CN113911373B - Industrial unmanned aerial vehicle - Google Patents
Industrial unmanned aerial vehicle Download PDFInfo
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- CN113911373B CN113911373B CN202111341576.0A CN202111341576A CN113911373B CN 113911373 B CN113911373 B CN 113911373B CN 202111341576 A CN202111341576 A CN 202111341576A CN 113911373 B CN113911373 B CN 113911373B
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- 238000001514 detection method Methods 0.000 claims abstract description 48
- 239000000725 suspension Substances 0.000 claims description 59
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- 230000005484 gravity Effects 0.000 claims description 29
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 6
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- 230000003370 grooming effect Effects 0.000 claims 1
- 239000003381 stabilizer Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 5
- 230000000903 blocking effect Effects 0.000 abstract description 4
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- 238000005452 bending Methods 0.000 description 5
- 238000013507 mapping Methods 0.000 description 4
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- 206010034719 Personality change Diseases 0.000 description 2
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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
- 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
- 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
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an industrial unmanned aerial vehicle, which solves the technical problem that the industrial unmanned aerial vehicle in the prior art cannot get rid of obstacles through self actions when encountering blocking type faults, and specifically comprises a rotor wing part arranged at one end of a rotor wing arm, which is far away from a machine body; in the working state, each rotor part takes the first direction as the power output direction; in a fault state, the rotor part can change the posture from the first direction to the extending direction of the rotor arm, and the current detection unit is used for detecting the real-time working current of each rotor part; the detection and judgment unit is used for comparing the real-time working current of each rotor part with a preset current value; this technical scheme provides the specific structural design that can effectually get rid of the industrial unmanned aerial vehicle who blocks the type obstacle, increases the probability that industrial unmanned aerial vehicle breaks away from the obstacle through the power take off direction and the mode that change the rotor section.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an industrial unmanned aerial vehicle.
Background
Under the current trend, the unmanned aerial vehicle gradually deepens and permeates in various fields of production and life, and the application scene coverage is more comprehensive; the types of equipment carried by unmanned aerial vehicles are also expanding, and especially industrial unmanned aerial vehicles are responsible for more important work tasks such as detection, surveying and mapping.
In the existing mode, when receiving a work task, the unmanned aerial vehicle continuously increases the difficulty of the task, and the development trend is towards shooting and surveying tasks in low altitude areas, so that inevitable obstacles are encountered, such as tall trees and obstacles encountered by unmanned aerial vehicles in surveying and mapping industry. The problems existing in the prior art are as follows: to the obstacle that the low latitude region led to the fact to unmanned aerial vehicle, unmanned aerial vehicle can cause when unable in time avoiding that unmanned aerial vehicle is detained on the barrier by the restriction, can fall the damage when driving system stop work even, so cause the loss to the equipment that unmanned aerial vehicle and unmanned aerial vehicle carried on. The trend of solving the problems in the prior art is that the application is a Chinese invention application with the publication number CN112114590A and the name of the patent application is 'an unmanned aerial vehicle automatic detection obstacle avoidance system', which discloses an unmanned aerial vehicle automatic detection obstacle avoidance system, the front flying side of the unmanned aerial vehicle is continuously scanned by an uninterrupted scanning unit, when the front obstacle is detected, the uninterrupted scanning unit returns obstacle information to a coordination processing module, the obstacle information comprises obstacle signals and direction information, and the direction information is the direction of the obstacle; the assistant processing module receives the obstacle information transmitted by the uninterrupted scanning unit, and then automatically combines the ranging unit and the identification module to perform obstacle analysis on the obstacle information; and judging whether the corresponding obstacle is a fixed obstacle or a movable obstacle. According to the technical scheme, the existing mode for solving the obstacles mainly aims at pre-judging and avoiding, and the obstacles such as trees in the low air and erected cables have an empty space formed by the obstacles when being identified, so that the problem of detection and identification can be caused, and further under some complex conditions or unexpected conditions, the industrial unmanned aerial vehicle can still be caused to block the type of the obstacle.
Based on the above, an industrial unmanned aerial vehicle should be provided, which can get rid of obstacles through its own actions when encountering the above-mentioned blocking type faults.
Disclosure of Invention
The invention provides an industrial unmanned aerial vehicle, aiming at solving the technical problem that the industrial unmanned aerial vehicle in the prior art cannot get rid of obstacles through self actions when encountering blocking type faults.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides an industry unmanned aerial vehicle, has parachute package descending storehouse which characterized in that includes:
an even number of rotor arms which are rotationally symmetrical and uniformly arranged by a machine body;
the rotor part is arranged at one end of the rotor arm far away from the machine body;
in a working state, each rotor part takes the first direction as a power output direction;
in a fault state, the rotor wing portion is capable of moving from the first direction to the rotor arm
The orientation of extension of (a) transforms the pose, the pose comprising:
a first attitude in which a power output direction of the rotor section is changed to an extending direction of the rotor arm;
a second attitude in which the power output direction of the rotor section is changed to a tangential direction in which a plurality of rotor arms form a virtual circle;
The current detection unit is used for detecting the real-time working current of each rotor part;
the detection and judgment unit is used for comparing the real-time working current of each rotor part with a preset current value;
when the real-time working current exceeds the preset current value, each rotor part is controlled to stop working through a sorting execution unit, and meanwhile, the sorting execution unit can also drive a gravity balance module to work;
the gravity balance module is used for detecting the gravity acceleration of the machine body when working, and when the gravity acceleration exceeds a preset speed value, the parachute pack landing bin can be controlled to be opened;
when the real-time working current exceeds the preset current value and the gravity acceleration does not exceed the preset speed value, converting the rotor part with the maximum real-time working current detection result into a first posture;
when the rotor part is driven by an execution module in the first posture, and when the rotor part exceeds the preset current value again, the adjacent rotor part changes to a second posture;
wherein when the gravity balance module detects the gravitational acceleration of the body again and in the failure state, the rotor section is changed to a reset posture.
Specifically, the rotor section includes:
a propeller;
one end of the propeller shaft is connected with the propeller, and the other end of the propeller shaft is connected with the output end of a first motor;
the first motor is mounted on a propeller base.
Specifically, the rotor arm includes:
a first suspension portion configured as two first suspension bodies arranged oppositely;
a first suspension shaft connected between the two first suspension bodies through a bearing to
Enabling rotation of the first suspension shaft;
a first suspension connecting portion fixed to the first suspension shaft and located between the two first suspension bodies;
one end of the first connecting handle is connected with one end of the first suspension connecting part, and the other end of the first connecting handle is connected with the radial direction of the propeller base;
and the output end of the second motor is connected with the first suspension shaft, and the second motor is arranged on the first suspension body.
Specifically, the first connecting handle forms a bending space, and the propeller base is arranged in the bending space.
Specifically, the rotor arm further includes:
the second suspension part is connected with the two first suspension bodies through two groups of wing rods;
a second rotating shaft portion rotatably provided on the second suspension portion and capable of rotating to both sides of the second suspension portion;
The upper part of the second rotating shaft part is connected with the output end of a third motor;
the third motor is erected on the second suspension part;
the two sides of the second rotating shaft part respectively extend to form one extending connecting part, and the two extending connecting parts can be rotatably connected with a balance connecting rod;
the balance connecting rod is perpendicular to the second rotating shaft part.
Specifically, the method further comprises the following steps:
a stabilizing link connected at the first suspension connection portion away from the first connection
One end of the handle;
the stabilizing connecting rod is parallel to the balancing connecting rod;
and the two synchronous connecting rods which are arranged in parallel are respectively connected with the two ends of the stabilizing connecting rod and the balancing connecting rod in a spherical rotating way.
Specifically, one end of the second suspension part, which is far away from the propeller, is connected with a rotor wing plate;
in the working state, the stabilizing connecting rod, the balancing connecting rod and the two synchronous connecting rods form a virtual rectangle, and the rotor plate and the virtual rectangle are positioned on the same plane.
Specifically, the current detection unit includes:
a current detection module connected with the power terminal of the first motor for transmitting
Outputting the real-time working current of the first motor;
The current conversion module is used for converting the real-time working current of the first motor into a numerical value;
the detection judgment unit includes:
the preset module is used for presetting preset current values corresponding to the number of the rotary wing parts;
the comparison module is used for receiving the current value of the current conversion module and comparing the current value with a preset current value of the preset module;
a discrimination module that outputs a first failure signal based on a comparison result of the comparison module;
the recording module is used for recording the corresponding position of each first motor exceeding a preset current value.
Specifically, the sorting execution unit includes:
a fault signal receiving module to receive the first fault signal;
the gravity balance module includes:
and the gravity acceleration detection module can receive the first fault signal and call an acceleration detector arranged on the machine body, and when the detection result of the acceleration detector exceeds a set speed, a first execution module receives an overspeed signal generated by the gravity acceleration detection module and the first fault signal so as to drive the machine body to open the parachute package landing bin.
Specifically, when the detection result of the acceleration detector is within a preset speed range, the second execution module receives a speed signal and the first fault signal generated by the gravity acceleration detection module and transmits the speed signal and the first fault signal to a calling module, and the calling module is used for calling a position corresponding record of the first motor generated by the recording module and driving the second motor;
A secondary detection module that detects the presence of a unique implemented current value in the recording module
When the real-time current corresponds to the position of the rotor part, a third motor of the rotor part of the position adjacent to the rotor part corresponding to the real-time current is driven through a third execution module;
and the fourth execution module receives the speed signal and the first fault signal, and is used for driving the first motor of the rotary wing part to reset when only the speed signal is received, so that each rotary wing part is changed to a reset posture.
The invention has the following beneficial effects:
on the first hand, the technical scheme provides a specific structural design of the industrial unmanned aerial vehicle which can effectively get rid of the obstruction type obstacle, and the probability of getting rid of the obstacle of the industrial unmanned aerial vehicle is increased by changing the power output direction and mode of the rotor part;
in the second aspect, the technical scheme is used for designing the self-protection limit condition of the unmanned aerial vehicle in the fault state, so that the landing safety of the unmanned aerial vehicle is ensured; in addition, the technical scheme also provides a preferable implementation mode in consideration of follow-up take-off after getting rid of obstacles.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of a rotor arm according to the present invention;
FIG. 2 is an embodiment of a first attitude of the present invention;
FIG. 3 is an embodiment of the reset gesture of the present invention;
FIG. 4 is a schematic diagram of a cell configuration according to the present invention;
FIG. 5 is a schematic diagram of a module configuration according to the present invention;
FIG. 6 is a three-dimensional schematic view of a rotor of the present invention;
FIG. 7 is a schematic diagram of a second attitude of the present invention;
fig. 8 is a partial enlarged view of the reset attitude of the present invention.
The reference numerals in the figures denote:
the parachute package landing cabin 4, the body 1, the rotor arm 2, the rotor part 3, the virtual circle 1001, the current detection unit 100, the detection judgment unit 200, the arrangement execution unit 300, the gravity acceleration G, the gravity balance module 400 and the execution module 500;
the propeller 31, the propeller shaft 32, the first motor 33, the propeller base 34, and the second motor 35;
a first suspension part 21, a first suspension body 211, a first suspension shaft 22, a first suspension connecting part 23, a first connecting handle 24;
a bending space 204, a second suspension part 210, two sets of wing rods 222, a second rotating shaft part 221 extension connecting part 223, a balance connecting rod 224, a stabilizing connecting rod 225, a synchronous connecting rod 226 and a rotor plate 227;
the device comprises a current detection module 101, a current conversion module 102, a preset module 2100, a comparison module 220, a distinguishing module 230 and a recording module 240;
The system comprises a fault signal receiving module 310, a first fault signal A1, an acceleration detector 402, a first execution module 501, a second execution module 502, a speed signal V0, a secondary detection module 320, a fourth execution module 504 and an overspeed signal V1.
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. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention; for convenience of description, in the present application, "left side" is "first end", "right side" is "second end", "upper side" is "first end", and "lower side" is "second end" in the current view, so that the description is for the purpose of clearly expressing the technical solution, and should not be construed as an improper limitation to the technical solution of the present application.
The invention aims to solve the technical problem that an industrial unmanned aerial vehicle in the prior art cannot get rid of obstacles through self actions when encountering the obstacles, and for the obstacles, the technical scheme takes a surveying and mapping industrial unmanned aerial vehicle as a main research model, can be particularly understood as a surveying and mapping operation in Mihland as a main expression form, and it should be noted that the problem of probability of getting rid of obstacles obviously exists is mentioned in the application, but the specific technical scheme and technical thought provided by the technical scheme have practical significance in practical application.
This technical scheme of specific introduction, please refer to fig. 2, 3, 4 and show, an industry unmanned aerial vehicle has parachute package descending storehouse 4, and parachute package descending storehouse 4 sets up at the top of unmanned aerial vehicle fuselage 1 for expand the parachute, to protect unmanned aerial vehicle's safe landing, specific technical scheme includes: an even number of rotor arms 2 which are rotationally symmetrical and are uniformly arranged by a machine body 1; obviously, the present technical solution provides a specific technical solution configuration for a multi-rotor type unmanned aerial vehicle, further, having a rotor portion 3 disposed at one end of the rotor arm 2 far from the airframe 1;
in an operating state, each of the rotary wing parts 3 takes the first direction as the power output direction, as shown in fig. 3
The state of the unmanned aerial vehicle in the technical scheme is shown in the figure;
in a fault state, the rotor wing part 3 can change its posture from the first direction to the extending direction of the rotor arm 2
The states, gestures include:
in the first posture, the power output direction of the rotor part 3 is changed into the extending direction of the rotor arm 2, as shown in fig. 2, the power direction of the rotor part 3 is changed, so that the industrial unmanned aerial vehicle can get rid of obstacles through the power used by the rotor part 3 for flying, and for obstacles such as dense forests, twigs and the like in the main application case of the technical scheme, the active getting rid of obviously can help the industrial unmanned aerial vehicle;
In addition, in the second posture, the power output direction of the rotor section 3 is changed to the tangential direction in which the plurality of rotor arms 2 form a virtual circle 1001; equivalently, the power output is made in other directions;
the specific working mode is as follows: the current detection unit 100 is used for detecting the real-time working current of each rotor part 3; the purpose of detecting the implementation working current is that the blocking type obstacle in the application can gradually increase the implementation working current of the unmanned aerial vehicle, because the limiting effect of the obstacle causes the continuous increase of the working current of the rotor part 3; further, the real-time working current of each rotor portion 3 is compared with a preset current value through a detection and judgment unit 200;
when the real-time working current exceeds a preset current value, each rotor part 3 is controlled to stop working through one arrangement execution unit 300, which is equivalent to safety protection, and meanwhile, one arrangement execution unit 300 can drive one gravity balance module 400 to work;
the gravity balance module 400 is used for detecting the gravity acceleration G of the fuselage 1 when working, when the gravity acceleration G exceeds a preset speed value, the situation that the unmanned aerial vehicle is not limited by an obstacle under the safety protection state is shown, the situation that the industrial unmanned aerial vehicle falls is shown by an instant overspeed gravity acceleration and deceleration value, the parachute pack landing bin 4 is opened at the moment, the parachute pack landing bin 4 can be controlled to be opened at the best time, and therefore the industrial unmanned aerial vehicle equipment and the detection equipment carried by the industrial unmanned aerial vehicle equipment can be effectively protected;
In another case, when the real-time operating current exceeds the preset current value and the gravitational acceleration G does not exceed the preset speed value, the rotor portion 3 with the maximum real-time operating current detection result is converted into the first posture;
the reason why the power output source generated by getting rid of the obstacle changes the posture of the rotor part 3 with the current detection value at that time being the largest is that: the rotor part 3 with the maximum instantaneous current is the center when the fault occurs, the reason of the blocked fault is that the rotor part 3 is limited, the operating current exceeds, and the rotor part 3 changes the posture at the moment, so that the rotor part is the optimal implementation mode for getting rid of the current blocked fault;
when the rotor portion 3 is driven by an executing module 500 in the first posture, and when the rotor portion 3 exceeds the preset current value again, the adjacent rotor portion 3 changes to a second posture, and the second posture change is a deflected power direction;
when the gravity balance module 400 detects the gravitational acceleration G of the body 1 again and is in a failure state, the rotor section 3 is changed to the reset posture.
In one embodiment, referring to fig. 1, 2, 3, 6 and 8, the rotor portion 3 includes: a propeller 31; one end of the propeller shaft 32 is connected with the propeller 31, and the other end is connected with the output end of a first motor 33; the first motor 33 is mounted on a propeller base 34, and the first motor 33 is a power component of the rotor portion 3.
In one embodiment, and referring to fig. 1, 2 and 3, the rotor arm 2 includes: a first suspension portion 21 configured as two first suspension bodies 211 arranged oppositely; a first suspension shaft 22 coupled between the two first suspension bodies 211 through a bearing to enable the first suspension shaft 22 to rotate; thus, the change of the first posture is realized;
in a particular structural embodiment, a first suspension connecting portion 23 fixed on the first suspension shaft 22 and located between the two first suspension bodies 211; a first connecting handle 24 having one end connected to one end of the first suspension connecting portion 23 and the other end connected to a radial direction of the propeller base 34; and a second motor 35 having an output end connected to the first suspension shaft 22, the second motor 35 being mounted on the first suspension body 211.
The structural design for the balance of the industrial unmanned aerial vehicle makes the modeling of the rotor arm 2 more flow when the attitude changes, specifically, a bending space 204 is formed for the first connecting handle 24, and the propeller base 34 is arranged in the bending space 204.
Further, rotor arm 2 further comprises: a second suspension 210 connected to the two first suspensions 211 through two sets of wing bars 222; a second rotating shaft 221 rotatably provided in the second suspension 210 and rotatable toward both sides of the second suspension 210; the upper part of the second rotating shaft part 221 is connected with the output end of a third motor 25; thus, the second posture is changed, and the third motor is mounted on the second suspension portion 210;
further, in order to ensure the continuity and stability of the motion of the rotor arm 2, the extension connection portions 223 and two sides of the second rotating shaft portion 221 are respectively extended to form one extension connection portion 223, and the two extension connection portions 223 can be rotatably connected with a balance link 224; the balance link 224 is perpendicular to the second rotation shaft portion 221.
Specifically, the method further comprises the following steps: a stabilizing link 225 connected to an end of the first suspension connection 23 remote from the first connecting handle 24; stabilizing link 225 is parallel to balancing link 224; two synchronization links 226 arranged in parallel are ball-rotatably connected to both ends of the stabilizing link 225 and the balancing link 224, respectively.
To be more specific, a rotary wing plate 227 is connected to an end of the second suspension portion 210 away from the propeller 31;
In operation, stabilizing link 225, balancing link 224 and two synchronizing links 226 form a virtual rectangle, and rotor plate 227 is coplanar with the virtual rectangle.
Referring to fig. 4, 5, and 7, the mode and principle of attitude change of the industrial unmanned aerial vehicle according to the present technical solution mainly include: the current detection unit 100 includes:
a current detection module 101 connected to the power terminal of the first motor 33 for transmitting
Outputting the real-time working current of the first motor 33;
a current conversion module 102, configured to convert a real-time operating current of the first motor 33 into a numerical value;
the detection judgment unit 200 includes:
a presetting module 2100 for presetting a preset current value corresponding to the number of the rotor portions 3;
a comparing module 220, configured to receive the current value of the current converting module 102 and compare the current value with a preset current value of the presetting module 2100;
a discrimination module 230 that outputs a first failure signal a1 based on the comparison result of the comparison module 220;
the recording module 240 is configured to record a corresponding position of each first motor exceeding a preset current value.
In a further embodiment, the finishing execution unit 300 includes:
A fault signal receiving module 310 to receive a first fault signal a 1;
the gravity balancing module 400 includes:
principle description of one case: the gravitational acceleration detection module 401 can receive the first fault signal a1 and call an acceleration detector 402 disposed on the fuselage 1, and when the detection result of the acceleration detector 402 exceeds the set speed, a first execution module 501 receives the overspeed signal V1 and the first fault signal a1 generated by the gravitational acceleration detection module 401 to drive the parachute bay 4 of the fuselage 1 to open.
Principle description of another case: when the detection result of the acceleration detector 402 is within a preset speed range, the second execution module 502 receives the speed signal V0 and the first fault signal a1 generated by the gravitational acceleration detection module 401, and transmits the speed signal V0 and the first fault signal a1 to a calling module 505, and the calling module 505 is configured to call the position correspondence record of the first motor generated by the recording module 240, and drive the second motor 35;
a secondary detection module 320, which detects that the recording module 240 has the only implementation current value, and drives a third motor of the rotor portion 3 at the position adjacent to the rotor portion 3 corresponding to the real-time current through a third execution module based on the position of the rotor portion 3 corresponding to the real-time current;
The fourth execution module 504 receives the speed signal V0 and the first failure signal a1, and resets the first motor driving the rotor units 3 when receiving only the speed signal V0, such that each rotor unit 3 is shifted to the reset posture.
In summary, the technical advantages of the present application include:
on the first hand, the technical scheme provides a specific structural design of the industrial unmanned aerial vehicle which can effectively get rid of the obstruction type obstacle, and the probability of getting rid of the obstacle of the industrial unmanned aerial vehicle is increased by changing the power output direction and mode of the rotor part;
in the second aspect, the technical scheme is used for designing the self-protection limit condition of the unmanned aerial vehicle in the fault state, so that the landing safety of the unmanned aerial vehicle is ensured; in addition, the technical scheme also provides a preferable implementation mode in consideration of follow-up take-off after getting rid of obstacles.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. An industrial unmanned aerial vehicle has parachute package descending storehouse (4), its characterized in that includes:
an even number of rotor arms (2) which are rotationally symmetrical and uniformly arranged by a machine body (1);
the rotor wing part (3) is arranged at one end, far away from the machine body (1), of the rotor wing arm (2);
in the working state, each rotor wing part (3) takes a first direction as a power output direction;
in a fault state, the rotor part (3) is capable of changing attitude from the first direction to an extension direction of the rotor arm (2), the attitude comprising:
a first posture in which the power output direction of the rotor section (3) is changed to the extending direction of the rotor arm (2);
a second attitude in which the power output direction of the rotor section (3) is changed to the tangential direction in which a plurality of rotor arms (2) form a virtual circle (1001);
a current detection unit (100) for detecting a real-time operating current of each of the rotor sections (3);
the detection and judgment unit (200) is used for comparing the real-time working current of each rotor part (3) with a preset current value;
when the real-time working current exceeds the preset current value, each rotor part (3) is controlled to stop working through a sorting execution unit (300), and meanwhile, the sorting execution unit (300) drives a gravity balance module (400) to work;
The gravity balance module (400) is used for detecting the gravity acceleration of the machine body (1) when working, and when the gravity acceleration exceeds a preset speed value, the parachute pack landing bin (4) is controlled to be opened;
when the real-time working current exceeds the preset current value, if the gravity acceleration does not exceed the preset speed value, the rotor part (3) with the maximum real-time working current detection result is converted into a first posture;
when the rotor part (3) is driven by an execution module (500) in the first posture, and when the rotor part (3) exceeds the preset current value again, the adjacent rotor part (3) changes to a second posture;
when the gravity balance module (400) detects that the gravity acceleration of the body (1) does not exceed the preset speed value again and the real-time working current does not exceed the preset current value, the rotary wing part (3) is changed to a reset posture.
2. Industrial unmanned aerial vehicle according to claim 1, characterized in that the rotor (3) comprises:
a propeller (31);
a propeller shaft (32) having one end connected to the propeller (31) and the other end connected to an output end of a first motor (33);
The first motor (33) is mounted on a propeller base (34).
3. Industrial unmanned aerial vehicle according to claim 2, characterized in that the rotor arm (2) comprises:
a first suspension portion (21) configured as two first suspension bodies (211) arranged oppositely;
a first suspension shaft (22) connected between the two first suspension bodies (211) by a bearing,
to enable rotation of the first suspension shaft (22);
a first suspension connecting portion (23) fixed to the first suspension shaft (22) and located between the two first suspension bodies (211);
a first connecting handle (24) having one end connected to one end of the first suspension connecting portion (23) and the other end connected to a radial direction of the propeller base (34);
a second motor (35) having an output end connected to the first suspension shaft (22), the second motor (35) being mounted on the first suspension body (211).
4. The industrial drone of claim 3, wherein the first connecting handle (24) defines a curved space (204), the propeller mount (34) being disposed within the curved space (204).
5. The industrial drone of claim 3, wherein the rotor arm (2) further comprises:
A second suspension portion (210) connected to the two first suspension bodies (211) through two sets of wing bars (222), respectively;
a second rotating shaft part (221) which is rotatably arranged on the second suspension part (210) and can rotate towards two sides of the second suspension part (210);
the upper part of the second rotating shaft part (221) is connected with the output end of a third motor (25);
the third motor is erected on the second suspension part (210);
the two sides of the second rotating shaft part (221) extend to form one extending connecting part (223), and the two extending connecting parts (223) can be rotatably connected with a balance connecting rod (224);
the balance link (224) is perpendicular to the second rotation shaft portion (221).
6. The industrial drone of claim 5, further comprising:
a stabilizing link (225) connected at one end of the first suspension connection (23) remote from the first connecting handle (24);
the stabilizer link (225) is parallel to the balancing link (224);
two synchronous connecting rods (226) which are arranged in parallel are respectively connected with two ends of the stabilizing connecting rod (225) and the balance connecting rod (224) in a ball-type rotating mode.
7. The industrial drone of claim 6, wherein one end of the second suspension (210) remote from the propeller (31) is connected with a rotor plate (227);
In the working state, the stabilizing link (225), the balancing link (224) and the two synchronizing links (226) form a virtual rectangle, and the rotor plate (227) and the virtual rectangle are positioned on the same plane.
8. The industrial drone of claim 7, wherein the current detection unit (100) comprises:
the current detection module (101) is connected with a power terminal of the first motor (33) and is used for transmitting real-time working current of the first motor (33);
a current conversion module (102) for converting a real-time operating current of the first motor (33) into a numerical value;
the detection judgment unit (200) includes:
a presetting module (2100) for presetting a preset current value corresponding to the rotor portion (3);
a comparison module (220) for receiving the current value of the current conversion module (102) and comparing the current value with a preset current value of the preset module (2100);
a discrimination module (230) that outputs a first failure signal based on a comparison result of the comparison module (220);
a recording module (240) for recording a corresponding position of each of the first motors exceeding a preset current value.
9. The industrial drone of claim 8, wherein the grooming execution unit (300) comprises:
a fault signal receiving module (310) to receive the first fault signal;
the gravity balancing module (400) comprises:
the gravity acceleration detection module (401) can receive the first fault signal and call an acceleration detector (402) arranged on the machine body (1), and when the detection result of the acceleration detector (402) exceeds a set speed, a first execution module (501) receives an overspeed signal generated by the gravity acceleration detection module (401) and the first fault signal so as to drive the opening of the parachute package landing bin (4) of the machine body (1).
10. The industrial unmanned aerial vehicle of claim 9, wherein when the detection result of the acceleration detector (402) is within a preset speed range, the second execution module (502) receives the speed signal generated by the gravitational acceleration detection module (401) and the first fault signal, and transmits the speed signal and the first fault signal to a calling module (505), and the calling module (505) is used for calling a position corresponding record of the first motor generated by the recording module (240) and driving the second motor (35);
the secondary detection module (320) is used for driving a third motor of the rotor part (3) at the position adjacent to the rotor part (3) corresponding to the real-time current through a third execution module based on the position of the rotor part (3) corresponding to the real-time current when detecting that the recording module (240) has the unique real-time current;
A fourth execution module (504) for receiving the speed signal and the first fault signal, and when only the speed signal is received, resetting the first motor for driving the rotor unit (3) so that each rotor unit (3) is changed to a reset posture.
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