CN115009529B - Self-rescue protection device for crash of electric power inspection multi-rotor unmanned aerial vehicle - Google Patents
Self-rescue protection device for crash of electric power inspection multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN115009529B CN115009529B CN202210804869.6A CN202210804869A CN115009529B CN 115009529 B CN115009529 B CN 115009529B CN 202210804869 A CN202210804869 A CN 202210804869A CN 115009529 B CN115009529 B CN 115009529B
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- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000000926 separation method Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 47
- 238000002788 crimping Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 4
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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
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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
- B64D17/00—Parachutes
- B64D17/40—Packs
- B64D17/52—Opening, e.g. manual
- B64D17/54—Opening, e.g. manual automatic
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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
- B64D17/00—Parachutes
- B64D17/62—Deployment
- B64D17/70—Deployment by springs
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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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a self-rescue protection device for crash of an electric power inspection multi-rotor unmanned aerial vehicle, wherein a cover body is detachably connected to a shell, and the cover body and the shell are enclosed to form a containing cavity; the parachute can be placed in the accommodating cavity after being folded, and the traction rope of the parachute is fixed on the shell; the supporting piece is arranged in the accommodating cavity and positioned at the lower side of the folded parachute; the locking component is provided with a locking state for locking the cover body on the shell and an unlocking state for avoiding separation of the cover body and the shell; the elastic piece is located between the shell and the supporting piece, and the first controller receives the stop information of the detection unit and controls the locking assembly to be switched to the unlocking state. The opening action of the parachute is set, so that the electric power inspection multi-rotor unmanned aerial vehicle slowly descends under the action of the parachute, the possibility of crash of the unmanned aerial vehicle is reduced or avoided, and further economic loss and other harm are reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a self-rescue protection device for an electric power inspection multi-rotor unmanned aerial vehicle crash.
Background
Unmanned aerial vehicles increasingly walk into people's life, and unmanned aerial vehicles can be divided into military use and civilian according to application. In civil use, in the power inspection application, a lot of special equipment for power inspection needs to be carried on the unmanned aerial vehicle, and the service equipment is often much higher than the value of the aircraft. So that the related special equipment can be broken under the condition that the unmanned aerial vehicle faces the crash. When many rotor unmanned aerial vehicle work breaks down, will have the crash danger, not only can cause economic loss, even endanger people's life and property safety.
Therefore, research on a self-rescue protection device of an unmanned aerial vehicle is needed to reduce or eliminate the possibility of crash of the unmanned aerial vehicle, thereby reducing economic loss and harm.
Disclosure of Invention
The invention aims to provide a self-rescue protection device for a multi-rotor unmanned aerial vehicle in electric power inspection, which aims to solve the problem that in the prior art, the unmanned aerial vehicle crashes when failing.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in one aspect, the invention provides a self-rescue protection device for crash of a power inspection multi-rotor unmanned aerial vehicle, which is fixed on the power inspection multi-rotor unmanned aerial vehicle and comprises:
a housing;
the cover body is detachably connected to the shell, and the cover body and the shell are enclosed to form a containing cavity;
the parachute can be placed in the accommodating cavity after being folded, and a traction rope of the parachute is fixed on the shell;
the supporting piece is arranged in the accommodating cavity and positioned at the lower side of the folded parachute;
the locking assembly is provided with a locking state for locking the cover body to the shell and an unlocking state capable of avoiding separation of the cover body and the shell;
the elastic piece is arranged in the accommodating cavity and between the shell and the supporting piece, and is configured to push the supporting piece to move out of the accommodating cavity and drive the parachute to move out of the accommodating cavity when the locking component is unlocked;
the detection unit is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle;
the first controller is in communication connection with the detection unit and in communication connection with the locking assembly, after the power inspection multi-rotor unmanned aerial vehicle is shut down in the air, the first controller receives the shut down information of the detection unit and controls the locking assembly to be switched to an unlocking state.
Preferably, the locking assembly comprises a power part and a connecting rod assembly, the power part is arranged on the shell, the connecting rod assembly is arranged at the output end of the power part, and the output end of the connecting rod assembly is provided with a crimping state for crimping the cover body to the shell and an avoidance state for avoiding the cover body from leaving the shell.
Preferably, the connecting rod assembly comprises a pressing connection piece, and the pressing connection piece is arranged on the shell and is in transmission connection with the output end of the power piece.
Preferably, the pressure connector is rotatably disposed on the housing, the link assembly further includes a driving rod and an intermediate link, one end of the driving rod is fixed at the output end of the power member, the other end of the driving rod is hinged to one end of the intermediate link, the other end of the intermediate link is hinged to one end of the pressure connector, and the other end of the pressure connector is rotated between the avoidance state and the pressure connection state.
Preferably, the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a plugging groove and a plugging piece, wherein one of the plugging groove and the plugging piece is arranged on the shell, the other one of the plugging groove and the plugging piece is arranged on one end of the cover body, the plugging piece can be plugged into the plugging groove, and when the cover body is arranged on the shell in a covering mode, the other end of the crimping piece can be crimped with the other end of the cover body.
Preferably, the inner diameter of the shell is larger than the outer diameter of the cover, and the cover penetrates through the shell.
Preferably, the supporting member is connected with the parachute through a connecting member, and the supporting member is hung under the parachute after the parachute is unfolded.
Preferably, the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a supporting bottom plate, wherein the supporting bottom plate is arranged on the shell, the supporting bottom plate is provided with a plurality of concentric arc-shaped air channels, and a plurality of traction ropes uniformly penetrate through the arc-shaped air channels at intervals and then are fixed on the shell.
On the other hand, the invention provides a self-rescue protection system for the air crash of the electric power inspection multi-rotor unmanned aerial vehicle, which comprises a self-rescue subsystem, wherein the self-rescue subsystem comprises a detection unit and a first controller, and the detection unit is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle; the first controller is in communication connection with the detection unit, and when the electric power inspection multi-rotor unmanned aerial vehicle is stopped in the air, the first controller receives stopping information of the detection unit and sends an unlocking instruction for switching to an unlocking state to the locking assembly.
Preferably, the self-rescue subsystem further comprises a first communication unit, the first communication unit is in communication connection with the first controller, the electric power inspection multi-rotor unmanned aerial vehicle crash self-rescue protection system further comprises a ground remote control subsystem, the ground remote control subsystem comprises a second controller, a second communication unit, an indicating unit and a key unit, the second communication unit, the indicating unit and the key unit are in communication connection with the second controller, the self-rescue subsystem and the ground remote control subsystem are in communication connection through the first communication unit and the second communication unit, when the locking assembly fails in unlocking, the self-rescue subsystem can transmit information of the locking assembly still in a locking state to the ground remote control subsystem, the indicating unit is used for sending prompt information, a key signal after pressing the key unit is transmitted to the self-rescue subsystem, and after the second controller is matched with the first controller, the locking assembly can be controlled to be switched to an unlocking state.
The beneficial effects of the invention are as follows:
the invention provides a self-rescue protection device for crash of an electric power inspection multi-rotor unmanned aerial vehicle, which comprises a shell, a cover body, a parachute, a supporting piece, a locking component, an elastic piece, a detection unit and a first controller, wherein the cover body is detachably connected to the shell, and the cover body and the shell are enclosed to form a containing cavity; the parachute can be placed in the accommodating cavity after being folded, and the traction rope of the parachute is fixed on the shell; the supporting piece is arranged in the accommodating cavity and positioned at the lower side of the folded parachute; the locking component is provided with a locking state for locking the cover body on the shell and an unlocking state for avoiding separation of the cover body and the shell; the elastic piece is arranged in the accommodating cavity and between the shell and the supporting piece, and is configured to push the supporting piece to move out of the accommodating cavity and drive the parachute to move out of the accommodating cavity when the locking component is unlocked; the detection unit is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle; the first controller is in communication connection with the detection unit and is in communication connection with the locking assembly, and after the power inspection multi-rotor unmanned aerial vehicle is shut down in the air, the first controller receives the shut down information of the detection unit and controls the locking assembly to be switched to an unlocking state. With the help of the setting, after detecting that electric power patrols and examines many rotor unmanned aerial vehicle and shut down in the air, can send the information of shutting down to first controller, first controller control locking subassembly switches to the unblock state this moment, under the effect of elastic component, the lid is pushed up, and the parachute is released fast and is held the chamber, accomplishes the action of opening of parachute for electric power patrols and examines many rotor unmanned aerial vehicle and slowly descends under the effect of parachute, reduces or avoids unmanned aerial vehicle crash possibility, and then reduces economic loss and harm to people's life and property production.
In addition, due to the existence of the elastic piece, the parachute is under the combined action of wind power and elastic force, so that the speed of the parachute popping out is high, at the moment, the descending speed of the unmanned aerial vehicle with faults cannot be too high, and therefore the possibility of crash of the unmanned aerial vehicle can be further reduced.
Drawings
Fig. 1 is a schematic perspective view of a self-rescue protection device for a power inspection multi-rotor unmanned aerial vehicle crash in an embodiment of the invention;
fig. 2 is a schematic top view of a self-rescue protection device for a power inspection multi-rotor unmanned aerial vehicle in an embodiment of the invention;
FIG. 3 is a cross-sectional view taken along the direction A-A in FIG. 2;
fig. 4 is a schematic structural diagram of parachute deployment of the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle in the embodiment of the invention;
fig. 5 is a schematic diagram of a self-rescue protection system for an electric power inspection multi-rotor unmanned aerial vehicle crash in an embodiment of the invention.
In the figure:
100. a detection unit; 200. a first controller; 300. a first communication unit; 400. a power supply unit; 500. a second controller; 600. a second communication unit; 700. an indication unit; 800. a key unit;
1. a housing; 11. a plug-in groove; 12. a fixing member;
2. a cover body; 21. a plug-in component;
3. a parachute; 31. a traction rope;
4. a support; 41. a connecting piece;
5. a locking assembly; 51. a power member; 52. a crimp member; 53. a driving rod; 54. an intermediate connecting rod;
6. an elastic member;
7. a control box;
8. and a supporting bottom plate.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first location" and "second location" are two distinct locations and wherein the first feature is "above," "over" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is level above the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Example 1
Unmanned aerial vehicles increasingly walk into people's life, and unmanned aerial vehicles can be divided into military use and civilian according to application. In civil use, in the power inspection application, a lot of special equipment for power inspection needs to be carried on the unmanned aerial vehicle, and the service equipment is often much higher than the value of the aircraft. So that the related special equipment can be broken under the condition that the unmanned aerial vehicle faces the crash. When the multi-rotor unmanned aerial vehicle works to fail, the multi-rotor unmanned aerial vehicle is in danger of falling, so that economic loss and even life and property safety of people are damaged.
The main reasons for the air shutdown of the unmanned aerial vehicle are as follows: sudden circuit faults, engine mechanical faults, ground control end misoperation and the like, and the unmanned aerial vehicle is generally represented as abrupt change of flight attitude no matter what mode, and the existing flight attitude algorithm module can well identify whether the unmanned aerial vehicle is in air shutdown or not.
In the prior art, in order to solve the emergency stop situation, the setting of installing the parachute is generally adopted, in the prior art, a parachute is hung on an original unmanned aerial vehicle shell through a binding belt, the weight of the unmanned aerial vehicle is approximately 200 g to 2 kg in the whole device of the parachute used by the existing small civil unmanned aerial vehicle is unequal, when the flight attitude algorithm module monitors that the unmanned aerial vehicle is in an air stop state, the parachute is immediately opened, the unmanned aerial vehicle is prevented from being broken and the ground is reduced to cause threat, however, in actual operation, due to the fact that the flight height of the unmanned aerial vehicle is very low, the effect of the parachute is limited, even if the parachute is opened, the unmanned aerial vehicle is damaged to different degrees.
The related art in the above has the following drawbacks: the existing unmanned aerial vehicle shutdown solution is to install the parachute additionally, and the protection force of the unmanned aerial vehicle is insufficient under the low-altitude working condition, even if the parachute is normally opened, the unmanned aerial vehicle is excessively large in descent speed due to long opening process time, and the unmanned aerial vehicle is damaged to different degrees due to impact force after landing.
In order to solve the above-mentioned situation, as shown in fig. 1-4, the present embodiment provides a self-rescue protection device for a power inspection multi-rotor unmanned aerial vehicle, which is fixed on the power inspection multi-rotor unmanned aerial vehicle, and the self-rescue protection device for the power inspection multi-rotor unmanned aerial vehicle comprises a housing 1, a cover 2, a parachute 3, a supporting member 4, a locking assembly 5, an elastic member 6, a detection unit 100 and a first controller 200, wherein the cover 2 is detachably connected to the housing 1, and the cover 2 and the housing 1 enclose a receiving cavity; the parachute 3 can be placed in the accommodating cavity after being folded, and the traction rope 31 of the parachute 3 is fixed on the shell 1; the supporting piece 4 is arranged in the accommodating cavity and positioned at the lower side of the folded parachute 3; the locking component 5 is provided with a locking state for locking the cover body 2 to the shell 1 and an unlocking state capable of avoiding separation of the cover body 2 and the shell 1; the elastic piece 6 is arranged in the accommodating cavity and is positioned between the shell 1 and the supporting piece 4, and the elastic piece 6 is configured to push the supporting piece 4 to move out of the accommodating cavity and drive the parachute 3 to move out of the accommodating cavity when the locking component 5 is unlocked; the detection unit 100 is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle; the first controller 200 is in communication connection with the detection unit 100 and in communication connection with the locking assembly 5, wherein the first controller 200 and the detection unit 100 are arranged in the control box 7, and after the power inspection multi-rotor unmanned aerial vehicle is shut down in the air, the first controller 200 receives the shut down information of the detection unit 100 and controls the locking assembly 5 to be switched to an unlocking state. With the help of the above-mentioned setting, after detecting unit 100 detects that electric power is patrolled and examined many rotor unmanned aerial vehicle and shut down in the air, can send out the information of shut down to first controller 200, this moment first controller 200 control locking subassembly 5 switches to the unblock state, under the effect of elastic component 6, lid 2 is pushed away, parachute 3 is released fast and is held the chamber, accomplish the action of opening of parachute 3 for electric power is patrolled and examined many rotor unmanned aerial vehicle slowly descends under the effect of parachute 3, reduces or avoids unmanned aerial vehicle crash possible, and then reduces economic loss and harm.
In addition, due to the existence of the elastic piece 6, the parachute 3 ejects out at a higher speed under the combined action of wind power and elastic force, and at the moment, the descending speed of the unmanned aerial vehicle with faults cannot be too high, so that the possibility of crash of the unmanned aerial vehicle can be further reduced.
The parachute 3 can be placed in the accommodating cavity after being folded, so that the parachute 3 can be protected, and the parachute 3 can be prevented from being damaged and can be opened smoothly due to external scratch.
The detection unit 100 may include, among other things, motion control sensors are barometric pressure sensors, mainly in the acquisition of attitude data and altitude data.
Regarding the structure of the locking assembly 5, in this embodiment, specifically, the locking assembly 5 includes a power member 51 and a link assembly, the power member 51 is disposed on the housing 1, the link assembly is disposed on an output end of the power member 51, and the output end of the link assembly has a compression joint state for compressing the cover 2 to the housing 1 and an avoidance state for avoiding the cover 2 from leaving the housing 1. Specifically, the connecting rod assembly includes a pressing member 52, and the pressing member 52 is disposed in the housing 1 and is in driving connection with the output end of the power member 51. The crimping member 52 is provided to complete crimping of the lid body 2, and the lid body 2 is pressed against the crimping member 52 by the elastic member 6. In this embodiment, the elastic member 6 may be a compression spring. One end of the pressure spring is fixed on the shell 1, and the other end is abutted with the supporting piece 4. Of course, in other embodiments, the connecting rod assembly may include the plug 21, specifically, the plug 21 can be plugged into the second plug hole of the cover 2 after passing through the first plug hole of the housing 1.
Regarding the specific connection mode of the crimping member 52, in this embodiment, the crimping member 52 is rotatably disposed on the housing 1, the link assembly further includes a driving rod 53 and an intermediate link 54, one end of the driving rod 53 is fixed at the output end of the power member 51, the other end of the driving rod 53 is hinged to one end of the intermediate link 54, the other end of the intermediate link 54 is hinged to one end of the crimping member 52, and the other end of the crimping member 52 rotates between the avoidance state and the crimping state. Specifically, the power member 51 may be a servo motor. The pressure connector 52 can be driven to rotate between the avoiding state and the pressure connection state through the rotating action of the power part 51, the rotating angle of the pressure connector 52 can be controlled by controlling the rotating time of the power part 51, so that the control is simpler, in addition, the rotating speed of the power part 51 is faster, and the opening time of the parachute 3 can be shortened as much as possible.
Further, the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a plug groove 11 and a plug connector 21, wherein one of the plug groove 11 and the plug connector 21 is arranged on the shell 1, the other one is arranged on one end of the cover body 2, the plug connector 21 can be plugged in the plug groove 11, and when the cover body 2 is covered on the shell 1, the other end of the pressure connector 52 can be in pressure connection with the other end of the cover body 2. By means of the matching of the plugging and crimping modes, the cover body 2 and the shell body 1 can be matched effectively. Specifically, the plug 21 is provided at one end of the cover 2, and the plug groove 11 is provided at a side wall of the housing 1. The inner diameter of the shell 1 is larger than the outer diameter of the cover body 2, and the cover body 2 is arranged in the shell 1 in a penetrating way. Preferably, the gap between the housing 1 and the cover 2 is smaller in size than the thickness of the cover 2. The cover body 2 is arranged in the shell 1 in a penetrating way, and the cover body 2 can be protected by the shell 1, and on the other hand, the cover body 2 is prevented from side turning on the premise that the cover body 2 has a certain thickness. Preferably, the plug connector 21 is in a plate-shaped structure, and the press connector 52 is in a plate-shaped structure, so that the cover body 2 is in surface contact with the press connector 52, and the plug connector 21 is in surface contact with the side wall of the plug hole, so that the cover body 2 is prevented from overturning. Of course, in another implementation manner of this embodiment, two locking assemblies 5 may be provided to compress two ends of the cover plate 2, and when one of the locking assemblies 5 fails, the other locking assembly 5 can still complete the unlocking action as long as it does not fail, thereby improving the success rate of opening the parachute 3. In view of the problem, this embodiment prefers a solution of the locking assembly 5.
When many rotor unmanned aerial vehicle falls behind is patrolled and examined to electric power, because there is the reason of wind, can blow the parachute 3 of open state, the parachute 3 can drag the electric power in the removal in-process and patrol and examine many rotor unmanned aerial vehicle, and then cause secondary injury to it, in order to avoid the emergence of above-mentioned condition, preferably, connect through connecting piece 41 between support piece 4 and the parachute 3, after the parachute 3 is expanded, support piece 4 hangs locates under the parachute 3, and the length of connecting piece 41 is less than the length of haulage rope 31. The support 4 has a plate shape. This setting can avoid the loss of support piece 4 on the one hand, and on the other hand, behind many rotor unmanned aerial vehicle falls to the ground when electric power inspection, because support piece 4 is unsettled still, parachute 3 can continue to drag downwards by support piece 4 for parachute 3 is pressed close to ground as far as possible, in order to reduce the possibility of being blown up by the wind.
In this embodiment, the connector 41 is preferably a rope. Further, the length of the rope is related to the size of the parachute 3, and when the parachute 3 is fully opened, the lowest point of the supporting member 4 is located above the lowest point of the canopy of the parachute 3 under the limitation of the length of the rope. This arrangement allows the parachute 3 to be towed down by the support 4 to a position where the lowest point of the parachute 3 is against the ground, thereby reducing the likelihood of being blown up by wind.
Optionally, the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a supporting bottom plate 8, wherein the supporting bottom plate 8 is arranged on the shell 1, the supporting bottom plate 8 is provided with a plurality of concentric arc-shaped air channels, and a plurality of traction ropes 31 uniformly penetrate through the arc-shaped air channels at intervals and then are fixed on the shell 1. By means of the arrangement of the structure, wind energy can be guaranteed to uniformly enter the shell 1, smooth opening of the parachute 3 is facilitated, and the arrangement mode of the traction ropes 31 is beneficial to being uniformly distributed in the shell 1 after the parachute 3 is opened. One end of the elastic member 6 is fixed to the support floor 8.
In this embodiment, optionally, two fixing members 12 are disposed on the outer side of the housing 1, and are used for fixedly connecting with the electric power inspection multi-rotor unmanned aerial vehicle. Specifically, the fixing member 12 includes two hanging lugs, and the hanging lugs and the electric power inspection multi-rotor unmanned aerial vehicle can be connected through a mode of being screwed or strapped.
Example two
As shown in fig. 5, the embodiment further provides a self-rescue protection system for the electric power inspection multi-rotor unmanned aerial vehicle, which comprises a self-rescue subsystem, wherein the self-rescue subsystem comprises a detection unit 100 and a first controller 200, and the detection unit 100 is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle; the first controller 200 is connected with the detection unit 100 in a communication way, when the electric power inspection multi-rotor unmanned aerial vehicle is stopped in the air, the first controller 200 receives the stop information of the detection unit and sends an unlocking instruction for switching to an unlocking state to the locking component 5, wherein the parachute 3 in a folding state is positioned in the shell 1, the locking component 5 locks the cover body 2 and the shell 1, so that the parachute 3 cannot be opened, and when the locking component 5 is switched to the unlocking state, the cover body 2 and the shell 1 can be at least partially separated, so that the parachute 3 comes out of the shell 1 and is unfolded. This setting can avoid electric power to patrol and examine many rotor unmanned aerial vehicle air crash.
The first controller 200 uses a microprocessor as a core, and mainly completes the operations of receiving and processing data, judging an out-of-control state, and sending an umbrella opening command. The detection unit 100 is to complete acquisition of attitude data and altitude data, and transmit the detection data to the first controller 200 for processing.
However, when the first controller 200 receives the shutdown message, a control instruction for switching the locking assembly 5 to the unlocked state is not issued or after an instruction is issued, the locking assembly 5 does not operate or does not operate properly, and finally the locking assembly 5 is not successfully switched to the unlocked state. At this time, the parachute 3 is not opened, and then the electric power inspection multi-rotor unmanned aerial vehicle is caused to crash. In order to avoid this situation, the self-rescue subsystem further comprises a first communication unit 300, the first communication unit 300 is in communication connection with the first controller 200, the electric power inspection multi-rotor unmanned aerial vehicle crash self-rescue protection system further comprises a ground remote control subsystem, the ground remote control subsystem comprises a second controller 500, a second communication unit 600, an indicating unit 700 and a key unit 800, the second communication unit 600, the indicating unit 700 and the key unit 800 are all in communication connection with the second controller 500, the self-rescue subsystem and the ground remote control subsystem are in communication connection through the first communication unit 300 and the second communication unit 600, when the electric power inspection multi-rotor unmanned aerial vehicle is shut down in the air but the locking assembly 5 is unlocked, the self-rescue subsystem can transmit information of the locking assembly 5 still in the locking state to the ground remote control subsystem, the indicating unit 700 is used for sending prompt information, after the key signal after the key unit 800 is pressed is transmitted to the self-rescue subsystem, the second controller 500 is matched with the first controller 200 to control the locking assembly 5 to be switched to the unlocking state. When the operator sees the prompt message sent by the indication unit 700, the key unit 800 is pressed, and a key signal is generated. The setting makes the opening of the parachute 3 obtain double guarantee, and then improves the success rate of opening the parachute 3, and reduces the crash risk of the electric power inspection multi-rotor unmanned aerial vehicle. Alternatively, the indication unit 700 is an LED lamp or a horn. Preferably, the indication unit 700 includes two LED lamps, one of which is a ready signal lamp and the other is an indication lamp of a successful open state of the parachute 3, i.e., an indication lamp of an unlocked state of the locking assembly 5.
The first communication unit 300 is formed by a wireless data transmission module, and is mainly used for transmitting umbrella opening command data and umbrella cabin opening state data, and is responsible for receiving a manual umbrella opening command signal from the ground remote control subsystem, processing the manual umbrella opening command signal by the main controller unit, and returning the opening state of the umbrella cabin to the ground remote control subsystem. The second controller 500 uses a microprocessor as a core, and is connected to the second communication unit 600, the indication unit 700 and the key unit 800. The key unit 800 is mainly used for identifying key signals, controlling the second communication unit 600 to send an umbrella opening control command, receiving and processing umbrella cabin opening state data sent by the self-rescue subsystem, and driving the indication unit 700 to indicate the status of the umbrella cabin. The second communication unit 600 is composed of a wireless data transmission module matched with the first communication unit 300 in the self-rescue subsystem, and is mainly used for transmitting the umbrella opening command data and the umbrella bin opening state data, and is responsible for transmitting the umbrella opening control command to the self-rescue subsystem and receiving the umbrella bin opening state data from the self-rescue subsystem. For the sake of understanding, the signal for switching the locking assembly 5 to the unlocked state is described as an umbrella opening signal, the instruction for switching the locking assembly 5 to the unlocked state is described as an umbrella opening control instruction, and the state of the umbrella cabin is the state of the locking assembly 5.
Of course, in this embodiment, the self-rescue subsystem and the ground remote control subsystem each include a power supply unit 400 for supplying power to each unit.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (1)
1. Many rotor unmanned aerial vehicle of electric power inspection crash protection device that saves oneself is fixed in on many rotor unmanned aerial vehicle of electric power inspection, a serial communication port, include:
a housing (1);
the cover body (2) is detachably connected to the shell (1), and the cover body (2) and the shell (1) enclose a containing cavity;
the parachute (3) can be placed in the accommodating cavity after being folded, and a traction rope (31) of the parachute (3) is fixed on the shell (1);
the supporting piece (4) is arranged in the accommodating cavity, and the supporting piece (4) is positioned at the lower side of the folded parachute (3);
the locking assembly (5) is provided with a locking state for locking the cover body (2) to the shell (1) and an unlocking state capable of avoiding separation of the cover body (2) from the shell (1);
the elastic piece (6) is arranged in the accommodating cavity and is positioned between the shell (1) and the supporting piece (4), and the elastic piece (6) is configured to push the supporting piece (4) to move out of the accommodating cavity and drive the parachute (3) to move out of the accommodating cavity when the locking assembly (5) is in an unlocking state;
the detection unit (100) is used for detecting the flight state of the power inspection multi-rotor unmanned aerial vehicle;
the first controller (200) is in communication connection with the detection unit (100) and is in communication connection with the locking component (5), and after the electric power inspection multi-rotor unmanned aerial vehicle is stopped in the air, the first controller (200) receives the stopping information of the detection unit (100) and controls the locking component (5) to be switched to an unlocking state;
the locking assembly (5) comprises a power piece (51) and a connecting rod assembly, the power piece (51) is arranged on the shell (1), the connecting rod assembly is arranged at the output end of the power piece (51), and the output end of the connecting rod assembly is provided with a crimping state for crimping the cover body (2) on the shell (1) and an avoiding state for preventing the cover body (2) from leaving the shell (1);
the connecting rod assembly comprises a crimping piece (52), and the crimping piece (52) is arranged on the shell (1) and is in transmission connection with the output end of the power piece (51);
the crimping piece (52) is rotationally arranged on the shell (1), the connecting rod assembly further comprises a driving rod (53) and an intermediate connecting rod (54), one end of the driving rod (53) is fixed at the output end of the power piece (51), the other end of the driving rod (53) is hinged with one end of the intermediate connecting rod (54), the other end of the intermediate connecting rod (54) is hinged with one end of the crimping piece (52), and the other end of the crimping piece (52) rotates between the avoidance state and the crimping state;
the self-rescue protection device for the electric power inspection multi-rotor unmanned aerial vehicle crash also comprises a plugging groove (11) and a plugging piece (21), wherein one of the plugging groove (11) and the plugging piece (21) is arranged at one end of the shell (1), the other is arranged at one end of the cover body (2), the plugging piece (21) can be plugged in the plugging groove (11), and when the shell (1) is covered by the cover body (2), the other end of the crimping piece (52) can be crimped with the other end of the cover body (2);
the inner diameter of the shell (1) is larger than the outer diameter of the cover body (2), and the cover body (2) is arranged in the shell (1) in a penetrating way;
the supporting piece (4) is connected with the parachute (3) through a connecting piece (41), and after the parachute (3) is unfolded, the supporting piece (4) is hung under the parachute (3);
the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a supporting bottom plate (8), wherein the supporting bottom plate (8) is arranged on the shell (1), the supporting bottom plate (8) is provided with a plurality of concentric arc-shaped air channels, and a plurality of traction ropes (31) uniformly penetrate through the arc-shaped air channels at intervals and then are fixed on the shell (1);
the self-rescue protection device for the crash of the electric power inspection multi-rotor unmanned aerial vehicle further comprises a self-rescue subsystem, wherein the self-rescue subsystem comprises a detection unit (100) and a first controller (200), and the detection unit (100) is used for detecting the flight state of the electric power inspection multi-rotor unmanned aerial vehicle; the first controller (200) is in communication connection with the detection unit (100), and when the electric power inspection multi-rotor unmanned aerial vehicle is stopped in the air, the first controller (200) receives stopping information of the detection unit (100) and sends an unlocking instruction for switching to an unlocking state to the locking assembly (5);
the self-rescue subsystem further comprises a first communication unit (300), the first communication unit (300) is in communication connection with the first controller (200), the electric power inspection multi-rotor unmanned aerial vehicle crash self-rescue protection device further comprises a ground remote control subsystem, the ground remote control subsystem comprises a second controller (500), a second communication unit (600), an indicating unit (700) and a key unit (800), the second communication unit (600), the indicating unit (700) and the key unit (800) are in communication connection with the second controller (500), the self-rescue subsystem and the ground remote control subsystem are in communication connection through the first communication unit (300) and the second communication unit (600), when the locking assembly (5) fails to unlock, the self-rescue subsystem can transmit information of the locking assembly (5) still in a locking state to the ground remote control subsystem, the indicating unit (700) is used for sending prompt information, a key signal after the key unit (800) is pressed is transmitted to the second controller (500), and the second controller (200) can be matched with the locking assembly (5) to unlock the locking assembly.
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| CN115009529A (en) | 2022-09-06 |
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