Unmanned aerial vehicle air bag protection device connected with flight control and capable of being automatically triggered

Abstract

The invention provides a rotor unmanned aerial vehicle airbag protection device convenient to replace and capable of achieving autonomous judgment. The rotor unmanned aerial vehicle airbag protection device is mainly composed of a cross-shaped gas cylinder storage bin, a gas generation control device, a gas generation system, a one-way valve gas closing system and a microcontroller storage bin. Pushing is changed into pulling on the aspect of a control structure, the stress of the edge is reduced as much as possible, and it is guaranteed that the device can be successfully generated; a one-way valve device is reasonably optimized, so that the working efficiency is higher, and the sealing performance is better; and meanwhile, a control structure is rearranged and designed, so that a position is provided for the placement of the controller. In order to more accurately realize the autonomous protection function, a control structure is redesigned, airborne data of the unmanned aerial vehicle at the moment are sensed by using a flight controller on the rotor unmanned aerial vehicle, the searched data are judged by using a lower computer, and once the data are found to exceed a normal range, the unmanned aerial vehicle can be protected. If yes, a signal is transmitted to the steering engine to control generation of the protection device.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-rotor unmanned aerial vehicle (UAV) out-of-control fall protection, and in particular to an airbag protection device for the UAV that can be automatically triggered by connecting to a flight control system. Background Art

[0002] With the vigorous development of the drone industry in recent years, various types of multi-rotor drones have been widely distributed in the military and civilian markets. In the military, they can be used for battlefield perception and reconnaissance, border security patrols and other purposes; in the civilian field, they can be used for drone aerial photography, plant protection work, and high-rise firefighting and disaster relief tasks.

[0003] However, as the number of drones increases, the incidence of related drone accidents will increase, which will cause irreversible economic losses to the drone body and its onboard equipment, and even cause drone injuries that seriously endanger people's lives. This situation has also brought troubles to people's daily lives. The original intention of the design of this device is to protect the body and important onboard equipment of multi-rotor drones and the lives of ground personnel. After this product fully wraps the body of the multi-rotor drone, it can effectively protect the multi-rotor drone over land and over water. The airbag device makes the drone body float on the water to ensure that the onboard facilities are not damaged by long-term immersion in water, and has the function of protecting both land and water.

[0004] However, even with such a protection device, there will be special situations such as the operator not opening the device in time, so that the drone cannot be effectively and timely protected. Therefore, it is necessary to design a drone airbag protection device that can be automatically triggered by connecting to the flight control to solve the above problem. Summary of the invention

[0005] In order to solve the above-mentioned background technical problems, the patent of the present invention provides a drone airbag protection device which can be automatically triggered by connecting to the flight control.

[0006] To achieve the above-mentioned purpose, the patent of the present invention provides the following scheme: a drone airbag protection device that can be automatically triggered by connecting to the flight control, and its mechanical part is roughly as shown below: This device is suitable for multi-rotor drones, and the system includes five parts: a cross gas cylinder storage bin, a gas generation control device, a gas generation system, a one-way valve air-closing system, and a microcontroller storage bin. It is characterized in that the cross gas cylinder storage bin of the first part includes four accommodating arms, and the position of each accommodating arm is on the angular bisector between two adjacent rotors of the multi-rotor drone, so as to facilitate the subsequent customized work for multi-rotor drones such as six-rotor drones. A gas cylinder bin structure for accommodating gas cylinders is provided inside each accommodating arm compartment, and a connecting port with a threaded structure is provided at the end thereof, and a rectangular slide groove is provided in the middle part between the accommodating arm and the connecting port.

[0007] Furthermore, the gas generating device includes five parts: a servo, a servo housing box, a servo turntable, a drive disk, and a rectangular slider. When the device needs to be generated, we control the servo to rotate, thereby pushing the drive disk to rotate. In order to prevent the drive disk from breaking and failing due to large torque, we have made a reinforcing structure to reinforce it. The drive disk is connected to the rectangular slider through a bayonet hole, thereby pulling the rectangular slider to slide along the rectangular slide. In order to prevent the rectangular slide from falling off, we also set limit blocks at both ends of the rectangular slider to prevent the rectangular slider from detaching from the rectangular slide during the sliding process. The rectangular slider is provided with a gas cylinder through hole to facilitate the passage of the gas cylinder.

[0008] Furthermore, the gas generating system comprises five parts: a gas cylinder, a gas cylinder propulsion spring, a safety pin, a striker storage cover, and a striker. When the device is not in operation, the safety pin is used to limit the position of the gas cylinder so that it cannot move, thereby preventing accidental touch; when the device is in operation, the safety pin is pulled out, and when the driving disk pulls the rectangular slider, the gas cylinder hole of the rectangular slider is aligned with the gas cylinder, so that the gas cylinder, under the action of the gas cylinder propulsion spring, hits the striker located in the striker storage cover through the gas cylinder hole, thereby releasing gas into the one-way valve air-locking system.

[0009] Furthermore, the one-way valve air-closing system includes five parts: an air inlet, a steel ball, a steel ball propulsion spring, a vent pipe, and a crescent-shaped airbag bag. The air inlet is matched with the rear end of the striker container cover through a support member to facilitate the circulation of gas, and the vent pipe includes two half-ventilation airbag compartments and an inner air nozzle. The air vent, the steel ball, the steel ball propulsion spring, and the striker container cover are all wrapped by the two half-ventilation airbag compartments and connected to the connection port through the threaded structure on the striker container cover. The one-way valve device is as follows: the steel ball closes the air inlet under the action of the steel ball propulsion spring. When the gas cylinder is broken by the striker, the high pressure of the gas presses the steel ball to allow the gas to enter the airbag. When the gas in the gas cylinder is about to be released, the internal and external pressures are equal, and the steel ball will close the air inlet under the action of the steel ball propulsion spring, thereby preventing gas leakage.

[0010] Furthermore, the microcontroller storage bin includes a microcontroller, four cylindrical supports, two triangular reinforcements, a storage bin body, and Velcro. The storage bin body is installed directly above the cross gas cylinder storage bin through the cylindrical supports and the triangular reinforcements, the microcontroller is inside the storage bin body, and the entire microcontroller storage bin is bonded to the drone body through Velcro.

[0011] Furthermore, a drone airbag protection device that can be automatically triggered by connecting to the flight control, the electronic control part of which is roughly as shown below: a drone airbag protection device that can be automatically triggered by connecting to the flight control, the system is loaded on the open source flight control of the drone, the system is compatible with the traditional manual airbag opening operation and the automatic triggering system connected to the flight control described in this system, including a data reading system based on the open source flight control firmware, an AI decision terminal, a lower computer controller, a switching circuit, a servo, and a drone airbag.

[0012] Furthermore, when the device is connected to the PWM output interface on the open source flight control, the signal line is connected to the digital input pin of the lower computer, and the duty cycle data of the PWM signal is read. These data can be used to monitor the status of the aircraft, such as motor speed, flight attitude, etc. The lower computer analyzes whether the drone is in a dangerous state after parsing the data, and at the same time connects the VCC pin of the servo to the 5V power pin of the lower computer, connects the GND pin to the GND pin of the lower computer, and connects the signal pin to the digital output pin of the lower computer, so that the lower computer controls the servo to drive the drive disk to rotate, thereby controlling the opening of the drone airbag.

[0013] Furthermore, the steering gear is driven by pure electricity and directly driven by the lower computer, which can achieve fine control of the rocker arm torque and torsion, so as to smoothly pull the rectangular slider to make the gas cylinder hit the striker to release gas. The instructions sent by the lower computer can be accurately executed.

[0014] Furthermore, the data reading system is automatically turned on after connecting to the flight control, and the relevant libraries of the APM firmware are introduced, such as AP_Common.h, AP_Param.h, AP_Math.h, etc. These library files provide functions and variable definitions related to the flight control. Cooperate with the AI ​​decision terminal for real-time reading and analysis.

[0015] Furthermore, the AI ​​decision terminal is used to determine whether the drone is in a dangerous state. It includes a threshold setting module and a judgment and re-decision module. The APM firmware is secondary developed in the lower computer, and the safety threshold intervals of various data are set with the help of existing flight control library files and APIs. Among them, the function is_dangerous() that determines whether the drone is dangerous, in which the drone's posture, battery voltage, current, remote control signal strength and other information are judged. If the drone is judged to be in a dangerous state, true is returned to trigger the opening of the airbag. The function that triggers the opening of the airbag protection device can control the movement of the servo by changing the information of the digital output pin.

[0016] Furthermore, the threshold setting module determines the safety threshold by analyzing the technical specifications of the drone and the historical data of the drone. By analyzing the historical data of the drone, the changing rules and ranges of various data can be understood. Among them, the technical specifications of the drone determine the basic threshold setting range, and according to the historical data, the safety threshold of each data can be fine-tuned to ensure that the drone operates within the normal range.

[0017] Furthermore, the historical data is provided by the flight log recorded by the flight control system, ensuring that the safety threshold is selected more reasonably and improving the stability of the airbag device.

[0018] Furthermore, under the operation of the data reading system and the AI ​​decision-making terminal, the drone airbag protection device can operate stably when installed on the drone to ensure the safety of the drone.

[0019] Furthermore, the lower computer uses an ARM main control chip or an AtmelAVR microcontroller, has digital input and output pins, can communicate with the flight control and collect and solve data, and also has a 5V power pin and a GND pin to realize the control of the servo.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] Improved drone safety: During flight, drones may encounter various unexpected situations, such as attitude loss, low battery, motor failure, remote control signal loss, etc. These problems may cause the drone to crash. By connecting to the drone airbag that can be automatically triggered by the flight control, the airbag protection device can be triggered in time when the drone encounters danger, reducing the risk of damage to the drone and personal injury, and improving the safety of the drone.

[0022] Protecting important parts of drones: Once important parts of drones such as motors and sensors are damaged, it often takes a lot of time and money to repair or replace them. By connecting to drone airbags that can be automatically triggered by the flight control, these important parts can be protected in time when the drone encounters an unexpected situation, reducing the cost and time of repair and replacement.

[0023] Enhanced adaptability of drones: Drones are used in a wide range of scenarios and may face a variety of different environments and tasks, such as flying in high altitudes, low temperatures, and bad weather, or performing special tasks such as search and rescue, patrols, and logistics. By connecting to the drone airbags that can be automatically triggered by the flight control, the adaptability and stability of the drone in different environments and tasks can be enhanced, and the overall performance of the drone can be improved.

[0024] Enhanced user confidence: UAV users often need to spend a lot of time and money on training and learning to master UAV operation skills and flight safety knowledge. By connecting to the flight control and automatically triggering the drone airbag, users can enhance their confidence and sense of security in the drone, reduce user operating errors and flight accidents, and improve user satisfaction and trust.

[0025] Reduce project testing costs: UAV developers usually need a lot of experiments to test and improve their development projects. By connecting to the drone airbag that can be automatically triggered by the flight control, the testing cost can be reduced and improvements and iterations can be facilitated.

[0026] The one-way valve device is improved and optimized to achieve better air tightness and enhanced ventilation performance; an upgraded gas generation control device is adopted to make the drive disc structure more robust and not easily damaged or failed; a microcontroller storage compartment is equipped to facilitate the installation of electronic control equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an airbag protection device for a drone that can be automatically triggered by connecting to a flight control system according to the present invention;

[0028] Figure 2 It is a structural schematic diagram of a cross-shaped gas cylinder storage bin of a drone airbag protection device connected to a flight control system and capable of being automatically triggered according to the present invention;

[0029] Figure 3This is a schematic diagram of the structure of a gas generation control device of a drone airbag protection device that can be automatically triggered by connecting to a flight control system of the present invention:

[0030] Figure 4 It is a structural schematic diagram of a driving disk of a drone airbag protection device that is connected to a flight control and can be automatically triggered according to the present invention;

[0031] Figure 5 It is a structural schematic diagram of a rectangular slider of a drone airbag protection device connected to a flight control system and capable of being automatically triggered according to the present invention;

[0032] Figure 6 It is a structural cross-sectional view of a gas generating system of an airbag protection device of a drone that is connected to a flight control and can be automatically triggered according to the present invention;

[0033] Figure 7 It is a structural cross-sectional view of a one-way valve air-locking system of a drone airbag protection device connected to a flight control system and capable of being automatically triggered according to the present invention;

[0034] Figure 8 It is a schematic diagram of a part of the one-way valve air-locking system of a drone airbag protection device connected to a flight control system and capable of being automatically triggered by the present invention;

[0035] Fig. 9 It is a structural schematic diagram of a microcontroller storage bin of a drone airbag protection device connected to a flight control system and capable of being automatically triggered according to the present invention;

[0036] Fig.10 This is a flow chart of the working principle of a drone airbag protection device that can be automatically triggered by connecting to a flight control system of the present invention;

[0037] In the figure: 1-cross gas cylinder storage compartment; 11-accommodation arm; 12-gas cylinder compartment; 13-connection port; 14-rectangular slide slot; 15-safety pin hole; 2-gas generation control device; 21-servo; 22-servo accommodation box; 23-servo turntable; 24-driving disk; 241-driving arm; 242-buckle through hole; 243-turntable connecting slot; 25-rectangular slider; 251-main body; 252-buckle; 253-gas cylinder through hole; 3-gas generation system; 31-gas cylinder; 3 2-gas cylinder propulsion spring; 33-safety pin; 34-striker storage cover; 35-striker; 4-one-way valve air-closing system; 41-air inlet; 411-support; 412-rear end hole; 42-steel ball; 43-steel ball propulsion spring; 44-ventilation tube; 441-half-body ventilation airbag compartment; 442-inner air nozzle; 45-crescent-shaped airbag bag; 5-microcontroller storage compartment; 51-microcontroller; 52-cylindrical support; 53-triangular reinforcement; 54-storage compartment; 55-Velcro DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1-10 , the present invention provides a technical solution: the following are the triggering measures for the mechanical part:

[0040] A drone airbag protection device that can be automatically triggered by connecting to a flight control is suitable for a multi-rotor drone. The system includes: a cross gas cylinder storage bin 1, a gas generation control device 2, a gas generation system 3, a one-way valve air-locking system 4, and a microcontroller storage bin 5; it is characterized in that the cross gas cylinder storage bin 1 comprises four accommodating arms 11, a gas cylinder bin 12, a connecting port 13, a rectangular slide 14, and a safety pin hole 15; the position of each accommodating arm 11 of the cross gas cylinder storage bin 1 is on the angular bisector between two adjacent rotors of the multi-rotor drone, so as to facilitate subsequent targeted customization work for multi-rotor drones such as six-rotor drones; each accommodating arm 11 is provided with a gas cylinder bin 12 for accommodating a gas cylinder along its axial direction, and a connecting port 13 with a threaded structure is provided at the end of each accommodating arm 11; at the same time, a rectangular slide 14 is provided in the middle part between the accommodating arm 11 and the connecting port 13.

[0041] The gas generation control device 2 includes a steering gear 21, a steering gear housing box 22, a steering gear turntable 23, a driving disk 24, and a rectangular slider 25; wherein the driving disk 24 includes a driving arm 241, a buckle through hole 242, and a turntable connecting groove 243; wherein the rectangular slider 25 includes a main body 251, a buckle 252, and a gas cylinder through hole 253; the steering gear 21 and the steering gear housing box 22 are located in the center of the bottom of the cross gas cylinder storage bin 1, the steering gear 21 is combined with the steering gear turntable 23 through a screw structure, and the steering gear turntable 23 is combined with the turntable connecting groove 243 through the action of the screw structure and strong glue; wherein the buckle 252 is combined with the main body 251 of the rectangular slider 25 through the buckle through hole 242 of the driving disk 24.

[0042] The gas generating system 3 comprises a gas cylinder 31, a gas cylinder propulsion spring 32, a safety pin 33, a striker storage cover 34 and a striker 35; wherein the striker storage cover 34 is connected to the connection port 13 at the end of the accommodating arm 11 by a threaded structure, and the striker 35 is placed in the striker storage cover 34 by super glue; when the servo 21 drives the driving disk 24 to pull the rectangular slider 25, the gas cylinder 31 passes through the gas cylinder through hole 253 on the rectangular slider 25 under the action of the gas cylinder propulsion spring 32, so that the bottle mouth of the gas cylinder 31 hits the striker 35, so that the gas in the gas cylinder 31 is released and enters the one-way valve air-closing system 4 through the striker storage cover 34; in order to prevent the rectangular slider 25 from sliding when the device is not in operation, so that the gas cylinder 31 hits the striker 35 through the gas cylinder through hole 253 to release the gas accidentally, by inserting the safety pin 33 into the safety pin hole 15, the effect of preventing the gas cylinder 31 from popping out can be achieved.

[0043] The one-way valve air-closing system 4 comprises an air inlet 41, a steel ball 42, a steel ball pushing spring 43, a vent pipe 44 and a crescent-shaped air bag 45; wherein the air inlet 41 comprises a support 411 and a rear end hole piece 412; the vent pipe 44 comprises two half-vent air bag bins 441 and an inner air nozzle 442; the air inlet 41 is matched with the rear end of the striker storage cover 34 through the support 411 to facilitate the circulation of gas, and the air inlet 41 and the striker storage cover 34 are connected to the connecting port 13 which also has a threaded structure through the threaded structure on the striker storage cover 34 under the wrapping of the two half-vent air bag bins 441; and the steel ball 42 is matched with the rear end hole piece 412 of the air inlet 41 under the action of the steel ball pushing spring 43, thereby closing the air inlet 41; if the gas cylinder 31 hits the striker 35 When the released gas tries to enter the inner air nozzle part 442 through the air inlet hole 41, the gas will impact the steel ball 42, thereby compressing the steel ball propulsion spring 43 and entering the inner air nozzle part 442, thereby filling the entire crescent-shaped airbag bag 45; when the gas in the gas cylinder 31 is about to be released, the steel ball 42 closes the air inlet hole 41 under the action of the steel ball propulsion spring 43, thereby preventing the gas from escaping and causing leakage; the inner air nozzle part 442 is used to store the crescent-shaped airbag bag 45, so that the crescent-shaped airbag bag 45 can be folded and stuffed into the inner air nozzle part 442 when not inflated, and the crescent-shaped airbag bag 45 can be recycled; the crescent-shaped airbag bag 45 has good elasticity. After the four crescent-shaped airbag bags 45 are fully opened, the two adjacent crescent-shaped airbag bags 45 contact each other, completely wrapping the multi-rotor drone therein.

[0044] The microcontroller storage bin 5 includes a microcontroller 51, four cylindrical support members 52, two triangular reinforcement members 53, a storage bin body 54, and Velcro 55; the bottom of the trihedral wall of the storage bin body 54 is combined with the center of the top of the cross gas cylinder storage bin 1 through two triangular reinforcement members 53; the top of the storage bin body 54 is combined with the trihedral wall of the storage bin body 54, and is also combined with the top of the cross gas cylinder storage bin 1 through four cylindrical support members 52, thereby ensuring that the microcontroller storage bin 5 and the cross gas cylinder storage bin 1 are not separated; the microcontroller 51 is placed in the storage bin body 54; the top of the storage bin body 54 is connected to the drone body through Velcro 55.

[0045] The gas cylinder is a steel cylinder filled with liquid carbon dioxide, the bottle body is a cylinder, the bottle bottom is a hemisphere, and the bottle mouth is welded with a thin steel sheet for sealing.

[0046] The following is the triggering method of the electronic control part:

[0047] like Fig.10 As shown, the present invention is an airbag protection device for a drone that can be automatically triggered by connecting to the flight control. The control circuit of the airbag protection device is connected to the flight control through a signal line, and can obtain the attitude information, battery voltage information, current information, and remote control signal strength information of the drone in real time. When the drone is in a dangerous state, the control circuit of the airbag protection device can determine whether it is necessary to trigger the opening of the airbag. When the flight control trigger signal arrives, the control circuit of the airbag protection device will immediately trigger the opening of the airbag to reduce the damage to personnel and property caused by the crash of the drone.

[0048] The working principle is that the lower computer monitors the flight control status transmission data in real time, which is used to detect the attitude, battery voltage, current and remote control signal strength of the drone, run the callback function and judge whether the drone is in a dangerous state or needs to trigger the opening of the airbag according to the detection results. When the lower computer determines that the drone is in a dangerous state or the flight control trigger signal arrives, the microcontroller will trigger the opening of the airbag.

[0049] The technical solution is as follows: the control circuit of the airbag protection device is connected to the flight control through a signal line, and can obtain the attitude information, battery voltage information, current information and remote control signal strength information of the flight control.

[0050] The control circuit of the airbag protection device also includes a switch circuit for controlling the opening of the airbag: when the opening of the airbag needs to be triggered, the switch circuit will be energized to inflate the airbag.

[0051] 1. Data reading system: The lower computer can communicate with the flight control system to collect and solve data, and transmit and obtain data. By detecting this information, the control circuit of the airbag protection device can determine whether the drone is in a dangerous state or needs to trigger the opening of the airbag, thereby realizing the servo control of the airbag protection device.

[0052] The specific implementation scheme is as follows: When the device is connected to the PWM output interface on the open source flight controller, the signal line is connected to the digital input pin of the lower computer, and the duty cycle data of the PWM signal is read. These data can be used to monitor the status of the aircraft, such as motor speed, flight attitude, etc.

[0053] At the same time, the data reading system is automatically turned on after connecting to the flight control, and the relevant libraries of the APM firmware are introduced, such as AP_Common.h, AP_Param.h, AP_Math.h, etc. These library files provide functions and variable definitions related to the flight control. Cooperate with the AI ​​decision terminal for real-time reading and analysis.

[0054] 2. AI decision terminal: obtain the flight control sensor data of the drone during flight, use the GPIO pin of the microcontroller to read the PWM signal, and decode the PWM signal to obtain the corresponding data. The sensor data includes: attitude information, battery voltage information, current information, and remote control signal strength information.

[0055] The specific implementation scheme is as follows: It includes a threshold setting module and a judgment and decision-making module. The APM firmware is redeveloped in the lower computer, and the safety threshold intervals of various data are set with the help of the existing flight control library files and APIs. Among them, the function is_dangerous() to determine whether the drone is dangerous or not, in which the drone's attitude, battery voltage, current, remote control signal strength and other information are judged. If the drone is judged to be in a dangerous state, true is returned to trigger the opening of the airbag.

[0056] The threshold setting module determines the safety threshold by analyzing the technical specifications of the drone and the historical data of the drone. The change pattern and range of each data can be understood by analyzing the historical data of the drone. The technical specifications of the drone determine the basic threshold setting range, and the safety threshold of each data can be fine-tuned according to the historical data to ensure that the drone operates within the normal range.

[0057] The acquired data is subjected to threshold judgment, and the selection of threshold is determined by design specifications and standards, and experimental data; including pitch angle, roll angle, yaw angle, acceleration, battery power, current, voltage, GPS signal, gyroscope data, magnetometer data, and remote control signal to determine the safety status of the drone. Pitch angle, roll angle, yaw angle: According to design specifications and standards, determine the angle value range within the safety range and set the corresponding threshold. Comparison operators (such as greater than, less than, etc.) can be used to determine whether the actual angle value is within the safety range.

[0058] According to the device characteristics and experimental data, determine the signal strength or value range within the safe range and set the corresponding threshold. Comparison operators (such as greater than, less than, etc.) can be used to determine whether the actual signal strength or value is within the safe range.

[0059] The historical data is provided by the flight log recorded by the flight control system to ensure that the safety threshold is selected more reasonably. The acquired data is judged in real time through an infinite loop function to ensure the stability of the control system.

[0060] 3. Lower computer controller: The function that triggers the opening of the airbag protection device can control the movement of the servo by changing the information of the digital output pin, thereby controlling the triggering of the airbag device.

[0061] The specific implementation scheme is as follows: connect the power pin of the servo to the power pin of the microcontroller, connect the ground pin to the ground pin of the microcontroller, and connect the signal pin to the GPIO pin (such as PA0 pin) of the microcontroller.

[0062] In the lower computer program, the timer module is used to generate the PWM signal, and the GPIO pin is used to output the PWM signal. The frequency, duty cycle and period of the PWM signal can be set according to the actual needs of the airbag drive disk.

[0063] In the program, the capture function of the timer module is used to read the control signal of the lower computer, and the rotation angle and speed of the servo are adjusted according to the actual needs of the airbag. The interrupt service program can be used to handle the capture event and calculate the rotation angle and speed of the servo according to the captured PWM signal.

[0064] According to the control requirements and logic of the flight control transmission signal, write code to control the state of the GPIO pin, thereby controlling the output signal of the switch circuit. Through the AI ​​decision terminal threshold judgment and the additional trigger of the remote control, the output triggers the servo drive signal.

[0065] When the drone is in a dangerous state or the flight control trigger signal is received, the microcontroller will trigger the opening of the airbag; the microcontroller will turn on the switch circuit, the switch circuit will be energized, thereby triggering the servo, driving the drive disk to drag the rectangular slider, causing the gas cylinder to hit the firing pin to release the gas.

[0066] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0067] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A UAV airbag protection system triggered by flight control, suitable for multi-rotor UAVs, the system comprising: The invention is composed of a cross gas cylinder storage bin (1), a gas generation control device (2), a gas generation system (3), a one-way valve gas closing system (4), and a microcontroller storage bin (5); the cross gas cylinder storage bin (1) comprises four accommodating arms (11), a gas cylinder bin (12), a connecting port (13), a rectangular slide groove (14), and a safety pin hole (15); the position of each accommodating arm (11) of the cross gas cylinder storage bin (1) is on the bisector of the angle between two adjacent rotors of a multi-rotor unmanned aerial vehicle, so as to facilitate the subsequent customized work for multi-rotor unmanned aerial vehicles such as six-rotor unmanned aerial vehicles; each accommodating arm (11) is provided with a gas cylinder bin (12) for accommodating a gas cylinder along its axial direction, and a connecting port (13) with a threaded structure is provided at the end of each accommodating arm (11); and a rectangular slide groove (14) is provided in the middle part between the accommodating arm (11) and the connecting port (13).

2. The UAV airbag protection system triggered by flight control according to claim 1, characterized in that: The gas generation control device (2) comprises a steering gear (21), a steering gear housing box (22), a steering gear turntable (23), a driving disc (24), and a rectangular slider (25); wherein the driving disc (24) further comprises a driving arm (241), a buckle through hole (242), and a turntable connecting groove (243); wherein the rectangular slider (25) further comprises a main body (251), a buckle (252), and a gas cylinder through hole (253); the steering gear (21) and the steering gear housing box (22) are located at the center of the bottom of the cross gas cylinder storage bin (1); the steering gear (21) is located at the steering gear housing box (22) and the gas cylinder storage bin (1) is located at the center of the bottom of the cross gas cylinder storage bin (1); and the steering gear (21) is located at the steering gear housing box (22). 22); the steering gear (21) is combined with the steering gear turntable (23) through a screw structure, and the steering gear turntable (23) is combined with the turntable connecting groove (243) through the screw structure and the strong glue; in order to prevent the driving arm (241) from breaking when the torque is large, we have made a reinforcement structure for it; wherein the buckle (252) is combined with the main body (251) of the rectangular slider (25) through the buckle hole (242) of the driving disk (24); a rectangular slider (25) is provided in the rectangular slide groove (14) in each of the accommodating arms (11).

3. The UAV airbag protection system triggered by flight control according to claim 2 is characterized in that: The gas generating system (3) comprises a gas cylinder (31), a gas cylinder propulsion spring (32), a safety pin (33), a striker storage cover (34), and a striker (35); wherein the striker storage cover (34) is connected to the connection port (13) at the end of the accommodating arm (11) through a threaded structure, and the striker (35) is placed in the striker storage cover (34) through strong glue; when the steering gear (21) drives the driving disk (24) to pull the rectangular slider (25), the gas cylinder (31) is pushed through the rectangular slider (25) under the action of the gas cylinder propulsion spring (32). ) on the gas cylinder through hole (253), so that the bottle mouth of the gas cylinder (31) hits the striker (35), so that the gas in the gas cylinder (31) is released and enters the one-way valve air-closing system (4) through the striker storage cover (34); in order to prevent the rectangular slider (25) from sliding when the device is not in operation, so that the gas cylinder (31) hits the striker (35) through the gas cylinder through hole (253) and releases gas accidentally, by inserting the safety pin (33) into the safety pin hole (15), the effect of preventing the gas cylinder (31) from popping out can be achieved.

4. The UAV airbag protection system triggered by flight control according to claim 3 is characterized by: The one-way valve air-closing system (4) comprises an air inlet (41), a steel ball (42), a steel ball propulsion spring (43), a vent pipe (44), and a crescent-shaped air bag (45); wherein the air inlet (41) comprises a support member (411) and a rear end hole member (412); the vent pipe (44) comprises two half-vent air bag chambers (441) and an inner air nozzle (442); the air inlet (41) is combined with the rear end of the striker storage cover (34) through the support member (411) to facilitate the flow of gas, and the steel ball (42) is combined with the rear end hole member (412) of the air inlet (41) under the action of the steel ball propulsion spring (43), thereby closing the air inlet (41); if the gas released after the gas cylinder (31) hits the striker (35) intends to enter the inner air nozzle (442) through the air inlet (41), The gas will impact the steel ball (42), thereby compressing the steel ball propulsion spring (43) and entering the inner air nozzle portion (442), thereby filling the entire crescent-shaped airbag bag (45); when the gas in the gas cylinder (31) is about to be released, the steel ball (42) closes the air inlet (41) under the action of the steel ball propulsion spring (43), thereby preventing the gas from escaping and causing leakage; the inner air nozzle portion (442) is used to store the crescent-shaped airbag bag (45), so that the crescent-shaped airbag bag (45) can be folded and stuffed into the inner air nozzle portion (442) when not inflated, and the crescent-shaped airbag bag (45) can be recycled; the crescent-shaped airbag bag (45) has good elasticity. After the four crescent-shaped airbag bags (45) are fully opened, the two adjacent crescent-shaped airbag bags (45) contact each other, completely wrapping the multi-rotor drone therein.

5. The UAV airbag protection system triggered by flight control according to claim 4 is characterized by: The microcontroller storage bin (5) comprises a microcontroller (51), four cylindrical support members (52), two triangular reinforcement members (53), a storage bin body (54), and Velcro (55); the bottom of the trihedral wall of the storage bin body (54) is connected to the center of the top of the cross gas cylinder storage bin (1) through two triangular reinforcement members (53); the top of the storage bin body (54) is connected to the trihedral wall of the storage bin body (54) and is also connected to the top of the cross gas cylinder storage bin (1) through four cylindrical support members (52), thereby ensuring that the microcontroller storage bin (5) and the cross gas cylinder storage bin (1) are not separated; the microcontroller (51) is placed in the storage bin body (54); the top of the storage bin body (54) is connected to the drone body through Velcro (55).

6. The UAV airbag protection system triggered by flight control according to claim 2, characterized in that: Limiting blocks are arranged at both ends of the rectangular sliding block (25) so as to prevent the rectangular sliding block (25) from escaping from the rectangular sliding groove (14) during the sliding process.

7. The UAV airbag protection system triggered by flight control according to claim 3, characterized in that; The gas cylinder (31) is a steel cylinder filled with liquid carbon dioxide, the cylinder body is a cylinder, the bottom of the cylinder is a hemisphere, and the bottle mouth is welded with a thin steel sheet for sealing.

8. The UAV airbag protection system triggered by flight control according to claim 5, characterized in that: The microcontroller (51) reads flight control information through PWM signals, and then controls the opening of the airbag, thereby protecting the drone.

9. The airbag type drone fall protection device according to claim 1, characterized in that: A battery compartment and a control compartment for accommodating a microcontroller are provided in the middle of the cross control frame (22); one end of the microcontroller is connected to the steering gear (21), and the other end is connected to the flight control PWM port; the microcontroller implements the input of a PWM signal through a pulseIn() function, calculates specific data according to the pulse width value of the input signal, and determines whether the drone is safe in combination with a safety threshold interval set by itself, and issues a work instruction to the steering gear (21) when it is determined to be dangerous, or the microcontroller sets the PWM output value of a digital output pin according to the airbag opening channel control signal of the drone remote controller through a nalogWrite() function to issue a work instruction to the steering gear (21).

10. The UAV airbag protection system triggered by flight control according to claim 9, characterized in that: The battery compartment contains a lithium battery capable of providing different voltages to respectively power the steering gear (21) and the microcontroller in the control compartment; the model of the microcontroller is tentatively Arduino UNO, but other models of microcontrollers may also be used.

Images