WO2017197553A1 - Véhicule aérien sans pilote et appareil de montage, plate-forme de montage, procédé de commande, et système de commande pour véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote et appareil de montage, plate-forme de montage, procédé de commande, et système de commande pour véhicule aérien sans pilote Download PDF

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Publication number
WO2017197553A1
WO2017197553A1 PCT/CN2016/082175 CN2016082175W WO2017197553A1 WO 2017197553 A1 WO2017197553 A1 WO 2017197553A1 CN 2016082175 W CN2016082175 W CN 2016082175W WO 2017197553 A1 WO2017197553 A1 WO 2017197553A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
mounting
onboard
mounting platform
drop protection
Prior art date
Application number
PCT/CN2016/082175
Other languages
English (en)
Chinese (zh)
Inventor
蓝求
周长兴
刘万启
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201680002354.7A priority Critical patent/CN106941777B/zh
Priority to PCT/CN2016/082175 priority patent/WO2017197553A1/fr
Publication of WO2017197553A1 publication Critical patent/WO2017197553A1/fr

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Classifications

    • 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
    • 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
    • B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • 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

Definitions

  • the invention belongs to the technical field of drones, and particularly relates to a drone and its mounting device, a mounting platform, a control method and a control system.
  • the parachutes are all arranged on the body of the drone.
  • the parachute is opened, and the safe landing of the drone body and the airborne equipment is ensured, because the overall weight of the drone is large.
  • a large-scale parachute is required, and an umbrella can be opened at a higher altitude from the ground to achieve an effective protection effect.
  • the drone is only part of the rotor or the blade is broken, the other rotors rotate normally, and then open. Parachute, the normally rotating rotor is easily entangled by the parachute, causing the parachute to fail to open. Therefore, the parachute does not achieve a good protection effect in actual use.
  • the parachute is too large, resulting in an increase in the weight of the parachute, thereby increasing the overall weight of the drone, resulting in a shorter drone time; and when the battery voltage is lowered, power saturation occurs, which in turn limits the flight attitude of the aircraft. And reduce the aircraft's wind resistance, therefore, the existing parachute settings also affect the overall performance of the drone.
  • the invention provides a UAV and a mounting device thereof, a mounting platform, a control method and a control system, so as to solve the problem that the performance of the UAV providing the parachute in the prior art is degraded and the parachute protection effect is not good.
  • the present invention provides a mounting device for a drone, wherein the mounting device includes a mounting platform and a drop protection device; the mounting platform is used to mount the onboard device to the aircraft of the drone On the body, the drop protection device is mounted on the mounting platform or the onboard equipment; wherein, during the flight of the drone, the mounting platform can be separated from the fuselage or separated from the onboard equipment to enable the onboard equipment to be slaved The body is free to fall and the drop protection device is used to protect the onboard equipment when the onboard equipment is landing.
  • the present invention provides a mounting platform for a drone, which is used for mounting an airborne device on a fuselage of a drone, wherein the mounting platform includes a separating mechanism and a mounting mechanism.
  • the separating mechanism is for detachably connecting the mounting platform to the fuselage;
  • the mounting mechanism is for installing a drop protection device, and the drop protection device is for protecting the onboard device when the onboard device is landing;
  • the mounting platform can pass the separating mechanism Separated from the fuselage to allow the onboard equipment to fall freely from the fuselage, the drop protection device protects the onboard equipment when the onboard equipment is landing.
  • the present invention provides a drone that includes a fuselage and a mounting device, the mounting device includes a mounting platform and a drop protection device; the mounting platform is used to mount the onboard device On the fuselage, the drop protection device is mounted on the mounting platform or onboard equipment; wherein, during the flight of the drone, the mounting platform can be separated from the fuselage or separated from the onboard equipment to enable the onboard equipment From the free fall of the fuselage, the drop protection device is used to protect the onboard equipment when the onboard equipment is landing.
  • the present invention provides a control method for a drone, which includes a body and a mounting device for mounting the airborne device on the body of the drone, characterized in that The control method includes the steps of: obtaining a separation control signal for protecting the onboard device; and controlling the mounting device to be separated from the airframe or the onboard device according to the separation control signal, so that the onboard device is free to fall from the airframe.
  • the present invention provides a control system for a drone, the drone including a fuselage, and a mounting device for mounting the airborne device on the body of the drone, the control system
  • the method includes: one or more processors working together or separately, the processor is configured to: obtain a separate control signal for protecting the onboard device; and control the mounting device to be separated from the airframe or the onboard device according to the separate control signal , allowing the airborne equipment to fall freely from the fuselage.
  • the present invention provides an unmanned aerial vehicle comprising: a fuselage, a mounting device for mounting an airborne device on a fuselage of the drone, and the above control system.
  • the mounting device of the embodiment of the invention comprises a mounting platform and a drop protection device.
  • the airborne device is mounted on the body of the drone through the mounting platform, and the drop protection device is mounted on the mounting platform or the onboard device.
  • the mounting platform can be separated from the fuselage or separated from the onboard equipment to allow the airborne equipment to fall freely from the fuselage, and the drop protection device can protect the onboard equipment when the onboard equipment is landing.
  • the drop protection device of the embodiment of the present invention is installed on the mounting platform or the onboard device, and is only protected for the onboard device, so only the weight of the onboard device or the weight of the onboard device and the mounting platform is set.
  • the specification of the drop protection device reduces the size and weight of the drop protection device compared to the prior art, and reduces the minimum distance for the drop protection device to be effectively opened, that is, opening the drop protection device at a lower height from the ground. It can achieve effective protection effect; at the same time, the setting of the smaller size drop protection device also reduces the flight load of the drone, making the flight performance of the drone more stable.
  • FIG. 1 is a schematic structural view of a first embodiment of a mounting device for a drone of the present invention
  • FIG. 2 is a schematic structural view of a second embodiment of a mounting device for a drone of the present invention
  • FIG. 3 is a schematic structural view of an embodiment of a mounting platform of the unmanned aerial vehicle of the present invention.
  • Figure 4 is a schematic structural view of a first embodiment of the drone of the present invention.
  • FIG. 5 is a schematic flow chart of a first embodiment of a control method of a drone according to the present invention.
  • FIG. 6 is a schematic flow chart of a second embodiment of a control method of the drone of the present invention.
  • FIG. 7 is a schematic structural view of an embodiment of a control system of the drone of the present invention.
  • Figure 8 is a schematic view showing the structure of a second embodiment of the drone of the present invention.
  • FIG. 1 is a schematic structural view of a first embodiment of a mounting device for a drone according to the present invention.
  • the mounting device 100 of the unmanned aerial vehicle includes a mounting platform 11 and a drop protection device 12.
  • the mounting platform 11 is used to mount the onboard device 800 on the body 91 of the drone 900.
  • the mounting platform 11 can be a pan/tilt or a connection mechanism. If the mounting platform 11 is a pan/tilt, the onboard device 800 can be installed and fixed on the pan/tilt, and the pan/tilt can carry a plurality of different types of onboard devices 800. If the mounting platform 11 is a connecting mechanism, the onboard device 800 is connected to the body 91 of the drone 900 through a connecting mechanism. Since the connecting mechanism needs to be compatible with the portion of the onboard device 800 for connection, the connecting mechanism is generally only For a certain class of onboard equipment 800.
  • the drop protection device 12 is used to protect the onboard device 800 when it is landed, and can be mounted on the mounting platform 11 (Fig. 1 in Fig. 1) or the onboard device 800 (Fig. 1 in Fig. 1).
  • the fall protection device 12 generally uses an inflatable airbag or a parachute.
  • the mounting platform 11 can be separated from the fuselage 91 or separated from the onboard device 800. If the mounting platform 11 is separated from the fuselage 91, the onboard platform 11 together with the onboard device 800 Free fall, in this case, the fall protection device 12 can be mounted on the mounting platform 11 or the onboard device 800; if the mounting platform 11 is separated from the onboard device 800, the onboard device 800 is free to fall alone. The drop protection device 12 is mounted on the onboard device 800.
  • the mounting device 100 of the embodiment has the following setting schemes:
  • the mounting platform 11 is a pan/tilt, the drop protection device 12 is mounted on the pan/tilt, and the mounting platform 11 is separated from the fuselage 91;
  • the mounting platform 11 is a pan/tilt, and the drop protection device 12 is mounted on the onboard device 800.
  • the mounting platform 11 is separated from the airframe 91 or separated from the onboard device 800;
  • the mounting platform 11 is a connecting mechanism, and the drop protection device 12 is mounted on the connecting mechanism, and the mounting platform 11 is separated from the body 91;
  • the mounting platform 11 is a connection mechanism, and the drop protection device 12 is mounted on the onboard device 800, and the mounting platform 11 is separated from the body 91 or separated from the onboard device 800.
  • the mounting platform 11 is a pan/tilt
  • the mounting mechanism for fixing the airborne device 800 to the pan/tilt is generally complicated, and it is difficult to control the separation between the pan/tilt and the onboard device 800.
  • the mounting platform 11 is generally separated from the body 91.
  • the drop protection device 12 is used to protect the onboard device 800. Therefore, the selection of the size of the drop protection device 12 does not need to consider the weight of the body 91. Compared with the prior art, this embodiment can select a smaller specification.
  • the drop protection device 12 correspondingly reduces the size and weight of the drop protection device 12 and reduces the minimum distance that the drop protection device 12 is effectively opened, that is, the fall protection device 12 can be effectively opened at a lower height from the ground.
  • the protection effect; at the same time, the setting of the smaller size drop protection device 12 also reduces the flight load of the drone 900, making the flight performance of the drone 900 more stable.
  • FIG. 2 is a schematic structural view of a second embodiment of the mounting device of the unmanned aerial vehicle of the present invention.
  • the mounting device 200 of the present embodiment includes a mounting platform 21 for mounting the onboard device 800 on the body 91 of the drone 900, and a drop protection device 22 for the onboard The loading device 800 is protected when it is landing.
  • the two are the same as the mounting platform 11 and the protection device 12 in the mounting device 100, and details are not described herein.
  • the mounting platform 21 in this embodiment includes a separating mechanism 211 for detachably connecting the mounting platform 21 to the body 91 or detachably connecting to the onboard device 800. That is, the separation mechanism 211 is opened to separate the mounting platform 21 from the fuselage 91, or the mounting platform 21 is separated from the onboard device 800.
  • the separating mechanism 211 can be an electronically controlled locking mechanism, an electronically controlled unlocking mechanism, a mechanical locking mechanism, a mechanical unlocking mechanism, and the like.
  • the locking mechanism indicates that the normal state is the locked state, and the transmission control signal is unlocked; and the unlocking mechanism is normally in the unlocked state, and is always controlled to be locked when applied, and the control signal is no longer transmitted. Unlock.
  • the electronic control mechanism includes an electromagnetic lock, an electric lock, an electric lock, and the like. Mechanical mechanisms include motor-driven or electrically-driven mechanical locks.
  • the opening of the separating mechanism 211 can take a variety of different ways.
  • the separating mechanism 211 may be a mechanical snap-fit structure that automatically opens when the tensile force received exceeds a preset value.
  • the separation mechanism 211 can be opened by the controller, in particular by the controller of the drone 900, or by the controller of the mounting platform 21.
  • the controller may control the separation mechanism 211 to be turned on according to a control instruction received by the communication device.
  • the controller may further determine whether to open the separation mechanism 211 according to the unmanned vehicle 900 detected by the sensor, or the mounting platform 21, or the status information of the onboard device 800, for example, the sensor is an attitude sensor, if the current state of the drone is sensed If there is a problem with the flight attitude and confirm that the drone is in an abnormal flight state, the separation mechanism 211 needs to be opened; or the sensor is an accelerometer. If the acceleration of the current drone is sensed to reach the preset range value, confirm that the drone is in In the abnormally lowered state, it is necessary to open the separating mechanism 211.
  • the open drop protection device 22 is mainly opened by the controller to send a control signal, which can be turned on by the controller of the drone 900 or the controller of the mounting platform 21.
  • the opening and separating mechanism 211 operates prior to opening the fall protection device 22. However, if the separating mechanism 211 is a mechanically engaging structure, the pulling force will automatically open when the tensile force exceeds the preset value. At this time, the falling protection device 22 is first opened.
  • the falling protection device 22 is an inflated airbag. When the inflated airbag is opened, the inflated airbag is inflated.
  • the disengagement causes a force to be separated from each other between the mounting platform 21 and the fuselage 91 to which the separating mechanism 211 is connected or between the mounting platform 21 and the on-board device 800, that is, a pulling force is generated to the separating mechanism 211 when the separating mechanism 211 receives
  • the opening is automatically opened.
  • the mounting platform 21 is separated from the body 91 or separated from the onboard device 800.
  • the action of opening the fall protection device 22 is before the action of opening the separating mechanism 211.
  • the mounting platform 21 includes a controller 212 for controlling the fall protection device 22 to open to protect the onboard device 800 when the onboard device 800 is landing, and the trigger controller 212 controls the fall protection device 22, Designed according to different actual needs.
  • the mounting platform 21 includes a communication device 213 for receiving a control command, and the controller 212 controls the drop protection device 22 to open in response to the control command.
  • the control command is derived from the ground remote end of the drone 900 or from the drone 900.
  • the mounting platform 21 includes a first sensor 214 for detecting a falling state of the mounting platform 21 or the onboard device 800, and the controller 212 controls the falling when the falling state meets a preset condition.
  • the protection device 22 is opened, wherein the falling state may be a falling acceleration or a horizontal height, and the corresponding first sensors 214 are respectively an acceleration sensor or a barometer.
  • the controller 212 controls the drop protection device 22 to open.
  • the drone 900 may also have a falling state that satisfies the preset condition during normal flight, so the controller 212 will be based on the first after the separating mechanism 211 is turned on.
  • the detection result of the sensor 214 controls the drop protection device 22 to open.
  • the above two methods are not mutually exclusive.
  • the above two modes can be selected simultaneously on a mounting device 200, that is, the mounting platform 21 includes both the communication device 213 and the first sensor 214, before the falling state satisfies the preset condition.
  • the controller 212 can be configured to control the fall protection device 22 to be turned on at any time. When the falling state meets the preset condition, the control command to open the fall protection device 22 is not received, and the controller 212 determines the detection result according to the first sensor 214. The fall protection device 22 is controlled to open.
  • the controller 212 can also be used to control the opening mechanism 211 to open such that the mounting platform 21 is separated from the fuselage 91 or separated from the onboard device 800.
  • the trigger controller 212 controls the separation mechanism 211 to open in a different manner, for example:
  • the communication device 213 in the mounting platform 21 is further configured to receive a control command that controls the opening of the separation mechanism 211, and the controller 212 controls the separation mechanism 211 to open in response to the control command.
  • the control command may also originate from the ground control end of the drone 900 or from the drone 900.
  • the mounting platform 21 further includes a second sensor 215 for detecting the flight state of the drone 900, and the controller 212 controls the separation mechanism 211 to open when the flight state meets the preset condition, so that the mounting platform is enabled.
  • 21 is separated from the fuselage 91 or separated from the airborne device 800.
  • the flight state of the drone 900 includes a flight attitude, a battery state, a load information, etc.
  • the preset condition includes an abnormal posture of the drone pitch/yaw/roll axis, The gravity acceleration is abnormal, the battery temperature is too high, the voltage is insufficient, the power is insufficient, the load exceeds the maximum load value, etc.
  • the drone 900 When the preset condition occurs, it is considered that the drone 900 cannot fly normally, and the airborne device 800 needs to be separated from the unmanned person.
  • the machine 900 controls the separation mechanism 211 to open, and achieves a safe landing by the fall protection device 22.
  • the mounting platform 21 includes a communication device 213 and a second sensor 215, and the controller 212 can control the separation mechanism 211 to open according to the control command even if the flight state of the drone 900 does not occur in a condition that the preset condition is satisfied.
  • the mounting device 200 of the present embodiment has four setting schemes according to the type of the mounting platform and the mounting position of the drop protection device, such as the opening manner of the separating mechanism and the opening manner of the falling protection device. The following settings are available.
  • the mounting platform 21 includes only the separating mechanism 211, and does not include the controller 212, the communication device 213, the first sensor 214, and the second sensor 215.
  • the separating mechanism 211 is a mechanically engaging structure, and can automatically open when the received tensile force exceeds a preset value.
  • the controller of the drone 900 controls the fall protection device 22 to be opened, and the falling protection device 22 is opened to cause the separating mechanism 211 to be opened.
  • a force is generated between the attached mounting platform 21 and the fuselage 91 or between the mounting platform 21 and the onboard device 800, that is, a pulling force is generated to the separating mechanism 211 when the pulling force received by the separating mechanism 211 exceeds a preset value. automatically open.
  • the separating mechanism 211 and the fall protection device 22 are both controlled by the controller of the drone 900.
  • the controller of the drone 900 needs to simultaneously issue an opening command to the separating mechanism 211 and the fall protection device 22, that is, the drone 900.
  • the controller controls the separation mechanism 211 to open while controlling the fall protection device 22 to open simultaneously; or the controller of the drone 900 controls the separation mechanism 211 to open while controlling the drop protection device 22 to open after a certain time (eg, 2 s).
  • the mounting platform 21 includes a separating mechanism 211, a controller 212, and a communication device 213, and does not include the first sensor 214 and the second sensor 215.
  • the controller 212 controls the separation mechanism 211 and the fall protection device 22 to open in response to the control signal received by the communication device 213.
  • the control signal is from the ground control end of the drone 900 or the drone 900.
  • the action of the controller 212 in this case is similar to the action of the controller of the drone 900 in the scheme (1).
  • the controller 212 in the solution (2) does not need to issue an opening command to the separating mechanism 211 and the falling protection device 22 at the same time, that is, the controller 212 can control the falling protection device 22 to open after the control separating mechanism 211 is opened. .
  • the solution (2) can also take the separation mechanism 211 to be opened by the controller of the drone 900, and the drop protection device 22 is controlled to be opened by the controller 212 of the mounting platform 21, that is, the controller of the drone 900 opens the separation mechanism. After 211, controller 212 controls fall protection device 22 to open in response to the received control signal.
  • the present scheme (2) also does not exclude the use of the controller in the drone 900 to control the opening of the separation mechanism 211 and the fall protection device 22.
  • the controller 212 is only used to control other actions of the mounting device 200 during the flight of the drone 900, such as rotating the viewing angle and the like.
  • the mounting platform 21 includes a separating mechanism 211, a controller 212, a first sensor 214, and a second sensor 215, excluding the communication device 213.
  • the opening manner of the separating mechanism 211 and the fall protection device 22 in the solution (3) is similar to that in the scheme (2), except that the controller 212 in the solution (3) is based on the detection result of the first sensor 214.
  • the opening of the fall protection device 22 is controlled, and the opening of the separation mechanism 211 is controlled according to the detection result of the second sensor 215.
  • the mounting platform 21 includes a separating mechanism 211, a controller 212, a communication device 213, a first sensor 214, and a second sensor 215.
  • the present scheme (4) can realize all the opening manners of the separating mechanism 211 and the fall protection device 22 in the above aspects (1), (2), and (3).
  • the solution (4) can also use the first sensor 214 as a monitor. If the falling state monitored by the first sensor 214 reaches a critical value, if the drop protection device 22 has not been opened, the fall protection device 22 is forcibly opened. The critical value indicates that if the fall protection device 22 is not opened when falling to this state, effective protection of the landing of the onboard device 800 cannot be achieved.
  • the setting of the mounting platform 21 is not limited to the above four solutions, wherein the mounting platform 21 may further include only one of the first sensor 214 and the second sensor 215, and correspondingly, various solutions, the separation mechanism 211 and the drop in each solution
  • the control principle of the protection device 22 is similar, and therefore will not be described again for the unmentioned solutions.
  • FIG. 2 shows that the mounting platform 21 includes a separating mechanism 211, a controller 212, a communication device 213, a first sensor 214 and a second sensor 215, and the drop protection device 22 is controlled by the controller 212 to open.
  • the controller 212 controls the drop protection device 22 to open.
  • the first power source 92 is provided on the body 91 of the drone 900, and no power source is provided on the mounting platform 21.
  • the first power source 92 is used to provide power to the power unit of the drone 900 while providing power to the mounting unit 200.
  • the separation mechanism 211 and the drop protection device 22 are controlled by a controller provided by the body 91.
  • the drop protection device 22 is a plurality of separately arranged inflatable airbags, and the body 91 is provided.
  • the controller first controls the inflatable airbag to inflate first, and then controls the separation mechanism 211 to open.
  • the mounting platform 21 includes a controller 212 that, after being separated from the fuselage 91, is electrically connected between the controller 212 and the first power source 92 by elongated wires, allowing the body and the mounting platform 21 separates the preset distance. Therefore, after the mounting platform 21 is disengaged from the fuselage 91, the controller 212 can continue to control the opening of the separating mechanism 211 and the fall protection device 22.
  • the drone 900 is provided with the first power source 92, and the second power source 216 is disposed on the mounting platform 21.
  • the first power source 92 is only used to supply power to the power unit of the drone 900, and the second power source 216 is only used to supply power to the mounting device 200.
  • the first power source 92 supplies power to the power unit of the drone 900, and also supplies power to the mounting platform 21 when the mounting platform 21 is not separated from the body 91; and the second power source 216 serves as the mounting platform 21
  • the backup power supply supplies power to the mounting platform 21 and the drop protection device 22 after the mounting platform 21 is separated from the fuselage 91.
  • the requirements for the capacity and voltage of the second power source 216 are not high, so a small-capacity battery can be selected as the second power source 216, and the weight of the corresponding second power source 216 is also light, so that the weight of the mounting device 200 can be Further reduction, to a certain extent, also reduces the specifications of the drop protection device.
  • a second power source 216 is disposed on the mounting platform 21 for supplying power to the mounting device while providing power to the power device of the drone 900.
  • the mounting device 200 of the present embodiment has various arrangements.
  • the drop protection device 22 is only used to protect the onboard device 800, or the onboard device 800 and the mounting platform 21. Therefore, the drop protection device 22 of a smaller size can be used in the mounting device 200.
  • the fall protection device 22 can be opened at a lower height from the ground to achieve an effective protection effect; The arrangement of the device 22 also reduces the flight burden of the drone 900, making the flight performance of the drone 900 more stable.
  • FIG. 3 is a schematic structural diagram of an embodiment of a mounting platform for a drone of the present invention.
  • the mounting platform 300 of the present embodiment is used to mount the onboard device 800 on the body 91 of the drone 900. .
  • the mounting platform 300 includes a separating mechanism 31 for detachably connecting the mounting platform 300 and the body 91, and a mounting mechanism 32 for mounting the drop protection device 700 during the flight of the drone 900.
  • the mounting platform 300 can be separated from the fuselage 91 by the separating mechanism 31 such that the onboard device 800 is free to fall from the fuselage 91, and the fall protection device 700 protects the onboard device 800 when the onboard device 800 is landing.
  • the drop protection device 700 installed on the mounting platform 300 needs to consider the total weight of the mounting platform 300 and the onboard device 800 in order to protect the onboard device 800. Since the mounting platform 300 can be coupled to the airframe 91. Therefore, the selection of the specification of the drop protection device 700 does not need to consider the weight of the fuselage 91. Compared with the prior art, the drop protection device 700 disposed on the mounting platform 300 of the present embodiment can be selected with a smaller size and corresponding drop protection.
  • the device 700 is small in size and weight, thereby reducing the minimum distance that the drop protection device 700 is effectively opened, that is, opening the drop protection device at a lower height from the ground can also effectively protect the onboard device 800, and correspondingly
  • the flight load of the drone 900 is also alleviated, and the flight performance of the drone 900 is more stable.
  • FIG. 4 is a schematic structural diagram of a first embodiment of the drone of the present invention.
  • the drone 400 of the present embodiment includes a body 41 and a mounting device 42, and the mounting device 42 includes a mounting platform 421 and a drop. Protection device 422.
  • the mounting platform 421 is used to mount the onboard device 800 on the airframe 41, and the drop protection device 422 is mounted on the mounting platform 421 or the onboard device 800; during the flight of the drone 400, the mounting platform 421 It can be separated from the fuselage 41 or separated from the onboard device 800 such that the onboard device 800 is free to fall from the fuselage 41, and the fall protection device 422 is used to protect the onboard device 800 when the onboard device 800 is landing.
  • the mounting device 42 is the same as the mounting device 200 described above, wherein the mounting platform 421 includes a separating mechanism 4211 for detachably connecting the mounting platform 421 to the body 41 or detachably connecting to the onboard device 800.
  • the mounting platform 421 further includes a first controller 4212 for controlling the drop protection device 422 to open to protect the onboard device 800 during the falling of the onboard device 800; and further for controlling the separation mechanism 4211 The opening is such that the mounting platform 421 is separated from the body 41 or separated from the onboard device 800.
  • the mounting platform 421 can also include a first communication device 4213 for receiving a control command to open the fall protection device 422, and the first controller 4212 controls the drop protection device 422 to open in response to the control command.
  • the first communication device 4213 can also be used to receive a control command to open the separation mechanism 4211, and the first controller 4212 controls the separation mechanism 4211 to open in response to the control command to separate the mounting platform 421 from the fuselage 41 or from the onboard device 800.
  • the mounting platform 421 can also include a first sensor 4214 for detecting the falling state of the mounting platform 421 or the onboard device 800, and a second sensor 4214 for detecting the falling state of the mounting platform 421 or the onboard device 800.
  • the fall protection device 422 is controlled to open.
  • the second sensor 4215 is configured to detect the flight state of the drone 400, and the first controller 4212 controls the separation mechanism 4211 to open when the flight state satisfies the preset condition, so that the mounting platform 421 is separated from the fuselage 41 or with the onboard device. 800 separation.
  • the drone 400 in this embodiment may further include a second controller 43, a second communication device 44, and a third sensor 45, wherein the third sensor 45 is configured to detect the flight state of the drone 400.
  • the second communication device 44 is for transmitting and receiving signals.
  • the operation of the drone is mainly realized by the above-mentioned components second controller 43, second communication device 44 and third sensor 45. . Specifically, there are mainly two cases.
  • the separation mechanism 4211 is opened by the second controller 43 and the fall protection device 422 is opened.
  • the second communication device 44 receives the control signal of the ground control terminal of the drone 400, and the second controller 43 controls the separation mechanism 4211 to open in response to the control signal, and controls the drop protection device 422 to open.
  • the second controller 43 controls the separation mechanism 4211 to open, and controls the drop protection device 422 to open.
  • the first controller 4212 controls the separation mechanism 4211 to open and the fall protection device 422 to open.
  • the third sensor 45 detects the flight state of the drone 400.
  • the second controller 43 sends a control command to open the fall protection device 422 to the first communication device 4213 via the second communication device 44.
  • a controller 4212 controls the drop protection device 422 to open in response to the control command.
  • the second controller 43 can control the body 41 to release the mounting platform 421.
  • the second controller 43 sends a control command to open the separation mechanism 4211 to the first communication device 4213 through the second communication device 44, and the first controller 4212 controls the separation mechanism 4211 in response to the control command. turn on.
  • the UAV 400 since the UAV 400 is provided with the third sensor 45 for detecting the flight state of the UAV 400, it is no longer necessary to provide redundant detection of the flight state of the UAV 400 on the mounting platform 421.
  • the function of the second sensor 4215 and the second sensor 4215 is implemented by the third sensor 45.
  • the optional power setting scheme in the drone 400 of the present embodiment is also the same as that described in the embodiment of the mounting device 200.
  • the drone 400 includes a first power source 46 that provides power to the drone power unit.
  • the first power source 46 can be used to provide power to the mounting platform 421 or to provide power to the drop protection device 422.
  • a second power source 4216 is also provided separately on the mounting platform 421 for providing power to the mounting platform 421 and for providing power to the fall protection device 422.
  • the second power source 4216 can be configured as a backup power source, that is, power supply is not started until the mounting platform 421 is detached from the body 41.
  • the drop protection device 422 of the drone 400 of the present embodiment is mounted on the mounting platform 421 or the onboard device 800.
  • the mounting platform 421 is separated from the fuselage 42 or with the onboard device 800. After separation, the mounting device 800 is free to fall, at which point the drop protection device 422 protects the landing of the onboard device 800. Therefore, the selection of the size of the drop protection device 422 does not need to consider the weight of the body 41.
  • the present embodiment can select a smaller size drop protection device 422, and the corresponding drop protection device 422 is smaller in size and weight.
  • the minimum distance for the effective protection of the drop protection device 422 is also reduced, that is, the fall protection device 422 can be opened at a lower height from the ground to achieve an effective protection effect; and the setting of the smaller size drop protection device 422 is also reduced.
  • the flight load of the machine 400 makes the flight performance of the drone 400 more stable.
  • FIG. 5 is a schematic flow chart of a control method of the drone according to the present invention.
  • the drone based on the control method includes a fuselage and a mount for mounting the airborne device on the body of the drone.
  • the device includes the following steps.
  • S501 Acquire a separate control signal for protecting the onboard device.
  • the separation control signal in this step S501 can be issued by the ground control terminal of the drone, that is, the operator actively controls to make the airborne device disengage from the airframe.
  • the separation control signal can also be obtained according to the flight state of the drone, that is, the step S501 can also include the following step.
  • the state information of the drone is obtained.
  • the state information includes the flight attitude information of the drone, the power state information, and the load information of the drone.
  • S5012 Acquire a separate control signal for protecting the onboard device when the status information of the drone meets the preset condition.
  • the preset conditions include the attitude of the pitch/yaw/roll axis in the flight attitude information is abnormal, the gravity acceleration is abnormal, and the power status information is in the state.
  • the battery temperature is too high, the voltage is insufficient, the power is insufficient, and the load in the load information exceeds the maximum load value.
  • S502 Control the mounting device to be separated from the airframe or the airborne device according to the separation control signal, so that the airborne device is free to fall from the airframe.
  • the separation of the mounting device from the fuselage means that the mounting device and the onboard device are separated from the fuselage and fall freely together; the separation of the mounting device from the onboard device indicates that the mounting device remains on the fuselage, and the onboard device is separated and separated. Free fall.
  • the control method further comprises the following steps:
  • S503 Acquire a drop protection control signal for opening the drop protection device
  • step S503 a drop protection control signal sent by the ground remote control end of the drone is acquired.
  • the fall protection control signal is acquired while acquiring the separation control signal in step S501.
  • this step S503 can also include the following steps.
  • the drop state includes the drop acceleration or level.
  • S5032 Obtain a drop protection control signal for opening the fall protection device when the falling state satisfies the preset condition.
  • a drop protection control signal for opening the fall protection device is generated.
  • S504 Control the drop protection device to be turned on according to the drop protection control signal to protect the onboard device when the onboard device is landing.
  • the step of controlling the opening of the falling device is after the step of controlling the mounting device to be separated from the airframe or the onboard device, but in some embodiments, the step of controlling the falling protection device to open, in controlling the mounting device and the machine Before or after the step of separating from the onboard equipment.
  • FIG. 6 is a schematic flow chart of a second embodiment of a control method for a drone according to the present invention.
  • S601 Acquire a drop protection control signal for opening the drop protection device.
  • S602 Control the drop protection device to be turned on according to the drop protection control signal to protect the onboard device when the onboard device is landing.
  • S603 Acquire a separate control signal for protecting the onboard device.
  • S604 Control the mounting device to be separated from the airframe or separated from the airborne device according to the separation control signal, so that the airborne device is free to fall from the airframe.
  • step S603 and step S604 may not even be required.
  • the mechanical clamping structure is subjected to tensile force exceeding a preset value.
  • the drop protection device is opened to generate a force separating between the mounting device and the airframe or with the onboard device, so that the mechanical clamping structure is pulled, exceeding the preset.
  • the mechanical snap structure is automatically opened, the mounting device is automatically separated from the fuselage or automatically separated from the onboard equipment, and the onboard equipment is free to fall from the fuselage.
  • the control mounting device with the onboard device is freely dropped by the unmanned airframe or the airborne device is free to fall alone, and the individual protection of the onboard device can be realized.
  • the control method may further comprise the step of opening the drop protection device after the separation and free fall, the open drop protection device can protect the safe landing of the onboard equipment.
  • the setting of the drop protection device only needs to consider the weight of the onboard equipment, or the weight of the onboard equipment and the mounting device. Therefore, the small size drop protection device can be used, and the drop can be reopened at a lower height from the ground.
  • the protection device can also achieve effective protection; at the same time, the setting of the smaller size drop protection device also reduces the flight load of the drone, making the flight performance of the drone more stable.
  • FIG. 7 is a schematic structural diagram of a first embodiment of a control system for a drone according to the present invention.
  • the drone includes a body and a device for mounting the airborne device on the body of the drone.
  • a drop protection device is also provided on the mounting device, the mounting device or the onboard device.
  • the control system 500 includes one or more processors 51 that operate collectively or separately.
  • the processor 51 is configured to: acquire a separation control signal for protecting the onboard device; and according to the separation control signal, control the mounting device to be separated from the airframe or the onboard device, so that the onboard device is freely dropped from the airframe.
  • the processor 51 is further configured to acquire a drop protection control signal for opening the fall protection device, and to control the fall protection device to open according to the fall protection air signal to protect the onboard device when the onboard device is landing.
  • controlling the mounting device to separate from the airframe or the onboard device and controlling the opening protection device is independent of each other, that is, the processor 51 can control before the control device is separated from the airframe or the onboard device.
  • the drop protection device is opened; the fall protection device can also be controlled to open after controlling the mounting device to be separated from the fuselage or from the onboard equipment.
  • control system 500 includes one or more processors 51 and operates collectively or separately, the processor 51 has a variety of setup schemes.
  • a processor is separately provided on the body of the drone, and the one processor is used to control the mounting device from being separated from the air body or the on-board device, and at the same time controlling the drop protection device to be opened.
  • a processor is separately provided on the mounting device for controlling the mounting device to be separated from the airframe or the onboard device, and controlling the drop protection device to open.
  • the first processor is disposed on the unmanned aircraft body, the second processor is disposed on the mounting device, and the first processor is configured to control the mounting device from the airframe or from the airborne device
  • the second processor is configured to control the drop protection device to open.
  • the processor 51 may be composed of hardware circuit modules.
  • the processor 51 includes a control circuit and a switch circuit electrically connected to the control circuit, and the control circuit receives the separation control for protecting the onboard device.
  • the corresponding switch circuit is controlled to start power supply or power off of the separation mechanism and the drop protection device, so that the separation mechanism and the drop protection device are respectively opened, for example, for the locking and separating mechanism,
  • the normal state is the locked state, and the power is unlocked when the power is turned on, and the locking and separating mechanism is opened; for the unlocking and separating mechanism, the normal state is the unlocked state, the power is kept locked when the power is continuously supplied, and the unlocking mechanism is opened when the power is turned off.
  • the processor 51 can also be an integrated chip, and the function of the processor 51 can be executed by a computer program.
  • the processor 51 includes: a drop protection control signal receiving program for acquiring a drop protection control signal for opening the fall protection device; a drop protection device control program for controlling the drop protection device to open according to the fall protection control signal to protect the onboard device when the onboard device is landing; and to separate the control signal receiving program for obtaining a separation control signal for protecting the onboard device;
  • the separation mechanism control program is configured to control the separation device from being separated from the airframe or separated from the airborne device according to the separation control signal, so that the airborne device is free to fall from the airframe.
  • the control system 500 also includes a communication device 52 for receiving a separate control signal from the ground remote control of the drone, and the processor 51 obtaining the separation control signal by the communication device 52.
  • the communication device 52 can also be configured to receive a drop protection control signal from a ground remote control end of the drone, and the processor 51 acquires a drop protection control signal from the communication device.
  • the communication device 52 can be separately disposed on the unmanned vehicle body or on the mounting device, or the communication device 52 can be disposed on each of the UAV body and the mounting device.
  • the control system 500 further includes a first sensor 53 for detecting status information of the drone, and the processor 51 generates a separation control signal when the status information satisfies the preset condition.
  • the status information includes at least one of the following: flight attitude information of the drone, power state information of the drone, and load information of the drone.
  • the control system 500 may further include a second sensor 54 for detecting a falling state of the mounting device or the onboard device, and the processor 51 generates a drop protection control signal when the falling state satisfies a preset condition.
  • the arrangement positions of the first sensor 53 and the second sensor 54 are not limited, but generally, the first sensor 53 is disposed on the unmanned vehicle body, and the second sensor 54 is disposed on the mounting platform.
  • the control system 500 also includes one or more power sources 55 that operate collectively or separately, the power source being used to provide electrical power to the powerplant and the mounting device of the drone.
  • the power supply 55 has a variety of designs.
  • a power source 55 is provided on the body of the drone for supplying power to the power unit and the mounting device of the drone.
  • the first power source is disposed on the unmanned aircraft body, the second power source is disposed on the mounting device, the first power source is only used to supply power to the power device of the drone, and the second power source is only provided for the mounting device. Electrical energy.
  • the first power source is disposed on the unmanned aircraft body, and the second power source is disposed on the mounting device, the first power source supplies power to the power device and the mounting device of the drone, and the second power source serves as a backup power source, only After the mounting device is separated from the drone body, power is supplied to the mounting device.
  • a power source 55 is provided on the mounting device for supplying power to the power unit and the mounting device of the drone.
  • the processor 51 in the control system 500 of this embodiment can control the mounting device to be separated from the airframe or the onboard device, so that the onboard device can achieve separate protection. And the processor 51 can also control the drop protection device disposed on the mounting device or the onboard device to be turned on. At this time, the drone of the control system 500 can be used to protect the onboard device from the drop protection device.
  • the drop protection device in the machine only needs to protect the onboard equipment, and does not need to consider the drone body. Therefore, the smaller size can be selected, and the corresponding protection can be achieved by reopening at a lower height from the ground.
  • the smaller size drop protection device also reduces the flight load of the drone, and the flight performance of the drone is more stable.
  • FIG. 8 is a schematic structural diagram of a second embodiment of the drone of the present invention.
  • the drone 600 includes a body 61 for mounting the onboard device 800 on the body 61 of the drone 600.
  • the control system 63 is similar to the control system 500 in this embodiment, and is not described in detail.
  • the control system 63 is used to control the mounting device 62 to be detached from the airframe 61 or detached from the airborne device 800.
  • a drop protection device 64 is also provided on the mounting device 62 or the onboard device 800.
  • the control system 64 is also used to control the opening of the drop protection device 64 so that the onboard device 800 can land safely.
  • the UAV 600 of the present embodiment employs a control system 63 to enable the onboard device 800 to be detached from the body 61 to achieve separate protection of the onboard device 800.
  • the drop protection device 64 is provided in the drone 600, the drop protection device 64 only needs to protect the onboard device 800, and the drone body 61 need not be considered. Therefore, a smaller size can be selected, and the corresponding can be separated.
  • the lower ground height reopening also achieves an effective protection effect, and the smaller size drop protection device 64 also reduces the flight burden of the drone 600, and the flight performance of the drone 600 is also more stable.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Emergency Lowering Means (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un appareil de montage, comprenant une plate-forme de montage (11) et un appareil anti-chute (12). La plate-forme de montage (11) est utilisée pour monter un appareil monté sur un véhicule aérien (800) sur un fuselage (91) d'un véhicule aérien sans pilote (900). L'appareil anti-chute (12) est monté soit sur la plate-forme de montage (11), soit sur l'appareil monté sur un véhicule aérien (800). Lorsque le véhicule aérien sans pilote (900) est en vol, la plate-forme de montage (11) peut être séparée du fuselage (91) ou être séparée de l'appareil monté sur un véhicule aérien (800) de façon à permettre à l'appareil monté sur un véhicule aérien (800) de tomber librement du fuselage (91). L'appareil anti-chute (12) est utilisé pour protéger l'appareil monté sur un véhicule aérien (800) lorsque l'appareil monté sur un véhicule aérien (800) atterrit. Le véhicule aérien sans pilote utilisant l'appareil de montage a une performance de vol élevée ; également, l'appareil anti-chute dans l'appareil de montage fournit des effets importants de protection.
PCT/CN2016/082175 2016-05-16 2016-05-16 Véhicule aérien sans pilote et appareil de montage, plate-forme de montage, procédé de commande, et système de commande pour véhicule aérien sans pilote WO2017197553A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680002354.7A CN106941777B (zh) 2016-05-16 2016-05-16 无人机及其挂载装置、挂载平台、控制方法和控制系统
PCT/CN2016/082175 WO2017197553A1 (fr) 2016-05-16 2016-05-16 Véhicule aérien sans pilote et appareil de montage, plate-forme de montage, procédé de commande, et système de commande pour véhicule aérien sans pilote

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PCT/CN2016/082175 WO2017197553A1 (fr) 2016-05-16 2016-05-16 Véhicule aérien sans pilote et appareil de montage, plate-forme de montage, procédé de commande, et système de commande pour véhicule aérien sans pilote

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CN107554792A (zh) * 2017-07-25 2018-01-09 南昌航空大学 一种无人机机载设备安全箱
CN107640326B (zh) * 2017-10-25 2023-12-29 深圳市科卫泰实业发展有限公司 一种具有快速装配及失控保护功能的无人机挂载吊舱
CN108507829B (zh) * 2018-06-28 2024-02-06 苏州科技大学 一种带保护的无人机采样装置

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