CN104648684B - Small-sized unmanned aircraft hanging device and the method lifted - Google Patents
Small-sized unmanned aircraft hanging device and the method lifted Download PDFInfo
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- CN104648684B CN104648684B CN201410808494.6A CN201410808494A CN104648684B CN 104648684 B CN104648684 B CN 104648684B CN 201410808494 A CN201410808494 A CN 201410808494A CN 104648684 B CN104648684 B CN 104648684B
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Abstract
The present invention relates to a kind of small-sized unmanned aircraft hanging device and the method lifted.Unmanned air vehicle technique obtains significant progress at present, but its hoisting mechanism is unsatisfactory, and the load of steering wheel manipulator is acted on steering wheel sheet, and steering wheel has to power up, and could accept load, otherwise can cause steering wheel gear shifting quadrant texturing, stop position displacement.Present invention composition includes：Housing（1）, control mainboard is installed in described housing（2）, described control mainboard includes wireless signal acquiring circuit（3）, power-switching circuit（4）, described wireless signal acquiring circuit and data processing circuit（6）Connection, described data processing circuit and solenoid driver circuit（5）Connection.The present invention is used for small-sized unmanned aircraft hanging device.
Description
Technical field：
The present invention relates to a kind of small-sized unmanned aircraft hanging device and the method lifted.
Background technology：
Now, unmanned air vehicle technique obtains significant progress, but its hoisting mechanism is unsatisfactory, at present steering wheel manipulator
Load is acted on steering wheel sheet, and steering wheel has to power up, and could accept load, otherwise can cause steering wheel gear shifting quadrant texturing, is stopped
Position displacement, steering wheel manipulator requires continued power to maintain clamping torque, moreover, steering wheel manipulator is 2 points or multipoint clamping,
This requires steering wheel, and mechanically and electrically minor structure must be synchronous, thus considerably increases the complexity of design, once steering wheel manipulator
There is stationary problem, whole aircraft flight state changes, and can bring serious consequence.
The existing hanging device of unmanned plane has following problem：
（1）In steering wheel manipulator running, it is big to load cold operational error probability, is easily caused steering wheel gear shifting quadrant texturing
It is impaired, stop bit change；
（2）Steering wheel manipulator continued power, consume the electric energy of a large amount of preciousnesses；
（3）The design requirement of steering wheel both mechanically and electrically structure synchronization, adds the complexity of design, increases hanging device
Weight, improve the fault rate of system；
（4）Manipulator, which is flipped up 60 degree, to be unloaded, and the Effect of Rotation state of flight of handgrip, increase flight are dangerous
Property.
The content of the invention：
It is an object of the invention to provide a kind of small-sized unmanned aircraft hanging device and the method lifted.
Above-mentioned purpose is realized by following technical scheme：
A kind of small-sized unmanned aircraft hanging device, its composition include：Housing, control master is installed in described housing
Plate, described control mainboard include wireless signal acquiring circuit, power-switching circuit, described wireless signal acquiring circuit and number
Connected according to process circuit, described data processing circuit is connected with solenoid driver circuit.
Described small-sized unmanned aircraft hanging device, described housing are cubes, and described housing side passes through spiral shell
Nail is connected with cover plate, and charging inlet, switch are separately installed with described cover plate, has counterbore below described housing, described
Counterbore in carry suction piece is installed.
Described small-sized unmanned aircraft hanging device, described wireless signal acquiring circuit connect including 2.4G less radio-frequencies
Circuit, pwm pulse output circuit are received, described wireless signal acquiring circuit has 8 groups of parallel PWM output channels, 1 group of SBUS total
The pulse signal of line output channel, 6 groups of PWM output channels, receiver pass through 2.4G radio-frequency modules and carry out channel radio with remote control
News, when there is control action on remote control, action signal is changed into 2.4G wireless transmission signals by remote control, and receiver receives
To the wireless signal of remote control transmitter transmitting, after detection, the PWM that wireless signal is transformed into single-chip microcomputer to gather believes
Number, it is sent to the signal acquisition port of single-chip microcomputer.
Described small-sized unmanned aircraft hanging device, described power-switching circuit include single-chip microcomputer power supply circuit, nothing
Line receiver power supply circuit, control output power supply circuit, described power-switching circuit use 11.1V lithium battery power supplies, controlled
Output circuit is directly powered by the lithium battery of main power source, and filter capacitor and afterflow protection diode, power supply output are added in circuit
Steadily, system interference and protection driving chip etc., described wireless receiver power supply circuit and SCM system power supply are reduced
LM1085 and LM1117 power conversion chips are respectively adopted in circuit, and the lithium battery voltage of described main power source is converted into by LM1085
+ 5v powers to receiver, and LM1117 changes+5v dresses into 3.3V and powered to SCM system, and two circuits have filter capacitor, electricity
Source indicator lamp and 0 Ohmic resistance test node, make power supply output steady.
Described small-sized unmanned aircraft hanging device, described data processing circuit include single-chip microcomputer, described monolithic
The pulse width of machine collection the 6th channel signal output of wireless receiver, according to the change of pulse width, control driver is real
Now dispensing acts.
Described small-sized unmanned aircraft hanging device, described solenoid driver circuit output par, c circuit use electromagnetism
Iron control chip LM298N, described magnet control chip LM298N are the cores of a special control low-voltage direct electromagnet
Piece, chip input voltage 5-48V, output current 5A, electromagnet produce electromagnetic interference and electric motor operation when work
Situation is identical, has four diode reverses to be connected in parallel on the circuit of driving output in described solenoid driver circuit, due to magnetic
Property original paper can produce inverse electromotive force when work and stopping, interference or damage driver are that drive circuit can not be normal
Work, four fly-wheel diodes can offset counter electromotive force, protect driver, make circuit normal work.
A kind of small-sized unmanned aircraft hanging device and the method lifted, this method comprise the following steps：
It is to press master switch first, to the dead electricity electromagnet energization 0.7s inside small-sized unmanned aircraft hanging device, so
After detect remote controller signal, if receiving signal to dead electricity electromagnet be powered, every 1 minute detect cell voltage, if be less than
3.3v, LED flicker alarm；
Described dead electricity electromagnet, no power during loading, moment energization back loading depart from, and described dead electricity electromagnet is heavy
Pore structure, embedded control system, described small-sized unmanned aircraft hanging device include magnetic isolation and electromagnetic shielding material,
The electromagnetic interference with the external world for flight controller in itself is shielded from dead electricity electromagnet respectively.
Beneficial effect：
1. the mainly small-sized unmanned aircraft hanging device of the present invention realizes power-off under the use of dead electricity electromagnet
Loading, energization momentary load depart from, and the structure greatlys save electric energy, using the battery of very little, can just complete lifting unloading and appoint
Business, the application of baby battery make weight saving, while make lifting unloading power supply independent from aircraft electricity system, described
The control of dead electricity electromagnet is full-automatic, and invention effect fullys meet set objective function.
The dead electricity electromagnet of the present invention is counter bore structure, embedded control system, and described small-sized unmanned aircraft lifts
Equipment includes magnetic isolation and electromagnetic shielding material, and shielding respectively comes from dead electricity electromagnet in itself with the external world for flight controller
Electromagnetic interference, the counter bore structure of described dead electricity electromagnet, it is therefore prevented that the application of shearing force, ensure that load safety.
The lithium battery of the present invention has long lifespan, high power, in light weight, high/low temperature adaptability compared with traditional battery
By force, the advantages that self-discharge rate is very low, green.
The wireless signal acquiring circuit of the present invention has 8 groups of parallel PWM output channels, and additional 1 group of SBUS bus output is led to
Road, the present apparatus mainly gather the pulse signal of the 6th group of PWM output channel, and receiver is entered by 2.4G radio-frequency modules with remote control
Row wireless telecommunications, when there is control action on remote control, action signal is changed into 2.4G wireless transmission signals by remote control, is connect
Receipts machine receives the wireless signal of remote control transmitter transmitting, and after detection, wireless signal is transformed into single-chip microcomputer to gather
Pwm signal, be sent to the signal acquisition port of single-chip microcomputer.
The power-switching circuit of the present invention uses 11.1V lithium battery power supplies, control output circuit by main power source lithium battery
Directly power, filter capacitor and afterflow protection diode are added in circuit, power supply output is steady, reduces system interference and protection
LM1085 and LM1117 is respectively adopted in driving chip etc., described wireless receiver power supply circuit and SCM system power supply circuit
The lithium battery voltage of described main power source is converted into+5v and powered to receiver by power conversion chip, LM1085, and LM1117 generals+
5v dresses change 3.3V into and powered to SCM system, and two circuits have filter capacitor, power supply indicator and the test of 0 Ohmic resistance
Node, make power supply output steady, facilitate system debug.
The data processing circuit of the present invention includes single-chip microcomputer, the 6th passage letter of described single-chip microcomputer collection wireless receiver
The pulse width of number output, according to the change of pulse width, control driver realizes that dispensing acts.
The described solenoid driver circuit output par, c circuit of the present invention is described using magnet control chip LM298N
Magnet control chip LM298N be a special control low-voltage direct electromagnet chip, chip input voltage 5-48V is defeated
Go out electric current 5A, electromagnet generation electromagnetic interference when work is identical with the situation of electric motor operation, fully meets requirement, should
Chip has the advantages that small volume, peripheral circuit device are few, logic control is easy, and circuit has four diode reverses to be connected in parallel on drive
On the circuit of dynamic output, because magnetic original paper can produce inverse electromotive force, interference or damage driving when work and stopping
Device, it is drive circuit cisco unity malfunction, four fly-wheel diodes can offset counter electromotive force, protect driver, make circuit just
Often work.
The present invention unmanned vehicle hanging device, lifting unloading it is simple and reliable, unloading position can manually determined, again may be used
Automatically selected by airmanship, system design is simple, perfect in shape and function, operation are reliable, while the invention electricity consumption is few, can independently supply
Electricity, self-organizing system, system weight is reduced, improves system reliability,
Moment completion is unloaded, it is safe for operation without any mechanical rotation, aircraft.
The charging inlet of the present invention has water-proof function, unified with other circuit interfaces, in order to prevent operational error, every time
A dead electricity electromagnet can all be connected by turning on the power, if other parts are placed in adhesive area by mistake
It can take this to manually take out, lower surface is concordant with zoarium when housing has counterbore design suction piece adhesive, can prevent suction piece from inhaling
Radial-play after conjunction.
Brief description of the drawings：
Accompanying drawing 1 is the structural representation of the present invention.
Accompanying drawing 2 is the outside drawing of the present invention.
Accompanying drawing 3 is the control flow chart of the present invention.
Accompanying drawing 4 is the circuit theory diagrams of the Part I of electric operation control circuit figure in accompanying drawing 1.
Accompanying drawing 5 is the circuit theory diagrams of the Part II of electric operation control circuit figure in accompanying drawing 1.
In figure：There is annexation between same-sign circuit.
Embodiment：
Embodiment 1：
A kind of small-sized unmanned aircraft hanging device, its composition include：Housing 1, control master is installed in described housing
Plate 2, described control mainboard include wireless signal acquiring circuit 3, power-switching circuit 4, described wireless signal acquiring circuit
It is connected with data processing circuit 6, 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 are cubes, described housing
Side is connected by screw with cover plate 10, and charging inlet 7, switch 8, described housing lower section are separately installed with described cover plate
With counterbore, carry suction piece 9 is installed in described counterbore.
Embodiment 3：
Small-sized unmanned aircraft hanging device according to embodiment 1, described wireless signal acquiring circuit include
2.4G radio frequency receiving circuits, pwm pulse output circuit, described wireless signal acquiring circuit have 8 groups of parallel PWM outputs
Passage, 1 group of SBUS bus output channels, the pulse signal of 6 groups of PWM output channels, receiver by 2.4G radio-frequency modules with it is distant
Control device is communicated wirelessly, and when there is control action on remote control, action signal is changed into 2.4G wireless transmissions by remote control
Signal, receiver receive the wireless signal of remote control transmitter transmitting, and after detection, wireless signal is transformed into single-chip microcomputer can
With the pwm signal of collection, the signal acquisition port of single-chip microcomputer is sent to.
Embodiment 4：
Small-sized unmanned aircraft hanging device according to embodiment 1, described power-switching circuit include single-chip microcomputer
Power supply circuit, wireless receiver power supply circuit, control output power supply circuit, described power-switching circuit is using 11.1V lithiums electricity
Pond is powered, and control output circuit is directly powered by the lithium battery of main power source, and filter capacitor is added in circuit and two poles are protected in afterflow
Pipe, power supply output is steady, reduce system interference and protects driving chip etc., described wireless receiver power supply circuit and monolithic
Machine system power supply circuit is respectively adopted LM1085 and LM1117 power conversion chips, and LM1085 is by the lithium battery of described main power source
Voltage conversion is powered into+5v to receiver, and LM1117 changes+5v dresses into 3.3V and powered to SCM system, and two circuits have
Filter capacitor, power supply indicator and 0 Ohmic resistance test node, make power supply output steady.
Embodiment 5：
Small-sized unmanned aircraft hanging device according to embodiment 1, described data processing circuit include single-chip microcomputer,
The pulse width of described single-chip microcomputer collection the 6th channel signal output of wireless receiver, according to the change of pulse width, control
Driver come realize dispensing act.
Embodiment 6：
Small-sized unmanned aircraft hanging device according to embodiment 1, described solenoid driver circuit output par, c
Circuit is a special control low-voltage direct using magnet control chip LM298N, described magnet control chip LM298N
The chip of electromagnet, chip input voltage 5-48V, output current 5A, electromagnet produce electromagnetic interference and electricity when work
The situation of motivation work is identical, there is the circuit that four diode reverses are connected in parallel on driving output in described solenoid driver circuit
On, it is drive circuit because magnetic original paper can produce inverse electromotive force, interference or damage driver when work and stopping
Cisco unity malfunction, four fly-wheel diodes can offset counter electromotive force, protect driver, make circuit normal work.
Embodiment 7：
A kind of method that small-sized unmanned aircraft hanging device is lifted, it is characterized in that：This method comprises the following steps：
It is to press master switch first, to the dead electricity electromagnet energization 0.7s inside small-sized unmanned aircraft hanging device, so
After detect remote controller signal, if receiving signal to dead electricity electromagnet be powered, every 1 minute detect cell voltage, if be less than
3.3v, LED flicker alarm；
Described dead electricity electromagnet, no power during loading, moment energization back loading depart from, and described dead electricity electromagnet is heavy
Pore structure, embedded control system, described small-sized unmanned aircraft hanging device include magnetic isolation and electromagnetic shielding material,
The electromagnetic interference with the external world for flight controller in itself is shielded from dead electricity electromagnet respectively.
Embodiment 8：
Small-sized unmanned aircraft hanging device according to embodiment 1-7, lifting, the maintenance period of equipment：
（1）Battery electric quantity is 500mAh, dead electricity electromagnet（Suction 15kg）Power is 10w, driving voltage 12v, every time
Dead electricity electromagnet conduction time is 0.7s.It is computed, electromagnet can be by driving 278 times.
η：Solenoid actuated number；E：Battery electric quantity；△：Battery efficiency； W：Dead electricity power of electromagnet；U：Dead electricity electromagnetism
Iron driving voltage；T：Dead electricity electromagnet energization period
Circuit board power consumption itself is 5w, and dead electricity electromagnet energization frequency can not be higher than 1Hz, through actually measured, integral module
Stand-by time is more than 24 hours.
（2）The type selecting of dead electricity electromagnet：
This module is 15kgf using the nominal the suction-combining force of dead electricity electromagnet.It is according to national standard that basic load is hung under module
Weight is about 2.5kg；Pressure is 4 through being measured as 1kgf, pressing plate under aircraft constantly acting load pressing plate；Aircraft used in this module
Normal acceleration is 2.5N to load instantaneous active force when aircraft takeoff is calculated by formula F=ma through measuring α=1m/s2,
Learnt with reference to data above, dead electricity electromagnet used in this circuit is 2.2 for application load safety coefficient.
Claims (2)
1. a kind of small-sized unmanned aircraft hanging device, its composition includes：Housing, it is characterized in that：It is provided with described housing
Control mainboard, described control mainboard include wireless signal acquiring circuit, power-switching circuit, described wireless signal acquiring electricity
Road is connected with data processing circuit, and described data processing circuit is connected with solenoid driver circuit；
Described housing is cube, and described housing side is connected by screw with cover plate, is installed respectively on described cover plate
There are charging inlet, switch, there is counterbore below described housing, carry suction piece is installed in described counterbore；
Described wireless signal acquiring circuit includes 2.4G radio frequency receiving circuits, PWM pulses exportCircuit, described nothing
Line signal acquisition circuit has 8 groups of parallel PWM output channels, 1 group of SBUS bus output channels, wireless signal acquiring circuit
Communicated wirelessly by 2.4G radio frequency receiving circuits with remote control, when there is control action on remote control, remote control
Action signal is changed into 2.4G wireless transmission signals, the 2.4G that wireless signal acquiring circuit receives remote control transmitting is wireless
Transmission signal, after detection, the 2.4G wireless transmission signals received are transformed into the PWM signals that single-chip microcomputer can gather, from
Pwm pulse output circuit is output to the signal acquisition port of single-chip microcomputer；
Described power-switching circuit includes single-chip microcomputer power supply circuit, wireless receiving power supply circuit, control output power supply circuit, institute
The power-switching circuit stated uses 11.1V lithium battery power supplies, and control output power supply circuit is directly supplied by the lithium battery of main power source
Electricity, filter capacitor and afterflow protection diode are added in circuit, power supply output is steady, reduces system interference and protection driving core
LM1085 and LM1117 Power convert cores are respectively adopted in piece, described wireless receiving power supply circuit and single-chip microcomputer power supply circuit
The lithium battery voltage of described main power source is converted into+5v and powered to wireless signal acquiring circuit by piece, LM1085, LM1117
+ 5v is converted into 3.3V to power to single-chip microcomputer, two circuits have filter capacitor, power supply indicator and 0 Ohmic resistance to survey
Node is tried, makes power supply output steady；
Described data processing circuit includes single-chip microcomputer, and described single-chip microcomputer collection pwm pulse the 6th passage of output circuit is defeated
The pulse width signal gone out, according to the change of pulse width, drive circuit is controlled to realize that dispensing acts；
Described solenoid driver circuit output par, c circuit uses magnet control chip LM298N, described magnet control
Chip LM298N is the chip of a special control low-voltage direct electromagnet, and chip input voltage 5-48V, output current 5A are electric
Magnet generation electromagnetic interference when work is identical with the situation of electric motor operation, has four in described solenoid driver circuit
Individual diode reverse is connected in parallel on the circuit of driving output, because magnetic original paper can produce reverse electricity when work and stopping
Kinetic potential, interference or damage drive circuit, make drive circuit cisco unity malfunction, and four fly-wheel diodes can offset anti-electronic
Gesture, drive circuit is protected, makes circuit normal work.
2. a kind of method that small-sized unmanned aircraft hanging device using described in claim 1 is lifted, it is characterized in that：
This method comprises the following steps：It is to press master switch first, to the dead electricity electromagnet inside small-sized unmanned aircraft hanging device
Energization 0.7s, then detected remote controller signal, and dead electricity electromagnet is powered if receiving signal, every 1 minute detection battery electricity
Pressure, if being less than 3.3v, the flicker alarm of LED lamps；
Described dead electricity electromagnet, no power during loading, moment energization back loading depart from, and described dead electricity electromagnet is counterbore knot
Structure, embedded control system, described small-sized unmanned aircraft hanging device include magnetic isolation and electromagnetic shielding material, respectively
Shielding electromagnetic interference with the external world for flight controller from dead electricity electromagnet in itself；
Unloading position both can manually determined, can be automatically selected again by airmanship.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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 CN104648684A (en) | 2015-05-27 |
| CN104648684B true CN104648684B (en) | 2018-01-12 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422356B (en) * | 2015-06-01 | 2021-06-25 | 深圳市大疆创新科技有限公司 | Flying apparatus |
| CN104986338B (en) * | 2015-07-08 | 2017-05-03 | 谢县钢 | Rotary wing type unmanned aerial vehicle parking system for logistics distribution and application method |
| 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 |
| CN111661329B (en) * | 2020-06-12 | 2022-04-01 | 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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| CN101253070A (en) * | 2005-06-21 | 2008-08-27 | 孔斯贝格德沃泰克股份公司 | Releasable holding mechanism and method of use |
| CN203638096U (en) * | 2014-01-09 | 2014-06-11 | 厦门大学 | Air-drop device of drone |
| CN203753405U (en) * | 2013-12-26 | 2014-08-06 | 西安理工大学 | Simple drop device for load drop of model airplane |
| CN203753393U (en) * | 2013-12-24 | 2014-08-06 | 西安理工大学 | Double-door release device of unmanned aerial vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101253070A (en) * | 2005-06-21 | 2008-08-27 | 孔斯贝格德沃泰克股份公司 | Releasable holding mechanism and method of use |
| 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 |
| CN203638096U (en) * | 2014-01-09 | 2014-06-11 | 厦门大学 | Air-drop device of drone |
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