CN110979645A - Post-fault emergency control device and method for unmanned aerial vehicle - Google Patents
Post-fault emergency control device and method for unmanned aerial vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 18
- 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 75
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 238000012544 monitoring process Methods 0.000 claims abstract description 44
- 206010034719 Personality change Diseases 0.000 claims abstract description 25
- PXIPVTKHYLBLMZ-UHFFFAOYSA-N Sodium azide Chemical compound [Na+].[N-]=[N+]=[N-] PXIPVTKHYLBLMZ-UHFFFAOYSA-N 0.000 claims description 10
- 239000003721 gunpowder Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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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
- B64D43/00—Arrangements or adaptations of instruments
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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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
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- Aviation & Aerospace Engineering (AREA)
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- Combustion & Propulsion (AREA)
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- Emergency Alarm Devices (AREA)
Abstract
The invention relates to an unmanned aerial vehicle emergency control device after failure, which comprises: the flight control fault detection module is used for detecting the rotating speed state of the flight control motor; the external fault monitoring module is used for detecting the attitude change of the unmanned aerial vehicle during flying; the safety airbag is opened when the rotation speed state of the flight control motor detected by the flight control fault detection module is not within the range of the rotation speed threshold value or/and the posture change of the external fault monitoring module when the unmanned aerial vehicle flies is not within the range of the change threshold value, and the propeller of the unmanned aerial vehicle is wrapped by the safety airbag. According to the invention, the flight control fault detection module and the external fault monitoring module are used for respectively detecting the flight state of the unmanned aerial vehicle, when the abnormal flight state of the unmanned aerial vehicle is detected, the safety airbag is opened, the safety airbag wraps the propeller of the unmanned aerial vehicle, and the propeller can effectively prevent the ground personnel from being scratched by the propeller when the unmanned aerial vehicle falls or descends.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle fault control, in particular to an unmanned aerial vehicle fault post-emergency control device and method.
Background
To the unmanned aerial vehicle that has the screw, motor speed is high and the pointed end of screw is sharp, and motor speed can reach thousands of revolutions in flight, and the motor breaks down the back, if the inside flight control PWM signal output of unmanned aerial vehicle does not obtain effectively cutting off, probably causes serious injury to ground personnel during the landing ground, causes life threat even.
At present, emergency control behind the unmanned aerial vehicle trouble mainly relies on the mode of cutting off screw motor output and adding the parachute, breaks down at unmanned aerial vehicle after, opens the parachute and reduces the tenesmic speed of unmanned aerial vehicle, cuts off the output to motor PWM signal simultaneously. However, when the flight control is switched off and the output of the PWM signal is cut off, the motor may still not stop, for example, the motor is in a normal rotation state due to the short circuit of the motor, in this case, the potential safety hazard problem still exists only by using a parachute mode, the parachute is easily broken by the propeller rotating at a high speed, or the lift force generated by the propeller is dominant, so that the parachute does not play a role in safe landing.
Interpretation of related terms
PWM signal: pulse width modulation, the invention refers to a control signal which is output to a motor by the flight control of an unmanned aerial vehicle;
rotor unmanned aerial vehicle: the power is from the unmanned aerial vehicle of the motor, the motor drives the propeller to rotate;
fixed wing unmanned aerial vehicle: the unmanned aerial vehicle generates lift force by means of the pressure difference between the upper part and the lower part of the wing surface of the wing.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an emergency control device for an unmanned aerial vehicle after failure.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
an unmanned aerial vehicle emergency control device after trouble includes:
the flight control fault detection module is used for detecting the rotating speed state of the flight control motor;
the external fault monitoring module is used for detecting the attitude change of the unmanned aerial vehicle during flying;
the safety airbag is opened when the rotation speed state of the flight control motor detected by the flight control fault detection module is not within the range of the rotation speed threshold value or/and the posture change of the external fault monitoring module when the unmanned aerial vehicle flies is not within the range of the change threshold value, and the propeller of the unmanned aerial vehicle is wrapped by the safety airbag.
According to the invention, the flight control fault detection module and the external fault monitoring module are used for respectively detecting the flight state of the unmanned aerial vehicle, when the abnormal flight state of the unmanned aerial vehicle is detected, the safety airbag is opened, the safety airbag wraps the propeller of the unmanned aerial vehicle, and the propeller can effectively prevent the ground personnel from being scratched by the propeller when the unmanned aerial vehicle falls or descends.
Furthermore, in order to better realize the invention, the unmanned aerial vehicle further comprises a parachute, and when the flight control fault detection module detects that the rotating speed state of the flight control motor is not in the rotating speed threshold range, or/and the external fault monitoring module detects that the attitude change of the unmanned aerial vehicle during flying is not in the change threshold range, the parachute is opened.
When detecting unmanned aerial vehicle's flight state appearance unusual, not only start airbag, still start the parachute simultaneously to slow down unmanned aerial vehicle at the speed of the in-process that falls or descend, can subdue the accidental injury to ground personnel on the one hand, on the other hand enables unmanned aerial vehicle and slowly arrives ground, avoids assaulting the further damage to core devices such as control of flying inside.
Furthermore, in order to better implement the invention, the external fault monitoring module adopts a double-shaft vibration gyro.
Furthermore, in order to better realize the invention, the safety airbag is connected with an emergency trigger unit for receiving the rotating speed state of the flight control motor sent by the flight control fault detection module and the attitude change of the unmanned aerial vehicle during flight sent by the external fault monitoring module; when the flight control fault detection module detects that the rotating speed state of the flight control motor is not within the rotating speed threshold range or/and the external fault monitoring module detects that the posture change of the unmanned aerial vehicle during flying is not within the change threshold range, the emergency trigger unit starts the safety airbag and the parachute.
Furthermore, in order to better implement the invention, a gas generator, an igniter and an electronic control unit electrically connected with the emergency trigger unit are arranged in the safety airbag, when the electronic control unit receives that the rotating speed state of the flight control motor sent by the emergency trigger unit is not within the rotating speed threshold range or/and receives that the posture change of the unmanned aerial vehicle during flying, which is sent by the emergency trigger unit, is not within the change threshold range, the electronic control unit starts the igniter, and the igniter triggers the gas generator to release gas, so that the safety airbag is started and wraps the propeller of the unmanned aerial vehicle.
An unmanned aerial vehicle emergency control method after failure specifically comprises the following steps:
step S1: the flight control fault detection module detects the rotating speed state of a flight control motor, and the external fault monitoring module detects the attitude change of the unmanned aerial vehicle during flight;
step S2: if the flight control fault detection module detects that the rotating speed state of the flight control motor is not within the rotating speed threshold range or/and the external fault monitoring module detects that the attitude change of the unmanned aerial vehicle during flying is not within the change threshold range, the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit;
step S3: and after the emergency trigger unit receives a trigger signal sent by the flight control fault detection module or/and the external fault monitoring module, the safety airbag and the parachute are started.
Further, in order to better implement the present invention, the step S3 specifically includes the following steps:
step S310: the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit through a safety control logic edited by a program;
step S320: the emergency trigger unit controls the electronic control unit to start the igniter;
step S330: the igniter detonates the gunpowder, the gas generator decomposes the sodium azide when the gunpowder generates a large amount of heat by utilizing the thermal effect principle, and generates a large amount of gas, and the gas is inflated to the safety airbag from the inflation hole within 30ms, so that the safety airbag is expanded and unfolded to wrap the propeller.
Compared with the prior art, the invention has the beneficial effects that:
the invention uses a dual-redundancy detection mode to simultaneously detect the rotating speed state of the flight control motor and the flying attitude change of the unmanned aerial vehicle, if the rotating speed state is abnormal or the flying attitude change is abnormal, the safety airbag and the parachute are started, the situation that when the rotating speed state of the flight control motor cannot be detected by the flight control fault detection module, a safety precaution measure cannot be started is avoided, an external fault monitoring module is added to detect the flying attitude change of the unmanned aerial vehicle in real time, so that the fault detection in the flying process of the unmanned aerial vehicle is more guaranteed, the reliability of the fault emergency control of the unmanned aerial vehicle is improved, and after the safety airbag and the parachute are started, the damage of a propeller to ground personnel in the flying process of the unmanned aerial vehicle is reduced.
The invention mainly aims at the emergency control of the unmanned aerial vehicle with the propeller after the fault, has wide application range, can be applied to the rotor unmanned aerial vehicle and the fixed wing unmanned aerial vehicle with the propeller power, and increases the reliability of the emergency fault detection by the fault detection mechanism with dual redundancy. The air bag reaction can expand promptly when unmanned aerial vehicle leaves ground still more far away height and expand, no matter the screw is in the state of high-speed rotation or the state of stalling, at the in-process that unmanned aerial vehicle fell to the ground, can both play the protection to ground personnel and unmanned aerial vehicle inside device effectively.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram of an emergency control device according to the present invention;
FIG. 2 is a flow chart of an emergency control method of the present invention;
fig. 3 is a schematic view of an airbag arrangement according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Example 1:
the invention is realized by the following technical scheme, as shown in fig. 1, the emergency control device after the unmanned aerial vehicle has a fault comprises a flight control fault detection module, an external fault monitoring module, an emergency trigger unit, an air bag and a parachute, wherein the flight control fault detection module is used for detecting the rotating speed state of a flight control motor, the external fault monitoring module is used for detecting the attitude change of the unmanned aerial vehicle during the flight, when the flight control fault detection module detects that the rotating speed state of the flight control motor is not in the rotating speed threshold range or/and the external fault monitoring module detects that the attitude change of the unmanned aerial vehicle during the flight is not in the change threshold range, the emergency trigger unit starts the air bag and the parachute, and the air bag wraps a propeller of the unmanned aerial vehicle.
The motor rotating speed and the flight attitude of the unmanned aerial vehicle are detected by using the flight control fault detection module and the external fault detection module, the rotating speed state of the flight control motor is detected by using the flight control fault detection module, if the rotating speed state is not within the rotating speed threshold range, the flight control fault detection module sends a trigger signal to the emergency trigger unit, the emergency trigger unit directly starts the safety airbag and the parachute, and the safety airbag wraps a propeller of the unmanned aerial vehicle; however, when the rotation speed state of the flight control motor cannot be detected by the flight control fault detection module, if the attitude change of the external fault monitoring module when the unmanned aerial vehicle flies is detected to be not within the range of the change threshold value, the external fault monitoring module sends a trigger signal to the emergency trigger unit, and the emergency trigger unit starts the safety airbag and the parachute. Therefore, the external fault monitoring module needs to monitor the attitude change of the unmanned aerial vehicle during flying in real time, and when the flight control fault detection module detects abnormal flight of the unmanned aerial vehicle, or the external fault monitoring module detects abnormal flight of the unmanned aerial vehicle, or the flight control fault detection module and the external fault monitoring module detect abnormal flight of the unmanned aerial vehicle at the same time, the emergency trigger units all start the safety air bag and the parachute.
The invention uses a dual-redundancy detection mode to simultaneously detect the rotating speed state of the flight control motor and the flying attitude change of the unmanned aerial vehicle, if the rotating speed state is abnormal or the flying attitude change is abnormal, the safety airbag and the parachute are started, the situation that when the rotating speed state of the flight control motor cannot be detected by the flight control fault detection module, a safety precaution measure cannot be started is avoided, an external fault monitoring module is added to detect the flying attitude change of the unmanned aerial vehicle in real time, so that the fault detection in the flying process of the unmanned aerial vehicle is more guaranteed, the reliability of the fault emergency control of the unmanned aerial vehicle is improved, and after the safety airbag and the parachute are started, the damage of a propeller to ground personnel in the flying process of the unmanned aerial vehicle is reduced.
In detail, when the flight control fault detection module detects the rotating speed state of the flight control motor, the motor electric regulation adopts the electric regulation capable of feeding back the rotating speed state, and if the fed-back information is not in the rotating speed threshold range given by the flight control, the triggering signal is sent to the emergency triggering unit. Given a speed of rotation k, e.g. flight control1Then the threshold range of the rotational speed is k1～1.5k1However, when the device is used, the rotating speed threshold range can be adjusted according to actual conditions. After the emergency trigger unit receives the trigger signal that flight control fault detection module sent, emergency trigger unit starts air bag and parachute, and the parachute slows down the speed that unmanned aerial vehicle falls or descends, and air bag wraps up unmanned aerial vehicle's screw, avoids unmanned aerial vehicle's screw to cause the injury to ground personnel when descending.
The external fault monitoring module adopts a double-shaft vibration gyro to monitor the attitude change of the unmanned aerial vehicle in real time during flying, if the difference value between the current attitude or attitude change rate of the unmanned aerial vehicle and a given amount exceeds 50% of the given amount, the unmanned aerial vehicle is judged to be out of control,and sending a trigger signal to an emergency trigger unit. Such as a given drone attitude or attitude variance k2The current attitude or the variation threshold range of the attitude is 0.5k2～1.5K2However, when the gesture control device is used, the gesture change threshold range can be adjusted according to actual conditions. After the emergency trigger unit receives the trigger signal, the emergency unit starts the safety airbag and the parachute.
Because the unmanned aerial vehicle breaks down when flying, can lead to the motor circuit to appear the short circuit, after flying the accuse and giving PWM signal instruction, the motor can't produce the rotational speed, flies the rotational speed state that accuse fault detection module can not detect the motor this moment, consequently needs external fault monitoring module real-time detection unmanned aerial vehicle attitude change when flying.
Further, air bag adorns in the position that is close to the screw on the unmanned aerial vehicle horn in this embodiment, be provided with gas generator in the air bag, some firearm, the electronic control unit who is connected with emergent trigger unit electricity, flight control fault detection module and external fault monitoring module send trigger signal through the safety control logic of procedure editor to emergent trigger unit, emergent trigger unit control electronic control unit starts some firearm, some firearm detonation fire agent, gas generator utilizes the fuel factor principle to decompose sodium azide when fire agent produces a large amount of heats, and produce a large amount of gas, aerify to air bag from the gas charging hole in 30 ms's time, make air bag inflation expand and expand, parcel live the screw, open the parachute simultaneously, in order to slow down the unmanned aerial vehicle speed of falling or descending.
In order to fully wrap the propeller blade by the safety airbag, the inflation volume of the safety airbag is about 0.08m3-0.15m3In the range, the required amount of sodium azide is about 143.6g-269g, and in order to ensure the safety of the explosion moment, a staged explosion device is adopted for explosion, namely a gas generator is used for two-stage explosion, the first stage generates about 40% of gas volume which is far lower than the maximum pressure, and the second stage is used for generating residual gas and reaches the maximum pressure. In general, the maximum pressure of a two-stage detonation is less than that of a single-stage detonation. In this form, the pressure is increased gradually, which can ensure the safety of ground personnel.
The safety airbag can ensure internal gas sealing and can play a flame-retardant role, as shown in the cross-sectional schematic view of fig. 3, the propeller can be wrapped by the safety airbag in 360 degrees after the safety airbag is inflated, the safety airbag cannot be scratched by the high-speed propeller, and the gas is sealed in the safety airbag. The electronic control unit is mainly used for receiving the control signal sent by the emergency trigger unit and sending a command to start the igniter so as to start the safety airbag.
The parachute is located at the top of the unmanned aerial vehicle, after the emergency trigger unit starts the parachute, the parachute is unfolded to slow down the falling or descending speed of the unmanned aerial vehicle, damage caused by impact is eliminated, the unmanned aerial vehicle is protected, core devices such as a flight control device and the like can still work after the unmanned aerial vehicle falls, and therefore personnel can be helped to troubleshoot faults.
The invention mainly aims at the emergency control of the unmanned aerial vehicle with the propeller after the fault, has wide application range, can be applied to the rotor unmanned aerial vehicle and the fixed wing unmanned aerial vehicle with the propeller power, and increases the reliability of the emergency fault detection by the fault detection mechanism with dual redundancy. The air bag reaction can expand promptly when unmanned aerial vehicle leaves ground still more far away height and expand, no matter the screw is in the state of high-speed rotation or the state of stalling, at the in-process that unmanned aerial vehicle fell to the ground, can both play the protection to ground personnel and unmanned aerial vehicle inside device effectively.
Based on the device, as shown in fig. 2, the invention provides an unmanned aerial vehicle emergency control method after failure, which specifically comprises the following steps:
step S100: the flight control fault detection module detects the rotating speed state of a flight control motor, and the external fault monitoring module detects the attitude change of the unmanned aerial vehicle during flight;
step S200: if the flight control fault detection module detects that the rotating speed state of the flight control motor is not within the rotating speed threshold range or/and the external fault monitoring module detects that the attitude change of the unmanned aerial vehicle during flying is not within the change threshold range, the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit;
step S300: and after the emergency trigger unit receives a trigger signal sent by the flight control fault detection module or/and the external fault monitoring module, the safety airbag and the parachute are started.
Step S310: the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit through a safety control logic edited by a program;
step S320: the emergency trigger unit controls the electronic control unit to start the igniter;
step S330: the igniter detonates the gunpowder, the gas generator decomposes the sodium azide when the gunpowder generates a large amount of heat by utilizing the thermal effect principle, and generates a large amount of gas, and the gas is inflated to the safety airbag from the inflation hole within 30ms, so that the safety airbag is expanded and unfolded to wrap the propeller.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides an emergency control device behind unmanned aerial vehicle trouble which characterized in that: the method comprises the following steps:
the flight control fault detection module is used for detecting the rotating speed state of the flight control motor;
the external fault monitoring module is used for detecting the attitude change of the unmanned aerial vehicle during flying;
the safety airbag is opened when the rotation speed state of the flight control motor detected by the flight control fault detection module is not within the range of the rotation speed threshold value or/and the posture change of the external fault monitoring module when the unmanned aerial vehicle flies is not within the range of the change threshold value, and the propeller of the unmanned aerial vehicle is wrapped by the safety airbag.
2. The post-failure emergency control device for the unmanned aerial vehicle according to claim 1, wherein: still include the parachute, when the rotational speed state that flight control fault detection module detected the flight control motor is not in rotational speed threshold value within range, or/and external fault monitoring module detects that the gesture change when unmanned aerial vehicle flies is not in the change threshold value within range, the parachute is opened.
3. The post-failure emergency control device for the unmanned aerial vehicle according to claim 2, wherein: the external fault monitoring module adopts a double-shaft vibration gyro.
4. The post-failure emergency control device for unmanned aerial vehicle of claim 3, wherein: the safety airbag is connected with an emergency trigger unit and used for receiving the rotating speed state of the flight control motor sent by the flight control fault detection module and the attitude change of the unmanned aerial vehicle during flight sent by the external fault monitoring module;
when the flight control fault detection module detects that the rotating speed state of the flight control motor is not within the rotating speed threshold range or/and the external fault monitoring module detects that the posture change of the unmanned aerial vehicle during flying is not within the change threshold range, the emergency trigger unit starts the safety airbag and the parachute.
5. The post-failure emergency control device for unmanned aerial vehicle of claim 4, wherein: be provided with gas generator, some firearm, the electronic control unit who is connected with emergent trigger element electricity in the air bag, when the electronic control unit receives the rotational speed state that flies the control motor that emergent trigger element sent not at rotational speed threshold value within range, or/and when receiving the gesture change when the unmanned aerial vehicle that emergent trigger element sent flies not at the change threshold value within range, electronic control unit starts the point firearm, some firearm trigger gas generator release gas, make air bag open, and the screw of unmanned aerial vehicle is lived in the parcel.
6. The post-failure emergency control method for the unmanned aerial vehicle according to claim 1, wherein: the method specifically comprises the following steps:
step S1: the flight control fault detection module detects the rotating speed state of a flight control motor, and the external fault monitoring module detects the attitude change of the unmanned aerial vehicle during flight;
step S2: if the flight control fault detection module detects that the rotating speed state of the flight control motor is not within the rotating speed threshold range or/and the external fault monitoring module detects that the attitude change of the unmanned aerial vehicle during flying is not within the change threshold range, the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit;
step S3: and after the emergency trigger unit receives a trigger signal sent by the flight control fault detection module or/and the external fault monitoring module, the safety airbag and the parachute are started.
7. The post-failure emergency control method for the unmanned aerial vehicle according to claim 6, wherein: the step S3 specifically includes the following steps:
step S310: the flight control fault detection module or/and the external fault monitoring module sends a trigger signal to the emergency trigger unit through a safety control logic edited by a program;
step S320: the emergency trigger unit controls the electronic control unit to start the igniter;
step S330: the igniter detonates the gunpowder, the gas generator decomposes the sodium azide when the gunpowder generates a large amount of heat by utilizing the thermal effect principle, and generates a large amount of gas, and the gas is inflated to the safety airbag from the inflation hole within 30ms, so that the safety airbag is expanded and unfolded to wrap the propeller.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874256A (en) * | 2020-08-12 | 2020-11-03 | 中国科学院工程热物理研究所 | Fault emergency processing method and device for solar unmanned aerial vehicle |
| CN112173145A (en) * | 2020-10-16 | 2021-01-05 | 国网山东省电力公司潍坊供电公司 | Unmanned aerial vehicle inspection fault safety device and control method thereof |
| CN112298602A (en) * | 2020-10-28 | 2021-02-02 | 广州极飞科技有限公司 | Unmanned aerial vehicle fault detection method, device, equipment and storage medium |
| CN113104222A (en) * | 2021-05-06 | 2021-07-13 | 北京理工大学 | Autonomous safety anti-falling device for unmanned aerial vehicle and control method thereof |
| CN113176756A (en) * | 2021-05-21 | 2021-07-27 | 杭州迅蚁网络科技有限公司 | Unmanned aerial vehicle emergency control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111874256A (en) * | 2020-08-12 | 2020-11-03 | 中国科学院工程热物理研究所 | Fault emergency processing method and device for solar unmanned aerial vehicle |
| CN113302129A (en) * | 2020-09-29 | 2021-08-24 | 深圳市大疆创新科技有限公司 | Power failure detection method and device for unmanned aerial vehicle and unmanned aerial vehicle |
| WO2022067463A1 (en) * | 2020-09-29 | 2022-04-07 | 深圳市大疆创新科技有限公司 | Power failure detection method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN112173145A (en) * | 2020-10-16 | 2021-01-05 | 国网山东省电力公司潍坊供电公司 | Unmanned aerial vehicle inspection fault safety device and control method thereof |
| CN112298602A (en) * | 2020-10-28 | 2021-02-02 | 广州极飞科技有限公司 | Unmanned aerial vehicle fault detection method, device, equipment and storage medium |
| CN113104222A (en) * | 2021-05-06 | 2021-07-13 | 北京理工大学 | Autonomous safety anti-falling device for unmanned aerial vehicle and control method thereof |
| CN113104222B (en) * | 2021-05-06 | 2022-04-29 | 北京理工大学 | Autonomous safety anti-falling device for unmanned aerial vehicle and control method thereof |
| WO2022237254A1 (en) * | 2021-05-11 | 2022-11-17 | 南京壮大智能科技研究院有限公司 | Small unmanned aerial vehicle falling protection device and working method thereof |
| CN113176756A (en) * | 2021-05-21 | 2021-07-27 | 杭州迅蚁网络科技有限公司 | Unmanned aerial vehicle emergency control system |
| CN113176756B (en) * | 2021-05-21 | 2022-07-29 | 杭州迅蚁网络科技有限公司 | Unmanned aerial vehicle emergency control system |
| CN113496559A (en) * | 2021-06-29 | 2021-10-12 | 广州极飞科技股份有限公司 | Unmanned equipment data acquisition method, device and system, unmanned equipment and storage medium |
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Application publication date: 20200410 |