CN109573004A - A kind of unmanned autogyro brake system and method - Google Patents
A kind of unmanned autogyro brake system and method Download PDFInfo
- Publication number
- CN109573004A CN109573004A CN201811613055.4A CN201811613055A CN109573004A CN 109573004 A CN109573004 A CN 109573004A CN 201811613055 A CN201811613055 A CN 201811613055A CN 109573004 A CN109573004 A CN 109573004A
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- Prior art keywords
- brake
- autogyro
- unmanned
- unmanned autogyro
- sensor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
-
- 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
- B64U2201/00—UAVs characterised by their flight controls
Abstract
The present invention provides a kind of unmanned autogyro brake system and methods, its system includes: unmanned autogyro shell, the brake gear for being braked to unmanned autogyro and the detection device for detecting unmanned autogyro surrounding enviroment, the brake gear and the detection device are arranged on the unmanned autogyro shell, the brake gear is connect with the detection device, and the tail undercarriage of the brake gear and unmanned autogyro is coaxially disposed.The beneficial effects of the present invention are: enabling unmanned autogyro to brake in time, brake device structure is simple by the way that brake gear is arranged on unmanned autogyro, brake sensitivity is high, speed is fast and safety, brake is quick on the draw, and reduces production cost, is easily installed and safeguards.
Description
Technical field
The present invention relates to brake technique field more particularly to a kind of unmanned autogyro brake system and method.
Background technique
For unmanned plane during flight, not can avoid can encounter aerial emergency event, such as encounter birds barrier,
It is therefore necessary to carry out brake.Service life of the quality of brake system concerning unmanned plane, according to investigations, every year because brake is asked
Topic cause crash unmanned plane have 30%, caused by 10,000,000 yuan of property loss.Therefore the sensitivity that promote brake, prevents from stopping
Vehicle damage, unmanned plane will not stop at once when brake, have forward speed and travel a distance, so to timely feedback letter
Number, just it is avoided that property loss.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of unmanned autogyro brake
Vehicle system and method.
The technical scheme to solve the above technical problems is that a kind of unmanned autogyro brake system, packet
It includes: unmanned autogyro shell, the brake gear for being braked to unmanned autogyro and for detecting nobody
The detection device of autogyro surrounding enviroment, the brake gear and detection device setting it is described nobody from rotating
On wing casing body, the brake gear is connect with the detection device, the tail portion of the brake gear and unmanned autogyro
Propeller coaxial setting.
The beneficial effects of the present invention are: by the way that brake gear is arranged on unmanned autogyro, so that nobody rotates certainly
Wing machine can brake in time, and brake device structure is simple, and brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and reduce
Production cost is easily installed and safeguards.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the brake gear include: brake block, braking clamp, for control braking clamp movement execution unit,
Gravity wheel and steering engine machine plate are provided on the unmanned autogyro, the brake block and the braking clamp are arranged in institute
It states between gravity wheel and the steering engine machine plate, the tail undercarriage of the brake block and the unmanned autogyro is coaxially set
It sets, the periphery of the brake block is located at the position of dehiscing of the braking clamp, and the execution unit is arranged in unmanned autorotating rotor
On casing body, the execution unit and the brake clipper joint.
Beneficial effect using above-mentioned further scheme is: by the way that brake gear is arranged on unmanned autogyro, making
Obtaining unmanned autogyro can brake in time, and brake device structure is simple, and brake sensitivity is high, speed is fast and safety, brake
It is quick on the draw, reduces production cost, be easily installed and safeguard.
Further, the execution unit includes: servo mechanism, the first rocker arm, the second rocker arm and interlocking bar, described to watch
It takes mechanism to be arranged on the unmanned autogyro shell, one end of first rocker arm and the output end of the servo mechanism
Connection, the other end of first rocker arm are connect with one end of the interlocking bar, the other end of the interlocking bar and described second
One end of rocker arm connects, and the other end of second rocker arm is connect with the input terminal of the braking clamp.
Beneficial effect using above-mentioned further scheme is: controlling brake work by servo mechanism, improves brake work
Automation, improve brake opportunity accuracy.
Further, further includes: the brake is arranged in a pair of of braking clamp block, a pair of braking clamp block correspondingly
The output end of pincers.
Beneficial effect using above-mentioned further scheme is: the setting of braking clamp block, for increasing braking clamp and brake block
Between frictional force, prevent braking clamp from wearing.
Further, multiple ventilation holes are provided on the brake block.
Beneficial effect using above-mentioned further scheme is: the setting of ventilation hole, on the one hand, the intensity of brake block is improved,
Extend the service life of brake block；On the other hand, it ventilates more rapidly, accelerates the heat dissipation of brake block.
Further, the detection device includes: first sensor, second sensor, processor, the processor setting
In the bottom end of the shell, the first sensor and the second sensor are arranged at the unmanned autorotating rotor casing
The front end of body, the first sensor and the second sensor are connected to the processor.
Beneficial effect using above-mentioned further scheme is: the setting of velocity sensor and laser radar sensor, real
When monitor the travel speed of unmanned autogyro and the environment on periphery, choose brake opportunity, improve the accuracy of brake, prevent
Only unmanned autogyro collides with barrier.
Further, the first sensor is velocity sensor, and the second sensor is laser radar sensor.
Beneficial effect using above-mentioned further scheme is: the setting of velocity sensor and laser radar sensor, real
When monitor the travel speed of unmanned autogyro and the environment on periphery, choose brake opportunity, improve the accuracy of brake, prevent
Only unmanned autogyro collides with barrier.
In addition, the present invention also provides a kind of unmanned autogyro brake methods, in any one claim as above
In a kind of structure basis of unmanned autogyro brake system, the unmanned autogyro brake method includes:
Judge that whether there are obstacles in front of the unmanned autogyro；
If so, obtaining obstacle information；
Judge whether the barrier is moving obstacle according to the obstacle information；
If so, the ship trajectory of the fine tuning unmanned autogyro；
If it is not, then issuing deceleration or brake instruction, and the course line of the unmanned autogyro is planned again.
The beneficial effects of the present invention are: by the barrier in monitoring front, according to the actual situation and unmanned autorotating rotor
On the opportunity that itself braking quality of machine chooses brake, slows down and change course line, improve the timeliness of brake；So that unmanned rotation
Gyroplane can brake in time, and brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and production cost be reduced, convenient for peace
It is filled with and safeguards.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the step of whether there are obstacles in front of the judgement unmanned autogyro, further includes:
Obtain the actual range data between the unmanned autogyro and the barrier；
Judge whether the actual range data are less than the safe distance data of acquisition；
If so, issuing deceleration or brake instruction.
Beneficial effect using above-mentioned further scheme is: by monitoring front barrier, according to the actual situation and
On the opportunity that itself braking quality of unmanned autogyro chooses brake, slows down and change course line, improve the timeliness of brake；
Unmanned autogyro is braked in time, brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and reduces life
Cost is produced, is easily installed and safeguards.
Further, further includes:
Monitor the real time running speed of unmanned autogyro；
Judge the real time running speed whether be more than acquisition pre-set velocity；
If so, issuing deceleration or brake instruction.
Beneficial effect using above-mentioned further scheme is: the actual travel speed of the logical unmanned autogyro of real-time monitoring
Degree chooses brake or slows down opportunity, and the unmanned autogyro of mode is driven over the speed limit, and the safety for improving unmanned autogyro can
By property.
The advantages of additional aspect of the invention, will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or practice is recognized through the invention.
Detailed description of the invention
Fig. 1 is one of the structural schematic diagram of unmanned autogyro brake system provided in an embodiment of the present invention.
Fig. 2 is the second structural representation of unmanned autogyro brake system provided in an embodiment of the present invention.
Drawing reference numeral explanation: the unmanned autogyro shell of 1-；2- brake gear；3- brake block；4- braking clamp；5- is executed
Component；6- gravity wheel；7- steering engine machine plate；8- servo mechanism；The first rocker arm of 9-；The second rocker arm of 10-；11- interlocking bar.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As depicted in figs. 1 and 2, Fig. 1 is that the structure of unmanned autogyro brake system provided in an embodiment of the present invention is shown
One of be intended to.Fig. 2 is the second structural representation of unmanned autogyro brake system provided in an embodiment of the present invention.Fig. 1 shows
The state that brake gear does not brake is gone out, Fig. 2 shows the states of brake gear brake.
The present invention provides a kind of unmanned autogyro brake system comprising: unmanned autogyro shell 1 is used
In the brake gear 2 braked to unmanned autogyro and detection for detecting unmanned autogyro surrounding enviroment
Device, the brake gear 2 and the detection device are arranged on the unmanned autogyro shell 1, the brake dress
It sets 2 to connect with the detection device, the tail undercarriage of the brake gear 2 and unmanned autogyro is coaxially disposed.
The beneficial effects of the present invention are: by the way that brake gear is arranged on unmanned autogyro, so that nobody rotates certainly
Wing machine can brake in time, and brake device structure is simple, and brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and reduce
Production cost is easily installed and safeguards.
The present invention relates to unmanned plane brake field, specifically a kind of unmanned autogyro brake system.
Specifically, which includes brake gear and decision maker, the decision maker include: velocity sensor (i.e.
First sensor) ATK1218-BD ATK-S1216, laser radar sensor (i.e. second sensor) RPLIDAR-A2M8, micro- electricity
Sub-processor (i.e. processor) U7STM32F407 is mounted at the center base of unmanned plane (i.e. unmanned autogyro).
The brake gear includes brake block, braking clamp, braking clamp block, gravity wheel (i.e. unmanned autogyro propeller
The bearing of lower section), gravity rod, connecting rod, turntable, the brake block and braking clamp detachable connection and are stopped the braking clamp
Vehicle pincers block is fixedly connected, and connecting rod is provided on the braking clamp block, and the gravity wheel is connect by gravity rod with brake block, institute
Stating vertically moving for gravity wheel can drive pincers block to move horizontally, and gravity wheel is set to the top among pincers block.
A kind of unmanned autogyro brake system includes brake gear and detection device, and the detection device includes:
Velocity sensor, laser radar sensor, microelectronics processor U7.Velocity sensor described in the sensor will pass through
GPS carrys out the flying speed of real-time monitoring unmanned plane, if the flying speed of unmanned plane has been more than to realize the threshold value of setting, then micro- electricity
Sub-processor U7 gives brake system one action signal, and unmanned plane is by brake deceleration.When speed is lower than preset threshold value,
Then continue to keep the state of flight；The laser radar sensor will incude in real time environment and barrier around unmanned plane,
When have barrier close to or both between distance less than sufficient safe distance when, microelectronics processor U7 transmits one to brake system
Brake deceleration is used for avoiding barrier by action signal.
The advantages of present invention has structure simple, and brake sensitivity is high, speed is fast and safety, and brake is quick on the draw.
It should be noted that it is existing skill that the model between the circuit connecting relation of detection device and each component, which is selected,
Art, details are not described herein.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the brake gear 2 includes: brake block 3, braking clamp 4, the execution for controlling the movement of braking clamp 4
Component 5 is provided with gravity wheel 6 and steering engine machine plate 7, the brake block 3 and the brake on the unmanned autogyro
Pincers 4 are arranged between the gravity wheel 6 and the steering engine machine plate 7, the tail portion of the brake block 3 and the unmanned autogyro
Propeller coaxial setting, the periphery of the brake block 3 are located at the position of dehiscing of the braking clamp 4, and the execution unit 5 is arranged
On unmanned autogyro shell 1, the execution unit 5 is connect with the braking clamp 4.
Beneficial effect using above-mentioned further scheme is: by the way that brake gear is arranged on unmanned autogyro, making
Obtaining unmanned autogyro can brake in time, and brake device structure is simple, and brake sensitivity is high, speed is fast and safety, brake
It is quick on the draw, reduces production cost, be easily installed and safeguard.
Braking clamp and brake block use detachable threaded connection, facilitate the maintenance and replacement of braking clamp and brake block.
Further, the execution unit 5 includes: servo mechanism 8, the first rocker arm 9, the second rocker arm 10 and interlocking bar
11, the servo mechanism 8 is arranged on the unmanned autogyro shell 1, one end of first rocker arm 9 and the servo
The output end of mechanism 8 connects, and the other end of first rocker arm 9 is connect with one end of the interlocking bar 11, the interlocking bar 11
The other end connect with one end of second rocker arm 10, the input of the other end of second rocker arm 10 and the braking clamp 4
End connection.
Beneficial effect using above-mentioned further scheme is: controlling brake work by servo mechanism, improves brake work
Automation, improve brake opportunity accuracy.
Gravity wheel is connect with linkage rocker arm and brake block respectively by gravity rod, and the rotation of the gravity wheel can drive brake
The rotation of vehicle piece, the execution unit, which changes interlocking bar position, makes braking clamp clamp brake block.
Further, further includes: the brake is arranged in a pair of of braking clamp block, a pair of braking clamp block correspondingly
The output end of pincers 4.
Beneficial effect using above-mentioned further scheme is: the setting of braking clamp block, for increasing braking clamp and brake block
Between frictional force, prevent braking clamp from wearing.
It is provided with track on braking clamp block, sliding block is provided in connecting rod, sliding block moves in orbit.
Further, multiple ventilation holes are provided on the brake block 3.
Beneficial effect using above-mentioned further scheme is: the setting of ventilation hole, on the one hand, the intensity of brake block is improved,
Extend the service life of brake block；On the other hand, it ventilates more rapidly, accelerates the heat dissipation of brake block.
It is provided with ventilation stomata on braking clamp, is provided with ventilation hole on brake disc, ventilates more rapidly, accelerates
Heat dissipation.
Further, the detection device includes: first sensor, second sensor, processor, the processor setting
In the bottom end of the shell, the first sensor and the second sensor are arranged at the unmanned autorotating rotor casing
The front end of body 1, the first sensor and the second sensor are connected to the processor.
Beneficial effect using above-mentioned further scheme is: the setting of velocity sensor and laser radar sensor, real
When monitor the travel speed of unmanned autogyro and the environment on periphery, choose brake opportunity, improve the accuracy of brake, prevent
Only unmanned autogyro collides with barrier.
Wherein, the model of the first sensor can be ATK1218-BD ATK-S1216, the second sensor
Model can be RPLIDAR-A2M8；The model of the processor can be STM32F407.
Specifically, velocity sensor, laser radar sensor, microelectronics processor U7 are provided in the detection device,
The velocity sensor will test in the front end of unmanned autogyro for precise positioning and to the real-time monitoring of speed again
Data feedback is into microelectronics processor U7, further according to preset value, to regulate the speed.
Further, the first sensor is velocity sensor, and the second sensor is laser radar sensor.
Beneficial effect using above-mentioned further scheme is: the setting of velocity sensor and laser radar sensor, real
When monitor the travel speed of unmanned autogyro and the environment on periphery, choose brake opportunity, improve the accuracy of brake, prevent
Only unmanned autogyro collides with barrier.
Further, further includes: for detecting the current detection means of the unmanned autogyro internal circuit electric current,
The current detection means is connect with the unmanned autogyro internal circuit, the current detection means and the processor
Connection.
The detection device is additionally provided with current detection means for the electric current in detection circuit, current detection means connection
Microelectronics processor U7, when current is excessive, the relevant final end station transmitted information on ground are regulated and controled.
In addition, the present invention also provides a kind of unmanned autogyro brake methods, in any one claim as above
In a kind of structure basis of unmanned autogyro brake system, the unmanned autogyro brake method includes:
Judge that whether there are obstacles in front of the unmanned autogyro；
If so, obtaining obstacle information；
Judge whether the barrier is moving obstacle according to the obstacle information；
If so, the ship trajectory of the fine tuning unmanned autogyro；
If it is not, then issuing deceleration or brake instruction, and the course line of the unmanned autogyro is planned again.
The beneficial effects of the present invention are: by the barrier in monitoring front, according to the actual situation and unmanned autorotating rotor
On the opportunity that itself braking quality of machine chooses brake, slows down and change course line, improve the timeliness of brake；So that unmanned rotation
Gyroplane can brake in time, and brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and production cost be reduced, convenient for peace
It is filled with and safeguards.
Specifically, the decision maker is equipped with radar sensor to monitor surrounding space environment and barrier, if hair
Existing barrier, then be transferred to microelectronics processor U7 for obstacle information, if barrier is mobile barrier, unmanned plane changes
Become fine tuning ship trajectory and carrys out avoiding barrier；If barrier is immovable barrier, transmit information at microelectronics
Device U7 is managed, brake gear is recalled, slows down, and course line is planned again.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the step of whether there are obstacles in front of the judgement unmanned autogyro, further includes:
Obtain the actual range data between the unmanned autogyro and the barrier；
Judge whether the actual range data are less than the safe distance data of acquisition；
If so, issuing deceleration or brake instruction.
Beneficial effect using above-mentioned further scheme is: by monitoring front barrier, according to the actual situation and
On the opportunity that itself braking quality of unmanned autogyro chooses brake, slows down and change course line, improve the timeliness of brake；
Unmanned autogyro is braked in time, brake sensitivity is high, speed is fast and safety, brake are quick on the draw, and reduces life
Cost is produced, is easily installed and safeguards.
Velocity sensor by by GPS come the flying speed of real-time monitoring unmanned plane, if the flying speed of unmanned plane is super
The threshold value for realizing setting has been crossed, being normally set up threshold value is 15m/s, then microelectronics processor gives brake system one action signal,
Unmanned plane is by brake deceleration.When speed is lower than preset threshold value, then continue to keep the state of flight；The laser thunder
Up to sensor will in real time induction unmanned plane around environment and barrier, when have barrier close to or both between the less than foot of distance
When safe distance, microelectronics processor transmits an action signal to brake system, by brake deceleration, is used for avoiding barrier.
Further, further includes:
Monitor the real time running speed of unmanned autogyro；
Judge the real time running speed whether be more than acquisition pre-set velocity；
If so, issuing deceleration or brake instruction.
Beneficial effect using above-mentioned further scheme is: the actual travel speed of the logical unmanned autogyro of real-time monitoring
Degree chooses brake or slows down opportunity, and the unmanned autogyro of mode is driven over the speed limit, and the safety for improving unmanned autogyro can
By property.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of unmanned autogyro brake system characterized by comprising unmanned autogyro shell is used for nothing
The brake gear that people's autogyro is braked and the detection device for detecting unmanned autogyro surrounding enviroment,
The brake gear and the detection device are arranged on the unmanned autogyro shell, the brake gear with
The tail undercarriage of the detection device connection, the brake gear and unmanned autogyro is coaxially disposed.
2. a kind of unmanned autogyro brake system according to claim 1, which is characterized in that the brake gear packet
It includes: brake block, braking clamp, the execution unit for controlling braking clamp movement,
Gravity wheel and steering engine machine plate, the brake block and braking clamp setting are provided on the unmanned autogyro
Between the gravity wheel and the steering engine machine plate,
The tail undercarriage of the brake block and the unmanned autogyro is coaxially disposed, and the periphery of the brake block is located at institute
It states at the position of dehiscing of braking clamp, the execution unit is arranged on unmanned autogyro shell, the execution unit and institute
State brake clipper joint.
3. a kind of unmanned autogyro brake system according to claim 2, which is characterized in that the execution unit packet
It includes: servo mechanism, the first rocker arm, the second rocker arm and interlocking bar,
The servo mechanism is arranged on the unmanned autogyro shell, one end of first rocker arm and the servo
The output end of structure connects, and the other end of first rocker arm is connect with one end of the interlocking bar, the other end of the interlocking bar
It is connect with one end of second rocker arm, the other end of second rocker arm is connect with the input terminal of the braking clamp.
4. a kind of unmanned autogyro brake system according to claim 3, which is characterized in that further include: a pair is stopped
Vehicle clamps block, and the output end of the braking clamp is arranged in a pair of braking clamp block correspondingly.
5. a kind of unmanned autogyro brake system according to claim 2, which is characterized in that set on the brake block
It is equipped with multiple ventilation holes.
6. a kind of unmanned autogyro brake system according to claim 1, which is characterized in that the detection device packet
It includes: first sensor, second sensor, processor,
The bottom end of the shell is arranged in the processor, and the first sensor and the second sensor are arranged at institute
The front end of unmanned autogyro shell is stated,
The first sensor and the second sensor are connected to the processor.
7. a kind of unmanned autogyro brake system according to claim 6, which is characterized in that the first sensor
For velocity sensor, the second sensor is laser radar sensor.
8. a kind of unmanned autogyro brake method, which is characterized in that described in claim 1-7 any one claim
A kind of unmanned autogyro brake system structure basis on, the unmanned autogyro brake method includes:
Judge that whether there are obstacles in front of the unmanned autogyro；
If so, obtaining obstacle information；
Judge whether the barrier is moving obstacle according to the obstacle information；
If so, the ship trajectory of the fine tuning unmanned autogyro；
If it is not, then issuing deceleration or brake instruction, and the course line of the unmanned autogyro is planned again.
9. a kind of unmanned autogyro brake method according to claim 8, which is characterized in that the judgement nothing
The step of whether there are obstacles in front of people's autogyro, further includes:
Obtain the actual range data between the unmanned autogyro and the barrier；
Judge whether the actual range data are less than the safe distance data of acquisition；
If so, issuing deceleration or brake instruction.
10. a kind of unmanned autogyro brake method according to claim 9, which is characterized in that further include:
Monitor the real time running speed of unmanned autogyro；
Judge the real time running speed whether be more than acquisition pre-set velocity；
If so, issuing deceleration or brake instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613055.4A CN109573004A (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned autogyro brake system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811613055.4A CN109573004A (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned autogyro brake system and method |
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| CN109573004A true CN109573004A (en) | 2019-04-05 |
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ID=65933103
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| CN201811613055.4A Pending CN109573004A (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned autogyro brake system and method |
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| 董守田;马斌;王良良;许烁;尹思源;荀子扬;侯哲鹏;: "电力巡线自转旋翼无人机飞行控制的研究" * |
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