target stop position according to the three-dimensional image.

The invention discloses an unmanned aerial vehicle emergency processing method, which adopts the following technical scheme:

according to a preset frequency, in a preset range of a current flight position of an unmanned aerial vehicle body, acquiring a target stop position corresponding to the unmanned aerial vehicle body, and generating a flight strategy for controlling the unmanned aerial vehicle body to fly from the current flight position to the target stop position;

when the unmanned aerial vehicle body breaks down, control according to latest flight strategy the unmanned aerial vehicle body flies to make the unmanned aerial vehicle body descend to the target stop position that latest flight strategy corresponds.

The unmanned aerial vehicle emergency processing method has the following beneficial effects:

when the unmanned aerial vehicle body is flying, confirm the target stop position in real time, and generate and be used for controlling the unmanned aerial vehicle body to fly to the flight strategy of target stop position from current flight position, when the unmanned aerial vehicle body breaks down, when need urgent to land, can directly fly according to latest flight strategy control unmanned aerial vehicle body, that is to say, after unmanned aerial vehicle breaks down, the consuming time of selecting stop position and generating flight strategy has been saved, can make the unmanned aerial vehicle body descend to the target stop position that latest flight strategy corresponds on the maximum probability, and then can greatly reduce the probability of unmanned aerial vehicle damage, and, before unmanned aerial vehicle breaks down, there is enough time to select target stop position, that is optimum stop position, avoid the interference that operating personnel brought, further reduce the probability of unmanned aerial vehicle damage.

On the basis of the scheme, the unmanned aerial vehicle emergency treatment method can be further improved as follows.

Further, be equipped with the air pump that has a plurality of gas outlets on the unmanned aerial vehicle body, an trachea is connected respectively to every gas outlet of air pump, and every tracheal gas outlet is established respectively under every rotor of unmanned aerial vehicle body and downwardly extending, every gas outlet department of air pump all is equipped with the control valve that is used for adjusting the air current size, then the method still includes:

when the unmanned aerial vehicle body is controlled to fly according to the latest flight strategy, the lift force of each rotor wing of the unmanned aerial vehicle body is acquired;

when the deviation between the maximum lift force and the minimum lift force exceeds a preset lift force deviation, starting the air pump, and adjusting the size of the air flow of an air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

The beneficial effect of adopting the further scheme is that: when deviation between maximum lift and the minimum lift surpassed and predetermine the lift deviation, according to the deviation, the air current size of the gas outlet through target control valve adjustment target trachea provides the lift for the rotor that minimum lift corresponds, avoids unmanned aerial vehicle to take place serious slope when promptly compelling to land, further reduces the probability that unmanned aerial vehicle damaged.

Further, the undercarriage of unmanned aerial vehicle body includes the cavity support of two relative "U" font structures that set up, is equipped with telescopic link and buffering cushion in the cavity of the montant of two relative settings of every cavity support, and every buffering cushion is connected at the flexible end of corresponding telescopic link, then the method still includes:

when according to latest flight strategy control the unmanned aerial vehicle body flies, just when the flying height of unmanned aerial vehicle body is less than preset high threshold value, control every telescopic link and stretch out the buffering cushion in the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body.

The beneficial effect of adopting the further scheme is that: the flexible volume of every telescopic link of inclination adjustment according to the unmanned aerial vehicle body to guarantee the buffering cushion of unmanned aerial vehicle body and land simultaneously to the at utmost, further reduce the probability that unmanned aerial vehicle damaged.

Further, acquire the target parking position that the unmanned aerial vehicle body corresponds includes:

controlling the cameras of the unmanned aerial vehicle body to shoot at least two images towards the ground at different positions;

constructing a three-dimensional image according to the obtained overlapping area of the at least two images;

and determining a target stop position according to the three-dimensional image.

Drawings

Fig. 1 is one of schematic structural diagrams of an unmanned aerial vehicle capable of emergency treatment according to an embodiment of the present invention;

fig. 2 is a second schematic structural diagram of an unmanned aerial vehicle capable of emergency treatment according to the embodiment of the present invention;

fig. 3 is a schematic flow chart of an emergency processing method for an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

As shown in fig. 1, the unmanned aerial vehicle capable of performing emergency treatment according to the embodiment of the present invention includes a chip 210 and an unmanned aerial vehicle body 220, where the chip 210 is configured to:

according to a preset frequency, within a preset range of a current flight position of an unmanned aerial vehicle body 220, acquiring a target stop position corresponding to the unmanned aerial vehicle body 220, and generating a flight strategy for controlling the unmanned aerial vehicle body 220 to fly from the current flight position to the target stop position;

when unmanned aerial vehicle body 220 breaks down, control according to latest flight strategy unmanned aerial vehicle body 220 flies to make unmanned aerial vehicle body 220 descend to the target parking position that latest flight strategy corresponds.

Wherein, the chip 210 obtains the process of the target stop position that the unmanned aerial vehicle body 220 corresponds, including:

1) controlling the cameras of the unmanned aerial vehicle body 220 to shoot at least two images towards the ground at different positions;

2) constructing a three-dimensional image according to the obtained overlapping area of the at least two images, taking the two images as an example for explanation, determining the three-dimensional image constructed by the two images according to the positions of the unmanned aerial vehicle body 220 when the two selected images are shot and according to the pixel coordinates contained in the overlapping area of the two images, wherein the specific construction process detail technology is known by those skilled in the art and is not described herein;

3) determining a target stop position according to the three-dimensional image, specifically: according to the three-dimensional image, in the preset range of the current flight position of the unmanned aerial vehicle body 220, the region without the obstacle is determined, the area size of each region without the obstacle is determined according to the three-dimensional image, and the region with the area larger than the preset area threshold is determined as a region to be selected, so that:

the nearest to-be-selected area of the current flight position of the unmanned aerial vehicle body 220 is determined as the target stop position, or the information of the peripheral area of each to-be-selected area is comprehensively considered, and the land surface information of each to-be-selected area is used for determining the target stop position, wherein the information of the peripheral area comprises the vegetation height of the peripheral area, whether water pits exist or not, whether the land surface information in the to-be-selected area is the grassland, the rock ground and the like or not is included in the to-be-selected area, and the automatic screening of the target stop position can be realized in a mode of presetting preset conditions.

Wherein, the preset frequency is 1 or 10 times per minute, and the like, and can be confirmed according to the actual situation. The flight strategy comprises information such as flight angle, flight speed and flight track, the unmanned aerial vehicle body 220 refers to the existing unmanned aerial vehicles of various types, and the chips 210 in the application are matched on the existing unmanned aerial vehicles of various types to obtain the unmanned aerial vehicle capable of performing emergency treatment;

it can be understood that, in the flight process of the unmanned aerial vehicle of the present application, the target stop position and the flight strategy are also dynamically changed.

When the unmanned aerial vehicle of the application is flying, the target stop position is determined in real time, and a flight strategy for controlling the unmanned aerial vehicle to fly from the current flight position to the target stop position is generated, when the unmanned aerial vehicle of the application breaks down and needs emergency landing, the unmanned aerial vehicle can be directly controlled to fly according to the latest flight strategy, namely, after the unmanned aerial vehicle of the application breaks down, the time consumed for selecting the stop position and generating the flight strategy is saved, the unmanned aerial vehicle body 220 can be landed to the target stop position corresponding to the latest flight strategy at the maximum probability, and the damage probability of the unmanned aerial vehicle can be greatly reduced, moreover, before the unmanned aerial vehicle of the application breaks down, the target stop position, namely the optimal stop position, can be selected in enough time, the interference caused by operators is avoided, and the damage probability of the unmanned aerial vehicle is further reduced, therefore, the unmanned aerial vehicle capable of carrying out emergency treatment is realized.

Preferably, in above-mentioned technical scheme, be equipped with the air pump that has a plurality of gas outlets on the unmanned aerial vehicle body 220, an trachea is connected respectively to every gas outlet of air pump, and every tracheal gas outlet is established respectively under every rotor of unmanned aerial vehicle body 220 and downwardly extending, every gas outlet department of air pump all is equipped with the control valve that is used for adjusting the air current size, chip 210 still is used for:

when the unmanned aerial vehicle body 220 is controlled to fly according to the latest flight strategy, the lift force of each rotor of the unmanned aerial vehicle body 220 is acquired;

when the deviation between the maximum lift force and the minimum lift force exceeds a preset lift force deviation, starting the air pump, and adjusting the size of the air flow of an air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

The principle of being able to provide lift to the rotor is illustrated by taking the first air duct as an example, specifically:

first tracheal air inlet is connected at the first gas outlet of air pump, and the first gas outlet of air pump is equipped with the first control valve that is used for adjusting the air current size, and first tracheal gas outlet is under the first rotor of unmanned aerial vehicle body 220 and downwardly extending, and the orientation of first gas outlet deviates from first rotor promptly, consequently, through the size of the air current of adjustment first gas outlet, the lift size that the rotor that the adjustable minimum lift corresponds provided.

Wherein, acquire the concrete implementation of the lift of every rotor of unmanned aerial vehicle body 220 is:

1) a pressure sensor is arranged below each rotor wing, for example, the accuracy is +/-0.05% FS, +/-0.025% FS, and the like, when the rotor wings rotate, downward acting force can be generated, and the lift force of each rotor wing can be accurately obtained through the high-accuracy pressure sensor;

2) the lift of each rotor was calculated by monitoring the airflow through the rotors of the drone using a light pressure sensor developed by AERS-Midwest.

Taking the first air pipe and the second air pipe as an example, a process of adjusting the size of the air flow at the air outlet of the target air pipe according to the deviation is described, specifically:

the air inlet of the second air pipe is connected to a second air outlet of the air pump, a second control valve for adjusting the size of the air flow is arranged at the second air outlet of the air pump, and the air outlet of the second air pipe is arranged right below the second rotor of the unmanned aerial vehicle body 220 and extends downwards; if in the lift of every rotor that acquires unmanned aerial vehicle body 220, the lift of first rotor is minimum, and the lift of second rotor is the biggest, and when the deviation between maximum lift and the minimum lift exceeded when predetermineeing the lift deviation, explains unmanned aerial vehicle body 220 and take place serious slope, and first rotor compares in the second rotor is closer to ground, and first trachea is the target trachea, and the first control valve that first trachea corresponds is the target control valve, then:

the air flow of the target air pipe, namely the air outlet of the first air pipe, can be calculated according to the deviation, the caliber of the air outlet of the air pipe and other parameters, after the air pump is started, the air flow of the target air pipe, namely the air outlet of the first air pipe, is adjusted through the control target control valve to reach the calculated air flow, and exceeds the calculated air flow for a period of time, so that the height of the first rotor wing is equal to the height of the second rotor wing. Wherein, this time accessible mechanics knowledge obtains, then, the air current size that control target control valve regulation target trachea is first tracheal gas outlet reduces and keeps the air current size of calculating, and this moment, the value of the lift that target trachea is first tracheal gas outlet provides equals with the deviation, can keep unmanned aerial vehicle's balance at the at utmost, avoids unmanned aerial vehicle to take place serious slope when urgent compelling to land, further reduces the probability of unmanned aerial vehicle damage.

That is to say, when deviation between maximum lift and the minimum lift exceeded and predetermines the lift deviation, according to the deviation, through the air current size of the tracheal gas outlet of target control valve adjustment target, for the rotor that minimum lift corresponds provides lift, avoid unmanned aerial vehicle to take place serious slope when promptly compelling to land, further reduce the probability that unmanned aerial vehicle damaged.

Wherein, the process of adjusting the air flow size of the air outlet of the target air pipe through the target control valve according to the deviation is a dynamic process.

Preferably, in the above technical solution, the undercarriage of the unmanned aerial vehicle body 220 includes two opposite cavity supports of "u" shaped structure, a telescopic rod and a buffer rubber pad 260 are arranged in the cavity of two opposite vertical rods of each cavity support, and each buffer rubber pad 260 is connected to the telescopic end of the corresponding telescopic rod, then the chip 210 is further configured to:

when according to the latest flight strategy control unmanned aerial vehicle body 220 flies, just when unmanned aerial vehicle body 220's flying height is less than the preset altitude threshold value, control every telescopic link and stretch out buffering cushion 260 from the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body 220.

Wherein, predetermine the altitude threshold value and can be 10 meters or 20 meters etc. can confirm according to actual conditions, when unmanned aerial vehicle will land, unmanned aerial vehicle is difficult for taking place the slope, at this moment, according to the flexible volume of every telescopic link of inclination control of unmanned aerial vehicle body 220 to guarantee that the buffering cushion 260 of unmanned aerial vehicle body 220 lands simultaneously at the at utmost, further reduce the probability of unmanned aerial vehicle damage, explain with figure 2:

two oppositely arranged cavity supports with a U-shaped structure are respectively a first cavity support and a second cavity support, the first cavity support comprises two oppositely arranged vertical rods which are respectively a first vertical rod 230 and a second vertical rod 240, the second cavity support comprises two oppositely arranged vertical rods which are respectively a third vertical rod 270 and a fourth vertical rod 280, a POS positioning and orientation system carried by the unmanned aerial vehicle body 220 can obtain the inclination angle of the unmanned aerial vehicle body 220, then the height difference of each vertical rod in the horizontal direction is calculated according to the structural size of the unmanned aerial vehicle body 220, for example, when the first vertical rod 230 is closer to the ground than the third vertical rod 270, the expansion amount of a first expansion rod 250 arranged in the first vertical rod 230 is smaller than that of a third expansion rod 290 arranged in the third vertical rod 270, and the expansion amount of each expansion rod can be accurately calculated through the height difference of each vertical rod in the horizontal direction, the buffering cushion 260 in order to guarantee unmanned aerial vehicle body 220 lands simultaneously to the at utmost, further reduces the probability that unmanned aerial vehicle destroys. After the telescopic rods fall to the ground, the telescopic amount of each telescopic rod is adjusted to be the same.

As shown in fig. 3, an emergency processing method for an unmanned aerial vehicle according to an embodiment of the present invention includes the following steps:

s1, according to a preset frequency, within a preset range of a current flight position of the unmanned aerial vehicle body 220, obtaining a target stop position corresponding to the unmanned aerial vehicle body 220, and generating a flight strategy for controlling the unmanned aerial vehicle body 220 to fly from the current flight position to the target stop position;

s2, when the unmanned aerial vehicle body 220 breaks down, controlling the unmanned aerial vehicle body 220 to fly according to the latest flight strategy, so that the unmanned aerial vehicle body 220 lands at the target stop position corresponding to the latest flight strategy.

Determining a target stop position in real time while the drone body 220 is flying, and generating a flight strategy for controlling the drone body 220 to fly from a current flight position to the target stop position, when the unmanned aerial vehicle body 220 breaks down and needs emergency forced landing, the unmanned aerial vehicle body 220 can be directly controlled to fly according to the latest flight strategy, that is, when the unmanned aerial vehicle breaks down, the time for selecting the stop position and generating the flight strategy is saved, the unmanned aerial vehicle body 220 can be descended to the target stop position corresponding to the latest flight strategy at the maximum probability, the damage probability of the unmanned aerial vehicle can be greatly reduced, and, before the unmanned aerial vehicle breaks down, the target stop position, namely the optimal stop position, is selected within enough time, so that the interference caused by operating personnel is avoided, and the damage probability of the unmanned aerial vehicle is further reduced.

Preferably, in above-mentioned technical scheme, be equipped with the air pump that has a plurality of gas outlets on the unmanned aerial vehicle body 220, an trachea is connected respectively to every gas outlet of air pump, and every tracheal gas outlet is established respectively under every rotor of unmanned aerial vehicle body 220 and downwardly extending, every gas outlet department of air pump all is equipped with the control valve that is used for adjusting the air current size, then the method still includes:

s3, when the unmanned aerial vehicle body 220 is controlled to fly according to the latest flight strategy, the lift force of each rotor wing of the unmanned aerial vehicle body 220 is obtained;

s4, when the deviation between the maximum lift force and the minimum lift force exceeds the preset lift force deviation, starting the air pump, and adjusting the size of the air flow at the air outlet of a target air pipe through a target control valve according to the deviation, wherein the target air pipe is as follows: the air pipe extends to the position right below the rotor wing corresponding to the minimum lift force, and the target control valve is as follows: and the control valve corresponds to the target air pipe.

When deviation between maximum lift and the minimum lift surpassed and predetermine the lift deviation, according to the deviation, the air current size of the gas outlet through target control valve adjustment target trachea provides the lift for the rotor that minimum lift corresponds, avoids unmanned aerial vehicle to take place serious slope when promptly compelling to land, further reduces the probability that unmanned aerial vehicle damaged.

Preferably, in the above technical solution, the undercarriage of the main body 220 of the unmanned aerial vehicle includes two opposite cavity supports with a "u" -shaped structure, a telescopic rod and a buffer rubber pad 260 are disposed in the cavity of the two opposite vertical rods of each cavity support, and each buffer rubber pad 260 is connected to the telescopic end of the corresponding telescopic rod, so that the method further includes:

s5, when according to latest flight strategy control unmanned aerial vehicle body 220 flies, just when the flying height of unmanned aerial vehicle body 220 is less than preset altitude threshold, control every telescopic link and stretch out buffering cushion 260 from the cavity of corresponding montant, and according to the flexible volume of every telescopic link of the inclination adjustment of unmanned aerial vehicle body 220.

The flexible volume of every telescopic link of inclination adjustment according to unmanned aerial vehicle body 220 to guarantee that the buffering cushion 260 of unmanned aerial vehicle body 220 lands simultaneously to the at utmost, further reduce the probability of unmanned aerial vehicle damage.

Preferably, in the above technical solution, the obtaining of the target stop position corresponding to the unmanned aerial vehicle body 220 includes:

s10, controlling the camera of the unmanned aerial vehicle body 220 to shoot at least two images towards the ground at different positions;

s11, constructing a three-dimensional image according to the obtained overlapping area of the at least two images;

and S12, determining a target stop position according to the three-dimensional image.

In the above embodiments, although the steps are numbered as S1, S2, etc., but only the specific embodiments are given in this application, and those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention, it is understood that some embodiments may include some or all of the above embodiments.

For each step in the emergency processing method for an unmanned aerial vehicle according to the present invention, reference may be made to the above technical details of an embodiment of an unmanned aerial vehicle capable of performing emergency processing, which are not described herein again.

In the present invention, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.