CN104932521A - Unmanned plane parachute-throwing method based on overload size determination - Google Patents
Unmanned plane parachute-throwing method based on overload size determination Download PDFInfo
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- CN104932521A CN104932521A CN201510277498.0A CN201510277498A CN104932521A CN 104932521 A CN104932521 A CN 104932521A CN 201510277498 A CN201510277498 A CN 201510277498A CN 104932521 A CN104932521 A CN 104932521A
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Abstract
The invention provides an unmanned plane parachute-throwing method based on overload size determination. An overload or the acceleration is measured via an overload measuring device or an acceleration measuring device on a plane, when the overload or the acceleration is greater than a set value, it is considered that the plane is landed, a flight control system autonomously gives a parachute-throwing instruction, and parachute throwing is accomplished. According to the method, various other parachute-throwing methods are comprehensively employed, an overload or acceleration module value is regarded as the main parachute-throwing mode, others are regarded as backup parachute-throwing modes, and the parachute-throwing success rate is greatly improved.
Description
Technical field
The present invention relates to a kind of unmanned plane judged based on overload size and throw umbrella method, belong to unmanned plane recovery technology field.
Background technology
For middle-size and small-size unmanned plane, it generally adopts parachuting mode to reclaim, when landing after aircraft parachute-opening, need in time by umbrella jettisoning, to guarantee aircraft safety, because when aircraft lands moment, umbrella is still in open configuration, surface wind blows pack, and aircraft can be driven to move, and this has great threat safely to airframe.
For whether throwing umbrella, generally take four kinds of modes: one is judge whether aircraft lands by ground staff, land namely to send and throw umbrella instruction, overhead personnel are distant because of recovery point for the method, cannot judge whether aircraft lands in time by eyesight, be difficult to hold opportunity to throwing umbrella; Two is on body, install hardware trigger parachute-opening, and make aircraft land rear triggering and throw umbrella, land attitude for different geology and aircraft, it is too poor that hardware trigger adapts to, and toggle rate is low; Three is judge whether aircraft meets the condition of landing, and the method needs to accumulate a large amount of recovery experience just can find suitable Rule of judgment by soft ware autonomous; Four is aircraft is installed special throwing umbrella determining apparatus, and the method success ratio is high, but cost is comparatively large, and needs to take limited onboard spatial, and cost performance is low.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane judged based on overload size to throw umbrella method, utilize existing airborne measurement device, by integrated use judgment mechanism, greatly improve middle-size and small-size unmanned plane and throw umbrella success ratio.
The present invention is achieved like this.The unmanned plane judged based on overload size throws a umbrella method, and comprise installation flight control system aboard and overload measurement device or acceleration measurement device, its control method is as follows:
S1. flight control system makes aircraft parking parachute-opening, and arranges time delay for reclaimer preparation and aspect adjustment;
S2. enter and throw umbrella and judge flow process, whether the accekeration whether flight control system is greater than set-point or acceleration measurement device measurement according to the overload values of aircraft overload measurement device collection is greater than set-point and judges whether aircraft lands;
If S3. overload values or accekeration are greater than set-point, flight control system independently sends throws umbrella instruction, completes throwing umbrella.
On the basis of such scheme, the present invention also judges in flow process at throwing umbrella, and setting is thrown umbrella security and opened time delay, throws umbrella security and automatically open after the time, and arranges manual unlocking and throw umbrella security mode and cannot automatically open to prevent fault formula throwing umbrella security.
On the basis of such scheme, for ensureing safety, the present invention is also provided with manually to send and throws umbrella instruction mode, is also provided with and triggers the mode of throwing umbrella with aircraft vertical speed.
The present invention is comparatively simple, cost is lower and carry out automatic touch trigger and throw umbrella.After unmanned plane parachute-opening, stabilization process through certain hour prepares and aspect adjustment to complete reclaimer, its overload or acceleration will be in a certain stationary value, until land moment, overload or acceleration have the change of bigger numerical, when judging that aircraft transships in real time or acceleration is greater than set-point, then think and have landed, flight control system throws umbrella instruction by independently sending, and then completes throwing umbrella.
Accompanying drawing explanation
The process flow diagram of Fig. 1 embodiment of the present invention 1;
Fig. 2 is the process flow diagram of the embodiment of the present invention 2.
Embodiment
Embodiment 1
The flight control system of installing aboard and overload measurement device or acceleration measurement device, its control method as shown in Figure 1:
S1. flight control system makes aircraft parking parachute-opening, and arranges time delay for reclaimer preparation and aspect adjustment;
S2. enter and throw umbrella and judge flow process, whether the accekeration whether flight control system is greater than set-point or acceleration measurement device measurement according to the overload values of aircraft overload measurement device collection is greater than set-point and judges whether aircraft lands;
If S3. overload values or accekeration are greater than set-point, flight control system independently sends throws umbrella instruction, completes throwing umbrella.
Embodiment 2
The flight control system of installing aboard and overload measurement device or acceleration measurement device, its control method as shown in Figure 2:
S1. flight control system makes aircraft parking parachute-opening, and arranges time delay for reclaimer preparation and aspect adjustment;
S2. enter throwing umbrella and judge flow process, in flight control system, be provided with throwing umbrella security open time delay, time delay=(current gas high-scene gas is high)/falling speed, after the time, throw umbrella security automatically open, manual unlocking throwing umbrella security mode being also set for preventing fault formula throwing umbrella security from cannot automatically open, manually can sending " throwing umbrella in advance " instruction unpack and throwing umbrella security;
Whether whether flight control system is greater than according to the overload values of aircraft overload measurement device collection accekeration that set-point or acceleration measurement device measure is greater than set-point and judges whether aircraft lands; Flight control system also can judge whether to land according to vertical speed, and as in the normal situation of gps signal, 5s as continuous in aircraft vertical speed is less than given speed, then think and land;
If S3. overload values or accekeration are greater than set-point, flight control system independently sends throws umbrella instruction, completes throwing umbrella; If the continuous 5s of aircraft vertical speed is less than given speed, sends and throw umbrella instruction; Also manually can send and throw umbrella instruction.
Embodiment 2 integrated use various throwing umbrella mode, by transship or acceleration modulus value as main throwing umbrella mode, other throw umbrella mode as backup, substantially increase and throw umbrella success ratio.For the unmanned plane of Different Weight, the modulus value of overload or acceleration should be different.This method is applicable to the aircraft that parachuting is reclaimed.
Claims (3)
1. the unmanned plane judged based on overload size throws a umbrella method, and comprise installation flight control system aboard and overload measurement device or acceleration measurement device, it is characterized in that, control method is as follows:
S1. flight control system makes aircraft parking parachute-opening, and arranges time delay for reclaimer preparation and aspect adjustment;
S2. enter and throw umbrella and judge flow process, whether the accekeration whether flight control system is greater than set-point or acceleration measurement device measurement according to the overload values of aircraft overload measurement device collection is greater than set-point and judges whether aircraft lands;
If S3. overload values or accekeration are greater than set-point, flight control system independently sends throws umbrella instruction, completes throwing umbrella.
2. the unmanned plane judged based on overload size according to claim 1 throws umbrella method, it is characterized in that, also judge in flow process at throwing umbrella, setting is thrown umbrella security and is opened time delay, after the time, throw umbrella security automatically open, and manual unlocking is set throws umbrella security mode and cannot automatically open to prevent fault formula from throwing umbrella security.
3. the unmanned plane judged based on overload size according to claim 1 throws umbrella method, and it is characterized in that, flight control system also can judge whether to land according to vertical speed, and sends the instruction of throwing umbrella.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510277498.0A CN104932521A (en) | 2015-05-28 | 2015-05-28 | Unmanned plane parachute-throwing method based on overload size determination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510277498.0A CN104932521A (en) | 2015-05-28 | 2015-05-28 | Unmanned plane parachute-throwing method based on overload size determination |
Publications (1)
| Publication Number | Publication Date |
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| CN104932521A true CN104932521A (en) | 2015-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510277498.0A Pending CN104932521A (en) | 2015-05-28 | 2015-05-28 | Unmanned plane parachute-throwing method based on overload size determination |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105527972A (en) * | 2016-01-13 | 2016-04-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle (UAV) flight control method and device |
| CN106849911A (en) * | 2017-03-08 | 2017-06-13 | 西北工业大学 | A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface |
| WO2017185363A1 (en) * | 2016-04-29 | 2017-11-02 | 深圳市大疆创新科技有限公司 | Method, apparatus, and system for controlling unmanned aerial vehicle |
| CN109050940A (en) * | 2018-07-20 | 2018-12-21 | 中国航空工业集团公司沈阳飞机设计研究所 | Plane umbrella cabin hood jettison gear and aircraft |
| CN110979695A (en) * | 2019-12-06 | 2020-04-10 | 江西洪都航空工业集团有限责任公司 | Automatic parachute throwing condition interpretation method for parachuting recovery unmanned aerial vehicle |
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| US6685140B2 (en) * | 2001-09-27 | 2004-02-03 | Ernest A. Carroll | Miniature, unmanned aircraft with automatically deployed parachute |
| CN203535399U (en) * | 2013-09-29 | 2014-04-09 | 航宇救生装备有限公司 | Landing controller |
| CN203537226U (en) * | 2013-09-29 | 2014-04-09 | 航宇救生装备有限公司 | Novel landing-on-ground and landing-on-water starting circuit |
| CN103770945A (en) * | 2014-01-23 | 2014-05-07 | 中国人民解放军总参谋部第六十研究所 | UAV (Unmanned Aerial Vehicle) automatic parachute throwing control method |
| CN203876987U (en) * | 2014-06-11 | 2014-10-15 | 国家电网公司 | Parachute cutting device and parachute cutting system |
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2015
- 2015-05-28 CN CN201510277498.0A patent/CN104932521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6685140B2 (en) * | 2001-09-27 | 2004-02-03 | Ernest A. Carroll | Miniature, unmanned aircraft with automatically deployed parachute |
| CN203535399U (en) * | 2013-09-29 | 2014-04-09 | 航宇救生装备有限公司 | Landing controller |
| CN203537226U (en) * | 2013-09-29 | 2014-04-09 | 航宇救生装备有限公司 | Novel landing-on-ground and landing-on-water starting circuit |
| CN103770945A (en) * | 2014-01-23 | 2014-05-07 | 中国人民解放军总参谋部第六十研究所 | UAV (Unmanned Aerial Vehicle) automatic parachute throwing control method |
| CN203876987U (en) * | 2014-06-11 | 2014-10-15 | 国家电网公司 | Parachute cutting device and parachute cutting system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105527972A (en) * | 2016-01-13 | 2016-04-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle (UAV) flight control method and device |
| WO2017185363A1 (en) * | 2016-04-29 | 2017-11-02 | 深圳市大疆创新科技有限公司 | Method, apparatus, and system for controlling unmanned aerial vehicle |
| CN106849911A (en) * | 2017-03-08 | 2017-06-13 | 西北工业大学 | A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface |
| CN106849911B (en) * | 2017-03-08 | 2019-07-19 | 西北工业大学 | A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface |
| CN109050940A (en) * | 2018-07-20 | 2018-12-21 | 中国航空工业集团公司沈阳飞机设计研究所 | Plane umbrella cabin hood jettison gear and aircraft |
| CN109050940B (en) * | 2018-07-20 | 2022-06-07 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft parachute bay cover throwing device and aircraft |
| CN110979695A (en) * | 2019-12-06 | 2020-04-10 | 江西洪都航空工业集团有限责任公司 | Automatic parachute throwing condition interpretation method for parachuting recovery unmanned aerial vehicle |
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Application publication date: 20150923 |