CN112173127B - Unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all functions - Google Patents
Unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all functions Download PDFInfo
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- CN112173127B CN112173127B CN202011210223.2A CN202011210223A CN112173127B CN 112173127 B CN112173127 B CN 112173127B CN 202011210223 A CN202011210223 A CN 202011210223A CN 112173127 B CN112173127 B CN 112173127B
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- 230000008878 coupling Effects 0.000 claims description 12
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- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 9
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- 230000005540 biological transmission Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 9
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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
- B64D17/40—Packs
- B64D17/52—Opening, e.g. manual
- B64D17/54—Opening, e.g. manual automatic
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all, compared with the prior art, the unmanned aerial vehicle intelligent parachute device (1) with tightly coupled parachute opening and Rowed of all has integrated propeller scram and parachute opening control, and strongly couples two actions of parachute opening and propeller scram, so that the two actions are in causality relationship, and completely accords with the working principle that the unmanned aerial vehicle parachute needs to be opened, namely Rowed of all and Rowed of all, and the parachute safety device is improved in stability; (2) The parachute has the advantages that the parachute has the power supply control of the airborne equipment, the power supply of the airborne equipment can be synchronously disconnected when the parachute pops up, the damage of the airborne equipment in an unstable environment in the parachute landing process is avoided, the scram capability of the out-of-control propeller is further enhanced, the working stability of the parachute system is improved, and the parachute system is also used for preventing the damage of the high-speed rotating propeller to personnel and property in emergency.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all.
Background
At present, in the unfolding process of the unmanned aerial vehicle parachute, the parachute and a parachute rope are easily rolled in by a runaway propeller, so that the parachute cannot be completely unfolded, and the stability of the unmanned aerial vehicle parachute in and after the parachute is unfolded is seriously influenced. In addition, out-of-control unmanned aerial vehicle can lead to unmanned aerial vehicle to appear irregular rolling and drifting after the parachute is opened by screw continuous output power after the parachute is expanded, can lead to the inefficacy of parachute landing system and consequently appear the secondary and fall. Furthermore, uncontrolled propellers rotating at high speed can cause serious injury to people and things. On the other hand, unmanned aerial vehicle airborne equipment is in unstable operational environment at unmanned aerial vehicle parachuting in-process, and the danger of fire, inefficacy appear easily when continuing the circular telegram work.
Disclosure of Invention
The invention aims at the problems and provides an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all.
In order to achieve the above purpose, the invention adopts the following technical scheme: the intelligent parachute device comprises a parachute main controller, an ejection type parachute cabin, a parachute and a parachute cabin locker, wherein an electronic signal wire is connected between the parachute main controller and the parachute cabin locker, the intelligent parachute device also comprises a screw stopping rotary blade with a function of a parachute cabin cover plate, the ejection type parachute cabin is arranged on the upper surface of a mounting bottom plate, the tail end of a parachute rope is connected with the mounting bottom plate, a shell connecting piece is arranged on the periphery of the upper surface of the mounting bottom plate, a cylindrical mounting shaft is arranged on the shell connecting piece, and the screw stopping rotary blade is sleeved on the cylindrical mounting shaft and can rotate around the mounting shaft to realize opening or closing of the ejection type parachute cabin; in the open state of the ejection type umbrella bin, the screw stopping rotary vane is far away from the screw blocking rod at the shaft end of the cylindrical installation shaft to block the rotating screw so as to force the screw to stop rotating; and in the ejection type umbrella bin closing state, the umbrella bin locking device locks the screw to stop the rotary blade from being far away from the cylindrical installation shaft end.
Preferably, the number of the screw stopping rotary blades is multiple, and in the closed state of the ejection type umbrella bin, the screw stopping rotary blades are spliced to form a cover plate of the ejection type umbrella bin, and the coverage area of the cover plate is an area surrounded by the shell connecting piece.
Preferably, the number of the screw stopping rotary blades is four, and the four screw stopping rotary blades are identical in shape and are all triangular; in the closing state of the ejection type umbrella bin, the four screw propeller stopping rotary blades are spliced into a rectangular cover plate which is enough to cover the ejection type umbrella bin; the propeller blocking rod is arranged on the inner surface of each propeller stopping rotary vane far away from the shaft end of the cylindrical installation shaft; the mounting bottom plate is rectangular, and the four corners of the rectangle are provided with overhanging mounting plates; the number of the shell connecting pieces is four, each shell connecting piece comprises two mutually perpendicular cylindrical mounting shafts, a connecting block is arranged at the joint of the two perpendicular mounting shafts, and torsion spring mounting shafts are respectively arranged at the ends, far away from the connecting block, of the two perpendicular mounting shafts; the connecting block is detachably connected with the mounting plate of the mounting bottom plate.
Preferably, an umbrella bin locking piece is arranged on the outer surface of one of the four screw stopping rotating pieces, which is far away from the mounting shaft end; in the closed state of the ejection type umbrella bin, the umbrella bin locking piece presses the central area of a cover plate of the rectangular ejection type umbrella bin formed by splicing the four screw stopping rotary pieces from the upper side; a locking hole is fixedly connected to a propeller blocking rod of a propeller stop rotating sheet with the umbrella bin locking sheet; in the ejection type parachute cabin closing state, the locking hole is matched with a locking pin key of a parachute cabin locker, the locking pin key is driven by a motor, and the motor is driven by a parachute main controller.
Preferably, the inner surface of each propeller stop rotary vane is symmetrically and fixedly connected with two sleeves far away from the side of a propeller blocking rod, and the two sleeves are respectively sleeved on cylindrical mounting shafts of two adjacent shell connecting pieces; the two sleeve close ends are fixedly connected with tile-shaped limiting sheets respectively; the position of the cylindrical mounting shaft of the shell connecting piece, which corresponds to the limiting piece, is provided with a limiting block, and the limiting block can block the limiting piece after rotating for a certain angle.
Preferably, a torsion spring is arranged between the two limiting sheets on the inner surface of the screw stopping rotary sheet, and the two torsion arms of the torsion spring are respectively contacted with the inner surface of the screw stopping rotary sheet and the upper surface of the mounting bottom plate; the torsion spring is sleeved outside the torsion spring mounting shafts of the two adjacent shell connecting pieces.
Preferably, the device also comprises an onboard equipment power supply control module which is arranged on the upper surface of the mounting bottom plate and is connected with an electronic signal wire with the parachute main controller; the power control module of the airborne equipment is connected in series between the power input end and the power output end by using wires, and is connected with the parachute main controller in an electronic signal communication manner, and receives an instruction of the parachute main controller to switch on or switch off the power supply of the airborne equipment.
Preferably, the ejection type parachute bin comprises a lower parachute bin, an ejection sheet and a compression spring below the ejection sheet, and the parachute is folded and then placed into the ejection type parachute bin and positioned above the ejection sheet.
Preferably, the power input and the power output are respectively arranged in connection blocks of two shell connection pieces adjacent to the on-board equipment power supply control module.
Preferably, the power input end is connected with a power supply, and the power output end is connected with on-board electric equipment.
Preferably, the on-board electric equipment comprises an on-board searchlight, a cradle head camera and an electronic speed regulator.
Preferably, the surface of the screw stopping rotary vane is coated with a buffer sheet with hardness smaller than that of the screw material.
Preferably, the parachute main controller comprises an internal data processor, an attitude sensor, an air pressure sensor, a satellite positioning system, a power management system, a data recorder and a data transmission system.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) The control integration of the parachute opening and the propeller scram, the strong coupling of the two actions of the parachute opening and the propeller scram, the two actions are causal, the working principle that the parachute opening of the unmanned aerial vehicle needs Rowed of all and Rowed of all to be opened is completely matched, and the stability of the parachute safety device is improved. .
(2) The parachute has the power supply control of airborne equipment, and can synchronously disconnect the power supply of the airborne equipment when the parachute pops up, so that the damage of the airborne equipment in an unstable environment in the parachute landing process is avoided, and the scram capability of the out-of-control propeller is further enhanced.
(3) The special propeller emergency stop device can improve the working stability of the parachute system and is also used for preventing the propeller rotating at high speed from damaging the human body and property under emergency.
(4) The intelligent parachute system has the advantages that complete intellectualization of the unmanned aerial vehicle parachute is achieved, compared with the situation that after the parachute is opened, the unmanned aerial vehicle parachute still needs to be manually controlled to stop the rotating complex operation of the propeller in the market, and an intelligent parachute system which does not need manual intervention completely is achieved.
(5) Compared with the prior art, the intelligent parachute device for the unmanned aerial vehicle, which is tightly coupled with the Rowed of all, has the advantages that the unmanned aerial vehicle and airborne equipment are reasonably, carefully and comprehensively protected, the damage of the unmanned aerial vehicle and the airborne equipment is avoided, and the occurrence of secondary disasters such as fire and explosion is avoided.
(6) The unmanned aerial vehicle intelligent parachute device tightly coupled with the parachute opening device Rowed of all can be repeatedly filled and used under the condition of not consuming materials, so that the performance and the stability are improved, the materials are saved, the design is simplified, the weight is reduced, and the cost is reduced.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following description of the embodiments will briefly describe the drawings that are required to be used in the description:
figure 1 is a state diagram to be triggered of the unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all provided in embodiment 1,
FIG. 2 is a schematic diagram of an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all;
FIG. 3 is a state diagram of a propeller scram caused by an unmanned aerial vehicle intelligent parachute device with tight coupling of parachute opening and Rowed of all;
FIG. 4 is a state diagram of an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all after parachute opening;
FIG. 5 is a schematic diagram of three propeller stopping rotary blades when opening the parachute and Rowed of all are tightly coupled with each other and the unmanned aerial vehicle intelligent parachute device is refilled;
FIG. 6 is a schematic illustration of a tightly coupled unmanned aerial vehicle intelligent parachute apparatus parachute opening and Rowed of all with last closing of the screw stopping rotor with the parachute magazine locking tabs upon parachute refill;
FIG. 7 is a schematic diagram of on-board equipment power management;
FIG. 8 is a side structural view and a cross-sectional view of an unmanned aerial vehicle intelligent parachute apparatus tightly coupled with an opening umbrella and Rowed of all;
FIG. 9 is a diagram of a rotor stopping structure of a propeller of the intelligent parachute device of the unmanned aerial vehicle with tightly coupled parachute opening and Rowed of all;
Fig. 10 is an exterior assembly schematic diagram of an unmanned aerial vehicle intelligent parachute device tightly coupled with the parachute opening and Rowed of all provided in embodiment 2;
fig. 11 is an exterior assembly schematic diagram of an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all provided in embodiment 3.
1-Parachute main controller, 2-ejection type parachute cabin, 3-parachute, 4-propeller stopping rotary blade, 5-airborne equipment power control module, 6-parachute cabin locker, 7-shell connecting piece, 8-mounting bottom plate, 9-propeller, 10-power supply equipment, 11-airborne searchlight, 12-cradle head camera, 13-electronic speed regulator, 201-lower parachute cabin, 202-ejection blade, 203-compression spring, 401-torsion spring, 402-limiting block, 403-propeller blocking rod, 404-buffer blade, 405-sleeve, 406-limiting plate, 501-power input end, 502-power output end, 601-parachute cabin locking blade, 602-locking pin key, 603-motor, 604-locking hole, 71-connecting block, 72-mounting shaft and 73-torsion spring mounting shaft.
Detailed Description
In order that the above objects, features and advantages of the invention will be more clearly understood, a further description of the invention will be rendered by reference to the appended drawings and examples.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the present invention is not limited to the specific embodiments of the disclosure that follow.
Example 1
The invention is further described below with reference to fig. 1-9, and an unmanned aerial vehicle intelligent parachute device with tightly coupled parachute opening and Rowed of all is shown in fig. 2, and comprises a parachute main controller 1, an ejection type parachute cabin 2, a parachute 3 and a parachute cabin locker 6, wherein an electronic signal wire is connected between the parachute main controller 1 and the parachute cabin locker 6, the device also comprises a screw stopping rotary blade 4 with a function of a parachute cabin cover plate, the ejection type parachute cabin 2 is arranged on the upper surface of a mounting bottom plate 8, the tail end of a parachute rope of the parachute 3 is connected with the mounting bottom plate 8, a shell connecting piece 7 is arranged on the periphery of the upper surface of the mounting bottom plate 8, a cylindrical mounting shaft 72 is arranged on the shell connecting piece 7, and the screw stopping rotary blade 4 is sleeved on the cylindrical mounting shaft 72 and can rotate around the mounting shaft 72 to realize opening or closing of the ejection type parachute cabin 2.
As shown in fig. 3, in the open state of the ejection type umbrella bin 2, the propeller stop rotary vane 4 stops the rotating propeller 9 to force the rotating propeller to stop rotating when being away from the propeller stop rod 403 at the end of the cylindrical mounting shaft 72; in the closed state of the ejection type umbrella bin 2, the umbrella bin locking device 6 locks the propeller stopping rotary blade 4 away from the end of the cylindrical mounting shaft 72.
The number of the screw stopping rotary blades 4 is multiple, and in the closed state of the ejection type umbrella bin 2, the screw stopping rotary blades 4 are spliced to form a cover plate of the ejection type umbrella bin 2, and the coverage area of the cover plate is an area surrounded by the shell connecting piece 7.
As shown in fig. 1 to 8, the number of the propeller stop rotating blades 4 is four, and the four propeller stop rotating blades 4 are identical in shape and are all triangular; in the closing state of the ejection type umbrella bin 2, the four screw propeller stop rotary blades 4 are spliced into a rectangular cover plate of the ejection type umbrella bin 2; the propeller blocking rod 403 is arranged on the inner surface of each propeller stop rotary vane 4 far away from the end of the cylindrical mounting shaft 72; the mounting bottom plate 8 is rectangular, and the four corners of the rectangle are provided with overhanging mounting plates; the number of the shell connecting pieces 7 is four, each shell connecting piece 7 comprises two mutually perpendicular cylindrical mounting shafts 72, a connecting block 71 is arranged at the joint of the two perpendicular mounting shafts 72, and torsion spring mounting shafts 73 are respectively arranged at the ends, far away from the connecting block 71, of the two perpendicular mounting shafts 72; the connection block 71 is detachably connected to the mounting plate of the mounting plate 8.
As shown in fig. 2, 5 and 6, an umbrella cabin locking piece 601 is arranged at the end, far away from the mounting shaft 72, of the outer surface of one propeller stop rotary blade 4 of the four propeller stop rotary blades 4; in the closed state of the ejection type umbrella bin 2, an umbrella bin locking piece 601 presses a rectangular ejection type umbrella bin 2 cover plate center area spliced by four screw stopping rotary pieces 4 from above; a locking hole 604 is fixedly connected to the propeller blocking rod 403 of the propeller stop rotary blade 4 with the umbrella bin locking blade 601; in the closed state of the ejection type parachute cabin 2, the locking holes 604 are matched with the locking pin keys 602 of the parachute cabin locking device 6, the locking pin keys 602 are driven by the motor 603, and the motor 603 is driven by the parachute main controller 1.
As shown in fig. 2, 3,5, 6, 7 and 9, two sleeves 405 are symmetrically and fixedly connected to the inner surface of each propeller stop rotary vane 4 away from the propeller blocking rod 403, and the two sleeves 405 are respectively sleeved on the cylindrical mounting shafts 72 of the two adjacent shell connecting pieces 7; the mutually approaching ends of the two sleeves 405 are respectively fixedly connected with a tile-shaped limiting piece 406; the position of the cylindrical mounting shaft 72 of the housing connecting piece 7 corresponding to the limiting piece 406 is provided with a limiting piece 402, and the limiting piece 406 after rotating a certain angle can be blocked by the limiting piece 402.
As shown in fig. 2, 3, 5, 6, 7 and 9, a torsion spring 401 is arranged between two limiting pieces 406 on the inner surface of the screw stopping rotary piece 4, and two torsion arms of the torsion spring 401 respectively contact the inner surface of the screw stopping rotary piece 4 and the upper surface of the mounting bottom plate 8; the torsion spring 401 is sleeved outside the torsion spring mounting shafts 73 of the adjacent two housing connectors 7.
As shown in fig. 2,3, 5 and 6, the device also comprises an onboard equipment power control module 5, wherein the onboard equipment power control module 5 is arranged on the upper surface of the mounting baseplate 8 and is connected with an electronic signal wire between the parachute main controller 1; the power control module 5 of the airborne equipment is electrically connected with the power input end 501 and the power output end 502, the power control module 5 is in communication connection with the parachute main controller 1, and the power of the airborne equipment is switched on or off by receiving an instruction of the parachute main controller 1.
As shown in fig. 2 and 5, the ejector type parachute kit 2 includes a lower parachute kit 201, an ejector blade 202, and a compression spring 203 under the ejector blade 202, and the parachute 3 is folded to be placed inside the ejector type parachute kit 2 and above the ejector blade 202.
As shown in fig. 7, the power input 501 and the power output 502 are respectively disposed in the connection blocks 71 of the two housing connectors 7 immediately adjacent to the on-board device power supply control module 5. The power input end 501 is connected with the power supply 10, and the power output end 502 is connected with the on-board electric equipment. The airborne electric equipment comprises an airborne searchlight 11, a cradle head camera 12 and an electronic speed regulator 13.
As shown in fig. 2, the screw stopping rotary blade 403 is covered with a buffer blade 404 having a hardness smaller than that of the screw 9 material.
The parachute main controller 1 is composed of a data processor, an attitude sensor, an air pressure sensor, a satellite positioning system, a power management system, a data recorder and a data transmission system. And judging the flight state of the unmanned aerial vehicle according to the posture, the position, the residual electric quantity and the working state of accessories of the unmanned aerial vehicle provided with the parachute device, and controlling all parts of the parachute. The control of parachute opening, propeller emergency stop, power supply of airborne equipment, flight data recording and flight state broadcasting functions of the parachute device in an emergency state is realized.
The ejection type parachute cabin 2 selects a compression spring as a parachute ejection power source, and is matched with a screw stopping rotary blade 4 with the function of a parachute cabin cover plate to realize a controlled parachute opening function. In the state to be triggered, the parachute 3 is folded and placed inside the parachute cabin 2, the ejection sheet 202 and the compression spring 203 which are placed below in advance are pressed downwards to store energy, and the four screw stopping rotary sheets 4 rotate inwards around the cylindrical mounting shaft 72 on the shell connecting piece 7 so that the lower parachute cabin 201 and the screw stopping rotary sheets 4 form a closed parachute cabin space.
After the triggering command is obtained, the screw propeller with the umbrella cabin cover plate function stops rotating the rotary blade 4 outwards to open the umbrella cabin. The folded parachute 3 is released, and the parachute cabin 2 is quickly ejected under the pushing of the lower compression spring 203, so that the parachute 3 is pushed away from the unmanned aerial vehicle and the rotating propeller 9 in a very short time along the direction right above the parachute cabin 2, the stability of the parachute opening moment is improved, and the parachute opening time is shortened.
The screw stopping rotary blade 4 has the function of the upper cover plate of the umbrella bin. As shown in fig. 1, in the state that the parachute is to be triggered, the four screw stopping rotary blades 4 are locked by the parachute cabin locking pieces 601 and the locking pin keys 602 installed in the parachute cabin locking devices 6 on the base, so that the closing of the parachute cabin is kept, and the normal rotation of the unmanned aerial vehicle screw 9 is not affected.
As shown in fig. 3, after the parachute is triggered, the screw stopping rotary blade 4 is turned over by a specific angle under the action of the torsion spring 401 and the limiting block 402, and the screw blocking rod 403 on the screw stopping rotary blade is positioned on the rotating path of the screw 9, so that the screw 9 out of control is prevented from continuously rotating, the influence of the screw 9 out of control on the normal work of the parachute is avoided, and the long-term working stability after the parachute is opened is improved. In order to prevent damage to the propeller 9 during sudden stops of the propeller 9, the propeller stop bar 403 is provided with a cushion 404 having a hardness lower than the hardness of the propeller material.
In the invention, the screw stopping rotary blade 4 has the function of the parachute cabin cover plate, and simultaneously has the functions of stopping the screw 9 and controlling the parachute 3 to open. The method for integrating the propeller control and the parachute opening control can rigidly couple the actions of the propeller control and the parachute opening control together, strongly couple the parachute opening function of the parachute 3 and the scram function of the propeller 9, enable the propeller control and the scram function to be in causality relationship with each other, and accord with the working principle that the parachute opening of the unmanned aerial vehicle parachute 3 is required to be Rowed of all and the parachute opening operation of the unmanned aerial vehicle parachute is required to be carried out Rowed of all. The system has the advantages of perfectly improving the safety and stability of the system operation, saving materials, simplifying the design, reducing the weight and the cost, and being suitable for large-scale application. .
The power supply control module of the airborne equipment is controlled by the parachute main controller 1 so as to realize the switching of the power supply closing and cutting off of the airborne equipment. As shown in fig. 7, the power input terminal 501 is connected to a power supply, and the power output terminal 502 is connected to unmanned aerial vehicle power type airborne devices such as an unmanned aerial vehicle electric power modulator (electronic speed regulator 13), a pan-tilt camera 12, and an airborne searchlight 11. Under the control of the parachute main controller 1, the power supply control module 5 can cut off the power supply of the power output end 502 after an accident occurs to the unmanned aerial vehicle. The power output 502 may be used to control the unmanned aerial vehicle motor, power to the electric motor, and thereby cooperate the screw to stop the rotor 4 and stop the screw rotation faster. The power output end 502 can also be used for controlling the power supply of other power type airborne equipment, so that the airborne equipment can be prevented from working in unstable environments in the process of parachute landing and after landing, and the occurrence of secondary disasters such as equipment damage or fire disaster and the like can be prevented.
The parachute kit locker 6 is composed of a parachute kit locking plate 601, a locking pin key 602, a motor 603 and a locking hole 604 connected to the locking plate 601, and plays a role in locking or unlocking the parachute kit 2 under the control of the parachute main controller 1. In the state that the parachute device is to be triggered, as shown in fig. 1, the four screw stopping rotary blades 4 are rotated inwards to be closed, and a locking pin key 602 installed in the parachute box locker 6 on the base falls into a locking hole 604 connected with the locking blade 601, and the locking blade controls the other three screw stopping rotary blades 4 to be in a closed state. So that the parachute compartment 2 is in a fully closed state, and the parachute 3 and the ejector blade 202 and the compression spring 203 thereunder are compressed in the parachute compartment 2.
In the working process to be triggered, the intelligent parachute in the invention is used for detecting the self gesture, the position, the health degree of key components and the risk of air collision of the unmanned aerial vehicle in real time by the main parachute controller 1. In case of encountering an event or foreseeing an impending event that jeopardizes the flight safety of the unmanned aerial vehicle, an electronic trigger signal is sent to the parachute cabin locker 6 by the parachute main controller 1, the motor 603 in the parachute cabin locker 6 is controlled to respond, and the locking pin key 602 is driven by the motor 603 to slide out of the locking hole 604.
In the parachute opening triggering state, the locking pin key 602 is driven by the motor 603 to slide out of the locking hole 604, and the four screw stopping rotary blades 4 with the function of the upper cover plate of the parachute cabin are rapidly rotated outwards under the action of the torsion spring 401 to open the parachute cabin. When the parachute compartment 2 is opened, the parachute 3 stored in the parachute compartment 2 is rapidly ejected from the inside of the parachute compartment 2 by the action of the lower compression spring 201 and released into the air as shown in fig. 4.
The limiting block 402 is used for matching with the torsion spring 401 to position the propeller blocking rod 403 on the rotating path of the propeller, and plays a role in adjusting the spatial position of the blocking rod 403. The limiting block 402 can be adjusted at will according to different spatial positions of the rotation center shafts of the propeller 9 and the propeller stop rotary vane 4 of the unmanned aerial vehicle, so that the unmanned aerial vehicle is suitable for various unmanned aerial vehicles with different propeller installation positions.
According to the invention, complete intellectualization of the unmanned aerial vehicle parachute is realized. Unmanned aerial vehicle parachutes in the market still need to be manually controlled to stop rotating the propeller after the parachute is opened, so that parachute failure is avoided. However, it is not possible for the operator to quickly determine the failure to respond after an unmanned accident, and in the event of an unmanned runaway, it is not actually possible to complete the propeller stall by manually controlling the unmanned. According to the invention, the emergency stop of the unmanned aerial vehicle propeller can be automatically realized after the unmanned aerial vehicle has faults and the parachute function is triggered by the methods of mechanical blocking and power supply control, so that the intelligent parachute system without human intervention is realized.
According to the invention, the unmanned aerial vehicle propeller stopping rotary vane and the parachute cabin part are fused together, so that the parachute release and the propeller stopping rotation are in causal relationship, and the occurrence of two events is tightly coupled together. Like this, the screw can scram rapidly after unmanned aerial vehicle parachute release, avoids the parachute to receive the influence of out of control screw. On the other hand, the parachute is released inevitably when the propeller is suddenly stopped, so that the fault that the propeller is stopped and the parachute is not unfolded is avoided. Thereby fundamentally eliminating potential safety hazards encountered by the unmanned aerial vehicle parachute at the current stage.
In the invention, the propeller scram can be realized by a mechanical blocking and power control method, so that the injury to the human body and property can be avoided. The unmanned aerial vehicle high-speed rotating propeller has considerable danger, and the danger and the injury to human bodies and properties can be further avoided through the intelligent control propeller scram device.
According to the invention, the safety of the airborne equipment is protected by a method of tightly coupling the unmanned aerial vehicle parachute function with the power supply of the unmanned aerial vehicle airborne equipment. Unmanned aerial vehicle airborne equipment is generally not suitable for working in an environment after unmanned aerial vehicle is out of control and fails. Even if the parachute enters a relatively flat state, abnormal functions are often caused by locked rotor, toppling, damp, foreign matters and collision, and secondary disasters such as self-damage, fire, explosion and the like often occur. And after triggering the parachute function, intelligently controlling the power supply of the unmanned aerial vehicle-mounted equipment. Can initiatively cut off the motor after unmanned aerial vehicle appears the accident, thereby the electricity is transferred to the electricity and is supplied power and stop the screw rotation faster, prevent that the electricity from transferring the burning out. The method can also avoid secondary disasters such as damage, fire, explosion and the like which can occur when some airborne equipment continues to work under non-ideal work, and further improves the working stability of the unmanned aerial vehicle system.
In the invention, the main functions comprise parachute opening protection, propeller scram protection and power supply control of airborne equipment. The parachute opening protection and the propeller scram protection are basic and necessary functions of tight coupling, and are used for realizing the efficient and stable unmanned aerial vehicle parachute landing risk avoiding function. The power supply control of the airborne equipment belongs to an additional airborne equipment protection function, plays a role in protecting the airborne equipment during and after parachute landing, and does not influence the main function when being selected or not, namely the intelligent parachute opening of the unmanned aerial vehicle parachute and the realization of the main function of the emergency stop of the propeller.
The invention and innovation of the protection function of the unmanned aerial vehicle parachute and the protection function of unmanned aerial vehicle-mounted equipment are integrated. Can make intelligent parachute device all realize perfect protection to unmanned aerial vehicle and airborne equipment thereof in parachute opening instant, parachute landing in-process, parachute landing in the back behind unmanned aerial vehicle encounters flight danger to the secondary incident that unmanned aerial vehicle flight incident and unmanned aerial vehicle promptly forced landing probably take place has been stopped.
In the invention, a propeller blocking rod 403 above a propeller stop rotating sheet 4 can be arranged on the inner surface of the propeller stop rotating sheet or on the outer surface, and an umbrella bin locking sheet 601 is omitted, so that the central area of a pattern formed by assembling a plurality of propeller stop rotating sheets 4 is fixed by an umbrella bin locker 6 (such as an electromagnet).
In the invention, the design is mainly used for the multi-rotor unmanned aerial vehicle. The method can also be applied to the emergency stop of the propellers of other fixed-wing unmanned aerial vehicles after parachute opening by modifying the installation direction and the size of the propeller stop rotary vane 4 and the upper Fang Luoxuan propeller blocking rod 403.
Example 2
The difference between this embodiment and embodiment 1 is that: as shown in fig. 10, the number of the screw stopping rotary blades 4 is three, and the cover plate of the ejection type umbrella bin 2 assembled by the three screw stopping rotary blades 4 is triangular, but not rectangular, and is applied to the three-rotor unmanned aerial vehicle.
Example 3
The difference between this embodiment and embodiment 1 is that: as shown in fig. 11, the number of the screw stopping rotary blades 4 is six, and the cover plate of the ejection type umbrella bin 2 assembled by the six screw stopping rotary blades 4 is hexagonal, rather than rectangular, and is applied to a six-rotor unmanned aerial vehicle.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification and equivalent changes to the above-mentioned embodiments according to the technical substance of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (13)
1. An unmanned aerial vehicle intelligent parachute device tightly coupled with a parachute opening device Rowed of all comprises a parachute main controller (1), an ejection type parachute cabin (2), a parachute (3) and a parachute cabin locker (6), wherein an electronic signal wire is connected between the parachute main controller (1) and the parachute cabin locker (6), the unmanned aerial vehicle intelligent parachute device is characterized by also comprising a propeller stop rotary blade (4) with a function of a parachute cabin cover plate,
The ejection type umbrella bin (2) is arranged on the upper surface of the installation base plate (8), the tail end of a parachute rope of the parachute (3) is connected with the installation base plate (8), a shell connecting piece (7) is arranged on the periphery of the upper surface of the installation base plate (8), a cylindrical installation shaft (72) is arranged on the shell connecting piece (7), and the screw stopping rotary blade (4) is sleeved on the cylindrical installation shaft (72) and can rotate around the installation shaft (72) to open or close the ejection type umbrella bin (2);
In the open state of the ejection type umbrella bin (2), a propeller blocking rod (403) of the propeller stopping rotary vane (4) at the end far away from the cylindrical installation shaft (72) blocks the rotating propeller (9) to force the rotating propeller to stop rotating; in the closed state of the ejection type umbrella bin (2), the umbrella bin locking device (6) locks the propeller stopping rotary vane (4) to be far away from the end of the cylindrical mounting shaft (72).
2. The intelligent parachute device of the unmanned aerial vehicle tightly coupled with the parachute opening device Rowed of all according to the claim 1, wherein the number of the screw stopping rotary blades (4) is a plurality, in the closed state of the ejection type parachute cabin (2), the plurality of screw stopping rotary blades (4) are spliced into a cover plate of the ejection type parachute cabin (2), and the coverage area of the cover plate is an area surrounded by a shell connecting piece (7).
3. The parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute device according to claim 2, wherein the number of the propeller stopping rotary blades (4) is four, and the four propeller stopping rotary blades (4) are identical in shape and are all triangular; in the closed state of the ejection type umbrella bin (2), the four screw stopping rotary blades (4) are spliced into a rectangular cover plate which is enough to cover the ejection type umbrella bin (2); the propeller blocking rods (403) are arranged at the ends, far away from the cylindrical mounting shafts (72), of the inner surfaces of the propeller stopping rotary blades (4);
the mounting bottom plate (8) is rectangular, and the four corners of the rectangle are provided with overhanging mounting plates; the number of the shell connecting pieces (7) is four, each shell connecting piece (7) comprises two mutually perpendicular cylindrical mounting shafts (72), connecting blocks (71) are arranged at the joint of the two perpendicular mounting shafts (72), and torsion spring mounting shafts (73) are respectively arranged at the ends, far away from the connecting blocks (71), of the two perpendicular mounting shafts (72); the connecting block (71) is detachably connected with the mounting plate of the mounting bottom plate (8).
4. A parachute opening and Rowed of all tightly coupled unmanned aerial vehicle intelligent parachute device according to claim 3, wherein the outer surface of one of the four propeller stop screw sheets (4) far away from the mounting shaft (72) end is provided with a parachute cabin locking sheet (601);
In the closed state of the ejection type umbrella bin (2), the umbrella bin locking piece (601) presses the cover plate center area of the rectangular ejection type umbrella bin (2) spliced by the four screw stopping rotary pieces (4) from the upper side;
A locking hole (604) is fixedly connected to a propeller blocking rod (403) of a propeller stop rotating sheet (4) with the umbrella bin locking sheet (601); in the closed state of the ejection type parachute cabin (2), the locking holes (604) are matched with locking pin keys (602) of the parachute cabin locker (6), the locking pin keys (602) are driven by a motor (603), and the motor (603) is driven by the parachute main controller (1).
5. The parachute opening and Rowed of all tight coupling type unmanned aerial vehicle intelligent parachute device according to any one of claims 3 to 4, wherein two sleeves (405) are symmetrically and fixedly connected to the inner surface of each propeller stop rotary vane (4) far away from the propeller blocking rod (403), and the two sleeves (405) are respectively sleeved on the cylindrical mounting shafts (72) of the two adjacent shell connecting pieces (7); the two sleeve (405) are fixedly connected with tile-shaped limiting pieces (406) at the mutually approaching ends respectively; a limiting block (402) is arranged at a position, corresponding to the limiting piece (406), of the cylindrical mounting shaft (72) of the shell connecting piece (7), and the limiting piece (406) after rotating for a certain angle can be blocked by the limiting block (402).
6. The intelligent parachute device of the unmanned aerial vehicle tightly coupled with the parachute opening device Rowed of all according to the claim 5 is characterized in that a torsion spring (401) is arranged between two limiting pieces (406) on the inner surface of the screw stopping rotary piece (4), and two torsion arms of the torsion spring (401) respectively contact the inner surface of the screw stopping rotary piece (4) and the upper surface of the installation base plate (8); the torsion spring (401) is sleeved outside the torsion spring mounting shafts (73) of the two adjacent shell connecting pieces (7).
7. A parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute device according to claim 3, further comprising an onboard equipment power supply control module (5), wherein the onboard equipment power supply control module (5) is installed on the upper surface of the installation base plate (8) and is connected with an electronic signal wire with the parachute main controller (1); the power supply control module (5) of the airborne equipment is connected in series between the power input end (501) and the power output end (502) by using wires, the power supply control module (5) is connected with the parachute main controller (1) in an electronic signal communication mode, and receives an instruction of the parachute main controller (1) to switch on or off the power supply of the airborne equipment.
8. The parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute apparatus according to claim 7, wherein the power input (501) and the power output (502) are respectively provided in connection blocks (71) of two housing connection pieces (7) adjacent to the on-board device power control module (5).
9. The intelligent parachute device of the unmanned aerial vehicle tightly coupled with the parachute opening device Rowed of all according to the claim 1, wherein the ejection type parachute cabin (2) comprises a lower parachute cabin (201), an ejection sheet (202) and a compression spring (203) below the ejection sheet (202), and the parachute (3) is placed inside the ejection type parachute cabin (2) after being folded and is located above the ejection sheet (202).
10. The parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute device according to claim 8, wherein the power input end (501) is connected with a power supply source (10), and the power output end (502) is connected with an on-board electric device.
11. The parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute device according to claim 10, wherein the on-board electric equipment comprises an on-board searchlight (11), a pan-tilt camera (12) and an electronic speed regulator (13).
12. The parachute opening and Rowed of all tight coupling type unmanned aerial vehicle intelligent parachute device according to claim 1, wherein the surface of the propeller stopping rotary vane (4) is coated with a buffer sheet (404) with hardness smaller than that of the propeller (9) material.
13. The parachute opening and Rowed of all tight coupling unmanned aerial vehicle intelligent parachute device according to claim 1, wherein the main parachute controller (1) comprises an internal data processor, an attitude sensor, a barometric pressure sensor, a satellite positioning system, a power management system, a data recorder, a data transmission system.
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