CN105116271A - Blade detection device and method, blade assembly, aircraft and control method thereof - Google Patents
Blade detection device and method, blade assembly, aircraft and control method thereof Download PDFInfo
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- CN105116271A CN105116271A CN201510484146.2A CN201510484146A CN105116271A CN 105116271 A CN105116271 A CN 105116271A CN 201510484146 A CN201510484146 A CN 201510484146A CN 105116271 A CN105116271 A CN 105116271A
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- conservancy diversion
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- diversion coil
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Abstract
The invention discloses a blade detection device. The device comprises a detector and at least one diversion coil arranged on a blade and along a periphery of the blade. The diversion coil possesses a first terminal and a second terminal which are next to each other and are arranged with an interval. The first terminal of the diversion coil is connected to a power supply. The second terminal of the diversion coil is grounded through a load so as to form a loop. After energization, the detector is used for detecting a state of the loop and outputting a detection result of a closed state or a disconnection state of the loop. The invention also discloses a blade detection method, a blade assembly, an aircraft and a control method thereof. In the invention, a damage condition of the blade can be accurately and automatically detected.
Description
Technical field
The present invention relates to aircraft field, particularly relate to a kind of blade pick-up unit and method, paddle components, aircraft and control method thereof.
Background technology
Unmanned plane (unmanned machine) starts a kind of aircraft practical gradually at present, its have maneuverability, reaction fast, the advantage such as unmanned flight, operation requirements be low, unmanned plane structure is simple, use cost is low, not only can complete the task of manned aircraft execution, be more suitable for the task that manned aircraft cannot perform, as the Geological Hazards Investigation etc. of hazardous location.
The propulsion system of unmanned plane mainly comprise motor and blade.In the prior art, to the detection of blade, usually whether damaged by visual inspection blade, but there is significant limitation by visual inspection, as, when the blade of unmanned plane remain static and from observer closely time, whether observer can well observe blade damaged; When unmanned plane fly out field range or at High Rotation Speed time, observer is difficult to by naked eyes or whether just do not observe the blade of unmanned plane damaged at all; And if the blade of unmanned plane occurs damaged, easily cause unmanned plane during flying unstable, serious even initiation aircraft accident.How automatically to detect the blade of unmanned plane, be important technological problems urgently to be resolved hurrily.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of blade pick-up unit and method, paddle components, aircraft and control method thereof, is intended to solve in prior art, accurately cannot detect the technical matters of the breakage of blade automatically.
For achieving the above object, the invention provides a kind of blade pick-up unit, this device comprises detecting device and is at least onely arranged at the water conservancy diversion coil arranged on described blade and along the periphery of described blade, described water conservancy diversion coil has next-door neighbour and spaced first end and the second end, the first end of described water conservancy diversion coil is connected to power supply, second end of described water conservancy diversion coil passes through carrying ground, to form primary Ioops; After powered up, described detecting device for detecting the state in this loop, and exports the testing result of this circuit closed state or off-state.
Preferably, described water conservancy diversion coil has multiple, and each water conservancy diversion coil described is spaced side by side;
Described detecting device detects the state in each loop, water conservancy diversion coil place, and exports the closure state in each loop or the testing result of off-state.
Preferably, described detecting device comprises test side and output terminal; Described test side is connected with the second end of described water conservancy diversion coil, and for detecting the level of the second end of described water conservancy diversion coil to know the state in described loop, the closed of described loop or off-state export by described output terminal;
Or described detecting device comprises the first test side, the second test side and output terminal; Described first test side is connected with the second end of described water conservancy diversion coil, for detecting the level of the second end of described water conservancy diversion coil, described second test side is connected with the first end of described water conservancy diversion coil, for detecting the level of the first end of described water conservancy diversion coil, to know the state in described loop; The closed of described loop or off-state export by described output terminal.
In addition, for achieving the above object, the present invention also provides a kind of blade detection method, and be applied to above-mentioned blade pick-up unit, the method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in output detections described loop out.
Further, the state in the described loop of described detection specifically comprises:
Detect the level of the second end of the water conservancy diversion coil be arranged on blade;
The state in described loop is known according to the level of detected described second end;
Or,
Detect the first end of water conservancy diversion coil and the level of the second end that are arranged on blade;
The state in described loop is known according to the level of detected described first end and the second end.
In addition, for achieving the above object, the present invention also provides a kind of aircraft being provided with above-mentioned blade pick-up unit, and described aircraft comprises control chip, described detecting device is connected with described control chip, to export the testing result of this circuit closed state or off-state to described control chip.
In addition for achieving the above object, the present invention also provides a kind of control method being provided with the aircraft of above-mentioned blade pick-up unit, and described method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in output detections described loop is out to aircraft and/or the control terminal with this aircraft communication;
According to the response policy of described aircraft and/or control terminal, control aircraft and perform response policy, the response policy of wherein said control terminal is better than the response policy of described aircraft.
Further, the response policy of described aircraft comprises:
When the loop, water conservancy diversion coil place that the periphery only along described blade is arranged is off state, perform order of automatically making a return voyage;
When distance is off state along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of described blade is arranged, perform original place landing order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of described blade in the water conservancy diversion coil arranged along the periphery of described blade and distance water conservancy diversion coil is farthest off state, after performing the homeward order of predeterminable range, perform order of landing on the spot.
In addition, for achieving the above object, the present invention also provides a kind of paddle components, comprise blade and be at least onely arranged at the water conservancy diversion coil arranged on described blade and along the periphery of described blade, described water conservancy diversion coil has next-door neighbour and spaced first end and the second end, and described first end and the second end can be connected to external circuit to form loop.
Preferably, described water conservancy diversion coil has multiple, and each water conservancy diversion coil described is spaced side by side.
In addition, for achieving the above object, the present invention also provides a kind of aircraft being provided with above-mentioned paddle components, described aircraft comprises control chip, the first end of described water conservancy diversion coil is connected to power supply, and the second end of described water conservancy diversion coil passes through carrying ground, to form primary Ioops; Second end of described water conservancy diversion coil is also connected to the Single port of described control chip; After energising, described control chip is by reading the level signal of described port to detect the state in this loop, and this state comprises closure state and off-state.
In addition, for achieving the above object, the present invention also provides a kind of control method of aircraft, is applied to above-mentioned aircraft, and described method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in the described loop obtained detects in response institute, and according to the response policy of described aircraft and/or control terminal, control aircraft execution response policy, the response policy of wherein said control terminal is better than the response policy of described aircraft.
Preferably, the response policy of described aircraft comprises:
When the loop, water conservancy diversion coil place that the periphery only along described blade is arranged is off state, perform order of automatically making a return voyage;
When distance is off state along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of described blade is arranged, perform original place landing order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of described blade in the water conservancy diversion coil arranged along the periphery of described blade and distance water conservancy diversion coil is farthest off state, after performing the homeward order of predeterminable range, perform order of landing on the spot.
Blade pick-up unit of the present invention and method, paddle components, aircraft and control method thereof, this device comprises detecting device and is at least onely arranged at the water conservancy diversion coil arranged on described blade and along the periphery of described blade, described water conservancy diversion coil has next-door neighbour and spaced first end and the second end, the first end of described water conservancy diversion coil is connected to power supply, second end of described water conservancy diversion coil passes through carrying ground, to form primary Ioops; After powered up, described detecting device for detecting the state in this loop, and exports the testing result of this circuit closed state or off-state; Detect the level of the second end of water conservancy diversion coil by this detecting device, and determine the state in loop according to the level of the second end of described water conservancy diversion coil, export the testing result of this circuit closed state or off-state, whether damagedly accurately detect blade automatically.
Accompanying drawing explanation
Fig. 1 is the structural representation of the first embodiment of blade pick-up unit of the present invention;
Fig. 2 is the structural representation of the second embodiment of blade pick-up unit of the present invention;
Fig. 3 is the structural representation of the 3rd embodiment of blade pick-up unit of the present invention;
Fig. 4 is the structural representation of the 4th embodiment of blade pick-up unit of the present invention;
Fig. 5 is the schematic flow sheet of the preferred embodiment of blade detection method of the present invention;
Fig. 6 is the structural representation of the preferred embodiment of aircraft of the present invention;
Fig. 7 is the schematic flow sheet of an embodiment of the control method of aircraft of the present invention;
Fig. 8 is the structural representation of the preferred embodiment of paddle components of the present invention;
Fig. 9 is the schematic flow sheet of another embodiment of the control method of aircraft of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
With reference to Fig. 1, Fig. 1 is the structural representation of the first embodiment of blade pick-up unit of the present invention, this application of installation is (as unmanned plane) on board the aircraft, and this device comprises power supply 10, detecting device 20 and is at least onely arranged at the water conservancy diversion coil 30 arranged on blade 50 and along the periphery of this blade 50.Water conservancy diversion coil 30 has next-door neighbour and spaced first end 31 and the second end 32.This water conservancy diversion coil 30 is arranged on blade 50 and along the periphery of blade 50 and arranges, as long as blade 50 is slightly damaged like this, water conservancy diversion coil 30 also just fragments into two sections with damaged portion, its first end 31 is close to its second end 32 and there is spacing, realize the whole edge that water conservancy diversion coil 30 covers blade 50 as much as possible on the one hand, ensure that on the other hand first end 31 can be connected to form loop respectively with its second end 32 with external circuit, and can not because of every the situation that too closely must occur short circuit.The first end 31 of this water conservancy diversion coil 30 is connected with this power supply 10, and the second end 32 of this water conservancy diversion coil 30 is by load 40 ground connection; This detecting device 20 is connected with the second end 32 of this water conservancy diversion coil 30, for detecting the level of the second end 32 of this water conservancy diversion coil 30 to know the state in loop, and export the testing result of this circuit closed state or off-state according to the level of the second end 32 of this water conservancy diversion coil 30.
The voltage of this power supply 10 is chosen as 3.3V, and this power supply 10 can be battery pack or directly provided by carry-on motor power supplying power supply.This blade 50 is connected on board the aircraft by motor with paddle arm, and this blade 50 adopts high-strength plastic cement or carbon fiber to make.This blade 50 comprises the first blade and the second blade, and this first blade and the second blade are symmetrical arranged, in in-line.This water conservancy diversion coil 30 is arranged along the periphery of blade 50, namely the profile of this water conservancy diversion coil 30 is identical with the profile of this blade 50, this water conservancy diversion coil 30 is close to or is embedded in the edge of blade 50, make this water conservancy diversion coil 30 more can react the breakage of blade 50, when there is micro breakage in blade 50, this water conservancy diversion coil 30 also can be affected, and breakage (namely rupturing) also can occur accordingly, and then the loop be made up of power supply 10, water conservancy diversion coil 30 and load 40 is disconnected.Meanwhile, owing to water conservancy diversion coil 30 to be embedded the edge of this blade 50, the intensity of this blade 50 can be improved, improve the serviceable life of blade 50.
The first end 31 of this water conservancy diversion coil 30 connects power supply 10 by wire, and the second end 32 of this water conservancy diversion coil 30 is by wire connection detector 20.
This power supply 10, water conservancy diversion coil 30 and load 40 form a loop, and this detecting device 20 is connected with the second end 32 of loop, detect the level of the second end 32 of this water conservancy diversion coil 30, and the level output detections result of the second end 32 according to this water conservancy diversion coil 30.Specific as follows: when the level that this detecting device 20 detects the second end 32 of this water conservancy diversion coil 30 is high level, the testing result of output is circuit closed state, namely can think that blade is normally (not having breakage); When the level that this detecting device 20 detects the second end 32 of this water conservancy diversion coil 30 is low level, the testing result of output is loop off-state, namely can think that blade there occurs breakage.
In one embodiment, this water conservancy diversion coil 30 is copper coils; This load 40 can be resistance, and the resistance of this resistance is 1K Ω; This load 40 can also be light emitting diode, and the positive pole of this light emitting diode connects the second end 32 of water conservancy diversion coil 30, minus earth.When this light emitting diode is in illuminating state, can think that this blade 50 is not damaged, because when this blade 50 is not damaged, this water conservancy diversion coil 30 is corresponding not damaged yet, then form a closed-loop path by this power supply 10, water conservancy diversion coil 30 and light emitting diode, this light emitting diode is lit.Namely also whether be lit by observing this light emitting diode, whether damaged to determine this blade 50, when light emitting diode is lit, determine that this blade 50 is not damaged, when light emitting diode is not lit, determine that this blade is damaged.
Adopt above-described embodiment, by detecting the state in the loop that the water conservancy diversion coil 30 be arranged on blade 50 is formed with power supply and load, determine the testing result of this blade 50, as, when the second end of this water conservancy diversion coil 30 is high level, then can determine that the loop that this water conservancy diversion coil 30 and power supply and load are formed is closure state, can determine that this blade is normal, when the second end of this water conservancy diversion coil 30 is low level, then can determine that the loop that this water conservancy diversion coil 30 and power supply and load are formed is off state, can determine that this blade is damaged; Accurately can detect the whether damaged of blade 50 automatically, and then improve the safe flight coefficient of aircraft.
Further, this detecting device 20 is single-chip microcomputers.The I/O mouth of this single-chip microcomputer is connected to the second end 32 of water conservancy diversion coil 30, detects the level of the second end 32 of water conservancy diversion coil 30.The level conditions of the second end 32 of water conservancy diversion coil 30 can be detected by single-chip microcomputer accurately, reduce metrical error.
Further, this water conservancy diversion coil 30 has multiple, and this each water conservancy diversion coil is spaced side by side; This detecting device detects the state in each loop, water conservancy diversion coil place, and exports the closure state in each loop or the testing result of off-state.
In this each water conservancy diversion coil, adjacent guide coil can equidistantly arrange, and namely this length near the water conservancy diversion coil at blade center is less than the length of the water conservancy diversion coil away from blade center.By arranging multiple water conservancy diversion coil on blade, the damaged degree of blade can be detected more accurately.
In one embodiment, this water conservancy diversion coil 30 has two, be respectively the first water conservancy diversion coil and the second water conservancy diversion coil, wherein the first water conservancy diversion coil is arranged along the periphery of blade, second water conservancy diversion coil and the equidistant arrangement of the first water conservancy diversion coil and be positioned at its inner predeterminable range, one test side of this detecting device is connected with the second end of the first water conservancy diversion coil, another test side of this detecting device is connected with the second end of the second water conservancy diversion coil, when the second end of the second end and the second water conservancy diversion coil that the first water conservancy diversion coil detected is all high level, namely the loop at this first water conservancy diversion coil and the second water conservancy diversion coil place is closure state, output detections result is circuit closed state, namely blade is normal, detecting that the second end of the first water conservancy diversion coil is low level, and when the second end of the second water conservancy diversion coil is high level, namely the loop at the first water conservancy diversion coil place is off state, the loop at the second water conservancy diversion coil place is closure state, and namely blade one-level is damaged, when the second end of the second end and the second water conservancy diversion coil that the first water conservancy diversion coil detected is all low level, namely the loop at this first water conservancy diversion coil and the second water conservancy diversion coil place all disconnects, and output detections result is loop off-state, and namely blade secondary is damaged.
Certainly in other embodiments, this water conservancy diversion coil 30 can have three, then can normal according to the State-output blade in each loop, water conservancy diversion coil place, blade one-level damaged, blade secondary damaged and blade three grades of breakages.For another example this water conservancy diversion coil 30 can have four, five etc., and in like manner, exportable blade is normal, blade one-level is damaged, blade secondary is damaged, blade three grades of breakages and blade level Four breakage (blade level Four is damaged, blade Pyatyi is damaged), by that analogy.
Further, this detecting device 20 comprises test side and output terminal; This test side is connected with the second end of this water conservancy diversion coil, and for detecting the level of the second end of this water conservancy diversion coil to know the state in this loop, the closed of this loop or off-state export by this output terminal;
Or as shown in Figure 2, this detecting device comprises the first test side, the second test side and output terminal; This first test side is connected with the second end 32 of this water conservancy diversion coil 30, for detecting the level of the second end 32 of this water conservancy diversion coil 30; This second test side is connected with the first end 31 of this water conservancy diversion coil 30, for detecting the level of the first end 31 of this water conservancy diversion coil 30; This output terminal is used for exporting the closure state in this loop, water conservancy diversion coil place or the testing result of off-state according to the level of the first end 31 of this water conservancy diversion coil 30 and the level of the second end 32.
This detecting device 20 detects the second end 32 of water conservancy diversion coil 30 and the level of first end 31 by the first test side and the second test side simultaneously, and export the closure state in this loop, water conservancy diversion coil place or the testing result of off-state according to the level of the first end 31 of this water conservancy diversion coil 30 and the level of the second end 32, in one embodiment, this detecting device 20 is single-chip microcomputers, then using this single-chip microcomputer I/O mouth as the first test side, an I/O mouth is as the second test side, and an I/O mouth is as output terminal.
The principle of work of this blade pick-up unit is as follows: the level the second end 32 of water conservancy diversion coil 30 being detected when the first test side of this detecting device 20 is high level, when second test side of detecting device 20 detects the level of the first end 31 of water conservancy diversion coil 30 also for high level, the testing result that then output terminal of this detecting device 20 exports is this loop, water conservancy diversion coil place is closure state, and namely blade is normal; The level the second end 32 of water conservancy diversion coil 30 being detected when the first test side of this detecting device 20 is low level, second test side of detecting device 20 detects that the level of the first end 31 of water conservancy diversion coil 30 is high level, then the output terminal output detections result of this detecting device 20 is off state for this loop, water conservancy diversion coil place, and namely blade is damaged.
Adopt above-described embodiment, detect the first end 31 of water conservancy diversion coil 30 and the level conditions of the second end 32 by detecting device 20, determine the testing result of this blade 50, testing result is more accurate simultaneously.As when power supply 10 cannot normal power supply time (such as this power supply 10 is accumulator, the electricity of accumulator is used up), the level detected at the second end 32 of water conservancy diversion coil 30 can be low level, and when the present embodiment, detecting device 20 also detects the first end 31 of water conservancy diversion coil 30, can namely detect this power supply 10 normal power supply, when power supply 10 normal power supply, detecting device 20 detects that the level of the first end 31 of water conservancy diversion coil 30 is high level, now, if detecting device 20 detects that the level of the second end 32 of water conservancy diversion coil 30 is low level, then can determine that this blade is damaged.
With reference to the 3rd embodiment that Fig. 3, Fig. 3 are blade pick-up unit of the present invention.
Based on the first embodiment or second embodiment of above-mentioned blade pick-up unit, this device also comprises the alarm module 60 be connected with this detecting device 20, for the testing result output alarm signal according to this detecting device 20.
This alarm module 60 can be light signal and/or voice signal according to the alerting signal that the testing result of this detecting device 20 exports.This alarm module 60 comprises light emitting diode and/or loudspeaker.In one embodiment, this alarm module 60 comprises light emitting diode, when the testing result that detecting device 20 exports is blade breakage, and this LED flash or Chang Liang, when detecting device 20 export testing result be blade normal time, this light emitting diode is in OFF state.In one embodiment, this alarm module 60 comprises loudspeaker, when the testing result that detecting device 20 exports is blade breakage, sound is there is in these loudspeaker according to the first rule, as ring 5 seconds-stop 1 second, when detecting device 20 export testing result be blade normal time, these loudspeaker according to Second Rule (as ring 2 seconds-stop 3 seconds) sound or do not sound.In one embodiment, this alarm module 60 comprises light emitting diode and loudspeaker, when the testing result that detecting device 20 exports is blade breakage, this LED flash or Chang Liang, and loudspeaker are sounded, when detecting device 20 export testing result be blade normal time, this light emitting diode is in OFF state, and loudspeaker are not sounded.
Be understandable that, when load 40 is light emitting diode, it can share as alarm module 60.
Be understandable that, in order to characterize the different damaged degree of blade 50, can adopt and can not embody the light of color, or adopt the different frequency of sound, just or adopt the combination embodiment of color+sound, or other can characterize the mode of the damaged degree of blade.
Certainly in order to simplify structure, weight reduction, carry-on warning circuit can be shared as this alarm module 60.
With reference to the 4th embodiment that Fig. 4, Fig. 4 are blade pick-up unit of the present invention.
Based on the first embodiment of above-mentioned blade pick-up unit, the second embodiment or the 3rd embodiment, this device also comprises the sending module 70 be connected with this detecting device 20, for the testing result of this detecting device 20 is sent to aircraft and/or ground control station.
When testing result being sent to ground control station by this sending module 70, this sending module 70 can be 3G unit, bluetooth unit or wifi unit etc.The testing result of detecting device 20 is sent to ground control station by sending module 70 by this device, make the managerial personnel of ground control station can recognize the breakage of blade 50 easily, no matter this blade 50 is at the aircraft at High Rotation Speed or this blade 50 place in high-altitude flight, all can recognize the breakage of blade 50.
Certainly in order to simplify structure, weight reduction, detecting device 20 can be directly connected on aircraft, and carrys out this sending module 70 shared by carry-on data communication module.
The invention also discloses blade detection method, the method is applied to above-mentioned blade pick-up unit, and as shown in Figure 5, the method comprises:
After S10, energising, detect the state in this loop, this state comprises closure state and off-state;
Water conservancy diversion coil is arranged on blade and along the periphery of blade and arranges, namely the profile of this water conservancy diversion coil is identical with the profile of this blade, this water conservancy diversion coil is close to the edge of blade, make when blade occurs damaged, then this water conservancy diversion coil also can be affected, breakage (namely rupturing) also can occur accordingly, and also namely the loop at this water conservancy diversion coil place also will disconnect.
The state in S20, output detections this loop out.
As an embodiment, the state in this this loop of detection specifically comprises:
S11, detect the level of the second end being arranged on water conservancy diversion coil on blade;
S12, know the state in this loop according to the level of this detected the second end;
The level of the second end of the water conservancy diversion coil be arranged on blade is detected by detecting device, when the circuit closed that power supply, water conservancy diversion coil and load are formed, detect that the level of the second end of this water conservancy diversion coil is high level, when the loop that power supply, water conservancy diversion coil and load are formed disconnects, detect that the level of the second end of this water conservancy diversion coil is low level.
As another embodiment, the state in this this loop of detection specifically comprises:
The first end of water conservancy diversion coil that S13, detection are arranged on blade and the level of the second end;
S14, know the state in this loop according to the level of this detected first end and the second end.
The first end of water conservancy diversion coil and the level of the second end that are arranged on blade is detected by detecting device, when the circuit closed that power supply, water conservancy diversion coil and load are formed, the first end of this water conservancy diversion coil detected, the level of the second end is high level, when the loop that power supply, water conservancy diversion coil and load are formed disconnects (during power supply normal power supply), detect that the level of the first end of this water conservancy diversion coil is high level, the level of the second end is low level.If the first end of this water conservancy diversion coil detected, the level of the second end is low level, can not judge that this blade receives breakage, first should check whether power supply has electricity, the detection mode of this embodiment is more accurate.
The invention also discloses a kind of aircraft, as shown in Figure 6, this aircraft comprises control chip 80, and this aircraft is also provided with the blade pick-up unit in above-described embodiment, detecting device 20 is connected with control chip 80, to export the testing result of this circuit closed state or off-state to control chip.
With reference to the first embodiment that Fig. 7, Fig. 7 are the control method of aircraft of the present invention, the method is applied to above-mentioned aircraft, and the method comprises:
After S100, energising, detect the state in this loop, this state comprises closure state and off-state.
Water conservancy diversion coil is arranged on blade and along the periphery of blade and arranges, namely the profile of this water conservancy diversion coil is identical with the profile of this blade, this water conservancy diversion coil is close to the edge of blade, make when blade occurs damaged, then this water conservancy diversion coil also can be affected, breakage (namely rupturing) also can occur accordingly, and also namely the loop at this water conservancy diversion coil place also will disconnect.
In this step, as an embodiment, the level of the second end of the water conservancy diversion coil be arranged on blade is detected by detecting device, when the circuit closed that power supply, water conservancy diversion coil and load are formed, detect that the level of the second end of this water conservancy diversion coil is high level, when the loop that power supply, water conservancy diversion coil and load are formed disconnects, detect that the level of the second end of this water conservancy diversion coil is low level.Another embodiment, the first end of water conservancy diversion coil and the level of the second end that are arranged on blade is detected by detecting device, when the circuit closed that power supply, water conservancy diversion coil and load are formed, the first end of this water conservancy diversion coil detected, the level of the second end is high level, when the loop that power supply, water conservancy diversion coil and load are formed disconnects (during power supply normal power supply), detect that the level of the first end of this water conservancy diversion coil is high level, the level of the second end is low level.If the first end of this water conservancy diversion coil detected, the level of the second end is low level, can not judge that this blade receives breakage, first should check whether power supply has electricity, the detection mode of this embodiment is more accurate.
The state in S200, output detections this loop is out to aircraft and/or the control terminal with this aircraft communication;
S300, response policy according to this aircraft and/or control terminal, control aircraft and perform response policy, wherein the response policy of this control terminal is better than the response policy of this aircraft.
When this aircraft being only provided with a water conservancy diversion coil, the response policy of aircraft and/or control terminal can be perform to continue flight orders, perform order of automatically making a return voyage, perform original place landing order, perform any one that the homeward order of predeterminable range performs in landing order on the spot afterwards.When aircraft and control terminal all send response policy, preferably, the response policy that the response policy of control terminal is better than aircraft can be performed by aircraft.
When this aircraft is provided with multiple water conservancy diversion coil:
When the loop, water conservancy diversion coil place that the periphery only along this blade is arranged disconnects (also blade one-level is damaged), perform order of automatically making a return voyage;
When distance disconnects along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of this blade is arranged (also blade serious damage), perform original place landing and order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of this blade in the water conservancy diversion coil arranged along the periphery of this blade and distance water conservancy diversion coil farthest disconnects (also damaged, the blade three grades of breakages of blade secondary or the breakage of blade level Four), after performing the homeward order of predeterminable range, perform order of landing on the spot.As when blade secondary is damaged, after performing the homeward order of the first predeterminable range, perform order of landing on the spot; As when blade three grades is damaged, after performing the homeward order of the second predeterminable range, perform order of landing on the spot; As when blade level Four is damaged, after performing the homeward order of the 3rd predeterminable range, perform order of landing on the spot; Wherein, the first predeterminable range > second predeterminable range > the 3rd predeterminable range, by that analogy.The damaged degree that multiple water conservancy diversion coil just can know blade is set, also accurately can controls aircraft.
With reference to Fig. 8, the structural representation of Fig. 8 paddle components of the present invention, this paddle components comprises blade 50, and is at least onely arranged at the water conservancy diversion coil 30 arranged on blade 50 and along the periphery of blade 50, and this water conservancy diversion coil 30 has next-door neighbour and spaced first end 31 and the second end 32; As long as blade 50 is slightly damaged like this, water conservancy diversion coil 30 also just fragments into two sections with damaged portion, its first end 31 is close to its second end 32 and there is spacing, realize the whole edge that water conservancy diversion coil 30 covers blade 50 as much as possible on the one hand, ensure that on the other hand first end 31 can be connected to form closed-loop path respectively with its second end 32 with external circuit, and can not because of every the situation that too closely must occur short circuit.
In one embodiment, this water conservancy diversion coil 30 is copper coils.This water conservancy diversion coil 30 is close to or is embedded the edge of this blade 50, makes this water conservancy diversion coil 30 more can react the breakage of blade 50.Meanwhile, owing to the second end 32 of water conservancy diversion coil 30 to be embedded the edge of this blade 50, the intensity of this blade 50 can be improved, improve the serviceable life of blade 50.
Further, this water conservancy diversion coil 30 has multiple, and this each water conservancy diversion coil is spaced side by side.
In this each water conservancy diversion coil, adjacent guide coil can equidistantly arrange, and namely this length near the water conservancy diversion coil at blade center is less than the length of the water conservancy diversion coil away from blade center.By arranging multiple water conservancy diversion coil on blade, the breakage of blade can be detected more accurately.
In one embodiment, this water conservancy diversion coil 30 has two, and be respectively the first water conservancy diversion coil and the second water conservancy diversion coil, wherein the first water conservancy diversion coil is arranged along the periphery of blade, the second water conservancy diversion coil and the equidistant arrangement of the first water conservancy diversion coil and be positioned at its inner predeterminable range.Certainly in other embodiments, this water conservancy diversion coil 30 can have three, four, five etc.
The invention also discloses a kind of aircraft, this aircraft comprises control chip, this aircraft is also provided with the paddle components in above-described embodiment, the first end of water conservancy diversion coil is connected to power supply (can be battery pack or directly provided by carry-on motor power supplying power supply), second end of water conservancy diversion coil passes through carrying ground, to form primary Ioops; Second end of water conservancy diversion coil is also connected to the Single port of control chip, and after energising, control chip is by reading the level signal of its port to detect the state in this loop, and this state comprises closure state and off-state.
In a preferred embodiment, aircraft also comprises the alarm module of instruction blade breakage, sends alerting signal when this alarm module is connected with control chip to be in off-state in loop.
The invention also discloses a kind of flying vehicles control method, be applied to above-mentioned aircraft, as shown in Figure 9, the method comprises:
After S400, energising, detect the state in this loop, this state comprises closure state and off-state.
Water conservancy diversion coil is arranged on blade and along the periphery of blade and arranges, namely the profile of this water conservancy diversion coil is identical with the profile of this blade, this water conservancy diversion coil is close to or is embedded in the edge of blade, make when blade occurs damaged, then this water conservancy diversion coil also can be affected, breakage (namely rupturing) also can occur accordingly, and also namely the loop at this water conservancy diversion coil place also will disconnect.
In this step, as an embodiment, the level of the second end of the water conservancy diversion coil be arranged on blade is detected by detecting device, when the loop that power supply, water conservancy diversion coil and load are formed is closure state, detect that the level of the second end of this water conservancy diversion coil is high level, when the loop that power supply, water conservancy diversion coil and load are formed is off state, detect that the level of the second end of this water conservancy diversion coil is low level.Another embodiment, the first end of water conservancy diversion coil and the level of the second end that are arranged on blade is detected by detecting device, when the loop that power supply, water conservancy diversion coil and load are formed is closure state, the first end of this water conservancy diversion coil detected, the level of the second end is high level, when the loop that power supply, water conservancy diversion coil and load are formed is off state, detect that the level of the first end of this water conservancy diversion coil is high level, the level of the second end is low level.If the first end of this water conservancy diversion coil detected, the level of the second end is low level, can not judge that this blade receives breakage, first should check whether power supply has electricity, the detection mode of this embodiment is more accurate.
S500, response institute detect the state in this loop obtained, and according to the response policy of this aircraft and/or control terminal, control aircraft execution response policy, wherein the response policy of this control terminal is better than the response policy of this aircraft.
When this aircraft being only provided with a water conservancy diversion coil, the response policy of aircraft and/or control terminal can be perform to continue flight orders, perform order of automatically making a return voyage, perform original place landing order, perform any one that the homeward order of predeterminable range performs in landing order on the spot afterwards.When aircraft and control terminal all send response policy, preferably, the response policy that the response policy of control terminal is better than aircraft can be performed by aircraft.
When this aircraft is provided with multiple water conservancy diversion coil:
When the loop, water conservancy diversion coil place that the periphery only along this blade is arranged disconnects (also blade one-level is damaged), perform order of automatically making a return voyage;
When distance disconnects along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of this blade is arranged (also blade serious damage), perform original place landing and order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of this blade in the water conservancy diversion coil arranged along the periphery of this blade and distance water conservancy diversion coil farthest disconnects (also damaged, the blade three grades of breakages of blade secondary or the breakage of blade level Four), after performing the homeward order of predeterminable range, perform order of landing on the spot.As when blade secondary is damaged, after performing the homeward order of the first predeterminable range, perform order of landing on the spot; As when blade three grades is damaged, after performing the homeward order of the second predeterminable range, perform order of landing on the spot; As when blade level Four is damaged, after performing the homeward order of the 3rd predeterminable range, perform order of landing on the spot; Wherein, the first predeterminable range > second predeterminable range > the 3rd predeterminable range, by that analogy.The damaged degree that multiple water conservancy diversion coil just can know blade is set, also accurately can controls aircraft.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (13)
1. a blade pick-up unit, it is characterized in that, this device comprises detecting device and is at least onely arranged at the water conservancy diversion coil arranged on described blade and along the periphery of described blade, described water conservancy diversion coil has next-door neighbour and spaced first end and the second end, the first end of described water conservancy diversion coil is connected to power supply, second end of described water conservancy diversion coil passes through carrying ground, to form primary Ioops; After powered up, described detecting device for detecting the state in this loop, and exports the testing result of this circuit closed state or off-state.
2. blade pick-up unit as claimed in claim 1, it is characterized in that, described water conservancy diversion coil has multiple, and each water conservancy diversion coil described is spaced side by side;
Described detecting device detects the state in each loop, water conservancy diversion coil place, and exports the closure state in each loop or the testing result of off-state.
3. blade pick-up unit as claimed in claim 2, it is characterized in that, described detecting device comprises test side and output terminal; Described test side is connected with the second end of described water conservancy diversion coil, and for detecting the level of the second end of described water conservancy diversion coil to know the state in described loop, the closed of described loop or off-state export by described output terminal;
Or described detecting device comprises the first test side, the second test side and output terminal; Described first test side is connected with the second end of described water conservancy diversion coil, for detecting the level of the second end of described water conservancy diversion coil, described second test side is connected with the first end of described water conservancy diversion coil, for detecting the level of the first end of described water conservancy diversion coil, to know the state in described loop; The closed of described loop or off-state export by described output terminal.
4. a blade detection method, is characterized in that, be applied to the blade pick-up unit described in any one of the claims 1-3, the method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in output detections described loop out.
5. blade detection method as claimed in claim 4, it is characterized in that, the state in the described loop of described detection specifically comprises:
Detect the level of the second end of the water conservancy diversion coil be arranged on blade;
The state in described loop is known according to the level of detected described second end;
Or,
Detect the first end of water conservancy diversion coil and the level of the second end that are arranged on blade;
The state in described loop is known according to the level of detected described first end and the second end.
6. one kind is provided with the aircraft of the blade pick-up unit described in any one of the claims 1-3, described aircraft comprises control chip, it is characterized in that, described detecting device is connected with described control chip, to export the testing result of this circuit closed state or off-state to described control chip.
7. be provided with a control method for the aircraft as above-mentioned blade pick-up unit according to claim 6, described method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in output detections described loop is out to aircraft and/or the control terminal with this aircraft communication;
According to the response policy of described aircraft and/or control terminal, control aircraft and perform response policy, the response policy of wherein said control terminal is better than the response policy of described aircraft.
8. the control method of aircraft as claimed in claim 7, it is characterized in that, the response policy of described aircraft comprises:
When the loop, water conservancy diversion coil place that the periphery only along described blade is arranged is off state, perform order of automatically making a return voyage;
When distance is off state along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of described blade is arranged, perform original place landing order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of described blade in the water conservancy diversion coil arranged along the periphery of described blade and distance water conservancy diversion coil is farthest off state, after performing the homeward order of predeterminable range, perform order of landing on the spot.
9. a paddle components, it is characterized in that, comprise blade and be at least onely arranged at the water conservancy diversion coil arranged on described blade and along the periphery of described blade, described water conservancy diversion coil has next-door neighbour and spaced first end and the second end, and described first end and the second end can be connected to external circuit to form loop.
10. paddle components as claimed in claim 9, it is characterized in that, described water conservancy diversion coil has multiple, and each water conservancy diversion coil described is spaced side by side.
11. 1 kinds of aircraft being provided with paddle components as described in claim 9 or 10, described aircraft comprises control chip, it is characterized in that, the first end of described water conservancy diversion coil is connected to power supply, second end of described water conservancy diversion coil passes through carrying ground, to form primary Ioops; Second end of described water conservancy diversion coil is also connected to the Single port of described control chip; After energising, described control chip is by reading the level signal of described port to detect the state in this loop, and this state comprises closure state and off-state.
The control method of 12. 1 kinds of aircraft, is applied to aircraft according to claim 11, and described method comprises:
After energising, detect the state in described loop, this state comprises closure state and off-state;
The state in the described loop obtained detects in response institute, and according to the response policy of described aircraft and/or control terminal, control aircraft execution response policy, the response policy of wherein said control terminal is better than the response policy of described aircraft.
The control method of 13. aircraft as claimed in claim 12, it is characterized in that, the response policy of described aircraft comprises:
When the loop, water conservancy diversion coil place that the periphery only along described blade is arranged is off state, perform order of automatically making a return voyage;
When distance is off state along the water conservancy diversion coil loop, water conservancy diversion coil place farthest that the periphery of described blade is arranged, perform original place landing order;
When loop, water conservancy diversion coil place between the water conservancy diversion coil arranged along the periphery of described blade in the water conservancy diversion coil arranged along the periphery of described blade and distance water conservancy diversion coil is farthest off state, after performing the homeward order of predeterminable range, perform order of landing on the spot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510484146.2A CN105116271B (en) | 2015-08-07 | 2015-08-07 | Blade detection device and method, paddle components, aircraft and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510484146.2A CN105116271B (en) | 2015-08-07 | 2015-08-07 | Blade detection device and method, paddle components, aircraft and its control method |
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| CN105116271A true CN105116271A (en) | 2015-12-02 |
| CN105116271B CN105116271B (en) | 2019-04-26 |
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| WO2021217362A1 (en) * | 2020-04-27 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Method and apparatus for inspecting installation of blades of unmanned aerial vehicle |
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| CN105116271B (en) | 2019-04-26 |
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