CN110316389B - Unmanned aerial vehicle screw protection device - Google Patents
Unmanned aerial vehicle screw protection device Download PDFInfo
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- CN110316389B CN110316389B CN201910592165.5A CN201910592165A CN110316389B CN 110316389 B CN110316389 B CN 110316389B CN 201910592165 A CN201910592165 A CN 201910592165A CN 110316389 B CN110316389 B CN 110316389B
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- 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 19
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000004064 recycling Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000001012 protector Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- 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
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- 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
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- 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 invention provides an unmanned aerial vehicle propeller protection device which comprises a single chip microcomputer and a Hall sensor, wherein the Hall sensor is connected with the single chip microcomputer and is used for detecting the rotation angle of a motor; the single chip microcomputer sequentially executes the following modules: an initialization module: for system initialization; the throttle signal detection module: the system is used for reading an accelerator signal output by a flight control system and measuring the accelerator amount as T; an umbrella opening judgment module: the system is used for reading an parachute opening signal of the flight control system, judging whether the parachute opening signal is started or not, entering an angle adjusting module if the parachute is opened, outputting an accelerator amount T to the electronic speed regulator if the parachute is not opened, and executing an accelerator signal detecting module. The invention has the beneficial effects that: 1. the practicability is good, and the propeller is effectively protected; 2. the structure is simple, the size is small, and the unmanned aerial vehicle is easy to apply; 3. the cost performance is high.
Description
Technical Field
The invention relates to the field of electronic design, in particular to a propeller protection device for an unmanned aerial vehicle.
Background
In recent years, small unmanned aerial vehicles have been used in many fields such as aerial photography, surveying and mapping, agricultural plant protection, and line patrol. Parachute landing type unmanned aerial vehicle is a fixed wing unmanned aerial vehicle which slowly lands by opening a parachute, and is widely applied to the surveying and mapping field due to the advantages of the parachute during long-term flight. The parachute landing type unmanned aerial vehicle maintains flight by means of forward thrust generated by driving a propeller to rotate by a motor. When landing, the rotation of the propeller is stopped and then the parachute is opened to land, as shown in fig. 1. Because the motor type is the direct current brushless type, the screw angle is random when stalling, and the screw angle before unmanned aerial vehicle lands determines the security of screw itself, as shown in fig. 2. When the propeller is perpendicular to the ground, the most dangerous condition is that the propeller is possibly damaged by colliding with the ground, the safest condition is that the propeller is parallel to the ground, other angles are in a safe area or a dangerous area, the safe area and the dangerous area respectively account for 50 percent, namely the propeller has half of damage probability when landing. In order to effectively protect the propeller, a folding propeller can be used, and the propeller can be automatically retracted when the propeller stops rotating without damage. However, the efficiency of such propellers is about 10% lower than that of standard propellers, and the endurance time of the drone is therefore reduced. Sacrificing valuable endurance time in order to protect the propeller is not an optimal solution.
Disclosure of Invention
The invention provides an unmanned aerial vehicle propeller protection device which comprises a single chip microcomputer and a Hall sensor, wherein the Hall sensor is connected with the single chip microcomputer and is used for detecting the rotation angle of a motor;
the single chip microcomputer sequentially executes the following modules:
an initialization module: for system initialization;
the throttle signal detection module: the system is used for reading an accelerator signal output by a flight control system and measuring the accelerator amount as T;
umbrella opening judging module: the device is used for reading an parachute opening signal of the flight control system, judging whether the parachute opening signal starts or not, entering an angle adjusting module if the parachute opening signal starts, outputting an accelerator amount T to the electronic speed regulator if the parachute does not open, and then executing an accelerator signal detecting module in a recycling mode;
the angle adjusting module comprises the following modules which are executed in sequence:
the motor rotation control module: the motor is used for controlling the motor to rotate for a certain angle;
hall sensor reads the module: the Hall sensor is used for reading the output level change times of the Hall sensor;
a safety region judging module: judging whether the propeller is in a safe region or not by reading the change times of the output level of the Hall sensor, if so, indicating that the adjustment is successful and finished, and if so, executing an adjustment time judgment module; an adjustment frequency judging module: and the motor rotation control module is used for judging whether the adjustment times reach the set times, if so, ending, and otherwise, returning to the execution motor rotation control module.
As a further improvement of the invention, in the motor rotation control module, firstly a 20% throttle signal is output for 0.2 second to rotate the motor, and then a 0% throttle brake signal is output for 0.3 second to rapidly stop the motor, so that the motor rotates for a certain angle.
As a further improvement of the present invention, in the adjustment number judging module, the number of times is set to 12.
As a further improvement of the invention, the single chip microcomputer is ATTINY24, and the single chip microcomputer internally contains a 16BIT timer module and a PWM module.
As a further improvement of the invention, the hall sensor is a bipolar latching chip US 1881.
As a further improvement of the present invention, in the safe area determination module, when the angle at which the propeller is horizontal is defined as 0 degree, the propeller is in the dangerous area when the number of changes in the output level of the hall sensor is 2, 3, 4, 5, 9, 10, 11, 12, and the propeller is in the safe area when the number of changes in the output level of the hall sensor is 0, 1, 6, 7, 8, 13.
The utility model provides a parachuting formula unmanned aerial vehicle, this parachuting formula unmanned aerial vehicle includes flight control system, electronic governor, motor, screw, this parachuting formula unmanned aerial vehicle include the unmanned aerial vehicle screw protection device of claim, flight control system the singlechip the electronic governor the motor links to each other in proper order, hall sensor position with the motor position corresponds, just hall sensor with have the clearance between the motor.
As a further improvement of the invention, the Hall sensor is positioned on the position of 1mm of the motor shell.
As a further improvement of the present invention, the motor is an external rotor brushless motor.
As a further improvement of the invention, 14 magnets are arranged in the brushless motor.
The beneficial effects of the invention are: 1. the practicability is good, and the propeller is effectively protected; 2. the structure is simple, the volume is small, and the unmanned aerial vehicle is easy to apply; 3. the cost performance is high.
Drawings
Fig. 1 is a background view of the present invention-a pre-landing situation view of a parachuting drone;
FIG. 2 is a background view of the present invention-a safety situation diagram for the propeller angle;
FIG. 3 is a schematic diagram of the angle detection of the present invention;
FIG. 4 is a view of the area in which the propeller of the present invention is located;
FIG. 5 is a connection diagram of the prior connection of the power part of the unmanned aerial vehicle and the additional propeller protection device;
FIG. 6 is a throttle signal diagram of the present invention;
fig. 7 is a connection diagram of the unmanned aerial vehicle propeller protection device of the present invention;
FIG. 8 is a software flow diagram of the present invention.
Detailed Description
The invention discloses a propeller protection device of an unmanned aerial vehicle, which comprises a single chip microcomputer and a Hall sensor, wherein the Hall sensor is connected with the single chip microcomputer, and the basic idea of the invention is as follows: in order to effectively protect the propeller, the propeller must be parked in a safe area before the drone lands. In order to achieve the purpose, two tasks need to be completed, namely, the detection of the angle of the propeller can be used for knowing whether the propeller is safe or not; and secondly, the rotation angle of the motor is controlled, and the propeller is stopped in a safe area through the rotation angle of the motor.
The angle detection scheme of the invention is as follows: unmanned aerial vehicle almost all adopts outer rotor brushless motor, and the rotating part is motor housing promptly, and the screw is fixed and is followed the shell and rotate together on the mount pad of shell. The flat and long magnets are uniformly distributed on the inner layer of the motor shell, and the polarities of the adjacent magnets are opposite. When the shell rotates, the Hall sensor can be used for detecting the rotation angle, and the working principle is shown in figure 3. The Hall sensor adopts a bipolar latch type, and outputs a level 0 when a magnetic line of force passes through the Hall sensor from bottom to top, and otherwise outputs a level 1. The Hall sensor is arranged at a position which is about 1mm away from the outer side of the motor shell, when the motor rotates, the direction of a magnetic field near the Hall sensor changes alternately, and the Hall sensor outputs a square wave signal with 0 and 1 changing alternately. Most brushless motors adopt a structure of 14 magnets, and the output level of the hall sensor changes 14 times when the motor rotates for one circle. One level change represents 360/14 degrees of rotation.
In the present invention, the angle of the propeller at the horizontal level is defined as 0 degree, and the angle and the area of the propeller can be determined by detecting the number of changes in the output level of the hall sensor, as shown in fig. 4, the propeller is in a dark dangerous area when the number of changes is 2, 3, 4, 5, 9, 10, 11, 12, the propeller is in a light safe area in the figure when the number of changes is 0, 1, 6, 7, 8, 13, and the number of changes exceeds 14, and the number of changes is counted from 0. The dangerous area ratio 8/14 is 57%, and the safe area ratio is 43%.
The rotation angle adjusting scheme of the invention comprises the following steps: the rotation angle of the brushless DC motor cannot be controlled, and the brushless DC motor rotates at least one circle after each start and stops at any angle randomly. In the invention, the stopping angle of the propeller is not strict, and the propeller only needs to be stopped in a safe area, the probability of stopping in the safe area after each start is 43%, the probability of stopping in the dangerous area is 57%, and if the propeller is allowed to be adjusted for 12 times at most, the probability of stopping in the safe area is as follows:
p＝1-(57％) 12 ＝99.9％
in the application environment of the parachuting unmanned aerial vehicle, the time difference from parachute opening to landing is generally more than 10 seconds, the time required for adjusting the angle once is about 0.5 second, the opportunity of adjusting the position of the propeller is at least 20 times, and the probability of the propeller staying in a safe area reaches more than 99.99%.
The connection and control scheme of the invention is as follows: the original connection relation of the power part of the unmanned aerial vehicle is shown in figure 5, the flight control system outputs an accelerator signal to the electronic speed regulator, the electronic speed regulator drives the motor to drive the propeller to rotate, after the propeller protection function is added, the single chip microcomputer is connected between the flight control system and the electronic speed regulator, an umbrella opening signal is taken out from the flight control system, a position signal is obtained from the Hall sensor, and the Hall sensor is installed on a position which is about 1mm away from a motor shell to sense a magnetic field.
The throttle signal is shown in figure 6, the period is 20ms, the pulse width range is 0.9-1.9ms, the motor is not rotated when the pulse width is 0.9ms, if the brake function of the electronic speed regulator is started, the motor can be braked when the throttle is 0, the propeller is rapidly stopped to rotate, the pulse width of 1.9ms is defined as a full throttle signal, and the rotating speed of the propeller reaches the highest. In the invention, when the position of the propeller is adjusted, a 20% throttle signal (the pulse width is about 1.1ms) is firstly input for 0.2 second, the motor starts to rotate, then a 0 throttle brake signal is output for 0.3 second, the motor can stop rotating within 0.3 second, and the whole adjusting period is 0.5 second.
The hardware scheme of the invention is as follows: the circuit of the propeller protector is shown in figure 7, the circuit is very simple, and only comprises a singlechip ATTINY24 and a Hall sensor, ATTINY24 is an AVR series singlechip of ATMEL company, a 16BIT timer module and a PWM module are contained in the singlechip, the requirement of measuring and generating an accelerator signal is met, the Hall sensor adopts a bipolar latching chip US1881, the sensitivity is up to 0.095T, and through testing, the Hall sensor can still sense a magnetic field signal 5mm away from a motor shell, so that the requirement of the propeller protector is met.
According to the software scheme, according to the angle detection principle of the protector, before the program runs, the propeller is manually adjusted to the horizontal position, the position is defined as 0 degree, then the unmanned aerial vehicle is powered on, and the singlechip executes the following steps as shown in fig. 8:
the angle adjusting step comprises the following steps of:
a motor rotation control step: controlling the motor to rotate a certain angle;
reading a Hall sensor: reading the output level change times of the Hall sensor;
a safety region judging step: judging whether the propeller is in a safe area or not by reading the change times of the output level of the Hall sensor, if so, indicating that the adjustment is successful and finished, and if so, executing an adjustment time judgment step;
and an adjustment frequency judging step: and judging whether the adjusting times reach the set times, if so, ending, and otherwise, returning to the step of executing the motor rotation control.
In the motor rotation control step, firstly, a 20% throttle signal is output for 0.2 second to enable the motor to rotate, and then a 0% throttle brake signal is output for 0.3 second to enable the motor to stop rotating rapidly, so that the motor rotates for a certain angle.
In the adjustment number judging step, the number of times is set to 12.
The singlechip of the invention sequentially executes the following modules:
an initialization module: for system initialization;
the throttle signal detection module: the system is used for reading an accelerator signal output by a flight control system and measuring the accelerator amount as T;
an umbrella opening judgment module: the system comprises an angle adjusting module, an electronic speed regulator, an accelerator signal detecting module, an umbrella opening judging module, an angle adjusting module and an accelerator quantity T detecting module, wherein the angle adjusting module is used for reading an umbrella opening signal of a flight control system, judging whether the umbrella opening signal starts or not, if the umbrella is opened, the angle adjusting module enters the angle adjusting module, and if the umbrella is not opened, the accelerator quantity T is output to the electronic speed regulator, and then the accelerator signal detecting module is executed in a recycling manner;
the angle adjusting module comprises the following modules which are executed in sequence:
the motor rotation control module: the motor is used for controlling the motor to rotate for a certain angle;
hall sensor reads the module: the Hall sensor is used for reading the output level change times of the Hall sensor;
a safety region judging module: whether the propeller is in a safe area or not is judged by reading the change times of the output level of the Hall sensor, if the propeller is in the safe area, the adjustment is successful and finished, and if the propeller is in a dangerous area, an adjustment time judgment module is executed;
an adjustment frequency judging module: and the motor rotation control module is used for judging whether the adjustment times reach the set times, if so, ending, and otherwise, returning to the execution motor rotation control module.
In the motor rotation control module, firstly a 20% throttle signal is output for 0.2 second to enable the motor to rotate, and then a 0% throttle brake signal is output for 0.3 second to enable the motor to stop rotating rapidly, so that the motor rotates for a certain angle.
In the adjustment frequency judging module, the set frequency is 12.
The invention also discloses a parachuting unmanned aerial vehicle which comprises a flight control system, an electronic speed regulator, a motor and a propeller, wherein the parachuting unmanned aerial vehicle comprises the unmanned aerial vehicle propeller protection device, the flight control system, the single chip microcomputer, the electronic speed regulator and the motor are sequentially connected, the position of the Hall sensor corresponds to the position of the motor, and a gap is formed between the Hall sensor and the motor.
The Hall sensor is located at the position of 1mm of the motor shell.
The motor is an outer rotor brushless motor.
14 magnets are arranged in the brushless motor.
The invention has the beneficial effects that: 1. the practicability is good, and the propeller is effectively protected; 2. the structure is simple, the size is small, and the unmanned aerial vehicle is easy to apply; 3. the cost performance is high.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. For those skilled in the art to which the invention pertains, numerous simple deductions or substitutions may be made without departing from the spirit of the invention, which shall be deemed to belong to the scope of the invention.
Claims (6)
1. The utility model provides an unmanned aerial vehicle screw protection device which characterized in that: the device comprises a singlechip and a Hall sensor, wherein the Hall sensor is connected with the singlechip and is used for detecting the rotation angle of a motor;
the single chip microcomputer sequentially executes the following modules:
an initialization module: for system initialization;
the throttle signal detection module: the system is used for reading an accelerator signal output by a flight control system and measuring the accelerator amount as T;
umbrella opening judging module: the device is used for reading an parachute opening signal of the flight control system, judging whether the parachute opening signal starts or not, entering an angle adjusting module if the parachute opening signal starts, outputting an accelerator amount T to the electronic speed regulator if the parachute does not open, and then executing an accelerator signal detecting module in a recycling mode;
the angle adjusting module comprises the following modules which are executed in sequence:
the motor rotation control module: the motor is used for controlling the motor to rotate for a certain angle;
hall sensor reads the module: the circuit is used for reading the output level change times of the Hall sensor;
a safety region judging module: judging whether the propeller is in a safe region or not by reading the change times of the output level of the Hall sensor, if so, indicating that the adjustment is successful and finished, and if so, executing an adjustment time judgment module;
an adjustment frequency judging module: the motor rotation control module is used for judging whether the adjustment times reach the set times, if so, ending, otherwise, returning to the execution motor rotation control module;
in the motor rotation control module, firstly, a 20% accelerator signal is output for 0.2 second to enable the motor to rotate, and then a 0% accelerator brake signal is output for 0.3 second to enable the motor to stop rotating rapidly, so that the motor rotates for a certain angle;
in the safe area judging module, when the angle of the propeller in the horizontal state is defined as 0 degree, the propeller is in a dangerous area when the change times of the output level of the Hall sensor are 2, 3, 4, 5, 9, 10, 11 and 12, and the propeller is in a safe area when the change times of the output level of the Hall sensor are 0, 1, 6, 7, 8 and 13;
the motor is an outer rotor brushless motor, and 14 magnets are arranged in the outer rotor brushless motor.
2. The unmanned aerial vehicle propeller protection device of claim 1, wherein: in the adjustment frequency judging module, the set frequency is 12 times.
3. The unmanned aerial vehicle propeller protection device of claim 1, wherein: the single chip microcomputer is ATTINY24, and the single chip microcomputer internally comprises a 16BIT timer module and a PWM module.
4. The unmanned aerial vehicle propeller protection device of claim 1, wherein: the Hall sensor is a bipolar latching chip US 1881.
5. The utility model provides a parachuting formula unmanned aerial vehicle, this parachuting formula unmanned aerial vehicle includes flight control system, electronic governor, motor, screw, its characterized in that: the parachuting unmanned aerial vehicle comprises the unmanned aerial vehicle propeller protection device of any one of claims 1 to 4, wherein the flight control system, the single chip microcomputer, the electronic speed regulator and the motor are sequentially connected, the position of the Hall sensor corresponds to the position of the motor, and a gap is reserved between the Hall sensor and the motor.
6. The parachuting drone of claim 5, wherein: the Hall sensor is positioned at the position of 1mm of the motor shell.
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| 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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| CN201910592165.5A CN110316389B (en) | 2019-07-03 | 2019-07-03 | Unmanned aerial vehicle screw protection device |
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| CN110316389A CN110316389A (en) | 2019-10-11 |
| CN110316389B true CN110316389B (en) | 2022-08-19 |
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| 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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| 多旋翼无人机降落伞装置的设计;王芳等;《北京农业职业学院学报》;20170720(第04期);全文 * |
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| CN110316389A (en) | 2019-10-11 |
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