CN110406683A - A kind of unmanned plane recorery parachute intelligence deceleration system and its retarding method - Google Patents
A kind of unmanned plane recorery parachute intelligence deceleration system and its retarding method Download PDFInfo
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- CN110406683A CN110406683A CN201910681959.9A CN201910681959A CN110406683A CN 110406683 A CN110406683 A CN 110406683A CN 201910681959 A CN201910681959 A CN 201910681959A CN 110406683 A CN110406683 A CN 110406683A
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- 230000000979 retarding effect Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000007423 decrease Effects 0.000 claims description 39
- 208000027418 Wounds and injury Diseases 0.000 claims description 11
- 230000006378 damage Effects 0.000 claims description 11
- 208000014674 injury Diseases 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 6
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- 238000004458 analytical method Methods 0.000 claims description 5
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- 238000004891 communication Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000000116 mitigating effect Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 8
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- 238000012545 processing Methods 0.000 description 2
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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
- B64D17/00—Parachutes
- B64D17/22—Load suspension
- B64D17/34—Load suspension adapted to control direction or rate of descent
- B64D17/343—Load suspension adapted to control direction or rate of descent by reefing means
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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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of unmanned plane recorery parachute intelligence deceleration system and its retarding methods, the unmanned plane recorery parachute intelligence deceleration system includes drone body, to receive rope device and control unit wherein to receive rope device include the main chute rope being fixedly connected with drone body, with the Shou Suo mechanism of the main chute rope solderless wrapped connection, relieving mechanism below Shou Suo mechanism, and the pilot being electrically connected with the relieving mechanism are set；The other end of pilot is connected to the control centre of the drone body；Control unit includes the height sensor being mounted below the drone body, the power module being electrically connected with the height sensor, and the high-precision sensor module and height setting module that are electrically connected with the power module.The present invention, by the receipts rope device being mounted among parachute main chute rope, quickly tightens main chute rope before the unmanned plane of normal parachuting will land, to be reduced rapidly the falling speed of unmanned plane, the impact of unmanned plane is faced when mitigating landing.
Description
Technical field
The present invention relates to a kind of unmanned plane, specifically a kind of unmanned plane recorery parachute intelligence deceleration system.
Background technique
Unmanned plane most occurs early in the 1920s, and the World War I just carries out like a raging fire within 1914, English
Two generals of card Dare and Pi Qieer of state, Xiang Yingguo military aviation association propose a Xiang Jianyi.
Currently, being typically designed its third since the unmanned plane recycling umbrella device of most types is when considering drop point factor
At the uniform velocity fall stage (first stage be parachute-opening before gravity boost phase, second stage be parachute-opening after umbrella pulling force be less than gravity when
Decelerating phase, phase III are constant velocity stage when umbrella pulling force is equal to gravity).
By taking the speed of the phase III after umbrella is opened is 5m/s as an example, since the distance between umbrella and unmanned plane are constant
, the sinking speed of umbrella and the sinking speed of body are consistent, so unmanned plane before landing with the speed uniform descent of 5m/s,
It is also 5m/s, kinetic energy mv that it, which lands speed, by taking the UAV system (weight containing umbrella device) of 6kg weight as an example, kinetic energy
For 30kg m/s, biggish injury is brought to UAV system housing construction and precision components, affects flight safety.
Summary of the invention
Goal of the invention: providing a kind of unmanned plane recorery parachute intelligence deceleration system, to solve of the existing technology above-mentioned ask
Topic.
A kind of technical solution: unmanned plane recorery parachute intelligence deceleration system, comprising:
Drone body；
Rope device is received, including the main chute rope being fixedly connected with the drone body, Shou Suo mechanism with the main chute rope solderless wrapped connection,
Relieving mechanism below the Shou Suo mechanism, and the pilot being electrically connected with the relieving mechanism are set；The control
The other end of conducting wire processed is connected to the control centre of the drone body；
Control unit electrically connects including the height sensor being mounted below the drone body with the height sensor
The power module connect, and the high-precision sensor module and height setting module that are electrically connected with the power module；It is described
High-precision sensor module and the height setting module are electrically connected；The height setting module and the drone body
Control centre's connection.
In a further embodiment, the relieving mechanism constitutes buckle releaser by steering engine or electromagnet.
In a further embodiment, the Shou Suo mechanism is made of wind spring and take-up pulley, and master shrinks in the Shou Suo mechanism
The speed of umbrella rope is 3m/s.
In a further embodiment, the end of the main chute rope is equipped with parachute, and the main chute rope is equipped with two groups of limits
Ball processed, wherein one group of limiting ball is arranged in the top of the Shou Suo mechanism, the setting of another set limiting ball the main chute rope with
Drone body junction.
A kind of retarding method of unmanned plane recorery parachute intelligence deceleration system, comprising: automatic detecting distance retarding method and mesh
Ranging is from retarding method.
In a further embodiment, the automatic detecting distance retarding method includes:
Step 1, when drone body is landed, measured vertically downward by height sensor at this time drone body with
The height on ground, to realize in drone body dropping process, by the measured value for handling height sensor；
Step 2, at this time height sensor will obtain drone body with respect to data such as the height on ground and decrease speeds, at this time again
Obtained data are transmitted to high-precision sensor module progress analytical calculation drone body by power module and drop to ground
The time in face；
Step 3, when drone body apart from ground level be higher than 7-15 meter of preset height value when, due to receive rope device open need
1s time and unlatching parachute is wanted to need the 1s time, at this time by the distance of reserved drone body decline 1s, the height value is
Rope device height is received in unlatching needs highly and opens parachute plus the distance and unlatching parachute of reserved drone body decline 1s
The distance for needing the 1s time to be declined, the drone body phase that high-precision sensor module will transmit power module at this time
The data such as height and decrease speed to ground are screened, when drone body is being higher than preset height value apart from ground level
Height setting module is sent this signal at 7-15 meters, when drone body be not higher than preset height value apart from ground level
High-precision sensor module not transmits signal at 7-15 meters；Preset height value is divided into two kinds of preset height values, and one kind is parachute-opening
Highly, another is receipts Suo Gaodu；
Step 4, at this time again by high-precision sensor module by after analysis drone body with respect to ground height and lower reduction of speed
The data such as degree pass height setting module, when the preceding height value set of arrival landing, to rope device sending enabling signal is received, trigger
Receive the Elementary Function of rope mechanism action；
Step 5, after receiving rope device and receiving from the enabling signal of height setting module, buckle releaser releasing is closed in relieving mechanism
So that receiving rope mechanism action, Shou Suo mechanism is made of lock wind spring and take-up pulley, and wind spring by artificial pre- next is released machine before taking off
Buckle releaser locking in structure, after unlocking, wind spring drives take-up pulley rotation, and the main chute rope of parachute is quickly tightened to receipts
In line wheel, with realize reduce unmanned plane falling speed Elementary Function, at this time by two groups of spacing balls carry out to main chute rope tighten away from
From limitation；
Step 6, since Shou Suo mechanism carries out the contraction to main chute rope, the decline resistance of parachute will be to increase at this time, and then makes
The decrease speed for obtaining drone body will reduce, and then mitigate the impact that unmanned plane is faced when landing, and then reduce to nothing
Man-machine system housing construction and precision components bring biggish injury.
In a further embodiment, the judge distance retarding method includes:
Step 1, when drone body is landed, measured vertically downward by height sensor at this time drone body with
The height on ground, to realize in drone body dropping process, by the measured value for handling height sensor；
Step 2, at this time height sensor will obtain drone body with respect to data such as the height on ground and decrease speeds, at this time again
Obtained data are transmitted to high-precision sensor module progress analytical calculation drone body by power module and drop to ground
The time in face；
Step 3, when drone body apart from ground level be higher than 7-15 meter of preset height value when, due to receive rope device open need
1s time and unlatching parachute is wanted to need the 1s time, at this time by the distance of reserved drone body decline 1s, the height value is
Rope device height is received in unlatching needs highly and opens parachute plus the distance and unlatching parachute of reserved drone body decline 1s
The distance for needing the 1s time to be declined, the drone body phase that high-precision sensor module will transmit power module at this time
The data such as height and decrease speed to ground are screened, when drone body is being higher than preset height value apart from ground level
Height setting module is sent this signal at 7-15 meters, when drone body be not higher than preset height value apart from ground level
High-precision sensor module not transmits signal at 7-15 meters；Preset height value is divided into two kinds of preset height values, and one kind is parachute-opening
Highly, another is receipts Suo Gaodu；
Step 4 and when drone body jump area point deviates, at this time will be by working when there is two sides ground imbalance
Personnel carry out manual manipulation landing, and unmanned plane will tilt when due to disconnected level point two sides imbalance, and height sensor hangs down
The height of straight measurement downwards drone body and ground, when height sensor measures baseplane, data will be no longer accurate at this time,
The drone body after analysis is transmitted with respect to data such as the height on ground and decrease speed by high-precision sensor module at this time
To the control centre of drone body, it is being sent to mobile phone terminal；
Step 5, when height sensor detection data inaccuracy when, at this time by staff's operating handset terminal and unmanned plane sheet
The communication connection of body control centre, will voluntarily be judged the difference in height on the two sides ground in level point, and then basis by staff at this time
Shou Suo mechanism is opened in the judgement of staff in advance, is sent a command to unmanned aerial vehicle (UAV) control center by mobile phone terminal and is sent out
It loses one's life and enables to the Elementary Function of receipts rope mechanism action；The time for opening Shou Suo mechanism in advance is that the calculated unlatching of control unit is received
The time of rope mechanism subtracts staff and judges the time that the difference of height distance landing of pick-up point two sides needs；
Step 6, after receiving rope device and receiving the enabling signal from mobile phone terminal, buckle releaser unlocking makes in relieving mechanism
Rope mechanism action must be received, Shou Suo mechanism is made of wind spring and take-up pulley, and wind spring pre- next is released in mechanism before taking off by artificial
Buckle releaser locking, after unlocking, wind spring drive take-up pulley rotation, the main chute rope of parachute is quickly tightened to take-up pulley
On, to realize the Elementary Function for reducing unmanned plane falling speed, carried out tightening distance to main chute rope at this time by two groups of spacing balls
Limitation；
Step 7, since Shou Suo mechanism carries out the contraction to main chute rope, the decline resistance of parachute will be to increase at this time, and then makes
The decrease speed for obtaining drone body will reduce, and then mitigate the impact that unmanned plane is faced when landing, and then reduce to nothing
Man-machine system housing construction and precision components bring biggish injury.
The utility model has the advantages that the present invention is in normal parachuting the invention discloses a kind of unmanned plane recorery parachute intelligence deceleration system
Before unmanned plane will land, by the receipts rope device being mounted among parachute main chute rope, main chute rope is tightened, quickly with the speed of 3m/s
Degree is reduced rapidly the distance between unmanned plane and umbrella, to be reduced rapidly the falling speed of unmanned plane, faces when mitigating landing
The impact of unmanned plane, and then reduce and biggish injury is brought to UAV system housing construction and precision components.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is receipts cable elements schematic diagram of the invention.
Fig. 3 is signal relation schematic diagram of the invention.
Fig. 4 is control unit schematic diagram of the invention.
Appended drawing reference are as follows: control unit 1 receives rope device 2, relieving mechanism 201, Shou Suo mechanism 202, main chute rope 3, parachute
4, drone body 5, ground 6, pilot 7, limiting ball 8.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
By researching and analysing for applicant, there is this problem and (when unmanned plane is landed, be easy to UAV system machine
Body structure and precision components bring biggish injury, affect flight safety) the reason of be, currently, due to most classes
When considering drop point factor, being typically designed its third at the uniform velocity fall stage, (first stage is the unmanned plane recycling umbrella device of type
Gravity boost phase before parachute-opening, second stage are less than decelerating phase when gravity for umbrella pulling force after parachute-opening, and the phase III is umbrella drawing
Power is equal to constant velocity stage when gravity), by taking the speed of the phase III after umbrella is opened is 5m/s as an example, due to umbrella and unmanned plane
The distance between be it is constant, the sinking speed of umbrella and the sinking speed of body are consistent, so unmanned plane is before landing with 5m/
The speed uniform descent of s, landing speed are also 5m/s, kinetic energy mv, (contain umbrella device with the UAV system of 6kg weight
Weight) for, kinetic energy is 30kg m/s, biggish injury is brought to UAV system housing construction and precision components,
Affect flight safety, and the present invention be before the unmanned plane of normal parachuting will land, by being mounted among parachute main chute rope
Receipts rope device, quickly tighten main chute rope, the distance between unmanned plane and umbrella are reduced rapidly with the speed of 3m/s, to subtract rapidly
The falling speed of small unmanned plane, faces the impact of unmanned plane when mitigating landing, and then reduces to UAV system housing construction
And precision components bring biggish injury.
A kind of unmanned plane recorery parachute intelligence deceleration system, comprising: control unit 1 receives rope device 2, relieving mechanism 201, receives
Rope mechanism 202, main chute rope 3, parachute 4, drone body 5, ground 6, pilot 7, limiting ball 8.
Wherein the receipts rope device 2 includes relieving mechanism 201 and Shou Suo mechanism 202, and described control unit 1 includes that height passes
Sensor, power module, high-precision sensor module and height setting module.
Wherein, the drone body 5 is fixedly connected with the main chute rope 3, and the main chute rope 3 is equipped with contracting mechanism
With relieving mechanism 201, the lower section of the contracting mechanism, the relieving mechanism 201 and the control is arranged in the relieving mechanism 201
Conducting wire 7 processed is connected to, and the other end of the pilot 7 is connected to the control centre in the drone body 5, it is described nobody
The lower section of machine ontology 5 is fixedly installed with height sensor, and the height sensor and the power module are electrically connected, the electricity
Source module and the high-precision sensor module and height setting module are electrically connected；The high-precision sensor module with it is described
Height setting module is electrically connected；The height setting module is connected to the control centre of the drone body 5.
The relieving mechanism 201 constitutes buckle releaser by steering engine or electromagnet.
The Shou Suo mechanism 202 is made of wind spring and take-up pulley, and the speed that main chute rope 3 shrinks in the Shou Suo mechanism 202 is
3m/s。
The detection height of the height sensor is 50 meters.
The end of the main chute rope 3 is equipped with parachute 4, and the main chute rope 3 is equipped with two groups of limiting balls 8, wherein one group of limit
The top of the Shou Suo mechanism 202 is arranged in ball 8 processed, and another set limiting ball 8 is arranged in the main chute rope 3 and drone body
5 junctions.
Be 6kg with unmanned plane weight m, umbrella cover product A is 2.4m2, when parachuting speed V is 5m/s, set h2 as 8m, receipts rope
Acting the deadline is about 1s, and reserving flooring height after slowing down is 1.5m, and the speed after slowing down is about 2m/s, reduces 60%
Body land momentum, achieved the purpose that mitigate vibration.
According to 4 pulling force equation of parachute=And gravity = : when m is 6kg, umbrella cover product A is 2.4、
Typical air resistance coefficientFor 1.6-1.22kg/, g 9.8m/, and =At=60 Ns, device descending at constant speed speed V is 5m/s；
When receiving the starting beginning of rope device 2,+With + Respectively greater thanWith, umbrella rope shrink, receive Suo Sudu be greater than
3m/s, it is contemplated that the actuation time of 1s, body decrease speed at the moment are reduced to less than 2m/s；If rationally being selected according to m value, A value
Select height h2 when starting movement, then sinking speed that can be minimum lands, it can at least reduce 60% drop impact, wherein
It is the gravity of drone body 5 for the pulling force of parachute 4,For the elastic force of wind spring in Shou Suo mechanism, whereinFor atmospheric density.
Automatic detecting distance retarding method working principle explanation: when drone body 5 is landed, at this time by height
Degree sensor vertical measures downwards the height of drone body 5 Yu ground 6, to realize in 5 dropping process of drone body, leads to
Cross the measured value of processing height sensor；Height sensor will obtain height and decline of the drone body 5 with respect to ground 6 at this time
The data such as speed, at this time again by obtained data by power module be transmitted to high-precision sensor module carry out analytical calculation without
Man-machine ontology 5 drop to the time on ground 6；When drone body 5 is being higher than 7-15 meters of preset height value apart from 6 height of ground
When, it needs the 1s time and opens parachute 4 to need the 1s time due to receiving the unlatching of rope device 2, it at this time will be under reserved drone body 5
The distance of 1s drops, and the height value is to open to receive distance and unlatching that 2 height of rope device declines 1s plus reserved drone body 5
Parachute 4 needs height and opens the distance that parachute 4 needs the 1s time to be declined, and high-precision sensor module will be to power supply at this time
The drone body 5 that module transfer comes is screened with respect to data such as the height on ground 6 and decrease speeds, works as drone body
5 send this signal to height setting module when being higher than 7-15 meters of preset height value apart from 6 height of ground, work as drone body
5 apart from the height of ground 6, when being higher than 7-15 meter of preset height value, high-precision sensor module refuses transmission signal；Preset height
Value is divided into two kinds of preset height values, and one kind is opening altitude, another is receives Suo Gaodu, at this time again by high-precision sensor mould
Drone body 5 after analysis is passed height setting module with respect to data such as the height on ground 6 and decrease speed by block, when arrival is fallen
When the height value set before ground, enabling signal, the Elementary Function that triggering Shou Suo mechanism 202 acts are issued to rope device 2 is received；Work as receipts
After rope device 2 receives the enabling signal from height setting module, buckle releaser unlocking to receive rope in relieving mechanism 201
Mechanism 202 acts, and Shou Suo mechanism 202 is made of wind spring and take-up pulley, and wind spring by artificial pre- next is released mechanism 201 before taking off
In buckle releaser locking, after unlocking, wind spring drive take-up pulley rotation, the main chute rope 3 of parachute 4 is quickly tightened to receipts
In line wheel, with realize reduce unmanned plane falling speed Elementary Function, at this time by two groups of spacing balls carry out to main chute rope 3 tighten away from
From limitation；Since Shou Suo mechanism 202 carries out the contraction to main chute rope 3, at this time the decline resistance of parachute 4 will to increase, into
And the decrease speed of drone body 5 will be reduced, and then mitigate impact of the ground 6 to unmanned plane when landing, and then subtract
It is few that biggish injury is brought to UAV system housing construction and precision components.
The judge distance retarding method course of work are as follows: when drone body 5 is landed, at this time by highly sensing
Device measures the height of drone body 5 Yu ground 6 vertically downward, to realize in 5 dropping process of drone body, passes through processing
The measured value of height sensor；Height sensor will obtain drone body 5 with respect to the height on ground 6 and decrease speed etc. at this time
Obtained data are transmitted to high-precision sensor module by power module again at this time and carry out analytical calculation unmanned plane sheet by data
Body 5 drop to the time on ground 6；When drone body 5 apart from 6 height of ground be higher than 7-15 meters of preset height value when, due to
It receives the unlatching of rope device 2 to need the 1s time and open parachute 4 to need the 1s time, at this time by reserved drone body 5 decline 1s's
Distance, the height value are to open to receive 2 height of rope device plus the distance of the reserved decline of drone body 5 1s and open parachute
4 need height and open the distance that parachute 4 needs the 1s time to be declined, and high-precision sensor module will pass power module at this time
The defeated drone body 5 to come is screened with respect to data such as the height on ground 6 and decrease speeds, when 5 distance of drone body
6 height of ground sends this signal to height setting module when being higher than 7-15 meters of preset height value, when 5 distance of drone body
When being higher than 7-15 meters of preset height value, high-precision sensor module does not transmit signal not to 6 height of ground；Preset height value point
For two kinds of preset height values, one kind is opening altitude, another is receipts Suo Gaodu；And when 5 jump area of drone body is pointed out
When now deviating, when there is 6 imbalance of two sides ground, manual manipulation landing will be carried out by staff at this time, due to level point of breaking
Unmanned plane will tilt when the imbalance of two sides, and height sensor measures the height of drone body 5 Yu ground 6 vertically downward
Degree, when height sensor measures baseplane, data will be no longer accurate at this time, after being analyzed by high-precision sensor module at this time
Drone body 5 control centre of drone body 5 is transmitted to respect to the height and the data such as decrease speed on ground 6, passing
It send to mobile phone terminal；When the data inaccuracy of height sensor detection, at this time by staff's operating handset terminal and nobody
The communication connection of 5 control centre of machine ontology, will voluntarily be judged the difference in height on the two sides ground 6 in level point by staff at this time, into
And Shou Suo mechanism 202 is opened according to the judgement of staff in advance, unmanned aerial vehicle (UAV) control is sent a command to by mobile phone terminal
Center send a command to the Elementary Function of the movement of Shou Suo mechanism 202；The time for opening Shou Suo mechanism 202 in advance is that control is single
The calculated time for opening Shou Suo mechanism 202 of member 1 subtracts staff and judges that the difference of height distance landing of pick-up point two sides needs
The time wanted；After receipts rope device 2 receives the enabling signal from mobile phone terminal, buckle releaser releasing is closed in relieving mechanism 201
So that Shou Suo mechanism 202 acts, Shou Suo mechanism 202 is made of lock wind spring and take-up pulley, wind spring take off before by artificial pre- next quilt
Buckle releaser locking in relieving mechanism 201, after unlocking, wind spring drives take-up pulley rotation, by the main chute rope 3 of parachute 4
It is quickly tightened on take-up pulley, to realize the Elementary Function for reducing unmanned plane falling speed, is carried out pair by two groups of spacing balls at this time
The limitation of the tightening distance of main chute rope 3；Since Shou Suo mechanism 202 carries out the contraction to main chute rope 3, the decline resistance of parachute 4 at this time
Power will to increase, so that the decrease speed of drone body 5 will reduce, and then when mitigating landing ground 6 to unmanned plane
Impact, and then reduce biggish injury is brought to UAV system housing construction and precision components.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of unmanned plane recorery parachute intelligence deceleration system, characterized in that include:
Drone body；
Rope device is received, including the main chute rope being fixedly connected with the drone body, Shou Suo mechanism with the main chute rope solderless wrapped connection,
Relieving mechanism below the Shou Suo mechanism, and the pilot being electrically connected with the relieving mechanism are set；The control
The other end of conducting wire processed is connected to the control centre of the drone body；
Control unit electrically connects including the height sensor being mounted below the drone body with the height sensor
The power module connect, and the high-precision sensor module and height setting module that are electrically connected with the power module；It is described
High-precision sensor module and the height setting module are electrically connected；The height setting module and the drone body
Control centre's connection.
2. a kind of unmanned plane recorery parachute intelligence deceleration system according to claim 1, it is characterized in that: the relieving mechanism by
Steering engine or electromagnet constitute buckle releaser.
3. a kind of unmanned plane recorery parachute intelligence deceleration system according to claim 1, it is characterized in that: the Shou Suo mechanism by
Wind spring and take-up pulley are constituted, and the speed that main chute rope shrinks in the Shou Suo mechanism is 3m/s.
4. a kind of unmanned plane recorery parachute intelligence deceleration system according to claim 1, it is characterized in that: the end of the main chute rope
Portion is equipped with parachute, and the main chute rope is equipped with two groups of limiting balls, wherein the upper of the Shou Suo mechanism is arranged in one group of limiting ball
Side, another set limiting ball are arranged in the main chute rope and drone body junction.
5. a kind of retarding method of unmanned plane recorery parachute intelligence deceleration system, characterized in that include: automatic detecting distance deceleration side
Method and judge distance retarding method.
6. the retarding method of a kind of unmanned plane recorery parachute intelligence deceleration system according to claim 5, it is characterized in that: described
Automatically detecting distance retarding method includes:
Step 1, when drone body is landed, measured vertically downward by height sensor at this time drone body with
The height on ground, to realize in drone body dropping process, by the measured value for handling height sensor；
Step 2, at this time height sensor will obtain drone body with respect to data such as the height on ground and decrease speeds, at this time again
Obtained data are transmitted to high-precision sensor module progress analytical calculation drone body by power module and drop to ground
The time in face；
Step 3, when drone body apart from ground level be higher than 7-15 meter of preset height value when, due to receive rope device open need
1s time and unlatching parachute is wanted to need the 1s time, at this time by the distance of reserved drone body decline 1s, the height value is
Rope device height is received in unlatching needs highly and opens parachute plus the distance and unlatching parachute of reserved drone body decline 1s
The distance for needing the 1s time to be declined, the drone body phase that high-precision sensor module will transmit power module at this time
The data such as height and decrease speed to ground are screened, when drone body is being higher than preset height value apart from ground level
Height setting module is sent this signal at 7-15 meters, when drone body be not higher than preset height value apart from ground level
High-precision sensor module not transmits signal at 7-15 meters；Preset height value is divided into two kinds of preset height values, and one kind is parachute-opening
Highly, another is receipts Suo Gaodu
Step 4, at this time again by high-precision sensor module by after analysis drone body with respect to ground height and lower reduction of speed
The data such as degree pass height setting module, when the preceding height value set of arrival landing, to rope device sending enabling signal is received, trigger
Receive the Elementary Function of rope mechanism action；
Step 5, after receiving rope device and receiving from the enabling signal of height setting module, buckle releaser releasing is closed in relieving mechanism
So that receiving rope mechanism action, Shou Suo mechanism is made of lock wind spring and take-up pulley, and wind spring by artificial pre- next is released machine before taking off
Buckle releaser locking in structure, after unlocking, wind spring drives take-up pulley rotation, and the main chute rope of parachute is quickly tightened to receipts
In line wheel, with realize reduce unmanned plane falling speed Elementary Function, at this time by two groups of spacing balls carry out to main chute rope tighten away from
From limitation；
Step 6, since Shou Suo mechanism carries out the contraction to main chute rope, the decline resistance of parachute will be to increase at this time, and then makes
The decrease speed for obtaining drone body will reduce, and then mitigate the impact that unmanned plane is faced when landing, and then reduce to nothing
Man-machine system housing construction and precision components bring biggish injury.
7. the retarding method of a kind of unmanned plane recorery parachute intelligence deceleration system according to claim 5, it is characterized in that: described
Judge distance retarding method includes:
Step 1, when drone body is landed, measured vertically downward by height sensor at this time drone body with
The height on ground, to realize in drone body dropping process, by the measured value for handling height sensor；
Step 2, at this time height sensor will obtain drone body with respect to data such as the height on ground and decrease speeds, at this time again
Obtained data are transmitted to high-precision sensor module progress analytical calculation drone body by power module and drop to ground
The time in face；
Step 3, when drone body apart from ground level be higher than 7-15 meter of preset height value when, due to receive rope device open need
1s time and unlatching parachute is wanted to need the 1s time, at this time by the distance of reserved drone body decline 1s, the height value is
Rope device height is received in unlatching needs highly and opens parachute plus the distance and unlatching parachute of reserved drone body decline 1s
The distance for needing the 1s time to be declined, the drone body phase that high-precision sensor module will transmit power module at this time
The data such as height and decrease speed to ground are screened, when drone body is being higher than preset height value apart from ground level
Height setting module is sent this signal at 7-15 meters, when drone body be not higher than preset height value apart from ground level
High-precision sensor module not transmits signal at 7-15 meters；Preset height value is divided into two kinds of preset height values, and one kind is parachute-opening
Highly, another is receipts Suo Gaodu；
Step 4 and when drone body jump area point deviates, at this time will be by working when there is two sides ground imbalance
Personnel carry out manual manipulation landing, and unmanned plane will tilt when due to disconnected level point two sides imbalance, and height sensor hangs down
The height of straight measurement downwards drone body and ground, when height sensor measures baseplane, data will be no longer accurate at this time,
The drone body after analysis is transmitted with respect to data such as the height on ground and decrease speed by high-precision sensor module at this time
To the control centre of drone body, it is being sent to mobile phone terminal；
Step 5, when height sensor detection data inaccuracy when, at this time by staff's operating handset terminal and unmanned plane sheet
The communication connection of body control centre, will voluntarily be judged the difference in height on the two sides ground in level point, and then basis by staff at this time
Shou Suo mechanism is opened in the judgement of staff in advance, is sent a command to unmanned aerial vehicle (UAV) control center by mobile phone terminal and is sent out
It loses one's life and enables to the Elementary Function of receipts rope mechanism action；The time for opening Shou Suo mechanism in advance is that the calculated unlatching of control unit is received
The time of rope mechanism subtracts staff and judges the time that the difference of height distance landing of pick-up point two sides needs；
Step 6, after receiving rope device and receiving the enabling signal from mobile phone terminal, buckle releaser unlocking makes in relieving mechanism
Rope mechanism action must be received, Shou Suo mechanism is made of wind spring and take-up pulley, and wind spring pre- next is released in mechanism before taking off by artificial
Buckle releaser locking, after unlocking, wind spring drive take-up pulley rotation, the main chute rope of parachute is quickly tightened to take-up pulley
On, to realize the Elementary Function for reducing unmanned plane falling speed, carried out tightening distance to main chute rope at this time by two groups of spacing balls
Limitation；
Step 7, since Shou Suo mechanism carries out the contraction to main chute rope, the decline resistance of parachute will be to increase at this time, and then makes
The decrease speed for obtaining drone body will reduce, and then mitigate the impact that unmanned plane is faced when landing, and then reduce to nothing
Man-machine system housing construction and precision components bring biggish injury.
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| CN113433959A (en) * | 2021-06-18 | 2021-09-24 | 东莞火萤科技有限公司 | Unmanned aerial vehicle parachuting method and device |
| GB2608209A (en) * | 2020-12-02 | 2022-12-28 | Pavlos Giannakopoulos | Radio receiver fitted onto an energy absorbing device adapted for the parachute of aircraft and unmanned |
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