CN105059550A - Double unmanned aerial vehicle with improved endurance - Google Patents
Double unmanned aerial vehicle with improved endurance Download PDFInfo
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- CN105059550A CN105059550A CN201510544855.5A CN201510544855A CN105059550A CN 105059550 A CN105059550 A CN 105059550A CN 201510544855 A CN201510544855 A CN 201510544855A CN 105059550 A CN105059550 A CN 105059550A
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Abstract
The invention relates to a double unmanned aerial vehicle with improved endurance and relates to the technical field of aircrafts. The double unmanned aerial vehicle comprises a main unmanned aerial vehicle, an auxiliary unmanned aerial vehicle and a butt joint mechanism. A butt joint controller is arranged in the middle of the main unmanned aerial vehicle, and the lower end of the butt joint controller is connected with the upper end of the auxiliary unmanned aerial vehicle through the butt joint mechanism. The splicing and separation of the double unmanned aerial vehicle are achieved through the insertion and separation of sockets and plugs of the main unmanned aerial vehicle and the auxiliary unmanned aerial vehicle, and a task execution device is installed at the lower end of the auxiliary unmanned aerial vehicle. The sockets are preferably cone-shaped sockets, and the plugs are preferably cone-shaped plugs. The endurance is improved on the basis of an existing unmanned aerial vehicle system, the shortcomings of task execution interruption and position inaccuracy during the long-endurance of two existing split unmanned aerial vehicles are overcome, and the shortcoming that existing unmanned aerial vehicles fail to be flexible and variable in load and endurance is overcome.
Description
technical field:
The present invention relates to vehicle technology field, be specifically related to a kind of two unmanned planes promoting flying power.
background technology:
Unmanned plane also claims multi-rotor aerocraft, it has the features such as portable, light weight, flight stability, noise are low, carry image documentation equipment and detection equipment to scout for secret and provide strong means, the especially unapproachable region of people, can provide aerial first-hand image data.In Mass disturbance, also can play huge effect equally, except scouting, even can carry small-sized teargas throw in the air.
China is as large agricultural country, and the control of diseases and pests of agronomic crop shoulders heavy responsibilities.Less than always often being that manpower has as similar pesticide sprayings such as rice terraces.Multi-rotor aerocraft, with stabilized flight and characteristic simple to operate, carries liquid and carries out low latitude sprinkling (than farming object height 2 meters), can realize spraying evenly, and good drug efficacy, has saved manpower greatly, realized high-efficiency homework.Aircraft carries disease worm chromatogram photographic equipment can also carry out pest and disease monitoring and early warning to large area vegetation, accomplishes to find early, administers in time.The aspects such as the spreading of on-the-spot fire, the details of the forest zone intensity of a fire, lifesaving high-rise on fire are all the keys that fire-fighting work is disposed, multi-rotor aerocraft can arrive on-the-spot lift-off rapidly, there is ground control's car that height just can transmit details in real time, the reference of authentic and valid ground can be provided for fire bill.
Current Unmanned Aircraft Systems (UAS) on the market, maximum problem is continuation of the journey problem, no matter be the large boundary unmanned plane that occupation rate is the highest in the world at present, or the unmanned plane of some sector applications, generally civilian Unmanned Aircraft Systems (UAS) is more than 20 minute when navigating, and also only has 1-2 hour when the Unmanned Aircraft Systems (UAS) of sector application is navigated.And, do not continue a journey completely on the market at present very long, or the technology of unlimited continuation of the journey.
There is the patented technology that a kind of Unmanned Aircraft Systems (UAS) is continued a journey at present, allow unmanned plane execute the task flight in the sky to when soon not having electric, start the second frame unmanned plane heaven and perform same task, now first unmanned plane just starts automatically to make a return voyage to departure location or to the charging place of specifying, then this unmanned plane is about to begin charging, continued takeoff after charging complete, and then the second frame unmanned plane gets off charging again, circulation like this, reaches the object extending cruise duration; Certainly, when the charging of first unmanned plane, artificial charging can be taked, machine vision also can be used automatically to find to allow unmanned plane the ready position charged, then unmanned plane return ground rest on above realize automatic charging, contact charging or non-contacting wireless charging can be taked.
But, no matter be the above-mentioned any mode mentioned, when execution mission critical, always exist and interrupt or persistent discontinuous problem, because first unmanned plane and the second frame unmanned plane depart from, first unmanned plane does not have particular location during electricity, and not the second frame unmanned plane is come with regard to just in time corresponding position.Therefore, there is the coarse defect in Unmanned Aircraft Systems (UAS) continuation of the journey position in this continuation of the journey technology.
Meanwhile, the defect that the task of also there is execution is separated: such as, first unmanned plane shooting key video sequence or picture, now first unmanned plane does not have electricity, can only leave charging with pick up camera; Second frame unmanned plane again takes off with other pick up camera and executes the task; Here details exists interrupts, or must carry out merging treatment after returning, very loaded down with trivial details, easily omits key message.
In addition, same load, uses two frame unmanned planes of above-mentioned separation, when cannot realize long boat; If during same boat, be also to realize larger load.Therefore, the load of existing unmanned plane can not change flexibly with during boat.
summary of the invention:
The object of this invention is to provide a kind of two unmanned planes promoting flying power, it can solve the continuation of the journey problem of existing Unmanned Aircraft Systems (UAS); Solve the executing the task when realization of existing use 2 frame separation type unmanned plane is long navigates and interrupt defect, position inaccuracy defect; Defect that can not be flexible and changeable when solving the load of existing unmanned plane and navigate.
In order to solve the problem existing for background technology, the present invention is by the following technical solutions: it comprises female unmanned plane, sub-unmanned plane, docking mechanism, the middle part of female unmanned plane is butt-joint control device, and the lower end of butt-joint control device is connected by docking mechanism with the upper end of sub-unmanned plane; Wherein, the outside of docking mechanism is a shell, the upper end of this shell is fixedly connected with the bottom surface of butt-joint control device, and the inside of shell is provided with overcoat by coaxial bearing, overcoat lower end be separately installed with lock pin, infrared external reflection position transduser module, several automatic focusing camera head module; The inside of overcoat is coaxially plugged with plug, and plug is fixedly mounted on unmanned plane upper surface, and vertical direction lock hole, the direction alignment mark layer of plug both sides are corresponding with lock pin and infrared external reflection position transduser module respectively; And female unmanned plane, sub-unmanned plane pass through overcoat, the grafting of plug, the two unmanned plane splicing of separation realization and disengaging; The lower end of sub-unmanned plane is provided with task execution device, such as, and camera, The Cloud Terrace etc.
As a further improvement on the present invention, described docking mechanism is preferably pyramidal structure.
As a further improvement on the present invention, the base plate of described butt-joint control device is provided with several gear reduction box servomotor, the clutch end of one gear reduction box servomotor is by the gears meshing of driving gear component and outside, outer set upper side, clutch end and the linear screw of another gear reduction box servomotor drive blocking device to be connected, linear screw drives on blocking device and is connected with position potentiometer sensor, and linear screw drives blocking device corresponding with the lockhole of plug upper end; In the middle part of base plate, the both sides of plug hole position are provided with fiber alignment success sensor assembly.
As a further improvement on the present invention, the female unmanned plane in described two Unmanned Aircraft Systems (UAS) selects large aircraft, and sub-unmanned plane selects flivver; Staggering on the contrary or one to one in the rotor wing rotation direction of female unmanned plane, sub-unmanned plane, so can start simultaneously, also can start separately.If double-deck unmanned plane starts simultaneously, then load just can improve, and also can improve during boat; If only start a frame unmanned plane wherein, then will diminish when load and boat, play flexible and changeable effect.
Workflow of the present invention is:
One, the splicing flow process of female unmanned plane, sub-unmanned plane is:
1, the height transfixion first keeping sub-unmanned plane to hover certain, and female unmanned plane flies to the overhead of sub-unmanned plane, sub-unmanned plane is motionless;
2, automatic focusing camera head module is installed in female unmanned plane bottom, and automatic focusing camera head module can do image recognition, adopts the technology of machine vision, find the position of sub-unmanned plane upper end plug, after female unmanned plane finds the exact location of plug, namely fly to above sub-unmanned plane, vertically decline;
3, after plug just in time enters overcoat, infrared external reflection position transduser module coordinates with direction alignment mark layer can determine that whether vertical direction lock hole is just to lock pin, if malposition, gear reduction box servomotor drives the position of driving gear component to overcoat to finely tune, and overcoat rotates with plug and makes position accurate;
4, after the splicing of fiber alignment success sensor assembly induction plug puts in place, send docking signal together with position potentiometer sensor, start another gear reduction box servomotor, drive linear screw to drive blocking device, i.e. lockable plug;
5, simultaneously, lock pin is a spring that can move up and down and latch composition, and latch is up big and down small, by moving up and down of adjustment latch, removes the width of oppressing overcoat, tightly can push down plug;
6, when female unmanned plane, the splicing of sub-unmanned plane, also can be the height transfixion keeping female unmanned plane to hover certain, and the below that sub-unmanned plane flies to female unmanned plane be docked.
Two, the separation process of female unmanned plane, sub-unmanned plane is:
I, a few minutes before unclamping, the rotor of promoter unmanned plane is started working;
When II, waiting for that the energy of sub-unmanned plane can support the task execution device of oneself weight and mounting, give an order to female unmanned plane;
III, now female unmanned plane starts starter receiver drop-gear box servomotor, drives linear screw to drive blocking device to unclamp the latch of plug, and unclamps the lock pin of lower end;
IV, then female unmanned plane slowly and sub-unmanned plane have just departed from, and in the process that this departs from, can allow the height transfixion that female unmanned plane hovers certain, and sub-unmanned plane depart from;
The height transfixion that V, sub-unmanned plane also can be allowed to hover certain, because in order to ensure that the task execution device work mounted is not interrupted continuously, and female unmanned plane slowly up flies, and departs from docking mechanism, fly back replaced on ground battery or charging.
Three, in task process, during female unmanned plane et out of order, sub-unmanned plane can carry female unmanned plane and to fly back ground, adds the reliability of system.
Four, the above-mentioned splicing of repetitive cycling, separation process can realize the object worked when two Unmanned Aircraft Systems (UAS) is long navigates.
The present invention has following beneficial effect:
1, solve the continuation of the journey problem of existing Unmanned Aircraft Systems (UAS), increase continuation of the journey, no matter reach is any unmanned plane, when executing the task, can promote the cruise duration more than at least 5 times of existing unmanned plane, even can reach 10 times.
2, solve the executing the task when realization of existing use 2 frame separation type unmanned plane is long navigates and interrupt defect, position inaccuracy defect.
Defect that can not be flexible and changeable when 3, solving the load of existing unmanned plane and navigate.
accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation that in the present invention, female unmanned plane and sub-unmanned plane splice;
Fig. 3 is the structural representation that in the present invention, female unmanned plane is separated with sub-unmanned plane;
Fig. 4 is the V-V direction view of cop plug in Fig. 3;
Fig. 5 is the right elevation of Fig. 2;
Fig. 6 is the right elevation of Fig. 3.
Reference numeral:
1-female unmanned plane; 2-sub-unmanned plane; 3-docking mechanism; 31-shell; 32-conical overcoat; 33-lock pin; 34-cop plug; 35-built-in thrust baring; 36-vertical direction lock hole; 37-direction alignment mark layer; 4-butt-joint control device; 41-driving gear component; 42-linear screw drives blocking device; S1-position potentiometer sensor; M1-gear reduction box servomotor one; M2-gear reduction box servomotor two; U1-infrared external reflection position transduser module; U2-automatic focusing camera head module one; U3-automatic focusing camera head module two; U4-fiber alignment success sensor assembly.
detailed description of the invention:
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with the drawings and the specific embodiments, the present invention is further elaborated.Should be appreciated that detailed description of the invention described herein only in order to explain the present invention, be not intended to limit the present invention.
Referring to Fig. 1, this detailed description of the invention is by the following technical solutions: it comprises female unmanned plane 1, sub-unmanned plane 2, docking mechanism 3, the middle part of female unmanned plane 1 is butt-joint control device 4, and the lower end of butt-joint control device 4 and the upper end of sub-unmanned plane 2 are linked together by docking mechanism 3.Described female unmanned plane 1 selects the larger aircraft of six rotors, and sub-unmanned plane 2 selects the flivver of four rotors; The rotor of female unmanned plane 1, sub-unmanned plane 2 is that hand of rotation staggers on the contrary or one to one; So can start simultaneously, also can start separately.If double-deck unmanned plane starts simultaneously, then load just can improve, and also can improve during boat; If only start a frame unmanned plane wherein, then will diminish when load and boat, play flexible and changeable effect.
Referring to Fig. 2-Fig. 6, the outside of described docking mechanism 3 is a shell 31, the upper end of this shell 31 is fixedly connected with the bottom surface of butt-joint control device 4, the inside of shell 31 is provided with conical overcoat 32 by coaxial bearing, the left and right sides of conical overcoat 32 lower end is separately installed with lock pin 33 and infrared external reflection position transduser module U1, and the both sides, front and back of conical overcoat 32 lower end are separately installed with automatic focusing camera head module one U2, automatic focusing camera head module two U3; The inside of conical overcoat 32 is coaxially plugged with cop plug 34, cop plug 34 is fixedly mounted on the upper surface of unmanned plane 2 by bolt assembly, and vertical direction lock hole 36, the direction alignment mark layer 37 of cop plug 34 left and right sides are corresponding with lock pin 33 and infrared external reflection position transduser module U1 respectively; And female unmanned plane 1, sub-unmanned plane 2 by the grafting of conical overcoat 32, cop plug 34, be separated and realize two unmanned plane splicing and depart from; The lower end of sub-unmanned plane 2 is provided with the device that camera or The Cloud Terrace or other are executed the task.
The plate upper surface both sides of described butt-joint control device 4 are provided with gear reduction box servomotor one M1, gear reduction box servomotor two M2, the clutch end of gear reduction box servomotor one M1 is by the gears meshing of driving gear component 41 with outside, conical overcoat 32 upper end, clutch end and the linear screw of gear reduction box servomotor two M2 drive blocking device 42 to be connected, linear screw drives on blocking device 42 and is connected with position potentiometer sensor S1, and linear screw drives blocking device 42 corresponding with the lockhole of cop plug 34 upper end; In the middle part of plate upper surface, the both sides, front and back of position, cop plug 34 hole are provided with fiber alignment success sensor assembly U4.
The workflow of this detailed description of the invention is:
One, the splicing flow process of female unmanned plane 1, sub-unmanned plane 2 is:
1, the height transfixion first keeping sub-unmanned plane 2 to hover certain, and female unmanned plane 1 flies to the overhead of sub-unmanned plane 2, then sub-unmanned plane 2 is motionless;
2, automatic focusing camera head module one U2, automatic focusing camera head module two U3 are installed in both sides, female unmanned plane 1 bottom, automatic focusing camera head module can do image recognition, adopt the technology of machine vision, find the position of sub-unmanned plane 2 upper end cop plug 34, after female unmanned plane 1 finds the exact location of cop plug 34, namely fly to above sub-unmanned plane 2, vertically decline;
3, after cop plug 34 just in time enters conical overcoat 32, infrared external reflection position transduser module U1 coordinates with direction alignment mark layer 37 can determine that whether vertical direction lock hole 36 is just to lock pin 33, if malposition, starter receiver drop-gear box servomotor two M2 drives the position of driving gear component 41 to conical overcoat 32 to finely tune, conical overcoat 32 can realize rotating under the effect of built-in thrust baring 35, thus makes position accurate with cop plug 34 rotation;
4, after the splicing of fiber alignment success sensor assembly U4 induction cop plug 34 puts in place, starter receiver drop-gear box servomotor one M1, drives linear screw to drive blocking device 42, i.e. lockable cop plug 34;
5, simultaneously, lock pin 33 is a spring that can move up and down and latch composition, and latch is up big and down small, by moving up and down of adjustment latch, removes the width of pressure cone shape overcoat 32, can tightly push down cop plug 34;
6, when female unmanned plane, the splicing of sub-unmanned plane, also can be the height transfixion keeping female unmanned plane to hover certain, and the below that sub-unmanned plane flies to female unmanned plane be docked.
Two, the separation process of female unmanned plane 1, sub-unmanned plane 2 is:
I, a few minutes before unclamping, the rotor of promoter unmanned plane 2 is started working;
When II, waiting for that the energy of sub-unmanned plane 2 can support the task execution device of oneself weight and mounting, give an order to female unmanned plane 1;
III, now female unmanned plane 1 starts starter receiver drop-gear box servomotor one M1, drives linear screw to drive blocking device 42 to unclamp the latch of cop plug 34, and unclamps the lock pin 33 of lower end, the left side;
IV, then female unmanned plane 1 slowly and sub-unmanned plane 2 have just departed from, and in the process that this departs from, can allow the height transfixion that female unmanned plane 1 hovers certain, and sub-unmanned plane 2 depart from;
The height transfixion that V, sub-unmanned plane 2 also can be allowed to hover certain, because in order to ensure that the task execution device work mounted is not interrupted continuously, and female unmanned plane 1 slowly up flies, and departs from docking mechanism 3, fly back replaced on ground battery or charging.
Three, in task process, during female unmanned plane 1 et out of order, sub-unmanned plane 2 can carry female unmanned plane and to fly back ground, adds the reliability of system.
Four, the above-mentioned splicing of repetitive cycling, separation process can realize the object worked when two Unmanned Aircraft Systems (UAS) is long navigates.
Embodiment one:
If the continuous duration of voyage of sub-unmanned plane 2 20 minutes, the continuous duration of voyage of female unmanned plane 1 30 minutes; It is 2 minutes that the replaced on ground battery that flies back each time flies up into the sky again again, shifts to an earlier date alarm in 5 minutes and unclamp time female unmanned plane 1 does not soon have electric; Then final duration of voyage is exactly: (25+2) * (20 divided by 2)=270 minutes; The namely minimum work that can extend original sub-unmanned plane 2 is executed the task and is not interrupted, and extends the cruise duration of more than 10 times.
Embodiment two:
The width in such as the Changjiang river 20 kilometers, and single unmanned plane is before executed the task at every turn and can only be flown 10 kilometers and just do not have electricity, so this unmanned plane cannot the work of span length river.
If need unmanned plane to fly to opposite bank over there from this side in the Changjiang river, work in the middle of ensureing not interruptible price simultaneously.Now all on the market unmanned planes all cannot solve, and of the present invention pair of Unmanned Aircraft Systems (UAS) can realize, and can solve this problem.
It should be noted last that, above detailed description of the invention and embodiment are only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to example to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (7)
1. promote two unmanned planes for flying power, it is characterized in that it comprises female unmanned plane, sub-unmanned plane, docking mechanism, the middle part of female unmanned plane is butt-joint control device, and the lower end of butt-joint control device is connected by docking mechanism with the upper end of sub-unmanned plane.
2. a kind of two unmanned planes promoting flying power according to claim 1, it is characterized in that described docking mechanism is preferably pyramidal structure, the outside of docking mechanism is a shell, the upper end of this shell is fixedly connected with the bottom surface of butt-joint control device, the inside of shell is provided with overcoat by coaxial bearing, overcoat lower end be separately installed with lock pin, infrared external reflection position transduser module, several automatic focusing camera head module; The inside of overcoat is coaxially plugged with plug, and plug is fixedly mounted on unmanned plane upper surface, and vertical direction lock hole, the direction alignment mark layer of plug both sides are corresponding with lock pin and infrared external reflection position transduser module respectively.
3. a kind of two unmanned planes promoting flying power according to claim 2, it is characterized in that described female unmanned plane, sub-unmanned plane by the grafting of overcoat, plug, be separated and realize two unmanned plane splicing and depart from; The lower end of sub-unmanned plane is provided with task execution device.
4. a kind of two unmanned planes promoting flying power according to claim 1, the base plate that it is characterized in that described butt-joint control device is provided with several gear reduction box servomotor, the clutch end of one gear reduction box servomotor is by the gears meshing of driving gear component and outside, outer set upper side, clutch end and the linear screw of another gear reduction box servomotor drive blocking device to be connected, linear screw drives on blocking device and is connected with position potentiometer sensor, and linear screw drives blocking device corresponding with the lockhole of plug upper end; In the middle part of base plate, the both sides of plug hole position are provided with fiber alignment success sensor assembly.
5. a kind of two unmanned planes promoting flying power according to claim 1, it is characterized in that the female unmanned plane in described two Unmanned Aircraft Systems (UAS) selects large aircraft, sub-unmanned plane selects flivver; The rotor wing rotation direction of female unmanned plane, sub-unmanned plane is contrary, can start simultaneously, if double-deck unmanned plane starts simultaneously, then load just can improve, and also can improve during boat.
6. a kind of two Unmanned Aircraft Systems (UAS) promoting flying power according to claim 4, it is characterized in that female unmanned plane, the rotor of sub-unmanned plane replaces with and stagger one to one, can start separately, if only start a frame unmanned plane wherein, then will diminish when load and boat, play flexible and changeable effect.
7. promote two Unmanned Aircraft Systems (UAS) for flying power, it is characterized in that its workflow is:
(1), the splicing flow process of female unmanned plane, sub-unmanned plane is:
(1), first keep the height transfixion that sub-unmanned plane hovers certain, and female unmanned plane flies to the overhead of sub-unmanned plane, sub-unmanned plane is motionless;
(2), automatic focusing camera head module is installed in female unmanned plane bottom, automatic focusing camera head module can do image recognition, adopt the technology of machine vision, find the position of sub-unmanned plane upper end plug, after female unmanned plane finds the exact location of plug, namely fly to above sub-unmanned plane, vertically decline;
(3), after plug just in time enters overcoat, infrared external reflection position transduser module coordinates with direction alignment mark layer can determine that whether vertical direction lock hole is just to lock pin, if malposition, gear reduction box servomotor drives the position of driving gear component to overcoat to finely tune, and overcoat rotates with plug and makes position accurate;
(4), fiber alignment success sensor assembly induction plug splicing put in place after, send docking signal together with position potentiometer sensor, start another gear reduction box servomotor, drive linear screw drive blocking device, i.e. lockable plug;
(5), simultaneously, lock pin is a spring that can move up and down and latch composition, and latch is up big and down small, by moving up and down of adjustment latch, removes the width of oppressing overcoat, tightly can push down plug;
(6), the splicing of female unmanned plane, sub-unmanned plane time, also can be keep female unmanned plane to hover height transfixion certain, and the below that sub-unmanned plane flies to female unmanned plane be docked;
(2), the separation process of female unmanned plane, sub-unmanned plane is:
(I) a few minutes, before unclamping, the rotor of promoter unmanned plane is started working;
(II), when waiting for that the energy of sub-unmanned plane can support the task execution device of oneself weight and mounting, give an order to female unmanned plane;
(III), now female unmanned plane start to start epicyclic gear box servomotor, drive linear screw to drive blocking device to unclamp the latch of plug, and unclamp the lock pin of lower end;
(IV), then female unmanned plane slowly and sub-unmanned plane just departed from, in the process that this departs from, the height transfixion that female unmanned plane hovers certain can be allowed, and sub-unmanned plane departs from;
(V) the height transfixion that, also sub-unmanned plane can be allowed to hover certain, because in order to ensure that the task execution device work mounted is not interrupted continuously, and female unmanned plane slowly up flies, and departs from splicing apparatus, fly back replaced on ground battery or charging;
(3), in task process, during female unmanned plane et out of order, sub-unmanned plane can carry female unmanned plane and to fly back ground, adds the reliability of system;
(4), the above-mentioned splicing of repetitive cycling, separation process can realize the object worked when two Unmanned Aircraft Systems (UAS) is long navigates.
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