CN108313313A - Unmanned plane failure response system - Google Patents
Unmanned plane failure response system Download PDFInfo
- Publication number
- CN108313313A CN108313313A CN201810076388.1A CN201810076388A CN108313313A CN 108313313 A CN108313313 A CN 108313313A CN 201810076388 A CN201810076388 A CN 201810076388A CN 108313313 A CN108313313 A CN 108313313A
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- Prior art keywords
- unmanned plane
- flight
- cavity
- parachute
- detection module
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- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000012360 testing method Methods 0.000 claims abstract description 18
- 239000001307 helium Substances 0.000 claims description 8
- 229910052734 helium Inorganic materials 0.000 claims description 8
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 abstract description 7
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 2
- 206010047571 Visual impairment Diseases 0.000 description 1
- 230000009286 beneficial 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
- 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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- 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
- 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)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of unmanned plane failure response system, including gyroscope, propeller and power supply, further includes:Unmanned plane processor, electric power detection mechanism, state of flight testing agency, drop buffer, the electric power detection mechanism, state of flight testing agency are separately connected the test side group of unmanned plane processor, the control terminal of the unmanned plane processor connects drop buffer, the electric power detection mechanism is bi-directionally connected with power supply, the propeller state detection module is bi-directionally connected with propeller, and the flight bearing detection module is bi-directionally connected with gyroscope;The state of flight testing agency includes propeller state detection module, flight bearing detection module, air-flow detection module.Advantageous effect:Flying distance is arranged according to how much electricity calculates in real time, and the reply situation of different flight state corresponds to adjustment, improves the real work efficiency of unmanned plane and ensures safety;Meanwhile haulage gear enables parachute to open in time, prevents the awkward situation of landing buffering failure.
Description
Technical field
The present invention relates to air vehicle technique fields, specifically, are related to a kind of unmanned plane failure response system.
Background technology
Unmanned plane is as small aircraft, using increasingly wider but same because build is smaller so that unmanned plane exists
It is difficult that flight is frequently run onto when working at height, as air flowing it is too fast it is excessive unmanned plane will be made out of control, once it is out of control often once
It is that crash machine is died;Also some high-altitude rubbish such as polybag, balloon etc. may snarl the propeller of unmanned plane, cause unmanned plane difficult
With flight, it also will appear air crash situation;Its afterimage unmanned plane not enough power supply, bird strike etc. are all that unmanned plane during flying in the process can
The case where capable of encountering, and many situations once occur, the unmanned plane of small body type is difficult to normal flight again, or even directly crashes.
And in the prior art, the response protection mechanism after unmanned plane failure problem is also immature, usually from single
The reduction that releases a parachute is fallen speed, it is difficult to and complicated high-altitude situation is coped with, can not be strained in time, this protection to unmanned plane
It is extremely limited.
Invention content
The object of the present invention is to provide a kind of unmanned plane failure response system, different flight failures are coped with and make gearing to actual circumstances
The countermeasure of situation flies to greatest extent under the premise of ensureing unmanned plane safety, and after being difficult to keep state of flight and
When open drop buffer protection unmanned plane fall.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows:
A kind of unmanned plane failure response system, including gyroscope, propeller and power supply further include:
Unmanned plane processor selects failure countermeasure according to the failure of unmanned plane, and failure countermeasure is sent to
Corresponding mechanism enables unmanned plane land nearby or forced landing;
Electric power detection mechanism, detects or is periodically detected in real time whether unmanned plane remaining capacity meets flight plan, and will
Testing result is sent to unmanned plane processor;
State of flight testing agency, detecting the flight device of unmanned plane in real time, whether failure, flight environment of vehicle influence nothing
It is man-machine to be difficult to continue to fly, and detection case is sent to unmanned plane processor;
The state of flight testing agency includes propeller state detection module, flight bearing detection module, air-flow detection
Module;
Drop buffer is controlled by unmanned plane processor when needing the urgent grounding and is opened, enabled unmanned plane fall and obtain
Buffering, avoids unmanned plane from breaking;
The electric power detection mechanism, state of flight testing agency are separately connected the test side group of unmanned plane processor, described
The control terminal of unmanned plane processor connects drop buffer;
The electric power detection mechanism is bi-directionally connected with power supply, the propeller state detection module and the two-way company of propeller
It connects, the flight bearing detection module is bi-directionally connected with gyroscope.
Wherein, the failure countermeasure includes:Maximum safe distance countermeasures, landing strategy and failure are urgent nearby
Grounding strategy;
When unmanned plane low battery and good flight condition, unmanned plane processor carries out maximum safe distance flight plan
Slightly, i.e., the fly able maximum distance of electricity institute is had according to the calculating of set flight plan, makes unmanned plane during flying to the most long distance
Land again from after;
When the existing electricity of unmanned plane can not long-distance flight or flight device minor failure influence normal flight when, unmanned plane
Processor carries out landing strategy nearby, that is, selects nearest safe falling place that unmanned plane is enabled to land nearby;
When unmanned plane electricity exhausts or unmanned plane during flying is out of control, failure of unmanned plane processor taking promptly grounds strategy,
It opens and drop buffer and stops propeller works, so that unmanned plane is slowed down under the protection of drop buffer whereabouts, keep away
Exempt to break.
By above-mentioned design, unmanned plane electricity is low to be differed with the countermeasure that electricity exhausts, and improves the reality of unmanned plane
Working efficiency, and flight condition is good, slight impacted and three kinds of situations of flight catastrophe failure the correspondence flight plan of flight
Slightly also adjustment in due course, ensures unmanned plane safe flight.
It further describes, the drop buffer is arranged in the cavity of unmanned fuselage roof, including the cavity infolding
The parachute set is stacked, the cavity is provided with the haulage gear of parachute, which guides the umbrella body of the parachute
It quickly opens, chamber door is provided at the top of the cavity, which is controlled by unmanned plane processor and opened.
Traditional drop buffer is the mechanism of parachute and instantaneous burst air-flow, will be landed by the air-flow of instantaneous burst
Umbrella is opened, however the air-flow of these instantaneous bursts often damages the body of unmanned plane, makes the body of unmanned plane by extra factor
It destroys, and the traction parachute that is designed as of the present invention is opened:
When unmanned plane needs the urgent grounding, unmanned plane processor opens the chamber door, then the parachute in cavity by
Haulage gear traction is quickly left cavity and is strutted, and unmanned plane is controlled by parachute and slowly fallen, and avoids the impact of falling from high altitude
Power damages unmanned plane.
It is further described, the haulage gear is the hook pawl being fixed in chamber door, and the claw for hooking pawl catches on landing
The umbrella body of umbrella.
By above-mentioned design, it is fixedly connected with chamber door due to hooking pawl, when the controlled opening of chamber door, the hook pawl is naturally with chamber door
Movement hooks pawl hooks and lives parachute traction disengaging cavity, then parachute is blown afloat and strutted by air-flow, smoothly protects unmanned plane landing.
Further, the umbrella body surface connection of the parachute is there are one small-sized helium balloon, the small-sized helium balloon by
Claw clip is hooked to hold.
By above-mentioned design, chamber door is opened, and is hooked claw clip and is held small-sized helium balloon movement, small-sized helium balloon is ramped up by buoyancy
It rises, the parachute involved is also just natural to be pulled out cavity, realizes landing buffer protection purpose.
It is further described, the haulage gear is traction balloon, and being full of density in the traction balloon is less than air
Gas;
The umbrella body of the traction balloon connection parachute.
By above-mentioned design, haulage gear can be hooked pawl and directly be substituted for traction balloon, once chamber door is opened, draw gas
Ball directly rises and pulls parachute, and parachute is made to strut in time, protection unmanned plane landing.
It is further described, the side of the chamber door is that hinged side is hinged with cavity, and the other side is folding side and cavity
Fitting;
Wherein, hinged side is connect with cavity through torsional spring, and folding side is by the latching device latched position of cavity, the latching device
It connects unmanned plane processor and is controlled by unmanned plane processor and unlocked.
By above-mentioned design, when unmanned plane is not necessarily to forced landing, chamber door is locked and closed by latching device, and works as forced landing
When unmanned plane processor control open latching device, influenced by torsional spring torsion, chamber door is around hinged side rotating opening.
Further, the latching device is torsion snib, the folding side of the torsion snib block chamber door.
It is further described, the haulage gear is 2 smooth protruding portions being arranged in cavity outer surface of cupular part, described
Chamber door is located between 2 protruding portions.
By above-mentioned design, air-flow is flowed up along smooth protruding portion, and a low pressure is just formed between two protruding portions
Area, when the controlled opening of chamber door, chamber door is inside and outside to form draught head, and parachute pulls out cavity by draught head, then blown out by air-flow
It struts.
It is further described, the edge of the chamber door is bonded with cavity;
The cavity wall or bottom are additionally provided with stomata, which has valve, the valve to connect unmanned plane processor
And it is controlled and is opened by unmanned plane processor.
By above-mentioned design, when valve-closing, chamber door internal and external pressure difference is not enough to blow chamber door open, and when valve is opened,
Air-flow enters cavity from stomata, and cavity is inside and outside to form larger draught head, then draught head will be only that the chamber door being bonded is blown open, drop
Falling umbrella, also blowout cavity struts therewith, and the mechanism of simplify control chamber door switch is capable of in the design of such pure mechanic structure.
Beneficial effects of the present invention:Flying distance is arranged according to how much electricity calculates in real time, and different flight state is answered
Situation is corresponded to and is adjusted, the real work efficiency of unmanned plane is improved and ensures safety;Meanwhile haulage gear keeps parachute timely
It opens, prevents the awkward situation of landing buffering failure.
Description of the drawings
Fig. 1 is the structure diagram of embodiment
Fig. 2 is the structural schematic diagram of embodiment one
Fig. 3 is the partial schematic diagram of one cavity of embodiment
Fig. 4 is the status diagram of a dozen doors of beginning to speak of embodiment
Fig. 5 is the status diagram that one parachute of embodiment is opened
Fig. 6 is the structural schematic diagram of embodiment two
Fig. 7 is the partial schematic diagram of two cavity of embodiment
Fig. 8 is the status diagram that embodiment two opens chamber door
Fig. 9 is the status diagram that two parachute of embodiment is opened
Figure 10 is the structural schematic diagram of embodiment three
Figure 11 is the partial schematic diagram of three cavity of embodiment
Figure 12 is the status diagram that embodiment three opens chamber door
Figure 13 is the status diagram that three parachute of embodiment is opened
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment invention is further described in detail:
As shown in Figure 1, a kind of unmanned plane failure response system, including gyroscope, propeller and power supply, further include:
Unmanned plane processor selects failure countermeasure according to the failure of unmanned plane, and failure countermeasure is sent to
Corresponding mechanism enables unmanned plane land nearby or forced landing;
Electric power detection mechanism, detects or is periodically detected in real time whether unmanned plane remaining capacity meets flight plan, and will
Testing result is sent to unmanned plane processor;
State of flight testing agency, detecting the flight device of unmanned plane in real time, whether failure, flight environment of vehicle influence nothing
It is man-machine to be difficult to continue to fly, and detection case is sent to unmanned plane processor;
The state of flight testing agency includes propeller state detection module, flight bearing detection module, air-flow detection
Module;
Drop buffer is controlled by unmanned plane processor when needing the urgent grounding and is opened, enabled unmanned plane fall and obtain
Buffering, avoids unmanned plane from breaking;
The electric power detection mechanism, state of flight testing agency are separately connected the test side group of unmanned plane processor, described
The control terminal of unmanned plane processor connects drop buffer;
The electric power detection mechanism is bi-directionally connected with power supply, the propeller state detection module and the two-way company of propeller
It connects, the flight bearing detection module is bi-directionally connected with gyroscope.
As shown in Fig. 2, the drop buffer is arranged in the cavity 1 of unmanned fuselage roof, including 1 infolding of cavity
The parachute 2 set is stacked, the cavity 1 is provided with the haulage gear 3 of parachute 2, which guides the parachute 2
Umbrella body quickly open, the top of the cavity 1 is provided with chamber door 4, which is controlled by unmanned plane processor and opened.
It is hinged with cavity 1 as shown in figure 3, the side of the chamber door 4 is hinged side, the other side is folding side and cavity 1
Fitting;
Wherein, hinged side is connect with cavity 1 through torsional spring 11, and folding side is by 12 latched position of latching device of cavity 1, the lock
Buckle mechanism 12 connects unmanned plane processor and is controlled by unmanned plane processor and unlocked.
Preferably, the latching device 12 is torsion snib, the folding side of the torsion snib block chamber door 4.
As shown in Fig. 2, preferably, haulage gear 3 described in embodiment one is the hook pawl 31 being fixed in chamber door 4, institute
The claw for stating hook pawl 31 catches on the umbrella body of parachute 2.
As shown in Figure 4, Figure 5, it is fixedly connected with chamber door 4 due to hooking pawl 31, when 4 controlled opening of chamber door, the hook pawl 31 is certainly
It is so moved with chamber door 4, hooks pawl 31 and catch on the traction disengaging cavity 1 of parachute 2, then parachute 2 is blown afloat and strutted by air-flow, smoothly protects
Protect unmanned plane landing.
Preferably, the umbrella body surface of the parachute 2 can connect a small-sized helium balloon 21, the small-sized helium balloon 21
It is clamped by hook pawl 31.
As shown in Figure 6, Figure 7, preferably, haulage gear 3 described in embodiment two is traction balloon 32, the traction gas
The gas that density is less than air is full of in ball 32;
The traction balloon 32 connects the umbrella body of parachute 2.
As shown in Figure 8, Figure 9, once chamber door is opened, traction balloon directly rises and pulls parachute, keeps parachute timely
It struts, protection unmanned plane landing.
As shown in Figure 10, preferably, haulage gear 3 described in embodiment three is to be arranged the 2 of 1 outer surface of cupular part of cavity
A smooth protruding portion 33, the chamber door 4 are located between 2 protruding portions 33.
As shown in figure 11, the edge with cavity 1 of the chamber door 4 is bonded;
1 side wall of the cavity or bottom are additionally provided with stomata 13, which has valve, the valve to connect at unmanned plane
It manages device and is controlled by unmanned plane processor and opened.
As shown in Figure 12 and Figure 13, when valve-closing, chamber door internal and external pressure difference is not enough to blow chamber door open, and when valve is opened
When, air-flow enters cavity from stomata, and cavity is inside and outside to form larger draught head, then draught head will be only that the chamber door being bonded is blown
It opens, also blowout cavity struts parachute therewith.
It should be noted that above three embodiments are only preferred several embodiments, the present invention is not limited to this three
Kind embodiment, can also be the combined crosswise of specific embodiment, can also be that other are not disclosed but met by above-described embodiment
The embodiment of rights protection scope.
Claims (9)
1. a kind of unmanned plane failure response system, including gyroscope, propeller and power supply, it is characterised in that further include:
Unmanned plane processor selects failure countermeasure according to the failure of unmanned plane, and failure countermeasure is sent to correspondence
Mechanism enables unmanned plane land nearby or forced landing;
Electric power detection mechanism, detects or is periodically detected in real time whether unmanned plane remaining capacity meets flight plan, and will detection
As a result it is sent to unmanned plane processor;
State of flight testing agency, detecting the flight device of unmanned plane in real time, whether failure, flight environment of vehicle influence unmanned plane
It is difficult to continue to fly, and detection case is sent to unmanned plane processor;
The state of flight testing agency includes propeller state detection module, flight bearing detection module, air-flow detection module;
Drop buffer is controlled by unmanned plane processor when needing the urgent grounding and is opened, unmanned plane whereabouts is enabled to be buffered,
Unmanned plane is avoided to break;
The electric power detection mechanism, state of flight testing agency are separately connected the test side group of unmanned plane processor, it is described nobody
The control terminal of machine processor connects drop buffer;
The electric power detection mechanism is bi-directionally connected with power supply, and the propeller state detection module is bi-directionally connected with propeller, institute
Flight bearing detection module is stated to be bi-directionally connected with gyroscope.
2. unmanned plane failure response system according to claim 1, it is characterised in that:The drop buffer setting exists
In the cavity (1) of unmanned fuselage roof, include the parachute (2) of cavity (1) interior folding placement, the cavity (1) is provided with
The haulage gear (3) of parachute (2), the haulage gear (3) guide the umbrella body of the parachute (2) quickly to open, the cavity
(1) top is provided with chamber door (4), which is controlled by unmanned plane processor and opened.
3. unmanned plane failure response system according to claim 2, it is characterised in that:The haulage gear (3) is to fix
Hook pawl (31) in chamber door (4), the claw for hooking pawl (31) catch on the umbrella body of parachute (2).
4. unmanned plane failure response system according to claim 3, it is characterised in that:The umbrella body table of the parachute (2)
There are one small-sized helium balloon (21), the small-sized helium balloons (21) to be clamped by hook pawl (31) for face connection.
5. unmanned plane failure response system according to claim 2, it is characterised in that:The haulage gear (3) is traction
Balloon (32), the interior gas for being full of density and being less than air of the traction balloon (32);
The traction balloon (32) connects the umbrella body of parachute (2).
6. according to power 2-5 any one of them unmanned plane failure response systems, it is characterised in that:The side of the chamber door (4) is
Hinged side is hinged with cavity (1), and the other side is that folding side is bonded with cavity (1);
Wherein, hinged side is connect with cavity (1) through torsional spring (11), opens and closes latching device (12) latched position of side by cavity (1),
The latching device (12) connects unmanned plane processor and is controlled by unmanned plane processor and unlocked.
7. unmanned plane failure response system according to claim 6, it is characterised in that:The latching device (12) is torsion
Snib, the folding side of the torsion snib block chamber door (4).
8. unmanned plane failure response system according to claim 2, it is characterised in that:The haulage gear (3) is setting
In 2 smooth protruding portions (33) of cavity (1) outer surface of cupular part, the chamber door (4) is located between 2 protruding portions (33).
9. unmanned plane failure response system according to claim 8, it is characterised in that:The edge and chamber of the chamber door (4)
Body (1) is bonded;
Cavity (1) side wall or bottom are additionally provided with stomata (13), which has valve, the valve to connect unmanned plane
Processor is simultaneously controlled opening by unmanned plane processor.
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CN201810076388.1A CN108313313A (en) | 2018-01-26 | 2018-01-26 | Unmanned plane failure response system |
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CN201810076388.1A CN108313313A (en) | 2018-01-26 | 2018-01-26 | Unmanned plane failure response system |
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CN109703759A (en) * | 2019-02-19 | 2019-05-03 | 酷黑科技(北京)有限公司 | A kind of carrier vehicle |
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CN111476527A (en) * | 2020-04-17 | 2020-07-31 | 蔡敏 | Logistics distribution method based on cooperation of multiple unmanned aerial vehicles and cloud control center |
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CN112384445A (en) * | 2019-03-26 | 2021-02-19 | 乐天株式会社 | Unmanned vehicles and waterproof container |
WO2022261864A1 (en) * | 2021-06-16 | 2022-12-22 | 深圳市大疆创新科技有限公司 | Control method and apparatus for unmanned aerial vehicle system, and unmanned aerial vehicle system and storage medium |
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