CN112478176A - Unmanned aerial vehicle externally-embedded emergency intelligent safety protection device and operation control method - Google Patents
Unmanned aerial vehicle externally-embedded emergency intelligent safety protection device and operation control method Download PDFInfo
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- CN112478176A CN112478176A CN202011392651.1A CN202011392651A CN112478176A CN 112478176 A CN112478176 A CN 112478176A CN 202011392651 A CN202011392651 A CN 202011392651A CN 112478176 A CN112478176 A CN 112478176A
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- 230000008569 process Effects 0.000 claims description 11
- 238000005422 blasting Methods 0.000 claims description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/62—Deployment
- B64D17/70—Deployment by springs
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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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Abstract
The invention provides an external embedded type emergency intelligent safety protection device of an unmanned aerial vehicle and an operation control method, and the device comprises a fixed disc, a rotating box, a rotating driving mechanism, a rotating initial positioning mechanism, a spring and a parachute, wherein the rotating box comprises a rotating box body and an end cover; the rotation starting positioning mechanism is used for limiting and positioning the rotation box body at a rotation starting position, and the parachute and the spring are sequentially sealed in the rotation box body up and down through the end cover. By means of the operation control method, real-time monitoring of flight postures of the unmanned aerial vehicle can be achieved independently, when the unmanned aerial vehicle falls down frequently in abnormal situations, the safety protection device can be used for achieving safe landing of the unmanned aerial vehicle, and then the phenomenon of crash damage is avoided.
Description
Technical Field
The invention relates to an external embedded type emergency intelligent safety protection device of an unmanned aerial vehicle and an operation control method.
Background
With the rapid development of the unmanned aerial vehicle industry in China, the application field of the unmanned aerial vehicle is more and more extensive. In-process that unmanned aerial vehicle flies, if the unusual circumstances (like explode the machine) and when dropping automatically, if not handling this further, probably lead to unmanned aerial vehicle to damage or cause the third party to harm, along with unmanned aerial vehicle's a large amount of applications in recent years to lead to because of the unmanned aerial vehicle falls and the personal injury and the loss of property that the accident caused are the geometric multiple and increase. Therefore, how to realize the safe landing of the unmanned aerial vehicle after the unmanned aerial vehicle is in an abnormal condition is a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an externally-embedded emergency intelligent safety protection device for an unmanned aerial vehicle and an operation control method.
The technical scheme adopted by the invention for solving the technical problems is as follows: an unmanned aerial vehicle externally-embedded emergency intelligent safety protection device comprises a fixed disc, a rotating box, a rotating driving mechanism, a rotating initial positioning mechanism, a spring and a parachute, wherein the rotating box comprises a rotating box body and an end cover; rotate originated positioning mechanism and set up on the fixed disk, rotate originated positioning mechanism and be used for rotating box body restriction location and rotating the initial position, parachute and spring pass through the end cover and seal from top to bottom in proper order and rotate box body internal, and the spring is in compression state, the peripheral stay cord of parachute and fixed disk fixed connection, when rotating box body and being in and rotating the initial position, the end cover is put on rotating the box body by the fixing clip, after rotating the box body and rotating certain angle, the spring can be with the end cover from rotating the box body and pop open.
Preferably, the safety protection device further comprises a power supply and a control circuit board, wherein the power supply supplies power to the control circuit board, the control circuit board supplies power to the rotation starting positioning mechanism, the control circuit board comprises an MCU module, an IMU module and a communication module, and data transmission can be carried out among the MCU module, the IMU module and the communication module.
Preferably, the fixed disk middle part sets up a first mounting hole the upper portion outward flange department of fixed disk is provided with three spacing frame along the circumferencial direction equidistant distribution of first mounting hole set up one on the bottom plate of rotation box body with the second mounting hole that first mounting hole corresponds set up a cross-sectional area and be the fixed seat of pressing of T shape in the second mounting hole, and the fixed bottom of pressing the seat with the peripheral fixed connection of first mounting hole, it can rotate for fixed seat free rotation to rotate the box body be provided with three and three on the bottom plate of rotation box body the spacing spout of first arc direction of spacing frame one-to-one, and spacing frame cover is put in corresponding first arc direction spacing spout.
Further, the lower part of end cover be provided with the corresponding first joint component of spacing, and spacing can realize that the rotation of first joint component is spacing be provided with on the inside wall of rotation box body with the corresponding second joint component of first joint component, when rotating box body and being located the rotation initial position, the second joint component realizes spacing from top to bottom to first joint component, and after rotating box body and driving second joint component and rotating certain angle, the second joint component is relieved spacing from top to bottom to first joint component.
Further, the first clamping member is an ﹂ shaped member with a first slot corresponding to the lower part of the ﹂ shaped member located at the upper part of the stop ledge, the first slot effecting rotational stop of the ﹂ shaped member when the lower part of the ﹂ shaped member is seated in the first slot, the second clamping member is a member having a length of beans which is seated in the ﹂ shaped member when the rotating cassette body is at the start position of rotation.
Furthermore, the rotation driving mechanism is a torsion spring, a third mounting hole is formed in the middle of the fixed pressing seat, a positioning clamping groove communicated with the third mounting hole is formed in an upper pressing plate of the fixed pressing seat, a positioning rod is arranged on a bottom plate of the rotating box body, a movable groove used for rotation and movement of the positioning rod is formed in the fixed plate, the movable groove is communicated with the first mounting hole, the lower portion of the positioning rod is located in the movable groove, the torsion spring is sleeved in the third mounting hole, the upper shifting rod of the torsion spring is clamped in the positioning clamping groove, the lower shifting rod of the torsion spring is clamped at the lower end of the positioning rod, and when the rotating box body is located at the rotation starting position, the lower shifting rod and the upper shifting rod are positioned through the positioning clamping groove and the positioning rod, so that the torsion spring is in a rotary compression state.
Preferably, the fixed disc is provided with two positioning columns, the bottom plate of the rotating box body is provided with two second arc-shaped guiding and limiting chutes corresponding to the positioning columns, the positioning columns are sleeved in the second arc-shaped guiding and limiting chutes, the rotating initial positioning mechanism comprises a fixed box, a positioning pin, a pushing spring and a steering engine, the fixed box is fixedly arranged on the two positioning columns, the positioning pin is vertically clamped at one side in the fixed box, the positioning pin can freely move up and down relative to the fixed box, the bottom plate of the rotating box is provided with a first positioning hole matched with the positioning pin, the fixed disc is provided with a second positioning hole corresponding to the positioning pin, after the lower end of the positioning pin is inserted into the first positioning hole and the second positioning hole, the rotating box body is positioned at the rotating initial position, the pushing spring is sleeved on the upper part of the positioning pin, and the pushing spring always applies downward pushing force to the positioning pin, the steering engine is arranged on one side outside the fixed box, the rotating shaft of the steering engine is located in the fixed box, a cross rod is arranged on the positioning pin, a push rod located below the cross rod is fixedly arranged on the rotating shaft of the steering engine, and when the push rod rotates, the push rod can push the cross rod to realize that the lower end of the positioning pin is pulled out from the second positioning hole and the first positioning hole.
Further, the fixed gyroplane slewing mechanism that prevents that sets up in the outside of rotating the box body, prevent that gyroplane slewing mechanism includes four and blocks the pole, when rotating the box body and being located to rotate the initial position, block the pole and do not hinder gyroplane's rotor propeller's rotation, rotate the box body when rotating behind the alpha angle, block the pole and hinder gyroplane's rotation.
Preferably, the bottom of fixed disk is provided with and is used for fixing the joint fixed establishment on unmanned aerial vehicle with the fixed disk, joint fixed establishment includes that first connection journal stirrup, second connect journal stirrup, first strapping and second strapping, first connection journal stirrup and second are connected the journal stirrup and are set up relatively the bottom of fixed disk, the one end of first strapping with first connection journal stirrup is connected, the one end of second strapping with the journal stirrup is connected to the second, the other end of first strapping with the other end swing joint of second strapping.
The invention also provides an operation control method of the unmanned aerial vehicle externally-embedded emergency intelligent safety protection device, which comprises the following steps: in the flight process of the unmanned aerial vehicle, the IMU module monitors the angular velocity and acceleration data of the unmanned aerial vehicle in the flight process in real time and transmits the monitored data to the MCU module in real time, the MCU module updates quaternion in real time by adopting an IIR digital filtering principle after receiving the data so as to realize the real-time monitoring of the flight attitude of the unmanned aerial vehicle, the MCU module compares the relevant data of the flight attitude of the unmanned aerial vehicle with a relevant threshold value set in the MCU module after processing the data, when the relevant data exceeds the set threshold value, the unmanned aerial vehicle is in a blasting state, the steering engine 44 is immediately started after the MCU module judges that the unmanned aerial vehicle is in the blasting state, and then the parachute is opened, so that the parachute is protected, meanwhile, after the MCU module judges that the unmanned aerial vehicle is in the blasting state, the communication module is immediately started so as to enable the communication module to send GPS positioning information to, then make unmanned aerial vehicle ground control person find unmanned aerial vehicle parachuting position according to the GPS signal.
The invention has the beneficial effects that: each component mechanism and each component combination mode are skillfully designed, so that the device is small in overall size and light in weight, and is convenient to mount and fix on an unmanned aerial vehicle; except that the steering engine is an electronic product, other components are mechanical components, so that the failure probability of the steering engine is greatly reduced, and the safe and reliable work of the steering engine is guaranteed; in the invention, the torsional spring is used as the rotation driving component of the fixed disk and the rotation box, and the structure is simple, so that the rotation stability of the rotation box can be ensured; the limiting frame, the first clamping component and the second clamping component are flexibly and stably clamped and matched, so that the collection and the placement and the rapid and stable unfolding of the parachute can be ensured, and the use reliability of the parachute is improved; the springs are used as parachute ejection and expansion components, and the springs are high in response speed, so that the parachute expansion response speed is high, and the parachute can provide parachute protection for the unmanned aerial vehicle within the first time after the unmanned aerial vehicle is abnormal; by utilizing the operation control method provided by the invention, the real-time monitoring of the flight attitude of the unmanned aerial vehicle can be realized independently of the unmanned aerial vehicle flight control system, the processing of monitoring data is accurate, in the real-time monitoring process, the operation control method can judge that the unmanned aerial vehicle has the situation of explosion in the first time, and immediately start the parachute landing protection system, so that the parachute landing protection of the explosion accident of the unmanned aerial vehicle is realized, and after the explosion of the unmanned aerial vehicle occurs, the communication module can send GPS positioning information to the ground control personnel of the unmanned aerial vehicle, so that the control personnel can smoothly realize the recovery of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are part of the preferred embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the rotating box of the present invention;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is a schematic view of the overall structure of the end cap;
FIG. 5 is a bottom side view of the rotating cartridge body;
FIG. 6 is a schematic view of the overall structure of the fixing plate;
FIG. 7 is a schematic view of the torsion spring in combination with the rotating box body and the fixed disk;
FIG. 8 is a schematic view of the overall structure of the fixed pressing base;
FIG. 9 is a schematic view showing a state in which the position-limiting frame, the first engaging member and the second engaging member are engaged together;
FIG. 10 is an enlarged view at A in FIG. 1;
FIG. 11 is a flow chart of the operational control of the present invention;
in the figure: 1 fixed disk, 11 first mounting holes, 12 limiting frames, 121 first clamping grooves, 122 threaded holes, 13 movable grooves, 14 positioning columns, 15 second positioning holes, 16 first connecting lugs, 17 second connecting lugs, 2 rotating boxes, 21 end covers, 211 first clamping components, 22 rotating box bodies, 221 second mounting holes, 222 first arc-shaped guiding limiting sliding grooves, 223 positioning rods, 224 second arc-shaped guiding limiting sliding grooves, 225 second clamping components, 226 first positioning holes, 23 fixed pressing seats, 231 third mounting holes, 232 upper pressing plates, 2321 positioning clamping grooves, 24 spring mounting seats, 3 torsion springs, 31 upper shifting rods, 32 lower shifting rods, 41 fixed boxes, 42 positioning pins, 421 cross rods, 43 pushing springs, 44 steering engines, 441 shifting rods, 5 springs, 6 rotorcraft-preventing rotating mechanisms and 61 blocking rods.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the specific embodiments and accompanying drawings 1 to 11, and it is obvious that the described embodiments are only a part of the preferred embodiments of the present invention, and not all embodiments. Those skilled in the art can make similar modifications without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.
The invention provides an external-embedded emergency intelligent safety protection device of an unmanned aerial vehicle (as shown in figure 1), which comprises a fixed disc 1, a rotating box 2, a rotating driving mechanism, a rotating initial positioning mechanism, a spring 5 and a parachute (the rotating initial positioning mechanism is not drawn in the figure for keeping the figure clear), wherein the rotating box 2 comprises a rotating box body 22 and an end cover 21, the fixed disc 1 is arranged at the lower part of the rotating box body 22, and the rotating box body 22 can rotate in an alpha angle range relative to the fixed disc 1, in the specific embodiment, the specific implementation mode of the rotating connection of the fixed disc 1 and the rotating box body 22 is as follows: a first mounting hole 11 is arranged in the middle of the fixed disk 1, three limiting frames 12 which are distributed at equal intervals along the circumferential direction of the first mounting hole 11 are arranged at the outer edge of the upper part of the fixed disk 1, a second mounting hole 221 corresponding to the first mounting hole 11 is arranged on the bottom plate of the rotating box body 22, a fixed pressing seat 23 with a T-shaped cross section area is arranged in the second mounting hole 221, the bottom of the fixed pressing seat 23 is fixedly connected with the periphery of the first mounting hole 11, in the specific embodiment, a plurality of through holes are arranged on the fixed pressing seat 23, through holes corresponding to the through holes arranged on the fixed pressing seat 23 are arranged on the periphery of the first mounting hole 11, the fixed pressing seat 23 is fixedly connected with the fixed disk 1 by penetrating through the through holes on the fixed pressing seat 23 and the through holes on the periphery of the first mounting hole 11 through bolts, and the rotating box body 22 can freely rotate relative to the fixed pressing seat 23, three first arc-shaped guiding and limiting sliding grooves 222 which are in one-to-one correspondence with the three limiting frames 12 are arranged on the bottom plate of the rotating box body 22, and the limiting frames 12 are sleeved in the corresponding first arc-shaped guiding and limiting sliding grooves 222, so that the limiting frames 12 can smoothly and stably slide in the first arc-shaped guiding and limiting sliding grooves 222 conveniently, the limiting frames 12 can be designed into arc shapes, the first arc-shaped guiding and limiting sliding grooves 222 are limited by the limiting frames 12, the rotating box body 22 can rotate within an alpha angle range, in practical application, the alpha value range is greater than or equal to 40 degrees and less than or equal to 60 degrees, in the specific embodiment, the alpha value is preferably set to 45 degrees.
Rotation actuating mechanism be used for the drive to rotate box body 22 for fixed disk 1 rotates, in this embodiment, for reducing rotation actuating mechanism's design cost and mechanism self weight, here, will rotate actuating mechanism and set up to a torsional spring 3, and torsional spring 3 realizes rotating box body 22 and is for fixed disk 1 pivoted embodiment and do: a third mounting hole 231 is arranged in the middle of the fixed pressing seat 23, a positioning slot 2321 communicated with the third mounting hole 231 is arranged on the upper pressing plate 231 of the fixed pressing seat 23, a positioning rod 223 is arranged on the bottom plate of the rotating box body 22, a movable slot 13 for the rotation and the movement of the positioning rod 223 is arranged on the fixed plate 1, the movable slot 13 is communicated with the first mounting hole 11, the lower part of the positioning rod 223 is positioned in the movable slot 13, the torsion spring 3 is sleeved in the third mounting hole 231, the upper deflector rod 31 of the torsion spring 3 is clamped in the positioning slot 2321, the lower deflector rod 32 of the torsion spring 3 is clamped at the lower end of the positioning rod 223, when the rotating box body 22 is at the rotation starting position, the torsion spring 3 is in the rotation compression state through the positioning action of the positioning slot 2321 and the positioning rod 223 on the upper deflector rod 31 and the lower deflector rod 32, and when the rotation limit of the rotating box body 22 is released, the torsion spring 3 can rotate the rotating box body 22 relative to the fixed disk 1 by shifting the positioning rod 223.
The rotation starting positioning mechanism is arranged on the fixed disk 1, and is used for limiting and positioning the rotation box body 22 at a rotation starting position, in this specific embodiment, the specific implementation manner of the rotation starting positioning mechanism is as follows: the fixed disk 1 is provided with two positioning columns 14, a bottom plate of the rotating box body 22 is provided with two second arc-shaped guiding and limiting sliding grooves 224 corresponding to the positioning columns 14, the positioning columns 14 are sleeved in the second arc-shaped guiding and limiting sliding grooves 224, the rotating range of the second arc-shaped guiding and limiting sliding grooves 224 relative to the positioning columns 14 is alpha, the rotating starting positioning mechanism comprises a fixed box 41, positioning pins 42, pushing springs 43 and a steering engine 44, the fixed box 41 is fixedly arranged on the two positioning columns 14, the positioning pins 42 are vertically clamped on one side in the fixed box 41, the positioning pins 42 can freely move up and down relative to the fixed box 41, the bottom plate 22 of the rotating box is provided with a first positioning hole 226 matched with the positioning pins 42, the fixed disk 1 is provided with a second positioning hole 15 corresponding to the positioning pins 42, after the lower end of the positioning pin 42 is inserted into the first positioning hole 226 and the second positioning hole 15, the rotating box body 22 is positioned at a rotating initial position, the pushing spring 43 is sleeved on the upper portion of the positioning pin 42, the pushing spring 43 always applies a downward pushing force to the positioning pin 42, the steering engine 44 is arranged on one side of the outer portion of the fixing box 41, a rotating shaft of the steering engine 44 is positioned in the fixing box 41, a cross rod 421 is arranged on the positioning pin 42, a push rod 441 positioned below the cross rod 421 is fixedly arranged on the rotating shaft of the steering engine 44, and when the push rod 441 rotates, the push rod 441 can push the cross rod 421 to pull out the lower end of the positioning pin 42 from the second positioning hole 15 and the first positioning hole 226. In practical application, when the positioning pin 42 is inserted into the first positioning hole 226 and the second positioning hole 15, the torsion spring 3 is in a rotationally compressed state, the rotating case body 22 is restricted to the rotational initial position, when the positioning pin 42 is pulled out from the first positioning hole 226 and the second positioning hole 15, the rotation restriction of the rotating box body 22 is released, thereby achieving the rotation under the urging of the torsion spring 3, and when the rotating box body 22 is rotated in place, in the process of rotating the cartridge body 22 in the reverse rotation, when the first positioning hole 226 and the second positioning hole 15 are overlapped again, the positioning pin 42 is inserted into the first positioning hole 226 and the second positioning hole 15 again by the urging of the urging spring 43, so that the rotation start limit of the rotation box body 22 is realized again, during the process of reversely rotating the cartridge body 22, the torsion spring 3 is gradually rotationally compressed, so that the torsion spring 3 regains the toggle energy.
The parachute and the spring 5 are sequentially sealed in the rotating box body 22 up and down through the end cover 21, the spring 5 is in a compressed state, the peripheral pull rope of the parachute is fixedly connected with the fixed disc 1, when the rotating box body 22 is at the rotation starting position, the end cover 21 is fixedly clamped on the rotating box body 22, when the rotating box body 22 rotates a certain angle, the spring 5 can spring the end cover 21 from the rotating box body 22, in this particular embodiment, to facilitate the positioning of the spring 5 within the rotating box body 22, here, a spring mounting seat 24 is buckled at the upper part of the fixed pressing seat 23, the bottom of the spring 5 is sleeved on the spring mounting seat 24, the parachute is arranged in the rotating box body 22, the periphery of the parachute is fixedly connected with the limiting frame 12 through a plurality of pull ropes, and the spring 5 is located the parachute lower part, and the stay cord of parachute and spacing 12 connection fixed's embodiment does: two threaded holes 122 are formed in the limiting frame 12, screws are arranged in the threaded holes 122, and the pull rope is fixed to the screws in a bolted mode.
When the end cap 21 is fastened on the upper portion of the rotating box body 22, the spring 5 is in a compressed state, and in order to facilitate the end cap 21 to be positioned to compress the spring 5, in this embodiment, the specific implementation modes among the end cap 21, the rotating box body 22, and the limiting frame 12 are as follows: a first clamping component 211 corresponding to the limiting frame 12 is arranged at the lower part of the end cover 21, the limiting frame 12 can realize the rotation limiting of the first clamping component 211, a second clamping component 225 corresponding to the first clamping component 211 is arranged on the inner side wall of the rotating box body 22, when the rotating box body 22 is positioned at a rotation initial position, the second clamping component 225 can realize the up-and-down limiting of the first clamping component 211, and after the first clamping component 211 is limited up and down, the end cover 21 can realize the up-and-down fixing, so that the compression of the spring 5 is realized, and the spring 5 is in a compression state; after box body 22 rotates and drives second joint component 225 and rotate certain angle (the numerical value of this angle is less than the numerical value of alpha), second joint component 225 removes the upper and lower spacing to first joint component 211, after second joint component 225 removes the upper and lower spacing to first joint component 211, end cover 21 is in free state in upper and lower direction, thereby make the expansion end of spring 5 freely launch, spring 5 is launching the in-process, pop out parachute and end cover 21 in step, thereby be convenient for realize opening of parachute, furtherly, spacing 12, the concrete implementation mode that first joint component 211 and second joint component 225 three realized the block does: the first clamping member 211 is an ﹂ -shaped member, the upper portion of the limiting frame 12 is provided with a first clamping groove 121 corresponding to the lower portion of the ﹂ -shaped member, when the lower portion of the ﹂ -shaped member is clamped in the first clamping groove 121, the first clamping groove 121 realizes the rotation limiting of the ﹂ -shaped member, so that the rotation of the rotation box body 22 can be prevented from driving the end cap 21 to rotate synchronously, the second clamping member 225 is a rectangle member, when the rotation box body 22 is at the rotation starting position, the rectangle member is clamped in the ﹂ -shaped member, and through the up-and-down limiting of the rectangle member to the ﹂ -shaped member, the parachute and the end cap 21 can be prevented from being ejected by the spring 5 when the rotation box body 22 is at the rotation starting position.
When the safety protection device is used for safety protection of the rotor wing unmanned aerial vehicle, when the rotor wing unmanned aerial vehicle is abnormal and falls down, in order to prevent the phenomenon that the rotating propeller rotates to hurt people, the outer side of the rotating box body 22 is fixedly provided with the anti-rotor wing rotating mechanism 6 which comprises four blocking rods 61, when the rotating box body 22 is positioned at the rotation starting position, the blocking rods 61 do not hinder the rotation of the rotor wing propeller of the rotor wing unmanned aerial vehicle, after the rotating box body 22 rotates by an alpha angle, the blocking rods 61 hinder the rotation of the rotor wing propeller of the rotor wing unmanned aerial vehicle, the blocking rods 61 block the propeller, so that the propeller can not rotate any more, and the phenomenon that the propeller rotates to hurt people can not occur.
In order to facilitate the installation and the fixation of the present invention on the unmanned aerial vehicle, herein, a clamping and fixing mechanism for fixing the fixed disk 1 on the unmanned aerial vehicle is disposed at the bottom of the fixed disk 1, and in this specific embodiment, the specific implementation manner of the clamping and fixing mechanism is as follows: clamping fixing mechanism includes first connection journal stirrup 16, second connection journal stirrup 17, first tie and second strapping, for keep the drawing clear, does not draw first tie and second strapping in the drawing, first connection journal stirrup 16 and second connection journal stirrup 17 set up relatively the bottom of fixed disk 1, the one end of first tie with first connection journal stirrup 16 is connected, the one end of second strapping with the second is connected journal stirrup 17 and is connected, the other end of first tie with the other end swing joint of second strapping, in practical application, through the taut fixed disk 1 of realization on unmanned aerial vehicle between first tie and the second strapping.
In practical application, in order to further improve the flexible application of the invention on the unmanned aerial vehicle, the invention is an independent operation control unit which is not related to the unmanned aerial vehicle, a power supply and a control circuit board are further arranged in the protection device, the power supply supplies power to the control circuit board, the control circuit board supplies power to the rotation starting positioning mechanism, the control circuit board comprises an MCU module, an IMU module and a communication module, data transmission can be carried out between the MCU module and the IMU module and between the MCU module and the communication module, the IMU module is used for monitoring various flight data of the unmanned aerial vehicle during flight, such as acceleration and angular velocity of the flight, the MCU module is used for processing the real-time flight data transmitted by the IMU module in real time and comparing the data with a set threshold value in real time, and the MCU module and the IMU module are common data processing and monitoring units in the field, therefore, detailed structures and operation principles of the MCU module and the IMU module are not described in detail, and the communication module adopts a wireless communication technology to realize wireless docking of the unmanned aerial vehicle and an operator; further, from system reliability protection, can carry out redundancy design to the IMU module, design two IMU modules promptly, when an IMU module goes wrong, another IMU module still can normally work, continuously realizes unmanned aerial vehicle safety protection monitoring then.
The invention also provides an operation control method of the unmanned aerial vehicle externally-embedded emergency intelligent safety protection device, which comprises the following steps: in the flight process of the unmanned aerial vehicle, the IMU module monitors the angular velocity and acceleration data of the unmanned aerial vehicle in the flight process in real time and transmits the monitored data to the MCU module in real time, the MCU module updates the quaternion in real time by adopting an IIR digital filtering principle after receiving the data, compares the updated quaternion with a related threshold value set in the MCU in real time to realize the real-time monitoring of the flight attitude of the unmanned aerial vehicle, when the quaternion updated in real time exceeds the threshold value set in the MCU, the unmanned aerial vehicle is in a blasting state at the moment, in practical application, the judgment condition that the Z-axis deflection angle of the unmanned aerial vehicle in flight is continuously larger than the set threshold value within a certain time is realized, the judgment condition that the unmanned aerial vehicle is blasted is realized, and after the MCU module judges that the unmanned aerial vehicle is in the blasting state, the steering engine 44 is immediately started to open a parachute, so that the, simultaneously, the MCU module starts communication module immediately after judging that unmanned aerial vehicle is in explode the quick-witted state for communication module sends GPS locating information to unmanned aerial vehicle ground controller, makes unmanned aerial vehicle ground controller then find unmanned aerial vehicle parachuting position according to the GPS signal.
The process of launching and unfolding the parachute by starting the steering engine 44 is as follows: when the parachute-opening device works in an initial state, the torsion spring 3 is in a compressed state, the positioning pin 42 is inserted into the first positioning hole 226 and the second positioning hole 15, the spring 5 and the parachute are sealed in the rotating box body 22 by the end cover 21, the lower portion of the first clamping component on the end cover 21 is clamped in the first clamping groove 121, and the second clamping component 225 is clamped above the first clamping component 211. When the steering engine 44 receives the starting signal, the steering engine 44 starts to drive the push rod 441 to rotate, the rotation of the push rod 441 then pushes the cross rod 421 to move upwards, the upward movement of the cross rod 421 then drives the positioning pin 42 to be gradually pulled out from the first positioning hole 15 and the second positioning hole 226, when the positioning pin 42 is completely pulled out from the first positioning hole 15 and the second positioning hole 226, the rotating box body 22 starts to rotate under the pushing of the torsion spring 3, in the rotating process of the rotating box body 22, the end cover 21 does not rotate because the first clamping component 211 is limited by the limiting frame 12, when the second clamping component 225 rotates continuously along with the rotating box body 22, after the second clamping component 225 is flicked from above the first clamping component 211, the parachute and the end cover 21 are pushed by the spring 5 and then pop out from the rotating box body 22, and after the parachute is popped out, in the descending process of the unmanned aerial vehicle, expand rapidly through the effect of wind power, realize unmanned aerial vehicle's slow descending then to realize unmanned aerial vehicle's parachuting, unmanned aerial vehicle's parachuting function has then improved unmanned aerial vehicle's flight safety level, let the user more convenient, use unmanned aerial vehicle safely, simultaneously, unmanned aerial vehicle's parachuting then effectively avoids unmanned aerial vehicle out of control to fall and causes the loss for ground personnel and property.
In the present invention, "upper" and "lower" are relative positions used for convenience in describing positional relationships, and therefore, should not be interpreted as absolute positions as limiting the scope of protection.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
While the preferred embodiments and examples of the present invention have been described in detail, it will be apparent to those skilled in the art that the invention is not limited thereto, and that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An unmanned aerial vehicle externally-embedded emergency intelligent safety protection device is characterized by comprising a fixed disc, a rotating box, a rotating driving mechanism, a rotating initial positioning mechanism, a spring and a parachute, wherein the rotating box comprises a rotating box body and an end cover; rotate originated positioning mechanism and set up on the fixed disk, rotate originated positioning mechanism and be used for rotating box body restriction location and rotating the initial position, parachute and spring pass through the end cover and seal from top to bottom in proper order and rotate box body internal, and the spring is in compression state, the peripheral stay cord of parachute and fixed disk fixed connection, when rotating box body and being in and rotating the initial position, the end cover is put on rotating the box body by the fixing clip, after rotating the box body and rotating certain angle, the spring can be with the end cover from rotating the box body and pop open.
2. The unmanned aerial vehicle externally-embedded emergency intelligent safety device as claimed in claim 1, further comprising a power supply and a control circuit board, wherein the power supply supplies power to the control circuit board, the control circuit board supplies power to the rotation start positioning mechanism, the control circuit board comprises an MCU module, an IMU module and a communication module, and data transmission can be performed between the MCU module and the IMU module and between the MCU module and the communication module.
3. The unmanned aerial vehicle embedded emergency intelligent safety device of claim 2, it is characterized in that a first mounting hole is arranged in the middle of the fixed disk, three limit frames which are distributed at equal intervals along the circumferential direction of the first mounting hole are arranged on the outer edge of the upper part of the fixed disk, a second mounting hole corresponding to the first mounting hole is arranged on the bottom plate of the rotating box body, a fixed pressing seat with a T-shaped cross section area is sleeved in the second mounting hole, the bottom of the fixed pressing seat is fixedly connected with the periphery of the first mounting hole, the rotating box body can freely rotate relative to the fixed pressing seat, the bottom plate of the rotating box body is provided with three first arc-shaped guiding and limiting sliding grooves which correspond to the limiting frames one to one, and the limiting frames are sleeved in the corresponding first arc-shaped guiding and limiting sliding grooves.
4. The externally-embedded emergency intelligent safety protection device of the unmanned aerial vehicle as claimed in claim 3, wherein a first clamping member corresponding to the limiting frame is arranged at the lower part of the end cover, the limiting frame can limit the rotation of the first clamping member, a second clamping member corresponding to the first clamping member is arranged on the inner side wall of the rotating box body, when the rotating box body is located at a rotation starting position, the second clamping member can limit the first clamping member up and down, and when the rotating box body drives the second clamping member to rotate by a certain angle, the second clamping member can release the limit of the first clamping member up and down.
5. The unmanned aerial vehicle embedded emergency intelligent safety device as claimed in claim 4, wherein the first clamping member is an ﹂ -shaped member, a first clamping groove corresponding to the lower part of the ﹂ -shaped member is provided at the upper part of the limiting frame, when the lower part of the ﹂ -shaped member is clamped in the first clamping groove, the first clamping groove limits the rotation of the ﹂ -shaped member, the second clamping member is a 14 cm-shaped member, and when the rotating box body is at the rotation starting position, the ﹂ -shaped member is clamped in the second clamping groove.
6. The externally-embedded emergency intelligent safety device of an unmanned aerial vehicle as claimed in claim 4, wherein the rotation driving mechanism is a torsion spring, a third mounting hole is disposed at the middle of the fixed pressing seat, a positioning slot communicating with the third mounting hole is disposed on the upper pressing plate of the fixed pressing seat, a positioning rod is disposed on the bottom plate of the rotating box body, a movable slot for the rotation of the positioning rod is disposed on the fixed plate, the movable slot communicates with the first mounting hole, the lower portion of the positioning rod is disposed in the movable slot, the torsion spring is sleeved in the third mounting hole, the upper deflector rod of the torsion spring is clamped in the positioning slot, the lower deflector rod of the torsion spring is clamped at the lower end of the positioning rod, and when the rotating box body is at the rotation start position, the upper deflector rod and the lower deflector rod are positioned by the positioning slot and the positioning rod, so that the torsion spring is in a rotationally compressed state.
7. The unmanned aerial vehicle externally-embedded emergency intelligent safety protection device as claimed in claim 6, wherein the fixed plate is provided with two positioning posts, the bottom plate of the rotating box body is provided with two second arc-shaped guiding and limiting chutes corresponding to the positioning posts, the positioning posts are sleeved in the second arc-shaped guiding and limiting chutes, the rotating initial positioning mechanism comprises a fixed box, a positioning pin, a pushing spring and a steering engine, the fixed box is fixedly arranged on the two positioning posts, the positioning pin is vertically clamped at one side inside the fixed box and can freely move up and down relative to the fixed box, the bottom plate of the rotating box is provided with a first positioning hole matched with the positioning pin, the fixed plate is provided with a second positioning hole corresponding to the positioning pin, after the lower end of the positioning pin is inserted into the first positioning hole and the second positioning hole, the rotating box body is positioned at a rotating initial position, the pushing spring is sleeved on the upper portion of the positioning pin, downward pushing force is exerted on the positioning pin all the time by the pushing spring, the steering gear is arranged on one side outside the fixing box, the rotating shaft of the steering gear is located in the fixing box, a cross rod is arranged on the positioning pin, a push rod located below the cross rod is fixedly arranged on the rotating shaft of the steering gear, when the push rod rotates, the push rod can push the cross rod to enable the lower end of the positioning pin to be pulled out from the second positioning hole and the first positioning hole, and the steering gear can be controlled by the control circuit board to operate.
8. The unmanned aerial vehicle embedded emergency intelligent safety device as claimed in claim 1, wherein an anti-gyroplane rotation mechanism is fixedly disposed outside the rotation box body, the anti-gyroplane rotation mechanism includes four blocking rods, when the rotation box body is located at the rotation start position, the blocking rods do not interfere with rotation of a gyroplane of the unmanned aerial vehicle, and when the rotation box body rotates by an angle α, the blocking rods interfere with rotation of the gyroplane of the unmanned aerial vehicle.
9. The externally-embedded emergency intelligent safety protection device for the unmanned aerial vehicle as claimed in claim 1, wherein a clamping fixing mechanism for fixing the fixed disk on the unmanned aerial vehicle is arranged at the bottom of the fixed disk, the clamping fixing mechanism comprises a first connecting lug, a second connecting lug, a first strapping tape and a second strapping tape, the first connecting lug and the second connecting lug are oppositely arranged at the bottom of the fixed disk, one end of the first strapping tape is connected with the first connecting lug, one end of the second strapping tape is connected with the second connecting lug, and the other end of the first strapping tape is movably connected with the other end of the second strapping tape.
10. An operation control method of the unmanned aerial vehicle embedded emergency intelligent safety protection device according to claim 7, characterized by comprising the following steps: in the flight process of the unmanned aerial vehicle, the IMU module monitors the angular velocity and acceleration data of the unmanned aerial vehicle in the flight process in real time and transmits the monitored data to the MCU module in real time, the MCU module updates quaternion in real time by adopting an IIR digital filtering principle after receiving the data so as to realize the real-time monitoring of the flight attitude of the unmanned aerial vehicle, the MCU module compares the relevant data of the flight attitude of the unmanned aerial vehicle with a relevant threshold value set in the MCU module after processing the data, when the relevant data exceeds the set threshold value, the unmanned aerial vehicle is in a blasting state, the steering engine is immediately started after the MCU module judges that the unmanned aerial vehicle is in the blasting state, and then the parachute is opened, so that the parachute is protected, meanwhile, after the MCU module judges that the unmanned aerial vehicle is in the blasting state, the communication module is immediately started, so that the communication module sends GPS positioning information to a ground, then make unmanned aerial vehicle ground control person find unmanned aerial vehicle parachuting position according to the GPS signal.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148185A (en) * | 2021-06-16 | 2021-07-23 | 国网吉林省电力有限公司检修公司 | Unmanned aerial vehicle parachute protection device is patrolled and examined to electric power |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148185A (en) * | 2021-06-16 | 2021-07-23 | 国网吉林省电力有限公司检修公司 | Unmanned aerial vehicle parachute protection device is patrolled and examined to electric power |
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