CN105564634A - Apparatus for locking propeller of unmanned plane and control method thereof - Google Patents
Apparatus for locking propeller of unmanned plane and control method thereof Download PDFInfo
- Publication number
- CN105564634A CN105564634A CN201610013783.6A CN201610013783A CN105564634A CN 105564634 A CN105564634 A CN 105564634A CN 201610013783 A CN201610013783 A CN 201610013783A CN 105564634 A CN105564634 A CN 105564634A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- screw propeller
- locking
- brake
- braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/002—Braking propellers, e.g. for measuring the power output of an engine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Abstract
The invention discloses an apparatus for locking the propeller of unmanned plane and a control method thereof. Aiming at the autopilot of unmanned plane, propeller locking early warning mechanism is established; a locking apparatus is arranged on the rotation electric shaft of a propeller motor; when the unmanned plane has an accident, unmanned plane braking control program, which has established on the unmanned plane in advance, is started; a command is sent to a servo controller so as to close the pneumatic valve, a pneumatic braking block operates and controls a braking arm rod, two friction blocks brake and lock the rotation electric shaft and at the same time lock the propeller; a speed sensor can rapidly determine the locking state of the propeller according to the speed signal from the rotation electric shaft; the provided apparatus and control method can lock the propeller of unmanned plane in emergency so as to avoid accidence and propeller destruction.
Description
Technical field
The present invention relates to a kind of device and the control method thereof that lock unmanned plane screw propeller, be related specifically to the technical field of unmanned plane locking screw oar.
Background technology
Current existing unmanned plane is under the service conditions of High Rotation Speed and vibrations, and screw propeller easily comes off, and is called in the industry and penetrates oar, and this is a major reason of unmanned plane during flying accident.User worries the hidden danger that unmanned plane brings, because once manipulate improper, not only easily crash, also can hurt sb.'s feelings or cause other accidents, especially the blade of High Rotation Speed, once it is exactly severely injured for colliding people, is called that in the industry oar is hindered; The model aircraft power of assembling is very strong, although model plane do not weigh, speed is fast, hovers in the people crown, but does not have safety control, deficient in stability in flight course due to the unmanned plane screw propeller of assembling, can constitute a threat to numerous user security.
Current industry has two kinds of modes to lock unmanned plane screw propeller: one is fix screw propeller by the mode of traditional exterior oar folder or nut, and two is the spinner of disposed thread and blade are made of one.First kind of way will use other nut or oar folder, adds weight and complexity, causes the Comparision changing screw propeller complicated; The second way, when locking suddenly, due to the huge inertia of the blade of High Rotation Speed, still can cause screw thread to unscrew, penetrate the situation of oar.Simultaneously, the fast development of speed sensor makes the direction to the rotation of unmanned plane screw propeller controls to be controlled to control to instruction by transmission change, control more meticulous to the rotation of screw propeller, therefore, when et out of order, by monitoring the rotative speed of screw propeller, the emergency braking locking realizing screw propeller becomes the feasible way avoiding threatening.
Summary of the invention
The technical method that the present invention adopts is to propose a kind of device and the control method thereof that lock unmanned plane screw propeller, be to establish propeller lock early warning mechanism for unmanned plane autopilot, when unmanned plane device fails or rolling, by transmission lock oar control command, utilize brake locking device for inclined roller to carry out locking to unmanned plane rotating machine to control, realize in case of emergency locking unmanned plane screw propeller, avoid the appearance of unmanned plane accident or oar wound.
For reaching this object, following technical scheme is proposed:
Blocking device is set up at the rotation electric axis place of unmanned plane screw propeller motor, when there is situation in unmanned plane, start in advance at the unmanned plane brake control routine of the upper foundation of unmanned plane autopilot, by to the output of serving controller to carry out instruction, carry out the closedown of air pressure valve, compression air brake block carries out operation to braking armed lever and controls, two pieces of friction shoes carry out braking and locking to rotation electric axis simultaneously, indirectly screw propeller is locked, the speed signal that speed sensor transmits according to rotation electric axis, can judge rapidly the slew mode of screw propeller.
Further, adopt upper and lower two pieces of friction shoes to carry out friction lock braking, avoid occur the screw propeller pressure of unexpected locking state and inertia excessive, penetrate oar, simultaneously friction shoe adopts asbestos fiber friction material, and have good resistance to abrasion, brake noise is low.
Further, in braking procedure, the speed of the monitoring rotating machine that speed sensor is real-time, when detecting that the speed rotating electric axis is 0, the compression air brake state of compression air brake block disappears, and carries out work under making brake system proceed to common braking mode; In the locking mechanism preset, be divided into brake snub, gradient to brake and emergency braking three kinds, deceleration when brake snub is unmanned plane orthodox flight, speed reduction in landing use, and brake efficiency is low; Gradient braking is that unmanned plane slows down in intensity, general screw propeller withdraw from use in emergency circumstances, in brake efficiency; Emergency braking is that unmanned plane avoids screw propeller High Rotation Speed to cause urgent braking with locked wheels during second accident to lock when dropping or crash occurs, and brake efficiency is high, and brake-pressure is large.
Further, after confirmation unmanned plane condition ceases, then screw propeller cancels locking, carries out opening of air pressure valve by the control command of remote controller, controls braking armed lever and carries out locking release.
Preferably, adopt air lift pump to brake in compression air brake block, braking effect is stablized, relax, avoid the damage of braking suddenly rotating machine and screw propeller, the rear locking degree of braking is strong, not easily loosens.
Beneficial effect of the present invention is:
Unmanned plane screw propeller is established to the controlling mechanism of early warning locking, creationary achieving unmanned plane screw propeller monitors lock oar in real time, and by indirectly playing locking unmanned plane screw propeller to the control for brake of rotating machine, the oar of penetrating when avoiding unexpected locking threatens; In autopilot, preset three kinds of locking controlling mechanisms under different purposes, the control achieving unmanned plane screw propeller is meticulous further, when particularly civilian unmanned plane flies in crowded region, plays preventive effect.
Compared to the screw propeller installing protective frame, control setup of the present invention is installed on the internal body of unmanned plane, does not have an impact, improve the airworthiness of unmanned plane to the flight rotating speed of screw propeller during flight; The speed sensor installed achieves the real-time inspection and control to rotating machine, provides assessment foundation to the efficiency of locking rotating machine.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 of the present inventionly a kind ofly locks the device of unmanned plane screw propeller and the machine-processed diagram of circuit of control method thereof.
Fig. 2 of the present inventionly a kind ofly locks the device of unmanned plane screw propeller and the schematic diagram of device of control method thereof.
In Fig. 2,1, rotate electric axis, 2, locking friction shoe, 3, braking armed lever, 4, speed sensor, 5, serve controller, 6, air pressure valve, 7, compression air brake block, 8, transmission line, 9, screw propeller motor, 10, autopilot.
Detailed description of the invention
Elaborate below in conjunction with accompanying drawing.
The present invention, as a kind of device and the control method thereof that lock unmanned plane screw propeller, realizes in case of emergency locking unmanned plane screw propeller, is described below in conjunction with concrete enforcement use-case.
As shown in Figure 1, be the control flow step of locking unmanned plane screw propeller.The flight condition of the monitoring unmanned plane that autopilot is real-time, when there is situation in unmanned plane operation, the output locking control command is carried out to unmanned plane screw propeller, locking prior-warning device starts, friction braking is carried out to rotating machine, the real-time rotating speed of rotating machine is monitored simultaneously, when speed is reduced to 0, then screw propeller locking is fixed; After the condition ceases of unmanned plane, by the control command of remote controller, discharge the locking stationary state of screw propeller, namely latching device unclamps.
As shown in Figure 2, unmanned plane screw propeller is arranged in the rotation electric axis (1) of screw propeller motor (9), compression air brake block is arranged on the both sides of screw propeller motor (9), be provided with above and serve controller (5) and air pressure valve (6), autopilot (10) is transferred to control command by transmission line (8) and serves in controller (5), serves controller (5) to operate opening or closing of air pressure valve (6); Compression air brake block (7) controls braking armed lever (3) by the change of draught head, drive the position of locking friction shoe (2) to move simultaneously, by controlling the change of the difference of pressure rotating the upper and lower contact surface of electric axis (1), carry out the locking or the release control that rotate electric axis; Speed sensor (4) realizes the Real-Time Monitoring of the rotating speed rotating electric axis (1).
It is emphasized that; more than combine the apparatus design process of actual unmanned plane locking of propeller; do relevant know-why explanation; described embodiment is illustrative; instead of it is determinate; therefore scope comprises the embodiment be not limited to described in detailed description of the invention, and every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (5)
1. one kind locks device and the control method thereof of unmanned plane screw propeller, realize in case of emergency locking unmanned plane screw propeller, it is characterized in that setting up blocking device at rotation electric axis (1) place of unmanned plane screw propeller motor (9), at the unmanned plane brake control routine of the upper foundation of unmanned plane autopilot (10), by transmission line (8) to the output of serving controller (5) to carry out instruction, carry out the closedown of air pressure valve (6) or open, realizing compression air brake block (7) and the operation of braking armed lever (3) is controlled.
2. a kind of device and control method thereof locking unmanned plane screw propeller according to claim 1, it is characterized in that unmanned plane screw propeller is arranged in the rotation electric axis (1) of screw propeller motor (9), compression air brake block is arranged on the both sides of screw propeller motor (9), is provided with above and serves controller (5) and air pressure valve (6).
3. a kind of device and control method thereof locking unmanned plane screw propeller according to claim 1, it is characterized in that adopting upper and lower two pieces of friction shoes (2) to carry out braking and locking to rotation electric axis (1), indirectly screw propeller is locked, friction shoe (2) adopts asbestos fiber friction material, have good resistance to abrasion, brake noise is low.
4. a kind of device and control method thereof locking unmanned plane screw propeller according to claim 1, it is characterized in that presetting three kinds of locking mechanisms in autopilot (10), brake snub, gradient is divided into brake and emergency braking Three models, deceleration when brake snub is unmanned plane orthodox flight, speed reduction in landing use, and brake efficiency is low; Gradient braking is that unmanned plane slows down in intensity, general screw propeller withdraw from use in emergency circumstances, in brake efficiency; Emergency braking is that unmanned plane avoids screw propeller High Rotation Speed to cause urgent braking with locked wheels during second accident to lock when dropping or crash occurs, and brake efficiency is high, and brake-pressure is large.
5. a kind of device and control method thereof locking unmanned plane screw propeller according to claim 1, it is characterized in that at the upper installation rate sensor (4) of rotation electric axis (1), for rotating the Real-Time Monitoring of the rotating speed of electric axis (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610013783.6A CN105564634B (en) | 2016-01-11 | 2016-01-11 | A kind of device and its control method locking unmanned plane propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610013783.6A CN105564634B (en) | 2016-01-11 | 2016-01-11 | A kind of device and its control method locking unmanned plane propeller |
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| Publication Number | Publication Date |
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| CN105564634A true CN105564634A (en) | 2016-05-11 |
| CN105564634B CN105564634B (en) | 2019-09-10 |
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| CN201610013783.6A Active CN105564634B (en) | 2016-01-11 | 2016-01-11 | A kind of device and its control method locking unmanned plane propeller |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106516157A (en) * | 2016-11-02 | 2017-03-22 | 重庆零度智控智能科技有限公司 | Unmanned aerial vehicle propeller hitting judging method and device and unmanned aerial vehicle |
| CN106553767A (en) * | 2016-11-02 | 2017-04-05 | 重庆零度智控智能科技有限公司 | Unmanned plane beats decision method, device and the unmanned plane of oar |
| CN106564606A (en) * | 2016-11-02 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Unmanned aerial vehicle propeller beating and shooting judgment method and device and unmanned aerial vehicle |
| CN106794901A (en) * | 2016-10-21 | 2017-05-31 | 深圳市大疆创新科技有限公司 | The method of handling failure, aircraft, server and control device |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
| WO2019100203A1 (en) * | 2017-11-21 | 2019-05-31 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| CN109878715A (en) * | 2019-03-05 | 2019-06-14 | 广州极飞科技有限公司 | The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle |
| WO2021005288A1 (en) * | 2019-07-09 | 2021-01-14 | Safran Electrical & Power | Locking finger for an electric motor shaft |
| CN114183250A (en) * | 2021-10-19 | 2022-03-15 | 中国航空工业集团公司沈阳飞机设计研究所 | Starting method for engine of unmanned aerial vehicle |
| WO2022140904A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106794901A (en) * | 2016-10-21 | 2017-05-31 | 深圳市大疆创新科技有限公司 | The method of handling failure, aircraft, server and control device |
| CN109677629A (en) * | 2016-10-21 | 2019-04-26 | 深圳市大疆创新科技有限公司 | Method, aircraft, server and the control equipment of handling failure |
| WO2018072194A1 (en) * | 2016-10-21 | 2018-04-26 | 深圳市大疆创新科技有限公司 | Method for handling malfunctions, aerial vehicle, server, and control device |
| CN106564606B (en) * | 2016-11-02 | 2019-05-07 | 天津远度科技有限公司 | Unmanned plane beats paddle and penetrates the determination method, device and unmanned plane of paddle |
| CN106516157A (en) * | 2016-11-02 | 2017-03-22 | 重庆零度智控智能科技有限公司 | Unmanned aerial vehicle propeller hitting judging method and device and unmanned aerial vehicle |
| CN106564606A (en) * | 2016-11-02 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Unmanned aerial vehicle propeller beating and shooting judgment method and device and unmanned aerial vehicle |
| CN106553767B (en) * | 2016-11-02 | 2018-11-27 | 重庆零度智控智能科技有限公司 | Unmanned plane beats the determination method, device and unmanned plane of paddle |
| CN106553767A (en) * | 2016-11-02 | 2017-04-05 | 重庆零度智控智能科技有限公司 | Unmanned plane beats decision method, device and the unmanned plane of oar |
| US11912394B2 (en) | 2017-11-21 | 2024-02-27 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| WO2019100203A1 (en) * | 2017-11-21 | 2019-05-31 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| CN110944908A (en) * | 2017-11-21 | 2020-03-31 | 深圳市大疆创新科技有限公司 | System and method for detecting propeller |
| US11485478B2 (en) | 2017-11-21 | 2022-11-01 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| EP3713843A4 (en) * | 2017-11-21 | 2021-12-08 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| CN110944908B (en) * | 2017-11-21 | 2024-02-13 | 深圳市大疆创新科技有限公司 | System and method for detecting a propeller |
| EP4245657A3 (en) * | 2017-11-21 | 2023-12-13 | SZ DJI Technology Co., Ltd. | Systems and methods for detecting propellers |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
| CN108459619B (en) * | 2018-03-21 | 2022-05-27 | 深圳臻迪信息技术有限公司 | Unmanned aerial vehicle landing locking method and device, flight control system and remote controller |
| CN109878715A (en) * | 2019-03-05 | 2019-06-14 | 广州极飞科技有限公司 | The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle |
| CN109878715B (en) * | 2019-03-05 | 2021-10-08 | 广州极飞科技股份有限公司 | Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle |
| WO2021005288A1 (en) * | 2019-07-09 | 2021-01-14 | Safran Electrical & Power | Locking finger for an electric motor shaft |
| FR3098491A1 (en) * | 2019-07-09 | 2021-01-15 | Safran Electrical & Power | Locking finger of an electric motor shaft |
| US11970261B2 (en) | 2019-07-09 | 2024-04-30 | Safran Electrical & Power | Locking finger for an electric motor shaft |
| WO2022140904A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium |
| CN114183250B (en) * | 2021-10-19 | 2024-01-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle engine starting method |
| CN114183250A (en) * | 2021-10-19 | 2022-03-15 | 中国航空工业集团公司沈阳飞机设计研究所 | Starting method for engine of unmanned aerial vehicle |
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| CN105564634B (en) | 2019-09-10 |
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