CN108313313A - Unmanned plane failure response system - Google Patents

Unmanned plane failure response system Download PDF

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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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CN
China
Prior art keywords
unmanned plane
flight
cavity
parachute
detection module
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Pending
Application number
CN201810076388.1A
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Chinese (zh)
Inventor
李章勇
赵兴
鞠孟汐
李泽禹
王伟
刘圣蓉
田�健
林金朝
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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Publication date
Application filed by Chongqing University of Post and Telecommunications filed Critical Chongqing University of Post and Telecommunications
Priority to CN201810076388.1A priority Critical patent/CN108313313A/en
Publication of CN108313313A publication Critical patent/CN108313313A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00Aircraft indicators or protectors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00Parachutes
    • B64D17/80Parachutes in association with aircraft, e.g. for braking thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00Aircraft indicators or protectors not otherwise provided for
    • B64D2045/0085Devices 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

Unmanned plane failure response system
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.
CN201810076388.1A 2018-01-26 2018-01-26 Unmanned plane failure response system Pending CN108313313A (en)

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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
CN109839153A (en) * 2019-01-30 2019-06-04 江苏理工学院 A kind of computer system applied to city stratification environmental monitoring and simulation
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
CN112379690A (en) * 2020-11-05 2021-02-19 浙江点辰航空科技有限公司 Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system
CN112384445A (en) * 2019-03-26 2021-02-19 乐天株式会社 Unmanned vehicles and waterproof container
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CN112384445A (en) * 2019-03-26 2021-02-19 乐天株式会社 Unmanned vehicles and waterproof container
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
CN111476527B (en) * 2020-04-17 2021-08-31 蔡敏 Logistics distribution method based on cooperation of multiple unmanned aerial vehicles and cloud control center
CN112379690A (en) * 2020-11-05 2021-02-19 浙江点辰航空科技有限公司 Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system
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Application publication date: 20180724