CN112173145B - Unmanned aerial vehicle inspection fault safety device and control method thereof - Google Patents
Unmanned aerial vehicle inspection fault safety device and control method thereof Download PDFInfo
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- CN112173145B CN112173145B CN202011109064.7A CN202011109064A CN112173145B CN 112173145 B CN112173145 B CN 112173145B CN 202011109064 A CN202011109064 A CN 202011109064A CN 112173145 B CN112173145 B CN 112173145B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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Abstract
The invention provides an unmanned aerial vehicle inspection fault safety device and a control method thereof, wherein the unmanned aerial vehicle inspection fault safety device comprises an internal drive assembly, a central rotating shaft and a rotating arm which are all installed inside an unmanned aerial vehicle body, the central shaft is in transmission connection with the internal drive assembly and can be driven by the internal drive assembly to rotate, one end of the rotating arm is fixed on the central rotating shaft, the other end of the rotating arm is fixedly connected with an unmanned aerial vehicle, the rotation of the rotating arm can drive the unmanned aerial vehicle to rotate around the axis of the central rotating shaft, when the unmanned aerial vehicle falls out of control in an emergency, the rotating arm rotates along the yaw axis of the unmanned aerial vehicle, and a passive lift force is provided in a self-rotating mode of the unmanned aerial vehicle body, so that the falling speed is counteracted, the unmanned aerial vehicle is kept in a stable state in the air, and the occurrence of a machine explosion accident is avoided.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle inspection fault safety device and a control method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
A drone is an unmanned aerial vehicle that is operated by a radio remote control device or is itself program controlled. Unmanned aerial vehicle uses more and more extensively, can see its shadow in the field homoenergetic of difference, especially in fields such as aerial photography, unmanned investigation.
Because the insufficiency in the aspect of machinery and control etc. makes unmanned aerial vehicle break down and take place the crash phenomenon at the flight in-process often. Therefore, effective measures are needed to protect the safety of the unmanned aerial vehicle, and personal or property loss caused by faults of the unmanned aerial vehicle is reduced to the maximum extent.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle inspection fault safety device and a control method, when the unmanned aerial vehicle falls out of control in an emergency, a rotating arm rotates along the yaw axis of the unmanned aerial vehicle, and a passive lift force is provided in a mode of the unmanned aerial vehicle body rotating, so that the falling speed is offset, the unmanned aerial vehicle is kept in a stable state in the air, and the occurrence of a machine explosion accident is avoided.
The adopted scheme is as follows: an unmanned aerial vehicle inspection fault safety device comprises an internal drive assembly, a central rotating shaft and a plurality of rotating arms, wherein the internal drive assembly, the central rotating shaft and the rotating arms are all installed inside an unmanned aerial vehicle body;
still include multi-command analysis and judgment module, feedback signal fault judgment module, control signal generation and switching module, multi-command analysis and judgment module is connected with the remote control system electricity to multi-command analysis and judgment module is configured as the flight signal that analysis remote control system transmitted, feedback signal fault judgment module is connected with screw driving motor, unmanned aerial vehicle attitude sensor subassembly electricity in the unmanned aerial vehicle respectively to feedback signal fault judgment module is configured as whether be in normal threshold value scope through screw driving motor rotational speed, unmanned aerial vehicle attitude change under judging this flight signal, control signal generation and switching module is connected with interior drive subassembly electricity to control signal generation and switching module is configured as switching flight mode, stops unmanned aerial vehicle screw drive, starts the swinging boom drive. Through the switching of flight mode, when unmanned aerial vehicle runs into the proruption situation and appear falling out of control, the swinging boom will rotate along unmanned aerial vehicle driftage axle center to the mode of unmanned aerial vehicle organism rotation provides "passive lift", thereby offsets the speed of falling, makes unmanned aerial vehicle keep steady state aloft, avoids the emergence of exploding quick-witted accident.
Further, unmanned aerial vehicle attitude sensor subassembly includes the biax vibration top, all installs a biax vibration top on each wing of unmanned aerial vehicle.
Furthermore, the flight signal that remote control system transmitted is categorised to many orders analysis and judgment module to the subunit that corresponds in the feedback signal trouble judgment module is exported to the signal of classifying, and feedback signal trouble judgment module compares these signals with the signal that screw driving motor in the unmanned aerial vehicle, unmanned aerial vehicle attitude sensor subassembly transmitted respectively, judges whether break down.
In addition, the invention also provides a control method of the unmanned aerial vehicle inspection fault safety device, which comprises the following steps:
a1: the multi-instruction analysis and judgment module is configured to analyze and classify flight signals transmitted by the remote control system;
a2: then outputting classified signals to corresponding subunits in a feedback signal fault judgment module;
a3: the feedback signal fault judgment module compares the signals with signals transmitted by a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively to judge whether a fault occurs;
a4: if the fault occurs, transmitting a fault signal to a control signal generating and switching module;
a5: the control signal generation and switching module is transmitted to immediately control the internal drive component to start after receiving the fault signal, and the propeller driving motor of the unmanned aerial vehicle is shut down;
a6: interior subassembly drive center pivot of driving rotates, and center pivot drives the swinging boom and rotates, and then makes unmanned aerial vehicle rotation.
Further, unmanned aerial vehicle attitude sensor subassembly includes the biax vibration top, all installs a biax vibration top on each wing of unmanned aerial vehicle.
Further, there is a cavity in the wing of the drone, into which the rotating arm extends. More do benefit to the rotation that drives unmanned aerial vehicle.
One or more technical schemes have the following technical effects:
the invention provides an unmanned aerial vehicle inspection fault safety device and a control method thereof.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the description will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a control method according to an embodiment of the present invention.
In the figure, 1, screw propeller, 2, wing, 3, unmanned aerial vehicle organism, 4, swinging boom, 5, central pivot, 6, interior subassembly that drives.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the present embodiment, and it is obvious that the embodiments described below are only a part of embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments in this patent without making creative efforts, shall fall within the protection scope of this patent.
Detailed description of the preferred embodiment 1
As shown in fig. 1 and fig. 2, the present embodiment provides an unmanned aerial vehicle inspection fail-safe device, which includes an internal drive assembly 6, a central rotating shaft 5 and a rotating arm 4, all of which are installed inside an unmanned aerial vehicle body 3, wherein the central shaft is in transmission connection with the internal drive assembly 6 and can be driven by the internal drive assembly 6 to rotate, one end of the rotating arm 4 is fixed on the central rotating shaft 5, the other end of the rotating arm 4 is fixedly connected with the unmanned aerial vehicle, a plurality of rotating arms 4 are provided, the rotating arms 4 are arranged around the central rotating shaft 5 at equal intervals, and the rotating of the rotating arms 4 can drive the unmanned aerial vehicle to rotate around the axis of the central rotating shaft 5; the unmanned aerial vehicle is characterized by further comprising a multi-instruction analysis and judgment module, a feedback signal fault judgment module and a control signal generation and switching module, wherein the multi-instruction analysis and judgment module is electrically connected with a remote control system, the multi-instruction analysis and judgment module is configured to analyze flight signals transmitted by the remote control system, the feedback signal fault judgment module is electrically connected with a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively, the feedback signal fault judgment module is configured to judge whether the rotating speed of the propeller driving motor and the attitude change of the unmanned aerial vehicle are in a normal threshold range or not under the flight signals, the control signal generation and switching module is electrically connected with an internal drive assembly 6, and the control signal generation and switching module is configured to switch a flight mode, stop the propeller driving of the unmanned aerial vehicle and start the driving of a rotating arm 4. Through the switching of flight mode, when unmanned aerial vehicle runs into the proruption situation and appear falling out of control, swinging boom 4 will rotate along unmanned aerial vehicle driftage axle center to the mode of 3 rotations of unmanned aerial vehicle organism provides "passive lift", thereby offsets the speed of falling, makes unmanned aerial vehicle keep steady state aloft, avoids the emergence of exploding the quick-witted accident.
The multi-instruction analysis and judgment module classifies flight signals transmitted by the remote control system, outputs classified signals to corresponding subunits in the feedback signal fault judgment module, and the feedback signal fault judgment module compares the signals with signals transmitted by a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively to judge whether faults occur.
In addition, unmanned aerial vehicle attitude sensor subassembly includes the biax vibration top, all installs a biax vibration top on each wing of unmanned aerial vehicle.
Detailed description of the preferred embodiment 2
As shown in fig. 2, this embodiment provides a control method for an unmanned aerial vehicle to patrol a failsafe device in embodiment 1, which mainly includes the following steps:
a1: the multi-instruction analysis and judgment module is configured to analyze and classify the flight signals transmitted by the remote control system;
a2: then outputting classified signals to corresponding subunits in a feedback signal fault judgment module;
a3: the feedback signal fault judgment module compares the signals with signals transmitted by a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively to judge whether a fault occurs;
a4: if the fault occurs, transmitting a fault signal to a control signal generating and switching module;
a5: the control signal is transmitted to the control signal generation and switching module, and the internal drive component 6 is immediately controlled to start after receiving the fault signal, and the propeller driving motor of the unmanned aerial vehicle is shut down;
a6: interior drive assembly 6 drive center pivot 5 and rotate, and center pivot 5 drives swinging boom 4 and rotates, and then makes unmanned aerial vehicle rotation.
Wherein, have the cavity in unmanned aerial vehicle's wing, swinging boom 4 extends into the cavity, more does benefit to the rotation that drives unmanned aerial vehicle.
The terms "upper", "lower", "outside", "inside", and the like in the description and claims of the present invention and the above-described drawings (if any) are used for distinguishing relative positions without necessarily being construed qualitatively. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A control method for an unmanned aerial vehicle inspection fault safety device is characterized in that: the unmanned aerial vehicle inspection fault safety device comprises an internal drive assembly, a central rotating shaft and a plurality of rotating arms, wherein the internal drive assembly, the central rotating shaft and the rotating arms are all installed inside an unmanned aerial vehicle body, the central rotating shaft is in transmission connection with the internal drive assembly and can be driven by the internal drive assembly to rotate, one end of each rotating arm is fixed on the central rotating shaft, the other end of each rotating arm is fixedly connected with the unmanned aerial vehicle, the plurality of rotating arms are arranged around the central rotating shaft at equal intervals, and the rotating arms can drive the unmanned aerial vehicle to rotate around the axis of the central rotating shaft; the unmanned aerial vehicle system is characterized by further comprising a multi-instruction analysis and judgment module, a feedback signal fault judgment module and a control signal generation and switching module, wherein the multi-instruction analysis and judgment module is electrically connected with the remote control system and configured to analyze flight signals transmitted by the remote control system, the feedback signal fault judgment module is electrically connected with a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively, the feedback signal fault judgment module is configured to judge whether the rotating speed of the propeller driving motor and the attitude change of the unmanned aerial vehicle are in a normal threshold range or not under the flight signals, the control signal generation and switching module is electrically connected with the inner drive assembly, the control signal generation and switching module is configured to switch a flight mode, the propeller driving of the unmanned aerial vehicle is stopped, and the rotating arm driving is started; the control method of the unmanned aerial vehicle inspection fault safety device comprises the following steps:
a1: the multi-instruction analysis and judgment module is configured to analyze and classify the flight signals transmitted by the remote control system;
a2: then outputting classified signals to corresponding subunits in a feedback signal fault judgment module;
a3: the feedback signal fault judgment module compares the signals with signals transmitted by a propeller driving motor and an unmanned aerial vehicle attitude sensor assembly in the unmanned aerial vehicle respectively to judge whether a fault occurs;
a4: if the fault occurs, transmitting a fault signal to a control signal generating and switching module;
a5: the control signal generation and switching module is transmitted to immediately control the internal drive component to start after receiving the fault signal, and the propeller driving motor of the unmanned aerial vehicle is shut down;
a6: the interior subassembly drive center pivot of driving rotates, and the center pivot drives the swinging boom and rotates, and then makes unmanned aerial vehicle rotation.
2. The method for controlling an unmanned aerial vehicle inspection fail-safe apparatus according to claim 1, wherein the unmanned aerial vehicle attitude sensor assembly includes a dual axis vibratory gyroscope, one dual axis vibratory gyroscope being mounted on each wing of the unmanned aerial vehicle.
3. The unmanned aerial vehicle inspection fail-safe control method of claim 1, wherein a cavity is provided in a wing of the unmanned aerial vehicle, and the rotating arm extends into the cavity.
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| CN202011109064.7A CN112173145B (en) | 2020-10-16 | 2020-10-16 | Unmanned aerial vehicle inspection fault safety device and control method thereof |
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| FR2994687B1 (en) * | 2012-08-27 | 2014-07-25 | Eurocopter France | METHOD FOR ASSISTING A PILOT OF A ROTARY VESSEL FLYING MONOMOTER AIRCRAFT DURING A FLIGHT PHASE IN AUTOROTATION |
| CN205005459U (en) * | 2015-10-12 | 2016-02-03 | 张宇川 | Agricultural seeding unmanned aerial vehicle with reserve screw |
| CN205396530U (en) * | 2016-03-16 | 2016-07-27 | 甄圣远 | Unmanned helicopter of side impulse type multiaxis |
| CN107226206B (en) * | 2016-03-24 | 2023-08-04 | 广东泰一高新技术发展有限公司 | Multi-rotor unmanned aerial vehicle safety landing system and method |
| KR20180020507A (en) * | 2016-08-18 | 2018-02-28 | 이성호 | Drone with Stability through Multiplexing Speed Controller |
| US10407168B2 (en) * | 2017-08-07 | 2019-09-10 | Qualcomm Incorporated | Spin-landing drone |
| CN110979645A (en) * | 2019-12-18 | 2020-04-10 | 新疆联海创智信息科技有限公司 | Post-fault emergency control device and method for unmanned aerial vehicle |
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