CN110316389A - A kind of unmanned plane propeller protective device - Google Patents
A kind of unmanned plane propeller protective device Download PDFInfo
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- CN110316389A CN110316389A CN201910592165.5A CN201910592165A CN110316389A CN 110316389 A CN110316389 A CN 110316389A CN 201910592165 A CN201910592165 A CN 201910592165A CN 110316389 A CN110316389 A CN 110316389A
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- motor
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- propeller
- hall sensor
- unmanned plane
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- 230000001681 protective effect Effects 0.000 title claims abstract description 17
- 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 18
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000004064 recycling Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 238000009790 rate-determining step (RDS) Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- 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
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- 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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a kind of unmanned plane propeller protective device, including single-chip microcontroller, Hall sensor, the Hall sensor is connected with the single-chip microcontroller, and the Hall sensor is used to detect the rotational angle of motor；The single-chip microcontroller successively executes following module: initialization module: being used for system initialization；Throttle signal detection module: for reading the throttle signal of flight control system output, measuring throttle amount is T；Parachute-opening judgment module: for reading the parachute-opening signal of flight control system, judge whether parachute-opening signal has started, if parachute-opening, entry angle adjusts module, and throttle amount T electron governor is exported if not having parachute-opening, then executes throttle signal detection module.The beneficial effects of the present invention are: 1. practicabilities are good, effective protection propeller；2. structure is simplified, volume is small, is easy to using in unmanned plane；3. cost performance is high.
Description
Technical field
The present invention relates to field of electronic design more particularly to a kind of unmanned plane propeller protective devices.
Background technique
In recent years, small drone take photo by plane, survey and draw, agricultural plant protection, route inspection etc. fields widely applied.Umbrella
Drop formula unmanned plane is a kind of by the fixed-wing unmanned plane slowly to land that releases a parachute, and because of its long endurance the advantages of leads in mapping
It is widely applied in domain.Parachuting formula unmanned plane drives propeller rotational to generate forward thrust and maintains to fly by motor.When
When landing, first stop operating propeller and then the landing that releases a parachute, as shown in Figure 1.Since motor type is brush DC type,
Angle locating for propeller is random when stalling, and the angle of UAV Landing front propeller determines the safety of propeller itself
Property, as shown in Figure 2.When propeller perpendicular to ground be most dangerous situation, may with ground collision and damage propeller, be parallel to
Ground is then safest situation, and other angles are then in safety zone or danger zone, safety zone and danger zone accounting
Each 50%, that is, propeller has half probability of damage when landing.For effective protection propeller, foldable propeller can be used,
Blade can be automatically retracted when dead stick to be damaged.But the efficiency of this propeller is lower than the efficiency of master screw paddle
About 10%, therefore the cruise duration of unmanned plane is reduced.Valuable cruise duration and non-optimal is sacrificed in order to protect propeller
Scheme.
Summary of the invention
The present invention provides a kind of unmanned plane propeller protective device, including single-chip microcontroller, Hall sensor, the Hall is passed
Sensor is connected with the single-chip microcontroller, and the Hall sensor is used to detect the rotational angle of motor；
The single-chip microcontroller successively executes following module:
Initialization module: it is used for system initialization；
Throttle signal detection module: for reading the throttle signal of flight control system output, measuring throttle amount is T；
Parachute-opening judgment module: for reading the parachute-opening signal of flight control system, judge whether parachute-opening signal has started, such as
Fruit parachute-opening, then entry angle adjusts module, and throttle amount T electron governor is exported if not having parachute-opening, and then recycling is held
Row throttle signal detection module；
Angle adjustment module includes successively executing following module:
Motor rotates control module: turning an angle for controlling motor；
Hall sensor read module: for reading Hall sensor output level change frequency；
Safety zone judgment module: whether propeller is judged by reading the change frequency of Hall sensor output level
Show to adjust successfully and terminate if propeller is in safety zone in safety zone, if propeller is in danger area
Domain then executes adjustment number judgment module；Adjustment number judgment module: adjusting whether number reaches setting number for judging,
If so, so terminating, otherwise returns to actuating motor and rotate control module.
As a further improvement of the present invention, in motor rotation control module, 20% throttle signal is exported first
Motor is allowed to rotate within 0.2 second, then exporting 0% accelerator and brake signal stalls motor quickly in 0.3 second, so that motor be made to rotate
Certain angle.
As a further improvement of the present invention, in the adjustment number judgment module, number is set as 12 times.
As a further improvement of the present invention, the single-chip microcontroller is ATTINY24, and the single-chip microcontroller includes 16BIT timer
Module and PWM module.
As a further improvement of the present invention, the Hall sensor is bipolar latch cake core US1881.
As a further improvement of the present invention, the angle in the safety zone judgment module, when by propeller level
When being defined as 0 degree, propeller is in danger when the change frequency of Hall sensor output level is 2,3,4,5,9,10,11,12
Region, when the change frequency of Hall sensor output level is 0,1,6,7,8,13, propeller is in safety zone.
A kind of parachuting formula unmanned plane, which includes flight control system, electron speed regulator, motor, spiral
Paddle, the parachuting formula unmanned plane include unmanned plane propeller protective device described in claim, the flight control system, described
Single-chip microcontroller, the electron speed regulator, the motor are sequentially connected, and the Hall sensor position is corresponding with the motor position,
And there is gap between the Hall sensor and the motor.
As a further improvement of the present invention, the Hall sensor is located on the position of the motor housing 1mm.
As a further improvement of the present invention, the motor is outer rotor brushless motor.
As a further improvement of the present invention, 14 magnet are installed inside the brushless motor.
The beneficial effects of the present invention are: 1. practicabilities are good, effective protection propeller；2. structure is simplified, volume is small, is easy to
Using in unmanned plane；3. cost performance is high.
Detailed description of the invention
Fig. 1 is situation figure before Background of the invention-parachuting UAV Landing；
Fig. 2 is the corresponding safety situation figure of Background of the invention-spiral propeller angle；
Fig. 3 is angle detection principle diagram of the invention；
Fig. 4 is administrative division map locating for propeller of the invention；
Fig. 5 is the original annexation figure of unmanned plane power section of the invention and increases propeller protective device connection figure；
Fig. 6 is throttle signal figure of the invention；
Fig. 7 is unmanned plane propeller protective device connection figure of the invention；
Fig. 8 is software flow pattern of the invention.
Specific embodiment
The invention discloses a kind of unmanned plane propeller protective device, including single-chip microcontroller, Hall sensor, the Hall is passed
Sensor is connected with the single-chip microcontroller, basic ideas of the invention: for effective protection propeller, it is necessary to the handle before UAV Landing
Propeller rests on safety zone.It needs to complete two o'clock task in order to realize the purpose, first is that the detection of spiral propeller angle,
Can know that whether propeller is safe；Second is that propeller is rested on peace by rotating electric machine angle by the control of motor rotation angle
It is region-wide.
Angle detection scheme of the invention: small drone nearly all uses outer rotor brushless motor, i.e. rotating part is
Motor housing, propeller, which is fixed in the mounting base of shell, follows shell to rotate together.Motor housing internal layer is uniformly distributed prolate
Type magnet, adjacent magnets polarity are opposite.Rotational angle, working principle are capable of detecting when using Hall sensor when shell rotation
As shown in Figure 3.Hall sensor uses bipolarity latch-type, the output level when the magnetic line of force passes through Hall sensor from the bottom up
0, on the contrary output level 1.Hall sensor is mounted on the place from about 1 millimeter on the outside of motor housing, when the motor rotates, suddenly
You alternately change in the generation of sensor proximity magnetic direction, and Hall sensor will export 0,1 square-wave signal alternately changed.Brushless electricity
Machine is largely the structure using 14 magnet, and when motor rotates a circle, 14 changes will occur for the output level of Hall sensor
Change.Level change once represents rotation angle and 360/14=25.7 degree has occurred.
Angle when in the present invention, propeller level is defined as 0 degree, then passes through detection Hall sensor output level
Change frequency just can determine that angle locating for propeller and affiliated area, as shown in figure 4, when change frequency be 2,3,4,5,9,
10,11,12 when propeller be in dark danger zone, when change frequency is 0,1,6,7,8,13, propeller is in figure shallowly
The safety zone of color is then started counting from 0 when change frequency is more than 14.Danger zone accounting 8/14=57%, safety zone
Accounting 43%.
Rotation angle Adjusted Option of the invention: the rotation angle of DC brushless motor be it is uncontrollable, open each time
A circle or more is at least rotated after dynamic, stops at unspecified angle at random.In the present invention, not tight to the angle of propeller stopping
Lattice only need to stop at safety zone, and the probability that safety zone is stopped at after starting each time is 43%, stop at danger area
The probability in domain is 57%, if at most allowing to adjust 12 times, rests on the probability of safety zone are as follows:
P=1- (57%)12=99.9%
In the application environment of parachuting formula unmanned plane, the time difference from parachute-opening to landing generally at 10 seconds or more, adjusts one
About 0.5 second the time required to secondary angle, then chance at least 20 times of propeller position are adjusted, propeller rests on safety zone
Probability reaches 99.99% or more.
Connection and control program of the invention: the original connection relationship of the power section of unmanned plane is as shown in figure 5, flight control
System exports throttle signal to electron speed regulator, and driving motor drives propeller rotational to electron speed regulator again, increases propeller and protects
After protective function, single-chip microcontroller is accessed between flight control system and electron speed regulator, and take out parachute-opening from flight control system
Signal obtains position signal from Hall sensor, and Hall sensor, which is mounted on the position from motor housing about 1mm, incudes magnetic
?.
Throttle signal is as shown in fig. 6, the period is 20ms, and pulse duration range 0.9-1.9ms, pulsewidth is defined as 0 when being 0.9ms oily
Door, motor do not rotate, if opening the brake function of electron speed regulator, can quickly stop spiral to motor brake when 0 throttle
Paddle rotation, pulsewidth 1.9ms are defined as full throttle signal, and revolution speed of propeller reaches highest.In the present invention, when adjustment propeller position
When setting, first defeated 20% throttle signal (pulsewidth about 1.1ms) 0.2 second, motor was started turning, then exports 0 accelerator and brake signal 0.3
Second, motor can stop operating in 0.3 second, and the entire adjustment period is 0.5 second.
Hardware plan of the invention: the circuit of propeller protector is as shown in fig. 7, circuit is very succinct, only including single
Piece machine ATTINY24 and Hall sensor, ATTINY24 are the AVR series monolithic of atmel corp, include 16BIT timer mould
Block and PWM module meet the needs of throttle signal measurement and generation, and Hall sensor uses bipolar latch cake core US1881,
High sensitivity reaches 0.095T, and after tested, Hall sensor remains to sense magnetic field signal apart from motor housing 5mm, meets this hair
Bright requirement.
Software scenario of the invention, it is first that propeller is manual before program is run according to the angle testing principle of protector
It is adjusted to horizontal position, is defined as 0 degree with this position, then unmanned plane powers on, and single-chip microcontroller executes following steps, such as Fig. 8
It is shown:
Step 1, initialization step: system initialization；
Step 2, throttle signal detecting step: reading the throttle signal of flight control system output, and measuring throttle amount is T；
Step 3, parachute-opening judgment step: reading the parachute-opening signal of flight control system, judge whether parachute-opening signal has started,
If parachute-opening, entry angle set-up procedure exports throttle amount T electron governor if there be not parachute-opening, then recycles
Execute throttle signal detection module；
Angle set-up procedure includes successively executing following steps:
Motor rotates rate-determining steps: control motor turns an angle；
Hall sensor read step: Hall sensor output level change frequency is read；
Safety zone judgment step: whether propeller is judged by reading the change frequency of Hall sensor output level
Show to adjust successfully and terminate if propeller is in safety zone in safety zone, if propeller is in danger area
Domain then executes adjustment number judgment step；
Adjustment number judgment step: adjust whether number reaches setting number for judging, if so, so terminating, otherwise
It returns to actuating motor and rotates rate-determining steps.
In motor rotation rate-determining steps, 20% throttle signal is exported first and allows motor to rotate within 0.2 second, then
Exporting 0% accelerator and brake signal stalls motor quickly in 0.3 second, so that motor be made to turn an angle.
In the adjustment number judgment step, number is set as 12 times.
Single-chip microcontroller of the invention successively executes following module:
Initialization module: it is used for system initialization；
Throttle signal detection module: for reading the throttle signal of flight control system output, measuring throttle amount is T；
Parachute-opening judgment module: for reading the parachute-opening signal of flight control system, judge whether parachute-opening signal has started, such as
Fruit parachute-opening, then entry angle adjusts module, and throttle amount T electron governor is exported if not having parachute-opening, and then recycling is held
Row throttle signal detection module；
Angle adjustment module includes successively executing following module:
Motor rotates control module: turning an angle for controlling motor；
Hall sensor read module: for reading Hall sensor output level change frequency；
Safety zone judgment module: whether propeller is judged by reading the change frequency of Hall sensor output level
Show to adjust successfully and terminate if propeller is in safety zone in safety zone, if propeller is in danger area
Domain then executes adjustment number judgment module；
Adjustment number judgment module: adjust whether number reaches setting number for judging, if so, so terminating, otherwise
It returns to actuating motor and rotates control module.
In motor rotation control module, 20% throttle signal is exported first and allows motor to rotate within 0.2 second, then
Exporting 0% accelerator and brake signal stalls motor quickly in 0.3 second, so that motor be made to turn an angle.
In the adjustment number judgment module, number is set as 12 times.
The invention also discloses a kind of parachuting formula unmanned plane, which includes flight control system, electronics tune
Fast device, motor, propeller, the parachuting formula unmanned plane include unmanned plane propeller protective device described in claim, described to fly
Row control system, the single-chip microcontroller, the electron speed regulator, the motor are sequentially connected, the Hall sensor position and institute
It is corresponding to state motor position, and there is gap between the Hall sensor and the motor.
The Hall sensor is located on the position of the motor housing 1mm.
The motor is outer rotor brushless motor.
14 magnet are installed inside the brushless motor.
The beneficial effects of the present invention are: 1. practicabilities are good, effective protection propeller；2. structure is simplified, volume is small, is easy to
Using in unmanned plane；3. cost performance is high.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (10)
1. a kind of unmanned plane propeller protective device, it is characterised in that: including single-chip microcontroller, Hall sensor, the hall sensing
Device is connected with the single-chip microcontroller, and the Hall sensor is used to detect the rotational angle of motor；
The single-chip microcontroller successively executes following module:
Initialization module: it is used for system initialization；
Throttle signal detection module: for reading the throttle signal of flight control system output, measuring throttle amount is T；
Parachute-opening judgment module: for reading the parachute-opening signal of flight control system, judge whether parachute-opening signal has started, if
Parachute-opening, then entry angle adjusts module, and throttle amount T electron governor is exported if not having parachute-opening, and then recycling executes oil
Gate signal detection module；
Angle adjustment module includes successively executing following module:
Motor rotates control module: turning an angle for controlling motor；
Hall sensor read module: for reading Hall sensor output level change frequency；
Safety zone judgment module: judge whether propeller is in by reading the change frequency of Hall sensor output level
Safety zone shows to adjust successfully and terminate if propeller is in safety zone, if propeller is in danger zone,
Then execute adjustment number judgment module；
Adjustment number judgment module: it adjusts whether number reaches setting number for judging, if so, so terminating, otherwise returns
Actuating motor rotates control module.
2. unmanned plane propeller protective device according to claim 1, it is characterised in that: rotate control mould in the motor
In block, 20% throttle signal being exported first and allows motor to rotate within 0.2 second, then exporting 0% accelerator and brake signal makes electricity in 0.3 second
Machine quickly stalls, so that motor be made to turn an angle.
3. unmanned plane propeller protective device according to claim 1, it is characterised in that: judge mould in the adjustment number
In block, number is set as 12 times.
4. unmanned plane propeller protective device according to claim 1, it is characterised in that: the single-chip microcontroller is
ATTINY24, the single-chip microcontroller include 16BIT timer module and PWM module.
5. unmanned plane propeller protective device according to claim 1, it is characterised in that: the Hall sensor is bipolar
Latch cake core US1881.
6. unmanned plane propeller protective device according to any one of claims 1 to 5, it is characterised in that: in the safety
In region decision module, when angle when by propeller level is defined as 0 degree, the change frequency of Hall sensor output level is
2,3,4,5,9,10,11,12 when propeller be in danger zone, when Hall sensor output level change frequency be 0,1,6,
7,8,13 when propeller be in safety zone.
7. a kind of parachuting formula unmanned plane, which includes flight control system, electron speed regulator, motor, propeller,
It is characterized by: the parachuting formula unmanned plane includes unmanned plane propeller protective device described in any one of claims 1-6, it is described
Flight control system, the single-chip microcontroller, the electron speed regulator, the motor are sequentially connected, the Hall sensor position with
The motor position is corresponding, and has gap between the Hall sensor and the motor.
8. parachuting formula unmanned plane according to claim 7, it is characterised in that: the Hall sensor is located at outside the motor
On the position of shell 1mm.
9. according to the described in any item parachuting formula unmanned planes of claim 7 to 8, it is characterised in that: the motor be outer rotor without
Brush motor.
10. parachuting formula unmanned plane according to claim 9, it is characterised in that: be equipped with 14 inside the brushless motor
Magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592165.5A CN110316389B (en) | 2019-07-03 | 2019-07-03 | Unmanned aerial vehicle screw protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592165.5A CN110316389B (en) | 2019-07-03 | 2019-07-03 | Unmanned aerial vehicle screw protection device |
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| Publication Number | Publication Date |
|---|---|
| CN110316389A true CN110316389A (en) | 2019-10-11 |
| CN110316389B CN110316389B (en) | 2022-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910592165.5A Active CN110316389B (en) | 2019-07-03 | 2019-07-03 | Unmanned aerial vehicle screw protection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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