CN-122009567-A - Parachute landing recovery type unmanned aerial vehicle parking paddle shifting control device and control method

CN122009567ACN 122009567 ACN122009567 ACN 122009567ACN-122009567-A

Abstract

The invention provides a device and a method for controlling parking and paddle shifting of an unmanned aerial vehicle with a recovered parachute, belongs to the field of devices and methods for controlling the recovery of the parachute of the unmanned aerial vehicle, and solves the problem that a landing paddle is touched in a scene of recovering the parachute of the unmanned aerial vehicle; the invention comprises a rotating shaft of a propeller of an unmanned aerial vehicle, a driving rotating module, a generator starting controller, a direct current power supply, an angle feedback module and a computer, wherein one end of the rotating shaft is connected with the propeller of the unmanned aerial vehicle, the output end of the driving rotating module is sleeved with the rotating shaft, the generator starting controller is connected with the input end of the driving rotating module, the direct current power supply is connected with the power supply end of the generator starting controller, the working end of the angle feedback module is connected with the other end of the rotating shaft, and the computer is connected with the input end of the generator starting controller.

Inventors

ZHANG CHENGCHENG
GUO ZIWEN
WANG ENPING
ZHANG XIANGYU
WANG LI
ZHANG JI

Assignees

西安爱生技术集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260313

Claims (10)

1. The parachute landing recovery type unmanned aerial vehicle parking paddle shifting control device is characterized by comprising an angle feedback module, a generator, a computer and a generator controller, wherein the generator is integrated on an engine; The starting generator is used for driving and controlling the propeller of the unmanned aerial vehicle to rotate and detecting the rotating speed of an engine crankshaft driving the propeller to rotate; The angle feedback module is used for collecting the angle information of the propeller of the unmanned aerial vehicle; The starting generator controller is used for setting a propeller poking driving pulse width according to the received propeller angle information and controlling the starting generator to act; The computer is used for redundantly controlling to close the engine ignition enabling of the unmanned aerial vehicle when the engine crankshaft rotating speed is 0.
2. The parachute landing recovery type unmanned aerial vehicle parking and pitching control device is characterized in that a Hall sensor is arranged in the generator, is used for collecting the rotating speed of an engine crankshaft and is input to a generator controller.
3. The parachute landing recovery type unmanned aerial vehicle parking paddle control device according to claim 1, wherein the angle feedback module comprises a position generator and a position collector; the position generator is connected to the propeller output shaft through a connector and is used for sensing and collecting angle information of the propeller; The position collector is connected to the outer wall of the engine reduction gearbox of the unmanned aerial vehicle through a support, the input end is arranged opposite to the position generator, the output end is connected to the generator starting controller through a bus, and the position collector is used for collecting propeller angle information and inputting the propeller angle information to the generator starting controller.
4. A parachute recovery type unmanned aerial vehicle parking paddle control device according to claim 3, wherein the position generator is an angle encoder, and the precision meets + -5 °.
5. The parking and pitching control device of the parachute landing recovery type unmanned aerial vehicle according to claim 1, wherein four paddles are provided, the number of the paddles is 1, 2, 3 and 4 in sequence, and when the paddles rotate clockwise, the relationship between the angle information of the propellers and the driving pulse width of the propellers in the generator starting controller is shown in table 1: TABLE 1 In the table 1, the contents of the components, The angle of the No. 1 blade angle to the angle after 90 die taking needs to be shifted to the range of the paddle, wherein T represents the driving pulse width of the paddle.
6. The parachute landing recovery type unmanned aerial vehicle parking and pitching control device according to claim 1, wherein the computer is further used for monitoring the working state of the generator starting controller in real time, sending a manual pitching control instruction to the generator starting controller after ground maintenance or automatic pitching control fails, and executing manual pitching control on the propeller.
7. A method for controlling parking and paddle shifting of a parachute-recycling type unmanned aerial vehicle, which is characterized by comprising the following steps of: Step 1, after a generator starting controller receives a stopping instruction, detecting the rotating speed of a crankshaft of an engine through a generator starting controller; step 2, the generator starting controller judges whether the rotation speed of an engine crankshaft is 0, if so, the computer turns off the ignition enabling of the unmanned aerial vehicle engine, otherwise, the step 2 is repeated; step 3, acquiring propeller angle information of the unmanned aerial vehicle through an angle feedback module; and 4, judging whether the angle information of the propeller meets the safety requirement of the blade, if so, landing the unmanned aerial vehicle, otherwise, setting a propeller poking driving pulse width according to the angle information of the propeller, controlling a generator to act and adjust the angle information of the propeller, and returning to the step 3 until the angle information of the propeller meets the safety requirement of the blade.
8. The method for controlling parking and poking of the parachute landing recovery type unmanned aerial vehicle according to claim 7, wherein when the propeller adopts four blades, the step 4 of judging whether the angle information of the propeller meets the blade safety requirement specifically comprises: the orientation is 0 bit and the clockwise direction is positive, whether the angle of the No. 1 blade angle of the propeller after the 90 die taking is in the range of the propeller to be shifted is judged, if the angle is in the range of the propeller to be shifted, the blade safety requirement is not met, otherwise, the blade safety requirement is met; The angle of the No. 1 blade angle to the angle after 90 die taking is required to be shifted to be 0-25 degrees and 65-90 degrees.
9. The method for controlling parking and pitching of a parachute landing recovery type unmanned aerial vehicle according to claim 7, wherein in the step 4, the rotating speed of the generator is not higher than 1/100 times of the rotating speed of the engine of the unmanned aerial vehicle in the process of controlling the generator to act and adjust the angle information of the propeller.
10. The method for controlling parking and pitching of a parachute landing recovery type unmanned aerial vehicle according to claim 8, wherein after the step 4, the method further comprises: And 5, monitoring the working state of the generator starting controller in real time through a computer, and sending a manual propeller stirring control instruction to the generator starting controller after ground maintenance or automatic propeller stirring control fails to perform manual propeller stirring control on the propeller.

Description

Parachute landing recovery type unmanned aerial vehicle parking paddle shifting control device and control method Technical Field The invention relates to an unmanned aerial vehicle parachuting recovery control device and method, in particular to a parachuting recovery type unmanned aerial vehicle parking paddle shifting control device and method. Background Parachuting recovery is a safety recovery mode commonly adopted by unmanned aerial vehicles (particularly medium-large fixed wing unmanned aerial vehicles). The mode has low requirements on landing sites, and can realize safe landing in complex environments such as mountainous regions, ships and the like. The standard flow is that an unmanned aerial vehicle enters a recovery route, program control is carried out on the unmanned aerial vehicle at a specified route point, an initiating explosive device receives an instruction to open an umbrella cabin cover to pull out a drogue, the unmanned aerial vehicle lands at a lower speed after rapid deceleration, and a buffer air bag or a shock absorber is generally adopted to absorb landing impact for protecting a machine body structure. However, the traditional parachute recovery process has a technical risk of being ignored for a long time but having serious consequences, namely a problem of 'landing on the ground to touch the paddle'. Namely, after the unmanned aerial vehicle parks in the air, the propeller blade angle is in a random state, if a single blade is vertically downward, the unmanned aerial vehicle is extremely easy to collide with the ground after falling to the ground, the expensive propeller is damaged if the unmanned aerial vehicle is light, the engine crankshaft is damaged if the unmanned aerial vehicle is heavy, and even secondary accidents are caused. To unmanned aerial vehicle screw paddle's protection, prior art sets up prevents damaging the structure or retrieves the flow after ending, carries out passive adjustment subaerial, can't solve "ground and touch oar" collision, and the application scenario is limited to the occasion that has fixed hangar or platform, can't be applicable to the parachute recovery environment of no preset condition such as open-air, naval vessel. Disclosure of Invention The invention aims to solve the problem that a landing paddle touches in an unmanned aerial vehicle parachute recovery scene, and provides a parachute recovery type unmanned aerial vehicle parking paddle control device and a control method. In order to achieve the above purpose, the present invention adopts the following technical scheme: The parachute landing recovery type unmanned aerial vehicle parking paddle shifting control device comprises an angle feedback module, a generator, a computer and a generator starting controller; the generator is used for driving and controlling the rotation of the unmanned aerial vehicle propeller, and detecting the rotation speed of an engine crankshaft driving the propeller to rotate; the angle feedback module is used for collecting the angle information of the propeller of the unmanned aerial vehicle; The generator starting controller is used for setting a propeller stirring driving pulse width according to the received propeller angle information and controlling the generator starting controller to act; The computer is used for controlling the engine ignition enabling of the unmanned aerial vehicle to be closed when the rotation speed of the engine crankshaft is 0. Preferably, a Hall sensor is built in the starting generator and is used for collecting the rotating speed of the crankshaft of the engine and inputting the rotating speed to a starting generator controller. Preferably, the angle feedback module comprises a position generator and a position collector; the position generator is connected to the propeller output shaft through a connector and is used for sensing and collecting angle information of the propeller; The position collector is connected to the outer wall of the engine reduction gearbox of the unmanned aerial vehicle through a support, the input end is arranged opposite to the position generator, the output end is connected with the generator controller through a bus and used for collecting angle information of the propeller, and the angle information of the propeller is input to the generator controller. Preferably, the position generator is an angle encoder, the accuracy satisfying ±5°. Preferably, when the number of blades of the propeller is four and the propeller rotates clockwise, in the generator controller, the relationship between the propeller angle information and the propeller driving pulse width is shown in table 1: TABLE 1 In the table 1, the contents of the components,Represents the range of the pitch required for the angle of the number 1 blade angle modulo 90 (i.e., θ=θ1mod (90)) with 0 bit vertically upward and positive clockwise, and T represents the pitch drive pulse width. Preferably, the computer is further used for mon