CN107054666B - Rotary wind type unmanned plane falling protecting device out of control and its guard method - Google Patents
Rotary wind type unmanned plane falling protecting device out of control and its guard method Download PDFInfo
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- CN107054666B CN107054666B CN201710011585.0A CN201710011585A CN107054666B CN 107054666 B CN107054666 B CN 107054666B CN 201710011585 A CN201710011585 A CN 201710011585A CN 107054666 B CN107054666 B CN 107054666B
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- 238000000034 method Methods 0.000 title claims description 13
- 206010008469 Chest discomfort Diseases 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims description 8
- 238000011897 real-time detection Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—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
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
- B64D25/08—Ejecting or escaping means
- B64D25/18—Flotation gear
-
- 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
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of rotary wind type unmanned plane falling protecting devices out of control; its key points of the technical solution are that including: to be equipped with top plate in ejection guns; ejection guns is separated into high pressure chest and ejection chamber by top plate, is equipped in ejection chamber from formula parachute is thrown, the bottom of high pressure chest offers air inlet；High pressure gas holder is connected to the air inlet of two ejection guns by gas-guide tube, and is separately installed with solenoid valve at two air inlets；Ejection open and close door is articulated with the opening of ejection guns, is equipped with torque spring on the articulated shaft, and the fixed part being enclosed in its opening for that will launch open and close door is equipped on ejection guns；Attitude transducer is set to the attitudes vibration data of body periodically detection body；Control module receives the attitudes vibration data, exports control signal accordingly according to the tilt angles and corresponds to being forced out outside ejection chamber under high pressure gas in ejection guns from throwing formula parachute to corresponding solenoid valve and fixed part to control.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of rotary wind type unmanned plane falling protecting device out of control and its protection
Method.
Background technique
Unmanned plane is widely used to civilian and military field, as disaster area disaster surveillance, TV station take photo by plane, power-line patrolling,
Meteorological detection, target detection etc..In flight course, any one component or the not normal of link all may cause small drone
Aircraft is out of control and crashes, to cause the damage to body itself and airborne equipment, due to unmanned plane and aerial remote sensing at this stage
Equipment is all worth not expense, and crash accident once will cause huge property value.
And unmanned plane can be divided into fixed-wing formula and rotary wind type, wherein the unmanned plane of fixed-wing formula in flight course with air
Biggish relative velocity is maintained, when falling accident occurs, as long as parachute is deviate from umbrella storehouse, due to the effect of air, landing
Umbrella can dish out and open automatically；And the unfolding mode of this parachute is not particularly suited for rotary wind type unmanned plane, due to rotary wind type without
It is man-machine in operation process often in floating state, at this point, there is no relative velocity between fuselage and air, if occurred at this time
Air crash accident out of control, the parachute of fixed-wing formula are simultaneously not suitable for, and can not provide protection to the rotary wind type unmanned plane to fall, therefore,
It is badly in need of a kind of effective falling protecting device out of control.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of rotary wind type unmanned plane the guarantor out of control that falls
Protection unit, when it falls, parachute can be opened effectively, achieve the purpose that protect unmanned plane.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of rotary wind type unmanned plane falling protecting device out of control, including body, the body have front and back, the guarantor
Protection unit includes:
Ejection guns, there are two ejection guns settings, and two ejection guns are open respectively is arranged in front and the back of body outwardly
Face is equipped with top plate in the ejection guns, and ejection guns is separated into high pressure chest and ejection chamber by top plate, is equipped in ejection chamber from throwing
The bottom of formula parachute, high pressure chest offers air inlet；
High pressure gas holder is connected to the air inlet of two ejection guns by gas-guide tube, and punished in two air inlets
Solenoid valve is not installed；
Open and close door is launched, the opening of ejection guns is articulated with, torque spring is installed on the articulated shaft of the ejection open and close door,
The fixed part being enclosed in its opening for that will launch open and close door is installed on ejection guns；
Attitude transducer, is set to the attitudes vibration data of real-time detection body in body, which includes
The inclination angle of body and the falling speed of body；
Control module receives the attitudes vibration data, wherein is all larger than threshold at the inclination angle of body and the falling speed of body
Value, and two states are held time more than preset time, then the control module judges the tilt angles of the body, and is inclined according to this
The corresponding signal that controls of angle angle output is to corresponding solenoid valve and fixed part, to control landing in corresponding ejection guns from the formula of throwing
Umbrella is forced out outside ejection chamber under high pressure gas.
Preferably, the ejection guns is equipped with the limit assembly for compressing top plate upper surface, and the limit assembly includes
Accommodating cavity and both ends on ejection guns side wall are respectively communicated with the installation cavity inside accommodating cavity and ejection guns, the peace
Interior sliding of behaveing affectedly is provided with the compressible compact heap in top plate upper surface, and sliding is provided with conflict block in the accommodating cavity, described
Conflict block is equipped with the linkage component being connect with compact heap to drive compact heap to slide, and the accommodating cavity has epicoele and cavity of resorption,
Air flue is offered on the side wall of the ejection guns, one end of the air flue is communicated with high pressure chest and the epicoele of the other end and accommodating cavity
It communicates, reset spring is contained in the epicoele, one end of the reset spring is connected on the roof of epicoele and the other end connects
It connects on the end face of conflict block.
Preferably, the linkage component includes oblique dovetails, and the oblique dovetails are fixed in conflict block, the compact heap
It is equipped with the oblique dovetail groove cooperated with oblique dovetails.
Preferably, telescopic rod is installed in the epicoele, the through-hole along its axial directional distribution is equipped in the telescopic rod,
One end of the telescopic rod is connected on the roof of epicoele and its through-hole and air flue are interconnected, and the other end of the telescopic rod can
It contradicts on the end face of conflict block.
Preferably, ball is installed on the side wall of the compact heap and top plate contact, the end face of the compact heap be equipped with
The guide surface that top plate lower end surface is contradicted to drive compact heap to slide.
Preferably, ejection secondary spring is connected between the top plate and the cylinder bottom of ejection guns.
Preferably, the fixed part includes being connected to the elastic card for launching open and close door, on the inner wall of the elastic card
It is connected with card base, the side wall of the ejection guns is equipped with the card slot chimeric with card base, is provided with magnet, the card in the card base
It is equipped in slot and is connected to the control module electromagnet.
In view of the deficienciess of the prior art, it is another object of the present invention to provide a kind of rotary wind type unmanned plane is out of control
Falling guard method, when it falls, parachute can be opened effectively, further to protect unmanned plane.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of rotary wind type unmanned plane falling guard method out of control, characterized in that include the following steps:
S100, the attitudes vibration data of real-time detection body, attitudes vibration data include under the inclination angle and body of body
Terminal-velocity degree, wherein the angle set that body is face-up horizontally arranged is 0 °；
S200 analyzes attitudes vibration data, and whether the falling speed at the inclination angle and body that judge body is greater than threshold value, if
It is then to enter S300；
S300 judges the inclination angle of body and when whether the falling speed of body both state maintenance times are more than default
Between, if so, into S400；
The threshold value at body front inclination angle is set as ± 90 °, after two states are held time more than preset time by S400
The angle at body front inclination angle is judged, if the angle at body front inclination angle in threshold range, controls the positive ejection of body
Cylinder is popped up from formula parachute is thrown, conversely, the ejection guns for then controlling the body back side is popped up from throwing formula parachute.
Preferably, further include following steps in above-mentioned steps S400:
S410 is detecting ejection guns pop-up from after throwing formula parachute, and the rotor that control module controls the unmanned plane stops
Rotation.
In conclusion the present invention having the beneficial effect that in contrast to the prior art
1, the present invention utilize attitude transducer real-time monitoring unmanned plane state of flight, unmanned plane is out of control fall when, root
According to the body direction of unmanned plane, the obverse parachute of body is ejected, to guarantee parachute energy smooth opening, and then reduces nothing
Man-machine research and experiment cost improves the stability and safety of unmanned plane during flying, achievees the purpose that omnibearing protection unmanned plane；
2, the present invention in ejection guns by bomb come from throwing formula parachute in the way of, economy, energy-saving and environmental protection, and
Top plate is compressed by limit assembly, so that parachute is just popped up after the enough pressure of accumulation in high pressure chest, to improve parachute bullet
Success rate out, to further increase the purpose of protection unmanned plane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned plane；
Fig. 2 is the structural schematic diagram of body；
Fig. 3 is the structural schematic diagram of ejection guns；
Fig. 4 is the enlarged diagram in the portion A in Fig. 3；
Fig. 5 is the flow chart of unmanned plane falling guard method out of control.
Appended drawing reference: 1, body；101, positive；102, the back side；2, ejection guns；3, top plate；4, high pressure chest；5, ejection chamber；
6, from throwing formula parachute；7, air inlet；8, high pressure gas holder；801, inflating port；802, gas outlet；9, gas-guide tube；10, solenoid valve；
11, open and close door is launched；12, torque spring；13, fixed part；131, elastic card；132, card base；133, card slot；134, magnet；
135, electromagnet；14, attitude transducer；15, control module；16, limit assembly；160, guide surface；161, accommodating cavity；1611,
Epicoele；1612, cavity of resorption；162, installation cavity；163, compact heap；164, conflict block；1641, long section；1642, oblique section；165, air flue；
166, reset spring；167, telescopic rod；1671, the first slide bar；1672, the second slide bar；168, through-hole；169, ball；17, it links
Component；171, oblique dovetails；172, oblique dovetail groove；18, secondary spring is launched；19, rotor；20, check valve；21, block.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment one, referring to figs. 1 and 2:
A kind of rotary wind type unmanned plane falling protecting device out of control, the rotor 19 including body 1 and on body 1, machine
Body 1 has front 101 and the back side 102, which includes ejection guns 2, high pressure gas holder 8, ejection open and close door 11, posture sensing
Device 14 and control module 15.
There are two the settings of ejection guns 2, and ejection guns 2 has opening, side wall, inner cavity and cylinder bottom, and two ejection guns 2 are distinguished
The front 101 and the back side 102 of body 1 is arranged in opening outwardly；Top plate 3 is installed in ejection guns 2, rubber can be used in top plate 3
Material, top plate 3 can slide axially along ejection guns 2, due to top plate 3 have certain elasticity, the swelling in ejection guns 2 of top plate 3,
So that seamless seal connects between top plate 3 and the inner wall of ejection guns 2；Wherein, ejection guns 2 is separated into high pressure chest 4 and bullet by top plate 3
Chamber 5 is penetrated, is equipped in ejection chamber 5 from formula parachute 6 is thrown, the bottom of high pressure chest 4 offers air inlet 7.
High pressure gas holder 8 is arranged inside body 1, and high pressure gas holder 8 has a gas outlet 802 and an inflating port 801, the outlet
Mouth 802 is connected to the air inlet 7 of two ejection guns 2 by gas-guide tube 9, and is separately installed with electricity at two air inlets 7
Magnet valve 10, the solenoid valve 10 are controlled by control module 15 and realize opening and closing.
Ejection open and close door 11 is articulated with the opening of ejection guns 2, is equipped with torsion bullet on the articulated shaft of the ejection open and close door 11
Spring 12, torque spring 12 can provide torsion of the ejection open and close door 11 far from the opening of ejection guns 2 side always, accordingly in ejection guns
Fixed part 13 is installed, fixed part 13 will be for that will launch the opening that open and close door 11 is covered in ejection guns 2 on 2.
14 the present embodiment of attitude transducer preferably uses nine axis attitude transducers 14, and attitude transducer 14 is set in body 1,
Attitude transducer 14 is used for the attitudes vibration data of real-time detection body 1, which includes inclination angle and the machine of body 1
The falling speed of body 1, the angle set for being in the present embodiment horizontally arranged in 1 front 101 of body upward are 0 °.
Control module 15 receives the attitudes vibration data, wherein big at the inclination angle of body 1 and the falling speed of body 1
In threshold value, and two states are held time more than preset time, then the control module 15 judges the tilt angles of the body 1, with
Corresponding control signal is exported to corresponding solenoid valve 10 and fixed part 13, to control corresponding ejection guns 2 according to the tilt angles
Interior is forced out outside ejection chamber 5 from throwing formula parachute 6 under high pressure gas.
In conjunction with shown in Fig. 2 and Fig. 3, fixed part 13 includes the elastic card 131 for being connected to ejection open and close door 11, elastic card
It is connected with card base 132 on 131 inner wall, the side wall of ejection guns 2 is equipped with the card slot 133 chimeric with card base 132, in card base 132
It is provided with magnet 134, is equipped with the electromagnet 135 being connected with control module 15 in card slot 133.Electromagnet 135 is under peacetime state
Be it is cold, therefore, placed in ejection chamber 5 from throw formula parachute 6 after, fold ejection open and close door 11, will ejection opening and closing
Door 11 is mobile toward the opening of ejection guns 2 side, and accordingly moves elastic card 131 outward, so that the card on 131 inner wall of elastic card
Foot 132 is mutually chimeric with the card slot 133 of ejection guns 2, completes the fixation procedure of ejection open and close door 11.
Rotary wind type unmanned plane is obtained by a large amount of actual flying tests according to rotary wind type unmanned plane during flying laws of motion
The threshold information of 1 falling speed of 1 inclination angle of body and body in attitude data when flight；It is out of control according to rotary wind type unmanned plane angle
The determination of threshold value, when available rotary wind type unmanned plane normal flight, pitch angle and roll angle all between ± 40 °, so
The threshold value out of control at 1 inclination angle of body is set as 40 °.
According to the determination of rotary wind type unmanned plane falling speed threshold value out of control, available rotary wind type unmanned plane normal flight
When, x-axis acceleration and y-axis acceleration are all between ± 0.5g, and z-axis acceleration is between 0.5g ~ 1.5g, so body 1
The threshold value of falling speed is determined as 0.5g ~ 1.5g.
When control module 15 analyzes the attitudes vibration data, detects that the unmanned plane is out of control and fall (inclination angle of body 1 and
Falling speed is all larger than above-mentioned threshold value), control module 15 starts timing, holds time in two states more than preset time
Afterwards, the present embodiment preset time may be provided at any numerical value, the present embodiment between 1s ~ 2s and be not specifically limited, control module 15
Into pre- ejection status, in pre- ejection status, control module 15 analyzes 1 front of body when the attitudes vibration data obtain out of control
101 tilt angles have the characteristic at front 101 and the back side 102 according to body 1, and the threshold value at positive 101 inclination angles of body 1 is set
Be set to ± 90 °, 1 front 101 of body tilt angles between ± 90 °, control module 15 is outputing control signals to body 1 just
The solenoid valve 10 and fixed part 13 of 101 ejection guns 2 of face, so that the electromagnet 135 in solenoid valve 10 and fixed part 13 is powered, electromagnetism
After iron 135 is powered, so that electromagnet 135 has magnetism, wherein the positive pole-face (cathode face) and magnet 134 of electromagnet 135 are just
Pole-face (cathode face) relatively, so that electromagnet 135 generates opposing forces to magnet 134, drives card base 132 to flick from card slot 133,
So that ejection open and close door 11 opens the opening of ejection guns 2 under the action of torque spring 12；And the gas in high pressure gas holder 8
It is pressed into high pressure chest 4, gas is sharply poured in high pressure chest 4, the air pressure in high pressure chest 4 is increased, driving top plate 3 will be from throwing
Formula parachute 6 is popped up from the opening of ejection guns 2.
Place is provided with block 21 in the opening of ejection guns 2, to prevent top plate 3 from following parachute opening from ejection guns 2
It is popped up in mouthful；It is connected with umbrella rope on formula parachute 6 from throwing, which is connected on the front 101 and the back side 102 of body 1.
In conjunction with shown in Fig. 2 and Fig. 4, the limit assembly 16 for compressing 3 upper surface of top plate is equipped on ejection guns 2.
Limit assembly 16 includes that the accommodating cavity 161 being set on 2 side wall of ejection guns and both ends are respectively communicated in accommodating cavity
161 and ejection guns 2 inside installation cavity 162, sliding is provided with the compressible compact heap in 3 upper surface of top plate in installation cavity 162
163, the interior sliding of accommodating cavity 161 is provided with conflict block 164, and conflict block 164 is equipped with and connect with compact heap 163 to drive compact heap
The linkage component 17 of 163 slidings；Ball 169, the end face of compact heap 163 are installed on the side wall that compact heap 163 is contacted with top plate 3
Equipped with the guide surface 160 contradicted with 3 lower end surface of top plate to drive compact heap 163 to slide；Between top plate 3 and the cylinder bottom of ejection guns 2
It is connected with ejection secondary spring 18.
Conflict block 164 has long section 1641 and oblique section 1642, and oblique section 1642 is close to 163 side of compact heap, linkage component 17
It is arranged in the oblique section 1642 of conflict block 164, linkage component 17 includes oblique dovetails 171, and oblique dovetails 171 are fixed in conflict block
On 164, compact heap 163 is equipped with the oblique dovetail groove 172 cooperated with oblique dovetails 171.
Accommodating cavity 161 has epicoele 1611 and cavity of resorption 1612, offers air flue 165, air flue 165 on the side wall of ejection guns 2
One end communicated with high pressure chest 4 and the other end is communicated with the epicoele 1611 of accommodating cavity 161, contain reset spring in epicoele 1611
166, one end of reset spring 166 is connected on the roof of epicoele 1611 and the other end is connected on the end face of conflict block 164.
Telescopic rod 167 is installed in epicoele 1611, the through-hole 168 along its axial directional distribution is equipped in telescopic rod 167, is stretched
One end of contracting bar 167 is connected on the roof of epicoele 1611 and its through-hole 168 and air flue 165 are interconnected, telescopic rod 167 it is another
One end can contradict on the end face of conflict block 164.Telescopic rod 167 includes the first slide bar 1671 and the second slide bar 1672, through-hole 168
Through the axial direction of the first slide bar 1671 and the second slide bar 1672, one end of the first slide bar 1671 is connected to epicoele 1611
Roof and the other end are arranged in the second slide bar 1672, and the other end of the second slide bar 1672 is connected on the end face of conflict block 164.
When top plate 3 is installed, the lower end surface of top plate 3 is contradicted in guide surface 160, is applied to top plate 3 to towards ejection guns 2
The pressure of cylinder bottom side, at this point, ejection secondary spring 18 is compressed, compact heap 163 is under the action of guide surface 160 in installation cavity
It slides and accommodates in 162 and enter in installation cavity 162, with the going deep into ejection guns 2 of top plate 3, the side wall of top plate 3 is no longer
Compact heap 163 is constituted and is stopped, compact heap 163 is under the driving of reset spring 166 and conflict block 164, the lower end of compact heap 163
Face is pressed on the upper surface of top plate 3, at this point, top plate 3 installs, can will be placed on ejection chamber 5 from formula parachute 6 is thrown
In, lid closes the opening that ejection open and close door 11 closes ejection guns 2 by fixed part 13.
After the unmanned plane is out of control, control module 15 outputs control signals to fixed part 13, the electromagnet 135 in fixed part 13
It is powered to open ejection open and close door 11, control module 15 is output control signals to accordingly according to the inclination angle in 1 front 101 of body
Solenoid valve 10, solenoid valve 10 are opened, and the gas in high pressure gas holder 8 is charged into high pressure chest 4, since compact heap 163 is pressed on
The upper surface of top plate 3 enables gas to gather certain gas pressure in high pressure chest 4 so that top plate 3 will not be ejected by gas
Power；At this point, high pressure gas is acted on the end face of conflict block 164 by the through-hole 168 in air flue 165, telescopic rod 167, to drive
Make 164 slide downward of conflict block, so that compact heap 163 slides under the action of linkage component 17, so that compact heap 163 is no longer pressed
Tightly on the upper surface of top plate 3；At this point, the top plate 3 for losing 163 barrier effect of compact heap passes through the impact of gas in high pressure chest 4,
It, from the quickly ejection ejection guns 2 of formula parachute 6 is thrown, will be completed from the ejection process for throwing formula parachute 6 in ejection chamber 5.
The setting of ball 169 on the side wall contacted due to compact heap 163 with top plate 3, so that on compact heap 163 and top plate 3
End face sliding friction is transformed into rolling friction, so that the frictional force between compact heap 163 and top plate 3 is smaller, and between the two
Frictional force is less than high pressure gas for the motive force of 164 end face of conflict block, to guarantee that compact heap 163 can be smoothly from top plate 3
Upper surface loosens.
That is, top plate 3 generates upward thrust F under the action of 4 mesohigh gas of high pressure chest；By the setting of ball 169,
So that the frictional force between compact heap 163 and top plate 3 is uF, u is friction factor, u < 1；And the drive of 164 slide downward of conflict block
Power be equal to thrust F, thus, compact heap 163 will not under the action of thrust F by inlay card on top plate 3.
Wherein, it is connected with check valve 20 on the inflating port 801 of high pressure gas holder 8, is finished in 8 first use of high pressure gas holder
Afterwards, check valve 20 can be directed at by air gun to be inflated high pressure gas holder 8, to meet repeatedly using for the protective device.
Embodiment two, as shown in Figure 5:
A kind of rotary wind type unmanned plane falling guard method out of control, includes the following steps:
S100, the attitudes vibration data of real-time detection body 1, attitudes vibration data include inclination angle and the body 1 of body 1
Falling speed, wherein the angle set that 1 front 101 of body is horizontally arranged upward is 0 °；
S200 analyzes attitudes vibration data, and whether the falling speed at the inclination angle and body 1 that judge body 1 is greater than threshold value, if
It is then to enter S300；
S300 judges the inclination angle of body 1 and when whether the falling speed of body 1 both state maintenance times are more than default
Between, if so, into S400；
The threshold value at positive 101 inclination angles of body 1 is set as ± 90 °, when it is more than default that two states, which are held time, by S400
Between after judge the angle at positive 101 inclination angles of body 1, if the angle at 1 front of body, 101 inclination angles controls machine in threshold range
The pop-up of ejection guns 2 in 1 front 101 of body is from formula parachute 6 is thrown, conversely, the pop-up of ejection guns 2 for then controlling 1 back side 102 of body is thrown certainly
Formula parachute 6.
Further include following steps in above-mentioned steps S400:
S410 is detecting the pop-up of ejection guns 2 from after throwing formula parachute 6, and control module 15 controls the rotor of the unmanned plane
19 stop operating, and to prevent the partition of rotor 19 in unmanned plane from throwing the umbrella rope of formula parachute 6 certainly, or umbrella rope are prevented to be wrapped in nobody
On the rotor 19 of machine.
The above is only exemplary embodiment of the invention, protection scope and is not intended to limit the present invention, this hair
Bright protection scope is determined by the attached claims.
Claims (8)
1. a kind of rotary wind type unmanned plane falling protecting device out of control, including body (1), the body (1) have positive (101) and
The back side (102), characterized in that the protective device includes:
Ejection guns (2), there are two the ejection guns (2) settings, and two ejection guns (2) are open respectively is arranged in body (1) outwardly
Positive (101) and the back side (102), the ejection guns (2) is interior to be equipped with top plate (3), and ejection guns (2) is separated into height by top plate (3)
Chamber (4) and ejection chamber (5) are pressed, is equipped in ejection chamber (5) from formula parachute (6) are thrown, the bottom of high pressure chest (4) offers air inlet
Mouth (7)；
High pressure gas holder (8) is connected to the air inlet (7) of two ejection guns (2) by gas-guide tube (9), and two into
Solenoid valve (10) are separately installed at port (7)；
It launches open and close door (11), is articulated with the opening of ejection guns (2), torsion is installed on the articulated shaft of the ejection open and close door (11)
Power spring (12), be equipped on ejection guns (2) for will launch open and close door (11) be enclosed in its be open on fixed part (13)；
Attitude transducer (14) is set to the attitudes vibration data of body (1) interior real-time detection body (1), the attitudes vibration number
According to the falling speed at the inclination angle and body (1) that include body (1)；
Control module (15) receives the attitudes vibration data, wherein equal at the inclination angle of body (1) and the falling speed of body (1)
Greater than threshold value, and two states are held time more than preset time, then the control module (15) judges the inclination angle angle of the body (1)
Degree, and corresponding control signal is exported to corresponding solenoid valve (10) and fixed part (13), with control pair according to the tilt angles
It answers in ejection guns (2) and is forced out ejection chamber (5) under high pressure gas outside from throwing formula parachute (6)；
The ejection guns (2) is equipped with the limit assembly (16) for compressing top plate (3) upper surface, limit assembly (16) packet
It includes the accommodating cavity (161) being set on ejection guns (2) side wall and both ends is respectively communicated in accommodating cavity (161) and ejection guns (2)
The installation cavity (162) in portion, the interior sliding of the installation cavity (162) are provided with the compressible compact heap in top plate (3) upper surface
(163), sliding is provided with conflict block (164) in the accommodating cavity (161), and the conflict block (164) is equipped with and compact heap
(163) connect with drive compact heap (163) slide linkage component (17), the accommodating cavity (161) have epicoele (1611) and
Cavity of resorption (1612) offers air flue (165) on the side wall of the ejection guns (2), one end of the air flue (165) and high pressure chest
(4) it communicates and the other end is communicated with the epicoele (1611) of accommodating cavity (161), contain reset spring in the epicoele (1611)
(166), one end of the reset spring (166) is connected on the roof of epicoele (1611) and the other end is connected to conflict block
(164) on end face.
2. rotary wind type unmanned plane falling protecting device out of control according to claim 1, characterized in that the linkage component
It (17) include oblique dovetails (171), the oblique dovetails (171) are fixed on conflict block (164), on the compact heap (163)
Equipped with the oblique dovetail groove (172) cooperated with oblique dovetails (171).
3. rotary wind type unmanned plane falling protecting device out of control according to claim 1, characterized in that the epicoele (1611)
In be equipped with telescopic rod (167), the through-hole (168) along its axial directional distribution is equipped in the telescopic rod (167), it is described flexible
One end of bar (167) is connected on the roof of epicoele (1611) and its through-hole (168) and air flue (165) are interconnected, described to stretch
The other end of contracting bar (167) can contradict on the end face of conflict block (164).
4. rotary wind type unmanned plane falling protecting device out of control according to claim 1, characterized in that the compact heap
(163) it is equipped with ball (169) on the side wall contacted with top plate (3), the end face of the compact heap (163) is equipped with and top plate (3)
The guide surface (160) that lower end surface is contradicted to drive compact heap (163) to slide.
5. rotary wind type unmanned plane falling protecting device out of control according to claim 1, characterized in that the top plate (3) with
Ejection secondary spring (18) is connected between the cylinder bottom of ejection guns (2).
6. rotary wind type unmanned plane falling protecting device out of control according to claim 1, characterized in that the fixed part (13)
The elastic card (131) of open and close door (11) is launched including being connected to, and is connected with card base on the inner wall of the elastic card (131)
(132), the side wall of the ejection guns (2) is equipped with the card slot (133) chimeric with card base (132), setting in the card base (132)
Have magnet (134), the electromagnet (135) being connected with control module (15) is equipped in the card slot (133).
7. a kind of rotary wind type unmanned plane falling guard method out of control, characterized in that include the following steps:
S100, the attitudes vibration data of real-time detection body (1), attitudes vibration data include inclination angle and the body (1) of body (1)
Falling speed, wherein horizontal positioned angle set is 0 ° upward in body (1) front (101)；
S200 analyzes attitudes vibration data, and whether the falling speed at the inclination angle and body (1) that judge body (1) is greater than threshold value, if
It is,
Then enter S300；
S300 judges the inclination angle of body (1) and when whether the falling speed of body (1) both state maintenance times are more than default
Between, if so, into S400；
The threshold value at positive (101) inclination angle of body (1) is set as ± 90 °, when it is more than default that two states, which are held time, by S400
Between after judge the angle at positive (101) inclination angle of body (1), if the angle at positive (101) inclination angle of body (1) in threshold range,
Ejection guns (2) pop-up of body (1) positive (101) is then controlled from formula parachute (6) are thrown, conversely, then controlling body (1) back side
(102) ejection guns (2) pop-up throws formula parachute (6) certainly.
8. rotary wind type unmanned plane falling guard method out of control according to claim 7, characterized in that in above-mentioned steps S400
In further include following steps:
S410 is detecting ejection guns (2) pop-up from after throwing formula parachute (6), and control module (15) controls the rotation of the unmanned plane
The wing (19) stops operating.
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| CN201710011585.0A CN107054666B (en) | 2017-01-07 | 2017-01-07 | Rotary wind type unmanned plane falling protecting device out of control and its guard method |
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| CN107054666B true CN107054666B (en) | 2019-07-05 |
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