CN106882394B - The urgent parachuting device and method of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle - Google Patents
The urgent parachuting device and method of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle Download PDFInfo
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- CN106882394B CN106882394B CN201710107272.5A CN201710107272A CN106882394B CN 106882394 B CN106882394 B CN 106882394B CN 201710107272 A CN201710107272 A CN 201710107272A CN 106882394 B CN106882394 B CN 106882394B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/40—Packs
- B64D17/52—Opening, e.g. manual
- B64D17/54—Opening, e.g. manual automatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Mechanical Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of urgent parachuting device and method of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle, described device includes umbrella storehouse, umbrella warehouse lid, parachute, throws umbrella spring, locking bolt, unlock steering engine, microcontroller, inertia motion measuring unit and spring support rotating device；The umbrella warehouse lid is fixed on umbrella storehouse under the collective effect of unlock steering engine and locking bolt, and the umbrella storehouse is fixed in multi-rotor unmanned aerial vehicle；The parachute is thrown in the structure that umbrella storehouse is arranged in umbrella spring, microcontroller, inertia motion measuring unit and spring support rotating device and umbrella warehouse lid forms；The microcontroller is connect with unlock steering engine, inertia motion measuring unit and spring support rotating device respectively, and described one end for throwing umbrella spring is fixed on spring support rotating device, and the other end is fixed on parachute.The present invention is by adaptively adjusting spring flip angle, so that can guarantee that parachute pops up vertically upward in the case of larger yaw tilt occurs in multi-rotor unmanned aerial vehicle posture.
Description
Technical field
The present invention relates to more rotors of a kind of unmanned aircraft parachute descent device and method, especially automatic adjusument flip angle without
Man-machine urgent parachuting device and method, belongs to agriculture unmanned plane research field.
Background technique
Multi-rotor unmanned aerial vehicle be a kind of tool there are three and the above rotor shaft special pilotless helicopter, be currently to navigate
There is a large amount of demand in practical applications in the hot spot of empty area research, such as: it scouts and rescue duty, science data is collected,
Geology, forestry exploration, control of agricultural pest and video monitoring, production of film and TV etc..It is completed by unmanned vehicle above-mentioned
Task can substantially reduce cost and improve personnel safety guarantee.Therefore, in recent years unmanned vehicle it is military, civilian especially
It is that agriculture field is quickly grown.But currently, due to landform when unmanned machine operation, the problems such as landforms, obstacle, operation, is easy
Existing various burst risks, it is serious to even result in air crash and aircraft bombing, so that there is biggish economic loss in user and peasant household.
Currently, unmanned aircraft parachute descent device mostly uses the mode for directing out ejection parachute to implement to save oneself, in unmanned plane
When larger change does not occur in posture, parachuting device be can work normally, but larger yaw tilt situation occurs in unmanned plane
Under, since flip angle tiltedly moves, parachuting device is not easy timely and effective opening, to reduce the success rate of saving oneself of unmanned plane.
Therefore, designing one kind, cost is relatively low, and the higher multi-rotor unmanned aerial vehicle parachuting device of reliability has high reason
By and practical significance.
Summary of the invention
The purpose of the present invention is to solve the defects of the above-mentioned prior art, provide a kind of automatic adjusument flip angle
The urgent parachuting device of multi-rotor unmanned aerial vehicle, the device by adaptively adjust spring flip angle so that multi-rotor unmanned aerial vehicle
In the case of larger yaw tilt occurs in posture, it can guarantee that parachute pops up vertically upward, simple, the light-weight, Shandong with structure
The features such as stick is strong.
Another object of the present invention is to provide a kind of urgent parachuting methods of multi-rotor unmanned aerial vehicle based on above-mentioned apparatus.
The purpose of the present invention can be reached by adopting the following technical scheme that:
The urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle, including umbrella storehouse, umbrella warehouse lid, parachute,
Throw umbrella spring, locking bolt, unlock steering engine, microcontroller, inertia motion measuring unit and spring support rotating device；
There are two the locking bolt and unlock steering engine are each, two unlock steering engines are separately fixed at umbrella storehouse both sides side wall, two locks
Bolt is located at the top of two unlock steering engines, and connect respectively with two unlock steering engines, and the umbrella warehouse lid is in locking bolt and unlock
It is fixed under the collective effect of steering engine on umbrella storehouse, the umbrella storehouse is fixed in multi-rotor unmanned aerial vehicle；
The parachute, throwing umbrella spring, microcontroller, inertia motion measuring unit and the setting of spring support rotating device exist
In the structure of umbrella storehouse and umbrella warehouse lid composition；The microcontroller respectively with unlock steering engine, inertia motion measuring unit and spring branch
The connection of frame rotating device, described one end for throwing umbrella spring are fixed on spring support rotating device, and the other end is fixed on parachute
On.
Preferably, the spring support rotating device includes spring bottom structure stand, roll axis steering engine and pitch axis rudder
Machine, described one end for throwing umbrella spring are fixed on spring bottom structure stand, and the other end is fixed on parachute, the roll axis
The round shaft of steering engine front end is connect with spring bottom structure stand, and spring bottom structure stand is driven when roll axis steering engine rotates
The rotation around X direction occurs；The round shaft of pitch axis steering engine front end is connect with spring bottom structure stand, pitching
Drive spring bottom structure stand that the rotation around y direction occurs when axis steering engine rotates.
Preferably, the urgent parachuting device of the multi-rotor unmanned aerial vehicle further include power management module, built-in rechargeable battery and
Power battery, the power management module use DC-DC module, which exports 3.3V and 5V power supply, and 5V power supply is used for
Driving unlock steering engine, roll axis steering engine and pitch axis steering engine, 3.3V power supply are used to be microcontroller and inertia motion measuring unit
Power supply；The power battery is powered by power management module to the urgent parachuting device of entire multi-rotor unmanned aerial vehicle, while power
Battery passes through power management module also as built-in rechargeable battery charging.
Preferably, the inertia motion measuring unit includes three-axis gyroscope, three axis accelerometer and three axis earth magnetism sensing
Device, the three-axis gyroscope, three axis accelerometer and three axis geomagnetic sensors are connect with microcontroller respectively.
Further, the inertia motion measuring unit further includes pitot meter, altimeter, light stream camera and GPS module,
The pitot meter, altimeter, light stream camera and GPS module are connect with microcontroller respectively.
Another object of the present invention can be reached by adopting the following technical scheme that:
The urgent parachuting method of multi-rotor unmanned aerial vehicle based on the urgent parachuting device of above-mentioned multi-rotor unmanned aerial vehicle, the method packet
Include: microcontroller obtains the power voltage of current unmanned plane, and instantaneous height, acceleration calculate the rate of descent of unmanned plane, if
In dangerous fall condition, then sends halt instruction and stop propeller rotation to the flight control system of unmanned plane, and adjust simultaneously
Whole spring support rotating device, controls the flip angle of parachute, and parachute is vertically dished out upwards by throwing umbrella spring, makes nothing
Man-machine safety lands.
Specifically, the described method comprises the following steps:
S1, multi-rotor unmanned aerial vehicle power on, and microcontroller timing acquisition unmanned plane power battery voltage and inertia motion are surveyed
Measure instantaneous acceleration, angular speed and the height value of unit output；
S2, microcontroller are calculated and are analyzed to the data of acquisition, and unmanned plane power battery voltage value and current is obtained
Height, decrease speed and decline acceleration information；
If S3, certain moment unmanned plane power battery voltage value are more than early warning value, S4 is thened follow the steps, otherwise, executes step
Rapid S8；
If S4, certain moment flying height, decrease speed, in decline acceleration three wantonly two more than early warning value,
Determine that unmanned plane is in the hole；And judge whether again after waiting for a period of time still in precarious position；If it is, holding
Row step S5, it is no to then follow the steps S8；
S5, microcontroller send halt instruction to the flight control system of unmanned plane, stop propeller rotation；
S6, microcontroller obtain the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit, pass through control
Roll axis steering engine and pitch axis steering engine deflection processed, makes spring bottom structure stand keep horizontal attitude；
S7, microcontroller quickly extract locking bolt out by unlocking steering engine, throw umbrella spring parachute is vertical upwards out of umbrella storehouse
It dishes out, unmanned plane enters parachuting state；
S8, unmanned plane normal flight repeat step S2~S4.
Preferably, in step S3, the early warning value of unmanned plane power battery voltage is calculated using following formula:
Wherein, VaFor the early warning value of unmanned plane power battery voltage, VsFor the arm's length standard voltage of unmanned plane power battery,
Different according to power battery stacking number, arm's length standard voltage is 7.4V, 11.1V, 14.8V or 22.2V.
Preferably, in step S4, the waiting time is calculated using following formula:
Wherein, t is the waiting time, and v is the decrease speed at certain moment, and a is the decline acceleration at certain moment, and s is certain moment
Falling head.
Preferably, in step S6, the microcontroller obtains the pitching of current unmanned plane by inertia motion measuring unit
Angle and roll angle are deflected by control roll axis steering engine and pitch axis steering engine, and spring bottom structure stand is made to keep horizontal attitude,
It is specific as follows:
Microcontroller obtains the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit, if the nothing obtained
Man-machine pitch angle is α degree, and roll angle is β degree, and microcontroller controls roll axis steering engine deflection-α degree and pitch axis steering engine deflection-
β degree makes spring bottom structure stand keep horizontal attitude.
The present invention have compared with the existing technology it is following the utility model has the advantages that
1, there is the case where larger yaw tilt, nothing in multi-rotor unmanned aerial vehicle posture for current parachuting device in the present invention
People's parachute landing device does not consider that current UAV Attitude directs out ejection parachute, since flip angle tiltedly moves, parachuting device
Be not easy timely and effective opening, thus reduce unmanned plane save oneself success rate the problem of, microcontroller send halt instruction to
While the flight control system of unmanned plane makes propeller stop rotating, meeting automatic adjustment spring bracket rotating device, control drop
The flip angle of umbrella is fallen, parachute is vertically dished out by throwing umbrella spring upwards then, makes unmanned plane safe landing；Meanwhile it locking
There are two bolt and unlock steering engine are each, two unlock steering engines are separately fixed at umbrella storehouse both sides side wall, and two locking bolts are located at two
The top of steering engine is unlocked, and is connect respectively with two unlock steering engines, even if wherein the locking bolt on one side and unlock steering engine occur in this way
Failure causes locking bolt that can not extract out, as long as the locking bolt of another side and unlock steering engine are normal, still can smoothly pop up parachute.
2, spring support rotating device of the invention includes spring bottom structure stand, roll axis steering engine and pitch axis rudder
Machine, microcontroller obtains the posture of current unmanned plane by inertia motion measuring unit, if UAV Attitude deflects,
Control roll axis steering engine, pitch axis steering engine adjust rapidly the posture of spring bottom structure stand, in the feelings of UAV Attitude deflection
Under condition, so that the flip angle for throwing umbrella spring keeps vertically upward, enabling parachute is timely and effective to open.
Detailed description of the invention
Fig. 1 is the urgent parachuting apparatus structure schematic diagram of multi-rotor unmanned aerial vehicle of the invention.
Fig. 2 is circuit connecting relation schematic diagram in the urgent parachuting device of multi-rotor unmanned aerial vehicle of the invention.
Wherein, 1- umbrella storehouse, 2- umbrella warehouse lid, 3- parachute, 4- throw umbrella spring, 5- locking bolt, and 6- unlocks steering engine, 7- microcontroller
Device, 8- inertia motion measuring unit, 9- spring bottom structure stand, 10- roll axis steering engine, 11- pitch axis steering engine.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1:
As shown in Figure 1, present embodiments provide a kind of urgent parachuting device of multi-rotor unmanned aerial vehicle, the device include umbrella storehouse 1,
Umbrella warehouse lid 2, parachute 3 throw umbrella spring 4, locking bolt 5, unlock steering engine 6, microcontroller 7, inertia motion measuring unit 8 and spring branch
Frame rotating device.
The locking bolt 5 and unlock steering engine 6 it is each there are two, two unlock steering engines 6 are separately fixed at 1 both sides side wall of umbrella storehouse, two
A locking bolt 5 is located at the top of two unlock steering engines 6, and connect respectively with two unlock steering engines 6, and the umbrella warehouse lid 2 is being locked
It is fixed on umbrella storehouse 1 under the collective effect of bolt 5 and unlock steering engine 6, the umbrella storehouse 1 is fixed in multi-rotor unmanned aerial vehicle.
The parachute 3, throwing umbrella spring 4, microcontroller 7, inertia motion measuring unit 8 and spring support rotating dress install
It sets in the structure of umbrella storehouse 1 and the composition of umbrella warehouse lid 2, microcontroller 7, inertia motion measuring unit 8 in the present embodiment are located at umbrella
Bottom in storehouse 1；The microcontroller 7 respectively with unlock steering engine 6, inertia motion measuring unit 8 and spring support rotating device
Connection.
The spring support rotating device includes spring bottom structure stand 9, roll axis steering engine 10 and pitch axis steering engine 11,
Described one end for throwing umbrella spring 4 is fixed on spring bottom structure stand 9, and the other end is fixed on parachute 3, the roll axis
The round shaft of 10 front end of steering engine is connect with spring bottom structure stand 9, and spring bottom knot is driven when roll axis steering engine 10 rotates
Rotation around X direction occurs for structure bracket 9；The round shaft and spring bottom structure stand 9 of 11 front end of pitch axis steering engine
Connection drives spring bottom structure stand 9 that the rotation around y direction occurs when pitch axis steering engine 11 rotates.
Microcontroller 7 obtains the UAV Attitude data of Inertial Measurement Unit 8, calculates unmanned plane current pose, controls
Roll axis steering engine 10, pitch axis steering engine 11 adjust rapidly the posture of spring bottom structure stand 9, in the feelings of UAV Attitude deflection
Under condition, so that the flip angle for throwing umbrella spring 4 is kept vertically upward, then locking bolt 5 is unlocked steering engine 6 and quickly extracts out, umbrella warehouse lid 2
With parachute 3 simultaneously by the pop-up vertically upward of throwing umbrella spring 5, parachute 3 opens automatically under airflow function.
As depicted in figs. 1 and 2, the urgent parachuting device of the multi-rotor unmanned aerial vehicle of the present embodiment further include power management module,
Built-in rechargeable battery and power battery, the power management module use DC-DC module, which exports 3.3V and 5V
Power supply, for driving unlock steering engine 6, roll axis steering engine 10 and pitch axis steering engine 11,3.3V power supply is used to be microcontroller 5V power supply
Device 7 and inertia motion measuring unit 8 are powered；The power battery is urgent to entire multi-rotor unmanned aerial vehicle by power management module
The power supply of parachuting device, while power battery passes through power management module also as built-in rechargeable battery charging.
The microcontroller 7 uses STM32 series monolithic；The inertia motion measuring unit 8 is quick-connecting inertia measurement
Unit comprising three-axis gyroscope, three axis accelerometer, three axis geomagnetic sensors, pitot meter, altimeter (vapour-pressure type or ultrasound
Waves), light stream camera and GPS module；Wherein three-axis gyroscope, three axis accelerometer and three axis geomagnetic sensors can use
MPU9150 (integrated three-axis gyroscope, three axis accelerometer, three axis geomagnetic sensors) or three-axis gyroscope, three axis accelerometer
It can be using MPU6550 (integrated three-axis gyroscope, three axis accelerometer) and HMC5883 (three axis with three axis geomagnetic sensors
Magnetic Sensor)；Altimeter can use BMP085 (MEMS barometertic altimeter), or use MaxSonar EZ4 (ultrasonic height
Sensor), light stream camera can use ADNS3080, and GPS module can use Ublox NEO series module.
It is tight that the present embodiment additionally provides a kind of multi-rotor unmanned aerial vehicle based on the urgent parachuting device of above-mentioned multi-rotor unmanned aerial vehicle
Anxious parachuting method, this method comprises: microcontroller 7 obtains the power voltage of current unmanned plane, instantaneous height, acceleration are resolved
The rate of descent of unmanned plane out, if sending halt instruction in dangerous fall condition to the flight control system of unmanned plane, stopping
Only propeller rotates, and adjusts spring support rotating device simultaneously, controls the flip angle of parachute 3, will by throwing umbrella spring 4
Parachute 3 is vertically dished out upwards, makes unmanned plane safe landing；Specifically includes the following steps:
S1, multi-rotor unmanned aerial vehicle power on, and 7 timing acquisition unmanned plane power battery voltage of microcontroller and inertia motion are surveyed
Measure instantaneous acceleration, angular speed and the height value of unit output；
S2,7 pairs of microcontroller acquisitions data calculated and analyzed, obtain unmanned plane power battery voltage value and current
Height, decrease speed and decline acceleration information；
If S3, certain moment unmanned plane power battery voltage value are more than early warning value, S4 is thened follow the steps, otherwise, executes step
Rapid S8；
The early warning value of unmanned plane power battery voltage is calculated using following formula:
Wherein, VaFor the early warning value of unmanned plane power battery voltage, VsFor the arm's length standard voltage of unmanned plane power battery,
Different according to power battery stacking number, arm's length standard voltage can be 7.4V, 11.1V, 14.8V or 22.2V；
If S4, certain moment flying height h, decrease speed v, in decline acceleration a tri- wantonly two more than early warning value,
Then determine that unmanned plane is in the hole；And judge whether again after waiting for a period of time still in precarious position；If it is,
Step S5 is executed, it is no to then follow the steps S8；
Waiting time t is calculated using following formula:
Wherein, t is the waiting time, and v is the decrease speed at certain moment, and a is the decline acceleration at certain moment, and s is certain moment
Falling head.
S5, microcontroller 7 send halt instruction to the flight control system of unmanned plane, stop propeller rotation；
S6, microcontroller 7 obtain the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit 8, if obtaining
The unmanned plane pitch angle taken is α degree, and roll angle is β degree, and microcontroller controls 10 deflection-α degree of roll axis steering engine and pitch axis
11 deflection-β degree of steering engine makes spring bottom structure stand keep horizontal attitude；
S7, microcontroller quickly extract locking bolt out by unlocking steering engine, throw umbrella spring parachute is vertical upwards out of umbrella storehouse
It dishes out, unmanned plane enters parachuting state；
S8, unmanned plane normal flight repeat step S2~S4.
In conclusion there is larger yaw tilt in multi-rotor unmanned aerial vehicle posture for current parachuting device in the present invention
Situation, unmanned aircraft parachute descent device does not consider that current UAV Attitude directs out ejection parachute, since flip angle tiltedly moves, umbrella
Falling unit is not easy timely and effective opening, thus reduce unmanned plane save oneself success rate the problem of, microcontroller send stop
While instructing the flight control system to unmanned plane makes propeller stop rotating, meeting automatic adjustment spring bracket rotating device,
The flip angle of parachute is controlled, parachute is vertically dished out by throwing umbrella spring upwards then, makes unmanned plane safe landing；Together
When, locking bolt and unlock steering engine it is each there are two, two unlock steering engines are separately fixed at umbrella storehouse both sides side wall, and two locking bolts are located at
The top of two unlock steering engines, and connect with two unlock steering engines respectively, even if so wherein the locking bolt on one side with unlock steering engine
Failure causes locking bolt that can not extract out, still can be smoothly by parachute bullet as long as the locking bolt of another side and unlock steering engine are normal
Out.
The above, only the invention patent preferred embodiment, but the scope of protection of the patent of the present invention is not limited to
This, anyone skilled in the art is in the range disclosed in the invention patent, according to the present invention the skill of patent
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the scope of protection of the patent of the present invention.
Claims (10)
1. the urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle, it is characterised in that: including umbrella storehouse, umbrella storehouse
Lid, parachute throw umbrella spring, locking bolt, unlock steering engine, microcontroller, inertia motion measuring unit and spring support rotating device；
There are two the locking bolt and unlock steering engine are each, two unlock steering engines are separately fixed at umbrella storehouse both sides side wall, two locking bolts point
Not Wei Yu two unlock steering engines top, and connect respectively with two unlock steering engines, the umbrella warehouse lid locking bolt with unlock steering engine
Collective effect under be fixed on umbrella storehouse, the umbrella storehouse is fixed in multi-rotor unmanned aerial vehicle；
The parachute throws umbrella spring, microcontroller, inertia motion measuring unit and the setting of spring support rotating device in umbrella storehouse
In the structure of umbrella warehouse lid composition；The microcontroller is revolved with unlock steering engine, inertia motion measuring unit and spring support respectively
Rotary device connection, described one end for throwing umbrella spring are fixed on spring support rotating device, and the other end is fixed on parachute.
2. the urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle according to claim 1, feature
Be: the spring support rotating device includes spring bottom structure stand, roll axis steering engine and pitch axis steering engine, the throwing umbrella
One end of spring is fixed on spring bottom structure stand, and the other end is fixed on parachute, the roll axis steering engine front end
Round shaft is connect with spring bottom structure stand, drives spring bottom structure stand to occur around horizontal axis when roll axis steering engine rotates
The rotation in direction；The round shaft of pitch axis steering engine front end is connect with spring bottom structure stand, the rotation of pitch axis steering engine
When drive spring bottom structure stand occur around y direction rotation.
3. the urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle according to claim 2, feature
Be: the urgent parachuting device of multi-rotor unmanned aerial vehicle further includes power management module, built-in rechargeable battery and power battery, institute
Power management module is stated using DC-DC module, which exports 3.3V and 5V power supply, and 5V power supply is for driving unlock rudder
Machine, roll axis steering engine and pitch axis steering engine, 3.3V power supply are used to power for microcontroller and inertia motion measuring unit；It is described dynamic
Power battery is powered by power management module to the urgent parachuting device of entire multi-rotor unmanned aerial vehicle, while power battery also passes through electricity
Source control module is built-in rechargeable battery charging.
4. the urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle according to claim 1, feature
Be: the inertia motion measuring unit includes three-axis gyroscope, three axis accelerometer and three axis geomagnetic sensors, three axis
Gyroscope, three axis accelerometer and three axis geomagnetic sensors are connect with microcontroller respectively.
5. the urgent parachuting device of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle according to claim 4, feature
Be: the inertia motion measuring unit further includes pitot meter, altimeter, light stream camera and GPS module, the pitot meter,
Altimeter, light stream camera and GPS module are connect with microcontroller respectively.
6. the urgent parachuting of multi-rotor unmanned aerial vehicle based on the urgent parachuting device of any one of the claim 1-5 multi-rotor unmanned aerial vehicle
Method, it is characterised in that: the described method includes: microcontroller obtains the power voltage of current unmanned plane, instantaneous height, acceleration
Degree, calculates the rate of descent of unmanned plane, if the flight for sending halt instruction to unmanned plane controls in dangerous fall condition
System stops propeller rotation, and adjusts spring support rotating device simultaneously, controls the flip angle of parachute, by throwing umbrella
Spring vertically dishes out parachute upwards, makes unmanned plane safe landing.
7. the urgent parachuting method of multi-rotor unmanned aerial vehicle according to claim 6, it is characterised in that: the method includes following
Step:
S1, multi-rotor unmanned aerial vehicle power on, and microcontroller timing acquisition unmanned plane power battery voltage and inertia motion measurement are single
Instantaneous acceleration, angular speed and the height value of member output；
S2, microcontroller are calculated and are analyzed to the data of acquisition, and unmanned plane power battery voltage value and current height are obtained
Degree, decrease speed and decline acceleration information；
If S3, certain moment unmanned plane power battery voltage value are more than early warning value, S4 is thened follow the steps, otherwise, executes step S8；
If S4, certain moment flying height, decrease speed, in decline acceleration three wantonly two more than early warning value, determine
Unmanned plane is in the hole；And judge whether again after waiting for a period of time still in precarious position；If it is, executing step
Rapid S5, it is no to then follow the steps S8；
S5, microcontroller send halt instruction to the flight control system of unmanned plane, stop propeller rotation；
S6, microcontroller obtain the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit, horizontal by control
Roller bearing steering engine and the deflection of pitch axis steering engine, make spring bottom structure stand keep horizontal attitude；
S7, microcontroller quickly extract locking bolt out by unlocking steering engine, throw umbrella spring and parachute is vertically dished out upwards out of umbrella storehouse,
Unmanned plane enters parachuting state；
S8, unmanned plane normal flight repeat step S2~S4.
8. the urgent parachuting method of multi-rotor unmanned aerial vehicle according to claim 7, it is characterised in that: in step S3, unmanned plane
The early warning value of power battery voltage is calculated using following formula:
Wherein, VaFor the early warning value of unmanned plane power battery voltage, VsFor the arm's length standard voltage of unmanned plane power battery, according to
Power battery stacking number is different, and arm's length standard voltage is 7.4V, 11.1V, 14.8V or 22.2V.
9. the urgent parachuting method of multi-rotor unmanned aerial vehicle according to claim 7, it is characterised in that: in step S4, when waiting
Between using following formula calculate:
Wherein, t is the waiting time, and v is the decrease speed at certain moment, and a is the decline acceleration at certain moment, and s is under certain moment
Drop height.
10. the urgent parachuting method of multi-rotor unmanned aerial vehicle according to claim 7, it is characterised in that: described micro- in step S6
Controller obtains the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit, by control roll axis steering engine and
The deflection of pitch axis steering engine makes spring bottom structure stand keep horizontal attitude, specific as follows:
Microcontroller obtains the pitch angle and roll angle of current unmanned plane by inertia motion measuring unit, if the unmanned plane obtained
Pitch angle is α degree, and roll angle is β degree, and microcontroller controls roll axis steering engine deflection-α degree and pitch axis steering engine deflection-β degree,
Spring bottom structure stand is set to keep horizontal attitude.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710107272.5A CN106882394B (en) | 2017-02-27 | 2017-02-27 | The urgent parachuting device and method of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710107272.5A CN106882394B (en) | 2017-02-27 | 2017-02-27 | The urgent parachuting device and method of the multi-rotor unmanned aerial vehicle of automatic adjusument flip angle |
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| Publication Number | Publication Date |
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| CN106882394A CN106882394A (en) | 2017-06-23 |
| CN106882394B true CN106882394B (en) | 2018-12-07 |
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| CN107804467A (en) * | 2017-11-22 | 2018-03-16 | 广西电网有限责任公司贺州供电局 | UAV flight's parachute assembly |
| CN108688821A (en) * | 2018-07-30 | 2018-10-23 | 桂林航天工业学院 | Unmanned plane parachute system |
| CN109540135B (en) * | 2018-11-09 | 2020-07-31 | 华南农业大学 | Method and device for detecting pose and extracting yaw angle of paddy field tractor |
| CN111216668A (en) * | 2018-11-23 | 2020-06-02 | 比亚迪股份有限公司 | Vehicle collision processing method and unmanned aerial vehicle fixing device |
| CN111252255A (en) * | 2018-12-01 | 2020-06-09 | 哈尔滨火萤科技有限公司 | Unmanned aerial vehicle parachuting device |
| CN109683164A (en) * | 2019-01-25 | 2019-04-26 | 西南科技大学 | A kind of unmanned plane based on flying quality falls Activity recognition method |
| CN110979647A (en) * | 2019-12-24 | 2020-04-10 | 广东电网有限责任公司 | Air fault protection device and method suitable for multi-rotor unmanned aerial vehicle |
| CN113277063B (en) * | 2021-06-03 | 2022-03-08 | 中国人民解放军军事科学院国防科技创新研究院 | Design method of folding wing unmanned aerial vehicle aerial delivery control system |
| CN115009529B (en) * | 2022-07-08 | 2024-04-12 | 广东电网有限责任公司 | Self-rescue protection device for crash of electric power inspection multi-rotor unmanned aerial vehicle |
| CN115556927A (en) * | 2022-10-20 | 2023-01-03 | 上海尚实航空发动机股份有限公司 | Mixed-motion multi-rotor manned aircraft |
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| CN106507752B (en) * | 2007-11-27 | 2012-07-25 | 成都飞机工业（集团）有限责任公司 | SUAV umbrella hatchcover |
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