CN104648684A - Small-sized unmanned aerial vehicle (UAV) hoisting equipment and hoisting method - Google Patents
Small-sized unmanned aerial vehicle (UAV) hoisting equipment and hoisting method Download PDFInfo
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- CN104648684A CN104648684A CN201410808494.6A CN201410808494A CN104648684A CN 104648684 A CN104648684 A CN 104648684A CN 201410808494 A CN201410808494 A CN 201410808494A CN 104648684 A CN104648684 A CN 104648684A
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Abstract
The invention relates to small-sized unmanned aerial vehicle (UAV) hoisting equipment and a hoisting method. The small-sized UAV hoisting equipment and the hoisting method are used for solving the problems that at present, UAV technologies achieve considerable development, however, hoisting mechanisms of the UAV technologies are unsatisfactory, a load of a manipulator of a steering engine acts on the steering engine, the steering engine must be energized so as to bear the load, otherwise, gears of the steering engine can be deformed, and a stop position changes. The small-sized UAV hoisting equipment comprises a shell (1), wherein a control motherboard (2) is mounted in the shell and comprises a wireless signal acquisition circuit (3) and a power switching circuit (4), the wireless signal acquisition circuit is connected with a data processing circuit (6), and the data processing circuit is connected with an electromagnet driving circuit (5). The hoisting method is applied to the small-sized UAV hoisting equipment.
Description
technical field:
the present invention relates to a kind of small-sized unmanned aircraft hanging device and carry out the method that lifts.
background technology:
now, unmanned air vehicle technique obtains significant progress, but its hoisting mechanism is unsatisfactory, the load of current steering wheel manipulator be act on steering wheel originally with it, steering wheel must power up, load could be accepted, otherwise steering wheel gear shifting quadrant texturing can be caused, stop bit conjugates, steering wheel manipulator requires that continued power maintains clamping torque, and, steering wheel manipulator is 2 or multipoint clamping, this just requires that steering wheel machinery and electronic structure must be synchronous, considerably increase the complexity of design thus, once there is stationary problem in steering wheel manipulator, whole aircraft flight state changes, serious consequence can be brought.
the existing hanging device of unmanned plane has following problem:
(1) in steering wheel manipulator operational process, load cold misoperation probability large, easily cause steering wheel gear shifting quadrant texturing impaired, stop bit changes;
(2) steering wheel manipulator continued power, consumes a large amount of valuable electric energy;
(3) designing requirement that steering wheel is mechanical and electronic structure is synchronous, adds the complexity of design, increases the weight of hanging device, improve the fault rate of system;
(4) manipulator upwards overturns 60 degree and could unload, and the Effect of Rotation state of flight of handgrip, increases flight insecurity.
summary of the invention:
the object of this invention is to provide a kind of small-sized unmanned aircraft hanging device and carry out the method that lifts.
above-mentioned object is realized by following technical scheme:
a kind of small-sized unmanned aircraft hanging device, its composition comprises: housing, control mainboard is installed in described housing, described control mainboard comprises wireless signal acquiring circuit, power-switching circuit, described wireless signal acquiring circuit is connected with data processing circuit, and described data processing circuit is connected with solenoid driver circuit.
described small-sized unmanned aircraft hanging device, described housing is cube, and described housing side is connected with cover plate by screw, described cover plate is separately installed with charging inlet, switch, below described housing, there is counterbore, carry is installed in described counterbore and inhales sheet.
described small-sized unmanned aircraft hanging device, described wireless signal acquiring circuit comprises 2.4G less radio-frequency acceptor circuit, pwm pulse output circuit, described wireless signal acquiring circuit has 8 groups of parallel PWM delivery channels, 1 group of SBUS bus output channels, the impulse singla of 6 groups of PWM delivery channels, receiver carries out wireless telecommunications by 2.4G radio-frequency module and remote controller, when remote controller there being control action, remote controller changes actuating signal into 2.4G wireless transmission signal, receiver receives the wireless signal that remote controller projector is launched, after detection, wireless signal is transformed into the pwm signal that micro controller system can gather, deliver to the acquisition of signal port of micro controller system.
described small-sized unmanned aircraft hanging device, described power-switching circuit comprises micro controller system feed circuit, wireless receiver feed circuit, control to export feed circuit, described power-switching circuit adopts 11.1V lithium battery power supply, control output circuit directly to be powered by the lithium cell of main power source, filter capacitor and afterflow protection diode is added in circuit, power supply exports steadily, reduce system interference and protection driving chip etc., described wireless receiver feed circuit and Single Chip Microcomputer (SCM) system feed circuit adopt LM1085 and LM1117 power conversion chip respectively, LM1085 converts the lithium battery voltage of described main power source to+5v and powers to receiver, LM1117 changes+5v dress into 3.3V and powers to Single Chip Microcomputer (SCM) system, two circuit all have filter capacitor, power light and 0 ohmage test node, power supply is exported steadily.
described small-sized unmanned aircraft hanging device, described data processing circuit comprises micro controller system, and described micro controller system gathers the pulse width that wireless receiver the 6th channel signal exports, and according to the change of pulse width, control and drive system realizes input action.
described small-sized unmanned aircraft hanging device, described solenoid driver circuit output circuit adopts magnet control chip LM298N, described magnet control chip LM298N is the chip of a special control low-voltage direct electromagnet, chip input voltage 5-48V, outgoing current 5A, electromagnet produces electromagnetic interference when work identical with the situation of electrical motor work, four diode reverse are had to be connected in parallel on the circuit of driver output in described solenoid driver circuit, because magnetic original paper can produce inverse electromotive force in work with when stopping, interference or damage actuator, it is driving circuit cisco unity malfunction, four flywheel diodes can offset counter electromotive force, protection actuator, circuit is normally worked.
the method that small-sized unmanned aircraft hanging device and carrying out lifts, the method comprises the steps:
first be press main supply switch, to the dead electricity electromagnet energising 0.7s of small-sized unmanned aircraft hanging device inside, then detect remote controller signal, then dead electricity electromagnet is energized as received signal, detected cell pressure every 1 minute, if lower than 3.3v, LED flicker is reported to the police;
described dead electricity electromagnet, no power during loading, the back loading that is energized instantaneously departs from, described dead electricity electromagnet is counter bore structure, embedded control system, described small-sized unmanned aircraft hanging device includes magnetic isolation and electromagnetic shielding material, shields respectively from dead electricity electromagnet itself and the extraneous electromagnetic interference for flight controller.
beneficial effect:
1. mainly small-sized unmanned aircraft hanging device of the present invention is under the use of dead electricity electromagnet, achieve power-off to load, energising momentary load departs from, this structure saves electric energy greatly, utilizes very little battery, just can complete lifting unloading task, the application of baby battery makes weight saving, make lifting unload power supply independent from aircraft using electricity system, the control of described dead electricity electromagnet is full-automatic, and invention effect fullys meet set objective function simultaneously.
dead electricity electromagnet of the present invention is counter bore structure, embedded control system, described small-sized unmanned aircraft hanging device includes magnetic isolation and electromagnetic shielding material, shield from dead electricity electromagnet itself and the extraneous electromagnetic interference for flight controller respectively, the counter bore structure of described dead electricity electromagnet, prevent the applying of shearing force, ensure that load safety.
lithium cell of the present invention compares with traditional battery, has life-span length, superpower, lightweight, high/low temperature strong adaptability, self-discharge rate are very low, the advantage such as environmental protection.
wireless signal acquiring circuit of the present invention has 8 groups of parallel PWM delivery channels, additional 1 group of SBUS bus output channels, this device mainly gathers the impulse singla of the 6th group of PWM delivery channel, receiver carries out wireless telecommunications by 2.4G radio-frequency module and remote controller, when remote controller there being control action, remote controller changes actuating signal into 2.4G wireless transmission signal, receiver receives the wireless signal that remote controller projector is launched, after detection, wireless signal is transformed into the pwm signal that micro controller system can gather, delivers to the acquisition of signal port of micro controller system.
power-switching circuit of the present invention adopts 11.1V lithium battery power supply, control output circuit directly to be powered by the lithium cell of main power source, filter capacitor and afterflow protection diode is added in circuit, power supply exports steadily, reduce system interference and protection driving chip etc., described wireless receiver feed circuit and Single Chip Microcomputer (SCM) system feed circuit adopt LM1085 and LM1117 power conversion chip respectively, LM1085 converts the lithium battery voltage of described main power source to+5v and powers to receiver, LM1117 changes+5v dress into 3.3V and powers to Single Chip Microcomputer (SCM) system, two circuit all have filter capacitor, power light and 0 ohmage test node, power supply is made to export steadily, facilitate system debug.
data processing circuit of the present invention comprises micro controller system, and described micro controller system gathers the pulse width that wireless receiver the 6th channel signal exports, and according to the change of pulse width, control and drive system realizes input action.
described solenoid driver circuit output circuit of the present invention adopts magnet control chip LM298N, described magnet control chip LM298N is the chip of a special control low-voltage direct electromagnet, chip input voltage 5-48V, outgoing current 5A, electromagnet produces electromagnetic interference when work identical with the situation of electrical motor work, meet the demands completely, it is little that this chip has volume, peripheral circuit device is few, the advantages such as logic control is easy, circuit has four diode reverse to be connected in parallel on the circuit of driver output, because magnetic original paper can produce inverse electromotive force in work with when stopping, interference or damage actuator, it is driving circuit cisco unity malfunction, four flywheel diodes can offset counter electromotive force, protection actuator, circuit is normally worked.
unmanned vehicle hanging device of the present invention, lifting unloading is simple and reliable, unloading position can manually be determined, automatically selects again by airmanship, and system is simple, perfect in shape and function, operation are reliable, this invention electricity consumption is few simultaneously, can be independently-powered, self-organizing system, reduces system weight, improve system reliability
unloading completes instantaneously, without the need to any mechanical rotation, and aircraft safe in operation.
charging inlet of the present invention has water-proof function, and unified with other circuit interfaces, in order to prevent misoperation, each opening power all can connect a dead electricity electromagnet, if be placed in adhesive district by other parts by mistake
can take this manual taking-up, when housing has counterbore design to inhale sheet adhesive, lower surface is concordant with zoarium, can prevent the radial-play after suction sheet adhesive.
accompanying drawing illustrates:
accompanying drawing 1 is structural representation of the present invention.
accompanying drawing 2 is External views of the present invention.
accompanying drawing 3 is control flow charts of the present invention.
accompanying drawing 4 is schematic circuit diagram of the Part I of control circuit figure in accompanying drawing 1.
accompanying drawing 5 is schematic circuit diagram of the Part II of control circuit figure in accompanying drawing 1.
in figure: between same-sign circuit, there is annexation.
detailed description of the invention:
embodiment 1:
a kind of small-sized unmanned aircraft hanging device, its composition comprises: housing 1, be provided with in described housing and control mainboard 2, described control mainboard comprises wireless signal acquiring circuit 3, power-switching circuit 4, described wireless signal acquiring circuit is connected with data processing circuit 6, and described data processing circuit is connected with solenoid driver circuit 5.
embodiment 2:
small-sized unmanned aircraft hanging device according to embodiment 1, described housing is cube, described housing side is connected with cover plate 10 by screw, described cover plate is separately installed with charging inlet 7, switch 8, below described housing, there is counterbore, carry is installed in described counterbore and inhales sheet 9.
embodiment 3:
small-sized unmanned aircraft hanging device according to embodiment 1, described wireless signal acquiring circuit comprises 2.4G less radio-frequency acceptor circuit, pwm pulse output circuit, described wireless signal acquiring circuit has 8 groups of parallel PWM delivery channels, 1 group of SBUS bus output channels, the impulse singla of 6 groups of PWM delivery channels, receiver carries out wireless telecommunications by 2.4G radio-frequency module and remote controller, when remote controller there being control action, remote controller changes actuating signal into 2.4G wireless transmission signal, receiver receives the wireless signal that remote controller projector is launched, after detection, wireless signal is transformed into the pwm signal that micro controller system can gather, deliver to the acquisition of signal port of micro controller system.
embodiment 4:
small-sized unmanned aircraft hanging device according to embodiment 1, described power-switching circuit comprises micro controller system feed circuit, wireless receiver feed circuit, control to export feed circuit, described power-switching circuit adopts 11.1V lithium battery power supply, control output circuit directly to be powered by the lithium cell of main power source, filter capacitor and afterflow protection diode is added in circuit, power supply exports steadily, reduce system interference and protection driving chip etc., described wireless receiver feed circuit and Single Chip Microcomputer (SCM) system feed circuit adopt LM1085 and LM1117 power conversion chip respectively, LM1085 converts the lithium battery voltage of described main power source to+5v and powers to receiver, LM1117 changes+5v dress into 3.3V and powers to Single Chip Microcomputer (SCM) system, two circuit all have filter capacitor, power light and 0 ohmage test node, power supply is exported steadily.
embodiment 5:
small-sized unmanned aircraft hanging device according to embodiment 1, described data processing circuit comprises micro controller system, described micro controller system gathers the pulse width that wireless receiver the 6th channel signal exports, and according to the change of pulse width, control and drive system realizes input action.
embodiment 6:
small-sized unmanned aircraft hanging device according to embodiment 1, described solenoid driver circuit output circuit adopts magnet control chip LM298N, described magnet control chip LM298N is the chip of a special control low-voltage direct electromagnet, chip input voltage 5-48V, outgoing current 5A, electromagnet produces electromagnetic interference when work identical with the situation of electrical motor work, four diode reverse are had to be connected in parallel on the circuit of driver output in described solenoid driver circuit, because magnetic original paper can produce inverse electromotive force in work with when stopping, interference or damage actuator, it is driving circuit cisco unity malfunction, four flywheel diodes can offset counter electromotive force, protection actuator, circuit is normally worked.
embodiment 7:
small-sized unmanned aircraft hanging device carries out the method lifted, and it is characterized in that: the method comprises the steps:
first be press main supply switch, to the dead electricity electromagnet energising 0.7s of small-sized unmanned aircraft hanging device inside, then detect remote controller signal, then dead electricity electromagnet is energized as received signal, detected cell pressure every 1 minute, if lower than 3.3v, LED flicker is reported to the police;
described dead electricity electromagnet, no power during loading, the back loading that is energized instantaneously departs from, described dead electricity electromagnet is counter bore structure, embedded control system, described small-sized unmanned aircraft hanging device includes magnetic isolation and electromagnetic shielding material, shields respectively from dead electricity electromagnet itself and the extraneous electromagnetic interference for flight controller.
embodiment 8:
small-sized unmanned aircraft hanging device according to embodiment 1-7, lifting, the maintenance intervals of equipment:
(1) battery electric quantity is 500mAh, and dead electricity electromagnet (suction 15kg) power is 10w, and driving voltage is 12v, and each dead electricity electromagnet current"on"time is 0.7s.As calculated, electromagnet can by driving 278 times.
η: solenoid actuated number of times; E: battery electric quantity; △: battery efficiency; W: dead electricity power of electromagnet; U: dead electricity solenoid actuated voltage; T: dead electricity electromagnet energising duration
the power consumption of circuit card own is 5w, and dead electricity electromagnet energising frequency higher than 1Hz, can not record through actual, and integral module standby time is greater than 24 hours.
(2) type selecting of dead electricity electromagnet:
this module uses dead electricity electromagnet nominal the suction-combining force to be 15kgf.Basic load is hung for be about 2.5kg according to national standard weight under module; Aircraft constant-acting load pressing plate downforce is through being measured as 1kgf, and pressing plate is 4; This module aircraft vertical acceleration/accel used is through recording α=1m/s2, and be 2.5N to load instantaneous application force when calculating aircraft takeoff by formula F=ma, learn in conjunction with above data, this circuit dead electricity electromagnet used is 2.2 for application load safety factor.
Claims (7)
1. a small-sized unmanned aircraft hanging device, its composition comprises: housing, it is characterized in that: control mainboard is installed in described housing, described control mainboard comprises wireless signal acquiring circuit, power-switching circuit, described wireless signal acquiring circuit is connected with data processing circuit, and described data processing circuit is connected with solenoid driver circuit.
2. small-sized unmanned aircraft hanging device according to claim 1, it is characterized in that: described housing is cube, described housing side is connected with cover plate by screw, described cover plate is separately installed with charging inlet, switch, below described housing, there is counterbore, carry is installed in described counterbore and inhales sheet.
3. small-sized unmanned aircraft hanging device according to claim 1, it is characterized in that: described wireless signal acquiring circuit comprises 2.4G less radio-frequency acceptor circuit, pwm pulse output circuit, described wireless signal acquiring circuit has 8 groups of parallel PWM delivery channels, 1 group of SBUS bus output channels, the impulse singla of 6 groups of PWM delivery channels, receiver carries out wireless telecommunications by 2.4G radio-frequency module and remote controller, when remote controller there being control action, remote controller changes actuating signal into 2.4G wireless transmission signal, receiver receives the wireless signal that remote controller projector is launched, after detection, wireless signal is transformed into the pwm signal that micro controller system can gather, deliver to the acquisition of signal port of micro controller system.
4. small-sized unmanned aircraft hanging device according to claim 1, it is characterized in that: described power-switching circuit comprises micro controller system feed circuit, wireless receiver feed circuit, control to export feed circuit, described power-switching circuit adopts 11.1V lithium battery power supply, control output circuit directly to be powered by the lithium cell of main power source, filter capacitor and afterflow protection diode is added in circuit, power supply exports steadily, reduce system interference and protection driving chip etc., described wireless receiver feed circuit and Single Chip Microcomputer (SCM) system feed circuit adopt LM1085 and LM1117 power conversion chip respectively, LM1085 converts the lithium battery voltage of described main power source to+5v and powers to receiver, LM1117 changes+5v dress into 3.3V and powers to Single Chip Microcomputer (SCM) system, two circuit all have filter capacitor, power light and 0 ohmage test node, power supply is exported steadily.
5. small-sized unmanned aircraft hanging device according to claim 1, it is characterized in that: described data processing circuit comprises micro controller system, described micro controller system gathers the pulse width that wireless receiver the 6th channel signal exports, according to the change of pulse width, control and drive system realizes input action.
6. small-sized unmanned aircraft hanging device according to claim 1, it is characterized in that: described solenoid driver circuit output circuit adopts magnet control chip LM298N, described magnet control chip LM298N is the chip of a special control low-voltage direct electromagnet, chip input voltage 5-48V, outgoing current 5A, electromagnet produces electromagnetic interference when work identical with the situation of electrical motor work, four diode reverse are had to be connected in parallel on the circuit of driver output in described solenoid driver circuit, because magnetic original paper can produce inverse electromotive force in work with when stopping, interference or damage actuator, it is driving circuit cisco unity malfunction, four flywheel diodes can offset counter electromotive force, protection actuator, circuit is normally worked.
7. utilize the small-sized unmanned aircraft hanging device described in claim 1-6 to carry out the method lifted, it is characterized in that: the method comprises the steps:
First be press main supply switch, to the dead electricity electromagnet energising 0.7s of small-sized unmanned aircraft hanging device inside, then detect remote controller signal, then dead electricity electromagnet is energized as received signal, detected cell pressure every 1 minute, if lower than 3.3v, LED flicker is reported to the police;
Described dead electricity electromagnet, no power during loading, the back loading that is energized instantaneously departs from, described dead electricity electromagnet is counter bore structure, embedded control system, described small-sized unmanned aircraft hanging device includes magnetic isolation and electromagnetic shielding material, shields respectively from dead electricity electromagnet itself and the extraneous electromagnetic interference for flight controller.
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| CN201410808494.6A CN104648684B (en) | 2014-12-23 | 2014-12-23 | Small-sized unmanned aircraft hanging device and the method lifted |
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| CN201410808494.6A CN104648684B (en) | 2014-12-23 | 2014-12-23 | Small-sized unmanned aircraft hanging device and the method lifted |
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| CN104648684A true CN104648684A (en) | 2015-05-27 |
| CN104648684B CN104648684B (en) | 2018-01-12 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104986338A (en) * | 2015-07-08 | 2015-10-21 | 谢县钢 | Rotary wing type unmanned aerial vehicle parking system for logistics distribution and application method |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN111422356A (en) * | 2015-06-01 | 2020-07-17 | 深圳市大疆创新科技有限公司 | Flying apparatus |
| CN111661329A (en) * | 2020-06-12 | 2020-09-15 | 杭州海康机器人技术有限公司 | Method and device for eliminating magnetic field interference, unmanned aerial vehicle and storage medium |
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| CN203638096U (en) * | 2014-01-09 | 2014-06-11 | 厦门大学 | Air-drop device of drone |
| CN203753393U (en) * | 2013-12-24 | 2014-08-06 | 西安理工大学 | Double-door release device of unmanned aerial vehicle |
| CN203753405U (en) * | 2013-12-26 | 2014-08-06 | 西安理工大学 | Simple drop device for load drop of model airplane |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111422356A (en) * | 2015-06-01 | 2020-07-17 | 深圳市大疆创新科技有限公司 | Flying apparatus |
| CN111422356B (en) * | 2015-06-01 | 2021-06-25 | 深圳市大疆创新科技有限公司 | Flying apparatus |
| CN104986338A (en) * | 2015-07-08 | 2015-10-21 | 谢县钢 | Rotary wing type unmanned aerial vehicle parking system for logistics distribution and application method |
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| CN106597907B (en) * | 2016-12-30 | 2024-05-03 | 深圳市优必选科技股份有限公司 | Drive control circuit and robot |
| CN111661329A (en) * | 2020-06-12 | 2020-09-15 | 杭州海康机器人技术有限公司 | Method and device for eliminating magnetic field interference, unmanned aerial vehicle and storage medium |
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