CN106585972A - Multistage cascaded self-balancing mooring unmanned aerial vehicle system - Google Patents
Multistage cascaded self-balancing mooring unmanned aerial vehicle system Download PDFInfo
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- CN106585972A CN106585972A CN201710016045.1A CN201710016045A CN106585972A CN 106585972 A CN106585972 A CN 106585972A CN 201710016045 A CN201710016045 A CN 201710016045A CN 106585972 A CN106585972 A CN 106585972A
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- tethered
- cable
- module
- unmanned plane
- uas
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- 239000000725 suspension Substances 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000005183 dynamical system Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000036299 sexual function Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
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Abstract
The invention provides a multistage cascaded self-balancing mooring unmanned aerial vehicle system. The whole system is composed of a plurality of mooring unmanned aerial vehicles; each unmanned aerial vehicle is provided with an upper interface module and a lower standard cable module; a serially configured mooring unmanned aerial vehicle set is formed by connecting the lower standard cable module of one of the plurality of mooring unmanned aerial vehicles with the upper interface module of another adjacent unmanned aerial vehicle; so the unmanned aerial vehicles are greatly improved in core technical indexes like load, stability, reliability and lift-off height.
Description
Technical field
The present application relates to a kind of unmanned plane, specifically a kind of multi-stage cascade formula self-balancing is tethered at UAS.
Background technology
Be tethered at UAS by multi-rotor unmanned aerial vehicle, be tethered at cable, ground landing platform and constitute, unmanned plane uses ground
The stagnant hovering of power supply long-time stops, meanwhile, the light that the data such as HD video of airborne equipment collection can be built-in by being tethered at cable
Fibre passes back to ground, and with the advantage that aerial long working, output transmission are roomy, whole system free-standing can be installed,
Can be with vehicle-mounted installation, and energy automatic synchronization following vehicle is moved.Suitable for fields such as live telecast, signal transmitting, video monitorings.
It is main with multi-rotor unmanned aerial vehicle or coaxial unmanned plane as body currently " to be tethered at unmanned plane ", lift is produced by rotor, by being
Cable is powered for rotor motor, so as to the long-time air-staying platform of the complete set of composition；It is more satisfactory at present to be tethered at unmanned plane
It is long when, top load, high performance-price ratio, air-staying platform easy to operate.
Unmanned air vehicle technique field is tethered at present and there is " lift-off benefit ", due to the impact of earth surface curvature, radio
Ripple, the transmission of light are limited and impact by sighting distance；Solving the effective ways of this problem is：Wireless device, photoelectricity are set
Standby lift-off, increases such device height, is formed " lift-off benefit ".The limitation of current common ' liter hollow panel '：Fixed-wing flies
Machine, vertical rotor aircraft（Helicopter）, the platform such as dirigible, need the self-contained energy, so airborne period is limited, and cost compared with
It is high；The platforms such as captive balloon, bulky, lifting is relatively low compared with slow, load；Common unmanned aerial vehicle platform, by its cells capacity limit
Make, load and cruising time are limited.
Currently it is tethered at unmanned plane and all adopts single cpu mode（I.e. whole system only exists a frame unmanned plane）, so carrying
There is ultimate value in the core technology index aspects such as lotus, stability, reliability, lift-off height, and because can only pass through core
Part（Such as motor）Performance boost lifting the overall performance for being tethered at unmanned plane, cause the technical difficulty that overall performance is lifted very
Greatly；In addition, be currently tethered at unmanned plane all carries out the gesture stability of unmanned plane using single winged control modular manner, there is technology
Have high demands, wind resistance is poor, power consumption penalty is big, high cost, slow, the low defect of power utilization rate of taking off；Problem above causes to work as
Before be tethered at unmanned plane as air-staying platform, in core technology index（Lift-off height, stability, reliability, load etc.）Upper presence
Bottleneck, limits the development for being entirely tethered at unmanned plane industry.
The content of the invention
The purpose of the present patent application be provide multi-stage cascade formula self-balancing be tethered at UAS, by multi-stage cascade formula without
Man-machine system and self-balancing be tethered at UAS two parts composition, to solve the problems, such as above-mentioned background technology in propose.
For achieving the above object, the present patent application provides following technical scheme：
Specifically, the multi-stage cascade formula self-balancing described in the present patent application is tethered at UAS, and whole system " is by multiple stage
Stay unmanned plane " composition（Unmanned plane main body can be from various unmanned plane sides such as multi-rotor unmanned aerial vehicle, coaxial anti-rotor wing unmanned aerial vehicles
Case, and it is not limited to the unmanned plane of above-mentioned these species）.Every unmanned plane is respectively mounted " upper interface module " and " lower ministerial standard
Wiring module ", by the bottom standard cable module and the upper interface of an adjacent other unmanned plane of wherein one unmanned plane
Module is connected, and constitutes serial frame and is tethered at unmanned unit, so as to realize being tethered at unmanned plane load, stability, reliability,
The aspect core technology indexs such as lift-off height are substantially improved.
Further, the multi-stage cascade formula self-balancing described in the present patent application is tethered at UAS, each unmanned plane
Separately installed upper interface module and bottom standard cable module；Wherein, upper interface module includes Fastening tenon structure and is tethered at
Cable interface；Bottom standard cable module includes being tethered at cable box and is tethered at cable, upper interface module and bottom standard cable
By being tethered at cable connection between module, bottom standard cable module be tethered at cable and upper interface module be tethered at cable interface
Connection.
Further, the end for being tethered at cable of the bottom standard cable module be provided with for upper interface module
Be tethered at cable interface connection union joint.
Further, the union joint is provided with attaching nut.
Further, the cable that is tethered at includes successively that from outside to inside outer layer elastic protecting sleeve, signal shielding network, Kev draw
Material cable and inner core waterproof insulating layer, the center of inner core waterproof insulating layer is holding wire, and some electricity are provided with around holding wire
Source line, the outer wall of power line is outer insulation.
Further, it is tethered at unmanned plane bottom and " gimbal lever's suspension member module " is installed（Using weight self-balancing principle）, pass through
This module is realized being tethered at the function of the partially stabilized sexual function of unmanned plane and suspension various functions gondola；Self-balancing is tethered at unmanned plane
It is more convenient that system implements the core technology index " stability " for being tethered at unmanned plane；Make to be tethered at the takeoff speed of unmanned plane more
Hurry up；And can use cooperatively with other various winged control devices, lifting is tethered at unmanned plane general safety coefficient.
Further, gimbal lever's suspension member module is made up of self-balancing bar and hard disk two parts so as in nothing
Man-machine bottom reaches the effect of weight self-balancing, so as to lift the stability of unmanned plane.
Further, the multi-stage cascade formula self-balancing described in the present patent application is tethered at UAS, also flat including ground
Platform, ground surface platform includes cable control system and the dynamical system for interconnecting, and is tethered at cable and is connected with cable control system.
Multi-stage cascade formula self-balancing described in the present patent application is tethered at UAS, has the following advantages that：
1st, multi-stage cascade formula self-balancing is tethered at unmanned plane and realizes the cascade of unmanned plane, stack design so that be tethered at unmanned plane
The aspects such as dynamic property, reliability, the reliability of core component realize linear expansion；Tradition is tethered at unmanned plane and does not set in this respect
Meter；
2nd, self-balancing is tethered at UAS simple structure, the core technology index stability for being tethered at unmanned plane is implemented more
It is convenient；And can use cooperatively with various winged control devices, lifting is tethered at unmanned plane safety coefficient；Make to be tethered at rising for unmanned plane simultaneously
Rapidly spend faster；Tradition is tethered at unmanned plane and does not design in this respect；
3rd, multi-stage cascade formula system realizes the cascade of unmanned plane, stack design so that the power performance for being tethered at unmanned plane can be with
It is linear to expand, that is, cause the lift-off for being tethered at unmanned plane total system highly to get a promotion；
4th, multi-stage cascade formula system realizes the cascade ＆ stack designs of unmanned plane so that be tethered at the reliability of unmanned plane total system
Property gets a promotion；
5th, because multi-stage cascade formula system realizes the linear expansion of unmanned plane, to single motor（Single unmanned plane）Performance
Requirement is reduced；
6th, multi-stage cascade formula system suitability is strong, and no matter multi-rotor unmanned aerial vehicle, coaxial anti-rotor wing unmanned aerial vehicle or other unmanned planes are equal
Can use；
7th, self-balancing is tethered at UAS simple structure, the core technology index stability for being tethered at unmanned plane is implemented more
It is convenient；And can use cooperatively with various winged control devices, lifting is tethered at unmanned plane safety coefficient；
8th, self-balancing is tethered at UAS and makes to be tethered at the takeoff speed of unmanned plane faster；In a word, multi-stage cascade formula self-balancing system
Stay unmanned plane to be a kind of initiative invention, make to be tethered at unmanned plane in lift-off height, reliability, stability, safety, rise rapidly
All many-side such as degree are broken through, can pass through the linear method for expanding, realize being tethered at unmanned plane acquisition it is higher, for more time,
More stable, safer property, the benefit of more ease of Use.
Description of the drawings
Fig. 1 is the overall structure diagram of the present patent application embodiment；
Fig. 2 is tethered at cable connection diagram for the present patent application embodiment；
Fig. 3 is schematic diagram after connecting in Fig. 2；
Fig. 4 is the generalized section of AA ' lines in Fig. 2；
Fig. 5 is the schematic diagram of the present patent application embodiment gimbal lever suspension member module；
In figure：1 be unmanned plane, 11 be upper interface module, 12 be bottom standard cable module, 110 for be tethered at cable interface, 2
For be tethered at cable, 20 be union joint, 200 be attaching nut, 21 be outer layer elastic protecting sleeve, 22 be signal shielding network, 23 for triumphant
Husband draw material cable, 24 be inner core waterproof insulating layer, 25 be power line, 26 be outer insulation, 27 be holding wire, 3 be ground
Platform, 31 be cable control system, 32 be dynamical system, 41 be self-balancing bar, 42 be hard disk.
Specific embodiment
Below in conjunction with the accompanying drawing in the present patent application embodiment, the technical scheme in the present patent application embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present patent application, rather than whole
Embodiment.Based on the embodiment in the present patent application, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the present patent application protection.
Fig. 1 is referred to, the multi-stage cascade formula self-balancing described in the present patent application is tethered at UAS, and whole system is by more
Platform " being tethered at unmanned plane " is constituted, and every unmanned plane 1 is respectively mounted upper interface module 11 and bottom standard cable module 12, by the
The bottom standard cable module 12 of one unmanned plane is connected with the upper interface module 11 of second unmanned plane, constitutes serial frame
Structure is tethered at unmanned unit, and also including ground surface platform 3, ground surface platform 3 includes cable control system 31 and the power for interconnecting
System 32, is tethered at cable 2 and is connected with cable control system 31.Upper interface module 11 includes Fastening tenon structure and is tethered at cable interface
110；Bottom standard cable module 12 includes being tethered at cable box and is tethered at cable 2, upper interface module 11 and bottom standard cable
Connected by being tethered at cable 2 between module 12, bottom standard cable module 12 is tethered at being tethered at for cable 2 and upper interface module 11
Cable interface 110 connects；The end for being tethered at cable 2 of the bottom standard cable module 12 be provided with for upper interface module
Be tethered at cable interface connection union joint 20, the connection, 20 are provided with attaching nut 200, after connection as Figure 2-3.
As shown in figure 4, being tethered at cable 2 includes successively from outside to inside outer layer elastic protecting sleeve 21, signal shielding network 22, Kev
Draw material cable 23 and inner core waterproof insulating layer 24, the center of inner core waterproof insulating layer 24 is holding wire 27, the week of holding wire 27
Enclose and be provided with some power lines 25, the outer wall of power line 25 is outer insulation 26.As shown in figure 5, being tethered at the installation of unmanned plane bottom
Gimbal lever's suspension member module, gimbal lever's suspension member module is made up of self-balancing bar 41 and the two parts of hard disk 42 so as in nothing
Man-machine bottom reaches the effect of weight self-balancing, so as to lift the stability of unmanned plane.
While there has been shown and described that the embodiment of the present patent application, for the ordinary skill in the art, can be with
Understand the principle without departing from the present patent application and spirit in the case of these embodiments can be carried out various changes, modification,
Replace and modification, the scope of the present patent application is defined by the appended claims and the equivalents thereof.
Claims (9)
1. a kind of multi-stage cascade formula self-balancing is tethered at UAS, it is characterised in that：Including multiple stage unmanned plane, every unmanned plane
Upper interface module and bottom standard cable module are respectively mounted, by the bottom standard cable module and phase of wherein one unmanned plane
The upper interface module of an adjacent other unmanned plane is connected, and constitute serial frame is tethered at unmanned unit.
2. multi-stage cascade formula self-balancing according to claim 1 is tethered at UAS, it is characterised in that：The unmanned plane
Including multi-rotor unmanned aerial vehicle or coaxial anti-rotor wing unmanned aerial vehicle.
3. multi-stage cascade formula self-balancing according to claim 1 and 2 is tethered at UAS, it is characterised in that：On described
Portion's interface module includes Fastening tenon structure and is tethered at cable interface；Bottom standard cable module includes being tethered at cable box and is tethered at line
Cable, by cable connection is tethered between upper interface module and bottom standard cable module, bottom standard cable module is tethered at line
Cable is connected with the cable interface that is tethered at of upper interface module.
4. multi-stage cascade formula self-balancing according to claim 3 is tethered at UAS, it is characterised in that：The bottom mark
The end for being tethered at cable of quasi- wiring module is provided with for the union joint that cable interface is connected that is tethered at upper interface module.
5. multi-stage cascade formula self-balancing according to claim 4 is tethered at UAS, it is characterised in that：The union joint
It is provided with attaching nut.
6. multi-stage cascade formula self-balancing according to claim 3 is tethered at UAS, it is characterised in that：It is described to be tethered at line
Cable includes successively that from outside to inside outer layer elastic protecting sleeve, signal shielding network, Kev draw material cable and inner core waterproof insulating layer, interior
The center of core waterproof insulating layer is holding wire, and some power lines are provided with around holding wire, and the outer wall of power line is outer layer insulation
Layer.
7. multi-stage cascade formula self-balancing according to claim 1 and 2 is tethered at UAS, it is characterised in that：The nothing
Man-machine bottom is installed by gimbal lever's suspension member module.
8. multi-stage cascade formula self-balancing according to claim 7 is tethered at UAS, it is characterised in that：The gimbal lever
Suspension member module is made up of self-balancing bar and hard disk two parts.
9. multi-stage cascade formula self-balancing according to claim 1 and 2 is tethered at UAS, it is characterised in that：Also include
Ground surface platform, ground surface platform includes cable control system and the dynamical system for interconnecting, and is tethered at cable and cable control system
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016045.1A CN106585972A (en) | 2017-01-10 | 2017-01-10 | Multistage cascaded self-balancing mooring unmanned aerial vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016045.1A CN106585972A (en) | 2017-01-10 | 2017-01-10 | Multistage cascaded self-balancing mooring unmanned aerial vehicle system |
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| Publication Number | Publication Date |
|---|---|
| CN106585972A true CN106585972A (en) | 2017-04-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710016045.1A Pending CN106585972A (en) | 2017-01-10 | 2017-01-10 | Multistage cascaded self-balancing mooring unmanned aerial vehicle system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216629A (en) * | 2018-02-26 | 2018-06-29 | 西北工业大学 | A kind of combination transport unmanned plane |
| WO2018220607A1 (en) * | 2017-05-31 | 2018-12-06 | Elistair | Device for protecting the connection between a detachable wired drone and the wire thereof |
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| CN102935886A (en) * | 2012-11-05 | 2013-02-20 | 上海交通大学无锡研究院 | Multi-stage mooring rotor lift-off platform system |
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| JP3208050U (en) * | 2016-07-05 | 2016-12-22 | 金次 早川 | Balloon hanging type small drone |
| CN206466170U (en) * | 2017-01-10 | 2017-09-05 | 周欣 | Multi-stage cascade formula self-balancing is tethered at UAS |
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2017
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| JP2000193500A (en) * | 1998-12-28 | 2000-07-14 | Port & Harbour Res Inst Ministry Of Transport | Marine event observing device and mooring composite cable therefor |
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| WO2018220607A1 (en) * | 2017-05-31 | 2018-12-06 | Elistair | Device for protecting the connection between a detachable wired drone and the wire thereof |
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Application publication date: 20170426 |