CN107839892A - A kind of unmanned plane lost-control protection system and method - Google Patents
A kind of unmanned plane lost-control protection system and method Download PDFInfo
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- CN107839892A CN107839892A CN201710978422.XA CN201710978422A CN107839892A CN 107839892 A CN107839892 A CN 107839892A CN 201710978422 A CN201710978422 A CN 201710978422A CN 107839892 A CN107839892 A CN 107839892A
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- unmanned plane
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- flight
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- 238000000034 method Methods 0.000 title claims description 6
- 230000010365 information processing Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 12
- 230000004913 activation Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
Classifications
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned plane lost-control protection system, unmanned plane body, the unmanned plane body interior is provided with the information processing terminal for being in communication with each other connection, attitude transducer, height sensor, manual protection module, automatic protection module, program handover module, flight distance record module, control module of making a return voyage and ejection module, the unmanned plane body interior also includes accommodating chamber, the accommodating chamber is equipped with ejection lid in unmanned plane body surface, parachute ejection mechanism is provided with the accommodating chamber, the parachute ejection mechanism includes the ejector and parachute connected by rope, the ejector and ejection module communication connection.In spite of the protection work after having corresponding protection module adapter unmanned plane out of control beyond the control range of terrestrial operation system during unmanned plane during flying so that damaged probability of the unmanned plane after out of control substantially reduces.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of unmanned plane lost-control protection system and method.
Background technology
UAV is referred to as " unmanned plane "（“UAV”）, it is to utilize radio robot and the programme-control provided for oneself
The not manned vehicle that device manipulates.Unmanned plane is actually the general designation of unmanned vehicle, can be with from technical standpoint definition
It is divided into：Unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, nothing
People's parasol etc..Compared with manned aircraft, it has small volume, low cost, easy to use, low to operational environment requirement, battlefield
The advantages that survival ability is stronger.
The voyage scope of existing civilian unmanned plane is typically that can directly control unmanned plane most with terrestrial operation system
It is remote to limit.During unmanned plane flight in the air, due to the presence of the uncontrollable factors such as upper air current, signal interference, often
Generation out-of-control phenomenon and cause unmanned plane to crash.Sometimes also because misoperation causes unmanned plane to fly away from the control of terrestrial operation system
Scope processed and lead to not operate and unmanned plane is crashed.Great damage is caused to avoid unmanned plane from directly being crashed after out of control
Lose.Now research and develop a kind of unmanned plane out of control for high-altitude flight and protect system.
The content of the invention
To achieve the above object, the present invention adopts the following technical scheme that：A kind of unmanned plane lost-control protection system, unmanned plane sheet
Body, the unmanned plane body interior be provided with the information processing terminal for being in communication with each other connection, attitude transducer, height sensor,
Manual protection module, automatic protection module, program handover module, flight distance record module, control module of making a return voyage and ejection module, institute
State unmanned plane body interior and also include accommodating chamber, the accommodating chamber is equipped with ejection lid, institute in unmanned plane body surface
State and parachute ejection mechanism is provided with accommodating chamber, the parachute ejection mechanism includes ejector and the drop connected by rope
Fall umbrella, the ejector and ejection module communication connection.
The present invention operation principle be：Unmanned plane lost-control protection system proposed by the present invention, take into account two kinds of failures and feelings occur
Condition, when one is that unmanned plane is in the control range of terrestrial operation system, instruction can directly be assigned by terrestrial operation system
Manipulation can not the unmanned aerial vehicle ejecting parachute of normal flight protected.It is provided with unmanned plane for receiving the manual of the instruction
Protection module, perform ejection module, ejector and the ejection lid of projectile motion.Wherein ejection is covered covers in unmanned plane normal flight
Together in unmanned plane body surface, the accommodating chamber of unmanned plane body interior is covered, to ensure unmanned plane entirety aerodynamic configuration, held
When row ejection parachute acts, ejection lid receives instruction and upspring so that storage and the parachute in accommodating chamber be identically configured in
Ejector in accommodating chamber ejects unmanned plane body and opened, and protects unmanned plane steady fall.Another failure situation is for nobody
Machine flies away from the control range of terrestrial operation system, then by flight distance record module monitors and determines current unmanned plane and have disengaged from ground
Operating system control range and unmanned plane is switched to automatic protection module and is controlled.According to flight distance record module, height
Sensor, the information of attitude transducer judge unmanned plane now whether can smooth flight, maked a return voyage if that can activate if smooth flight
Control module returns to unmanned machine automatic drive in the control range of terrestrial operation system.If ejection can not be activated if smooth flight
Module, carry out foregoing ejection dropping action.Unmanned plane is avoided to crash.
Further, the manual protection module is parallel to program handover module homonymy with automatic protection module.
Manual protection module is arranged in parallel with both automatic protection modules, and unmanned plane only receives the control of one of them when running
System.
Further, the unmanned plane body also includes the flight control modules with information processing terminal communication connection, institute
Flight control modules are stated to communicate with the drive division for being arranged at unmanned plane body interior and the rudder for being arranged at aircraft tail respectively
Connection.
Unmanned plane is internally provided with flight control modules, to control the flare maneuver under unmanned plane normal condition.
Further, receiving cavity wall is fixed in described ejector one end, and its other end passes through elastic rope and parachute
Connection.
Further, the ejection lid and ejection module communication connection.
A kind of unmanned plane lost-control protection method, comprises the following steps：
S1：Flight monitoring, attitude transducer that unmanned plane body interior is set, height sensor to the flying height of unmanned plane and
Flight attitude is monitored, and monitoring information is transmitted to the information processing terminal；
S2：Flight distance record, the air mileage and route of the flight distance record module record unmanned plane that unmanned plane body interior is set；
S3：Manual protection, in control range of the unmanned plane during flying distance without departing from terrestrial operation system, if unmanned plane loses
Phenomenon is controlled, the manual protection module of unmanned plane body interior can be activated by terrestrial operation system, manual protection module receives
After ground signal, activation ejection module, ejection module instruction ejection lid is upspring, and command ejection device ejects parachute simultaneously；
S4：Surpass away from making a return voyage, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage on unmanned plane is remembered
Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to
Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module,
The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced
Determine unmanned plane can stabilized flight when, automatic protection module activation is maked a return voyage control module, former by the control module adapter unmanned plane that makes a return voyage
Some flight control modules carry out course and dynamic Control to unmanned plane, make the control range of its terrestrial operation system that flies back；
S5：It is super away from out of control, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage note on unmanned plane
Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to
Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module,
The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced
Determine unmanned plane can not stabilized flight when, automatic protection module activation ejection module, ejection module instruction ejection lid is upspring, and simultaneously
Command ejection device ejects parachute.
Beneficial effects of the present invention are：In spite of the control range beyond terrestrial operation system during unmanned plane during flying
Protection work after having corresponding protection module adapter unmanned plane out of control so that damaged probability of the unmanned plane after out of control is significantly
Reduce.
Brief description of the drawings
The invention will be further described for accompanying drawing, but the embodiment in accompanying drawing does not form any limitation of the invention.
Fig. 1 is a kind of unmanned plane lost-control protection system schematic that one embodiment of the invention provides；
Fig. 2 is a kind of unmanned plane structural representation that one embodiment of the invention provides.
Embodiment
As shown in figs. 1-2, a kind of unmanned plane lost-control protection system that one embodiment of the invention provides, unmanned plane body 1,
The unmanned plane body 1 is internally provided with the information processing terminal for being in communication with each other connection, attitude transducer, height sensor, hand
Dynamic protection module, automatic protection module, program handover module, flight distance record module, control module of making a return voyage and ejection module, it is described
Also include accommodating chamber 11 inside unmanned plane body 1, the accommodating chamber 11 is provided with ejection lid in the surface engagement of unmanned plane body 1
2, parachute ejection mechanism is provided with the accommodating chamber 11, the parachute ejection mechanism includes the ejection by rope connection
Device 3 and parachute 4, the ejector 3 and ejection module communication connection.
The present invention operation principle be：Unmanned plane lost-control protection system proposed by the present invention, take into account two kinds of failures and feelings occur
Condition, when one is that unmanned plane is in the control range of terrestrial operation system, instruction can directly be assigned by terrestrial operation system
Manipulation can not the unmanned aerial vehicle ejecting parachute 4 of normal flight protected.The hand for receiving the instruction is provided with unmanned plane
Dynamic protection module, perform ejection module, ejector 3 and the ejection lid 2 of projectile motion.Wherein ejection lid 2 normally flies in unmanned plane
The surface of unmanned plane body 1 is covered on during row, the accommodating chamber 11 inside unmanned plane body 1 is covered, to ensure unmanned plane integrally gas
Dynamic profile, when performing the action of ejection parachute 4, ejection lid 2 receives instruction and upspring so that storage and the landing in accommodating chamber 11
Umbrella 4, which is identically configured, to be ejected unmanned plane body 1 in the ejector 3 in accommodating chamber 11 and opens, and protects unmanned plane steady fall.Separately
A kind of failure situation is that unmanned plane flies away from the control range of terrestrial operation system, then is worked as by flight distance record module monitors and determining
Preceding unmanned plane has disengaged from terrestrial operation system control range and so that unmanned plane switches to automatic protection module and is controlled.According to
Flight distance record module, height sensor, attitude transducer information judge unmanned plane now whether can smooth flight, Ruo Keping
Steady flight then activates control module of making a return voyage and returned to unmanned machine automatic drive in the control range of terrestrial operation system.If it can not put down
Then module is launched in activation for steady flight, carries out foregoing ejection dropping action.Unmanned plane is avoided to crash.
Further, the manual protection module is parallel to program handover module homonymy with automatic protection module.
Manual protection module is arranged in parallel with both automatic protection modules, and unmanned plane only receives the control of one of them when running
System.
Further, the unmanned plane body 1 also includes the flight control modules with information processing terminal communication connection, institute
Flight control modules are stated respectively with the drive division that is arranged inside unmanned plane body 1 and being arranged at the rudder of aircraft tail and communicating
Connection.
Unmanned plane is internally provided with flight control modules, to control the flare maneuver under unmanned plane normal condition.
Further, the inwall of accommodating chamber 11 is fixed in described one end of ejector 3, and its other end passes through elastic rope and landing
Umbrella 4 connects.
Further, the ejection lid 2 and ejection module communication connection.
A kind of unmanned plane lost-control protection method, comprises the following steps：
S1：Flight monitoring, attitude transducer that the inside of unmanned plane body 1 is set, height sensor are to the flying height of unmanned plane
And flight attitude is monitored, and monitoring information is transmitted to the information processing terminal；
S2：Flight distance record, the air mileage and route of the flight distance record module record unmanned plane that the inside of unmanned plane body 1 is set；
S3：Manual protection, in control range of the unmanned plane during flying distance without departing from terrestrial operation system, if unmanned plane loses
Phenomenon is controlled, the manual protection module inside unmanned plane body 1 can be activated by terrestrial operation system, manual protection module receives
After ground signal, activation ejection module, ejection module instruction ejection lid 2 is upspring, and simultaneously command ejection device 3 by the bullet of parachute 4
Go out；
S4：Surpass away from making a return voyage, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage on unmanned plane is remembered
Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to
Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module,
The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced
Determine unmanned plane can stabilized flight when, automatic protection module activation is maked a return voyage control module, former by the control module adapter unmanned plane that makes a return voyage
Some flight control modules carry out course and dynamic Control to unmanned plane, make the control range of its terrestrial operation system that flies back；
S5：It is super away from out of control, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage note on unmanned plane
Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to
Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module,
The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced
Determine unmanned plane can not stabilized flight when, automatic protection module activation ejection module, ejection module instruction ejection lid 2 is upspring, and together
When command ejection device 3 parachute 4 is ejected.
Beneficial effects of the present invention are：In spite of the control range beyond terrestrial operation system during unmanned plane during flying
Protection work after having corresponding protection module adapter unmanned plane out of control so that damaged probability of the unmanned plane after out of control is significantly
Reduce.Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art,
On the premise of not departing from present inventive concept, various modifications and improvements can be made, these belong to protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
- A kind of 1. unmanned plane lost-control protection system, it is characterised in that：Unmanned plane body, the unmanned plane body interior are provided with phase The information processing terminal of mutual communication connection, attitude transducer, height sensor, manual protection module, automatic protection module, program Handover module, flight distance record module, control module of making a return voyage and ejection module, the unmanned plane body interior also include receiving Chamber, the accommodating chamber are equipped with ejection lid in unmanned plane body surface, parachute ejection machine are provided with the accommodating chamber Structure, the parachute ejection mechanism include the ejector and parachute connected by rope, and the ejector leads to ejection module Letter connection.
- 2. according to claim 1, it is characterised in that：The manual protection module is parallel to program with automatic protection module and cut Change the mold block homonymy.
- 3. according to claim 1, it is characterised in that：The unmanned plane body also includes communicating to connect with the information processing terminal Flight control modules, the flight control modules are respectively with being arranged at the drive division of unmanned plane body interior and being arranged at aircraft The rudder communication connection of empennage.
- 4. according to claim 1, it is characterised in that：Receiving cavity wall is fixed in described ejector one end, and its other end leads to Elastic rope is crossed to be connected with parachute.
- 5. according to claim 1, it is characterised in that：The ejection lid and ejection module communication connection.
- 6. a kind of unmanned plane lost-control protection method, including the unmanned plane lost-control protection system described in claim 1-5, its feature exist In comprising the following steps：S1：Flight monitoring, attitude transducer that unmanned plane body interior is set, height sensor to the flying height of unmanned plane and Flight attitude is monitored, and monitoring information is transmitted to the information processing terminal；S2：Flight distance record, the air mileage and route of the flight distance record module record unmanned plane that unmanned plane body interior is set；S3：Manual protection, in control range of the unmanned plane during flying distance without departing from terrestrial operation system, if unmanned plane loses Phenomenon is controlled, the manual protection module of unmanned plane body interior can be activated by terrestrial operation system, manual protection module receives After ground signal, activation ejection module, ejection module instruction ejection lid is upspring, and command ejection device ejects parachute simultaneously；S4：Surpass away from making a return voyage, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage on unmanned plane is remembered Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module, The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced Determine unmanned plane can stabilized flight when, automatic protection module activation is maked a return voyage control module, former by the control module adapter unmanned plane that makes a return voyage Some flight control modules carry out course and dynamic Control to unmanned plane, make the control range of its terrestrial operation system that flies back；S5：It is super away from out of control, when unmanned plane during flying distance exceeds the control range of terrestrial operation system, the voyage note on unmanned plane Record module compares default maximum run with actual range, is determined as the information processing that runaways and transmit information to Control circuit is switched to automatic protection module by terminal, information processing terminal instruction repertorie handover module by manual protection module, The unmanned plane voyage information of automatic protection module receive information processing terminal transmission, attitude information, elevation information are calculated, and are sentenced Determine unmanned plane can not stabilized flight when, automatic protection module activation ejection module, ejection module instruction ejection lid is upspring, and simultaneously Command ejection device ejects parachute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710978422.XA CN107839892A (en) | 2017-10-19 | 2017-10-19 | A kind of unmanned plane lost-control protection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710978422.XA CN107839892A (en) | 2017-10-19 | 2017-10-19 | A kind of unmanned plane lost-control protection system and method |
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| Publication Number | Publication Date |
|---|---|
| CN107839892A true CN107839892A (en) | 2018-03-27 |
Family
ID=61662615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710978422.XA Withdrawn CN107839892A (en) | 2017-10-19 | 2017-10-19 | A kind of unmanned plane lost-control protection system and method |
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| CN (1) | CN107839892A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114470556A (en) * | 2020-10-23 | 2022-05-13 | 怀化市兴进消防新材料有限公司 | Fire control unmanned aerial vehicle with listen function |
-
2017
- 2017-10-19 CN CN201710978422.XA patent/CN107839892A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114470556A (en) * | 2020-10-23 | 2022-05-13 | 怀化市兴进消防新材料有限公司 | Fire control unmanned aerial vehicle with listen function |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180327 |
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| WW01 | Invention patent application withdrawn after publication |