CN108313313A - Unmanned plane failure response system - Google Patents

Abstract

The present invention discloses a kind of unmanned plane failure response system, including gyroscope, propeller and power supply, further includes：Unmanned plane processor, electric power detection mechanism, state of flight testing agency, drop buffer, the electric power detection mechanism, state of flight testing agency are separately connected the test side group of unmanned plane processor, the control terminal of the unmanned plane processor connects drop buffer, the electric power detection mechanism is bi-directionally connected with power supply, the propeller state detection module is bi-directionally connected with propeller, and the flight bearing detection module is bi-directionally connected with gyroscope；The state of flight testing agency includes propeller state detection module, flight bearing detection module, air-flow detection module.Advantageous effect：Flying distance is arranged according to how much electricity calculates in real time, and the reply situation of different flight state corresponds to adjustment, improves the real work efficiency of unmanned plane and ensures safety；Meanwhile haulage gear enables parachute to open in time, prevents the awkward situation of landing buffering failure.

Description

UAV fault response system

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a fault response system for unmanned aerial vehicles.

Background technique

As a small aircraft, drones have become more and more widely used, but also because of their small size, drones often encounter flying difficulties when working at high altitudes. If the air flow is too fast and too large, the drone will lose control. Once out of control, it is often a crash and death; there are also some high-altitude garbage such as plastic bags, balloons, etc., which may entangle the propeller of the drone, making it difficult to fly the drone, and there will also be a crash; Bird strikes and other situations that may be encountered during the flight of drones, and once many situations occur, it is difficult for small drones to fly normally, or even crash directly.

However, in the existing technology, the response protection mechanism after the failure of the UAV is not yet mature, and the falling speed is often reduced by opening the parachute alone, which is difficult to deal with complex high-altitude situations and cannot respond in time. very limited.

Contents of the invention

The purpose of the present invention is to provide a fault response system for drones, which can respond to different flight faults and make a response strategy that suits the actual situation. It can fly to the maximum under the premise of ensuring the safety of the drone, and open and land in time when it is difficult to maintain the flight state. The buffer device protects the drone from falling.

In order to achieve the above object, the concrete technical scheme that the present invention adopts is as follows:

A UAV failure response system including gyroscopes, propellers and power supplies, further comprising:

The UAV processor selects a fault response strategy according to the fault of the UAV, and sends the fault response strategy to the corresponding agency to make the UAV land nearby or make an emergency landing;

The power detection mechanism detects in real time or periodically whether the remaining power of the UAV meets the flight plan, and sends the detection results to the UAV processor;

The flight state detection mechanism detects in real time whether the flight device of the UAV is faulty, whether the flight environment affects the UAV and makes it difficult to continue flying, and sends the detection situation to the UAV processor;

The flight state detection mechanism includes a propeller state detection module, a flight manner detection module, and an airflow detection module;

The landing buffer device is opened under the control of the drone's processor when an emergency grounding is required, so that the drone's fall can be buffered to prevent the drone from breaking;

The power detection mechanism and the flight state detection mechanism are respectively connected to the detection terminal group of the UAV processor, and the control terminal of the UAV processor is connected to the landing buffer device;

The power detection mechanism is bidirectionally connected to the power supply, the propeller state detection module is bidirectionally connected to the propeller, and the flight posture detection module is bidirectionally connected to the gyroscope.

Wherein, the failure response strategy includes: the maximum safe distance flight strategy, the nearest landing strategy and the failure emergency grounding strategy;

When the power of the UAV is too low and the flight condition is good, the UAV processor implements the maximum safe distance flight strategy, that is, calculates the farthest distance that the UAV can fly according to the established flight plan, so that the UAV can fly to the maximum distance. Landing after a long distance;

When the current power of the UAV cannot fly for a long distance or the slight failure of the flight device affects the normal flight, the UAV processor implements the nearest landing strategy, that is, selects the nearest safe landing place to make the UAV land nearby;

When the power of the UAV is exhausted or the flight of the UAV is out of control, the UAV processor adopts a failure emergency grounding strategy, that is, the landing buffer device is turned on and the propeller is stopped, so that the UAV decelerates and falls under the protection of the landing buffer device , to avoid breaking.

Through the above design, the coping strategies for low power and exhaustion of the UAV are different, and the actual work efficiency of the UAV is improved, and the corresponding flight strategies for the three situations of good flight status, slightly affected flight, and serious flight failure are also timely. Adjust to ensure the safe flight of the drone.

To further describe, the landing buffer device is arranged in a cavity at the top of the drone body, including a parachute folded and placed in the cavity, and the cavity is provided with a traction mechanism of the parachute, and the traction mechanism guides the umbrella body of the parachute Quickly open, the top of the cavity is provided with a cavity door, which is opened by the UAV processor.

The traditional landing buffer device is a parachute and an instantaneous burst of airflow, and the parachute is opened by the instant burst of airflow. However, these instant bursts of airflow often damage the body of the UAV, causing the body of the UAV to be destroyed by additional factors. The present invention is designed to tow the parachute open:

When the UAV needs to be grounded in an emergency, the UAV processor opens the cavity door, and the parachute in the cavity is pulled by the traction mechanism to quickly leave the cavity and open, and the UAV falls slowly under the control of the parachute to avoid falling from high altitude The impact force damages the drone.

To further describe, the traction mechanism is a claw fixed on the chamber door, and the claws of the claw hook the umbrella body of the parachute.

Through the above design, since the claw is fixedly connected with the chamber door, when the chamber door is opened under control, the claw naturally moves with the chamber door, and the claw hooks the parachute and pulls it out of the cavity, and the parachute is blown up by the airflow and stretched open. Successfully protect the drone from landing.

Furthermore, a small helium balloon is connected to the surface of the umbrella body of the parachute, and the small helium balloon is clamped by the claws.

Through the above-mentioned design, the chamber door is opened, the claws hold the small helium balloon to move, and the small helium balloon is lifted up by the buoyancy force, and the implicated parachute is naturally pulled out of the chamber to achieve the purpose of landing buffer protection.

To further describe, the traction mechanism is a traction balloon, and the traction balloon is filled with gas with a density lower than that of air;

The traction balloon is connected to the umbrella body of the parachute.

Through the above design, the hook claw of the traction mechanism can be directly replaced with a traction balloon. Once the cavity door is opened, the traction balloon will rise directly and pull the parachute, so that the parachute will be opened in time to protect the drone from landing.

To further describe, one side of the cavity door is hinged to the cavity, and the other side is the opening and closing side to fit the cavity;

Among them, the hinged side is connected to the cavity through a torsion spring, and the opening and closing side is locked by the locking mechanism of the cavity. The locking mechanism is connected to the UAV processor and is controlled by the UAV processor to unlock.

Through the above design, when the UAV does not need to land in an emergency, the chamber door is locked and closed by the lock mechanism, and when the UAV processor controls the lock mechanism to be opened when the UAV lands in an emergency, the chamber door rotates around the hinged side to open due to the torsion of the torsion spring .

Furthermore, the locking mechanism is a twisted latch, and the twisted latch blocks the opening and closing side of the chamber door.

To further describe, the traction mechanism is two smooth protrusions arranged on the outer surface of the top of the cavity, and the chamber door is located between the two protrusions.

Through the above design, the airflow flows upwards along the smooth protrusions, and a low-pressure area is formed between the two protrusions. When the chamber door is opened under control, a pressure difference is formed inside and outside the chamber door, and the parachute is pulled out of the chamber by the pressure difference, and then The airflow blows out and props open.

Further described, the edge of the cavity door fits the cavity;

The side wall or bottom of the cavity is also provided with an air hole, and the air hole has a valve, and the valve is connected to the UAV processor and opened under the control of the UAV processor.

Through the above design, when the valve is closed, the air pressure difference inside and outside the chamber door is not enough to blow open the chamber door, but when the valve is opened, the airflow enters the cavity from the air hole, and a large air pressure difference is formed inside and outside the cavity, and the air pressure difference will only be for bonding The cavity door of the parachute is blown open, and the parachute is also blown out of the cavity and stretched, so that the design of purely mechanical structure can simplify the mechanism for controlling the opening and closing of the cavity door.

Beneficial effects of the present invention: the flight distance is calculated and arranged in real time according to the amount of electricity, and the response to different flight states is adjusted accordingly, improving the actual working efficiency of the drone and ensuring safety; at the same time, the traction mechanism enables the parachute to be opened in time to prevent landing buffering The embarrassing situation of failure.

Description of drawings

Fig. 1 is the structural block diagram of embodiment

Fig. 2 is the structural representation of embodiment one

Fig. 3 is a partial schematic view of the cavity of the first embodiment

Fig. 4 is a schematic diagram of the state of opening the chamber door in Embodiment 1

Fig. 5 is a schematic diagram of the open state of the parachute in embodiment one

Fig. 6 is the structural representation of embodiment two

Fig. 7 is the local schematic diagram of embodiment two cavity

Fig. 8 is a schematic diagram of the state of opening the chamber door in the second embodiment

Fig. 9 is a schematic diagram of the open state of the parachute of the second embodiment

Fig. 10 is the structural representation of embodiment three

Figure 11 is a partial schematic view of the three cavities of the embodiment

Fig. 12 is a schematic diagram of the state of opening the chamber door in the third embodiment

Fig. 13 is a schematic diagram of the open state of the parachute in embodiment three

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

As shown in Figure 1, a UAV fault response system includes gyroscopes, propellers and power supplies, and also includes:

The UAV processor selects a fault response strategy according to the fault of the UAV, and sends the fault response strategy to the corresponding agency to make the UAV land nearby or make an emergency landing;

The power detection mechanism detects in real time or periodically whether the remaining power of the UAV meets the flight plan, and sends the detection results to the UAV processor;

The flight state detection mechanism detects in real time whether the flight device of the UAV is faulty, whether the flight environment affects the UAV and makes it difficult to continue flying, and sends the detection situation to the UAV processor;

The flight state detection mechanism includes a propeller state detection module, a flight manner detection module, and an airflow detection module;

The landing buffer device is opened under the control of the drone's processor when an emergency grounding is required, so that the drone's fall can be buffered to prevent the drone from breaking;

The power detection mechanism and the flight state detection mechanism are respectively connected to the detection terminal group of the UAV processor, and the control terminal of the UAV processor is connected to the landing buffer device;

The power detection mechanism is bidirectionally connected to the power supply, the propeller state detection module is bidirectionally connected to the propeller, and the flight posture detection module is bidirectionally connected to the gyroscope.

As shown in Figure 2, the landing buffer device is arranged in a cavity 1 on the top of the unmanned body, including a parachute 2 folded and placed in the cavity 1, and the cavity 1 is provided with a traction mechanism 3 of the parachute 2, The traction mechanism 3 guides the umbrella body of the parachute 2 to open quickly, and a door 4 is arranged on the top of the cavity 1, and the door 4 is opened under the control of the UAV processor.

As shown in Figure 3, one side of the chamber door 4 is hinged to the chamber 1, and the other side is the opening and closing side to fit the chamber 1;

Among them, the hinged side is connected to the cavity 1 via a torsion spring 11, and the opening and closing side is locked by the locking mechanism 12 of the cavity 1. The locking mechanism 12 is connected to the UAV processor and is controlled by the UAV processor to unlock.

Preferably, the locking mechanism 12 is a twisted latch, and the twisted latch blocks the opening and closing side of the chamber door 4 .

As shown in FIG. 2 , as a preference, the traction mechanism 3 in the first embodiment is a claw 31 fixed on the chamber door 4 , and the claws of the claw 31 hook the umbrella body of the parachute 2 .

As shown in Figures 4 and 5, since the hook 31 is fixedly connected to the chamber door 4, when the chamber door 4 is opened under control, the hook 31 naturally moves with the chamber door 4, and the hook 31 catches the parachute 2 and pulls it out of the chamber. body 1, then the parachute 2 is blown up by the airflow and stretched to protect the UAV from landing smoothly.

Preferably, a small helium balloon 21 can be connected to the surface of the umbrella body of the parachute 2 , and the small helium balloon 21 is clamped by the claws 31 .

As shown in Fig. 6 and Fig. 7, as a preference, the traction mechanism 3 described in the second embodiment is a traction balloon 32, and the traction balloon 32 is filled with gas with a density lower than that of air;

The traction balloon 32 is connected to the umbrella body of the parachute 2 .

As shown in Figure 8 and Figure 9, once the cavity door is opened, the traction balloon will rise directly and pull the parachute, so that the parachute will be opened in time to protect the UAV from landing.

As shown in FIG. 10 , preferably, the traction mechanism 3 in the third embodiment is two smooth protrusions 33 provided on the top outer surface of the cavity 1 , and the chamber door 4 is located between the two protrusions 33 .

As shown in FIG. 11 , the edge of the cavity door 4 is attached to the cavity body 1;

The side wall or bottom of the cavity 1 is also provided with an air hole 13, and the air hole 13 has a valve, and the valve is connected to the UAV processor and opened under the control of the UAV processor.

As shown in Figure 12 and Figure 13, when the valve is closed, the air pressure difference inside and outside the cavity door is not enough to blow open the cavity door, but when the valve is opened, the airflow enters the cavity from the air hole, and a large pressure difference is formed inside and outside the cavity, and the air pressure difference Blow open only the cavity door that fits, and the parachute will also blow out the cavity and stretch out thereupon.

It should be noted that the above three embodiments are only several preferred implementation modes, and the present invention is not limited to these three implementation modes, and may also be cross-combinations of specific embodiments, or other embodiments not disclosed by the above embodiments. However, it is an implementation method that conforms to the scope of protection of rights.

Claims (9)

1. A UAV failure response system, comprising gyroscope, propeller and power supply, is characterized in that it also includes: The UAV processor selects a fault response strategy according to the fault of the UAV, and sends the fault response strategy to the corresponding agency to make the UAV land nearby or make an emergency landing; The power detection mechanism detects in real time or periodically whether the remaining power of the UAV meets the flight plan, and sends the detection results to the UAV processor; The flight state detection mechanism detects in real time whether the flight device of the UAV is faulty, whether the flight environment affects the UAV and makes it difficult to continue flying, and sends the detection situation to the UAV processor; The flight state detection mechanism includes a propeller state detection module, a flight manner detection module, and an airflow detection module; The landing buffer device is opened under the control of the drone's processor when an emergency grounding is required, so that the drone's fall can be buffered to prevent the drone from breaking; The power detection mechanism and the flight state detection mechanism are respectively connected to the detection terminal group of the UAV processor, and the control terminal of the UAV processor is connected to the landing buffer device; The power detection mechanism is bidirectionally connected to the power supply, the propeller state detection module is bidirectionally connected to the propeller, and the flight posture detection module is bidirectionally connected to the gyroscope. 2. The UAV fault response system according to claim 1, characterized in that: the landing buffer device is arranged in the cavity (1) on the top of the drone body, including being folded and placed in the cavity (1) The parachute (2), the cavity (1) is provided with the traction mechanism (3) of the parachute (2), and the traction mechanism (3) guides the umbrella body of the parachute (2) to open quickly, and the cavity ( 1) A chamber door (4) is provided on the top, and the chamber door (4) is opened under the control of the UAV processor. 3. The UAV fault response system according to claim 2, characterized in that: the traction mechanism (3) is a hook (31) fixed on the chamber door (4), and the hook (31) The claw portion hooks the umbrella body of the parachute (2). 4. UAV fault response system according to claim 3, is characterized in that: the umbrella body surface of described parachute (2) is connected with a small-sized helium balloon (21), and described small-sized helium balloon (21) is connected by hook Claw (31) clamps. 5. UAV fault response system according to claim 2, is characterized in that: described traction mechanism (3) is traction balloon (32), is filled with the gas of density less than air in described traction balloon (32); The traction balloon (32) is connected to the umbrella body of the parachute (2). 6. According to the UAV fault response system described in any one of rights 2-5, it is characterized in that: one side of the chamber door (4) is hinged to the chamber (1), and the other side is The opening and closing side is attached to the cavity (1); Among them, the hinged side is connected to the cavity (1) via a torsion spring (11), and the opening and closing side is locked by the locking mechanism (12) of the cavity (1), and the locking mechanism (12) is connected to the UAV processor. And it is controlled by the UAV processor to unlock. 7. The UAV fault response system according to claim 6, characterized in that: the locking mechanism (12) is a twisted latch, and the twisted latch blocks the opening and closing side of the chamber door (4). 8. The UAV fault response system according to claim 2, characterized in that: the traction mechanism (3) is two smooth protrusions (33) arranged on the top outer surface of the cavity (1), the The chamber door (4) is located between the two protrusions (33). 9. The UAV fault response system according to claim 8, characterized in that: the edge of the cavity door (4) is attached to the cavity (1); The side wall or bottom of the cavity (1) is also provided with an air hole (13), and the air hole (13) has a valve, and the valve is connected to the UAV processor and opened under the control of the UAV processor.