Emergency parachuting device and method for multiple-rotor unmanned aerial vehicle

A multi-rotor unmanned aerial vehicle and unmanned aerial vehicle technology, which is applied in the field of agricultural unmanned aerial vehicle research, can solve the problems of reducing errors or even closing the throttle, the device is difficult to function in time, and it is difficult to effectively protect the aircraft, etc. Aircraft crash, light weight effect

Inactive Publication Date: 2014-07-02

SOUTH CHINA AGRI UNIV +1

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AI-Extracted Technical Summary

Problems solved by technology

However, for multi-rotor UAVs that do not have the ability to glide, there are two special situations: 1) The multi-rotor UAV has a power system failure during flight, loses lift, and falls rapidly

2) The operator mistakenly reduces or even closes the throttle during the manipulation of the multi-rotor UAV, causing th...

Method used

Described microcontroller adopts STM32F4xxx series single-chip microcomputer. This microcontroller is also connected with the magnetic latching relay, and the magnetic latching relay is...

Abstract

The invention discloses an emergency parachuting device and method for a multiple-rotor unmanned aerial vehicle. The device comprises a measurement and control unit, an unlocking steering engine, a parachute-throwing spring, a latch, a parachute and a magnetic latching relay, wherein the measurement and control unit, the unlocking steering engine, the parachute-throwing spring, the latch, the parachute and the magnetic latching relay are installed in a parachute bin. The measurement and control unit comprises a microcontroller and an inertia movement measurement unit, wherein the microcontroller is electrically connected with the unlocking steering engine and the magnetic latching relay; the unlocking steering engine is connected with the latch through a rocker arm, and the magnetic latching relay is used for connecting or disconnecting a power supply of a rotor motor; the parachute bin is fixed to the multiple-rotor unmanned aerial vehicle, one end of the parachute-throwing spring is fixed to the bottom of the parachute bin, and the parachute is arranged at the other end of the parachute-throwing spring. The method includes the following steps that the current instant height and acceleration of the unmanned aerial vehicle are acquired, the dropping rate of the unmanned aerial vehicle is worked out, whether the unmanned aerial vehicle flies under a dangerous dropping state or not is judged, and if yes, the power supply of the rotor motor is disconnected, and the parachute is thrown out to make the unmanned aerial vehicle safely land. The emergency parachuting device has the advantages of being simple in structure, low in cost, light in weight, high in reaction speed and the like.

Application Domain

ParachutesAircraft landing aids

Technology Topic

Rocker armElectricity +10

Image

Examples

Experimental program(1)

Example Embodiment

[0034] Example 1

[0035] In the prior art, UAV parachute devices are mostly used in fixed-wing aircraft. The first type is a manual trigger type, which requires the operator to determine the need to land when the parachute is opened; the second type is a runaway protection type, which controls After the device detects that the remote control signal is lost, it enters the parachute procedure. However, for multi-rotor drones that do not have the ability to gliding, the parachute device used for fixed-wing drones is difficult to effectively and timely enter the parachute state to protect the aircraft in the unique emergency situations of multi-rotor drones.

[0036] The emergency parachute landing device for multi-rotor drones in this embodiment is as follows figure 1 with 2 As shown, it includes the lock bolt 1, the parachute 2, the parachute bin cover 3, the parachute bin 4, the parachute spring 5, the measurement and control unit (including the built-in lithium battery) 6, and the unlocking steering gear 7. The umbrella bin 4 is fixed at the center of the multi-rotor UAV; the bottom end of the parachute spring 5 is connected with the umbrella bin 4; the measurement and control unit (including the built-in lithium battery) 6 is fixed at the bottom of the bin; the unlocking steering gear 7 is fixed on the side wall of the umbrella bin .

[0037] Such as figure 1 As shown, in the emergency parachute landing device for multi-rotor drones, the lock bolt 1 is quickly drawn out by the unlocked steering gear 7 when an emergency fall occurs, and the parachute cover 3 is opened by the thrust of the parachute spring 5, The parachute spring 5 continues to stretch until the parachute 2 is pushed out of the parachute bin. The parachute 2 opens automatically under the action of the airflow.

[0038] The measurement and control unit includes an inertial motion measurement unit and a microcontroller. The inertial motion measurement unit is a strapdown inertial measurement module. It also includes a miniature altimeter (barometric or ultrasonic) and a three-axis geomagnetic sensor. MPU9150 (integrated three-axis acceleration) Meter, three-axis gyroscope, three-axis geomagnetic sensor) or MPU6050 (integrated three-axis accelerometer, three-axis gyroscope), HMC5883 (three-axis geomagnetic sensor), BMP085 (MEMS barometric altimeter), US-100 (ultrasonic height sensor) .

[0039] The said microcontroller adopts STM32F4xxx series single-chip microcomputer. The microcontroller is also connected to a magnetic latching relay, which is used to cut off the power of the rotor motor before the parachute is thrown to stop it, so as to prevent the high-speed rotating propeller from damaging the parachute.

[0040] Such as figure 2 As shown, the emergency umbrella opening device also includes a power management module, a built-in lithium battery and an onboard power battery. The power management module includes CN3722, a MOS tube and a 3.3V DC-DC module. The DC-DC module outputs two regulated power supplies. 5V and 3.3V, the 5V power supply is used to drive the unlocking servo; the 3.3V power supply is the power supply for the microcontroller and the inertial motion measurement unit. Under normal circumstances, the onboard power battery supplies power to the entire device through the power management module, and the onboard power battery can also directly charge the built-in lithium battery through the power management module. When the onboard power battery fails, the built-in lithium battery starts to start as the backup power source of the system.

[0041] In this embodiment of the emergency parachute landing method based on the above device, the steps are: obtain the instantaneous height and acceleration of the current UAV, calculate the descent rate of the UAV, and if it is in a dangerous falling state, cut off the power of the rotor motor and throw it out The parachute makes the drone land safely.

[0042] It includes the following steps:

[0043] (1) Before the multi-rotor UAV takes off, the microcontroller measures the voltage of the built-in lithium battery, and if the voltage is too low (7V), it will issue an early warning of device failure (sound, light);

[0044] (2) Before the multi-rotor UAV takes off, calibrate the inertial motion measurement unit to eliminate the initial zero offset;

[0045] (3) After the multi-rotor UAV takes off, periodically read the instantaneous acceleration, angular velocity and altitude values output by the inertial motion measurement unit;

[0046] (3) Perform digital filtering and data fusion on the instantaneous acceleration, angular velocity and altitude values to calculate the current altitude, descent rate and descent acceleration of the UAV;

[0047] (4) If any two of the descent rate, flying height, and descent acceleration exceeds the warning value at a certain moment, it is determined that the aircraft is in a dangerous falling state; and after waiting for a period of time (the user can modify it, the default setting is 500ms), then judge again Whether it is still in a dangerous state.

[0048] (5) Based on (4) If it is still in a dangerous state, the microcontroller cuts off the power of the rotor motor through the magnetic latching relay.

[0049] (6) Based on (5), after the rotor motor power is cut off, the microcontroller quickly pulls out the lock bolt by unlocking the steering gear, and the parachute spring throws the parachute from the parachute bin, and the drone enters the parachute landing state.

[0050] (7) Based on (4) If the dangerous state is automatically removed, it is determined that the drone returns to the normal flight state, and step (3) is repeated.

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Description & Claims & Application Information

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Classification and recommendation of technical efficacy words

Simple structure

Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)

ActiveCN102922513ASimple structurerelatively simple kinematics

Owner:TSINGHUA UNIV

Emergency parachuting device and method for multiple-rotor unmanned aerial vehicle

AI-Extracted Technical Summary

Problems solved by technology

Method used

Abstract

Image

Examples

Example Embodiment

PUM

Description & Claims & Application Information

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