Ejection folding unmanned aerial vehicle loaded with black box

Abstract

The ejection folding unmanned aerial vehicle comprises a fuselage, a folding straight wing and a folding empennage are arranged at the upper end of the fuselage, a camera is arranged at the front end of the fuselage, and an aircraft center, the black box and a battery are arranged in the fuselage; the aircraft pivot is connected with the folding straight wing and the folding empennage respectively; a protective airbag, an ultrasonic altimeter and a sensor control module are arranged at the bottom end of the fuselage, and the sensor control module is connected with the protective airbag and the ultrasonic altimeter. Through comprehensive application of the flight control center, the terrain recognition system and the ground contact buffer device, it is ensured that the unmanned aerial vehicle can rapidly take protection measures when facing risks, the risk of damage to a black box is reduced to the maximum extent, and therefore the integrity and safety of data are improved. Meanwhile, the design can keep high stability and adaptability in various complex flight environments.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a ejection folding unmanned aerial vehicle loaded with a black box. Background Art

[0002] With the rapid development of aviation technology, its application scope has covered many fields such as civil aviation, military and emergency rescue. Aircraft face high risks when performing missions, especially in complex and extreme environments. In these cases, the importance of data collection and the protection of the aircraft itself are particularly important. Therefore, studying the black box protection mechanism for drones has become an important topic.

[0003] Existing black box designs usually lack protection measures for extreme conditions. In the event of a system failure or accident, the black box may be physically damaged, resulting in data loss. Therefore, it is necessary to explore a new protection scheme to enhance the self-protection capability of the black box in various flight environments.

[0004] In this context, the ejection black box is a new form of black box protection, and its structural design can achieve rapid deployment and stable flight. In certain circumstances, it enables the black box to be quickly separated and ensure its safety when an aircraft malfunctions. However, the existing ejection black box solution still has room for improvement in terms of flight trajectory control, landing position and buffer device after ejection. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a foldable ejectable drone equipped with a black box. Through the comprehensive application of the flight control center, terrain recognition system and ground contact buffer device, it is ensured that the drone can quickly take protective measures when facing risks, and minimize the risk of damage to the black box, thereby improving the integrity and security of the data. At the same time, this design can also maintain high stability and adaptability in a variety of complex flight environments.

[0006] Technical solution: The present invention provides a foldable ejection drone equipped with a black box, comprising a fuselage, a foldable straight wing and a foldable tail wing are arranged at the upper end of the fuselage, a camera is arranged at the front end of the fuselage, and an aircraft hub, a black box and a battery are arranged inside the fuselage; the aircraft hub is respectively connected to the foldable straight wing and the foldable tail wing; a protective airbag, an ultrasonic altimeter and a sensor control module are arranged at the bottom of the fuselage, and the sensor control module is respectively connected to the protective airbag and the ultrasonic altimeter.

[0007] Furthermore, a flight control system is installed inside the fuselage, and the flight control system is connected to the battery through a data bus. The flight control system uses a PID control algorithm to perform proportional, integral and differential adjustments on the error between the current attitude and the desired attitude to form an effective control instruction.

[0008] Furthermore, the flight control system is specifically as follows: in the flight control system, the PID controller is used to control the attitude of the aircraft, including the pitch angle Pitch, the roll angle Roll, and the yaw angle Yaw; the flight control system obtains the current attitude data through the sensor, and compares it with the expected attitude to calculate the error signal; for each attitude axis Pitch, Roll, and Yaw, the error is the difference between the expected value and the current value; the PID controller calculates the control output according to these error signals, wherein the control output consists of three parts: proportional, integral, and differential. The current error is adjusted by the proportional gain, the deviation is eliminated by accumulating the error by the integral gain, and the error change trend is predicted by the differential gain to improve the response speed; finally, the control output is converted into an instruction of the actuator, thereby driving the aircraft to adjust its attitude to approach the target value, thereby realizing attitude adjustment.

[0009] Furthermore, the sensor includes a gyroscope and an accelerometer.

[0010] Furthermore, the instructions of the actuator include motor speed and steering gear angle.

[0011] Furthermore, the flight control system includes a central processing unit ARM Cortex chip and an attitude sensor, and the attitude sensor includes a gyroscope and an accelerometer.

[0012] Furthermore, the rotation axes of the foldable straight wings and the foldable tail wing are connected to the fuselage through a torsion spring mechanism.

[0013] Furthermore, the foldable straight wings and the foldable tail wing are provided with locking mechanisms.

[0014] Furthermore, a folding wing storage space is provided at the upper end of the fuselage, and a folding straight wing is provided in the folding wing storage space.

[0015] The present invention also discloses a launching system for a folding ejection drone loaded with a black box, comprising a launching module and a launching bracket, wherein the launching bracket is used to support the launching module, and the launching module comprises a compressed gas tank, a gas valve and a launching channel in sequence from bottom to top, wherein a low-pressure chamber is arranged inside the launching channel, and the folding ejection drone loaded with a black box is folded and installed in the launching channel.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: The drone of the present invention has the functions of rapid ejection, stable flight, intelligent terrain recognition and efficient buffering, which greatly improves the overall safety and data integrity of the black box, especially in complex and extreme flight environments, ensuring that the black box can be effectively protected. The present invention ensures that the drone can quickly take protective measures when facing risks through the comprehensive application of the flight control center, terrain recognition system and ground contact buffer device, thereby minimizing the risk of damage to the black box and improving the integrity and security of the data. At the same time, this design can also maintain high stability and adaptability in a variety of complex flight environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the working principle of the pneumatic ejection mechanism;

[0018] Figure 2 Schematic diagram of the overall structure of the ejection folding straight-wing UAV equipped with a black box;

[0019] Figure 3 Schematic diagram of the folding straight wing deployment mechanism;

[0020] Figure 4 Structural diagram of the ground contact buffer device.

[0021] In the figure, 1-fuselage, 2-folding straight wing, 3-folding tail wing, 4-camera, 5-aircraft center, 6-black box, 7-battery, 8-protective airbag, 9-ultrasonic altimeter, 10-torsion spring mechanism, 11-locking mechanism, 12-folding wing storage space, 13-airbag station opening. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0023] See also Figure 1 A launch and protection system for a drone includes a pneumatic ejection mechanism, a compressed gas tank is fixedly connected to the lower side of the pneumatic ejection mechanism, a gas valve assembly is provided at the tank mouth of the compressed gas tank, and the gas valve is connected to a launch channel. When a drone is placed in the launch channel, a low-pressure chamber is provided inside the launch channel, and the foldable straight-wing drone is folded and installed in the launch channel, and the entire device is supported by a bracket.

[0024] The pneumatic ejection mechanism consists of a compressed gas tank, an electronic gas valve, a low-pressure chamber, a launch channel and a bracket. The compressed gas tank is firmly installed at the bottom of the drone, and the gas release is precisely controlled by the electronic gas valve. The gas nozzle is embedded in the rear end of the launch channel and connected to the low-pressure chamber, and the straight-wing drone in the folded state is placed on the low-pressure chamber. During the launch process, the device provides two startup methods. First, the system can be started by human intervention, that is, the operator manually chooses to launch the drone. However, in the case of continuous abnormality and no human control, when the abnormality detection module senses that the aircraft has descended to a preset ground height, the pneumatic ejection mechanism will automatically start the emergency procedure. At this time, the electronic gas valve opens immediately after receiving the start signal, and the high-pressure gas in the compressed gas tank is quickly released and injected into the low-pressure chamber through the electronic gas valve. As the air pressure in the low-pressure chamber increases rapidly, the drone is strongly pushed to eject through the launch channel. In this process, the folded wings are quickly unfolded due to the release of the compression effect of the launch channel, ensuring that the drone enters an operational flight state immediately after ejection. The pneumatic ejection mechanism is designed to ensure that the UAV can be deployed quickly and efficiently in emergency situations, improving the operational flexibility and safety of the UAV system.

[0025] See also Figure 2 The present invention relates to a structural design of a drone, in which a black box system is integrated. The fuselage is an integral structure, including a main fuselage 1, a folding straight wing 2 and a folding tail wing 3. After being unfolded, the folding straight wing 2 and the folding tail wing 3 are rotated along a vertical axis by an unfolding mechanism assembly and are fixed to a flight state to provide necessary aerodynamic support. A battery 7 is designed and installed at the front of the drone, and the module communicates with the flight control system through a data bus to ensure the normal operation of the system under various conditions. A black box 6 dedicated to the aircraft is integrated at the rear side of the fuselage 1, and a camera 4 is provided at the lower side of the nose 1 for real-time recognition of the terrain below during navigation, so as to select the flattest landing area. In order to further enhance the landing safety, two sets of protective airbags 8 and an ultrasonic altimeter 9 are installed at the lower part of the fuselage 1. The ultrasonic altimeter 9 is responsible for height detection during the landing process, and triggers the timely inflation and deployment of the protective airbag 8 when reaching a specific height. This design is intended to minimize the potential damage to the fuselage and the integrated black box during landing. The overall design ensures the drone's stable control, durability and efficient flight performance, and is suitable for a variety of application scenarios.

[0026] See also Figure 3The deployment mechanism assembly specifically includes a fixed part, that is, the fuselage, a folding part, including straight wings and tail wings that are folded and retracted when not launched, a torsion spring mechanism 10, and a locking mechanism 11. The wings and tail wings are folded and retracted in the fuselage when not launched, and are kept in the retracted position by the spatial constraints of the launch tube. The torsion spring serves as the rotation axis of the folding wing, which is used to determine the fixed position of the folding wing and provide the initial power for the folding wing to unfold. The locking mechanism ensures that when the folding wing is unfolded to the specified position, the mechanical lock is automatically locked to ensure the stability of the unfolding.

[0027] The power of the drone is provided by a compressed air cylinder to provide a large thrust, and the rapid release of compressed air is used to push the drone out. The initial ejection may cause an unstable attitude. After the deployment is completed, the drone flight control system relies on the central processor ARMCortex chip and attitude sensors (including gyroscopes and accelerometers) to achieve real-time attitude adjustment. During the flight, the sensor continuously collects data and transmits it to the central processor through the data bus for filtering to analyze the current attitude. The gyroscope measures the angular velocity around each axis, while the accelerometer provides tilt and movement status information. These data are fused through attitude solution algorithms (such as Kalman filtering or complementary filtering) to help estimate the attitude of the drone, including roll angle, pitch angle and yaw angle, so that the drone can gradually adjust from the ejection angle to a stable flight attitude to ensure flight stability and safety. The drone uses pneumatic surface control to achieve flight control and attitude adjustment. The drone is equipped with multiple movable control panels, such as flaps, elevators, ailerons and rudders, which are driven by electric or hydraulic actuators. The flight control system calculates the required control panel adjustments based on the attitude data provided by the sensor, and changes the angle of the control panel to affect the airflow, thereby changing the lift, drag and direction of the drone. The flight control system continuously monitors the attitude and flight status of the drone, and continuously adjusts the control panel based on feedback data to respond to external disturbances and maintain the predetermined flight path, thereby achieving stable flight of the drone.

[0028] In addition, the drone is equipped with a camera 4 for real-time terrain recognition to help select the best landing location during landing. The camera continuously captures real-time ground images, which are pre-processed and analyzed by computer vision algorithms, including edge detection and morphological processing, to identify ground features and obstacles. Through machine learning and deep learning technologies such as convolutional neural networks (CNN), the drone can accurately identify complex terrain and find flat and obstacle-free landing areas. The processing results are immediately fed back to the flight control system to adjust the landing path and angle to ensure a safe landing.

[0029] The flight control system also uses the PID control algorithm to make proportional, integral and differential adjustments to the error between the current attitude and the desired attitude to form effective control instructions. These instructions are transmitted to actuators such as motor controllers to achieve real-time attitude correction. The system is equipped with an anomaly detection module, which can quickly take emergency strategies to restore stability when an abnormal attitude occurs. This design ensures the precise control of the drone, continuous safe flight, and safe landing in complex terrain.

[0030] See also Figure 4 , is the landing protection system of the drone, including an ultrasonic altimeter 9 and a protective airbag 8. The system is installed on the lower side of the drone fuselage, with a protective airbag on each of the front and rear fuselages, and an ultrasonic altimeter 9 is installed in the central area of ​​the lower side of the fuselage.

[0031] The landing protection system consists of an ultrasonic altimeter, a sensor control module, and a protective airbag. When the ultrasonic altimeter detects that the drone is close to a certain height of the ground, the sensor control module immediately triggers the protective airbag. The protective airbag expands rapidly after receiving the signal, and the protective layer absorbs the impact during the landing process, thereby ensuring the safety of sensitive components inside the drone and effectively reducing possible damage in the event of an accident. This protection mechanism ensures that the drone is intact when landing without relying on human intervention.

[0032] The entire system works together through coordinated hardware and software to automatically perform preset safety operations, providing solid protection for the operational stability and data security of drones in emergencies.

Claims

1. A foldable ejectable drone equipped with a black box, characterized in that: The invention comprises a fuselage (1), wherein the upper end of the fuselage (1) is provided with folding straight wings (2) and folding tail wings (3), the front end of the fuselage (1) is provided with a camera (4), and the interior of the fuselage (1) is provided with an aircraft hub (5), a black box (6) and a battery (7); the aircraft hub (5) is respectively connected to the folding straight wings (2) and the folding tail wings (3); the bottom end of the fuselage (1) is provided with a protective airbag (8), an ultrasonic altimeter (9) and a sensor control module, and the sensor control module is respectively connected to the protective airbag (8) and the ultrasonic altimeter (9).

2. The ejection folding drone equipped with a black box according to claim 1, characterized in that: A flight control system is also installed inside the fuselage (1), and the flight control system is connected to the battery (7) via a data bus. The flight control system uses a PID control algorithm to perform proportional, integral and differential adjustments on the error between the current attitude and the desired attitude, thereby forming an effective control instruction.

3. The ejection folding drone equipped with a black box according to claim 2, characterized in that: The flight control system is specifically as follows: in the flight control system, a PID controller is used to control the attitude of the aircraft, including the pitch angle Pitch, the roll angle Roll, and the yaw angle Yaw; the flight control system obtains the current attitude data through the sensor, and compares it with the expected attitude, and calculates the error signal; for each attitude axis Pitch, Roll, and Yaw, the error is the difference between the expected value and the current value; The PID controller calculates the control output based on these error signals, where the control output consists of three parts: proportional, integral and differential. The current error is adjusted by the proportional gain, the deviation is eliminated by accumulating the error through the integral gain, and the error change trend is predicted by the differential gain to improve the response speed. Finally, the control output is converted into instructions for the actuator, thereby driving the aircraft to adjust its attitude to approach the target value, thereby achieving attitude adjustment.

4. The ejection folding drone equipped with a black box according to claim 3, characterized in that: The sensors include gyroscopes and accelerometers.

5. The ejection folding drone equipped with a black box according to claim 3, characterized in that: The instructions of the actuator include motor speed and steering gear angle.

6. The ejection folding drone equipped with a black box according to claim 2, characterized in that: The flight control system includes a central processing unit ARM Cortex chip and a posture sensor, and the posture sensor includes a gyroscope and an accelerometer.

7. The ejection folding drone equipped with a black box according to claim 1, characterized in that: The rotating shafts of the foldable straight wings (2) and the foldable tail wing (3) are connected to the fuselage (1) via a torsion spring mechanism (10).

8. The ejection folding drone equipped with a black box according to claim 1, characterized in that: The foldable straight wing (2) and the foldable tail wing (3) are provided with a locking mechanism (11).

9. The ejection folding drone equipped with a black box according to claim 1, characterized in that: A folding wing storage space (12) is provided at the upper end of the fuselage (1), and a folding straight wing (2) is provided in the folding wing storage space (12).

10. A launching system for the ejection folding drone loaded with a black box as claimed in claim 1, characterized in that: It includes a launching module and a launching bracket, wherein the launching bracket is used to support the launching module, and the launching module includes a compressed gas tank, a gas valve and a launching channel from bottom to top, wherein a low-pressure chamber is arranged inside the launching channel, and the ejection folding drone loaded with a black box is folded and installed in the launching channel.

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