CN105253306A - UAV (Unmanned aerial vehicle) provided with falling guard device and falling guard method thereof - Google Patents
UAV (Unmanned aerial vehicle) provided with falling guard device and falling guard method thereof Download PDFInfo
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- CN105253306A CN105253306A CN201510753823.6A CN201510753823A CN105253306A CN 105253306 A CN105253306 A CN 105253306A CN 201510753823 A CN201510753823 A CN 201510753823A CN 105253306 A CN105253306 A CN 105253306A
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Abstract
The invention discloses an unmanned aerial vehicle provided with a falling guard device and a falling guard method thereof, belonging to the field of UAV (unmanned aerial vehicle). The UAV comprises a judgment module for judging whether the UAV is in a falling state or not, a controller for sending out ejection signals when judging that the UAV is in the falling state and an ejection mechanism for separating a part of the UAV from the UAV in an ejecting manner, wherein the controller is respectively connected with the judgment module and the ejection mechanism; the ejection mechanism is connected with the part separated in the ejecting manner. According to an idea that lighter parts and heavier parts in the aerial vehicle are separated automatically, the damage of the aerial vehicle in an airplane crash can be lowered, the safety of the aerial vehicle in the air is improved from another aspect, parachutes are installed on the heavier parts with regular shapes, the damage is further reduced, and the situation that the parachutes twine the heavier parts is avoided.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, be specifically related to a kind of unmanned vehicle and the falling guard method thereof that are provided with falling protecting device.
Background technology
Current many rotary wind types unmanned vehicle obtains tremendous expansion, and is had an optimistic view of by professional market and consumption level market simultaneously.Why many rotary wind types unmanned vehicle can obtain so develops rapidly, is that safety simultaneously promotes rapidly because the progress of electronic related technologies makes the cost of this aircraft reduce rapidly.
But many rotary wind types unmanned vehicle is as a kind of equipment aloft flown, and the requirement for flight safety is endless.User always wishes that aircraft can not because of any unexpected and air crash occurs.But aviation accident is absolute, what production firm and user can accomplish just reduces this air crash accident odds as much as possible.
Small-sized unmanned aircraft is in flight course, any one parts or the not normal of link all may be caused aircraft out of control and crash, thus cause the infringement of body itself and airborne equipment, due to present stage unmanned vehicle and airborne sensory equipment all very worthy, crash accident is once generation can cause huge property damage.Simultaneously, existing unmanned vehicle, especially quadrotor, in flight course, sometimes due to objective unforeseen circumstances or fly manual manipulation error cause aircraft to fall, when falling, aircraft is unavoidable collides with other objects, and at aircraft from high-altitude during very fast landing, slight collision also can cause extensive damage even to cause casualties to the object near the district that force-lands.
In order to reduce loss when unmanned vehicle has an accident, the reliability of unmanned vehicle flight can be improved, the proterctive equipment to unmanned vehicle and airborne equipment when accident appears in unmanned vehicle can also be increased.
In prior art, reduce causality loss by reduce aircraft tenesmus speed, its effective ways detect that aircraft is out of control, stall condition, and aloft automatically throw umbrella protect.
Such as; a kind of agricultural unmanned plane automatic deployment fender guard is disclosed in Chinese patent literature 104443398A; umbrella hatchcover is hinged along rear end on umbrella cabin; spring Connectable umbrella hatchcover and unmanned plane body fuselage; electricity permanent magnet is packed on the close unmanned plane head side madial wall in umbrella cabin, and power supply, relay and parachute-opening control module are installed in umbrella bilge lower surface, power supply and relay electrical connection; parachute-opening control module is connected with relay, and power supply, relay and electric capacity magnet are electrically connected successively.
Again such as, notification number CN202944566U patent document discloses a kind of SUAV (small unmanned aerial vehicle) rear automatic throwing umbrella fender guard out of control, comprise once connect power equipment supply, for calculating the parachute-opening controller of aspect, parachute-opening Servo-controller and umbrella storehouse lid switch; Described on off controller comprise inertia detection unit and for Real-time Collection inertia detection unit data and be calculated as the micro controller system of the attitude angle under body coordinate; Described inertia detection unit is connected with described micro controller system; Described micro controller system is connected with described parachute-opening Servo-controller.This parachute-opening controller calculates aspect in real time, occurs that out of control, attitude sends parachute-opening instruction time abnormal, release a parachute and realize protection at aircraft.
But Problems existing is in such scheme: the structure of many rotary wind types unmanned vehicle is relatively complicated, if arrange parachute thereon, eject in air crash situation, sometimes can, owing to being wound around problem, cause the effect of parachute not play very well; Because rotary wind type unmanned vehicle is often in floating state in operation process, now, between fuselage and air, there is no relative velocity; if now there is air crash accident; parachute cannot automatically be dished out or open, and cannot reduce the speed of falling, and cannot provide protection to the unmanned vehicle fallen.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of unmanned vehicle and the falling guard method thereof that are provided with falling protecting device; for the aviation accident that those unavoidably occur; the damage of aircraft in aviation accident can be reduced; thus the cost alleviating maintenance and safeguard, be also the air security improving aircraft from another aspect.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of unmanned vehicle being provided with falling protecting device; comprise and judge whether described unmanned vehicle is in the judge module of fall condition; and when described judge module judges that described unmanned vehicle is in fall condition; the controller sending ejection signal with a part for described unmanned vehicle is launched from described unmanned vehicle the ejection mechanism be separated; wherein; described controller is connected with described judge module and described ejection mechanism respectively, and described ejection mechanism connection is described is launched the part of separation.
Further, the described comparatively heavy parts comprised by the part of launching separation in described unmanned vehicle, described comparatively heavy parts at least comprises mains connection set.
Further, described mains connection set comprises battery and battery compartment, and described ejection mechanism is arranged in described battery compartment, and is installed on described ejection mechanism by described battery.
Further, described judge module comprises the accelerograph of the landing acceleration/accel for detecting described unmanned vehicle, described accelerograph is connected with described controller, when described accelerograph detects that the landing acceleration/accel of described unmanned vehicle is greater than predetermined threshold value, judge that described unmanned vehicle is in fall condition.
Further, described judge module comprises the speed sensor for detecting the current descending speed of described unmanned vehicle in real time, described speed sensor connects described controller, when described speed sensor detects that the sinking speed of described unmanned vehicle is greater than the predetermined value of setting in advance, then described judge module judges that described unmanned vehicle is in fall condition.
Further, described ejection mechanism comprises ejection arm and gate-controlled switch, and described gate-controlled switch connects described ejection arm and described controller, and described gate-controlled switch is controlled by described controller.
Further, describedly also comprised parachuting module by the part of launching separation, described parachuting module comprises parachute and the delayed trigger parachute-opening unit of folding collecting, and described delayed trigger parachute-opening unit is connected with described controller and described parachute respectively.
According to another aspect of the present invention, provide a kind of unmanned vehicle falling guard method, comprise the following steps:
Judge whether described unmanned vehicle is in fall condition;
If described unmanned vehicle is in fall condition, triggers described Part I and launched the part be separated launch separation with described.
Further, describedly judge the step whether described unmanned vehicle is in fall condition, specifically, comprising:
Preset the landing acceleration rate threshold of described unmanned vehicle and store;
The landing acceleration/accel of unmanned vehicle described in Real-Time Monitoring;
Judge whether the landing acceleration/accel of described unmanned vehicle is greater than described predetermined threshold value;
If be greater than, then judge that described unmanned vehicle is in fall condition;
Otherwise described unmanned vehicle is in regular flight condition.
Further, the described Part I of described triggering is launched after the part be separated launches separation with described, also comprises opening describedly being launched the parachute step that the part of separation is arranged.
The invention discloses a kind of unmanned vehicle and the falling guard method thereof that are provided with falling protecting device, by parts lighter in aircraft and the thinking be automatically separated compared with heavy parts, loss can be reduced in aircraft aviation accident.
On the other hand, on the thinking basis that the present invention can be separated in above-mentioned realization, the comparatively heavy parts for those regular shape installs parachute, reduces loss further, avoids parachute to the winding of lighter parts.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of specification sheets, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred detailed description of the invention, the present invention various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows the unmanned vehicle structural representation being provided with falling protecting device according to the embodiment of the present invention one;
Fig. 2 shows the unmanned vehicle structural representation being provided with falling protecting device according to the embodiment of the present invention two;
Fig. 3 shows the unmanned vehicle falling guard method flow diagram according to the embodiment of the present invention three;
Fig. 4 shows the unmanned vehicle falling guard method flow diagram according to the embodiment of the present invention four.
Detailed description of the invention
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of specification sheets and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of specification sheets and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Specification sheets subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of specification sheets, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.In recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of engine installation and battery durable ability, make it constantly expand at a high speed in the purposes in military, civilian, unmanned plane market has bright prospects.
In the embodiment of the present invention, preferred unmanned plane is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle that is greater than six.
The unmanned plane that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.
Embodiment one, a kind of unmanned vehicle being provided with falling protecting device.
Fig. 1 is the unmanned vehicle structural representation being provided with falling protecting device of the embodiment of the present invention one, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of unmanned vehicle 101 being provided with falling protecting device, comprise and judge whether described unmanned vehicle 101 is in the judge module 102 of fall condition, and when described judge module 102 judges that described unmanned vehicle 101 is in fall condition, the controller 105 sending ejection signal with a part for described unmanned vehicle 101 is launched from described unmanned vehicle 101 ejection mechanism 106 be separated, wherein, described controller 105 is connected with described judge module 102 and described ejection mechanism 106 respectively, described ejection mechanism 106 connects and is describedly launched the part 104 of separation.
Preferred in the embodiment of the present invention, the described comparatively heavy parts comprised by the part 104 of launching separation in described unmanned vehicle 101, described comparatively heavy parts at least comprises mains connection set.In embodiments of the present invention, be equivalent to described unmanned vehicle to be divided into two parts, wherein Part I comprises lighter parts, and described lighter parts comprise body, frame, shell, wing, it is some or all of to fly to control in plate, wherein, described controller be arranged at described in fly control plate on; Part II comprises compared with heavy parts and is describedly launched the part 104 of separation, and described comparatively heavy parts comprises mains connection set.In some concrete embodiment, described judge module 102 and described controller 105 also can at last described in component part in lighter parts.
Preferred in the embodiment of the present invention, described body is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of body, thus reduce the power demand of many rotor unmanned aircrafts and improve the manoevreability of many rotor unmanned aircrafts.Certainly, in other embodiments of the invention, body can also be made up of plastics or other arbitrarily used materials.Described body is provided with multiple described wing be symmetric relative to the symmetrical plane in described body, described wing comprises slurry arm, each slurry arm is provided with paddle components away from one end of described body, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation axis of every a slice blade is all positioned on the same face of cylinder.
The event that the air crash of many rotary wind types unmanned vehicle is more common at last; due to unmanned vehicle, aloft action radius is larger; therefore; from when falling, often can be in higher height in the air, in Long-term Free falling bodies process; body has saved a large amount of kinetic energy; when kiss the earth occurs to clash into, organism material cannot absorb in a large number or offset this kinetic energy, often causes body that destructive damage occurs.
In fact, in order to fly, the weight control of unmanned vehicle is generally all done very well, especially the main component such as frame, shell, is all adopt not only light but also solid carbon fibre material usually.But, still have to there are some parts that density ratio is larger comparatively speaking in unmanned vehicle integral structure, typically, such as battery.Be encapsulated in the battery in integral structure, obviously improve the density ratio of whole unmanned vehicle, therefore, in the movement of falling object of air crash, greatly improve the kinetic energy of whereabouts, the degree of injury of unmanned vehicle air crash is multiplied.
Lighter parts described in described unmanned vehicle 101 can, when judging that described unmanned vehicle 101 is in air crash state, be implemented to be separated with described comparatively heavy parts by the embodiment of the present invention.
On the one hand, for described lighter parts, because itself volume is comparatively large, quality is less, when falling, wind area is comparatively large, thus the air resistance be subject to is larger.Therefore, greatly reduce its sinking speed, and square being directly proportional of kinetic energy when landing and sinking speed, thus greatly can reduce impact kinetic energy when landing, avoid body generation heavy damage, also reduce hitting dynamics on a surface target.
On the other hand, for described comparatively heavy parts, although itself quality is comparatively large, its relative volume is less, reduces strike area on a surface target, thus reduces the possibility of injury terrain object.
Simultaneously; if described lighter parts are separated with described execute unreal compared with heavy parts; probably whole unmanned vehicle is completely damaged; mode now by being separated; make a wherein part; may be even the frame, rotor, circuit structure etc. of main portion, well can be protected, so greatly reduce air crash risk.The embodiment of the present invention, specifically using battery compartment as the described Typical Representative compared with heavy parts, carrys out example explanation using other parts except battery as the Typical Representative of described lighter parts.
Preferred in the embodiment of the present invention, described mains connection set comprises battery and battery compartment, and described ejection mechanism is arranged in described battery compartment, and is installed on described ejection mechanism by described battery.
Concrete, described mains connection set comprises battery, actuator, battery compartment, Cang Gai and storehouse lid switch, described battery is connected with described actuator, described actuator connects described controller 105, described controller 105 connects described storehouse lid switch, described ejection mechanism 106 is arranged in described battery compartment, and is installed on described ejection mechanism 106 by described battery.Preferably, described battery is arranged on the afterbody of described unmanned vehicle 101 body.
Preferred in the embodiment of the present invention, the electric energy of described unmanned vehicle 101 is provided by various Hi cell, comprising: solar power, storage battery and fuel cell.Be wherein the storage battery power supply mode of representative with lithium cell be current most widely used one.
In this case, only need the ejection mechanism that design one is controlled in battery compartment, when whether body is in the judgement of stall condition for body according to the accelerograph that the communication connection judgement of control signal and/or body are arranged, can learn whether described unmanned vehicle is in the state of falling, when judging that described unmanned vehicle is in just in fall condition, separation device is launched described in timely control, by the battery ejection in described battery compartment, it is separated with described unmanned vehicle agent structure.
The object aloft moved, be subject to the resistance of air, if speed is lower than 2.5M (Mach) in atmosphere, substantially think that the wind area S of its resistance f and drag coefficient k, described unmanned vehicle and flying speed are directly proportional (f=ksv).Now, described unmanned vehicle compared with light parts, there is the characteristic that density is low, quality is little, wind area is large, therefore, it is comparatively large that described lighter parts are subject to air resistance upwards, and before landing, its descending speed can reduce greatly.Especially, described lighter parts also comprise the structures such as outwardly directed rotor, support.When Crater face; probably by these can deformation, apparatus with shock absorbing the structure such as rotor, alighting gear bear shock; and guarantee that the impact that other parts in the lighter parts of described aircraft are subject to is little as far as possible; especially the electronic control part that those costs are higher, has very high probability to be protected.
Meanwhile, if when described unmanned vehicle 101 in atmosphere speed higher than 2.5M (Mach), due to the friction of air, start to occur Aerodynamic Heating phenomenon, for some battery, also likely because shock of a fall cause battery to burn.In embodiments of the present invention, the described battery of ejection falls as independently component, even if described battery burns, also can greatly reduce described unmanned vehicle 101 by the risk of burning.And if battery is original still kept one state with described unmanned vehicle 101, then not only make described unmanned vehicle 101 crash, and may make described unmanned vehicle 101 even terrain object because burning, and be subject to secondary injury.
Preferred in the embodiment of the present invention, described judge module 102 comprises the accelerograph of the landing acceleration/accel for detecting described unmanned vehicle 101, the input end of described controller 105 is connected with described accelerograph, mouth is connected with described ejection mechanism 106, described accelerograph is connected with described controller 105, when described accelerograph detects that the landing acceleration/accel of described unmanned vehicle 101 is greater than predetermined threshold value, judge that described unmanned vehicle 101 is in fall condition.
Preferred in the embodiment of the present invention, the landing acceleration/accel predetermined threshold value of described unmanned vehicle 101 can be 8 or 9, namely when described accelerograph detects that the landing acceleration/accel of described unmanned vehicle 101 is greater than 8 or 9, namely time close to free-falling body, illustrate that described unmanned vehicle 101 goes wrong, therefore need to trigger described ejection mechanism 106.In order to safety, what also this value can be arranged is lower, as 6 or 7.
Preferred in the embodiment of the present invention, described judge module 102 also comprises the speed sensor for detecting the current descending speed of described unmanned vehicle 101 in real time, described speed sensor connects described controller 105, when described speed sensor detects that the sinking speed of described unmanned vehicle 101 is greater than the predetermined value of setting in advance, then described judge module 102 judges that described unmanned vehicle 101 is in fall condition.Wherein, the described sinking speed predetermined value of described unmanned vehicle 101 realizing setting can be that under conventional environment, described unmanned vehicle 101 can the maximum falling speed of safe falling.
Preferred in the embodiment of the present invention; described unmanned vehicle 101 also comprises driving engine; described judge module 102 connects described driving engine; whether the described driving engine of real-time detection is in normal working; once described driving engine breaks down, then can start described device and protect, lighter parts described in making are separated compared with heavy parts with described under the effect of described ejection mechanism; drop to ground respectively, effectively ensure unmanned vehicle, airborne equipment and ground dough figurine or the safety of thing.
Preferred in the embodiment of the present invention, whether be on the basis of normal working at the landing acceleration/accel of the described unmanned vehicle of above-mentioned real-time detection 101 and/or current descending speed and/or described driving engine, described judge module 102 also comprises the electric quantity detecting circuit for detecting described unmanned vehicle 101 current residual electricity, described electric quantity detecting circuit is connected with described battery and described controller 105, when the landing acceleration/accel of described unmanned vehicle is greater than predetermined threshold value and/or when sinking speed is greater than the predetermined value of setting in advance and/or when described driving engine breaks down, and when described electric quantity detecting circuit detects that the current residual electricity of described unmanned vehicle 101 is less than the safety electric value of setting in advance simultaneously, then judge that described unmanned vehicle 101 is in fall condition.Wherein, the safety electric value of described prior setting can be 0.
Preferred in the embodiment of the present invention, described electric quantity detecting circuit is AD Acquisition Circuit and/or amperemeter.
In other embodiments, electric current, voltage integrated mensuration can be adopted.Gather the voltage on battery output by AD Acquisition Circuit, and gather the electric current on Sampling device by amperemeter, then calculate the current residual electricity of battery according to the relation of Q=Pt=UIt.
Preferred in the embodiment of the present invention, described judge module 102 also comprises remote controller or ground station, the communication module be positioned on described unmanned vehicle, described remote controller or ground station and described communication module can two way communications, fly on control plate described in described communication module is arranged at, described controller 105 is connected with described communication module, and described controller 105 receives by described communication module extraneous signal that described remote controller or ground station send and triggers described ejection mechanism and be separated described from described unmanned vehicle by the part 104 of launching separation.In above-mentioned example, described ejection mechanism in described unmanned vehicle belongs to automatic triggering, and ejection mechanism described in this example belongs to manual triggers, namely, when from ground observation, beeper or user think that described unmanned vehicle cannot carry out safety control, remote manual triggering is carried out by described remote controller or ground station.
Preferred in the embodiment of the present invention, described communication module adopts UART interface, and MAX3243, as RS232 level transferring chip, realizes the mutual conversion of Transistor-Transistor Logic level and RS232 level.Serial communication baud rate is 38400bps, data bit 8, stop bit 1, and data check adopts checksum verification mode.Described communication module receives telecommand by wireless link, sends unmanned vehicle telemetry data to described ground station, realizes the data interaction of described unmanned vehicle and described ground station.
Preferred in the embodiment of the present invention, in order to increase the accuracy judging to fall further, the combination in any in above-mentioned judgment mode can also be adopted, such as: described unmanned vehicle 101 is in stall condition (when the landing acceleration/accel of the described unmanned vehicle 101 that described accelerograph detects is greater than described predetermined threshold value) when out of control falling, when detecting that described unmanned vehicle 101 angle of inclination is greater than described predetermined angular simultaneously, and after continuing predetermined time, described controller 105 just triggers described ejection mechanism 106.
Preferred in the embodiment of the present invention, when described judge module 102 judges that described unmanned vehicle 101 is in fall condition, described controller 105 can also control described rotor and stop the rotation.Due to the velocity of rotation of its rotor that slows down, its raising force is diminished, avoid described unmanned vehicle 101 descending speed too fast.Like this, the descending speed of described unmanned vehicle 101 can be reduced further, alleviate air crash loss.
Preferred in the embodiment of the present invention, described ejection mechanism 106 comprises ejection arm and gate-controlled switch, and described gate-controlled switch connects described ejection arm and described controller 105, and described gate-controlled switch is controlled by described controller 105.
Preferred in the embodiment of the present invention, described gate-controlled switch is electromagnetic valve.When the downward acceleration due to gravity that described accelerograph detects is greater than above-mentioned value, described controller 105 sends control signal, controls described closed electromagnetic valve, drives described ejection arm to move, and by described battery ejection, protects unmanned vehicle 101.In other embodiment, described electromagnetic valve can also be other the gate-controlled switch such as contactless switch, electronic switch.
Preferred in the embodiment of the present invention, described ejection mechanism 106 can be arbitrary catapult-launching gear, as long as it can realize the described centrifugation compared with heavy parts and described lighter parts.Such as, described ejection mechanism can Pneumatic ejection mechanism, the piston ejector ram, ejector piston that can stretch, or described ejection mechanism is positioned at two of arranging in chiasma type in the middle part of described battery compartment to launch elastic, described in launch elastic and be separately fixed on the bulkhead of described battery compartment.Described battery is arranged in described battery compartment and launches between elastic and storehouse lid.Described Cang Gai links with described unmanned vehicle body.When described unmanned vehicle occur unexpected and out of control fall when, described controller sends triggering command, opens described Cang Gai, launches the pressure of elastic described in described battery is subject to, battery compartment described in automatic spring.
Preferred in the embodiment of the present invention, described unmanned vehicle 101 also comprises navigation positional device.Further, described navigation positional device is GPS or big-dipper satellite registration device, and it for responding to the latitude and longitude information of unmanned vehicle at solid space, and sends to described controller.
The embodiment of the invention discloses a kind of unmanned vehicle being provided with falling protecting device; for the aviation accident that those unavoidably occur; by parts lighter in aircraft and the thinking be automatically separated compared with heavy parts; the damage of aircraft in aviation accident can be reduced; thus the cost alleviating maintenance and safeguard, be also the air security improving aircraft from another aspect.Many rotary wind types unmanned vehicle is as a kind of equipment of air activity, and density own is just very low, very light in weight, but wherein equipment component, such as battery, power unit, and density is larger comparatively speaking.In air crash situation, alleviating of weight, even if just a bit, for overall damaging consequences, issuable impact is very big, as long as so can reduce weight, just effectivelyly can guarantee device security.
Embodiment two, a kind of unmanned vehicle being provided with falling protecting device.
Fig. 2 is the unmanned vehicle structural representation being provided with falling protecting device of the embodiment of the present invention 2, and composition graphs 2 is specifically described by the embodiment of the present invention.
As shown in Figure 2, embodiments provide a kind of unmanned vehicle 201 being provided with falling protecting device, judge whether described unmanned vehicle 201 is in the judge module of fall condition for accelerograph 202 with described, Part I comprises frame, body, the lighter parts such as rotor 203 and Part II (namely above-mentioned described launched the part be separated) for mains connection set 204 for example is described, wherein, described mains connection set 204 comprises battery, actuator, battery compartment, Cang Gai and storehouse lid switch, described battery is connected with described actuator, described actuator connects described controller 205, described controller 205 connects described storehouse lid switch, described ejection mechanism 206 is arranged in described battery compartment, described controller 205 is connected with described accelerograph 202 and described ejection mechanism 206 respectively, described ejection mechanism 206 connects described battery.When the unmanned vehicle 201 that described accelerograph 202 detects land acceleration/accel exceed predetermined threshold value time, judge that described unmanned vehicle 201 is in fall condition, described controller 205 sends ejection signal and controls described ejection mechanism 206 and be separated from described lighter parts 203 by described battery.
Preferred in the embodiment of the present invention, parachuting module 207 is also provided with in described battery compartment, described parachuting module 207 comprises parachute and the delayed trigger parachute-opening unit of folding collecting, described delayed trigger parachute-opening unit is connected with described controller 205 and described parachute respectively, the ejection signal delay scheduled time that described controller 205 can send by described delayed trigger parachute-opening unit, after described battery has launched with described lighter parts 203 and has been separated, just described parachute is trailed from described battery top, the described lighter parts 203 of described parachute and described unmanned vehicle 201 are avoided to be wound around, the battery declined is protected, prevent it from crashing or burning, avoid producing secondary injury to below crowd simultaneously, ensure that the safety of flight safety and surrounding people.
In foregoing invention embodiment, how the part that described unmanned vehicle density is low, quality is light, wind area is large is protected, and has had and has absolutely proved.But for the comparatively heavy parts separated, especially battery, also can implement protection targetedly.
Although proposed in prior art to increase parachute to alleviate the scheme of air crash risk on described unmanned vehicle.But wherein a kind of defect is: because the contour structures of described unmanned vehicle is complicated, when described parachute ejects, is probably wound around with described unmanned vehicle, cannot normally opens; In addition, when crosswind is larger, because the wind area of described unmanned vehicle is large, also likely because crosswind rotates or deflects, described unmanned vehicle is wound on described parachute, causes described parachute mechanism normally to work.
The embodiment of the present invention is on above-described embodiment basis, described comparatively heavy parts is separated process from described unmanned vehicle, the described face shaping compared with heavy parts is usually comparatively regular, arrange independent parachute for these compared with heavy parts, just energy actv. ensures the landing of these heavier piece safety.
And, be also following several aspect for the described benefit designing separately parachute compared with heavy parts:
Because described heavier partial shape is regular, wind area is little, reduce winding probability;
Although described comparatively heavy parts density is higher, be also only a part of original unmanned vehicle, therefore, from total weight, total weight reduces, for described parachute load alleviate, therefore, safer.
With reference to above-mentioned similar reason, because the load of described parachute reduces, comparatively speaking, the weight and volume of landing pack also reduces, and so makes the deadweight under described unmanned vehicle service condition have also been obtained further control.
In the embodiment of the present invention, the described controller of described unmanned vehicle can receive the external command of detection and produce to the restriction signal relevant to described rotor of one or more actuator (motor), makes described rotor (and relevant screw propeller) slow-down.
Preferred in the embodiment of the present invention, described controller can pass through central process unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM) realize.
Preferred in the embodiment of the present invention, described controller can comprise one or more programmable processor and memory device, and described memory device is non-volatile computer-readable medium.Described controller can be connected with non-volatile computer-readable medium.Described non-volatile computer-readable medium can comprise one or more memory cell (such as removable medium or external memory storage, as SD card or random access memory).In certain embodiments, the data coming from sensor can directly transmit and be stored in the memory cell of described non-volatile computer-readable medium and (such as connect (DMA) by direct memory access).The memory cell of described non-volatile computer-readable medium can storage code and/or programmed instruction.Described controller performs this code and/or programmed instruction, to perform the embodiment that this specification sheets describes.
The embodiment of the invention discloses a kind of unmanned vehicle being provided with falling protecting device; on the thinking basis that can be separated in above-mentioned realization; comparatively heavy parts for those regular shape installs parachute, reduces loss further, avoids parachute to the winding of lighter parts.For the comparatively heavy parts launching separation, separately design parachute is protected, can either the comparatively heavy parts of the usual shape of available protecting comparatively rule, is also of value to the protection of lighter parts simultaneously.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment three, a kind of unmanned vehicle falling guard falling guard method.
Fig. 3 is the unmanned vehicle falling guard falling guard method flow diagram of the embodiment of the present invention three, and composition graphs 3 is specifically described by the embodiment of the present invention.
As shown in Figure 3, embodiments provide a kind of unmanned vehicle falling guard falling guard method, comprise the following steps:
Step S301: judge whether described unmanned vehicle is in fall condition;
Step S302: if described unmanned vehicle is in fall condition, the part triggering described unmanned vehicle launches separation from described unmanned vehicle; Otherwise, jump back to described step S301.
Preferred in the embodiment of the present invention, describedly judge the step whether described unmanned vehicle is in fall condition, specifically, comprising:
Preset the landing acceleration rate threshold of described unmanned vehicle and store;
The landing acceleration/accel of unmanned vehicle described in Real-Time Monitoring;
Judge whether the landing acceleration/accel of described unmanned vehicle is greater than described predetermined threshold value;
If be greater than, then judge that described unmanned vehicle is in fall condition;
Otherwise described unmanned vehicle is in regular flight condition.
Preferred in the embodiment of the present invention, the landing acceleration/accel predetermined threshold value of described unmanned vehicle can be 8 or 9, namely when described accelerograph detects that the landing acceleration/accel of described unmanned vehicle is greater than 8 or 9, namely time close to free-falling body, illustrate that described unmanned vehicle goes wrong, therefore need to trigger described ejection mechanism.In order to safety, what also this value can be arranged is lower, as 6 or 7.
Preferred in the embodiment of the present invention, describedly judge the step whether described unmanned vehicle is in fall condition, specifically, comprising:
Preset the sinking speed predetermined value of described unmanned vehicle and store;
The sinking speed of unmanned vehicle described in Real-Time Monitoring;
Judge that the sinking speed of described unmanned vehicle is greater than described predetermined value;
If be greater than, then judge that described unmanned vehicle is in fall condition;
Otherwise described unmanned vehicle is in regular flight condition.
Preferred in the embodiment of the present invention, the data also comprised receiving carry out filtering process, filtering process can filter out the noise information because motor high-frequency vibration etc. brings, and concrete filtering mode is a lot, and such as Kalman filter degree can well reduce the fault rate judging to fall.
Preferred in the embodiment of the present invention, the Part I of described unmanned vehicle comprises lighter parts, and described lighter parts comprise body, frame, shell, wing, it is some or all of to fly to control in plate; Namely the Part II of described unmanned vehicle is comprised comparatively heavy parts by the part of launching separation, and described comparatively heavy parts comprises mains connection set.When judging that described unmanned vehicle is in air crash state, lighter parts described in described unmanned vehicle are implemented to be separated with described comparatively heavy parts.The embodiment of the present invention, specifically using battery compartment as the described Typical Representative compared with heavy parts, carrys out example explanation using other parts except battery as the Typical Representative of described lighter parts.
The embodiment of the invention discloses a kind of unmanned vehicle falling guard method; for the aviation accident that those unavoidably occur; by parts lighter in aircraft and the thinking be automatically separated compared with heavy parts; the damage of aircraft in aviation accident can be reduced; thus the cost alleviating maintenance and safeguard, be also the air security improving aircraft from another aspect.Many rotary wind types unmanned vehicle is as a kind of equipment of air activity, and density own is just very low, very light in weight, but wherein equipment component, such as battery, power unit, and density is larger comparatively speaking.In air crash situation, alleviating of weight, even if just a bit, for overall damaging consequences, issuable impact is very big, as long as so can reduce weight, just effectivelyly can guarantee device security.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment four, a kind of unmanned vehicle falling guard method.
Fig. 4 is the unmanned vehicle falling guard method flow diagram of the embodiment of the present invention four, and composition graphs 4 is specifically described by the embodiment of the present invention.
As shown in Figure 4, embodiments provide a kind of unmanned vehicle falling guard method, this falling guard method comprises the following steps:
Step S401: judge whether described unmanned vehicle is in fall condition;
Step S402: if described unmanned vehicle is in fall condition, the part triggering described unmanned vehicle launches separation from described unmanned vehicle; Otherwise, jump back to step S401;
Step S403: open and describedly launched the parachute that the part of separation is arranged.
Preferred in the embodiment of the present invention, the Part II (namely described launched the part be separated) that the Part I of described unmanned vehicle comprises the lighter parts such as frame, body, rotor and described unmanned vehicle is this comparatively heavy parts of mains connection set.Wherein, described mains connection set comprises battery, actuator, battery compartment, Cang Gai and storehouse lid switch, described battery is connected with described actuator, described actuator connection control device, described controller connects described storehouse lid switch, described ejection mechanism is arranged in described battery compartment, and described controller is connected with described accelerograph and described ejection mechanism respectively, and described ejection mechanism connects described battery.When the unmanned vehicle landing acceleration/accel that described accelerograph detects exceedes predetermined threshold value, judge that described unmanned vehicle is in fall condition, described controller sends ejection signal and controls described ejection mechanism by described battery from described lighter isolation of components.
Preferred in the embodiment of the present invention; time delay step is also comprised before described step S403; by the ejection signal delay scheduled time that controller sends; after described battery has launched with described lighter parts and has been separated; just described parachute is trailed from described battery top; the described lighter parts of described parachute and described unmanned vehicle are avoided to be wound around; the battery declined is protected; prevent it from crashing or burning; avoid producing secondary injury to below crowd simultaneously, ensure that the safety of flight safety and surrounding people.
The embodiment of the present invention is on above-described embodiment basis, described comparatively heavy parts is separated process from described unmanned vehicle, the described face shaping compared with heavy parts is usually comparatively regular, arrange independent parachute for these compared with heavy parts, just energy actv. ensures the landing of these heavier piece safety.
And, be also following several aspect for the described benefit designing separately parachute compared with heavy parts:
Because described heavier partial shape is regular, wind area is little, reduce winding probability;
Although described comparatively heavy parts density is higher, be also only a part of original unmanned vehicle, therefore, from total weight, total weight reduces, for described parachute load alleviate, therefore, safer.
With reference to above-mentioned similar reason, because the load of described parachute reduces, comparatively speaking, the weight and volume of landing pack also reduces, and so makes the deadweight under described unmanned vehicle service condition have also been obtained further control.
The embodiment of the invention discloses a kind of unmanned vehicle falling guard method, on the thinking basis that can be separated in above-mentioned realization, the comparatively heavy parts for those regular shape installs parachute, reduces loss further, avoids parachute to the winding of lighter parts.For the comparatively heavy parts launching separation, separately design parachute is protected, can either the comparatively heavy parts of the usual shape of available protecting comparatively rule, is also of value to the protection of lighter parts simultaneously.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
The present invention can bring these useful technique effects: the unmanned vehicle and the falling guard method thereof that are provided with falling protecting device disclosed in the embodiment of the present invention; for the aviation accident that those unavoidably occur; by parts lighter in aircraft and the thinking be automatically separated compared with heavy parts; the damage of aircraft in aviation accident can be reduced; thus the cost alleviating maintenance and safeguard, be also the air security improving aircraft from another aspect.Meanwhile, on the thinking basis that the present invention can be separated in above-mentioned realization, the comparatively heavy parts for those regular shape installs parachute, reduces loss further, avoids parachute to the winding of lighter parts.For the comparatively heavy parts launching separation, separately design parachute is protected, can either the comparatively heavy parts of the usual shape of available protecting comparatively rule, is also of value to the protection of lighter parts simultaneously.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. one kind is provided with the unmanned vehicle of falling protecting device; it is characterized in that: comprise and judge whether described unmanned vehicle is in the judge module of fall condition; and when described judge module judges that described unmanned vehicle is in fall condition; the controller sending ejection signal with a part for described unmanned vehicle is launched from described unmanned vehicle the ejection mechanism be separated; wherein; described controller is connected with described judge module and described ejection mechanism respectively, and described ejection mechanism connection is described is launched the part of separation.
2. the unmanned vehicle being provided with falling protecting device according to claim 1, is characterized in that: the described comparatively heavy parts comprised by the part of launching separation in described unmanned vehicle, described comparatively heavy parts at least comprises mains connection set.
3. the unmanned vehicle being provided with falling protecting device according to claim 2; it is characterized in that: described mains connection set comprises battery and battery compartment; described ejection mechanism is arranged in described battery compartment, and is installed on described ejection mechanism by described battery.
4. the unmanned vehicle being provided with falling protecting device according to claim 1; it is characterized in that: described judge module comprises the accelerograph of the landing acceleration/accel for detecting described unmanned vehicle; described accelerograph is connected with described controller; when described accelerograph detects that the landing acceleration/accel of described unmanned vehicle is greater than predetermined threshold value, judge that described unmanned vehicle is in fall condition.
5. the unmanned vehicle being provided with falling protecting device according to claim 1 or 4; it is characterized in that: described judge module comprises the speed sensor for detecting the current descending speed of described unmanned vehicle in real time; described speed sensor connects described controller; when described speed sensor detects that the sinking speed of described unmanned vehicle is greater than the predetermined value of setting in advance, then described judge module judges that described unmanned vehicle is in fall condition.
6. the unmanned vehicle being provided with falling protecting device according to claim 1; it is characterized in that: described ejection mechanism comprises ejection arm and gate-controlled switch; described gate-controlled switch connects described ejection arm and described controller, and described gate-controlled switch is controlled by described controller.
7. the unmanned vehicle being provided with falling protecting device according to claim 1; it is characterized in that: describedly also comprised parachuting module by the part of launching separation; described parachuting module comprises parachute and the delayed trigger parachute-opening unit of folding collecting, and described delayed trigger parachute-opening unit is connected with described controller and described parachute respectively.
8. a unmanned vehicle falling guard method, comprises the following steps:
Judge whether described unmanned vehicle is in fall condition;
If described unmanned vehicle is in fall condition, the part triggering described unmanned vehicle launches separation from described unmanned vehicle.
9. unmanned vehicle falling guard method according to claim 8, is characterized in that: describedly judge the step whether described unmanned vehicle is in fall condition, specifically, comprising:
Preset the landing acceleration rate threshold of described unmanned vehicle and/or sinking speed predetermined value and store;
The landing acceleration/accel of unmanned vehicle described in Real-Time Monitoring and/or sinking speed;
Judge whether the sinking speed whether the landing acceleration/accel of described unmanned vehicle is greater than described predetermined threshold value and/or described unmanned vehicle is greater than described predetermined value;
If be greater than, then judge that described unmanned vehicle is in fall condition;
Otherwise described unmanned vehicle is in regular flight condition.
10. unmanned vehicle falling guard method according to claim 8 or claim 9; it is characterized in that: after the part of the described unmanned vehicle of described triggering launches separation from described unmanned vehicle, also comprise opening and describedly launched the parachute step that the part of separation is arranged.
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| CN201510753823.6A CN105253306A (en) | 2015-11-09 | 2015-11-09 | UAV (Unmanned aerial vehicle) provided with falling guard device and falling guard method thereof |
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| CN201510753823.6A CN105253306A (en) | 2015-11-09 | 2015-11-09 | UAV (Unmanned aerial vehicle) provided with falling guard device and falling guard method thereof |
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| CN114180065A (en) * | 2020-11-05 | 2022-03-15 | 北星空间信息技术研究院(南京)有限公司 | Method for throwing plug-in accessories of plant protection type unmanned aerial vehicle |
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