CN110001972A - The overboard emergent treatment system of unmanned plane - Google Patents
The overboard emergent treatment system of unmanned plane Download PDFInfo
- Publication number
- CN110001972A CN110001972A CN201910409684.3A CN201910409684A CN110001972A CN 110001972 A CN110001972 A CN 110001972A CN 201910409684 A CN201910409684 A CN 201910409684A CN 110001972 A CN110001972 A CN 110001972A
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- Prior art keywords
- unmanned plane
- overboard
- control panel
- emergency processing
- processing control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 230000005587 bubbling Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000004064 recycling Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
The invention discloses a kind of overboard emergent treatment systems of unmanned plane, it further include control panel power supply device and the pusher power supply device being capable of providing to emergency processing control panel and underwater propeller power supply including the emergency processing control panel and difference underwater propeller connected to it that are communicated to connect with the flight control modules of unmanned plane and overboard detector.The present invention realizes the overboard rear emergency handling function of unmanned plane, so that bubbling through the water column after unmanned plane is overboard, adjustable UAV Attitude simultaneously, keep unmanned plane face-up, it prevents from being buckled to, it may further realize the navigation in water of unmanned plane and function of taking off again, solve difficult in unmanned plane removal process, reduction economic loss.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly to a kind of anti-settling overboard emergent treatment system of multi-rotor unmanned aerial vehicle.
Background technique
UAV, abbreviation unmanned plane is a kind of with wireless remote control or by not manned based on itself process control
Aircraft.The one kind of multi-rotor unmanned aerial vehicle as unmanned plane refers to the unmanned plane with 3 or more rotors, such as common
Have quadrotor, structure is simple, easily controllable, can be realized a key and take off, VTOL and the functions such as freely hover.
Multi-rotor unmanned aerial vehicle have it is cheap, small volume, rapid reaction, easy to operate and adaptation range light etc. are excellent
Point is widely used in taking photo by plane, the various fields such as detection.The increase of frequency of use therewith, corresponding failure accident are also constantly in
It is existing, when carrying out operation using unmanned plane especially above river, lake and ocean, due to the special geographical environment in waters
A possibility that feature, humidity is big, and wind-force is big, this will lead to unmanned plane accidental falling greatly promotes, although on current market
Occur it is mature have it is resistance to fall, waterproof, the unmanned plane type of anti-settling function, but special water environment often to recycle nothing
It is man-machine to become abnormal difficult, generate biggish economic loss.
There is the patent of the overboard emergency processing of unmanned plane at present, has been used on main thought and air bag class is set in unmanned plane
Object, when unmanned plane unexpectedly falls into the water, air bag releases gas, prevents from sinking under water, unmanned plane is made to swim in the water surface
On, while huge air bag makes unmanned plane position be easier to determine to facilitate recycling.It is proposed at patent [CN207595269 U]
Dispose lifebuoy, tracheae, dioxide bottle and charge valve, this method that the floating of unmanned plane although may be implemented on unmanned plane
With recycling, but removal process be limited to the factors such as environment still there is a series of problems, such as due to wind-force and the water surface
The position of the promotion of wave, unmanned plane can be fluid, this just needs to salvage ship and personnel go to search unmanned plane, needs to expend
A large amount of manpower and material resources.It is proposed in addition, also having in relevant patent, prevents from putting back on unmanned plane and close one's umbrella, recorery parachute and unmanned plane
It is connected by suspender belt, so that unmanned plane is swum on the water surface, while being equipped with traction rope on unmanned plane, traction rope is far from unmanned plane
One end be equipped with oceanographic buoy, in order to salvage recycling.In nature, the two difference is little.
Summary of the invention
Goal of the invention: the present invention provides a kind of overboard emergent treatment systems of unmanned plane, and system solves the problem unmanned planes to fall
Difficulty is recycled when water, is limited to the factors such as environment, is expended the problems such as a large amount of manpower and material resources.
Technical solution: the overboard emergent treatment system of unmanned plane of the invention, including logical with the flight control modules of unmanned plane
The underwater propeller and overboard detector believing the emergency processing control panel of connection and being connect respectively with emergency processing control panel.
Wherein, the emergency processing control panel is equipped with microprocessor；The overboard detector being capable of sensorcraft body waterlevel data
And it is transferred to emergency processing control panel；The underwater propeller can read the data of overboard detector in emergency processing control panel
The instruction made afterwards and act；The system also includes be capable of providing to the control of emergency processing control panel and underwater propeller power supply
Making sheet power supply device and pusher power supply device.
Underwater propeller is heavy-duty motor, to provide enough power, and with independent power supply device electricity consumption, passes through waterproof
Connection is to emergency processing control panel, to realize the power size and Orientation angle of control underwater propeller.Overboard detector
Using liquid sensor as detection unit, structure is simple, high sensitivity, and performance is good, can direct detection to body corresponding position water level
Data.
The emergency processing control panel includes chip, is connected with the flight control modules of unmanned plane by serial ports, and can
The related data of UAV Attitude is communicated and obtained with flight control modules.Emergency processing control panel is based on STM chip
Control core, according to the functional objective to be realized, optimization design schematic diagram and circuit diagram, control panel is rationally distributed, and size is small
Ingeniously, function-stable, and there are certain peripheral hardware pins so as to Function Extension.
The emergency processing control panel can intercept motor circuit, and be connected among the motor circuit to control unmanned plane
Brushless motor rotation, and the underwater propeller can be controlled by the control signal that emergency processing control panel exports, so that nothing
It is man-machine to move navigation in water.
For convenience of operation, the emergent treatment system includes automatic mode and manual mode.Wherein,
Under automatic mode, the microprocessor on emergency processing control panel can continuously read the attitude data of flight control modules
And the waterlevel data that measures by overboard detector, and made and being sentenced according to the comparison of attitude data and waterlevel data and setting value
It is disconnected, execute default operation.
Under manual mode, the operator of unmanned plane according to circumstances carries out corresponding operating control by remote controler.
To prevent overboard detector from causing the Transmissions of data because of the damage of extreme environmental factor, the water level sensor
To lose device made of material heat-proof corrosion resistant.
In order to provide enough power supplys to emergency processing control panel and underwater propeller, the control panel power supply device and push away
Dynamic device power supply device is being capable of the efficient lithium battery that uses of charging cycle.
It is equal for convenience of test waterlevel data and the underwater traveling of unmanned plane, the underwater propeller and overboard detector
On the downside of the fuselage of unmanned plane.
Wherein, the unmanned plane is the quadrotor drone with waterproof, anti-settling function.
The utility model has the advantages that 1, the overboard emergent treatment system of unmanned plane of the invention realizes the overboard rear emergency processing of unmanned plane
Function, under the co- controlling that overboard emergent treatment system and ground staff pass through Digiplex, so that after unmanned plane is overboard
It bubbles through the water column, while adjustable UAV Attitude, keeps unmanned plane face-up, prevent from being buckled to, may further realize unmanned plane
Navigation in water and function of taking off again, solve difficult in unmanned plane removal process, reduce economic loss；2, system is whole
Integrated level is high, and installation is simple, and easy to maintain, price is appropriate；3, the design applicability is stronger, simple and easy to do, has realistic meaning,
It can carry out volume production and reach promotion and popularization effect, benefit the society.
Detailed description of the invention
Fig. 1 is structural principle frame diagram of the invention；
Fig. 2 is the principle of the present invention figure；
Fig. 3 is flow chart of the invention；
Fig. 4 is the structural schematic diagram of unmanned plane；
Fig. 5 is schematic diagram of internal structure of the invention.
Specific embodiment
Referring to Fig. 1 to Fig. 5, the overboard emergent treatment system of unmanned plane described in one embodiment of the invention, including unique design
Needed for emergency processing control panel 1, overboard detector 2, underwater propeller 3 and emergency processing control panel 1 and underwater propeller
Control panel power supply device 4 and pusher power supply device 5, underwater propeller 3 and overboard detector 2 are under the fuselage of unmanned plane
Side.
The emergent treatment system includes automatic mode and manual mode.
Emergency processing control panel 1 is control core with STM chip 6, according to the functional objective to be realized, optimization design original
Reason figure and circuit diagram, control panel is rationally distributed, and size is small and exquisite, function-stable, and there are certain peripheral hardware pins so as to function expansion
Exhibition.Emergency processing control panel 1 is connected with UAV Flight Control module 7 by serial port data line 8, can be with flight control modules
7 are communicated, and the related datas such as UAV Attitude are obtained.Meanwhile emergency processing control panel 1 will intercept motor circuit 9, be connected in electricity
The brushless motor rotation of unmanned plane is controlled among electromechanical road 9.
Underwater propeller 3 is connected to emergency processing control panel 1 with independent power supply device electricity consumption, by Water-proof circuit, with
Realize the power size and Orientation angle of control underwater propeller 3.
Overboard detector 2 is connect with emergency processing control panel 1, the device made of heat-proof corrosion resistant erosion material, and is number
Sensor, convenient reading, high sensitivity, performance is good, can direct detection to body corresponding position waterlevel data and be transferred to emergency
Handle control panel 1.
Control panel power supply device 4 and pusher power supply device 5 are efficient rechargeable lithium battary.
Wherein, unmanned plane is quadrotor drone, has waterproof, anti-settling function.
The operation principle of the present invention is that:
Emergency processing control panel 1 is to be communicated by serial port data line 8 with UAV Flight Control module 7, obtains appearance
State information, while directly reading the data value of overboard detector 2.Phase of the microprocessor to obtain on emergency processing control panel 1
Answering data is judgment basis, and microprocessor will make corresponding process instruction automatically and realize opposite operation, while wireless remote
Control device can intercept control, manually control unmanned plane by people.Underwater propeller is directly controlled by Digiplex, is realized waterborne
Movement is to recycle unmanned plane.
Fig. 1 show the overboard emergency treatment device structural framing figure of multi-rotor unmanned aerial vehicle.Emergency processing control panel 1 and more rotations
Wing UAV Flight Control module 7 is connected in the control platform being placed on inside unmanned plane by serial ports, while underwater propeller 3
It is also placed in unmanned plane body with the respective independent power supply device of emergency processing control panel 1.Microprocessor can be straight by serial ports
The unmanned plane during flying attitude data and telecommand information for reading and flying control storage inside are connect, a key takeoff order can also be passed
It is defeated by winged control.Emergency processing control panel 1, which can intercept, to be connected on motor circuit 9, and such purpose is that it is temporary to obtain unmanned plane motor
When control, come realize it is overboard after pose adjustment function and take off function.Underwater propeller 3 and overboard detector 2 are all pacified
It being placed on the downside of the fuselage main body of unmanned plane, underwater propeller 3 is controlled by the two path control signal that emergency processing control panel 1 exports,
Unmanned plane underwater exercise is navigated by water, the function of aircraft recycling can be further realized.Overboard detector 2 detects unmanned machine examination
Survey whether body is overboard, and data information directly passes through the microprocessor that data line is transferred on emergency processing control panel 1.
Fig. 2 is the overboard emergent treatment system schematic diagram of multi-rotor unmanned aerial vehicle.The overboard emergent treatment system of unmanned plane has two
Kind mode, respectively automatic mode and manual mode.Micro process under automatic mode, on emergency processing control panel 1 (blowout panel)
Device can constantly read the attitude data of flight control modules 7 (flying control) storage inside and measure water level by overboard detector 2
Data, microprocessor can judge automatically, when attitude data and waterlevel data are lower than setting value, then unmanned plane be in it is overboard or
The state of back-off is overturn, micro process can control the motor 11 of unmanned plane, realize behind tipper, in further transmission takeoff order
To winged control, the function of taking off again is realized.Under manual mode, remote controler obtains the control of aircraft, and operator passes through itself
Observation, according to circumstances, carry out corresponding operating control.Three control instructions, respectively motor control are set up in remote controler increase, are turned over
Turn three functions of taking off with a key.It should be noted that underwater manipulator can be manually controlled by remote controler, underwater propeller is controlled
10 throttle size of driving motor and course heading make unmanned plane accurately drive towards bank or salvage ship, to facilitate nobody
The recycling of machine.
Fig. 3 is the overboard emergent treatment system flow chart of multi-rotor unmanned aerial vehicle.The overboard emergent treatment system of unmanned plane is at nobody
Machine is first initialized when starting, and during unmanned plane during flying, ceaselessly reads waterlevel data and attitude data.When water level number
When according to being 1, unmanned plane is not overboard, without operation；When waterlevel data is 0, attitude data is further analyzed, when attitude data is low
It is then overboard and back-off state, the microprocessor of blowout panel will judge whether to receive remote signal at this time, if received in setting value
It is instructed to overturning, unmanned plane folds turning operation, after the posture for having adjusted unmanned plane, is waiting next telecommand and executing
Corresponding movement；Such as without remote signal, the overboard emergent treatment system of unmanned plane can nature execution turn over function and function of taking off.
When attitude data is normal, microprocessor will judge whether to receive recovery command, if received, remote controler will obtain nobody
Machine control controls throttle and the course of underwater propeller；It telecommand or is not received distant if receiving to take off
Control instruction, unmanned plane will all execute a key and take off function.
Claims (8)
1. a kind of overboard emergent treatment system of unmanned plane, it is characterised in that: including the flight control modules communication link with unmanned plane
The emergency processing control panel connect and the underwater propeller and water level sensor that are connect respectively with emergency processing control panel, wherein
The emergency processing control panel is equipped with microprocessor；
The overboard detector sensorcraft body waterlevel data and can be transferred to emergency processing control panel；
The underwater propeller can after the data that emergency processing control panel reads water level sensor the instruction that make and act；
The system also includes being capable of providing to the control panel power supply device of emergency processing control panel and underwater propeller power supply and
Pusher power supply device.
2. the overboard emergent treatment system of unmanned plane according to claim 1, it is characterised in that: the emergency processing control panel
Including chip, it is connected with the flight control modules of unmanned plane by serial ports, and the related data of UAV Attitude can be obtained.
3. the overboard emergent treatment system of unmanned plane according to claim 1 or 2, it is characterised in that: the emergency processing control
Making sheet can intercept motor circuit, and be connected in the brushless motor rotation that unmanned plane is controlled among the motor circuit, and described
Underwater propeller can be controlled by the control signal that emergency processing control panel exports, and unmanned plane is enabled to move boat in water
Row.
4. the overboard emergent treatment system of unmanned plane according to claim 1 or 2, it is characterised in that: the emergency processing system
System includes automatic mode and manual mode, wherein
Under automatic mode, the microprocessor on emergency processing control panel can continuously read flight control modules attitude data and
It judges, holds by the waterlevel data that measures of overboard detector, and according to attitude data and the comparison of waterlevel data and setting value
The operation of row default；
Under manual mode, the operator of unmanned plane according to circumstances carries out corresponding operating control by remote controler.
5. the overboard emergent treatment system of unmanned plane according to claim 1, it is characterised in that: the overboard detector is served as reasons
Heat-proof corrosion resistant loses device made of material.
6. the overboard emergent treatment system of unmanned plane according to claim 1, it is characterised in that: the control panel power supply device
Being with pusher power supply device being capable of the lithium battery that uses of charging cycle.
7. the overboard emergent treatment system of unmanned plane according to claim 1, it is characterised in that: the underwater propeller and fall
Water gauge is set on the downside of the fuselage of unmanned plane.
8. the overboard emergent treatment system of unmanned plane according to claim 1, it is characterised in that: the unmanned plane is with anti-
The quadrotor drone of water, anti-settling function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910409684.3A CN110001972A (en) | 2019-05-17 | 2019-05-17 | The overboard emergent treatment system of unmanned plane |
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| CN201910409684.3A CN110001972A (en) | 2019-05-17 | 2019-05-17 | The overboard emergent treatment system of unmanned plane |
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| CN110001972A true CN110001972A (en) | 2019-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224431A (en) * | 2020-10-14 | 2021-01-15 | 拓航科技有限公司 | Unmanned aerial vehicle's take off and land platform device is patrolled and examined to electric power |
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