CN107054666A - Rotary wind type unmanned plane falling protecting device out of control and its guard method - Google Patents
Rotary wind type unmanned plane falling protecting device out of control and its guard method Download PDFInfo
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- CN107054666A CN107054666A CN201710011585.0A CN201710011585A CN107054666A CN 107054666 A CN107054666 A CN 107054666A CN 201710011585 A CN201710011585 A CN 201710011585A CN 107054666 A CN107054666 A CN 107054666A
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- 238000000034 method Methods 0.000 title claims description 11
- 239000007789 gas Substances 0.000 claims abstract description 29
- 206010008469 Chest discomfort Diseases 0.000 claims abstract description 19
- 230000008094 contradictory effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000002262 irrigation Effects 0.000 abstract 1
- 238000003973 irrigation Methods 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
- B64D25/08—Ejecting or escaping means
- B64D25/18—Flotation gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of rotary wind type unmanned plane falling protecting device out of control, its drip irrigation device is to include：Top plate is installed, ejection guns is separated into high pressure chest and ejection chamber, ejection chamber by top plate to be provided with from formula parachute is thrown, and the bottom of high pressure chest offers air inlet in ejection guns；High pressure gas holder is connected to the air inlet of two ejection guns by airway tube, and is separately installed with magnetic valve at two air inlets；Ejection open and close door is articulated with the opening of ejection guns, the jointed shaft to be provided with and is provided with torque spring, ejection guns for will launch the fixed part that open and close door is enclosed in its opening；Attitude transducer, it detects the attitudes vibration data of body located at body periodically；Control module, receives the attitudes vibration data, corresponding control signal is exported to corresponding magnetic valve and fixed part according to the tilt angles, to control being forced out from throwing formula parachute under gases at high pressure outside ejection chamber in correspondence ejection guns.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of rotary wind type unmanned plane falling protecting device out of control and its protection
Method.
Background technology
Unmanned plane is widely used to civilian and military field, such as disaster area disaster surveillance, TV station are taken photo by plane, power-line patrolling,
Meteorological detection, target detection etc..SUAV is in flight course, and any one part or the not normal of link are all likely to result in
Aircraft is out of control and crashes, so as to cause the damage to body in itself with airborne equipment, due to unmanned plane and aerial remote sensing at this stage
Equipment is all worth not expense, crash accident once occurring that huge property value can be caused.
And unmanned plane can be divided into fixed-wing formula and rotary wind type, wherein the unmanned plane of fixed-wing formula in flight course with air
Larger relative velocity is maintained, when occurring falling accident, as long as parachute is deviate from into umbrella storehouse, due to the effect of air, landing
Umbrella can dish out and open automatically；And the unfolding mode of this parachute is not particularly suited for rotary wind type unmanned plane, due to rotary wind type without
It is man-machine in operation process often in floating state, now, there is no relative velocity between fuselage and air, if now occurred
Air crash accident out of control, the parachute of fixed-wing formula is not applied to simultaneously, it is impossible to provide protection to the rotary wind type unmanned plane fallen, therefore,
It is badly in need of a kind of effective falling protecting device out of control.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of rotary wind type unmanned plane guarantor out of control that falls
Protection unit, when it falls, parachute can be opened effectively, reach the purpose of protection unmanned plane.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of rotary wind type unmanned plane falling protecting device out of control, including body, the body have front and back, protection dress
Put including：
Ejection guns, the ejection guns is provided with two, and two ejection guns are open are arranged on the front and back of body outwardly respectively, institute
State and top plate is installed in ejection guns, ejection guns is separated into high pressure chest and ejection chamber, ejection chamber by top plate to be provided with from throwing formula drop
Fall umbrella, the bottom of high pressure chest offers air inlet；
High pressure gas holder, it is connected to the air inlet of two ejection guns by airway tube, and pacifies respectively at two air inlets
Equipped with magnetic valve；
Open and close door is launched, it is articulated with the opening of ejection guns, and torque spring is provided with the jointed shaft of the ejection open and close door, ejection
It is provided with cylinder for the fixed part that open and close door is enclosed in its opening will to be launched；
Attitude transducer, it detects the attitudes vibration data of body in real time in body, and the attitudes vibration data include body
Inclination angle and body falling speed；
Control module, receives the attitudes vibration data, wherein, the falling speed at the inclination angle of body and body is all higher than threshold value,
And two states are held time more than preset time, then the control module judges the tilt angles of the body, and according to the inclination angle
Angle exports corresponding control signal to corresponding magnetic valve and fixed part, to control to throw formula parachute certainly in correspondence ejection guns
It is forced out under gases at high pressure outside ejection chamber.
It is preferred that, the ejection guns is provided with the limit assembly for being used for compressing top plate upper surface, and the limit assembly includes
Accommodating cavity and two ends on the wall of ejection guns side are respectively communicated with the installation cavity inside accommodating cavity and ejection guns, the peace
Interior slip of behaveing affectedly, which is provided with to slide in the compressible compact heap in top plate upper surface, the accommodating cavity, is provided with conflict block, described
Block is contradicted provided with being connected with compact heap to drive the linkage component that compact heap is slided, the accommodating cavity has epicoele and cavity of resorption,
Offer air flue on the side wall of the ejection guns, one end of the air flue communicated with high pressure chest and the other end and accommodating cavity epicoele
Communicate, back-moving spring is contained in the epicoele, one end of the back-moving spring is connected on the roof of epicoele and the other end connects
It is connected on the end face for contradicting block.
It is preferred that, the linkage component includes oblique dovetails, and the oblique dovetails are fixed on conflict block, the compact heap
It is provided with the oblique dovetail groove coordinated with oblique dovetails.
It is preferred that, the through hole being provided with expansion link, the expansion link along its axial directional distribution is installed in the epicoele,
One end of the expansion link is connected on the roof of epicoele and its through hole is interconnected with air flue, and the other end of the expansion link can
Contradict on the end face for contradicting block.
It is preferred that, ball is installed on the side wall of the compact heap and top plate contact, the end face of the compact heap be provided with
Top plate lower surface contradicts to drive the guide surface that compact heap is slided.
It is preferred that, it is connected with ejection secondary spring between the cylinder bottom of the top plate and ejection guns.
It is preferred that, the fixed part is included on the elastic card for being connected to ejection open and close door, the inwall of the elastic card
Card base is connected with, the side wall of the ejection guns, which is provided with the neck chimeric with card base, the card base, is provided with magnet, the card
Provided with the electromagnet being connected with control module in groove.
In view of the deficienciess of the prior art, it is another object of the present invention to provide a kind of rotary wind type unmanned plane is out of control
Falling guard method, when it falls, parachute can be opened effectively, further to protect unmanned plane.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of rotary wind type unmanned plane falling guard method out of control, it is characterized in that, comprise the following steps：
S100, in real time detection body attitudes vibration data, attitudes vibration data include the inclination angle of body and the lower terminal-velocity of body
Degree, wherein, the angle set of the face-up horizontal positioned of body is 0 °；
S200, analyzes attitudes vibration data, judges whether the inclination angle of body and the falling speed of body are more than threshold value, if so, then
Into S300；
Whether S300, the inclination angle and the falling speed of body both state maintenance times for judging body exceedes preset time, if
It is, then into S400；
S400, is set as ± 90 ° by the threshold value at the positive inclination angle of body, judges after two states are held time more than preset time
The angle at body front inclination angle, if the angle at body front inclination angle controls the positive ejection guns bullet of body in threshold range
Come from throwing formula parachute, conversely, then formula parachute is thrown in the ejection guns ejection at the control body back side certainly.
It is preferred that, also comprise the following steps in above-mentioned steps S400：
S410, is detecting ejection guns ejection from after throwing formula parachute, control module controls the rotor of the unmanned plane to stop operating.
In summary, having the beneficial effect that in contrast to prior art of the invention：
1st, the present invention monitors the state of flight of unmanned plane in real time using attitude transducer, unmanned plane is out of control fall when, according to nothing
Man-machine body direction, ejects the obverse parachute of body, to ensure parachute energy smooth opening, and then reduces unmanned plane
Research and experiment cost, improves the stability and security of unmanned plane during flying, reaches the purpose of omnibearing protection unmanned plane；
2nd, the ejection guns in the present invention comes from the mode of throwing formula parachute, economy, energy-saving and environmental protection using bomb, and passes through
Limit assembly compresses top plate so that just eject parachute after the enough pressure of accumulation in high pressure chest, to improve parachute ejection
Success rate, with the further purpose for improving protection unmanned plane.
Brief description of the drawings
Fig. 1 is the structural representation of unmanned plane；
Fig. 2 is the structural representation of body；
Fig. 3 is the structural representation of ejection guns；
Fig. 4 is the enlarged diagram in A portions in Fig. 3；
Fig. 5 is the flow chart of unmanned plane falling guard method out of control.
Reference：1st, body；101st, it is positive；102nd, the back side；2nd, ejection guns；3rd, top plate；4th, high pressure chest；5th, ejection chamber；
6th, from throwing formula parachute；7th, air inlet；8th, high pressure gas holder；801st, inflation inlet；802nd, gas outlet；9th, airway tube；10th, magnetic valve；
11st, open and close door is launched；12nd, torque spring；13rd, fixed part；131st, elastic card；132nd, card base；133rd, neck；134th, magnet；
135th, electromagnet；14th, attitude transducer；15th, control module；16th, limit assembly；160th, guide surface；161st, accommodating cavity；1611、
Epicoele；1612nd, cavity of resorption；162nd, installation cavity；163rd, compact heap；164th, block is contradicted；1641st, long section；1642nd, oblique section；165th, air flue；
166th, back-moving spring；167th, expansion link；1671st, the first slide bar；1672nd, the second slide bar；168th, through hole；169th, ball；17th, link
Component；171st, oblique dovetails；172nd, oblique dovetail groove；18th, secondary spring is launched；19th, rotor；20th, check valve；21st, block.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Embodiment one, with reference to shown in Fig. 1 and Fig. 2：
A kind of rotary wind type unmanned plane falling protecting device out of control, including body 1 and the rotor 19 on body 1, body 1 have
There are front 101 and the back side 102, the protection device includes ejection guns 2, high pressure gas holder 8, ejection open and close door 11, attitude transducer 14
With control module 15.
Ejection guns 2 is provided with two, and ejection guns 2 has opening, side wall, inner chamber and cylinder bottom, and two ejection guns 2 are distinguished
Opening is arranged on the front 101 and the back side 102 of body 1 outwardly；Top plate 3 is installed in ejection guns 2, top plate 3 can use rubber
Material, top plate 3 can slide axially along ejection guns 2, due to top plate 3 have certain elasticity, the swelling in ejection guns 2 of top plate 3,
So that seamless seal is connected between the inwall of top plate 3 and ejection guns 2；Wherein, ejection guns 2 is separated into high pressure chest 4 and bullet by top plate 3
Penetrate and be provided with chamber 5, ejection chamber 5 from the formula of throwing parachute 6, the bottom of high pressure chest 4 offers air inlet 7.
High pressure gas holder 8 is arranged on inside body 1, and high pressure gas holder 8 has a gas outlet 802 and an inflation inlet 801, the outlet
Mouth 802 is connected to the air inlet 7 of two ejection guns 2 by airway tube 9, and is separately installed with electricity at two air inlets 7
Magnet valve 10, the magnetic valve 10 is controlled by control module 15 and realizes keying.
Ejection open and close door 11 is articulated with the opening of ejection guns 2, the jointed shaft of the ejection open and close door 11 and is provided with torsion bullet
Spring 12, torque spring 12 can provide the torsion that ejection open and close door 11 is open side away from ejection guns 2 all the time, accordingly in ejection guns
Fixed part 13 is installed, fixed part 13 is used to sealing ejection open and close door 11 into the opening covered in ejection guns 2 on 2.
The present embodiment of attitude transducer 14 is preferred to use nine axle attitude transducers 14, and attitude transducer 14 is located in body 1,
Attitude transducer 14 is used for the attitudes vibration data for detecting body 1 in real time, and the attitudes vibration data include inclination angle and the machine of body 1
The falling speed of body 1, in the present embodiment by the front 101 of body 1 upward horizontal positioned angle set be 0 °.
Control module 15 receives the attitudes vibration data, wherein, it is big in the falling speed of the inclination angle of body 1 and body 1
In threshold value, and two states are held time more than preset time, then the control module 15 judges the tilt angles of the body 1, with
Corresponding control signal is exported to corresponding magnetic valve 10 and fixed part 13 according to the tilt angles, to control correspondence ejection guns 2
Interior is forced out outside ejection chamber 5 from the formula of throwing parachute 6 under gases at high pressure.
With reference to shown in Fig. 2 and Fig. 3, fixed part 13 includes the elastic card 131 for being connected to ejection open and close door 11, elastic card
Card base 132 is connected with 131 inwall, the side wall of ejection guns 2 is provided with the neck 133 chimeric with card base 132, card base 132
It is provided with magnet 134, neck 133 provided with the electromagnet 135 being connected with control module 15.Electromagnet 135 is under peacetime state
It is cold, therefore, is placed in ejection chamber 5 from after the formula of throwing parachute 6, turnover ejection open and close door 11 opens and closes ejection
Door 11 accordingly outwards moves elastic card 131 toward the side movement of the opening of ejection guns 2 so that the card on the inwall of elastic card 131
Pin 132 is mutually chimeric with the neck 133 of ejection guns 2, completes the fixation procedure of ejection open and close door 11.
According to rotary wind type unmanned plane during flying laws of motion, by a large amount of actual flying tests, rotary wind type unmanned plane is drawn
The threshold information of the inclination angle of body 1 and the falling speed of body 1 in attitude data during flight；It is out of control according to rotary wind type unmanned plane angle
The determination of threshold value, when can obtain rotary wind type unmanned plane normal flight, its angle of pitch and roll angle all between ± 40 °, so
The threshold value out of control at the inclination angle of body 1 is set as 40 °.
According to the determination of rotary wind type unmanned plane falling speed threshold value out of control, rotary wind type unmanned plane normal flight can be obtained
When, its x-axis acceleration and y-axis acceleration are all between ± 0.5g, and z-axis acceleration is between 0.5g ~ 1.5g, so body 1
The threshold value of falling speed is defined as 0.5g ~ 1.5g.
When control module 15 analyzes the attitudes vibration data, detects that the unmanned plane is out of control to fall（The inclination angle of body 1 and
Falling speed is all higher than above-mentioned threshold value）, control module 15 start timing, held time in two states more than preset time
Afterwards, the present embodiment preset time may be provided at any numerical value between 1s ~ 2s, and the present embodiment is not specifically limited, control module 15
Into pre- ejection status, in pre- ejection status, control module 15 analyzes the front of body 1 when the attitudes vibration data obtain out of control
101 tilt angles, the characteristic according to body 1 with front 101 and the back side 102, set the threshold value at positive 101 inclination angle of body 1
Be set to ± 90 °, the front 101 of body 1 tilt angles between ± 90 °, control module 15 is outputing control signals to body 1 just
The magnetic valve 10 and fixed part 13 of the ejection guns 2 of face 101 so that the electromagnet 135 in magnetic valve 10 and fixed part 13 is powered, electromagnetism
After iron 135 is powered so that electromagnet 135 has magnetic, wherein, the positive pole-face of electromagnet 135（Negative pole face）With magnet 134 just
Pole-face（Negative pole face）Relatively so that electromagnet 135 produces opposing forces to magnet 134, drives card base 132 to be flicked from neck 133,
So that ejection open and close door 11 opens the opening of ejection guns 2 in the presence of torque spring 12；And the gas in high pressure gas holder 8
It is pressed into high pressure chest 4, drastically pours in gas in high pressure chest 4 so that the air pressure in high pressure chest 4 is raised, driving top plate 3 will be from throwing
Formula parachute 6 is ejected from the opening of ejection guns 2.
Place is provided with block 21 in the opening of ejection guns 2, to prevent top plate 3 from following parachute opening from ejection guns 2
Ejected in mouthful；Umbrella rope is connected with formula parachute 6 from throwing, the umbrella rope is connected on the front 101 and the back side 102 of body 1.
With reference to shown in Fig. 2 and Fig. 4, the limit assembly 16 for being used for compressing the upper surface of top plate 3 is provided with ejection guns 2.
Limit assembly 16 includes the accommodating cavity 161 being located on the side wall of ejection guns 2 and two ends are respectively communicated with accommodating cavity
161 and ejection guns 2 inside installation cavity 162, slide in installation cavity 162 and be provided with the compressible compact heap in the upper surface of top plate 3
163, interior slide of accommodating cavity 161 is provided with conflict block 164, and conflict block 164 is provided with to be connected to drive compact heap with compact heap 163
163 linkage components 17 slided；Ball 169, the end face of compact heap 163 are installed on the side wall that compact heap 163 is contacted with top plate 3
Provided with the lower surface of top plate 3 contradict with drive compact heap 163 slide guide surface 160；Between top plate 3 and the cylinder bottom of ejection guns 2
It is connected with ejection secondary spring 18.
Contradicting block 164 has long section 1641 and oblique section 1642, and oblique section 1642 is close to the side of compact heap 163, linkage component 17
It is arranged in the oblique section 1642 for contradicting block 164, linkage component 17 includes oblique dovetails 171, oblique dovetails 171 are fixed in conflict block
On 164, compact heap 163 is provided with the oblique dovetail groove 172 coordinated with oblique dovetails 171.
Accommodating cavity 161 has offers air flue 165, air flue 165 on epicoele 1611 and cavity of resorption 1612, the side wall of ejection guns 2
One end communicated with high pressure chest 4 and the other end is communicated with the epicoele 1611 of accommodating cavity 161, contain back-moving spring in epicoele 1611
166, one end of back-moving spring 166 is connected on the roof of epicoele 1611 and the other end is connected on the end face for contradicting block 164.
The through hole 168 being provided with expansion link 167, expansion link 167 along its axial directional distribution is installed in epicoele 1611, stretched
One end of contracting bar 167 is connected on the roof of epicoele 1611 and its through hole 168 and air flue 165 are interconnected, expansion link 167 it is another
One end can be contradicted on the end face for contradicting block 164.Expansion link 167 includes the first slide bar 1671 and the second slide bar 1672, through hole 168
Through the first slide bar 1671 and the axial direction of the second slide bar 1672, one end of the first slide bar 1671 is connected to epicoele 1611
Roof and the other end are arranged in the second slide bar 1672, and the other end of the second slide bar 1672 is connected on the end face for contradicting block 164.
When top plate 3 is installed, the lower surface of top plate 3 is contradicted on guide surface 160, applied to top plate 3 to towards ejection guns 2
The pressure of cylinder bottom side, now, ejection secondary spring 18 are compressed, and compact heap 163 is in the presence of guide surface 160 in installation cavity
Slide and house in 162 and enter in installation cavity 162, with the going deep into ejection guns 2 of top plate 3, the side wall of top plate 3 is no longer
Compact heap 163 is constituted and stopped, compact heap 163 is under the driving of back-moving spring 166 and conflict block 164, the lower end of compact heap 163
Face is pressed on the upper surface of top plate 3, now, and top plate 3 is installed, you can will be placed on ejection chamber 5 from the formula of throwing parachute 6
In, cover the opening that ejection open and close door 11 closes ejection guns 2 by fixed part 13.
After the unmanned plane is out of control, the electromagnet 135 that control module 15 is output control signals in fixed part 13, fixed part 13
It is powered to open ejection open and close door 11, control module 15 is corresponding to output control signals to according to the inclination angle in the front 101 of body 1
Magnetic valve 10, magnetic valve 10 is opened, and the gas in high pressure gas holder 8 is charged into high pressure chest 4, because compact heap 163 is pressed on
The upper surface of top plate 3, so that top plate 3 will not be ejected by gas so that gas can gather certain gas pressure in high pressure chest 4
Power；Now, gases at high pressure are acted on by the through hole 168 in air flue 165, expansion link 167 on the end face for contradicting block 164, to drive
Make the slide downward of conflict block 164, so that compact heap 163 is slided in the presence of linkage component 17 so that compact heap 163 is no longer pressed
Tightly on the upper surface of top plate 3；Now, the top plate 3 of the barrier effect of compact heap 163 is lost by the impact of gas in high pressure chest 4,
Ejection guns 2 will be quickly ejected from the formula of throwing parachute 6 in ejection chamber 5, complete the ejection process from the formula of throwing parachute 6.
The setting of ball 169 on the side wall contacted due to compact heap 163 with top plate 3 so that on compact heap 163 and top plate 3
End face sliding friction is transformed into rolling friction so that the frictional force between compact heap 163 and top plate 3 is smaller, and between the two
Frictional force is less than motive force of the gases at high pressure for the conflict end face of block 164, to ensure that compact heap 163 can be smoothly from top plate 3
Upper surface is released.
That is, top plate 3 produces upward thrust F in the presence of the mesohigh gas of high pressure chest 4；By the setting of ball 169,
So that the frictional force between compact heap 163 and top plate 3 is uF, u is friction factor, u<1；And contradict the drive of the slide downward of block 164
Power be equal to thrust F, thus, compact heap 163 will not in the presence of thrust F by inlay card on top plate 3.
Wherein, check valve 20 is connected with the inflation inlet 801 of high pressure gas holder 8, is finished in the first use of high pressure gas holder 8
Afterwards, check valve 20 can be directed at by air gun to be inflated high pressure gas holder 8, to meet repeatedly using for the protection device.
Embodiment two, as shown in Figure 5：
A kind of rotary wind type unmanned plane falling guard method out of control, comprises the following steps：
S100, in real time detection body 1 attitudes vibration data, attitudes vibration data include the inclination angle of body 1 and the whereabouts of body 1
Speed, wherein, the front 101 of body 1 upward horizontal positioned angle set be 0 °；
S200, analyzes attitudes vibration data, judges whether the inclination angle of body 1 and the falling speed of body 1 are more than threshold value, if so,
Then enter S300；
Whether S300, the inclination angle and the falling speed of body 1 both state maintenance times for judging body 1 exceedes preset time,
If so, then entering S400；
S400, is set as ± 90 °, after two states are held time more than preset time by the threshold value at positive 101 inclination angle of body 1
Judge the angle at positive 101 inclination angle of body 1, if the angle at positive 101 inclination angle of body 1 is in threshold range, control body 1 is just
The ejection of ejection guns 2 in face 101 is from the formula of throwing parachute 6, conversely, then the ejection guns 2 at control body 1 back side 102 is ejected from the formula of throwing drop
Fall umbrella 6.
Also comprise the following steps in above-mentioned steps S400：
S410, is detecting the ejection of ejection guns 2 from after the formula of throwing parachute 6, control module 15 controls the rotor 19 of the unmanned plane to stop
Rotation stop is moved, and to prevent the cut-off of rotor 19 in unmanned plane from throwing the umbrella rope of formula parachute 6 certainly, or prevents umbrella rope to be wrapped in unmanned plane
On rotor 19.
Described above is only the exemplary embodiment of the present invention, not for limiting the scope of the invention, this hair
Bright protection domain is determined by appended claim.
Claims (9)
1. a kind of rotary wind type unmanned plane falling protecting device out of control, including body (1), the body (1) have positive (101) and
The back side (102), it is characterized in that, the protection device includes：
Ejection guns (2), the ejection guns (2) is provided with two, and two ejection guns (2) are open respectively is arranged on body (1) outwardly
Top plate (3) is installed in positive (101) and the back side (102), the ejection guns (2), ejection guns (2) is separated into height by top plate (3)
Press and be provided with chamber (4) and ejection chamber (5), ejection chamber (5) from formula parachute (6) is thrown, the bottom of high pressure chest (4) offers air inlet
Mouth (7)；
High pressure gas holder (8), it is connected to the air inlet (7) of two ejection guns (2) by airway tube (9), and enters at two
Gas port (7) place is separately installed with magnetic valve (10)；
Open and close door (11) is launched, it is articulated with the opening of ejection guns (2), and torsion is provided with the jointed shaft of the ejection open and close door (11)
It is provided with power spring (12), ejection guns (2) for the fixed part (13) that open and close door (11) is enclosed in its opening will to be launched；
Attitude transducer (14), it detects the attitudes vibration data of body (1), the attitudes vibration number in real time in body (1)
According to the inclination angle including body (1) and the falling speed of body (1)；
Control module (15), receives the attitudes vibration data, wherein, the falling speed at the inclination angle of body (1) and body (1) is equal
More than threshold value, and two states are held time more than preset time, then the control module (15) judges the inclination angle angle of the body (1)
Degree, and corresponding control signal is exported to corresponding magnetic valve (10) and fixed part (13) according to the tilt angles, with control pair
Answer in ejection guns (2) and ejection chamber (5) is forced out under gases at high pressure outside from throwing formula parachute (6).
2. rotary wind type unmanned plane falling protecting device out of control according to claim 1, it is characterized in that, the ejection guns (2)
The limit assembly (16) for being used for compressing top plate (3) upper surface is provided with, the limit assembly (16) includes being located at ejection guns (2) side
Accommodating cavity (161) and two ends on wall are respectively communicated with accommodating cavity (161) and the internal installation cavity (162) of ejection guns (2),
Slided in the installation cavity (162) and be provided with the compressible compact heap (163) in top plate (3) upper surface, the accommodating cavity (161)
Interior slip is provided with conflict block (164), and the conflict block (164) is provided with to be connected to drive compact heap with compact heap (163)
(163) linkage component (17) slided, the accommodating cavity (161) has epicoele (1611) and cavity of resorption (1612), the ejection guns
(2) air flue (165) is offered on side wall, one end of the air flue (165) is communicated and the other end and accommodating cavity with high pressure chest (4)
(161) epicoele (1611) is communicated, and back-moving spring (166) is contained in the epicoele (1611), the back-moving spring (166)
One end is connected on the roof of epicoele (1611) and the other end is connected on the end face for contradicting block (164).
3. rotary wind type unmanned plane falling protecting device out of control according to claim 2, it is characterized in that, the linkage component
(17) oblique dovetails (171) are included, the oblique dovetails (171) are fixed on conflict block (164), on the compact heap (163)
Provided with the oblique dovetail groove (172) coordinated with oblique dovetails (171).
4. rotary wind type unmanned plane falling protecting device out of control according to claim 2, it is characterized in that, the epicoele (1611)
In the through hole (168) being provided with expansion link (167), the expansion link (167) along its axial directional distribution is installed, it is described flexible
One end of bar (167) is connected on the roof of epicoele (1611) and its through hole (168) is interconnected with air flue (165), described to stretch
The other end of contracting bar (167) can be contradicted on the end face for contradicting block (164).
5. rotary wind type unmanned plane falling protecting device out of control according to claim 2, it is characterized in that, the compact heap
(163) ball (169) is installed, the end face of the compact heap (163) is provided with and top plate (3) on the side wall contacted with top plate (3)
Lower surface contradicts to drive the guide surface (160) that compact heap (163) is slided.
6. rotary wind type unmanned plane falling protecting device out of control according to claim 2, it is characterized in that, the top plate (3) with
Ejection secondary spring (18) is connected between the cylinder bottom of ejection guns (2).
7. rotary wind type unmanned plane falling protecting device out of control according to claim 1, it is characterized in that, the fixed part (13)
Card base is connected with elastic card (131) including being connected to ejection open and close door (11), the inwall of the elastic card (131)
(132), the side wall of the ejection guns (2) is provided with the neck (133) chimeric with card base (132), the card base (132) and set
Have in magnet (134), the neck (133) provided with the electromagnet (135) being connected with control module (15).
8. a kind of rotary wind type unmanned plane falling guard method out of control, it is characterized in that, comprise the following steps：
S100, detects the attitudes vibration data of body (1) in real time, and attitudes vibration data include inclination angle and the body (1) of body (1)
Falling speed, wherein, body (1) front (101) upward horizontal positioned angle set be 0 °；
S200, analyzes attitudes vibration data, judges whether the inclination angle of body (1) and the falling speed of body (1) are more than threshold value, if
It is, then into S300；
S300, when whether the inclination angle and the falling speed of body (1) both state maintenance times for judging body (1) exceed default
Between, if so, then entering S400；
S400, ± 90 ° are set as by the threshold value at positive (101) inclination angle of body (1), when two states are held time more than presetting
Between after judge the angle at positive (101) inclination angle of body (1), if the angle at positive (101) inclination angle of body (1) is in threshold range,
Then ejection guns (2) ejection of control body (1) positive (101) is from formula parachute (6) is thrown, conversely, then controlling body (1) back side
(102) formula parachute (6) is thrown in ejection guns (2) ejection certainly.
9. rotary wind type unmanned plane falling protecting device out of control according to claim 8, it is characterized in that, in above-mentioned steps S400
In also comprise the following steps：
S410, is detecting ejection guns (2) ejection from after throwing formula parachute (6), control module (15) controls the rotation of the unmanned plane
The wing (19) stops operating.
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| CN201710011585.0A CN107054666B (en) | 2017-01-07 | 2017-01-07 | Rotary wind type unmanned plane falling protecting device out of control and its guard method |
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| CN107054666B CN107054666B (en) | 2019-07-05 |
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