A power-off landing device for unmanned aerial vehicle

Abstract

The unmanned aerial vehicle power-off landing device comprises a plurality of one-way devices, a parachute mechanism and a control circuit; one end of the plurality of one-way devices is respectively connected to the power output shafts of the plurality of motor reduction mechanisms of the unmanned aerial vehicle, and the plurality of rotor shafts of the unmanned aerial vehicle are respectively connected to the other end of the plurality of one-way devices; the parachute mechanism comprises a cylinder, a gas nozzle, a parachute, an upper cover, a plurality of motor reduction devices and a solenoid valve; the gas nozzle, the solenoid valve and the lower end of the cylinder are installed together, the parachute is located in the upper end of the cylinder, and the cylinder is installed in the upper end of the unmanned aerial vehicle; the plurality of motor reduction devices are installed around the upper end of the cylinder, the upper cover is located at the upper end of the cylinder, and a limit plate is provided on the power output shaft of each plurality of motor reduction devices; the control circuit is installed on the circuit board of the unmanned aerial vehicle, and is electrically connected to the lithium battery, the control circuit and the plurality of motor reduction devices on the unmanned aerial vehicle. Under the action of the one-way device and the parachute, the unmanned aerial vehicle can slowly land on the ground when it is out of power, thereby reducing the probability of damage to the unmanned aerial vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle control equipment, in particular to a power-off landing device for unmanned aerial vehicle. Background Art

[0002] A drone (unmanned aircraft) is an unmanned aircraft that is mainly controlled by radio remote control or its own program. It mainly includes military drones and civilian drones. Civilian drones have the advantages of small size, low cost, easy use, and low requirements for the environment (including take-off and landing environment), and are highly favored by users. With the development of science and technology and the progress of society, drones are increasingly used in various fields.

[0003] In actual applications, drones powered by lithium batteries often encounter the problem of lithium battery power exhaustion during flight or landing, or the lithium battery itself fails and causes power outage. At this time, due to abnormal power supply or power outage, the drone is no longer controlled and may be damaged due to rapid landing. Based on the above, it is particularly necessary to provide a device that can automatically achieve a stable landing of the drone when the lithium battery power of the drone is about to run out or stops outputting power. Summary of the invention

[0004] In order to overcome the disadvantages of existing UAVs that, due to structural limitations, the UAV itself cannot land smoothly when the lithium battery power supply is abnormal or stops supplying power, and may be damaged due to uncontrolled and extremely fast landing, the present invention provides a motor reduction mechanism of the UAV that drives the rotor to rotate via a one-way device. When the power supply of the UAV is abnormal, the rotor can spin and the UAV slowly lands on the ground. The UAV also has an automatically controlled parachute mechanism. When the UAV is flying normally, the parachute mechanism is hidden in the UAV shell and does not affect the aerodynamic performance of the UAV. When the lithium battery power supply of the UAV is abnormal, compressed air will quickly pop out the parachute. Under the dual effects of the parachute air resistance and the UAV rotor spinning and landing, the UAV can slowly and smoothly land on the ground, thereby reducing the UAV power failure landing device that may cause damage to the UAV due to excessive descent speed.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The power-off landing device of an unmanned aerial vehicle comprises a plurality of one-way devices, and is characterized in that it also has a parachute mechanism and a control circuit; one end of the plurality of one-way devices is respectively connected to the power output shafts of the plurality of motor reduction mechanisms of the unmanned aerial vehicle, and the plurality of rotor shafts of the unmanned aerial vehicle are respectively connected to the other ends of the plurality of one-way devices; the parachute mechanism comprises a cylinder, an air filling nozzle, a parachute, an upper cover, a plurality of sets of motor reduction equipment, and an electromagnetic valve; an isolation plate is arranged in the cylinder, and the isolation plate divides the cylinder into two independent spaces, the air filling nozzle and the lower end of the cylinder are installed together, and the air inlet pipe thereof is communicated with the lower end of the cylinder, the air inlet pipe of the electromagnetic valve is installed on the isolation plate, and the air inlet pipe thereof is communicated with the cylinder The lower parts are connected, and the parachute is located in the upper end of the cylinder after being folded, and the cylinder is installed in the upper end of the UAV; the multiple sets of motor reduction equipment are annularly distributed and installed around the upper end of the cylinder at intervals, and the upper cover is located at the upper end of the cylinder. There is a limit plate on the power output shaft of each set of multiple sets of motor reduction equipment, and the inner ends of the limit plates of the multiple sets of motor reduction equipment are annularly distributed around the upper end of the upper cover; the control circuit is installed on the circuit board of the UAV, and the power input end of the control circuit is electrically connected to the two poles of the lithium battery on the UAV, and the two power output ends of the control circuit are electrically connected to the solenoid valve and the power input ends of the multiple sets of motor reduction equipment.

[0007] Furthermore, the outer diameter of the upper cover is larger than the outer diameter of the upper end of the cylinder.

[0008] Furthermore, the inner diameter formed by the inner ends of the limit plates of the multiple sets of motor reduction devices is smaller than the outer diameter of the upper cover.

[0009] Furthermore, compressed air is added into the lower end of the cylinder.

[0010] Furthermore, the control circuit includes a lithium battery, a diode, a resistor, a relay and a time-controlled switch, and an NPN transistor, which are connected via circuit board wiring. The positive electrode of the diode is connected to one end of the resistor and the positive power input end of the relay, the negative electrode of the diode is connected to the relay control power input end and the positive electrode of the lithium battery, the other end of the resistor is connected to the base of the NPN transistor, the collector of the NPN transistor is connected to the negative power input end of the relay, the normally closed contact end of the relay is connected to the positive power input ends of the two sets of time-controlled switches, and the negative electrode of the lithium battery is connected to the emitter of the NPN transistor and the negative power input ends of the two sets of time-controlled switches.

[0011] The beneficial effect of the present invention is that when the present invention is working, when the voltage of the UAV lithium battery is sufficient, the UAV can fly normally. In the present invention, the motor reduction mechanism of the UAV drives the rotor to rotate through the one-way device. When the UAV power supply is abnormal, the power output shaft of the motor reduction mechanism of the UAV stops outputting power or the speed is extremely low. Under the action of multiple sets of one-way devices, the multiple rotors of the UAV can spin to generate a part of the lift, so that the UAV will slowly land, preventing the UAV from landing and being damaged by rapid landing. In the present invention, when the power output shaft of the motor reduction mechanism of the UAV stops outputting power or the speed is extremely low, the control circuit will control the limit plates of the multiple sets of motor reduction devices of the parachute mechanism to rotate toward the outer end, and then the upper cover and the upper end of the cylinder are separated, and after the valve core of the solenoid valve is opened, the compressed air will quickly blow the parachute toward the upper end, so that the parachute can be quickly deployed, and the descending parachute generates air resistance. In this way, under the dual action of the parachute air resistance and the lift of the UAV rotor spinning and landing, the UAV can slowly and steadily land on the ground, thereby reducing the probability of damage to the UAV due to excessive descent speed. Based on the above, the present invention has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] Figure 1 It is a schematic structural diagram of the parachute of the present invention in an unfolded state.

[0014] Figure 2 It is a schematic structural diagram of the parachute of the present invention when it is not deployed.

[0015] Figure 3 It is a schematic diagram of the structure of the parachute mechanism of the present invention.

[0016] Figure 4 It is a schematic diagram of the structure of the parachute mechanism of the present invention. DETAILED DESCRIPTION

[0017] Figure 1 , 2As shown in , 3, the UAV power-off landing device includes four one-way devices 1, and also has a parachute mechanism 2 and a control circuit 3; the outer rings of the four one-way devices 1 are sleeved with a connecting sleeve 101 with a flange at the lower end, and the lower ends of the connecting sleeves 101 of the four one-way devices and the upper end flanges of the power output shafts of the four motor reduction mechanisms 41 of the UAV are respectively connected through screws and nuts, and the lower end shafts of the four rotors 42 of the UAV are respectively tightly sleeved on the four one-way devices 1 (two of which are right-hand one-way devices, and the inner ring outputs power when the connecting sleeve 101 rotates to the right, and reversely The other two are left-hand one-way devices. When the connecting sleeve 101 rotates to the left, the inner circle outputs power, otherwise it does not output. The two one-way devices distributed laterally of the drone rotate in opposite directions, and the two one-way devices distributed longitudinally rotate in opposite directions). The parachute mechanism 2 includes a cylinder 21 with a closed lower end and an open upper end, a gas nozzle 22, a parachute 23, an upper cover 24, three sets of micro-motor reduction devices 25, and a solenoid valve 26. There is a partition plate 27 in the middle of the cylinder, and the partition plate 27 divides the cylinder 21 into an upper The air nozzle 22 is installed at the lower front end of the cylinder 21, and its air inlet pipe is connected to the lower part of the cylinder 21. The air inlet pipe of the solenoid valve 26 is installed on the upper part of the isolation plate 27, and its air inlet pipe is connected to the lower part of the cylinder 21. A mooring ring 28 is welded at the front upper end of the isolation plate 27. The lower end of the parachute rope of the parachute 23 is tied to the mooring ring 28. The parachute 23 is located in the upper end of the cylinder 21 after folding. There is a vertically distributed cylindrical groove 43 in the middle of the upper end of the drone shell. The cylinder 21 is installed in the groove 43 through a screw nut. The upper end of 21 and the upper middle end of the UAV 4 are in the same plane; the three sets of micro motor reduction devices 25 are distributed in an annular manner and are installed on the middle side of the upper end of the UAV via screws and nuts at a certain interval, and are respectively located around the outer periphery of the upper end of the cylinder 21, and the circular upper cover 24 is located at the upper end of the cylinder 21. A "┑"-shaped limiting plate 251 is welded on the power output shaft of each set of motor reduction devices 25, and the inner ends of the limiting plates 251 of the three sets of motor reduction devices are distributed in an annular manner and are located around the upper end of the upper cover 24; the control circuit 3 is installed on the circuit board of the UAV.

[0018] Figure 1 , 2 As shown in , 3, the outer diameter of the upper cover 24 is larger than the outer diameter of the upper end of the cylinder 21. The inner diameter of the inner end of the limit plate 251 of the three sets of motor reduction equipment is smaller than the outer diameter of the upper cover 24 (the inner diameter of the outer end is larger than the outer diameter of the upper cover 24), and the lower end of the limit plate 251 is in close contact with the upper end of the upper cover 24. Compressed air is added into the lower end of the cylinder through the air nozzle 22 (added by an air gun or an air compressor).

[0019] Figure 1 , 2As shown in , 3, and 4, the control circuit includes a lithium battery G1, a diode VD, a resistor R1, a relay K1, a time-controlled switch A and A1, and an NPN transistor Q1, which are connected via circuit board wiring. The positive electrode of the diode VD is connected to one end of the resistor R1 and the positive power input end of the relay K1, the negative electrode of the diode VD is connected to the control power input end of the relay K1 and the positive electrode of the lithium battery G1, the other end of the resistor R1 is connected to the base of the NPN transistor Q1, the collector of the NPN transistor Q1 is connected to the negative power input end of the relay K1, the normally closed contact end of the relay K1 is connected to pin 1 of the positive power input end of the time-controlled switch A and A1, the negative electrode of the lithium battery G1 is connected to the emitter of the NPN transistor Q1, and the time-controlled switch A And A1 negative power input terminal 2 pin connected; time control switch A and A1 are microcomputer time controller products of brand model KG316T. The time controller products A and A1 have a LCD display screen, and also have seven cancel / restore, time adjustment, minute adjustment, week adjustment, automatic / manual, timing, clock buttons, and two power input terminals 1 and 2 pins, two power output terminals 3 and 4 pins. After power is turned on, the numbers displayed on the LCD screen, the user operates the seven buttons respectively, can set the time of the power output of the two power output terminals 3 and 4 pins. The time controller products A and A1 have a memory function. As long as no secondary setting adjustment is performed, the external power failure will not cause the internal set time program to change. The positive electrode of the diode VD at the power input end of the control circuit and the emitter of the NPN transistor Q1 are connected to the two poles of the lithium battery G on the drone through wires, and the 3rd and 4th feet of the time switch A1 and the 3rd and 4th feet of the time switch A at the two power output ends of the control circuit are connected to the power input ends of the solenoid valve DC and the three sets of motor reduction equipment MN (a small motor gear reducer with a power output shaft speed of 20 revolutions per minute) of the parachute mechanism through wires.

[0020] Figure 1 , 2As shown in Figures 3 and 4, when the voltage of the lithium battery G of the drone of the present invention is normal, the lithium battery G1 of the control circuit is float-charged through the diode VD in a unidirectional manner (the power supply voltage of the drone lithium battery G is consistent with the voltage of the lithium battery G1, and the voltage of the drone lithium battery G is higher than the nominal voltage when it is normal, so the lithium battery G1 can still be float-charged after the 0.7V voltage drop of the diode VD), ensuring that the parachute mechanism and the control circuit can work normally after the drone is out of power; due to the unidirectional conduction of the diode VD, the power of the lithium battery G1 will not flow back into the lithium battery G. During operation, when the voltage of the lithium battery on the drone 4 is sufficient, the drone 4 flies normally (the four sets of motor reduction mechanisms 41 of the drone 4 drive the four sets of one-way device inner rings and the connecting sleeve 101 to rotate through the power output shaft, and then the one-way device inner ring 102 drives the rotor 42 of the drone to rotate to generate lift). In the present invention, the four sets of motor reduction mechanisms of the drone drive the four rotors 42 to rotate respectively through the four sets of one-way devices 1. When the power supply of the drone 4 is abnormal (power outage or very low voltage), the power output shaft of the motor reduction mechanism 41 of the drone stops outputting power or the speed is extremely low, under the action of the four sets of one-way devices 1, the four sets of rotors 42 of the drone can spin to generate a part of lift, so that the drone will slowly land to prevent the drone from being damaged due to a rapid landing (the rotors 42 of the drone and the inner ring 102 of the one-way device rotate along the outer ring of the one-way device and the connecting sleeve 101, and the outer ring and the connecting sleeve 101 themselves do not rotate, so the power output shaft of the motor reduction mechanism of the drone will not rotate to generate resistance to the rotation of the rotor, thereby ensuring the rotation of the rotor 42).

[0021] Figure 1 , 2As shown in Figures 3 and 4, when the voltage of the UAV lithium battery is normally at its nominal voltage, the power supply voltage enters the base of the NPN transistor Q1 after voltage reduction and current limiting by the resistor R1 and is higher than 0.7V. Therefore, the collector of the NPN transistor Q1 is turned on and the output low level enters the negative power input terminal of the relay K1. The relay K1 is energized to close its control power input terminal and the normally closed contact terminal is open. Since the normally closed contact terminal of the relay K1 is connected to the positive power input terminal of the time control switch A and A1, at this moment, the time control switch A and A1, and the three sets of motor reduction equipment MN will not be powered on and work, and the UAV body is in a normal flight state. In actual situations, when the drone lithium battery G stops outputting power due to various reasons (such as open plate), or the power supply voltage is lower than its nominal voltage, the base voltage of the NPN transistor Q1 entering through the resistor R1 for voltage reduction and current limiting is lower than 0.7V or no voltage. Then, the base of the NPN transistor Q1 will be in a cut-off state due to the lack of appropriate bias voltage, and then, the relay K1 will lose power and no longer attract its control power input terminal and normally closed contact terminal to close. Since the normally closed contact terminal of the relay K1 is connected to the positive power input terminal of the time-controlled switches A and A1, at this moment, the time-controlled switches A and A1 will be powered on and work. When the time-controlled switch A is powered on, under the action of its internal circuit and the output power time of pins 3 and 4 set by the technicians, pins 3 and 4 will output 2 seconds of power to enter the positive and negative power input terminals of the three motor reduction devices MN of the parachute mechanism. Therefore, the three motor reduction devices MN are powered on and their power output shafts drive the limit plate 251 to rotate 90 degrees and then stop working. Since the original inner side of the upper limit plate of the three motor reduction devices MN is now located on the outside of the cylinder 21, and the original outer side of the limit plate is located on the inner side of the cylinder 21, the outer diameter of the original outer side of the limit plate of the three motor reduction devices MN is larger than the outer diameter of the upper end of the cylinder 21 and the upper cover 24, the upper cover 24 will be separated from the upper end of the cylinder 21 at this moment (replace a new upper cover 24 before the next use), and then the parachute 23 slides upward from the cylinder and quickly unfolds, and the descending parachute generates air resistance. In this way, under the dual effects of the air resistance of the parachute 23 and the self-spinning landing lift of the drone rotor, the drone can slowly and steadily land on the ground, thereby reducing the probability of damage to the drone due to excessive descent speed. When the time-controlled switch A1 is energized and working, under the action of its internal circuit and the power output time of pins 3 and 4 set by the technicians, pins 3 and 4 will output power for 2 seconds at an interval of 1 second to enter the positive and negative power input terminals of the solenoid valve DC. As a result, the solenoid valve DC is energized and its internal valve core opens. In this way, the compressed air filled in the lower end of the cylinder 21 will quickly flow out from the upper end of the solenoid valve DC (compressed air is added to the lower end of the cylinder through the air filling nozzle 22 before the next use). The compressed air impels the parachute 23 to quickly move upward along the cylinder 21, ensuring that the parachute 23 and the cylinder 21 are separated in a relatively short time, and effectively preventing the parachute 23 from being stuck in the cylinder 21 and unable to slide out, causing the parachute 23 to fail to function.

[0022] Figure 1 , 2 As shown in Figures 3 and 4, through the combined action of the above circuits and mechanisms, when the present invention is working, when the voltage of the UAV lithium battery is sufficient, the UAV can fly normally. In the present invention, the motor reduction mechanism of the UAV drives the rotor to rotate through the one-way device. When the power supply of the UAV is abnormal, the power output shaft of the motor reduction mechanism of the UAV stops outputting power or the speed is extremely low, under the action of the four sets of one-way devices, the four rotors of the UAV can spin to generate a part of the lift, so that the UAV will slowly land, preventing the UAV from being damaged due to rapid landing. In the present invention, when the power output shaft of the motor deceleration mechanism of the drone stops outputting power or the speed is extremely low, the control circuit will control the limit plates of the three motor deceleration devices of the parachute mechanism to rotate toward the outer end, and then the upper cover and the upper end of the cylinder are separated, and after the valve core of the solenoid valve is opened, the compressed air will quickly blow the parachute toward the upper end, so that the parachute can be quickly deployed, generating air resistance to the descending drone, so that under the dual effects of the parachute air resistance and the self-spinning landing lift of the drone rotor, the drone can slowly and steadily land on the ground, thereby reducing the probability of damage to the drone due to excessive descent speed (before the next application, by supplying power to the three motor deceleration devices separately, the power output shaft is rotated, and the inner ends of the limit plates 251 of the three motor deceleration devices are distributed in a ring around the upper end of the upper cover 24). The resistance value of resistor R1 is 4.7M; the model of NPN transistor Q1 is 9013; the relay K1 is a DC relay; the model of diode VD is 1N4007; the solenoid valve DC is a DC normally closed valve core DC solenoid valve.

[0023] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0024] In addition, it should be understood that although the present specification is described according to the implementation mode, the implementation mode does not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. The UAV power-off landing device includes multiple one-way devices, which are characterized by It also has a parachute mechanism and a control circuit; one end of the multiple one-way devices is respectively connected to the power output shafts of the multiple motor reduction mechanisms of the drone, and the multiple rotor shafts of the drone are respectively connected to the other ends of the multiple one-way devices; the parachute mechanism includes a cylinder, an air nozzle, a parachute, an upper cover, multiple sets of motor reduction equipment, and an electromagnetic valve; there is an isolation plate in the cylinder, and the isolation plate divides the cylinder into two independent spaces, the air nozzle and the lower end of the cylinder are installed together, and its air intake pipe is connected to the lower end of the cylinder, the air intake pipe of the electromagnetic valve is installed on the isolation plate, and its air intake pipe is connected to the lower part of the cylinder, the parachute is located in the upper end of the cylinder after folding, and the cylinder is installed in the upper end of the drone; the multiple sets of motor reduction equipment are annularly distributed and spaced apart and are respectively installed around the upper end of the cylinder, the upper cover is located at the upper end of the cylinder, and each set of the multiple sets of motor reduction equipment has a limit plate on the power output shaft, and the inner ends of the limit plates of the multiple sets of motor reduction equipment are annularly distributed and located Around the upper end of the upper cover; the control circuit is installed on the circuit board of the drone, the power input end of the control circuit is electrically connected to the two poles of the lithium battery on the drone, and the two power output ends of the control circuit are electrically connected to the two ends of the power input of the solenoid valve and multiple sets of motor reduction equipment; compressed air is added to the lower end of the cylinder; the control circuit includes a lithium battery, a diode, a resistor, a relay and a time-controlled switch, and an NPN transistor, which are connected through circuit board wiring, the positive electrode of the diode is connected to one end of the resistor and the positive power input end of the relay, the negative electrode of the diode is connected to the control power input end of the relay and the positive electrode of the lithium battery, the other end of the resistor is connected to the base of the NPN transistor, the collector of the NPN transistor is connected to the negative power input end of the relay, the normally closed contact end of the relay is connected to the positive power input end of the two sets of time-controlled switches, and the negative electrode of the lithium battery is connected to the emitter of the NPN transistor and the negative power input end of the two sets of time-controlled switches.

2. The UAV power-off landing device according to claim 1, characterized in that: The outer diameter of the upper cover is larger than the outer diameter of the upper end of the cylinder.

3. The UAV power-off landing device according to claim 1, characterized in that: The inner diameter formed by the inner ends of the limit plates of the plurality of motor reduction devices is smaller than the outer diameter of the upper cover.

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