CN110406683B - Unmanned aerial vehicle recovery parachute intelligent deceleration system and deceleration method thereof - Google Patents
Unmanned aerial vehicle recovery parachute intelligent deceleration system and deceleration method thereof Download PDFInfo
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- CN110406683B CN110406683B CN201910681959.9A CN201910681959A CN110406683B CN 110406683 B CN110406683 B CN 110406683B CN 201910681959 A CN201910681959 A CN 201910681959A CN 110406683 B CN110406683 B CN 110406683B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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; ARRANGEMENTS 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
Abstract
The invention discloses an intelligent deceleration system of an unmanned aerial vehicle recovery parachute and a deceleration method thereof, wherein the intelligent deceleration system of the unmanned aerial vehicle recovery parachute comprises an unmanned aerial vehicle body, a cable retracting device and a control unit, wherein the cable retracting device comprises a main parachute rope fixedly connected with the unmanned aerial vehicle body, a cable retracting mechanism wound with the main parachute rope, a release mechanism arranged below the cable retracting mechanism, and a control lead electrically connected with the release mechanism; the other end of the control wire is communicated with the control center of the unmanned aerial vehicle body; the control unit is including installing altitude sensor of unmanned aerial vehicle body below, with altitude sensor electric connection's power module, and with power module electric connection's high accuracy sensor module and height setting module. In the invention, the main parachute rope is quickly tightened by the rope retracting device arranged in the middle of the main parachute rope of the parachute immediately before the unmanned aerial vehicle which normally parachutes falls to the ground, so that the falling speed of the unmanned aerial vehicle is quickly reduced, and the impact on the unmanned aerial vehicle when the unmanned aerial vehicle falls to the ground is reduced.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to an intelligent deceleration system for a recovery parachute of the unmanned aerial vehicle.
Background
Unmanned aerial vehicles were first introduced in the 20 th century, the world war was first in the year 1914 and was well-trained, and both the cadelle and the pechel general in the uk proposed a recommendation to the military aviation society of the uk.
At present, when the drop point factor is considered, most types of unmanned aerial vehicle umbrella recovery devices are generally designed to have a third uniform dropping stage (the first stage is a gravity acceleration stage before opening the umbrella, the second stage is a deceleration stage when the pulling force of the umbrella after opening the umbrella is smaller than the gravity, and the third stage is a uniform stage when the pulling force of the umbrella is equal to the gravity).
Taking the speed of the third stage after the umbrella is opened as an example of 5m/s, because the distance between the umbrella and the unmanned aerial vehicle is unchanged, the parachute landing speed is consistent with the parachute landing speed of the body, so that the unmanned aerial vehicle descends at a constant speed of 5m/s before landing, the landing speed is also 5m/s, the kinetic energy is mv, taking an unmanned aerial vehicle system (including the weight of the umbrella device) with the weight of 6kg as an example, the kinetic energy is 30kg ∙ m/s, great damage is brought to the structure of the unmanned aerial vehicle system body and precision components, and flight safety is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides an unmanned aerial vehicle retrieves umbrella intelligence deceleration system to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: an unmanned aerial vehicle retrieves umbrella intelligence deceleration system includes:
an unmanned aerial vehicle body;
the rope retracting device comprises a main parachute rope fixedly connected with the unmanned aerial vehicle body, a rope retracting mechanism wound with the main parachute rope, a releasing mechanism arranged below the rope retracting mechanism, and a control lead electrically connected with the releasing mechanism; the other end of the control wire is communicated with a control center of the unmanned aerial vehicle body;
the control unit comprises a height sensor arranged below the unmanned aerial vehicle body, a power supply module electrically connected with the height sensor, a high-precision sensor module electrically connected with the power supply module and a height setting module; the high-precision sensor module is electrically connected with the height setting module; the height setting module is communicated with a control center of the unmanned aerial vehicle body.
In a further embodiment, the release mechanism is a release formed by a steering engine or an electromagnet.
In a further embodiment, the cord retracting mechanism is composed of a coil spring and a take-up pulley, and the speed of the cord retracting mechanism for retracting the main umbrella cord is 3 m/s.
In further embodiment, the tip of main umbrella rope is equipped with the parachute, be equipped with two sets of restriction balls on the main umbrella rope, one of them group restriction ball sets up the top of receipts rope mechanism, and another group restriction ball sets up main umbrella rope and unmanned aerial vehicle body junction.
A deceleration method of an intelligent deceleration system of an unmanned aerial vehicle recovery parachute comprises the following steps: an automatic detection distance deceleration method and a visual distance deceleration method.
In a further embodiment, the automatic detection distance deceleration method includes:
step 2, the height sensor obtains data such as the height of the unmanned aerial vehicle body relative to the ground, the descending speed and the like, and the obtained data is transmitted to the high-precision sensor module through the power module to analyze and calculate the time of the unmanned aerial vehicle body descending to the ground;
In a further embodiment, the visual distance deceleration method comprises:
step 2, the height sensor obtains data such as the height of the unmanned aerial vehicle body relative to the ground, the descending speed and the like, and the obtained data is transmitted to the high-precision sensor module through the power module to analyze and calculate the time of the unmanned aerial vehicle body descending to the ground;
Has the advantages that: the invention discloses an intelligent deceleration system for an unmanned aerial vehicle recovery parachute, wherein before an unmanned aerial vehicle with normal parachute landing is about to land, a cable retracting device arranged in the middle of a main parachute rope of a parachute is used for quickly tightening the main parachute rope, so that the distance between the unmanned aerial vehicle and the parachute is quickly reduced at the speed of 3m/s, the falling speed of the unmanned aerial vehicle is quickly reduced, the impact on the unmanned aerial vehicle when the unmanned aerial vehicle lands on the ground is reduced, and the great damage to the body structure and the precise components of the unmanned aerial vehicle system is further reduced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Figure 2 is a schematic view of a retraction unit of the present invention.
Fig. 3 is a signal relationship diagram of the present invention.
Fig. 4 is a schematic diagram of the control unit of the present invention.
The reference signs are: the control unit 1, receive cable device 2, release mechanism 201, receive cable mechanism 202, main umbrella rope 3, parachute 4, unmanned aerial vehicle body 5, ground 6, control wire 7, restriction ball 8.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The research and analysis of the applicant show that the problem (when the unmanned aerial vehicle lands, the unmanned aerial vehicle is easy to bring great damage to the structure of the unmanned aerial vehicle system and precision components, and the flight safety is influenced) is caused because at present, when the falling point factor is considered, most types of unmanned aerial vehicle umbrella recycling devices are generally designed to have a third constant falling stage (the first stage is a gravity acceleration stage before opening the umbrella, the second stage is a deceleration stage when the pulling force of the umbrella after opening the umbrella is smaller than the gravity, and the third stage is a constant speed stage when the pulling force of the umbrella is equal to the gravity), the speed of the third stage after opening the umbrella is 5m/s as an example, and because the distance between the umbrella and the unmanned aerial vehicle is constant, the falling speed of the umbrella is consistent with the falling speed of the unmanned aerial vehicle body, the unmanned aerial vehicle descends at a constant speed of 5m/s before landing, and the landing speed is also 5m/s, the kinetic energy of the unmanned aerial vehicle is mv, an unmanned aerial vehicle system (including the weight of an umbrella device) with the weight of 6kg is taken as an example, the kinetic energy of the unmanned aerial vehicle system is 30kg ∙ m/s, great damage is brought to the body structure and the precision components of the unmanned aerial vehicle system, and flight safety is influenced.
An unmanned aerial vehicle retrieves umbrella intelligence deceleration system includes: the control unit 1, receive cable device 2, release mechanism 201, receive cable mechanism 202, main umbrella rope 3, parachute 4, unmanned aerial vehicle body 5, ground 6, control wire 7, restriction ball 8.
The cable retracting device 2 comprises a releasing mechanism 201 and a cable retracting mechanism 202, and the control unit 1 comprises a height sensor, a power supply module, a high-precision sensor module and a height setting module.
The unmanned aerial vehicle body 5 is fixedly connected with the main umbrella rope 3, a contraction mechanism and a release mechanism 201 are arranged on the main umbrella rope 3, the release mechanism 201 is arranged below the contraction mechanism, the release mechanism 201 is communicated with the control wire 7, the other end of the control wire 7 is communicated with a control center on the unmanned aerial vehicle body 5, a height sensor is fixedly arranged below the unmanned aerial vehicle body 5 and is electrically connected with the power supply module, and the power supply module is electrically connected with the high-precision sensor module and the height setting module; the high-precision sensor module is electrically connected with the height setting module; the height setting module is communicated with a control center of the unmanned aerial vehicle body 5.
The release mechanism 201 is a release formed by a steering engine or an electromagnet.
The rope retracting mechanism 202 is composed of a coil spring and a rope winding wheel, and the speed of the rope retracting mechanism 202 for retracting the main umbrella rope 3 is 3 m/s.
The detection height of the height sensor is 50 meters.
The tip of main umbrella rope 3 is equipped with parachute 4, be equipped with two sets of restriction balls 8 on the main umbrella rope 3, one of them group restriction ball 8 sets up receive the top of cable mechanism 202, another group restriction ball 8 sets up main umbrella rope 3 and unmanned aerial vehicle body 5 junction.
When the weight m of the unmanned aerial vehicle is 6kg, the area A of the umbrella is 2.4m2, and the parachute drop speed V is 5m/s, h2 is set to be 8m, the cable retracting action completion time is about 1s, the reserved reduced landing height is 1.5m, the reduced speed is about 2m/s, the body landing momentum is reduced by 60%, and the purpose of reducing vibration is achieved.
According to parachute 4 equation of tension
=
And gravity
= 
: when m is 6kg, the area A of the umbrella surface is 2.4
Typical wind resistance coefficient
Is 1.6-1.22 kg-
G is 9.8m
And is and
=
when the speed is not less than 60 cows, the constant speed landing speed V is 5 m/s; at the start of the activation of the rope retracting device 2,
+
and
+ 
are respectively greater than
And
when the umbrella rope is contracted, the rope retracting speed is more than 3m/s, and the descending speed of the machine body at the moment is reduced to be less than 2m/s in consideration of the action time of 1 s; if the height h2 at the beginning of the action is reasonably selected according to the m value and the A value, the landing can be realized at the lowest landing speed, and the landing impact can be reduced by at least 60 percent
Is the pulling force of the parachute 4 and the gravity of the unmanned aerial vehicle body 5,
is the elastic force of a coil spring in a rope retracting mechanism, wherein
Is the air density.
Description of the working principle of the automatic detection distance deceleration method: when the unmanned aerial vehicle body 5 needs to land, the height of the unmanned aerial vehicle body 5 and the ground 6 is measured vertically downwards by the height sensor, so that the measured value of the height sensor is processed in the falling process of the unmanned aerial vehicle body 5; at the moment, the height sensor obtains data such as the height and descending speed of the unmanned aerial vehicle body 5 relative to the ground 6, and the obtained data is transmitted to the high-precision sensor module through the power module to analyze and calculate the time of the unmanned aerial vehicle body 5 descending to the ground 6; when the height of the unmanned aerial vehicle body 5 from the ground 6 is 7-15 m higher than the preset height value, because the rope retracting device 2 needs 1s of time for opening and the parachute 4 needs 1s of time for opening, the unmanned aerial vehicle body 5 is reserved for 1s of distance for descending, the height value is the height of the cable retracting device 2 plus the distance of the reserved unmanned aerial vehicle body 5 descending for 1s and the distance of the parachute 4 opening requiring height and the parachute 4 opening requiring 1s time descending, at the moment, the high-precision sensor module screens the data of the height and descending speed of the unmanned aerial vehicle body 5 relative to the ground 6 and the like transmitted by the power module, when the height of the unmanned aerial vehicle body 5 from the ground 6 is 7-15 m higher than the preset height value, the signal is sent to the height setting module, when the height of the unmanned aerial vehicle body 5 from the ground 6 is not higher than a preset height value by 7-15 m, the high-precision sensor module does not transmit signals; the preset height value is divided into two preset height values, one is the parachute opening height, the other is the cable retracting height, the analyzed data height setting module such as the height of the unmanned aerial vehicle body 5 relative to the ground 6 and the descending speed is used for setting the analyzed data height by the high-precision sensor module, when the preset height value is reached before landing, a starting signal is sent to the cable retracting device 2, and the unit function of the cable retracting mechanism 202 is triggered; when the rope retracting device 2 receives a starting signal from the height setting module, the tripper in the releasing mechanism 201 releases the lock to enable the rope retracting mechanism 202 to act, the rope retracting mechanism 202 is composed of a coil spring and a take-up pulley, the coil spring is locked by the tripper in the releasing mechanism 201 after being manually pre-tightened before taking off, after the lock is released, the coil spring drives the take-up pulley to rotate, the main parachute rope 3 of the parachute 4 is quickly tightened on the take-up pulley, so that the unit function of reducing the falling speed of the unmanned aerial vehicle is realized, and at the moment, the distance of tightening the main parachute rope 3 is limited by two groups of limiting balls; because receipts cable mechanism 202 carries out the shrink to main parachute-rope 3, the descending resistance of parachute 4 this moment will be to the increase, and then makes the falling speed of unmanned aerial vehicle body 5 will reduce, and then alleviates the impact of ground 6 to unmanned aerial vehicle when falling to the ground, and then reduces and has brought great injury to unmanned aerial vehicle system organism structure and accurate components and parts.
The visual distance deceleration method comprises the following working processes: when the unmanned aerial vehicle body 5 needs to land, the height of the unmanned aerial vehicle body 5 and the ground 6 is measured vertically downwards by the height sensor, so that the measured value of the height sensor is processed in the falling process of the unmanned aerial vehicle body 5; at the moment, the height sensor obtains data such as the height and descending speed of the unmanned aerial vehicle body 5 relative to the ground 6, and the obtained data is transmitted to the high-precision sensor module through the power module to analyze and calculate the time of the unmanned aerial vehicle body 5 descending to the ground 6; when the height of the unmanned aerial vehicle body 5 from the ground 6 is 7-15 m higher than the preset height value, because the rope retracting device 2 needs 1s of time for opening and the parachute 4 needs 1s of time for opening, the unmanned aerial vehicle body 5 is reserved for 1s of distance for descending, the height value is the height of the cable retracting device 2 plus the distance of the reserved unmanned aerial vehicle body 5 descending for 1s and the distance of the parachute 4 opening requiring height and the parachute 4 opening requiring 1s time descending, at the moment, the high-precision sensor module screens the data of the height and descending speed of the unmanned aerial vehicle body 5 relative to the ground 6 and the like transmitted by the power module, when the height of the unmanned aerial vehicle body 5 from the ground 6 is 7-15 m higher than the preset height value, the signal is sent to the height setting module, when the height of the unmanned aerial vehicle body 5 from the ground 6 is not higher than a preset height value by 7-15 m, the high-precision sensor module does not transmit signals; the preset height value is divided into two preset height values, one is the umbrella opening height, and the other is the rope retracting height; when the landing point of the unmanned aerial vehicle body 5 deviates and the ground 6 on the two sides is unbalanced, manual control landing is carried out by workers at the moment, the unmanned aerial vehicle inclines when the two sides of the landing point are unbalanced, the height sensor vertically and downwards measures the height between the unmanned aerial vehicle body 5 and the ground 6, when the height sensor measures the bottom plane, data is not accurate any more at the moment, and the analyzed data such as the height and the descending speed of the unmanned aerial vehicle body 5 relative to the ground 6 are transmitted to the control center of the unmanned aerial vehicle body 5 by the high-precision sensor module and are transmitted to the mobile phone terminal; when the data detected by the height sensor is inaccurate, the mobile phone terminal is operated by a worker to be in communication connection with the control center of the unmanned aerial vehicle body 5, the height difference of the ground 6 on the two sides of the landing point is judged by the worker, the cable retracting mechanism 202 is started in advance according to the judgment of the worker, and a command is sent to the unmanned aerial vehicle control center through the mobile phone terminal to send a command to the unit function of the cable retracting mechanism 202 to act; the time for opening the rope retracting mechanism 202 in advance is the time for opening the rope retracting mechanism 202 calculated by the control unit 1 minus the time for judging the distance between the height difference of the two sides of the landing point and the landing by the staff; when the rope winding device 2 receives a starting signal from a mobile phone terminal, a release device in the release mechanism 201 releases locking to enable the rope winding mechanism 202 to act, the rope winding mechanism 202 is composed of a coil spring and a take-up pulley, the coil spring is locked by the release device in the release mechanism 201 after being manually pre-tightened before taking off, after the locking is released, the coil spring drives the take-up pulley to rotate, a main parachute rope 3 of the parachute 4 is quickly tightened on the take-up pulley, so that a unit function of reducing the falling speed of the unmanned aerial vehicle is realized, and at the moment, two groups of limiting balls limit the tightening distance of the main parachute rope 3; because receipts cable mechanism 202 carries out the shrink to main parachute-rope 3, the descending resistance of parachute 4 this moment will be to the increase, and then makes the falling speed of unmanned aerial vehicle body 5 will reduce, and then alleviates the impact of ground 6 to unmanned aerial vehicle when falling to the ground, and then reduces and has brought great injury to unmanned aerial vehicle system organism structure and accurate components and parts.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (4)
1. The utility model provides an unmanned aerial vehicle retrieves speed reduction method of umbrella intelligence deceleration system, characterized by, based on following device, includes:
an unmanned aerial vehicle body;
the rope retracting device comprises a main parachute rope fixedly connected with the unmanned aerial vehicle body, a rope retracting mechanism wound with the main parachute rope, a releasing mechanism arranged below the rope retracting mechanism, and a control lead electrically connected with the releasing mechanism; the other end of the control wire is communicated with a control center of the unmanned aerial vehicle body;
the control unit comprises a height sensor arranged below the unmanned aerial vehicle body, a power supply module electrically connected with the height sensor, a high-precision sensor module electrically connected with the power supply module and a height setting module; the high-precision sensor module is electrically connected with the height setting module; the height setting module is communicated with a control center of the unmanned aerial vehicle body;
the deceleration method comprises the following steps:
an automatic detection distance deceleration method and a visual distance deceleration method;
the automatic detection distance deceleration method comprises the following steps:
step 1, when the unmanned aerial vehicle body needs to land, the height of the unmanned aerial vehicle body and the ground is measured vertically downwards by a height sensor, so that the measured value of the height sensor is processed in the falling process of the unmanned aerial vehicle body;
step 2, obtaining the height and descending speed data of the unmanned aerial vehicle body relative to the ground, and transmitting the obtained data to the high-precision sensor module for analyzing and calculating the time for the unmanned aerial vehicle body to descend to the ground;
step 3, when the height of the unmanned aerial vehicle body from the ground is 7-15 m higher than the preset height value, because the rope retracting device needs 1s of time for opening and the parachute needs 1s of time for opening, the unmanned aerial vehicle body is reserved for 1s of descending distance, the preset height value is the height of the rope retracting device plus the distance of the reserved unmanned aerial vehicle body descending for 1s and the distance of the unmanned aerial vehicle body descending for opening the parachute and the distance of the unmanned aerial vehicle body descending for 1s, at the moment, the high-precision sensor module screens the height of the unmanned aerial vehicle body relative to the ground and the descending speed data, when the height of the unmanned aerial vehicle body from the ground is 7-15 m higher than the preset height value, a signal is sent to the height setting module, when the height of the unmanned aerial vehicle body from the ground is no longer 7-15 m higher than the preset height value, the high-precision sensor module does not transmit signals; the preset height value is divided into two preset height values, one is the umbrella opening height, and the other is the rope retracting height;
step 4, transmitting the analyzed height and descending speed data of the unmanned aerial vehicle body relative to the ground to a height setting module, and sending a starting signal to a cable retracting device to trigger a unit function of the action of a cable retracting mechanism when the height reaches a preset height value set before landing;
step 5, after the rope retracting device receives a starting signal from the height setting module, a release device in the releasing mechanism releases locking to enable the rope retracting mechanism to act, the rope retracting mechanism is composed of a coil spring and a rope retracting wheel, the coil spring is locked by the release device in the releasing mechanism after being manually pre-tightened before taking off, after the locking is released, the coil spring drives the rope retracting wheel to rotate, a main parachute rope of the parachute is quickly tightened on the rope retracting wheel, so that the unit function of reducing the falling speed of the unmanned aerial vehicle is realized, and at the moment, two groups of limiting balls limit the tightening distance of the main parachute rope;
step 6, as the rope retracting mechanism retracts the main umbrella rope, the descending resistance of the parachute is increased, the descending speed of the unmanned aerial vehicle body is reduced, the impact on the unmanned aerial vehicle when the unmanned aerial vehicle falls to the ground is reduced, and the damage to the body structure and precise components of the unmanned aerial vehicle system is reduced;
the visual distance deceleration method comprises the following steps:
step 1, when the unmanned aerial vehicle body needs to land, the height of the unmanned aerial vehicle body and the ground is measured vertically downwards by a height sensor, so that the measured value of the height sensor is processed in the falling process of the unmanned aerial vehicle body;
step 2, obtaining the height and descending speed data of the unmanned aerial vehicle body relative to the ground, and transmitting the obtained data to the high-precision sensor module for analyzing and calculating the time for the unmanned aerial vehicle body to descend to the ground;
step 3, when the height of the unmanned aerial vehicle body from the ground is 7-15 m higher than the preset height value, because the rope retracting device needs 1s of time for opening and the parachute needs 1s of time for opening, the unmanned aerial vehicle body is reserved for 1s of descending distance, the preset height value is the height of the rope retracting device plus the distance of the reserved unmanned aerial vehicle body descending for 1s and the distance of the unmanned aerial vehicle body descending for opening the parachute and the distance of the unmanned aerial vehicle body descending for 1s, at the moment, the high-precision sensor module screens the height of the unmanned aerial vehicle body relative to the ground and the descending speed data, when the height of the unmanned aerial vehicle body from the ground is 7-15 m higher than the preset height value, a signal is sent to the height setting module, when the height of the unmanned aerial vehicle body from the ground is no longer 7-15 m higher than the preset height value, the high-precision sensor module does not transmit signals; the preset height value is divided into two preset height values, one is the umbrella opening height, and the other is the rope retracting height;
step 4, when the landing point of the unmanned aerial vehicle body deviates and the ground on two sides is unbalanced, manual control landing is carried out by workers at the moment, the unmanned aerial vehicle inclines when the landing point is unbalanced on two sides, the height of the unmanned aerial vehicle body and the ground is vertically measured downwards by the height sensor, when the measuring point of the height sensor is uneven, data is not accurate any more, and the analyzed height and descending speed data of the unmanned aerial vehicle body relative to the ground are transmitted to the control center of the unmanned aerial vehicle body by the high-precision sensor module and then transmitted to the mobile phone terminal;
step 5, when the data detected by the height sensor is inaccurate, the mobile phone terminal is operated by a worker to be in communication connection with the unmanned aerial vehicle body control center, the height difference of the ground on the two sides of the landing point is judged by the worker, the cable retracting mechanism is started in advance according to the judgment of the worker, and a command is sent to the unmanned aerial vehicle control center through the mobile phone terminal to send a command to the unit function of the cable retracting mechanism to act; the time for opening the rope retracting mechanism in advance is the time for opening the rope retracting mechanism calculated by the control unit minus the time for judging the distance between the height difference of the two sides of the landing point and the landing requirement of the working personnel;
step 6, after the rope winding device receives a starting signal from the mobile phone terminal, the tripper in the releasing mechanism releases the lock to enable the rope winding mechanism to act, the rope winding mechanism is composed of a coil spring and a rope winding wheel, the coil spring is locked by the tripper in the releasing mechanism after being manually pre-tightened before taking off, after the lock is released, the coil spring drives the rope winding wheel to rotate, a main parachute rope of the parachute is quickly tightened on the rope winding wheel, so that the unit function of reducing the falling speed of the unmanned aerial vehicle is achieved, and at the moment, the main parachute rope is limited in tightening distance by two groups of limiting balls;
step 7, because receipts cable mechanism carries out the shrink to main parachute rope, the descending resistance of parachute this moment will increase, and then makes the falling speed of unmanned aerial vehicle body will reduce, and then alleviates the impact to unmanned aerial vehicle when falling to the ground, and then reduces the injury that brings unmanned aerial vehicle system organism structure and accurate components and parts.
2. The deceleration method of the intelligent deceleration system of the recovery parachute of the unmanned aerial vehicle as claimed in claim 1, wherein the deceleration method comprises the following steps: the release mechanism is composed of a release device formed by a steering engine or an electromagnet.
3. The deceleration method of the intelligent deceleration system of the recovery parachute of the unmanned aerial vehicle as claimed in claim 1, wherein the deceleration method comprises the following steps: the rope retracting mechanism consists of a coil spring and a rope winding wheel, and the speed of the rope retracting mechanism for retracting the main umbrella rope is 3 m/s.
4. The deceleration method of the intelligent deceleration system of the recovery parachute of the unmanned aerial vehicle as claimed in claim 1, wherein the deceleration method comprises the following steps: the tip of main umbrella rope is equipped with the parachute, be equipped with two sets of restriction balls on the main umbrella rope, one of them group restriction ball sets up receive the top of cable mechanism, another group restriction ball sets up main umbrella rope and this body coupling department of unmanned aerial vehicle.
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| 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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| US6050524A (en) * | 1997-12-29 | 2000-04-18 | Haggard; Roy A. | Parachute soft landing system |
| US6631872B1 (en) * | 2002-05-15 | 2003-10-14 | Roy A. Haggard | Parachute trajectory control |
| KR20110137480A (en) * | 2010-06-17 | 2011-12-23 | 이주엽 | Para foil transporting apparatus |
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2019
- 2019-07-26 CN CN201910681959.9A patent/CN110406683B/en active Active
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