CN105487093B - For recovering the device and method for the unmanned plane that falls - Google Patents
For recovering the device and method for the unmanned plane that falls Download PDFInfo
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- CN105487093B CN105487093B CN201511004084.7A CN201511004084A CN105487093B CN 105487093 B CN105487093 B CN 105487093B CN 201511004084 A CN201511004084 A CN 201511004084A CN 105487093 B CN105487093 B CN 105487093B
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- unmanned plane
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/34—Power consumption
Abstract
The present invention discloses a kind of device and method for being used to recover the unmanned plane that falls, the device includes being arranged on the air crash monitoring module on unmanned plane and being connected with each other and the power module with positioning function, air crash monitoring module is connected with unmanned plane power section, for monitoring whether power section exception and controls output first control signal to power module in real time, power module is powered to unmanned plane, and cut-out unmanned plane, which powers and starts positioning function, upon receiving the first control signal sends current location information；This method step includes：1）Power module with positioning function is set on unmanned plane；2）During unmanned plane during flying, powered by power module and configure positioning function and closed；Whether monitoring unmanned plane power section in real time is abnormal；3）Cut-out power supply, starts positioning function and sends current location information；The unmanned plane that falls is recovered according to positional information；The present invention has the advantages that simple in structure, required cost is low, can quickly recover and fall unmanned plane and to recover accuracy rate high.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of device and method for being used to recover the unmanned plane that falls.
Background technology
With the rapid development of unmanned air vehicle technique, various types of unmanned planes continue to bring out, and unmanned plane is also widely used
In various environment, specialty is carried out for example, performing various special shooting tasks by unmanned plane or carrying ultra high-definition camera
Take photo by plane, the precious the resources of movie ＆ TV of various visual angles can be provided to the user；By equipping the police type unmanned plane of Infrared pod, then may be used
Assist to perform investigation tasks, reduction scene of a crime etc., the video data being stored at this time on unmanned plane is also tended to as important card
According to data.
Since the technology of unmanned plane is still limited at present, its stability is not high, is frequently present of behaviour in practical flight in addition
Make the problems such as improper, thus the situation of unmanned plane " missing ", " air crash " etc. emerges in an endless stream.Although in existing unmanned plane usually all
Alignment system is equipped with, the position of unmanned plane can be positioned in real time in flight course, but when air crash occurs, the electricity of unmanned plane
Source would generally be excessive or short-circuit due to internal current and be burnt out, thus each system can not typically each work normally in unmanned plane, more
The position of unmanned plane can not be navigated to by the alignment system of the original carrying of unmanned plane.And once unmanned plane occurs air crash and can not seek
Return, be stored in carry-on precious television data etc. and all will be unable to recover, cause the loss of data information, at the same usually nobody
The price of machine costly, then can also cause certain economic loss.
The content of the invention
The technical problem to be solved in the present invention is that：For technical problem existing in the prior art, the present invention provides one
It is kind of simple structure and low cost, can quickly recover fall unmanned plane and recover accuracy rate it is high be used for recover the unmanned plane that falls
Device and method.
In order to solve the above technical problems, technical solution proposed by the present invention is：
A kind of device for being used to recover the unmanned plane that falls, including the air crash monitoring mould for being arranged on unmanned plane and being connected with each other
Block and the power module with positioning function, the power section connection of the air crash monitoring module and unmanned plane, for supervising in real time
Survey whether the power section exception and controls output first control signal to the power module, the power module be used for
Unmanned plane is powered, and the power supply to unmanned plane is cut off when receiving the first control signal and starts positioning function sending currently
Positional information.
Further as apparatus of the present invention is improved：The power module is the battery module for being integrated with GPS positioning unit,
By the GPS positioning unit positioning position information and it is transmitted.
Further as apparatus of the present invention is improved：The battery module is opened including sequentially connected battery core unit, first
Unit and GPS positioning unit are closed, the GPS positioning unit accesses the battery core list by first switch unit control
Member；The first switch unit includes the first switch K1 being connected in series and is cut-off for receiving second control signal and performing
Second switch K2, the first switch K1 is connected with the air crash monitoring module.
Further as apparatus of the present invention is improved：The battery module is further included for positional information to be passed by network
Defeated network service end unit, the network service end unit are connected with the GPS positioning unit.
Further as apparatus of the present invention is improved：The air crash monitoring module passes through second switch with the power module
Unit connects, and power supply of the battery module to unmanned plane is controlled by the second switch unit.
Further as apparatus of the present invention is improved：The air crash monitoring module and the motor in unmanned plane power section
And/or electricity adjusts connection.
A kind of method for recovering the unmanned plane that falls, step include：
1）Power module with positioning function is set on unmanned plane；
2）During unmanned plane during flying, powered by the power module for unmanned plane and configure the positioning function of the power module
It is in off state；Whether the power section of monitoring unmanned plane is abnormal in real time, if abnormal send first control signal, is transferred to execution
Step 3）；
3）The first control signal is received, cuts off power supply of the power module to unmanned plane, and start the power supply
The positioning function of module sends current location information；The unmanned plane that falls is recovered according to the current location information.
Further as the method for the present invention is improved：The power module is the battery module for being integrated with GPS positioning list, institute
State step 2）In by disconnecting the first switch unit in the battery module between battery core unit, GPS positioning unit,
Configuration positioning function is in off state；The step 3）In by closing the first switch unit starting positioning function；It is described
When configuring positioning function, it will be used to receive second control signal and perform second cut-off in the first switch unit in advance to open
K2 closures are closed, disconnect the first switch K1 that is connected in series in the first switch unit with the second switch K2 to complete to match somebody with somebody
Put；During the startup positioning function, keep the second switch K2 to close and close the first switch K1.
Further as the method for the present invention is improved：The step 2）In set by closing on the upper power module
Second switch unit is powered to unmanned plane；The step 3）In by disconnecting the second switch unit cut off confession to unmanned plane
Electricity.
Further as the method for the present invention is improved, the step 2）In in real time monitoring unmanned plane power section it is whether different
It is specially often：Whether the motor torque of monitoring unmanned plane becomes larger extremely in real time and/or whether electricity is adjusted without output current, if so,
Then it is determined as exception, is otherwise judged as normal.
Compared with prior art, the advantage of the invention is that：
1）The present invention monitors the power section of unmanned plane by air crash monitoring module in real time, to monitor flying for unmanned plane in real time
Row operating mode determines whether the possibility of air crash, if monitor power section exception, the exterior nothing of control power module cut-out
Man-machine power supply, can will not be due to high current caused by air crash or UAV system internal circuit with effective guarantee power module
Short circuit and burn out, the position that unmanned plane falls can be accurately positioned, according to positioning in while startup power supply mould positioning function in the block
To position then can quickly recover the unmanned plane that falls, reduce the loss as caused by air crash, efficiently solve unmanned plane because
The problem of artificial reason such as air crash or non-artificial machine of delaying causes positional information to lose and recover difficulty；
2）The present invention is by configuring the power module with positioning function, the reality with reference to air crash monitoring module to air crash operating mode
When monitor, in nominal situation, power module is unmanned plane power supply, then starts positioning function in air crash operating mode and fallen with positioning
Unmanned plane position, intelligent power supply and intelligent positioning function can be realized, while ensureing to be accurately positioned during air crash operating mode
Power consumption needed for reduction；
3）Air crash monitoring module of the present invention further by monitoring whether the motor of unmanned plane produces abnormal torque, nothing in real time
Whether man-machine electricity is adjusted without output current monitors unmanned plane, can have been realized for artificial air crash or non-artificial machine operating mode of delaying
Effect monitoring；After abnormal torque or curent change is monitored, module pair of cutting off the power immediately is controlled by output control signal
All outer power supplies, ensure that power module is not burned, so as to be actuated for positioning；
4）GPS positioning unit of the present invention further controls access battery core unit by first switch unit, so as to side
Just the unlatching of control positioning function, close, and when in nominal situation, first switch unit disconnects so that is held in position work(
Can closed mode to reduce kwh loss；When in air crash operating mode, first switch unit closure is positioned with driving, and is realized
The intelligent positioning of unmanned plane air crash operating mode；
5）First switch unit of the present invention is further opened by first switch K1 and second switch the K2 control being connected in series
The positioning function of dynamic power module, the first control signal control first switch K1 closures exported by air crash monitoring module, second
Switch K2 then cut-offs state by second control signal control, could only start when first switch K1, second switch K2 are closed
The positioning function of power module, is set by the redundancy for combining two switches, can be in real time according to the monitoring of air crash monitoring module
As a result realize the intelligent starting of positioning function, while can easily control according to the actual requirements and close positioning function with as far as possible
Reduce itself power consumption of power module.
Brief description of the drawings
Fig. 1 is the structure diagram that the present embodiment is used to recover the device for the unmanned plane that falls.
Fig. 2 is the realization principle schematic diagram that the present embodiment is used to recover the unmanned plane that falls.
Fig. 3 is the present invention for recovering the workflow signal of the device application for the unmanned plane that falls in a particular embodiment
Figure.
Marginal data：1st, air crash monitoring module；2nd, power module；21st, battery core unit；22nd, first switch unit；23、GPS
Positioning unit；24th, network service end unit；3rd, second switch unit.
Embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
Limit the scope of the invention.
As shown in Figure 1, 2, the present embodiment is used to recover the device of the unmanned plane that falls, including is arranged on unmanned plane and mutually
The air crash monitoring module 1 of connection and the power module 2 with positioning function, the power part of air crash monitoring module 1 and unmanned plane
Point connection, for monitoring whether power section exception and exports first control signal when controlling exception to power module 2, electricity in real time
Source module 2 is used to power to unmanned plane, cuts off the power supply to unmanned plane upon receiving the first control signal and starts positioning work(
Current location information can be sent.
The present embodiment monitors the power section of unmanned plane by air crash monitoring module 1 in real time, to monitor unmanned plane in real time
Flight operating mode determines whether there is the possibility of air crash, if monitor power section exception, the output of air crash monitoring module 1 the
One control signal after power module 2 receives, cuts off the exterior power supply to unmanned plane, so as to effective guarantee to power module 2
Power module 2 will not be burnt out due to high current caused by air crash or UAV system internal short circuits, while start electricity
Positioning function in source module 2, can be accurately positioned the position that unmanned plane falls, and then can quickly be sought according to the position navigated to
The unmanned plane to fall is returned, the loss as caused by air crash is reduced, efficiently solves unmanned plane because of artificial air crash or non-artificial machine of delaying
The problem of causing positional information to be lost etc. reason and recovering difficulty.
The present embodiment is by configuring the power module 2 with positioning function, with reference to air crash monitoring module 1 to air crash operating mode
Real time monitoring, in nominal situation, power module 2 then starts positioning function to position pendant for unmanned plane power supply, in air crash operating mode
The position of the unmanned plane fallen, can realize intelligent power supply and intelligent positioning function, ensure to be accurately positioned during air crash operating mode same
When reduce needed for power consumption.
In the present embodiment, power module 2 is the battery module for being integrated with GPS positioning unit 23, passes through GPS positioning unit 23
Positioning position information is simultaneously transmitted；GPS positioning unit 23 specifically includes GPS positioning subelement and coordinate position sends son list
Member, GPS positioning subelement positioning GPS co-ordinate position information, is transmitted by coordinate position transmission sub-unit.The present embodiment without
It is man-machine using battery as power supply, battery module specifically can use battery case form, in GPS positioning unit built in battery case
23；Battery module by start built-in GPS positioning unit 23 can positioning GPS coordinate position, so as to be sent according to feedback
Co-ordinate position information can quickly recover the unmanned plane to fall.Certainly in other embodiments, can also be used in power module 2
Other positioning methods such as Internet positioning, or the mode that multiple positioning modes combine is used to further improve positioning accuracy.
As shown in Figure 1, the present embodiment battery module include sequentially connected battery core unit 21, first switch unit 22 and
GPS positioning unit 23, GPS positioning unit 23 control access battery core unit 21 by first switch unit 22.When in normal work
During condition, first switch unit 22 disconnects, that is, disconnects GPS positioning unit 23 and the connection of battery core unit 21 so that be held in position work(
Energy closed mode, reduces kwh loss；When in air crash operating mode, i.e., when air crash monitoring module 1 monitors power section exception,
First switch unit 22 closes, and carries out in-line power for GPS positioning unit 23 by battery core unit 21, drives GPS positioning unit 23
It is actuated for positioning, positioning is transmitted after getting unmanned plane current location information, realizes the intelligence of unmanned plane air crash operating mode
Positioning.
In the present embodiment, first switch unit 22 specifically includes the first switch K1 that is connected in series and for receiving second
Control signal simultaneously performs the second switch K2 cut-off, and first switch K1 is connected with air crash monitoring module 1；First opens during original state
Pass K1 is off-state, the first control signal control first switch K1 closures exported by air crash monitoring module 1, second switch K2
State is then cut-off by second control signal control, second control signal can be manual switching signal or external input control signal
Deng could only close the positioning of 23 startup power supply module 2 of GPS positioning unit when first switch K1, second switch K2 are closed
Function.First switch unit 22 is set by combining the redundancy of two switches, can be in real time according to the monitoring of air crash monitoring module 1
As a result realize the intelligent starting of positioning function, while can easily control according to the actual requirements and close positioning function with as far as possible
Reduce itself power consumption of power module 2.Second switch K2 can specifically use manual physical control to switch, by manually controlling
Bit function is formulated to open and close, when power module 2 when storage stage or unmanned plane do not carry out aerial mission also or air crash wind
When danger can be undertaken without enabling positioning function, second switch K2 can be disconnected manually, avoids causing power module 2 itself to produce
More power consumptions；When unmanned plane needs execution task and needs to enable the positioning function of power module 2, advance manual closing second is opened
K2 is closed, in conjunction with first switch K1 the positioning function built in power module 2 is worked normally.
The present embodiment is to be powered by power module 2 for built-in GPS positioning unit 23, certainly in other embodiment
In, independent stand-by power supply can also be set to power for GPS positioning unit 23 according to demand, be further ensured that GPS positioning unit
23 power supply reliability.
In the present embodiment, battery module further includes the network service end unit for positional information to be passed through network transmission
24, network service end unit 24 is connected with GPS positioning unit 23, is determined GPS positioning unit 23 by network service end unit 24
Position to positional information be uploaded to network, user can be facilitated to acquire the unmanned plane positional information of positioning in time.This implementation
Example network service end unit 24 specifically uses communication card, and communication card is built in battery module and is connected to GPS positioning unit 23
Output terminal, after GPS positioning unit 23 navigates to co-ordinate position information, by drive built-in communication card connect on
Internet, you can upload to the co-ordinate position information of acquisition in the server of specified IP, so that clothes of the user from specified IP
Desired position information can be easily got in business device.Obtained positional information is positioned, can also be used in power module 2
In built-in several leaflet members be transmitted in a manner of passing earth station or other remote terminals etc. back.
In the present embodiment, air crash monitoring module 1 is connected with power module 2 by second switch unit 3, passes through second switch
Unit 3 controls battery module 2 to power to unmanned plane.Second switch unit 3 is connected with the feeder ear of unmanned plane, the normal work of unmanned plane
During condition, second switch unit 3 closes, and power module 2 is to unmanned plane normal power supply；When in air crash operating mode, i.e. air crash monitors
When module 1 monitors power section exception, second switch unit 3 is disconnected immediately with the externally fed of deenergization module 2, is ensured
Power module 2 is not burned；After the externally fed of module of cutting off the power 2, the built-in system of power module 2 can start to work.
Second switch unit 3 can be specifically arranged on power module 2 or separately positioned etc. with power module 2 according to the actual requirements.
As shown in Fig. 2, air crash monitoring module 1 adjusts connection with the motor in unmanned plane power section and electricity in the present embodiment,
Transfer to monitor the air crash operating mode of unmanned plane by monitoring motor and electricity in unmanned plane power section, it is motor-driven by monitoring nobody at the same time
The state that motor and electricity are adjusted in power part, monitoring accuracy, certain air crash are further improved to combine the state change of the mechanical, electrical tune of electricity
Monitoring module 1 also can more transfer to monitor unmanned plane simply by monitoring motor or electricity.When unmanned plane air crash moment, due to barrier
Hindering thing to stop propeller can cause motor to produce abnormal torque；When unmanned plane system break down and motor stalls in the air
When, then it can make it that some electricity is adjusted without output current in unmanned plane, the present embodiment air crash monitoring module 1 by monitoring unmanned plane in real time
Motor whether produce abnormal torque, the electricity of unmanned plane adjusts whether without output current monitor unmanned plane, for artificial air crash or
Non-artificial machine operating mode of delaying can realize effective monitoring；After abnormal torque or curent change is monitored, pass through output control
Signal control is cut off the power all external power supplies of module 2 immediately, ensures that power module 2 is not burned, so as to start into
Row positioning.Certainly in other embodiments, air crash monitoring module 1 can also monitor in unmanned plane machine that other are dynamic in addition to the mechanical, electrical tune of electricity
Power component is further to monitor the air crash operating mode of unmanned plane, or directly to monitor the realizations such as output current of power module 2 more simple
Single monitoring mode.
As shown in figure 3, power module 2 is using the battery case for being built-in with GPS positioning unit 23, battery inside circuit structure
As shown in Figure 1；When air crash occurs for UAV targets, it is different to detect that motor produces in the moment air crash monitoring module 1 of air crash
Constant moment or electricity are adjusted exports first control signal without output current, air crash monitoring module 1, disconnects second switch unit 3 and controls electricity
Source module 2 disconnects externally fed immediately, is closed at the first switch unit 22 of battery inside to open battery inside system
System power supply, GPS positioning unit 23 are actuated for positioning after closing power supply, obtain present co-ordinate position information, and lead to by network
Letter end unit 24 is uploaded to the server of specified IP；User terminal can recover the nothing fallen after getting elements of a fix positional information
It is man-machine, specifically Orientation on map etc. can be applied to navigate to the position of unmanned plane according to coordinate position, be counted further according to the position navigated to
The most fast route looked for an opportunity, easy to quickly recover unmanned plane.
The present embodiment further provides for a kind of method for recovering the unmanned plane that falls, and step includes：
1）Power module 2 with positioning function is set on unmanned plane；
2）It is that the positioning function that power module 2 was powered and configured to unmanned plane is closing by power module 2 during unmanned plane during flying
State；Whether the power section of monitoring unmanned plane is abnormal in real time, if abnormal send first control signal, is transferred to execution step
3）；
3）Receive first control signal, power supply of the module of cutting off the power 2 to unmanned plane, and the positioning of startup power supply module 2
Function sends current location information；The unmanned plane that falls is recovered according to current location information.
In the present embodiment, power module 2 is to be integrated with the battery module of GPS positioning unit 23, step 2）In pass through disconnection
The first switch unit 22 being connected in battery module between battery core unit 21, GPS positioning unit 23, configuration positioning function are pass
Closed state；Step 3）In by close first switch unit 22 start positioning function.Step 2）During middle unmanned plane during flying, the is disconnected
One switch element 22, that is, disconnect GPS positioning unit 23 and the connection of battery core unit 21, to configure the positioning function of power module 2
It is in off state；Step 3）In be in air crash operating mode, closure first switch unit 22, i.e., be GPS positioning list by battery core unit 21
Member 23 is powered, and is positioned with the positioning function of startup power supply module 2, is sent out after getting unmanned plane current location information
Send, according to the unmanned plane that falls can be recovered after the positional information of transmission.
In the present embodiment, when configuring positioning function, it will be used to receive second control signal in first switch unit 22 in advance
And the second switch K2 closures cut-off are performed, disconnect the first switch being connected in series in first switch unit 22 with second switch K2
K1 is to complete to configure；When starting positioning function, second switch K2 is kept to close and close the first switch K1.Specially：In advance
First pass through control second switch K2 to disconnect, to reduce itself power consumption of power module 2 to the greatest extent；Unmanned plane needs to perform aerial mission
And when needing the power module 2 to enable positioning function, second switch K2 is closed first, disconnects first switch K1 to configure positioning function
Original state so that the positioning function of power module 2 possesses initial operating condition；During unmanned plane during flying, first switch K1
The first control signal control sent during according to exception is closed to start positioning function.
In the present embodiment, step 2）In by closing set the second switch unit 3 on upper power module 2 to be supplied to unmanned plane
Electricity；Step 3）In by disconnecting second switch unit 3 cut off power supply to unmanned plane.Step 2）Second is closed during unmanned plane during flying
Switch element 3 is with normal power supply, step 3）In be in air crash operating mode, disconnect second switch unit 3 with the outer of module 2 of cutting off the power
Portion powers.
In the present embodiment, step 2）In in real time monitoring unmanned plane power section whether be specially extremely：Monitoring nothing in real time
Whether man-machine motor torque becomes larger extremely and/or whether electricity is adjusted without output current, if it is, being determined as exception, otherwise sentences
Break to be normal.
Above-mentioned simply presently preferred embodiments of the present invention, not makees the present invention limitation in any form.It is although of the invention
It is disclosed above with preferred embodiment, but it is not limited to the present invention.Therefore, it is every without departing from technical solution of the present invention
Content, according to the technology of the present invention essence to any simple modifications, equivalents, and modifications made for any of the above embodiments, should all fall
In the range of technical solution of the present invention protection.
Claims (7)
1. a kind of device for being used to recover the unmanned plane that falls, it is characterised in that including being arranged on the pendant on unmanned plane and being connected with each other
Machine monitoring module（1）With the power module with positioning function（2）, the air crash monitoring module（1）With the power part of unmanned plane
Point connection, it is whether abnormal for monitoring the power section in real time, and while controlling exception export first control signal to the electricity
Source module（2）, the power module（2）For powering to unmanned plane, cut off when receiving the first control signal to nothing
Man-machine power supply simultaneously starts positioning function and sends current location information；The air crash monitoring module（1）With the power module（2）
Pass through second switch unit（3）Connection, passes through the second switch unit（3）Control the power module（2）To unmanned plane
Power supply；
The power module（2）To be integrated with GPS positioning unit（23）Battery module, the battery module include be sequentially connected
Battery core unit（21）, first switch unit（22）And GPS positioning unit（23）, the GPS positioning unit（23）Pass through institute
State first switch unit（22）Control accesses the battery core unit（21）；When in nominal situation, the first switch unit
（22）Disconnect so that function closed mode is held in position, when in air crash operating mode, i.e., described air crash monitoring module（1）Monitoring
During to power section exception, the first switch unit（22）Closure, by the battery core unit（21）For the GPS positioning unit
（23）In-line power is carried out, drives the GPS positioning unit（23）It is actuated for positioning.
2. the device according to claim 1 for being used to recover the unmanned plane that falls, it is characterised in that：The first switch unit
（22）Including the first switch K1 being connected in series and for receiving second control signal and performing the second switch K2 cut-off, institute
State first switch K1 and the air crash monitoring module（1）Connection.
3. the device according to claim 2 for being used to recover the unmanned plane that falls, it is characterised in that：The battery module also wraps
Include the network service end unit for positional information to be passed through network transmission（24）, the network service end unit（24）With it is described
GPS positioning unit（23）Connection.
4. the device for being used to recover the unmanned plane that falls according to any one in claims 1 to 3, it is characterised in that：Institute
State air crash monitoring module（1）Adjust and connect with the motor in unmanned plane power section and/or electricity.
A kind of 5. method for recovering the unmanned plane that falls, it is characterised in that step includes：
1）Power module with positioning function is set on unmanned plane（2）；
2）During unmanned plane during flying, by the power module（2）Power for unmanned plane and configure the power module（2）Positioning work(
It can be in off state；Whether the power section of monitoring unmanned plane is abnormal in real time, if abnormal send first control signal, is transferred to and holds
Row step 3）；
3）The first control signal is received, cuts off the power module（2）Power supply to unmanned plane, and start the power supply mould
Block（2）Positioning function send current location information；The unmanned plane that falls is recovered according to the current location information；
The step 2）In by being connected to air crash monitoring module（1）With closing the power module（2）Between second switch
Unit（3）Power to unmanned plane；The step 3）In by disconnecting the second switch unit（3）Cut off the confession to unmanned plane
Electricity；
The power module（2）To be integrated with GPS positioning unit（23）Battery module, the step 2）In by disconnecting
The battery core unit in the battery module（21）, GPS positioning unit（23）Between first switch unit（22）, configuration positioning work(
It can be in off state；The step 3）In by closing the first switch unit（22）Start positioning function.
6. the method according to claim 5 for recovering the unmanned plane that falls, it is characterised in that：The configuration positioning function
When, in advance by the first switch unit（22）In be used to receive second control signal and perform the second switch K2 that cut-offs to close
Close, disconnect the first switch unit（22）In the first switch K1 that is connected in series with the second switch K2 to complete to configure；
During the startup positioning function, keep the second switch K2 to close and close the first switch K1.
7. the method for recovering the unmanned plane that falls according to claim 5 or 6, it is characterised in that：The step 2）In
In real time monitoring unmanned plane power section whether be specially extremely：Whether the motor torque of monitoring unmanned plane becomes larger extremely in real time
And/or whether electricity is adjusted without output current, if it is, being determined as exception, otherwise it is judged as normal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511004084.7A CN105487093B (en) | 2015-12-29 | 2015-12-29 | For recovering the device and method for the unmanned plane that falls |
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|---|---|---|---|
| CN201511004084.7A CN105487093B (en) | 2015-12-29 | 2015-12-29 | For recovering the device and method for the unmanned plane that falls |
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|---|---|---|---|---|
| CN107884777A (en) * | 2016-09-29 | 2018-04-06 | 上海华测导航技术股份有限公司 | A kind of shatter-resistant protection and loss prevention device for unmanned plane |
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