CN115320867A - An airbag type unmanned aerial vehicle fall protection device - Google Patents

Abstract

The invention relates to an airbag type unmanned aerial vehicle fall protection device, which is suitable for a quadrotor unmanned aerial vehicle. The protection device includes a cross protection frame, a control system and an air bag system; the cross protection frame includes four protection arms; each protection arm is provided with a gas cylinder compartment along its axis direction for accommodating gas cylinders; the control system includes a steering gear, Cross control frame and rectangular slider; cross control frame includes four rocker arms; air bag system includes air bag, air cylinder and inflation spring. The present invention wraps the main body of the drone in all directions through the rapidly inflating airbag when the drone falls, and relies on the airbag for multiple buffers when the drone falls to the ground, thereby reducing the possibility and degree of damage to the main body of the drone. Relying on the airbag to float in the water to avoid the equipment being immersed in water, it can be reused by replacing the air bottle and folding the airbag.

Description

An airbag type UAV fall protection device

technical field

The invention relates to the technical field of UAV equipment, in particular to an airbag-type UAV fall protection device.

Background technique

With the advancement of UAV technology and the expansion of application scope in recent years, UAVs are widely used in military and civilian fields, but UAVs are easily affected by external factors during flight and may fail or even crash. damage, which may result in personal injury.

At present, there are three types of solutions for UAV fall protection: improving the stability of the flight control system, adding parachutes and designing UAVs with shock-absorbing brackets or airbag structures, but improving the flight control system cannot reduce the huge damage caused by accidental falls. Loss, the addition of a parachute cannot keep the landing safe and stable in harsh environments or below the minimum parachute opening height. The design of UAVs with protective components has model limitations and high design and manufacturing costs, and none of the above solutions are available in water areas. The ability to land safely does not take into account safety, stability, versatility, and economy. It lacks practical scenarios and has obvious defects.

Contents of the invention

In view of the above technical problems, the object of the present invention is to provide an airbag-type UAV fall protection device. When the UAV falls, the rapidly inflated airbag wraps the UAV body in all directions. When the UAV falls to the ground, Rely on airbags for multiple buffers to reduce the possibility and degree of damage to the main body of the drone. When falling into waters, rely on airbags to float to avoid equipment immersion in water. It can be reused by replacing gas cylinders and folding airbags.

In order to achieve the above object, the present invention provides the following technical solutions:

An airbag-type UAV fall protection device is suitable for a quadrotor UAV, and the protection device includes a cross protection frame 1 , a control system 2 and an airbag system 3 .

The cross protection frame 1 includes four protective arms 11; the middle part of the upper surface of the cross protection frame 1 is detachably installed on the bottom of the drone through a connection mechanism 12, and each protection arm 11 of the cross protection frame 1 is located on the quadrotor. The angle bisector between two adjacent rotors of the UAV.

Each protective arm 11 is provided with a gas cylinder compartment 13 for accommodating the gas cylinder along its axial direction, and the end of the gas cylinder compartment 13 is provided with an airbag connection port 15 with a threaded structure at the end of the protective arm 11; the protective arm 11 A rectangular chute 14 perpendicular to the axial direction of the protective arm 11 is provided at a portion close to the airbag connection port 15 .

The control system 2 includes a steering gear 21, a cross control frame 22 and a rectangular slider 25; The center is vertically fixed; the cross control frame 22 includes four rocker arms 24; the end of each rocker arm 24 is provided with a connecting groove 23 along its axial direction; Block 25.

One end of the rectangular slider 25 is provided with a connecting shaft 27 perpendicular to the rocking arm 24, and the connecting shaft 27 is located in the connecting groove 23 of the rocking arm 24; One part is provided with release port 28, and the diameter of described release port 28 is equal to the diameter of air bag connection port 15; The part of 1/2 that is far away from connecting shaft 27 of described rectangular slide block 25 is sealing part, and this sealing part The gas cylinder compartment 13 and the airbag connection port 15 can be isolated.

The airbag system 3 includes an airbag 31, a gas cylinder 33 and an inflatable spring 34; the gas cylinder 33 and the inflatable spring 34 are located in the gas cylinder compartment 13 of the protective arm 11, and the mouth of the gas cylinder 33 faces the airbag connection port 15 , the inflatable spring 34 is located between the bottom of the gas cylinder 33 and the bottom wall of the gas cylinder compartment 13 , and is used to push the gas cylinder 33 toward the airbag connection port 15 .

The airbag 31 has a cylindrical air nozzle 32, the airbag 31 partially wraps the air nozzle 32, and divides the air nozzle 32 into an outer air nozzle part 321 for connecting with the airbag connection port 15 and the bottle mouth of the gas cylinder 33 And the inner air nozzle portion 322 that can accommodate the air bag 31; the air nozzle 32 is provided with an air inlet 323 along the axial direction, and the air inlet 323 includes an outer air inlet and an inner air inlet; the outer air nozzle portion The outer surface of 321 is connected with the airbag connection port 15 of the protective arm 11 through a threaded structure. The outer gas nozzle part 321 is a cock shape corresponding to the shape of the bottle mouth of the gas cylinder 33, and the outer air inlet is provided with a needle towards the bottle mouth of the gas cylinder 33 along the axial direction of the gas nozzle 32, for The sealing film of the bottleneck of the gas cylinder 33 is smashed, so that the gas cylinder 33 releases gas to the air inlet 323 quickly, and then the airbag 31 is inflated.

An air valve spring 324 and a steel ball 325 are sequentially arranged in the air inlet channel 323 of the air nozzle 32 from inside to outside, so that the air nozzle 32 forms a one-way air valve structure.

The inner air nozzle portion 322 is provided with a cavity for receiving the airbag 31 , and the airbag 31 can be folded and partially inserted into the cavity when it is not inflated.

The airbag 31 has good elasticity, and the airbag 31 is inflated into a crescent shape, and the air nozzle 32 is located in the middle of the crescent-shaped airbag; after the four airbags 31 are fully opened, two adjacent airbags 31 are in contact with each other, and the main body of the drone is completely wrapped up in it.

Described connection mechanism 12 is set as nylon hook and loop, and the hook surface of nylon hook and loop is arranged on the upper surface middle part of cross protection frame 1, and the rough surface of nylon hook and loop is arranged on the bottom of drone, and the hook surface of nylon hook and loop and The rough surface connects the protection device with the drone.

Both ends of the rectangular slider 25 are provided with limit blocks to prevent the rectangular slider 25 from breaking away from the rectangular chute 14 during the sliding process.

The protective arm 11 is provided with at least one pin hole 16 at the mouth of the gas cylinder 33, and a detachable safety pin 26 is arranged in the pin hole 16, and the safety pin 26 is removed from the pin of the protective arm 11. The hole 16 is inserted into the gas cylinder compartment 13 for further limiting installation of the gas cylinder, preventing the rectangular slider 25 from accidentally sliding and opening the airbag system when the control system 2 is in a non-working state.

The safety pin 26 is U-shaped and inserted into the two pin holes 16 of the protection arm 11 .

The gas cylinder 33 is a steel cylinder filled with liquid carbon dioxide. The body of the cylinder is a cylinder, the bottom of the cylinder is a hemisphere, and the mouth of the cylinder is sealed by welding thin steel sheets.

The fixing points connected with the edge of the outer air inlet around the needle divide the outer air inlet evenly.

When the airbag system 3 is working, the gas from the gas cylinder 33 pushes the steel ball 325 to compress the valve spring 324, and the gas enters the airbag 31 from the air inlet 323 of the one-way valve structure, and the airbag 31 is continuously inflated and expanded, and the internal pressure gradually increases. Large, when the pressure of the gas from the gas cylinder 33 on the steel ball 325 is less than the pressure of the air valve spring 324 and the gas in the air bag 31, the steel ball 325 seals the air inlet 323 again, and the air bag 31 no longer enters the air, and the one-way air valve structure prevents The gas in the airbag 31 leaks out in a large amount in a short time, and the basic shape of the airbag 31 is maintained.

The middle part of the cross control frame 22 is provided with a battery compartment and a control compartment for accommodating a main control board, a single-chip microcomputer and an atmospheric pressure sensing module;

The main control board is connected with the steering gear 21, and the single-chip microcomputer is connected with the main control board, the atmospheric pressure sensing module and the drone remote controller respectively; Man-machine falling speed, when the falling speed exceeds the set value, the main control board sends a working command to the steering gear 21, or the single-chip microcomputer sends a control signal to the steering gear 21 through the main control board according to the airbag opening channel control signal of the remote control of the drone. work order.

The battery compartment contains a lithium battery, which can provide different voltages to supply power to the steering gear 21 and the single-chip microcomputer in the control compartment respectively; the model of the single-chip microcomputer is MEGA2560.

Compared with prior art, the beneficial effect of the present invention is:

1. The airbag system is provided. The movement of the gas cylinder against the nozzle can release the gas faster and fill the airbag. The almost fully wrapped airbag can ensure the safety of the ground personnel during the whole fall process, and at the same time protect the main structure of the drone. Reduce the possibility and degree of damage to the main body of the drone.

2. A control system is provided, which is set with automatic mode and non-automatic mode (manual mode). When the drone takes off, select the mode. In the automatic mode, the control cabin independently judges whether it is in a falling state. In the falling state, the main control board Control the steering gear to turn the rocker arm, open all airbags at the same time stably, and open the airbags manually in non-automatic mode.

3. The device itself has high versatility. It is installed through the connecting mechanism and is suitable for installation on most drones with installation space. The device itself is light and simple, the installation process is simple and easy to operate, and it is easy to change the binding.

4. The gas cylinder used is a one-time economical item, and the repeated use of the device only needs to replace the gas cylinder and fold the airbag. The disassembly and assembly process of the airbag system is simple and convenient.

5. The airbag used is crescent-shaped after being inflated, and the air inlet is equipped with a one-way air valve, which has good elasticity after being inflated, ensuring that the airbag can almost completely wrap the drone body after inflating, and will not easily leak air. When the drone falls to the ground, it can rely on the elastic force of the airbag to bounce multiple times, effectively reducing the impact of the fall on the main body of the drone and the impacted object, and has better safety; when the drone falls to a tree branch, etc. It will avoid being caught, easy to roll off the ground, and easy to recover; when the drone falls into the water, it can rely on the buoyancy provided by the airbag to float on the water for a long time, avoiding the drone and equipment from being immersed in water, and has good water resistance.

6. The control system of the sliding block and safety pin is equipped with double insurance to prevent the device from opening the airbag in the non-working state.

In summary, the present invention can take into account safety, stability, versatility, economy, waterproof and practicality, and can effectively protect people and machines.

Description of drawings

Fig. 1 is the structural representation of airbag type unmanned aerial vehicle fall protection device of the present invention;

Fig. 2 is the schematic structural view of the airbag type unmanned aerial vehicle fall protection device of the present invention installed on the quadrotor unmanned aerial vehicle;

Fig. 3 is a schematic structural view of the cross protection frame 1;

Figure 4a is a schematic diagram of the assembly structure of the cross protection frame 1 and the control system 2;

Fig. 4b is the A-A direction sectional view of Fig. 4a;

Fig. 5 is the structural representation of rectangular slider 25;

FIG. 6 is a schematic cross-sectional structural view of the airbag system 3 assembled on the protective arm 11;

Fig. 7 is a schematic diagram of the state when the airbag 31 is filled with gas;

Fig. 8 is a schematic diagram of the airbag opening state of the airbag-type UAV fall protection device of the present invention.

The reference signs therein are:

1. Cross protection frame

11. Protection arm 12. Connection mechanism

13. Gas cylinder compartment 14. Rectangular chute

15. Airbag connection port 16. Pin hole

2. Control system

21. Steering gear 22. Cross control frame

23. Connection groove 24. Rocker arm

25. Rectangular slider 26. Insurance pin

27. Connecting shaft 28. Release port

3. Airbag system 31. Airbag

32. Air nozzle

321. Outer air nozzle 322. Inner air nozzle

323. Intake channel 324. Air valve spring

325: steel ball

33. Gas cylinder 34. Inflatable spring

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in FIG. 1 and FIG. 2 , an airbag-type UAV fall protection device is suitable for a quadrotor UAV. The protection device includes a cross protection frame 1 , a control system 2 and an airbag system 3 .

As shown in Figure 3, the cross protection frame 1 includes four protective arms 11; the middle part of the upper surface of the cross protection frame 1 is detachably installed on the bottom of the drone through the connection mechanism 12, and each protection arm of the cross protection frame 1 The arms 11 are all located on the bisector of the angle between two adjacent rotors of the quadrotor UAV.

In one embodiment of the present invention, the connecting mechanism 12 is set as a nylon Velcro, the hook surface of the nylon Velcro is set in the middle of the upper surface of the cross protection frame 1, and the rough surface of the nylon Velcro is set on the upper surface of the drone. At the bottom, the hook surface and the wool surface of the nylon Velcro stick together to connect the protection device and the drone.

Each protective arm 11 is provided with a gas cylinder compartment 13 for accommodating the gas cylinder along its axial direction, and the end of the gas cylinder compartment 13 is provided with an airbag connection port 15 with a threaded structure at the end of the protective arm 11; the protective arm 11 A rectangular chute 14 perpendicular to the axial direction of the protective arm 11 is provided at a portion close to the airbag connection port 15 .

As shown in Figure 4a, the control system 2 includes a steering gear 21, a cross control frame 22 and a rectangular slider 25; the steering gear 21 is vertically fixed at the center of the cross protection frame 1, and the power output shaft of the steering gear 21 It is vertically fixed to the center of the cross control frame 22; the cross control frame 22 includes four rocker arms 24; the end of each rocker arm 24 is provided with a connecting groove 23 along its axis direction. A rectangular sliding block 25 is provided in the rectangular sliding slot 14 of each protection arm 11 .

As shown in Figure 5, one end of the rectangular slider 25 is provided with a connecting shaft 27 perpendicular to the rocker arm 24, and the connecting shaft 27 is located in the connecting groove 23 of the rocker arm 24; One-half part of the shaft 27 is provided with a release port 28, and the diameter of the release port 28 is equal to the diameter of the airbag connection port 15; the one-half part of the rectangular slider 25 away from the connection shaft 27 is A closing part, the closing part can isolate the gas cylinder chamber 13 from the air bag connecting port 15 .

Preferably, both ends of the rectangular slider 25 are provided with limit blocks to prevent the rectangular slider 25 from breaking away from the rectangular chute 14 during the sliding process.

As shown in Figure 6, the air bag system 3 includes an air bag 31, a gas cylinder 33 and an inflatable spring 34; The mouth is toward the airbag connection port 15, and the inflatable spring 34 is located between the bottom of the gas bottle 33 and the bottom wall of the gas bottle compartment 13, and is used to push the gas bottle 33 toward the air bag connection port 15.

The airbag 31 has a cylindrical air nozzle 32, the airbag 31 partially wraps the air nozzle 32, and divides the air nozzle 32 into an outer air nozzle part 321 for connecting with the airbag connection port 15 and the bottle mouth of the gas cylinder 33 And the inner air nozzle portion 322 that can accommodate the air bag 31; the air nozzle 32 is provided with an air inlet 323 along the axial direction, and the air inlet 323 includes an outer air inlet and an inner air inlet; the outer air nozzle portion The outer surface of 321 is connected with the air bag connection port 15 of the protective arm 11 through a threaded structure; the outer air nozzle 321 is a cock shape corresponding to the shape of the bottle mouth of the gas cylinder 33, and the outer air inlet is along the air nozzle. The axial direction of 32 is provided with the needle towards the bottleneck of gas cylinder 33, is used for breaking the sealing film of the bottleneck of gas cylinder 33, makes gas cylinder 33 release gas to air inlet 323 rapidly, and then air bag 31 is inflated. The fixing points connected with the edge of the outer air inlet around the needle divide the outer air inlet evenly.

An air valve spring 324 and a steel ball 325 are sequentially arranged in the air inlet channel 323 of the air nozzle 32 from inside to outside, so that the air nozzle 32 forms a one-way air valve structure.

The inner air nozzle portion 322 is provided with a cavity for receiving the airbag 31 , and the airbag 31 can be folded and partially inserted into the cavity when it is not inflated.

Preferably, at least one pin hole 16 is provided at the mouth of the gas cylinder 33 on the protective arm 11, and a detachable safety pin 26 is arranged in the pin hole 16, and the safety pin 26 is removed from the protective arm. The pin hole 16 of 11 is inserted in the gas cylinder compartment 13, is used for further limit installation gas cylinder, prevents that rectangular slide block 25 slides accidentally and opens air bag system under control system 2 non-working state.

Preferably, as shown in FIG. 4 b , the safety pin 26 is in a “U” shape and inserted into the two pin holes 16 of the protection arm 11 .

Preferably, the gas cylinder 33 is a liquid carbon dioxide steel cylinder with a cylindrical body and a hemispherical bottom. The mouth of the cylinder is sealed with a welded thin steel sheet, which can release carbon dioxide quickly after hitting the needle of the gas nozzle.

As shown in Figure 7, described air bag 31 has better elasticity, and air bag 31 inflates and expands into crescent shape, and air nozzle 32 is positioned at the middle part of crescent-shaped air bag; As shown in Figure 8, after four air bags 31 are fully opened, adjacent The two airbags 31 are in contact with each other, completely wrapping the main body of the drone therein.

Preferably, the inflation spring 34 is a cylindrical compression spring, which can compress the gas cylinder 33 when the airbag system 3 is in a non-working state, and can release the stored elastic potential to make the gas cylinder 33 collide with the gas nozzle 32 and break when the airbag system 3 is in operation. The thin steel sheet at the mouth of the gas cylinder 33 releases the gas; the outer diameter of the inflatable spring 34 cooperates with the gas cylinder chamber 13 of the protective arm 11 to ensure that the four gas cylinders are basically in the same state when they are working.

Preferably, the air valve spring 324 is a cylindrical compression spring, the outer diameter of the air valve spring 324 is in clearance fit with the air inlet passage 323, and the diameter of the steel ball 325 is the same as the outer diameter of the air valve spring 324; Spring 324, steel ball 325 and air inlet passage 323 form one-way air valve structure, and air valve spring 324 natural length is sufficient, can provide certain pressure extrusion steel ball 325 and seal air inlet passage 323; When described airbag system 3 works, from The gas in the gas cylinder 33 pushes the steel ball 325 to compress the gas valve spring 324, and the gas enters the airbag 31 from the air inlet 323 of the one-way valve structure, and the airbag 31 is continuously inflated, and the internal pressure gradually increases. When the pressure of the steel ball 325 is less than the pressure of the air valve spring 324 and the gas in the air bag 31, the steel ball 325 seals the air inlet 323 again, and the air bag 31 no longer enters the air. The basic shape of the airbag 31 is maintained.

Preferably, the middle part of the cross control frame 22 is provided with a battery compartment and a control compartment for accommodating a main control board, a single chip microcomputer (MCU) and an atmospheric pressure sensing module.

The main control board is connected with the steering gear 21, and the single-chip microcomputer (MCU) is connected with the main control board, the atmospheric pressure sensing module and the drone remote controller respectively; the single-chip microcomputer collects signals according to the atmospheric pressure sensing module, combined with its own clock signal Convert the falling speed of the UAV. When the falling speed exceeds the set value, the main control board sends a working command to the steering gear 21, or the single-chip microcomputer sends the control signal to the rudder through the main control board according to the airbag opening channel control signal of the remote control of the UAV. The machine 21 issues a work order.

Preferably, the battery compartment contains a lithium battery, which can provide different voltages to supply power to the steering gear 21 and the single-chip microcomputer in the control compartment, so as to ensure long-term stable use of the equipment.

Preferably, the model of the single-chip microcomputer (MCU) is MEGA2560.

Working process of the present invention is as follows:

The airbag type unmanned aerial vehicle fall protection device of the present invention is installed on the bottom of the four-rotor UAV by the connection mechanism 12 on the upper surface of the cross protection frame 1, and each protection arm 11 of the cross protection frame 1 is located at the bottom of the four-rotor wing. The angle bisector between the two adjacent rotors of man-machine;

The quadrotor UAV performs flight operations in the air; the automatic protection mode and the manual protection mode of the airbag UAV fall protection device are selected through the band switch of the UAV remote control.

In the automatic protection mode, the single-chip microcomputer (MCU) reads the signal of the atmospheric pressure sensor module every 0.5 seconds, and converts the falling speed in combination with its own clock signal. When the falling speed exceeds the set value, it sends a work command to the steering gear 21 through the main control board.

In the manual protection mode, the operator manually controls the airbag channel switch on the remote controller of the drone, and the single-chip microcomputer (MCU) sends a work instruction to the steering gear 21 through the main control board after receiving the control signal.

The steering gear 21 drives the cross control frame 22 to rotate, and then drives the rectangular slider 25 to slide in the rectangular chute 14. When the release port 28 of the rectangular slider 25 coincides with the airbag connection port 15, the inflatable spring 34 releases the elastic potential energy to push the gas cylinder 33 hits the gas nozzle 32, the bottle mouth of the gas cylinder 33 is broken by the needle at the outer air inlet, a large amount of high-pressure carbon dioxide gas pushes the steel ball 325 in the air inlet 323 to compress the gas valve spring 324, and opens the one-way gas valve structure, The huge pressure difference causes the airbag 31 to quickly inflate into a crescent shape. When the gas pressure from the gas cylinder 33 is not enough to keep the one-way valve open, the steel ball 325 is pushed by the valve spring 324 to close the air inlet 323, and the airbag 31 Keeping the current shape, the four airbags 31 filled with gas wrap the main body of the drone in all directions; if the drone falls on the ground, the airbags 31 provide a full range of cushioning, and the wrapped drone will stop after multiple bounces. Reduce the possibility and degree of damage to the main body of the drone. If the drone falls on the water, the airbag 31 provides greater buoyancy to prevent the main body of the drone from being immersed in water. If the drone falls on a tree or in a complex environment, the airbag 31 The packaged drone is easy to roll down to a low place for easy recycling.

After recovering the drone, separate the airbag-type drone fall protection device from the drone, rotate the air nozzle 32 to separate the airbag 31 from the protective arm 11, push the steel ball 325 to compress the air valve spring 324 to release the gas in the airbag 31 and The airbag 31 is folded, and the folded airbag 31 is partially inserted into the cavity of the inner air nozzle part 322 of the air nozzle 32 . Replace the gas cylinder 33, press the inflatable spring 34, insert the safety pin 26 at the same time and slide the rectangular slider 25 to close the gas cylinder compartment 13; screw the gas nozzle 32 to the airbag connection port 15 of the protective arm 11, and connect the airbag type unmanned The aircraft fall protection device is installed on the bottom of the quadrotor UAV by the connection mechanism 12 on the upper surface of the cross protection frame 1 .

Claims (10)

1. An air bag type unmanned aerial vehicle falling protection device is suitable for a quad-rotor unmanned aerial vehicle and is characterized by comprising a cross-shaped protection frame (1), a control system (2) and an air bag system (3);

the cross-shaped protection frame (1) comprises four protection arms (11); the middle part of the upper surface of the cross-shaped protection frame (1) is detachably arranged at the bottom of the unmanned aerial vehicle through a connecting mechanism (12), and each protection arm (11) of the cross-shaped protection frame (1) is positioned on an angular bisector between two adjacent rotors of the quad-rotor unmanned aerial vehicle;

each protection arm (11) is provided with a gas cylinder bin (13) used for containing a gas cylinder along the axial direction of the protection arm, and the tail end of the gas cylinder bin (13) positioned at the protection arm (11) is provided with a gas bag connecting port (15) with a thread structure; a rectangular sliding groove (14) which is vertical to the axial direction of the protection arm (11) is arranged at the part of the protection arm (11) close to the air bag connecting port (15);

the control system (2) comprises a steering engine (21), a cross-shaped control frame (22) and a rectangular sliding block (25); the steering engine (21) is vertically and fixedly connected to the center of the cross-shaped protection frame (1), and a power output shaft of the steering engine (21) is vertically and fixedly connected to the center of the cross-shaped control frame (22); the cross control frame (22) comprises four rocker arms (24); the tail end of each rocker arm (24) is provided with a connecting groove (23) along the axial direction; a rectangular sliding block (25) is arranged in the rectangular sliding groove (14) of each protection arm (11);

one end of the rectangular sliding block (25) is provided with a connecting shaft (27) perpendicular to the rocker arm (24), and the connecting shaft (27) is located in a connecting groove (23) of the rocker arm (24); a release opening (28) is formed in a part, close to one half of the connecting shaft (27), of the rectangular sliding block (25), and the diameter of the release opening (28) is equal to that of the air bag connecting opening (15); one half part of the rectangular sliding block (25) far away from the connecting shaft (27) is a closed part which can separate the air bottle bin (13) from the air bag connecting port (15);

the air bag system (3) comprises an air bag (31), an air bottle (33) and an inflating spring (34); the gas cylinder (33) and the inflation spring (34) are positioned in a gas cylinder bin (13) of the protection arm (11), the opening of the gas cylinder (33) faces the air bag connecting port (15), and the inflation spring (34) is positioned between the bottom of the gas cylinder (33) and the bottom wall of the gas cylinder bin (13) and used for pushing the gas cylinder (33) to the air bag connecting port (15);

the air bag (31) is provided with a cylindrical air nozzle (32), the air nozzle (32) is partially wrapped by the air bag (31), and the air nozzle (32) is divided into an outer air nozzle part (321) used for being connected with the air bag connecting port (15) and the bottle opening of the air bottle (33) and an inner air nozzle part (322) capable of receiving the air bag (31); an air inlet channel (323) is axially arranged on the air nozzle (32), and the air inlet channel (323) comprises an outer air inlet and an inner air inlet; the outer surface of the outer air nozzle part (321) is connected with an air bag connecting port (15) of the protection arm (11) through a thread structure; the outer air nozzle (321) is in a plug shape corresponding to the shape of the opening of the air bottle (33), a needle head facing the opening of the air bottle (33) is arranged at the outer air inlet along the axial direction of the air nozzle (32) and is used for breaking a sealing film of the opening of the air bottle (33) so as to enable the air bottle (33) to release gas to the air inlet channel (323) quickly and further enable the air bag (31) to be inflated and expanded;

an air valve spring (324) and a steel ball (325) are sequentially arranged in an air inlet channel (323) of the air nozzle (32) from inside to outside, so that the air nozzle (32) forms a one-way air valve structure;

the inner air nozzle part (322) is provided with a cavity for accommodating the air bag (31), and the air bag (31) can be folded and partially plugged into the cavity when in an uninflated state;

the air bag (31) has better elasticity, the air bag (31) is inflated to be crescent, and the air nozzle (32) is positioned in the middle of the crescent air bag; after four gasbag (31) are opened completely, two adjacent gasbag (31) contact each other, wrap up the unmanned aerial vehicle main part wherein completely.

2. The airbag type unmanned aerial vehicle falling protection device of claim 1, wherein the connecting mechanism (12) is configured as a nylon magic tape, a hook surface of the nylon magic tape is arranged in the middle of the upper surface of the cross-shaped fender bracket (1), a rough surface of the nylon magic tape is arranged at the bottom of the unmanned aerial vehicle, and the hook surface and the rough surface of the nylon magic tape are connected with the unmanned aerial vehicle in a sticking manner.

3. The airbag type unmanned aerial vehicle fall protection device according to claim 1, wherein two ends of the rectangular sliding block (25) are provided with limiting blocks to prevent the rectangular sliding block (25) from being separated from the rectangular sliding groove (14) in the sliding process.

4. The airbag type unmanned aerial vehicle fall protection device according to claim 1, wherein at least one pin hole (16) is formed in the position, located at the opening of the gas cylinder (33), of the protection arm (11), a detachable safety pin (26) is arranged in the pin hole (16), and the safety pin (26) is inserted into the gas cylinder bin (13) from the pin hole (16) of the protection arm (11) and used for further limiting installation of the gas cylinder and preventing the rectangular sliding block (25) from accidentally sliding under the non-working state of the control system (2) to open the airbag system.

5. Airbag type unmanned aerial vehicle fall protection device according to claim 4, characterized in that the safety pin (26) is U-shaped and is inserted into two pin holes (16) of the protection arm (11).

6. The airbag type unmanned aerial vehicle fall protection device as claimed in claim 1, wherein the gas cylinder (33) is a steel cylinder filled with liquid carbon dioxide, the cylinder body is a cylinder, the bottom of the cylinder is a hemisphere, and a mouth of the cylinder is sealed by welding a thin steel sheet.

7. The airbag type unmanned aerial vehicle fall protection device of claim 1, wherein the fixed points around the needle head, which are connected with the edge of the outer air inlet, uniformly divide the outer air inlet.

8. The unmanned aerial vehicle fall protection device with the air bag type fall protection function according to claim 1, wherein when the air bag system (3) works, gas from the air bottle (33) pushes the steel ball (325) to compress the air valve spring (324), the gas enters the air bag (31) from the air inlet channel (323) of the one-way air valve structure, the air bag (31) is continuously inflated and expanded, the internal pressure is gradually increased, when the pressure of the gas from the air bottle (33) on the steel ball (325) is smaller than the pressure of the gas in the air valve spring (324) and the air bag (31), the steel ball (325) seals the air inlet channel (323) again, the air bag (31) does not enter any more, the one-way air valve structure prevents the gas in the air bag (31) from being greatly discharged in a short time, and the basic shape of the air bag (31) is kept.

9. The airbag type unmanned aerial vehicle fall protection device as claimed in claim 1, wherein a battery compartment and a control compartment for accommodating a main control board, a single chip microcomputer and an atmospheric pressure sensing module are arranged in the middle of the cross control frame (22);

the main control board is connected with a steering engine (21), and the single chip microcomputer is respectively connected with the main control board, the atmospheric pressure sensing module and the unmanned aerial vehicle remote controller; the single chip microcomputer collects signals according to the atmospheric pressure sensing module, converts the falling speed of the unmanned aerial vehicle by combining a clock signal, and sends a working instruction to the steering engine (21) through the main control board when the falling speed exceeds a set value, or the single chip microcomputer opens a channel control signal according to an air bag of an unmanned aerial vehicle remote controller and sends a working instruction to the steering engine (21) through the main control board.

10. The airbag type unmanned aerial vehicle falling protection device as claimed in claim 9, wherein the battery compartment comprises a lithium battery which can provide different voltages to supply power to the steering engine (21) and the single chip microcomputer in the control compartment; the single chip microcomputer is MEGA2560 in model.

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