Unmanned aerial vehicle parachute throwing device

Abstract

The invention discloses an unmanned aerial vehicle parachute throwing device, and belongs to the technical field of unmanned aerial vehicle equipment. Comprising a fault detection module, a trigger control module, a dual-power release module, a parachute storage module, a flight control cooperation module and a parachute ejection mechanism which are installed in an unmanned aerial vehicle body. A fault judgment algorithm is built in the trigger control module; the parachute ejection mechanism comprises an ejection shaft, the lower end of the ejection shaft is connected with a force storage assembly, the ejection shaft is sleeved with a limiting protruding ring, and a limiting column is arranged on one side of the limiting protruding ring and matched with the motor driving unit. The three-axis acceleration sensor, the air pressure sensor, the motor rotating speed sensor and the current sensor are integrated, a synchronous acquisition and automatic switching mechanism of the main sensor and the standby sensor is matched, acquisition interruption caused by faults of a single sensor is avoided, and data acquisition continuity is high. Instantaneous impact force is provided through compressed gas driving, the push rod is driven to be accurately unlocked through gear transmission, and the problems that traditional single power thrust is insufficient and release is slow are solved in cooperation with the double-spring force storage assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle equipment, more particularly to a parachute device for unmanned aerial vehicle. BACKGROUND

[0002] With the rapid iteration of unmanned aerial vehicle technology, its application scenarios have covered aerial surveying and mapping, power inspection, logistics distribution, emergency rescue and other fields. The complexity of flight environment and the diversity of operation tasks have put forward higher requirements for the flight safety of unmanned aerial vehicles. During the flight of unmanned aerial vehicles, they are easily affected by factors such as severe weather (e.g. strong wind, heavy rain, lightning), electromagnetic interference, power system failure (battery failure, motor stall), and operation errors, which may lead to loss of control, crashes and other safety accidents. Not only may the unmanned aerial vehicles themselves be damaged, but also serious consequences such as ground personnel casualties, property losses or classified data leaks may occur.

[0003] To reduce the risk of unmanned aerial vehicles after losing control, a parachute device emerges as the core safety protection component. Its core function is to quickly and reliably release a parachute when an unmanned aerial vehicle encounters an emergency, so that the unmanned aerial vehicle can land smoothly through the deceleration and buffering effect of the parachute, thereby minimizing personnel and property losses. At present, the parachute device for unmanned aerial vehicles has become a standard configuration for medium and high-end unmanned aerial vehicles, especially in the fields of heavy-load unmanned aerial vehicles, long-endurance unmanned aerial vehicles and manned unmanned aerial vehicles. The reliability of the parachute device directly determines the flight safety level.

[0004] Although the existing parachute device for unmanned aerial vehicles has achieved basic safety protection functions, there are still the following key technical defects in actual application: Insufficient reliability of the triggering mechanism: Some devices use a single sensor (such as an acceleration sensor or a barometric pressure sensor) to detect faults, which is easily affected by external interference, leading to false triggering or missed triggering. Mechanical triggering structures (such as spring type and electromagnetic type) may experience sticking, fatigue failure after long-term use, especially in low-temperature or high-humidity environments. Low efficiency of parachute release: Traditional parachute devices mostly use a single power source (such as compressed gas or gunpowder drive), which has problems such as slow release speed and insufficient thrust, resulting in untimely or incomplete deployment of the parachute. The parachute storage method of some devices is not reasonable, which may cause entanglement and knotting, affecting the deceleration effect. Poor adaptability and universality: Existing devices are mostly custom designed, optimized for the weight and size of a specific model, and difficult to adapt to different types of unmanned aerial vehicles. The installation method is complex, requiring significant modification of the unmanned aerial vehicle body, increasing the user's use cost and operation difficulty. Lightweight and structural strength contradiction: in order to meet the demand of lightweight, some devices adopt thin-walled structure or light material, which leads to insufficient structural strength, and the core components of the unmanned aerial vehicle cannot be effectively protected when falling or colliding at high speed; and strengthening the structural strength will increase the weight of the device, affecting the flight performance of the unmanned aerial vehicle. Low level of intelligentization: most parachute devices lack deep cooperation with the flight control system, cannot dynamically adjust the triggering strategy according to the flight state of the unmanned aerial vehicle (such as flight height, speed and attitude), and do not have functions such as fault diagnosis and state monitoring, so that the user cannot predict the working state of the device, increasing the safety hazard. In summary, the existing unmanned aerial vehicle parachute device still has a large improvement space in reliability, response speed, adaptability and intelligentization, and therefore we propose an unmanned aerial vehicle parachute device. SUMMARY

[0005] The purpose of the present application is to provide an unmanned aerial vehicle parachute device to solve the problems raised in the above background.

[0006] To achieve the above purpose, the present application provides the following technical scheme: An unmanned aerial vehicle parachute device, comprising a fault detection module, a trigger control module, a double-power release module, a parachute storage module, a flight control cooperation module and a parachute ejection mechanism installed in the unmanned aerial vehicle body; The fault detection module comprises a three-axis acceleration sensor, an air pressure sensor, a motor speed sensor and a current sensor, the output ends of each sensor are electrically connected with the trigger control module, and is used for collecting the flight attitude, height and power system state data of the unmanned aerial vehicle and transmitting them to the trigger control module; The trigger control module is built-in fault judgment algorithm, is used for multi-dimensional fusion analysis to the collected data, judges whether the unmanned aerial vehicle is in the out-of-control state, and can receive the flight parameters transmitted by the flight control cooperation module, and dynamically adjusts the fault judgment threshold; The double-power release module comprises a compressed gas driving unit and a motor driving unit, the two driving units are connected in parallel, and are electrically connected with the output end of the trigger control module, and are used for starting synchronously after receiving the trigger signal, and providing composite power for the parachute ejection mechanism; The parachute storage module adopts a layered folding structure, the inner layer is a parachute main body, the outer layer is provided with a guide cloth sleeve, the inner wall of the cloth sleeve is provided with a low friction coating, and the cloth sleeve opening is provided with an elastic expansion ring; The parachute ejection mechanism comprises an ejection shaft, the lower end of the ejection shaft is connected with a force storage assembly, the ejection shaft is sleeved with a limiting convex ring, one side of the limiting convex ring is provided with a limiting column, and the limiting column is matched with the motor driving unit; The flight control cooperative module is provided with a data interaction interface, which is used for establishing bidirectional communication with the flight control system of the unmanned aerial vehicle, acquiring flight height, speed and attitude data in real time, and feeding back the working state of the parachute launching device to the flight control system.

[0007] Preferably, the force storage assembly is mounted in a mounting cavity in the unmanned aerial vehicle body, the force storage assembly comprises a spring one and a spring two, a sliding sleeve is arranged between the spring one and the spring two, the spring one is arranged between the limiting protruding ring and the sliding sleeve, the other end of the sliding sleeve is connected with the spring two, and the lower end of the spring two is connected with a mounting seat. The ejection shaft extends through the sliding sleeve into the mounting seat, the sliding sleeve and the mounting seat are in sliding fit with the ejection shaft, and the sliding sleeve and the mounting cavity are in sliding fit.

[0008] Preferably, the motor driving unit comprises a motor, a gear one is sleeved on the output shaft of the motor, a gear two is engaged on one side of the gear one, a push rod is arranged in the middle of the gear two, a threaded section is arranged on the push rod, the threaded section is in threaded fit with the gear two, and the lower end of the push rod is connected and fixed with the mounting seat. A stepped groove is formed below one end of the inner side of the limiting column, and the stepped groove is matched with the limiting protruding ring. A guide groove is formed on the limiting column, the guide groove is arranged obliquely, an inclined surface is arranged on the end of the push rod, and the inclined surface is in sliding fit with the guide groove.

[0009] Preferably, annular grooves are formed on the surfaces of the gear one and the gear two, limiting shafts are arranged in the annular grooves, and the limiting shafts are in sliding fit with the annular grooves. A positioning plate is arranged on one side of the gear one, and the end of the limiting shaft is fixed on the positioning plate.

[0010] Preferably, the fault determination algorithm adopts a weighted fusion model, attitude deviation values collected by the three-axis acceleration sensor, height change rates collected by the air pressure sensor, rotation speed deviation values collected by the motor rotation speed sensor, and current fluctuation values collected by the current sensor are respectively assigned weights, when the weighted calculation result exceeds a preset threshold value, it is determined that the unmanned aerial vehicle is out of control, and the double-power release module is triggered to drive the parachute ejection mechanism to act; and each sensor of the fault detection module is provided with a redundant backup, when the main sensor fails, the control module is automatically switched to the backup sensor, the continuity of data collection is ensured, and the parachute ejection mechanism is prevented from malfunctioning or not acting due to sensor failure.

[0011] Preferably, the compressed gas driving unit comprises a high-pressure gas tank, an electromagnetic valve and a jet guide pipe, the high-pressure gas tank is filled with inert gas, the pressure value is 0.8-1.2 MPa, the electromagnetic valve is electrically connected with the trigger control module, and the outlet of the jet guide pipe faces the bottom end of the ejection shaft.

[0012] Preferably, in the layered folding structure of the parachute storage module, the parachute body is folded in a "Z" shape, the length of the guide cloth cover is 1 / 3-1 / 2 of the parachute deployment diameter, the low-friction coating is made of polytetrafluoroethylene material, and the elastic expansion ring is made of memory alloy material and can maintain elasticity within a temperature range of -30 DEG C to 80 DEG C.

[0013] Compared with the prior art, the application has the beneficial effects that: (1) The application integrates three-axis acceleration, air pressure, motor speed and current sensors, cooperates with main and standby sensor synchronous acquisition and automatic switching mechanism, avoids interruption in acquisition caused by single sensor failure, has high continuity in data acquisition, 100Hz high-frequency acquisition ensures that failure is captured in an instant, solves the problem of traditional detection lag, a weighted fusion model comprehensively determines multi-dimensional data, combined with dynamic threshold adjustment of flight control, the false trigger rate is reduced, and the reliability is much higher than that of traditional single threshold determination.

[0014] (2) The application provides instantaneous impact force by compressed gas drive, the motor drive drives the push rod to be accurately unlocked through gear transmission, cooperates with the double-spring force storage assembly, spring one and spring two are pre-compressed to store energy, and the three cooperate to make the ejection shaft pop out fast, the parachute separation time is less than or equal to 0.1s, solves the problem of insufficient release speed of traditional single power thrust, the motor drive unit drives the push rod through gear transmission, the inclined surface of the push rod is inclined and matched with the guide groove of the limiting column, horizontal unlocking action is realized without jamming transmission, the unlocking success rate is 100%, and the ejection failure caused by jamming of the traditional mechanical structure is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the application; Figure 2 It is a schematic diagram of the parachute ejection mechanism of the application; Figure 3 It is a schematic diagram of the limiting column cross-sectional structure of the application; Figure 4 It is a schematic diagram of the gear two structure of the application.

[0016] Explanation of reference numerals in the drawing: 1, parachute storage module; 2, parachute ejection mechanism; 201, ejection shaft; 202, limiting convex ring; 203, limiting column; 204, spring one; 205, spring two; 206, sliding sleeve; 207, mounting seat; 208, guide groove; 3, motor; 4, gear one; 5, gear two; 6, push rod; 7, annular groove; 8, limiting shaft; 9, positioning plate; 10, unmanned aerial vehicle body. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0018] Embodiment: Please refer to Figures 1-4 The unmanned aerial vehicle parachute device comprises a fault detection module, a trigger control module, a double-power release module, a parachute storage module 1, a flight control coordination module and a parachute ejection mechanism 2 which are installed in the unmanned aerial vehicle body 10.

[0019] The fault detection module comprises a three-axis acceleration sensor, an air pressure sensor, a motor speed sensor and a current sensor, and the output ends of the sensors are electrically connected with the trigger control module, for collecting the unmanned aerial vehicle flight attitude, height and power system state data and transmitting the data to the trigger control module.

[0020] Specifically, the sensor selection and layout: MS5611 air pressure sensor (measurement accuracy ±0.1m), MPU6050 three-axis acceleration sensor (range ±16g), AMS22U15 motor speed sensor (measurement range 0-10000rpm) and ACS712 current sensor (range 0-30A) are adopted, 4 main sensors and corresponding 4 backup sensors (model consistent with the main sensor) are integrated on the PCB circuit board, the circuit board is fixed in the parachute device shell through the shockproof support, the distance from the circuit board to the trigger control module is ≤5cm, and the signal transmission interference is reduced. The data acquisition frequency of each sensor is set to 100Hz, and data is transmitted to the trigger control module once every 10ms, the backup sensor and the main sensor are synchronously collected, when the data deviation of the main sensor exceeds ±5% or there is no data transmission for 3 times in succession, the trigger control module automatically switches to the backup sensor. The trigger control module is built-in with a fault judgment algorithm, which is used for multi-dimensional fusion analysis on the collected data, judges whether the unmanned aerial vehicle is in a loss of control state, and can receive the flight parameters transmitted by the flight control coordination module, and dynamically adjusts the fault judgment threshold.

[0021] In the present application, the fault judgment algorithm adopts a weighted fusion model, and the attitude deviation value collected by the three-axis acceleration sensor, the height change rate collected by the air pressure sensor, the speed deviation value collected by the motor speed sensor and the current fluctuation value collected by the current sensor are respectively assigned weights, when the weighted calculation result exceeds the preset threshold, it is judged that the unmanned aerial vehicle is in a loss of control state, and the double-power release module drives the parachute ejection mechanism to act; and each sensor of the fault detection module is provided with a redundant backup, when the main sensor fails, the trigger control module automatically switches to the backup sensor, ensuring the continuity of data acquisition, and avoiding the parachute ejection mechanism from malfunctioning or not acting due to sensor failure.

[0022] Specifically, the hardware structure: using STM32H743 microcontroller as the core chip, with 12-bit ADC acquisition module (to ensure the accuracy of sensor data acquisition), CAN bus communication interface (connected with the flight control module) and relay driving circuit (control double power release module), the chip is externally provided with a backup lithium battery (capacity 1000mAh, voltage 3.7V), when the main power of the unmanned aerial vehicle fails, it can independently power the trigger control module for ≥10min. Fault determination algorithm implementation: the weight distribution of the weighted fusion model is: attitude deviation value (30%), height change rate (25%), speed deviation value (25%), current fluctuation value (20%). For example, when the unmanned aerial vehicle appears "attitude deviation > 15° / s, height change rate < -5m / s (rapid falling), motor speed deviation > 20%, current fluctuation > 15%", the weighted calculation result exceeds the preset threshold value 80, and it is determined that the control state is lost, and the release signal is triggered. Threshold dynamic adjustment: the flight control module transmits the flight height data of the unmanned aerial vehicle in real time, when the height < 50m, the height change rate threshold is adjusted to < -3m / s (shorten the determination time); when the height > 300m, the threshold is adjusted to < -8m / s (avoid false triggering), adapt to different flight scenes.

[0023] The double power release module includes a compressed gas driving unit and a motor driving unit, both of which are connected in parallel and electrically connected with the trigger control module output end, for receiving the trigger signal and starting synchronously to provide composite power for the parachute ejection mechanism 2.

[0024] The compressed gas driving unit includes a high-pressure gas tank, an electromagnetic valve and a jet guide pipe, the high-pressure gas tank is filled with inert gas, the pressure value is 0.8-1.2MPa, the electromagnetic valve is electrically connected with the trigger control module, and the jet guide pipe outlet is directed to the bottom end of the ejection shaft 201.

[0025] The parachute storage module 1 adopts a layered folding structure, the inner layer is a parachute main body, the outer layer is provided with a guide cloth sleeve, the inner wall of the cloth sleeve is provided with a low-friction coating, and the cloth sleeve opening is provided with an elastic expansion ring. Among them, the layered folding structure of the parachute storage module, the parachute main body is folded in "Z" type, the length of the guide cloth sleeve is 1 / 3-1 / 2 of the parachute unfolding diameter, the low-friction coating is made of polytetrafluoroethylene material, and the elastic expansion ring is made of memory alloy material, which can keep elasticity in the temperature range of -30℃-80℃.

[0026] Specifically, the layered folding structure: the parachute main body diameter is 2.5 m, the thickness is less than or equal to 30 mm after folding in the "Z" type, and the folding sequence is "first fold the parachute rope, then fold the edge of the parachute canopy, and finally fold the canopy top"; the guide cloth sleeve is made of polyester material, the length is 80 mm (1 / 3 of the parachute opening diameter of 2.5 m), the inner wall is sprayed with a 0.1 mm thick polytetrafluoroethylene coating (friction coefficient less than or equal to 0.04), and the resistance during release of the parachute is reduced. The elastic expansion ring: made of Ti-Ni memory alloy material, diameter 50 mm, at room temperature, it is in a contracted state (convenient for storage), when impacted by compressed gas or temperature > 20℃, it expands to 80 mm instantly, supporting the opening of the guide cloth sleeve, avoiding the entanglement of the parachute. The parachute material: the canopy is made of 420D nylon fabric, the surface is coated with a polyurethane water-repellent coating (waterproof level IPX6), the rope is 1 mm diameter aramid fiber (breaking strength greater than or equal to 200N), a total of 10, evenly distributed on the edge of the canopy, each rope length is 2.8 m, ensuring that the parachute is evenly stressed after opening.

[0027] The parachute ejection mechanism 2 includes an ejection shaft 201, the lower end of the ejection shaft 201 is connected with a force storage assembly, the ejection shaft 201 is sleeved with a limiting convex ring 202, one side of the limiting convex ring 202 is provided with a limiting column 203, the limiting column 203 cooperates with a motor drive unit; the limiting column 203 limits the position of the limiting convex ring 202, when the unmanned aerial vehicle loses control, the motor drive unit moves the limiting column 203 to one side, so that the limiting column 203 does not contact the limiting convex ring 202, at this time the force storage assembly pushes the ejection shaft 201 to move upward, and pushes the parachute outward.

[0028] In the present application, the force storage assembly is installed in the mounting cavity in the unmanned aerial vehicle body 10, the force storage assembly includes a spring one 204 and a spring two 205, a sliding sleeve 206 is arranged between the spring one 204 and the spring two 205, the spring one 204 is arranged between the limiting convex ring 202 and the sliding sleeve 206, the other end of the sliding sleeve 206 is connected with the spring two 205, and the lower end of the spring two 205 is connected with a mounting seat 207; in the initial state, the spring one 204 and the spring two 205 are in a compressed state.

[0029] The ejection shaft 201 extends through the sliding sleeve 206 to the mounting seat 207, the ejection shaft 201 is in sliding cooperation with the sliding sleeve 206 and the mounting seat 207, and the sliding sleeve 206 is in sliding cooperation with the mounting cavity. When the force storage assembly is released, the restoring force of the spring one 204 and the spring two 205 pushes the limiting convex ring 202, so that the ejection shaft 201 is pushed upward to push the parachute out of the storage module.

[0030] In this application, the motor drive unit includes a motor 3, a gear 4 is sleeved on the output shaft of the motor 3, a gear 5 meshes with one side of the gear 4, a push rod 6 is provided through the middle of the gear 5, the push rod 6 is provided with a threaded section, the threaded section is threaded with the gear 5, the lower end of the push rod 6 is connected and fixed to the mounting base 207 to prevent the push rod 6 from rotating; the rotation of the motor 3 drives the gear 4 and the gear 5 to rotate, thereby causing the push rod 6, which is threaded with the gear 5, to move upward in the vertical direction.

[0031] A stepped groove is formed on the lower inner side of one end of the limiting post 203. This stepped groove cooperates with the limiting protrusion 202 to fix the position of the limiting protrusion 202. A guide groove 208 is formed on the limiting post 203. The two sides of the guide groove 208 are inclined. Figure 3 As shown, the upper end of the guide groove 208 is inclined towards the ejection shaft 201. The end of the push rod 6 is provided with an inclined surface, which slides in conjunction with the guide groove 208. A horizontally extending groove is provided on the side of the mounting cavity, and the limiting post 203 is located in the groove and can slide horizontally along the groove. The mounting base 207 is provided with a through groove, which allows the mounting base 207 and the ejection shaft 201 to slide relative to each other. When the push rod 6 moves upward in the vertical direction, the upper end of the push rod 6 contacts and slides with the inclined surface of the guide groove 208, thereby pushing the limiting post 203 away from the limiting protrusion ring 202, so that the stepped groove of the limiting post 203 does not contact the limiting protrusion ring 202, thereby releasing the elastic force of the energy storage component. The lower end of the push rod 6 drives the mounting base 207 to move upward, further compressing and storing the spring 1 204 and spring 2 205, which facilitates the subsequent release of the elastic force.

[0032] In this application, both gear 4 and gear 5 have annular grooves 7 on their surfaces, and a limiting shaft 8 is provided in the annular groove 7, with the limiting shaft 8 slidingly engaging with the annular groove 7. The limiting shaft 8 restricts the vertical position of gear 4 and gear 5, making their rotation process more stable. A positioning plate 9 is provided on one side of gear 4, and the end of the limiting shaft 8 is fixed to the positioning plate 9.

[0033] The flight control collaboration module is equipped with a data interaction interface, which is used to establish two-way communication with the UAV flight control system, acquire flight altitude, speed and attitude data in real time, and provide feedback on the working status of the parachute deployment device to the flight control system.

[0034] Specifically, the data interaction interface: adopts CAN2.0 bus interface, and the communication rate with the unmanned aerial vehicle flight control system (such as DJI A3 flight control) is 500 kbps, 10 groups of data (flight height, speed, attitude angle, battery voltage) are transmitted per second, and the sensor state, gas tank pressure and electromagnetic iron on-off information of the parachute device are fed back at the same time. The state monitoring unit: detects the gas tank pressure through the pressure sensor (model MPX5700, measurement range 0-2MPa), when the pressure is less than 0.6MPa, the "low pressure warning" is sent to the flight control system; the position of the electromagnetic iron push rod is detected by the photoelectric sensor, and when the push rod is not reset, the "mechanical fault warning" is sent, so that the user can maintain in time.

[0035] Workflow Standby state: after the unmanned aerial vehicle is powered on, the parachute device is self-checked (sensor, gas tank pressure, electromagnetic iron state), after the self-checking is passed, the fault detection module starts to collect data, the flight control coordination module establishes communication with the flight control system, and the trigger control module enters the threshold monitoring state. Fault detection and judgment: when the unmanned aerial vehicle loses control due to motor stall (rotational speed drop > 50%), the fault detection module collects "attitude deviation 25° / s, height change rate -6m / s, rotational speed deviation 40%, current fluctuation 30%" within 10ms, and the weighted calculation result is 92 (exceeding the threshold value 80), triggering the control module to determine that the unmanned aerial vehicle loses control. Dual power release: the trigger control module sends signals to the compressed gas driving unit (electromagnetic valve power on) and the motor driving unit at the same time, the electromagnetic valve is opened within 20ms, and the nitrogen is sprayed out (thrust ≥8N) at the same time, and the motor drives the push rod 6 to push out (thrust 15N), and the two cooperate to push the parachute out of the storage module, and the guide cloth sleeve elastic expansion ring is synchronously opened to avoid winding. Parachute deployment and feedback: the parachute is completely deployed within 300ms, the flight control coordination module sends a "parachute success" signal to the flight control system, and the flight control system adjusts the attitude of the unmanned aerial vehicle (maintains horizontal) to ensure smooth landing; if it is detected that the parachute is not deployed (the height change rate is still less than -5m / s), the trigger control module sends a release signal again (redundant design) to improve the success rate.

[0036] Performance test results Trigger reliability: in 100 times of simulated loss of control test (including motor failure, battery power failure, strong wind interference), 99 times of successful triggering, 0 times of false triggering, and 1 time of missed triggering (due to loose sensor line, backup sensor did not switch in time, after optimizing the line connection, there is no missed triggering). Response speed: the average time from fault occurrence to parachute fully deployed is 250ms, the shortest is 220ms, and the longest is 280ms, which meets the requirements of high-speed flight scenarios (such as when the unmanned aerial vehicle flies at a speed of 15m / s, it only falls 3.75m in 250ms, ensuring low-altitude safety). Environmental adaptability: in a low-temperature environment of -30℃, the gas tank does not freeze, the speed of the electromagnet push rod is 48mm / s (close to 50mm / s at normal temperature), in a high-temperature environment of 80℃, the memory alloy expansion ring works normally, at an altitude of 5000m (low air pressure), the compressed gas thrust is still greater than or equal to 6N, meeting the requirements of high-altitude operation. Adaptability: through adjustable installation supports, it is successfully installed on DJI M300 RTK (weight 10kg), JiFei P100 (weight 15kg), DJI Mini 3 Pro (weight 0.249kg, requiring a small-sized storage module), after installation, the endurance of the unmanned aerial vehicle only decreases by 5%-8% (the effect of lightweight design).

[0037] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited by the above examples, the above examples and descriptions in the specification are only preferred examples of the present application, and are not intended to limit the present application, various changes and improvements can be made to the present application without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A drone parachute deployment device, characterized by, The parachute shooting mechanism (2) includes a shooting shaft (201), the lower end of the shooting shaft (201) is connected with an energy storage assembly, the shooting shaft (201) is sleeved with a limiting convex ring (202), one side of the limiting convex ring (202) is provided with a limiting column (203), and the limiting column (203) is matched with the motor driving unit. The energy storage assembly is installed in the mounting cavity in the unmanned aerial vehicle body (10), the energy storage assembly comprises a spring one (204) and a spring two (205), a sliding sleeve (206) is arranged between the spring one (204) and the spring two (205), the spring one (204) is arranged between the limiting convex ring (202) and the sliding sleeve (206), the other end of the sliding sleeve (206) is connected with the spring two (205), and the lower end of the spring two (205) is connected with a mounting seat (207). The shooting shaft (201) extends to the mounting seat (207) through the sliding sleeve (206), the shooting shaft (201) is matched with the sliding sleeve (206) and the mounting seat (207) in sliding mode, and the sliding sleeve (206) is matched with the mounting cavity in sliding mode. The motor driving unit comprises a motor (3), a gear one (4) is sleeved on the output shaft of the motor (3), one side of the gear one (4) is engaged with a gear two (5), a push rod (6) is arranged on the gear two (5), a threaded section is arranged on the push rod (6), the threaded section is matched with the gear two (5) in screw mode, and the lower end of the push rod (6) is connected with the mounting seat (207). The inside of the limiting column (203) is provided with a stepped groove below one end, and the stepped groove is matched with the limiting convex ring (202). The limiting column (203) is provided with a guide groove (208), the guide groove (208) is arranged in an inclined mode, the end of the push rod (6) is provided with an inclined surface, and the inclined surface is matched with the guide groove (208) in sliding mode.

2. The unmanned aerial vehicle parachute deployment device of claim 1, wherein: ​ ​ 3. The unmanned aerial vehicle parachute deployment device of claim 2, wherein: ​ ​ ​ 4. The unmanned aerial vehicle umbrella throwing device of claim 3, wherein: The gear one (4) and gear two (5) surface are provided with annular grooves (7), the annular grooves (7) are provided with limit shafts (8), the limit shafts (8) and annular grooves (7) are slidingly matched; The gear one (4) is provided with a positioning plate (9) on one side, and the limit shaft (8) is fixed on the positioning plate (9).

5. The unmanned aerial vehicle umbrella throwing device of claim 1, wherein: The fault determination algorithm adopts a weighted fusion model, and the posture deviation value collected by the three-axis acceleration sensor, the height change rate collected by the air pressure sensor, the rotation speed deviation value collected by the motor rotation speed sensor and the current fluctuation value collected by the current sensor are respectively assigned weights, when the weighted calculation result exceeds the preset threshold value, the out-of-control state is determined, the double-power release module is triggered to drive the parachute ejection mechanism to act; And each sensor of the fault detection module is provided with a redundant backup, when the main sensor fails, the control module is automatically switched to the backup sensor, ensuring the continuity of data acquisition, avoiding the parachute ejection mechanism from malfunctioning or not acting due to sensor failure.

6. The unmanned aerial vehicle parachute deployment device of claim 1, wherein: The compressed gas driving unit includes a high-pressure gas tank, an electromagnetic valve and a jet guide pipe, the high-pressure gas tank is filled with inert gas, the pressure value is 0.8-1.2MPa, the electromagnetic valve is electrically connected with the trigger control module, and the jet guide pipe outlet is directed to the bottom end of the ejection shaft (201).

7. The unmanned aerial vehicle umbrella throwing device of claim 1, wherein: In the layered folding structure of the parachute storage module, the parachute main body is folded in a "Z" type, the length of the guide cloth cover is 1 / 3-1 / 2 of the parachute unfolding diameter, the low-friction coating is made of polytetrafluoroethylene material, and the elastic expansion ring is made of memory alloy material, which can maintain elasticity in the temperature range of-30℃-80℃.

8. The unmanned aerial vehicle parachute deployment device of claim 1, wherein: The flight control cooperative module is provided with a data interaction interface, which is used for establishing bidirectional communication with the unmanned aerial vehicle flight control system, acquiring flight height, speed and attitude data in real time, and feeding back the parachute device working state to the flight control system.

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