CN210555601U - Unmanned aerial vehicle emergency treatment system that falls into water - Google Patents
Unmanned aerial vehicle emergency treatment system that falls into water Download PDFInfo
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- CN210555601U CN210555601U CN201920710139.3U CN201920710139U CN210555601U CN 210555601 U CN210555601 U CN 210555601U CN 201920710139 U CN201920710139 U CN 201920710139U CN 210555601 U CN210555601 U CN 210555601U
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Abstract
The utility model discloses an unmanned aerial vehicle emergency treatment system that falls into water, include the emergency treatment control panel with unmanned aerial vehicle's flight control module communication connection and respectively with its underwater propulsor of being connected and the detector that falls into water, still including control panel power supply unit and the impeller power supply unit that can provide emergency treatment control panel and underwater propulsor power. The utility model discloses an unmanned aerial vehicle's the back emergency treatment function of falling into water for unmanned aerial vehicle floats in the surface of water after falling into water, and adjustable unmanned aerial vehicle gesture makes unmanned aerial vehicle openly up, prevents the back-off, further can realize unmanned aerial vehicle's the function of navigating in the water and take off once more, solves unmanned aerial vehicle recovery in-process difficulty, reduces economic loss.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field especially relates to a prevent heavy many rotor unmanned aerial vehicle emergency treatment system that falls into water.
Background
An unmanned plane, called unmanned plane for short, is an unmanned plane mainly controlled by wireless remote control or self programs. Many rotor unmanned aerial vehicle is as unmanned aerial vehicle's one, indicates the unmanned aerial vehicle that has 3 or more rotors, for example common have four rotors, its simple structure, easily control can realize a key and take off, functions such as VTOL and free hovering.
Many rotor unmanned aerial vehicle has advantages such as low price, and the volume is less, the reaction is quick, easy operation and accommodation light, by a wide application in numerous fields such as taking photo by plane, detection. The increase of frequency of use thereupon, corresponding fault accident also constantly presents, especially when using unmanned aerial vehicle to carry out the operation in river, lake, and ocean top, because the special geographical environment characteristics in waters, humidity is big, and wind-force is big, and this can lead to the unexpected possibility that falls of unmanned aerial vehicle to promote greatly, though the ripe unmanned aerial vehicle kind that has resistant falling, waterproof, prevent sinking function has appeared on the market at present, but special waters environment often makes recovery unmanned aerial vehicle become unusual difficulty, produces great economic loss.
At present there has been unmanned aerial vehicle emergency treatment's of falling into water patent, adopts in its leading thought to set up gasbag class object at unmanned aerial vehicle, and when unmanned aerial vehicle was unexpected to fall into the aquatic, the gasbag released gas, prevented to sink into subaquely, made unmanned aerial vehicle float on the surface of water, and huge gasbag makes the unmanned aerial vehicle position confirm more easily in order to conveniently retrieve simultaneously. Patent [ CN 207595269U ] proposes to install life buoy, air pipe, carbon dioxide gas cylinder and inflation valve on the unmanned aerial vehicle, although this method can realize the floating and recovery of unmanned aerial vehicle, the recovery process is limited by factors such as environment and still has a series of problems, for example, because of the promotion of wind power and surface waves, the position of unmanned aerial vehicle will be erratic, this just needs salvage ship and personnel to search for unmanned aerial vehicle, needs consume a large amount of manpower and materials. In addition, also propose in the relevant patent, prevent to put back the umbrella on unmanned aerial vehicle, retrieve the umbrella and pass through the suspender with unmanned aerial vehicle and be connected for unmanned aerial vehicle floats on the surface of water, is equipped with the haulage rope simultaneously on unmanned aerial vehicle, and the one end that unmanned aerial vehicle was kept away from to the haulage rope is equipped with the ocean buoy, so that salvage the recovery. By nature, the two are not very different.
SUMMERY OF THE UTILITY MODEL
The purpose of the invention is as follows: the utility model provides an unmanned aerial vehicle emergency treatment system that falls into water, this system have solved unmanned aerial vehicle and have fallen into water when retrieving difficulty, be subject to factors such as environment, consume a large amount of manpower and materials scheduling problem.
The technical scheme is as follows: the utility model discloses an unmanned aerial vehicle emergency treatment system that falls into water, include the emergency treatment control panel with unmanned aerial vehicle's flight control module communication connection and the underwater propulsor and the detector that falls into water that are connected with the emergency treatment control panel respectively. The emergency processing control panel is provided with a microprocessor; the water falling detector can detect water level data of the unmanned aerial vehicle body and transmit the water level data to the emergency processing control panel; the underwater propeller can act by an instruction made after the emergency processing control board reads the data of the drowning detector; the system also includes a control panel power supply means and a thruster power supply means capable of providing power to the emergency processing control panel and the underwater thruster.
The underwater propeller is a high-power motor to provide enough power, and is connected to the emergency processing control panel through a waterproof line by using the power of an independent power supply device, so that the power size and the direction angle of the underwater propeller can be controlled. The water falling detector takes a liquid sensor as a detection unit, has simple structure, high sensitivity and good performance, and can directly detect water level data of the corresponding position of the machine body.
The emergency treatment control panel includes the chip, passes through the serial ports with unmanned aerial vehicle's flight control module and links to each other to can communicate and acquire the relevant data of unmanned aerial vehicle gesture with flight control module. The emergency treatment control panel uses the STM chip as the main control core, according to the function target that will realize, optimal design schematic diagram and circuit diagram, control panel overall arrangement is reasonable, and the size is small and exquisite, the function is stable to leave certain peripheral hardware pin so that the function extension.
The emergency treatment control panel can intercept motor circuit, and the parallel connection is in the middle of the motor circuit in order to control unmanned aerial vehicle's brushless motor and rotate, just underwater propulsor can be controlled by the control signal of emergency treatment control panel output for unmanned aerial vehicle can move the navigation in aqueous.
For convenience of operation, the emergency treatment system includes an automatic mode and a manual mode. Wherein the content of the first and second substances,
in the automatic mode, the microprocessor on the emergency processing control panel can continuously read the attitude data of the flight control module and the water level data measured by the water falling detector, and judges according to the comparison between the attitude data and the water level data and the set value to execute the system setting operation.
Under the manual mode, unmanned aerial vehicle's control personnel carry out corresponding operation control through the remote controller according to the condition.
In order to prevent the falling water detector from causing data transmission interruption due to damage caused by extreme environmental factors, the water level sensor is a device made of a temperature-resistant and corrosion-resistant material.
In order to provide sufficient power for the emergency processing control panel and the underwater propulsor, the control panel power device and the propulsor power device are high-efficiency lithium batteries capable of being charged and recycled.
For the convenience test water bit data and unmanned aerial vehicle march under water, unmanned aerial vehicle's fuselage downside is all located to underwater propulsor and the detector that falls into water.
Wherein, unmanned aerial vehicle is four rotor unmanned aerial vehicle for having waterproof, preventing heavy function.
Has the advantages that: 1. the utility model discloses an unmanned aerial vehicle emergency treatment system that falls into water has realized unmanned aerial vehicle's the post-falling emergency treatment function that falls into water, under the common control of emergency treatment system that falls into water and ground personnel through wireless remote controller, makes unmanned aerial vehicle float on the surface of water after falling into water, can adjust the unmanned aerial vehicle gesture simultaneously, makes unmanned aerial vehicle openly up, prevents the back-off, further can realize unmanned aerial vehicle's the function of navigating in water and take off once more, solves the difficulty in the unmanned aerial vehicle recovery process, reduces economic loss; 2. the system has high integral integration level, simple installation, easy maintenance and proper price; 3. the design has the advantages of strong practicability, simplicity, convenience and practicability, and can be used for mass production to achieve the popularization and promotion effect and benefit the society.
Drawings
FIG. 1 is a frame diagram of the structure principle of the present invention;
FIG. 2 is a schematic diagram of the present invention;
FIG. 3 is a flow chart of the present invention;
fig. 4 is a schematic structural diagram of the drone;
fig. 5 is a schematic diagram of the internal structure of the present invention.
Detailed Description
Referring to fig. 1 to 5, an embodiment of the utility model relates to an unmanned aerial vehicle emergency treatment system that falls into water, including unique design emergency treatment control panel 1, fall into water detector 2, underwater propulsor 3 and emergency treatment control panel 1 and the required control panel power supply unit 4 of underwater propulsor and impeller power supply unit 5, unmanned aerial vehicle's fuselage downside is all located to underwater propulsor 3 and detector 2 that falls into water.
The emergency treatment system includes an automatic mode and a manual mode.
The emergency processing control panel 1 takes the STM chip 6 as a control core, and according to a function target to be realized, a schematic diagram and a circuit diagram are optimally designed, the control panel is reasonable in layout, small in size and stable in function, and certain peripheral pins are reserved so as to facilitate function expansion. Emergency treatment control panel 1 and unmanned aerial vehicle flight control module 7 pass through serial ports data line 8 and link to each other, can communicate with flight control module 7, acquire relevant data such as unmanned aerial vehicle gesture. Simultaneously, emergency treatment control panel 1 will intercept motor circuit 9, even can control unmanned aerial vehicle's brushless motor rotation in the middle of motor circuit 9.
The underwater propeller 3 uses electricity with independent power supply unit, is connected to the emergency treatment control panel 1 through a waterproof line to realize controlling the power size and direction angle of the underwater propeller 3.
The water falling detector 2 is connected with the emergency treatment control panel 1, is a device made of a temperature-resistant and corrosion-resistant material, is a digital sensor, is convenient to read, has high sensitivity and good performance, and can directly detect water level data of corresponding positions of the machine body and transmit the data to the emergency treatment control panel 1.
The control panel power supply means 4 and the pusher power supply means 5 are both highly efficient rechargeable lithium batteries.
Wherein, unmanned aerial vehicle is four rotor unmanned aerial vehicle, has waterproofly, prevents sinking the function.
The utility model discloses a theory of operation does:
the emergency processing control panel 1 is communicated with the unmanned aerial vehicle flight control module 7 through a serial port data line 8 to obtain attitude information, and meanwhile, the data value of the water falling detector 2 is directly read. The microprocessor on the emergency processing control panel 1 uses the obtained corresponding data as a judgment basis, the microprocessor automatically makes corresponding processing instructions and realizes relative operation, and meanwhile, the wireless remote controller can intercept the control right and manually control the unmanned aerial vehicle. The underwater propeller is directly controlled by a wireless remote controller, and the underwater propeller can move on water to recover the unmanned aerial vehicle.
Fig. 1 shows a structural framework diagram of a multi-rotor unmanned aerial vehicle drowning emergency treatment device. Emergency treatment control panel 1 and many rotor unmanned aerial vehicle flight control module 7 place on the inside control platform of unmanned aerial vehicle through serial ports connection, and underwater propulsor 3 and emergency treatment control panel 1's independent power supply unit separately also lays in the unmanned aerial vehicle organism simultaneously. The microprocessor can directly read the flight attitude data and the remote control instruction information of the unmanned aerial vehicle stored in the flight control through the serial port, and can also transmit a one-key takeoff command to the flight control. The emergency processing control panel 1 can intercept and be connected in series on the motor circuit 9, so as to obtain the temporary control right of the motor of the unmanned aerial vehicle, and realize the posture adjustment function and the take-off function after falling into water. Underwater propulsor 3 and detector 2 that falls into water all lay in unmanned aerial vehicle's fuselage main part downside, and underwater propulsor 3 is controlled by two way control signal of emergency treatment control panel 1 output for unmanned aerial vehicle can the motion navigation in water, can further realize the function that the aircraft was retrieved. The water falling detector 2 detects whether the unmanned aerial vehicle detects that the unmanned aerial vehicle body falls into water, and data information is directly transmitted to the microprocessor on the emergency treatment control panel 1 through a data line.
Fig. 2 is a schematic diagram of a multi-rotor unmanned aerial vehicle overboard emergency treatment system. The unmanned aerial vehicle emergency treatment system falling into water has two modes, namely an automatic mode and a manual mode. Under the automatic mode, microprocessor on emergency treatment control panel 1 (emergency board) can constantly read the attitude data of flight control module 7 (flight control) inside storage and by the survey water level data of detector 2 that falls into water, microprocessor can make the judgement automatically, be less than the setting value when attitude data and water level data, then unmanned aerial vehicle is in the state of falling into water or upset back-off, microprocessor can control unmanned aerial vehicle's motor 11, realize overturning the fuselage after, give flight control in further transmission command of taking off, realize the function of taking off once more. Under the manual mode, the remote controller obtains the control right of the airplane, and an operator performs corresponding operation control according to the situation through self observation. The remote controller is additionally provided with three control instructions which respectively have three functions of motor control, overturning and one-key takeoff. It should be noted that the underwater controller can be manually controlled by a remote controller to control the throttle size and the heading angle of the underwater propeller driving motor 10, so that the unmanned aerial vehicle can accurately drive to the shore or salvage ships, and the unmanned aerial vehicle can be conveniently recovered.
Fig. 3 is a flow chart of a multi-rotor drone overboard emergency processing system. The unmanned aerial vehicle emergency treatment system that falls into water carries out the initialization earlier when unmanned aerial vehicle starts, at unmanned aerial vehicle flight in-process, the water level data and the attitude data of reading that do not stop. When the water level data is 1, the unmanned aerial vehicle does not fall into water and does not need to be operated; when the water level data is 0, further analyzing the attitude data, when the attitude data is lower than a set value, determining that the unmanned aerial vehicle is in a water falling and back-off state, judging whether a remote control signal is received by a microprocessor of the emergency board, if a turning instruction is received, turning over the unmanned aerial vehicle, and after the attitude of the unmanned aerial vehicle is adjusted, waiting for the next remote control instruction and executing corresponding action; if no remote control signal exists, the unmanned aerial vehicle drowning emergency processing system can naturally execute the overturning function and the taking-off function. When the attitude data is normal, the microprocessor judges whether a recovery instruction is received, and if the recovery instruction is received, the remote controller obtains the control right of the unmanned aerial vehicle and controls the accelerator and the course of the underwater propeller; and if the takeoff remote control instruction is received or the remote control instruction is not received, the unmanned aerial vehicle executes the one-key takeoff function.
Claims (8)
1. The utility model provides an unmanned aerial vehicle emergency processing system that falls into water which characterized in that: comprises an emergency processing control panel which is in communication connection with a flight control module of the unmanned aerial vehicle, and an underwater propeller and a water falling detector which are respectively connected with the emergency processing control panel, wherein,
the emergency processing control panel is provided with a microprocessor;
the water falling detector can detect water level data of the unmanned aerial vehicle body and transmit the water level data to the emergency processing control panel;
the underwater propeller can act by an instruction made after the emergency processing control panel reads the data of the water level sensor;
the system also includes a control panel power supply means and a thruster power supply means capable of providing power to the emergency processing control panel and the underwater thruster.
2. The unmanned aerial vehicle overboard emergency treatment system of claim 1, wherein: the emergency treatment control panel includes the chip, passes through the serial ports with unmanned aerial vehicle's flight control module and links to each other to can acquire the relevant data of unmanned aerial vehicle gesture.
3. The unmanned aerial vehicle emergency treatment system of claim 1 or 2, wherein: the emergency treatment control panel can intercept motor circuit, and the parallel connection is in the middle of the motor circuit in order to control unmanned aerial vehicle's brushless motor and rotate, just underwater propulsor can be controlled by the control signal of emergency treatment control panel output for unmanned aerial vehicle can move the navigation in aqueous.
4. The unmanned aerial vehicle emergency treatment system of claim 1 or 2, wherein: the emergency treatment system includes an automatic mode and a manual mode, wherein,
in an automatic mode, a microprocessor on the emergency processing control board can continuously read attitude data of the flight control module and water level data measured by the water falling detector, judge according to comparison between the attitude data and the water level data and a set value, and execute system setting operation;
under the manual mode, unmanned aerial vehicle's control personnel carry out corresponding operation control through the remote controller according to the condition.
5. The unmanned aerial vehicle overboard emergency treatment system of claim 1, wherein: the falling water detector is a device made of a temperature-resistant and corrosion-resistant material.
6. The unmanned aerial vehicle overboard emergency treatment system of claim 1, wherein: the control panel power supply device and the pusher power supply device are lithium batteries capable of being charged and recycled.
7. The unmanned aerial vehicle overboard emergency treatment system of claim 1, wherein: the underwater propeller and the water falling detector are both arranged on the lower side of the unmanned aerial vehicle body.
8. The unmanned aerial vehicle overboard emergency treatment system of claim 1, wherein: unmanned aerial vehicle is for having waterproof, preventing four rotor unmanned aerial vehicle of sinking function.
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| CN201920710139.3U CN210555601U (en) | 2019-05-17 | 2019-05-17 | Unmanned aerial vehicle emergency treatment system that falls into water |
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| CN201920710139.3U CN210555601U (en) | 2019-05-17 | 2019-05-17 | Unmanned aerial vehicle emergency treatment system that falls into water |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001972A (en) * | 2019-05-17 | 2019-07-12 | 南京信息工程大学 | The overboard emergent treatment system of unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001972A (en) * | 2019-05-17 | 2019-07-12 | 南京信息工程大学 | The overboard emergent treatment system of unmanned plane |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Qiyun Zhongtian Technology Co.,Ltd. Assignor: Nanjing University of Information Science and Technology Contract record no.: X2022980020122 Denomination of utility model: Emergency treatment system for UAV falling into water Granted publication date: 20200519 License type: Common License Record date: 20221031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 |