The invention discloses a cargo carrying unmanned aerial vehicle and a method and device for detecting cargo falling thereof. The cargo carrying unmanned aerial vehicle comprises an unmanned aerial vehicle body and a warehouse used for loading cargoes, the unmanned aerial vehicle body is detachably connected with the warehouse, and the method comprises the steps of obtaining the vertical acceleration and the vertical power of the unmanned aerial vehicle body in the cargo carrying flight process; determining the flight attitude of the unmanned aerial vehicle according to the vertical acceleration, and determining a kinetic equation corresponding to the flight attitude; calculating the observation gravity of the cargo-carrying unmanned aerial vehicle according to the kinetic equation and thevertical power; judging whether the goods fall or not according to the observed gravity. The beneficial effects of the invention are that the method can detect whether the cargo falling happens to the cargo carrying unmanned aerial vehicle in various flight attitudes or not under the condition that a conventional cargo carrying unmanned aerial vehicle is not improved, is wide in application range, is low in implementation cost, is simple in method, is high in practicality, is flexible in detection mode, and is high in detection precision.
本申请公开了一种载货无人机及其检测货物掉落的方法和装置,其中,载货无人机包括无人机和用于装载货物的货仓,无人机与货仓可拆卸连接,该方法通过获取载货飞行过程中无人机的垂向加速度和垂向动力;根据垂向加速度确定无人机的飞行姿态,并确定与该飞行姿态对应的动力学方程;根据动力学方程以及垂向动力计算载货无人机的观测重力;根据观测重力判断货物是否掉落。本申请的有益效果在于:在不对现有的载货无人机进行改造的情况下,能够检测载货无人机在各种飞行姿态下是否发生货物掉落,适用范围广,实施成本低,且方法简单,实用性强,检测方式灵活,检测精度高。
Cargo carrying unmanned aerial vehicle and method and device for detecting cargo falling
载货无人机及其检测货物掉落的方法和装置
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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