CN103770945A - UAV (Unmanned Aerial Vehicle) automatic parachute throwing control method - Google Patents
UAV (Unmanned Aerial Vehicle) automatic parachute throwing control method Download PDFInfo
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- CN103770945A CN103770945A CN201410030646.4A CN201410030646A CN103770945A CN 103770945 A CN103770945 A CN 103770945A CN 201410030646 A CN201410030646 A CN 201410030646A CN 103770945 A CN103770945 A CN 103770945A
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Abstract
The invention relates to a UAV (Unmanned Aerial Vehicle) automatic parachute throwing control method which adopts a control module comprising a storage unit, and an acceleration acquisition module, a control driving module and a power supply module which are connected with the control module. The control method comprises the following steps that S1, the control module acquires basic data of the acceleration acquisition module and detects whether the acceleration acquisition module is in a normal state; S2, when the acceleration acquisition module is in the normal working state, the acceleration acquisition module acquires acceleration data of a UAV in the vertical direction in the working process; and S3, the main control module receives the data acquired by the acceleration acquisition module and calculates and judges landing time of the UAV, and when the UAV is landed for preset time, the main control module sends a driving signal to the control driving module and the control driving module drives an airborne parachute throwing execution mechanism to carry out parachute throwing. After the UAV automatic parachute throwing control method is adopted, automatic parachute throwing control on the UAV is implemented; and the UAV automatic parachute throwing control method has the advantages of full automation, high time judgment accuracy, strong reliability and wide application range.
Description
Technical field
The present invention relates to a kind of unmanned plane and automatically throw the control method of umbrella, relate in particular to a kind of machine umbrella of applying in fixed-wing unmanned plane removal process and separate, judge that by sensing data having reclaimed rear automatic triggering throws umbrella separation method.
Background technology
General parachuting reclaiming type unmanned plane adopts manual command to control throwing umbrella in removal process, and its feature is that cost is low, simple in structure, and its shortcoming is also very obvious simultaneously: manual handling time delay, sighting distance are outer unavailable etc.Therefore, this manual control trigger-type throwing umbrella mode can not meet parachuting recovery unmanned plane to throwing the requirement of umbrella control mechanism.
Summary of the invention
Technical matters to be solved by this invention is, overcome the shortcoming of prior art, the control method that provides a kind of unmanned plane automatically to throw umbrella, relates in particular to a kind of machine umbrella of applying in fixed-wing unmanned plane removal process and separates, and judges that by sensing data having reclaimed rear automatic triggering throws umbrella separation method.
In order to solve above technical matters, the control method that the invention provides a kind of unmanned plane and automatically throw umbrella, comprises the main control module that contains memory cell and the acceleration/accel acquisition module being connected with main control module, controls driver module, power module, and control method is as follows:
S1, main control module monitoring unmanned plane mode of operation enter and reclaim after decline state, and main control module gathers the master data of acceleration/accel acquisition module, and whether sense acceleration acquisition module is in normal condition.
S2, when acceleration/accel acquisition module is in normal condition, the acceleration information in acceleration/accel acquisition module collecting work process in unmanned plane vertical direction.
S3, main control module are accepted the data that acceleration/accel acquisition module gathers, and calculating judges the contact time of unmanned plane, in the time that unmanned plane falls to reaching the schedule time, main control module sends and drives signal to controlling driver module, controls driver module and drives airborne throwing umbrella actuating unit to throw umbrella.
The technical scheme that the present invention further limits is: when speed acquisition module breaks down, main control module output signal is lighted fault-indicating lamp, and acceleration/accel acquisition module is out of service, avoids maloperation.
Further, accelerate the measurement range of acquisition module and be ± 40g, the sampling period is 10ms, and sampling resolution is 0.02g.
Further, control driver module and connect described power module, the maximum current output of described control driver module is 28A, and maximum voltage is 100V.
Further, main control module is stored and is read afterwards the acceleration information collecting in working process.
The invention has the beneficial effects as follows: adopt after the present invention, realized the automatic control of unmanned plane and thrown umbrella, in invention, main control module can be monitored judgement to the mode of operation of acceleration/accel acquisition module, avoids mistake to throw operation; In normal operation, acceleration/accel acquisition module Quick Acquisition acceleration information, and be transferred to main control module and carry out computing, can obtain accurately fast landing the time of unmanned plane, avoid postponing; The present invention has full-automation, time and judges that precision is high, reliability strong, range of use advantage widely.
Accompanying drawing explanation
Fig. 1 is throwing umbrella control mechanism composition schematic diagram of the present invention.
Fig. 2 is throwing umbrella control mechanism interface schematic diagram of the present invention.
Fig. 3 is throwing umbrella control mechanism software flow pattern of the present invention.
The specific embodiment
embodiment 1
The control method that a kind of unmanned plane that the present embodiment provides is thrown umbrella automatically, comprises as shown in Figure 1 the main control module that contains memory cell and the acceleration/accel acquisition module being connected with main control module, controls driver module, power module, and control method is as follows:
S1, main control module monitoring unmanned plane mode of operation enter and reclaim after decline state, and main control module gathers the master data of acceleration/accel acquisition module, and whether sense acceleration acquisition module is in normal condition;
S2, when acceleration/accel acquisition module is in normal condition, the acceleration information in acceleration/accel acquisition module collecting work process in unmanned plane vertical direction;
S3, main control module are accepted the data that acceleration/accel acquisition module gathers, and calculating judges the contact time of unmanned plane, in the time that unmanned plane falls to reaching the schedule time, main control module sends and drives signal to controlling driver module, controls driver module and drives airborne throwing umbrella actuating unit to throw umbrella.
When acceleration/accel acquisition module breaks down, main control module output signal is lighted fault-indicating lamp, and acceleration/accel acquisition module is out of service, avoids maloperation.
Accelerating the measurement range of acquisition module is ± 40g, and the sampling period is 10ms, and sampling resolution is 0.02g.
Control driver module and connect power module, the maximum current output of controlling driver module is 28A, and maximum voltage is 100V.
Main control module is stored and is read afterwards the acceleration information collecting in working process.
Main control module receives unmanned plane during flying status information by RS-232 interface, connects power module by 9-16VDC interface, 12VDC interface transmission of control signals on main control module, and the memory cell inner with it by RS-232 interface is connected.
As shown in Figure 3, after main control singlechip power-up initializing, serial ports is waited for the aircraft state information that receives to software work detailed process.Fly to control device and send " parachute-opening " instruction when judging, start to gather and judge vertical acceleration sensor information.Abnormal if judgement gathers acceleration information, program termination and the set of main control singlechip fault flag are also lighted fault-indicating lamp; If collection signal is normal, main control singlechip starts analysis of data collected program, and the acceleration information peak value that exceedes a certain threshold values is stored with the corresponding markers that occurs this peak value.Main control singlechip is greater than 3g as throwing umbrella trigger condition using the above accekeration of continuous acquisition 50ms in 1 second, and judgement meets after trigger condition main control singlechip to be carried out and throw umbrella firer passage and trigger and light detonator, completes and throws umbrella action.
The invention has the advantages that: adopt after the present invention, realized the automatic control of unmanned plane and thrown umbrella, main control module can be monitored judgement to the mode of operation of acceleration/accel acquisition module, avoids mistake to throw operation; In normal operation, acceleration/accel acquisition module Quick Acquisition acceleration information, and be transferred to main control module and carry out computing, can obtain accurately fast landing the time of unmanned plane, avoid postponing; The present invention has full-automation, time and judges that precision is high, reliability strong, range of use advantage widely.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (5)
1. unmanned plane is thrown a control method for umbrella automatically, comprises the main control module that contains memory cell and the acceleration/accel acquisition module being connected with main control module, controls driver module, power module, it is characterized in that, control method is as follows:
S1, main control module monitoring unmanned plane mode of operation enter and reclaim after decline state, and main control module gathers the master data of acceleration/accel acquisition module, and whether sense acceleration acquisition module is in normal condition;
S2, when acceleration/accel acquisition module is in normal condition, the acceleration information in acceleration/accel acquisition module collecting work process in unmanned plane vertical direction;
S3, main control module are accepted the data that acceleration/accel acquisition module gathers, and calculating judges the contact time of unmanned plane, in the time that unmanned plane falls to reaching the schedule time, main control module sends and drives signal to controlling driver module, controls driver module and drives airborne throwing umbrella actuating unit to throw umbrella.
2. unmanned plane according to claim 1 is thrown the control method of umbrella automatically, it is characterized in that: when described acceleration/accel acquisition module breaks down, described main control module output signal is lighted fault-indicating lamp, and described acceleration/accel acquisition module is out of service, avoids maloperation.
3. unmanned plane according to claim 1 and 2 is thrown the control method of umbrella automatically, it is characterized in that: the measurement range of described acceleration acquisition module is ± 40g, and the sampling period is 10ms, and sampling resolution is 0.02g.
4. unmanned plane according to claim 1 is thrown the control method of umbrella automatically, it is characterized in that: described control driver module connects described power module, and the maximum current output of described control driver module is 28A, and maximum voltage is 100V.
5. unmanned plane according to claim 1 is thrown the control method of umbrella automatically, it is characterized in that: described main control module is stored and read afterwards the acceleration information collecting in working process.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932521A (en) * | 2015-05-28 | 2015-09-23 | 江西洪都航空工业集团有限责任公司 | Unmanned plane parachute-throwing method based on overload size determination |
| CN105182875A (en) * | 2015-09-11 | 2015-12-23 | 卢致辉 | UAV fall monitoring device and method based on ARM and MEMS |
| CN105527972A (en) * | 2016-01-13 | 2016-04-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle (UAV) flight control method and device |
| CN105966627A (en) * | 2016-06-02 | 2016-09-28 | 江西洪都航空工业集团有限责任公司 | Unmanned aerial vehicle parachute opening method |
| CN110979695A (en) * | 2019-12-06 | 2020-04-10 | 江西洪都航空工业集团有限责任公司 | Automatic parachute throwing condition interpretation method for parachuting recovery unmanned aerial vehicle |
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| US8608112B1 (en) * | 2007-02-28 | 2013-12-17 | ALD Systems, Inc. | Modular programmable electronic initiation device for parachute disreefing or disconnect |
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| EP0785130A1 (en) * | 1996-01-17 | 1997-07-23 | van den Broek, Eric | Parachute release device |
| US20010048050A1 (en) * | 2000-05-27 | 2001-12-06 | Wolfram Grieser | Method for deploying a parachute on a drone |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932521A (en) * | 2015-05-28 | 2015-09-23 | 江西洪都航空工业集团有限责任公司 | Unmanned plane parachute-throwing method based on overload size determination |
| CN105182875A (en) * | 2015-09-11 | 2015-12-23 | 卢致辉 | UAV fall monitoring device and method based on ARM and MEMS |
| CN105527972A (en) * | 2016-01-13 | 2016-04-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle (UAV) flight control method and device |
| CN105966627A (en) * | 2016-06-02 | 2016-09-28 | 江西洪都航空工业集团有限责任公司 | Unmanned aerial vehicle parachute opening method |
| CN110979695A (en) * | 2019-12-06 | 2020-04-10 | 江西洪都航空工业集团有限责任公司 | Automatic parachute throwing condition interpretation method for parachuting recovery unmanned aerial vehicle |
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