CN113753235A - System and method for mechanically and automatically butting tail ends of ropes - Google Patents
System and method for mechanically and automatically butting tail ends of ropes Download PDFInfo
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Abstract
The invention relates to a system and a method for maneuvering autonomous butt joint of a rope system tail end, belonging to the field of helicopter hoisting; the system comprises an active docking system and a passive docking system, wherein the active docking system comprises a transport helicopter, a tether retracting mechanism, a tether 13, an unmanned aerial vehicle and a tail end autonomous docking mechanism; the upper end of the tether is connected with the lower part of the helicopter through a tether retracting mechanism, the lower end of the tether is fixed with an unmanned aerial vehicle, and the bottom of the unmanned aerial vehicle is fixed with a tail end autonomous docking mechanism; the passive docking system comprises a docking component fixed above the target object and is matched with the tail end autonomous docking mechanism to realize docking work; the tail end automatic butt joint mechanism comprises a motor, a coupler, a lead screw, a structural member, a sliding block, a visual camera and a shell; the screw rod is driven by the motor, and the sliding block is driven to slide out of the shell and then expand, and is locked with the butt joint component to complete butt joint. The docking mechanism can adapt to the pose deviation between docking components on a target object docked with the docking mechanism, and flexible docking is realized after the docking lock basically aligns at the docking interface.
Description
Technical Field
The invention belongs to the field of helicopter hoisting, and particularly relates to a system and a method for maneuvering and autonomous butt joint of a rope system tail end.
Background
The autonomous docking mechanism (also called docking system) can realize the structural connection between the tail end of the tether of the helicopter in the air and a target object on the ground, keep the connection to form a whole, and finally realize the normal separation or the emergency separation between the docking mechanism and the target object. The target objects are materials and the like which need to be transported in an actual situation, the butt joint system can be widely applied to barrier-free transportation between aircraft carrier groups or on complex terrains, and flexible vertical supply, special combat, battlefield rescue and other tasks can be completed by utilizing a transportation helicopter without terrain limitation.
The system to be docked comprises a terminal autonomous docking mechanism and a target object, wherein the autonomous docking mechanism approaches the target object to realize docking. The traditional method is mostly manual butt joint, for example, a hook of a hawk helicopter belongs to a tail end butt joint mechanism, an ammunition supply tank close to the ground is used as a target object, under the guidance of ground workers, the hook is carried to be close to a hanging rod on the target object, and finally, the object is butt jointed and kept with the helicopter in a mode of manually butting the hook by utilizing the hanging rod, and the object is separated by means of the operation of personnel on the helicopter. The link of the butt joint object is the part with the lowest reliability and the most dangerous implementation. High-intensity flight is a great test for helicopter crew. The hoisting target object may have explosion hazard, and the volume is small, the weight is heavy, and the flying technology is tested greatly. Under the powerful helicopter propeller slip, a single ground worker is difficult to accurately butt joint the hook, additional workers are needed to adjust and align the hook in an auxiliary mode, the whole butt joint process is long in time consumption, and the labor cost is high.
Disclosure of Invention
The technical problem to be solved is as follows:
the system comprises a helicopter, a tether retracting mechanism, a tail-end unmanned aerial vehicle, an image recognition system and a set of automatic docking mechanisms, wherein the autonomous docking system provides autonomous relative distance correction, docking, maintaining and separating functions for a target object, and is configured to autonomously complete a next series of docking tasks when the helicopter approaches a working range of the docking system through the tether tail-end docking system. The mode that the unmanned aerial vehicle is close to the target object based on image recognition is adopted, and the target object can be automatically docked quickly, accurately, safely and effectively.
The technical scheme of the invention is as follows: the utility model provides a dynamic autonomic butt joint system of tether end which characterized in that: the system comprises an active docking system 1 and a passive docking system 2, wherein the active docking system 1 comprises a transportation helicopter 11, a tether retraction jack 12, a tether 13, an unmanned aerial vehicle 14 and a tail end autonomous docking mechanism 15; the upper end of a tether 13 is connected with the lower part of the helicopter 11 through a tether retracting mechanism 12, the lower end of the tether is fixed with an unmanned aerial vehicle 14, and the bottom of the unmanned aerial vehicle 14 is fixed with a tail end autonomous docking mechanism 15; the passive docking system 2 comprises a docking component 21 fixed above a target object 22 and is matched with the tail end autonomous docking mechanism 15 to realize docking work;
the terminal autonomous docking mechanism 15 comprises a motor 151, a coupler 152, a lead screw 153, a structural part 154, a sliding block 155, a visual camera 156 and a shell 157, the top end of the shell 157 is fixed in the middle of the bottom surface of the unmanned aerial vehicle 14, and the motor 151, the coupler 152, the lead screw 153, the structural part 154, the sliding block 155 and the visual camera 156 are sequentially and coaxially installed in the shell from top to bottom; the top end of the screw 153 is connected with an output shaft of the motor 151 through a coupler 152, and the bottom end of the screw is matched and installed with an internal thread of a central hole of the structural member 154 through an external thread; the structural member 154 is a flat plate structure, and a plurality of sliding blocks 155 are hinged to the lower end surface of the structural member 154 along the circumferential direction; the motor 151 drives the screw 153 to rotate, and meanwhile, the structural part 154 drives the sliding block 155 to displace along the axial direction of the screw 153; the sliding blocks 155 form a gathering structure in the shell 157, and form an outward expanding structure when moving downwards to the outside of the shell 157; the vision camera 156 is used for tracking and positioning of the docking target object;
the docking unit 21 includes a docking unit locking device 211 and a connection member 212, and the docking unit locking device 211 is fixed to the top of the target object 22 through the connection member 212; the butt joint part locking device 211 is a bowl-shaped structure with a plane bottom, the peripheral wall of the butt joint part locking device is of a convergent structure from top to bottom, and the bottom surface of the butt joint part locking device is provided with a plurality of through holes along the circumferential direction and respectively corresponds to the plurality of sliding blocks 155 one by one; after the flight control system of the unmanned aerial vehicle 14 adjusts the terminal autonomous docking mechanism 15 and the passive docking system 2 to be opposite, the motor 151 is started, the screw 153 drives the structural member 154 and the plurality of sliding blocks 155 to move downwards until the sliding blocks 155 pass through the corresponding through holes of the docking member locking device 211 and expand outwards to achieve locking.
The further technical scheme of the invention is as follows: the tether retracting and releasing mechanism 12 is a winch type retracting and releasing traction structure and is used for controlling the retraction and releasing of the tether 13, so that the height positions of the unmanned aerial vehicle 14 and the tail end autonomous docking mechanism 15 are adjusted.
The further technical scheme of the invention is as follows: the housing 157 is a hollow cylindrical frame structure.
The further technical scheme of the invention is as follows: the section of the sliding block 155 is of a nearly right-angled triangle or obtuse-angled triangle structure, each angle is of an arc structure, and one bottom angle is hinged with the structural member 154.
The further technical scheme of the invention is as follows: a storage bin is coaxially arranged in the shell; the storage bin is of a cylindrical structure with two open ends, the lower end of the storage bin is provided with a plurality of axial through grooves along the circumferential direction, the axial through grooves correspond to the slide blocks 155 in position and number one by one, and the upper vertex angles of the slide blocks 155 are hinged with the tops of the axial through grooves; the upper end of the storage bin is used as a gathering space of the sliding block 155, and when the sliding block 155 moves downwards to the axial through groove, the sliding block rotates to an outward expansion state around a hinge shaft at the top of the axial through groove.
The further technical scheme of the invention is as follows: a torsion spring is arranged at the hinged position of the sliding block 155 and the structural member 154, so that the sliding block 155 can be popped outwards under the restoring force of the torsion spring after extending out of the shell 157.
The further technical scheme of the invention is as follows: the structural member 154 is a circular plate structure, a plurality of notches are uniformly distributed on the outer circumferential surface of the structural member along the circumferential direction, and a plurality of sliding blocks 155 are hinged to the notches in a one-to-one correspondence manner.
The further technical scheme of the invention is as follows: the number of the through holes of the sliding block 155 and the butt joint part locking device 211 is 3, and the through holes are uniformly distributed along the circumferential direction.
A method for carrying out target object butt joint by a rope system tail end maneuvering autonomous butt joint system is characterized by comprising the following specific steps:
the method comprises the following steps: the active docking system 1 approaches the fixed passive docking system 2 until the distance between the active docking system 1 and the passive docking system 2 is shortened to be within the image recognition range of the vision camera 156;
step two: extending the tether 13 through the tether retraction mechanism 12 while lowering the drone 14; firstly, the unmanned aerial vehicle 14 positions the passive docking component 21 according to the vision camera 156, and then after the unmanned aerial vehicle 14 adjusts the relative position of the passive docking component 21 through the flight control system, the unmanned aerial vehicle 14 descends stably until the tail end docking mechanism 15 is coaxially opposite to the docking component 21;
step three: starting the motor 151, controlling the screw 153 to rotate, further driving the driving structure 154 and the plurality of sliding blocks 155 to move downwards, expanding outwards to realize locking after each sliding block 155 passes through each corresponding through hole of the butt joint part locking device 211, and closing the motor 151 after locking is completed;
step four: after the tail end docking mechanism 15 and the docking component 21 are locked in the step III, the tether retracting mechanism 12 retracts the tether 13, and meanwhile, the unmanned aerial vehicle 14, the tail end autonomous docking mechanism 15 and the passive docking system 2 are pulled up to complete docking.
A method for separating a target object by a rope system tail end maneuvering autonomous docking system is characterized by comprising the following specific steps:
the method comprises the following steps: starting the motor 151, controlling the screw 153 to rotate reversely, further driving the driving structure 154 and the plurality of sliding blocks 155 to move upwards until each sliding block 155 is separated from each through hole of the butt joint part locking device 211, changing the outward expansion state into the gathering state, and closing the motor 151 after separation is completed;
step two: the unmanned aerial vehicle 14 is pulled up by the flight control system until the unmanned aerial vehicle is separated from the docking component 21 to a safe distance;
step three: starting the tether tightening mechanism 12 to withdraw the tether 13, further pulling the distance between the active docking system 1 and the passive docking system 2 to complete the separation task; the tether 13 returns to the initial position ready for the next docking.
Advantageous effects
The invention has the beneficial effects that:
(1) the docking mechanism of the invention is motorized by a helicopter, has enough flexibility to approach the central position, can adapt to the pose deviation between docking components on a target object docked with the docking mechanism, and realizes flexible docking after the docking lock basically aligns to the docking interface.
(2) Compared with the vertical hoisting method in the prior art, the autonomous docking system is lowered by utilizing the tether, the working distance between the helicopter and a docked object is increased, the interference influence of the slipstream of a propeller of the helicopter is effectively reduced, the stability of the docking process is ensured, and the method is more stable and reliable compared with the traditional docking method; (ii) a Utilize unmanned aerial vehicle and docking mechanism, under image recognition's help, the accurate image information that acquires realizes terminal autonomic butt joint, has greatly reduced the requirement to flight pilot operation, eliminates danger and the inaccuracy of ground staff alignment process, has improved butt joint precision and efficiency.
(3) Before the system starts docking, the helicopter carries the unmanned aerial vehicle and the docking mechanism to approach a target object through the tether, the tether is placed after the tail end docking mechanism enters the correctable range of the unmanned aerial vehicle, so that the unmanned aerial vehicle and the tail end docking mechanism approach the target object, and docking operation is executed under the condition that certain initial relative deviation exists among the unmanned aerial vehicle, the tail end docking mechanism and the target object. The docking device has the capability of finely adjusting the relative docking center position within the self motion range, has the capability of correcting the docking interface to restore to the center position, and meets the requirements of various docking targets.
(4) The master docking system of the present invention provides autonomous relative range correction, docking, holding, and separating functions for a target object, the autonomous docking system being configured such that a subsequent series of docking tasks are autonomously performed by the docking system as the helicopter approaches within the operating range of the docking system through the tether termination docking system. The required staff is few, the danger of the whole operation process is greatly reduced, the butt joint precision and the butt joint efficiency are improved, and the task can be safely and efficiently completed.
(5) The automatic butt joint mechanism adopts a mode of controlling the sliding block by the lead screw, has the advantages of stable movement, high transmission efficiency, high precision, good synchronism, high durability and high reliability, is suitable for various possible working scene requirements of the automatic butt joint of the tail end, and greatly reduces the butt joint failure rate compared with the traditional butt joint mode. Meanwhile, the sliding block is adopted to realize locking operation, so that the space of a butting mechanism can be saved, the functions of tightening during butting and releasing during separation can be quickly and stably realized, and the reliability is ensured.
Drawings
FIG. 1 is a schematic diagram of a passive docking system and an active docking system of the present invention;
FIG. 2 is a schematic structural view of the end autonomous docking mechanism of the present invention;
FIG. 3 is a schematic diagram of the passive docking component of the present invention in terms of its appearance and structure;
FIG. 4 is a flow chart of the autonomous docking of the active-passive docking system of the present invention.
Description of reference numerals: 1. the system comprises an active docking system, 11, a transport helicopter, 12, a tether retracting mechanism, 13, a tether, 14, an unmanned aerial vehicle and 15, a tail end autonomous docking mechanism; 151. motor, 152, coupler, 153, lead screw, 154, structural member, 155, slide block, 156, vision camera, 157, housing; 21. docking member, 22, target object, 211, docking member locking device, 212, connecting member.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The invention provides a motorized autonomous butt joint system for the tail end of a rope system, which is a device and a butt joint system which are safer and more efficient than the existing butt joint mode of a hook-manual suspender of a helicopter. An unmanned aerial vehicle based on image recognition realizes position tracking and correction of a target object, an active terminal autonomous docking mechanism is generally installed at the bottom of the unmanned aerial vehicle, and passive docking components are generally installed on the target object, such as a supply ammunition box, material supply and other transported goods.
The invention relates to a motorized autonomous docking system for a rope system tail end, which comprises an active docking system 1 and a passive docking system 2, wherein the active docking system 1 comprises a transportation helicopter 11, a rope retracting mechanism 12, a rope 13, an unmanned aerial vehicle 14 and a tail end autonomous docking mechanism 15; the upper end of a tether 13 is connected with the lower part of the helicopter 11 through a tether retracting mechanism 12, the lower end of the tether is fixed with an unmanned aerial vehicle 14, and the bottom of the unmanned aerial vehicle 14 is fixed with a tail end autonomous docking mechanism 15; the passive docking system 2 includes a docking member 21 fixed above a target object 22, and is engaged with the terminal autonomous docking mechanism 15 to perform docking work.
The terminal autonomous docking mechanism 15 comprises a motor 151, a coupler 152, a lead screw 153, a structural part 154, a sliding block 155, a visual camera 156 and a shell 157, the top end of the shell 157 is fixed in the middle of the bottom surface of the unmanned aerial vehicle 14, and the motor 151, the coupler 152, the lead screw 153, the structural part 154, the sliding block 155 and the visual camera 156 are sequentially and coaxially installed in the shell from top to bottom; the shell 157 is a hollow cylindrical frame structure, and a storage bin is coaxially arranged in the shell; the storage bin is of a cylindrical structure with two open ends, the lower end of the storage bin is provided with a plurality of axial through grooves along the circumferential direction, the axial through grooves correspond to the slide blocks 155 in position and number one by one, and the upper vertex angles of the slide blocks 155 are hinged with the tops of the axial through grooves; the upper end of the storage bin is used as a gathering space of the sliding block 155, and when the sliding block 155 moves downwards to the axial through groove, the sliding block rotates to an outward expansion state around a hinge shaft at the top of the axial through groove.
The top end of the screw 153 is connected with an output shaft of the motor 151 through a coupler 152, and the bottom end of the screw is matched and installed with an internal thread of a central hole of the structural member 154 through an external thread; the structural member 154 is a flat plate structure, and a plurality of sliding blocks 155 are hinged to the lower end surface of the structural member 154 along the circumferential direction; the motor 151 drives the screw 153 to rotate, and meanwhile, the structural part 154 drives the sliding block 155 to displace along the axial direction of the screw 153; the sliding blocks 155 form a gathering structure in the shell 157, and form an outward expanding structure when moving downwards to the outside of the shell 157; alternatively, a torsion spring is installed at the hinge joint of the sliding block 155 and the structural member 154, so that the sliding block 155 is ejected outwards under the restoring force of the torsion spring after extending out of the housing 157.
The vision camera 156 is used for tracking and positioning the docking target object, is fixedly arranged at the bottom of the screw rod, and points to the vertical direction of the bottom of the unmanned aerial vehicle.
The structural member 154 is a circular plate structure, a plurality of notches are uniformly distributed on the outer circumferential surface of the structural member along the circumferential direction, and a plurality of sliding blocks 155 are correspondingly arranged at the notches one by one.
The cross section of the sliding block 155 is of a nearly right-angled triangle or obtuse-angled triangle structure, each vertex angle is of an arc structure, and one acute angle is hinged with the structural member 154.
The number of the through holes of the sliding block 155 and the butt joint part locking device 211 is 3, and the through holes are uniformly distributed along the circumferential direction.
The docking unit 21 includes a docking unit locking device 211 and a connection member 212, and the docking unit locking device 211 is fixed to the top of the target object 22 through the connection member 212; the butt joint part locking device 211 is provided with a plurality of through holes along the circumferential direction, and the through holes are respectively in one-to-one correspondence with the plurality of sliding blocks 155; after the flight control system of the unmanned aerial vehicle 14 adjusts the terminal autonomous docking mechanism 15 and the passive docking system 2 to be opposite, the motor 151 is started, the screw 153 drives the structural member 154 and the plurality of sliding blocks 155 to move downwards until the sliding blocks 155 pass through the corresponding through holes of the docking member locking device 211 and expand outwards to achieve locking.
In the embodiment, the docking height 10m of the existing marine helicopter tether manual hook docking transportation is taken as a docking target, and a passive target object is vertically arranged in the axial direction.
As shown in fig. 1, the active docking system 1 includes a transportation helicopter 11, a tether retraction mechanism 12, a tether 13, an unmanned aerial vehicle 14, and a terminal autonomous docking mechanism 15; the helicopter 11 carries other parts to be close to the passive docking system 2, and after the vision camera 156 can identify the range of the passive docking system 2, the tether retraction jack is started to lower the unmanned aerial vehicle 14 and the tail end docking mechanism 15; the rope retracting mechanism 12 is a winch type retracting traction structure; the tether 13 is arranged in the middle of the top end face of the unmanned aerial vehicle 14; the tail end autonomous docking mechanism 15 is of a columnar structure which is vertically arranged in the axial direction and is arranged in the middle of the bottom end face of the unmanned aerial vehicle 13; the passive docking system 2 consists of a target object 22 to be docked on the "ground" and a docking member 21 fixedly mounted thereon. The tether 13 is extended through the tether retraction jack 12, so that the unmanned aerial vehicle 14 and the tail end docking mechanism 15 enter a working range, and the visual camera 156 helps the unmanned aerial vehicle 14 to adjust and correct the relative position of the tail end docking mechanism 15 and the docking component 21 through image recognition so that the two correspond to each other; finally, locking is realized on the butt joint part 21 corresponding to the butt joint of the structural member, and finally, the autonomous butt joint is completed.
In the active docking system 1, the unmanned aerial vehicle 14 is designed as a negative upper bent-angle horn, and provides a large lateral control force to counteract strong wind interference under a working environment as much as possible.
As shown in fig. 2, the autonomous end docking mechanism 15 includes a motor 151, a coupling 152, a lead screw 153, a structural member 154, a slider 155, a vision camera 156, and a frame 157; wherein, the motor 151 is fixedly installed on the lower surface of the axial top end of the terminal autonomous docking mechanism 15; the coupling 152 is arranged at the bottom end of the motor 151; the axial top end of the screw 153 is connected with the coupling 152, so that the motor 151 can rotate; the center of the structure 154 is penetrated by the lead screw 153; 3 sliding blocks 155 are arranged at the notch of the structural part 154; the rotating screw 153 drives 3 sliding blocks 155 to rotate around the screw axis in the vertical direction through a structural part 154 and extend out of the storage bin; the vision camera 156 is fixedly arranged at the bottom space of the end docking mechanism 15, and the vision camera 156 points to the docked system 21, so that the tracking and positioning of the docked member 21 are realized; all components are assembled and mounted within the frame 157.
The helicopter carries the unmanned aerial vehicle and the tail end autonomous docking mechanism to approach the passive docking system through the tether, when the distance between the active docking system and the passive docking system is shortened to the horizontal 2m multiplied by 2m working range set by the vision camera, the tether retracting and releasing mechanism extends the tether at the speed of 0.15m/s, the maximum working time is 30s, and the tail end autonomous docking system enters the working range; and the unmanned aerial vehicle quickly corrects the relative position according to the control law according to the feedback information of the camera and the upper computer.
The straight line distance between the center of the camera and the center of the visual cooperative target is rho, the included angle between the orientation of the bottom camera of the unmanned aerial vehicle at the tail end and two central lines is alpha, and the attitude deviation angle between the orientation of the bottom camera of the unmanned aerial vehicle and the visual cooperative target is theta, so that the following results are obtained:
i.e. the desired linear velocity of the end drone,
is the desired angular velocity.
An orthodefinite quadratic lyapunov function is used:
where ρ, θ represent the distance error and angle error, respectively.
For convergence of the Lyapunov function, it is desirable
Thus, there are:
wherein rho, alpha and theta are pose data which can be obtained by the camera in real time.
Let ρ equal2m, 20 deg. and 5 deg. and K is selected according to control law1＝0.16,K20.05, available
v is 0.15m/s, and omega is 1.25 degrees/s, guarantees simultaneously that the linear velocity is unanimous with tether jack mechanism unwrapping wire speed, and the accurate butt joint time of terminal docking mechanism is 13.33s for t this moment, and the butt joint process is consuming time short, and the accuracy is high, need not artifical couple and aims at, has improved butt joint validity and security.
The working process of the butt joint system is as follows:
the active docking system 1 approaches to the passive docking system 2 fixed on the ground, when the distance between the active docking system 1 and the passive docking system 2 is shortened to the image recognition range of the visual camera 156, the tether retracting and releasing mechanism 12 extends the tether 13 to lower the unmanned aerial vehicle 14, the unmanned aerial vehicle 14 finely positions the passive docking component 21 according to the visual camera 156, and after the designed flight control system of the unmanned aerial vehicle adjusts the relative position of the passive docking component 21, the unmanned aerial vehicle 14 descends stably to enable the tail end docking mechanism 15 to penetrate through the center of the docking component 21, as shown in fig. 3; when the slide block 155 of the terminal autonomous docking mechanism approaches to the horizontal bottom position of the docking component 21, the docking of the slide block 155 and the docking component locking device 211 is realized through the rotation cooperation of the motor 151, the coupling 152, the lead screw 153, the structural member 154 and the slide block 155, and the position of the locking device 211 in the docking component 21 is as shown in fig. 3 (b). The connecting component 212 in fig. 3(b) is tightly installed on the top end surface of the target object 22 to be docked, and when the sliding block 155 and the locking device 211 are locked, the tether retracting mechanism 12 retracts the tether 13, and pulls up the unmanned aerial vehicle 14, the terminal autonomous docking mechanism 15, and the passive docking system 2 to realize docking.
When the active docking system 1 and the passive docking system 2 need to be separated, the sliding block 155 and the docking component locking device 211 are separated through the reverse rotation matching of the motor 151, the coupler 152, the lead screw 153, the structural member 154 and the sliding block 155; the tail end automatic docking mechanism 15 tightens the sliding block 155 to enter the storage bin, the unmanned aerial vehicle 14 is pulled up by the control system, the docking component 21 is safely separated to a safe distance, then the tether tightening mechanism 12 is started to further pull the distance between the active docking system and the passive docking system, and the separation task is completed. The tether 13 is returned to the proper position ready for the next docking.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides a dynamic autonomic butt joint system of tether end which characterized in that: the system comprises an active docking system (1) and a passive docking system (2), wherein the active docking system (1) comprises a transportation helicopter (11), a tether retracting mechanism (12), a tether (13), an unmanned aerial vehicle (14) and a tail end autonomous docking mechanism (15); the upper end of a tether (13) is connected with the lower part of a helicopter (11) through a tether retracting mechanism (12), an unmanned aerial vehicle (14) is fixed at the lower end, and a tail end autonomous docking mechanism (15) is fixed at the bottom of the unmanned aerial vehicle (14); the passive docking system (2) comprises a docking component (21) fixed above a target object (22) and is matched with the tail end autonomous docking mechanism (15) to realize docking work;
the tail end automatic docking mechanism (15) comprises a motor (151), a coupler (152), a lead screw (153), a structural part (154), a sliding block (155), a vision camera (156) and a shell (157), wherein the top end of the shell (157) is fixed in the middle of the bottom surface of the unmanned aerial vehicle (14), and the motor (151), the coupler (152), the lead screw (153), the structural part (154), the sliding block (155) and the vision camera (156) are sequentially and coaxially installed in the shell from top to bottom; the top end of the screw rod (153) is connected with an output shaft of the motor (151) through a coupler (152), and the bottom end of the screw rod is matched and installed with an internal thread of a central hole of the structural member (154) through an external thread; the structural member (154) is of a flat plate structure, and a plurality of sliding blocks (155) are hinged to the lower end face of the structural member (154) along the circumferential direction; the motor (151) drives the lead screw (153) to rotate, and meanwhile, the structural part (154) drives the sliding block (155) to move along the axial direction of the lead screw (153); the sliding blocks (155) form a gathering structure in the shell (157), and form an outward expanding structure when moving downwards to the outside of the shell (157); a vision camera (156) for tracking positioning of the docking target object;
the butt joint part (21) comprises a butt joint part locking device (211) and a connecting part (212), and the butt joint part locking device (211) is fixed on the top of the target object (22) through the connecting part (212); the butt joint part locking device (211) is a bowl-shaped structure with a plane bottom, the peripheral wall of the butt joint part locking device is of a convergent structure from top to bottom, and a plurality of through holes are formed in the bottom surface of the butt joint part locking device along the circumferential direction and respectively correspond to the plurality of sliding blocks (155) one by one; after the tail end automatic docking mechanism (15) and the passive docking system (2) are adjusted to be opposite by a flight control system of the unmanned aerial vehicle (14), the motor (151) is started, the screw rod (153) drives the structural part (154) and the sliding blocks (155) to move downwards until the sliding blocks (155) penetrate through corresponding through holes of the docking part locking device (211) and then expand outwards to realize locking.
2. The tether-end motorized autonomous docking system of claim 1, wherein: the tether retracting and releasing mechanism (12) is a winch type retracting and releasing traction structure and is used for controlling the retraction and releasing of the tether (13), so that the height positions of the unmanned aerial vehicle (14) and the tail end autonomous docking mechanism (15) are adjusted.
3. The tether-end motorized autonomous docking system of claim 1, wherein: the shell (157) is of a hollow cylindrical frame structure.
4. The tether-end motorized autonomous docking system of claim 1, wherein: the section of the sliding block (155) is of a nearly right-angled triangle or obtuse-angled triangle structure, each angle is of an arc structure, and one bottom angle is hinged with the structural part (154).
5. The tether-end motorized autonomous docking system of claim 4, wherein: a storage bin is coaxially arranged in the shell; the storage bin is of a cylindrical structure with two open ends, the lower end of the storage bin is provided with a plurality of axial through grooves along the circumferential direction, the axial through grooves correspond to the sliding blocks (155) in position and number one by one, and the upper vertex angles of the sliding blocks (155) are hinged with the tops of the axial through grooves; the upper end of the containing bin is used as a gathering space of the sliding block (155), and when the sliding block (155) moves downwards to the axial through groove, the sliding block rotates to an outward expansion state around a hinged shaft at the top of the axial through groove.
6. The tether-end motorized autonomous docking system of claim 4, wherein: and a torsional spring is arranged at the hinged position of the sliding block (155) and the structural part (154), so that the sliding block (155) is outwards popped up under the restoring force of the torsional spring after extending out of the shell (157).
7. The tether-end motorized autonomous docking system of claim 1, wherein: the structural member (154) is of a circular plate structure, a plurality of notches are uniformly distributed on the outer peripheral surface of the structural member along the circumferential direction, and a plurality of sliding blocks (155) are hinged to the notches in a one-to-one correspondence mode.
8. The tether-end motorized autonomous docking system of claim 1, wherein: the number of the through holes of the sliding block (155) and the butt joint part locking device (211) is 3, and the through holes are uniformly distributed along the circumferential direction.
9. The method for docking the target object by the rope system end motorized autonomous docking system according to claim 1 is characterized by comprising the following specific steps:
the method comprises the following steps: the active docking system (1) approaches to the fixed passive docking system (2) until the distance between the active docking system (1) and the passive docking system (2) is shortened to be within the self image recognition range of the visual camera (156);
step two: extending the tether (13) through the tether retracting mechanism (12), and simultaneously lowering the unmanned aerial vehicle (14); firstly, the unmanned aerial vehicle (14) positions the passive docking component (21) according to the visual camera (156), and then after the unmanned aerial vehicle (14) adjusts the relative position of the passive docking component (21) through the flight control system, the unmanned aerial vehicle (14) descends stably until the tail end docking mechanism 15 is coaxially opposite to the docking component (21);
step three: starting the motor (151) to control the screw rod (153) to rotate, further driving the driving structure member (154) and the plurality of sliding blocks (155) to move downwards until the sliding blocks (155) penetrate through the corresponding through holes of the butt joint part locking device (211), expanding outwards to realize locking, and closing the motor (151) after locking is completed;
step four: after the tail end docking mechanism 15 and the docking component (21) are locked in the step III, the tether retracting mechanism (12) retracts the tether (13), and meanwhile, the unmanned aerial vehicle (14), the tail end autonomous docking mechanism (15) and the passive docking system (2) are pulled up to complete docking.
10. The method for separating the target object by the rope system end motorized autonomous docking system is characterized by comprising the following specific steps:
the method comprises the following steps: starting the motor (151) to control the screw rod (153) to rotate reversely, so as to drive the driving structural member (154) and the plurality of sliding blocks (155) to move upwards until each sliding block (155) is separated from each through hole of the butt joint part locking device (211), changing the outward expansion state into the gathering state, and closing the motor (151) after separation is completed;
step two: the unmanned aerial vehicle (14) is pulled up through the flight control system until the unmanned aerial vehicle is separated from the butt joint component (21) to a safe distance;
step three: starting a tether tightening mechanism (12) to retract a tether (13), further pulling the distance between the active docking system (1) and the passive docking system (2) apart, and completing a separation task; the tether (13) returns to the initial position ready for the next docking.
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| CN201433056Y (en) * | 2009-06-26 | 2010-03-31 | 中国人民解放军61330部队生产技术处 | Hoisting device used for hoisting machine parts by depending on helicopter body |
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