CN105059550B - Double unmanned aerial vehicle with improved endurance - Google Patents
Double unmanned aerial vehicle with improved endurance Download PDFInfo
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- CN105059550B CN105059550B CN201510544855.5A CN201510544855A CN105059550B CN 105059550 B CN105059550 B CN 105059550B CN 201510544855 A CN201510544855 A CN 201510544855A CN 105059550 B CN105059550 B CN 105059550B
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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, and in particular to a kind of double unmanned planes of lifting endurance.
Background technology：
Unmanned plane is also referred to as multi-rotor aerocraft, and it has the low feature of portable, light weight, flight stability, noise, carries image
Equipment can provide strong means with detection equipment for secret scouting, and especially the unapproachable region of people, can provide
Aerial first-hand image data.Equally huge effect can also be played in Mass disturbance, even can be taken in addition to scouting
Thrown in the air with small-sized teargases.
China shoulders heavy responsibilities as large agricultural country, the preventing and treating of diseases and pests of agronomic crop.Often as rice terrace etc. be similar to agriculture
Less than medicine sprinkling always is that manpower has.Multi-rotor aerocraft is carried medicinal liquid and is entered with stabilized flight and characteristic simple to operate
Spray (higher than crops 2 meters) in row low latitude, it is possible to achieve sprinkling is uniform, and good drug efficacy has greatly saved manpower, realizes high efficiency
Operation.Aircraft carry disease pest chromatograph photographic equipment can also carry out pest and disease monitoring and early warning to large area vegetation, accomplish and
It is early to find, administer in time.The aspects such as the spreading of live fire, the details of the forest zone intensity of a fire, high-rise lifesaving on fire are all fire-fighting works
The key made arrangement, multi-rotor aerocraft can arrive live rapid lift-off, there is what height just can in real time transmit details
Ground control's car, can provide authentic and valid reference for fire bill.
Current UAS on the market, maximum problem is continuation of the journey problem, and either current occupation rate in the world is most
High big boundary unmanned plane, or the unmanned plane of some sector applications, general civilian UAS is more than 20 minutes when navigating, OK
Also only have 1-2 hours when the UAS of industry application navigates.And, do not continue a journey completely on the market at present very long, or nothing
The technology of limit continuation of the journey.
There is a kind of patented technology of UAS continuation of the journey at present, be to allow unmanned plane to perform operation flight in the sky to soon
No when electricity, start the second frame unmanned plane heaven and perform same task, now first unmanned plane begins to make a return voyage automatically
To departure location or to the charging place specified, then this unmanned plane is about to begin charging, continues after charging complete
Take off, then the second frame unmanned plane gets off again charging, so circulation, reach the purpose for extending cruising time；Certainly, first
When unmanned plane charges, artificial charging can be taken, it is also possible to allow unmanned plane to find what is charged automatically using machine vision
Ready position, then unmanned plane return ground rest on automatic charging achieved above, can take contact charge or noncontact
Wireless charging.
But, any mode either mentioned above, perform mission critical when, be constantly present interruption or
It is persistent discontinuous problem, because what first unmanned plane and the second frame unmanned plane were an off, first unmanned plane does not have electricity
When particular location, not the second frame unmanned plane come just just corresponding position.Therefore, there is unmanned plane in this continuation of the journey technology
The inaccurate defect in system continuation of the journey position.
Meanwhile, also there is the detached defect of task of execution：Such as, first unmanned plane shoots key video sequence or figure
Piece, now first unmanned plane do not have electricity, charging can only be left with video camera；Second frame unmanned plane is with other video camera weight
Newly take off execution task；Here details is present interrupts, or process must be merged after returning, very loaded down with trivial details, holds
Easily omit key message.
In addition, same load, using above-mentioned detached two framves unmanned plane, when cannot realize long boat；If
It is also cannot to realize bigger load during same boat.Therefore, can not flexibly change when the load of existing unmanned plane and boat.
The content of the invention：
It is an object of the invention to provide a kind of double unmanned planes for lifting endurance, it can solve existing UAS
Continuation of the journey problem；Solve existing execution tasks interrupt defect when using 2 frame separate type unmanned planes to realize long boat, position inaccurately to lack
Fall into；Solve existing unmanned plane load and boat when can not be flexible and changeable defect.
In order to solve the problems of background technology, the present invention is to employ the following technical solutions：It comprising female unmanned plane,
Sub- unmanned plane, docking mechanism, the middle part of female unmanned plane is butt-joint control device, the lower end of butt-joint control device and sub- unmanned plane
Upper end is connected by docking mechanism；Wherein, the outside of docking mechanism is a shell, the upper end of the shell and butt-joint control device
Bottom surface be fixedly connected, the inside of shell is provided with overcoat by coaxial bearing, and overcoat lower end is separately installed with lock pin, infrared
Reflection position sensor assembly, several automatic focusing camera head modules；The inside of overcoat is coaxially plugged with plug, and plug fixes peace
Be mounted in unmanned plane upper surface, the vertical direction lock hole of plug both sides, direction alignment mark layer respectively with lock pin and infrared external reflection
Position sensor module is corresponding；And female unmanned plane, sub- unmanned plane realize double unmanned planes by overcoat, the grafting of plug, separation
Splicing and disengaging；The lower end of sub- unmanned plane is provided with task execution device, such as, and camera, head etc..
As a further improvement on the present invention, described docking mechanism is preferably pyramidal structure.
As a further improvement on the present invention, several gear reduction boxs are installed on the base plate of described butt-joint control device
Servomotor, the clutch end of gear reduction box servomotor A is by the gear outside driving gear component and outer set upper side
Engagement, clutch end and the linear screw of gear reduction box servo motor B drive locking device to be connected, and linear screw drives lock
Determine to be connected with position potentiometer sensor on device, and linear screw drives locking device corresponding with the lockhole of plug upper end；
The both sides of base plate middle part 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 double UASs selects big aircraft, sub- nothing
Man-machine selection flivver；Female unmanned plane, sub- unmanned plane rotor wing rotation it is in opposite direction or one-to-one stagger, it is possible to while
Start, it is also possible to be activated individually.If double-deck unmanned plane starts simultaneously, load just can be improved, and also can be improved during boat；If only
Start frame unmanned plane therein, then will diminish when load and boat, play flexible and changeable effect.
The present invention workflow be：
First, female unmanned plane, the splicing flow process of sub- unmanned plane are：
1st, the height transfixion for keeping sub- unmanned plane hovering certain first, and female unmanned plane flies to the upper of sub- unmanned plane
Sky, sub- unmanned plane is motionless；
2nd, automatic focusing camera head module is installed in female unmanned plane bottom, and automatic focusing camera head module can do image knowledge
Not, using the technology of machine vision, the position of sub- unmanned plane upper end plug is found, when female unmanned plane finds the exact position of plug
Afterwards, that is, sub- unmanned plane top is flown to, it is vertical to decline；
3rd, plug is just entered after overcoat, and infrared external reflection position sensor module coordinates with direction alignment mark layer can
Whether vertical direction lock hole is determined just to lock pin, if malposition, gear reduction box servomotor A drives driving gear set
Part is finely adjusted to the position of overcoat, and overcoat is rotated with plug makes position accurate；
4th, after fiber alignment success sensor assembly sensing plug splicing in place, send together with position potentiometer sensor
Docking signal, starter receiver reduction box servo motor B drives linear screw to drive locking device, you can locked plug；
5th, while, lock pin is a spring that can be moved up and down and latch composition, and latch is up big and down small, is inserted by adjustment
Moving up and down for pin, removes the width for oppressing overcoat, you can tightly push down plug；
6th, when female unmanned plane, sub- unmanned plane splice, it is also possible to be to maintain the certain height transfixion of female unmanned plane hovering,
And sub- unmanned plane flies to below female unmanned plane and is docked.
2nd, female unmanned plane, the separation process of sub- unmanned plane are：
Ith, a few minutes before release, the rotor of promoter unmanned plane is started working；
IIth, wait sub- unmanned plane energy can support oneself weight and mounting task execution device when, send
Order to female unmanned plane；
IIIth, now female unmanned plane starts starter receiver reduction box servo motor B, drives linear screw to drive locking device pine
The latch of plug is opened, and unclamps the lock pin of lower end；
IV then female unmanned plane slowly and sub- unmanned plane just departing from during this disengaging, female nothing can be allowed
The certain height transfixion of man-machine hovering, and sub- unmanned plane departs from；
Vth, the height transfixion that sub- unmanned plane hovering can also be allowed certain, because for the tasks carrying for ensureing to mount
Device work continuously is not interrupted, and female unmanned plane slowly up flies, disengaging docking mechanism, flies back and replaced on ground battery or fills
Electricity.
3rd, in task process, when female unmanned plane breaks down, sub- unmanned plane can carry female unmanned plane and fly back ground, increase
The reliability of system is added.
4th, the above-mentioned splicing of repetitive cycling, separation process are capable of achieving the purpose worked when double UAS length are navigated.
The invention has the advantages that：
1st, the continuation of the journey of existing UAS is solved the problems, such as, increases continuation of the journey, reach either any unmanned plane, performed
When task, at least more than 5 times of the cruising time of existing unmanned plane can be lifted, it might even be possible to reach 10 times.
2nd, existing execution tasks interrupt defect when using 2 frame separate type unmanned planes to realize long boat, position are solved inaccurate
Defect.
Defect that can not be flexible and changeable when the 3rd, solving the load and boat of existing unmanned plane.
Description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation that female unmanned plane splices with sub- unmanned plane in the present invention；
Fig. 3 is female unmanned plane structural representation detached with sub- unmanned plane in the present invention；
Fig. 4 is the V-V direction views of cop plug in Fig. 3；
Fig. 5 is the right view of Fig. 2；
Fig. 6 is the right view of Fig. 3.
Reference：
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 bearing；36-vertical direction lock hole；37-direction alignment mark layer；4-docking
Control device；41-driving gear component；42-linear screw drives locking device；S1-position potentiometer sensor；M1—
Gear reduction box servomotor one；M2-gear reduction box servomotor two；U1-infrared external reflection position sensor module；U2—
Automatic focusing camera head module one；U3-automatic focusing camera head module two；U4-fiber alignment success sensor assembly.
Specific embodiment：
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and it is embodied as
Mode, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this
Invention, is not intended to limit the present invention.
Referring to Fig. 1, this specific embodiment is employed the following technical solutions：It includes 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 passes through with the upper end of sub- unmanned plane 2
Docking mechanism 3 links together., from the larger aircraft of six rotors, sub- unmanned plane 2 is from four rotors for described female unmanned plane 1
Flivver；Female unmanned plane 1, the rotor of sub- unmanned plane 2 are that direction of rotation is contrary or one-to-one stagger；So can open simultaneously
It is dynamic, it is also possible to be activated individually.If double-deck unmanned plane starts simultaneously, load just can be improved, and also can be improved during boat；If only opened
Frame unmanned plane therein is moved, then will be diminished 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 the shell 31 with dock control
The bottom surface of device processed 4 is fixedly connected, and the inside of shell 31 is provided with conical overcoat 32, conical overcoat 32 by coaxial bearing
The left and right sides of lower end is separately installed with lock pin 33 and infrared external reflection position sensor module U1, before the lower end of conical overcoat 32
Afterwards both sides are separately installed with the U2 of automatic focusing camera head module one, the U3 of automatic focusing camera head module two；Conical overcoat 32
Inside is coaxially plugged with cop plug 34, and cop plug 34 is fixedly mounted on the upper surface of unmanned plane 2 by bolt assembly,
The vertical direction lock hole 36 of the left and right sides of cop plug 34, direction alignment mark layer 37 respectively with lock pin 33 and infrared external reflection
Position sensor module U1 is corresponding；And female unmanned plane 1, sub- unmanned plane 2 are inserted by conical overcoat 32, cop plug 34
Connect, separate the double unmanned plane splicings of realization and depart from；The lower end of sub- unmanned plane 2 is provided with camera or head or other perform task
Device.
The plate upper surface both sides of described butt-joint control device 4 are provided with the M1 of gear reduction box servomotor one, gear
The clutch end of the M2 of reduction box servomotor two, the M1 of gear reduction box servomotor one is by driving gear component 41 and circular cone
Gear engagement outside the upper end of shape overcoat 32, clutch end and the linear screw of the M2 of gear reduction box servomotor two drive lock
Determine device 42 to connect, linear screw drives and be connected with locking device 42 position potentiometer sensor S1, and linear screw drives
Locking device 42 is corresponding with the lockhole of the upper end of cop plug 34；Before and after the hole position of cop plug 34 of plate upper surface middle part
Both sides are provided with fiber alignment success sensor assembly U4.
The workflow of this specific embodiment is：
First, female unmanned plane 1, the splicing flow process of sub- unmanned plane 2 are：
1st, the height transfixion for keeping sub- unmanned plane 2 to hover certain first, and female unmanned plane 1 flies to sub- unmanned plane 2
Overhead, then sub- unmanned plane 2 is motionless；
2nd, the U2 of automatic focusing camera head module one, the U3 of automatic focusing camera head module two are installed in female bottom both sides of unmanned plane 1,
Automatic focusing camera head module can do image recognition, using the technology of machine vision, it is found that the sub- upper end of unmanned plane 2 cone is inserted
34 position, after female unmanned plane 1 finds the exact position of cop plug 34, that is, flies to the top of sub- unmanned plane 2, vertically
Decline；
3rd, cop plug 34 is just entered after conical overcoat 32, infrared external reflection position sensor module U1 and direction
Whether the cooperation of alignment mark layer 37 can determine vertical direction lock hole 36 just to lock pin 33, if malposition, starter receiver
The M2 of reduction box servomotor two drives the position of the conical overcoat 32 of driving gear component 41 pairs to be finely adjusted, conical overcoat 32
Can realize rotating in the presence of built-in thrust bearing 35, make position accurate so as to rotate with cop plug 34；
4th, after fiber alignment success sensor assembly U4 sensing cop plugs 34 splice in place, starter receiver reduction box is watched
The M1 of motor one is taken, drives linear screw to drive locking device 42, you can locked cop plug 34；
5th, while, lock pin 33 is a spring that can be moved up and down and latch composition, and latch is up big and down small, by adjustment
Moving up and down for latch, removes the width of pressure cone shape overcoat 32, you can tightly push down cop plug 34；
6th, when female unmanned plane, sub- unmanned plane splice, it is also possible to be to maintain the certain height transfixion of female unmanned plane hovering,
And sub- unmanned plane flies to below female unmanned plane and is docked.
2nd, female unmanned plane 1, the separation process of sub- unmanned plane 2 are：
Ith, a few minutes before release, the rotor of promoter unmanned plane 2 is started working；
IIth, wait sub- unmanned plane 2 energy can support oneself weight and mounting task execution device when, send
Order to female unmanned plane 1；
IIIth, now female unmanned plane 1 starts the M1 of starter receiver reduction box servomotor one, drives linear screw to drive locking dress
The latch of 42 release cop plugs 34 is put, and unclamps the lock pin 33 of left side lower end；
IV then female unmanned plane 1 slowly and sub- unmanned plane 2 just departing from during this disengaging, mother can be allowed
The height transfixion that unmanned plane 1 hovers certain, and sub- unmanned plane 2 departs from；
Vth, the height transfixion that sub- unmanned plane 2 can also be allowed to hover certain, because for the tasks carrying for ensureing to mount
Device work continuously is not interrupted, and female unmanned plane 1 slowly up flies, disengaging docking mechanism 3, fly back replaced on ground battery or
Charge.
3rd, in task process, when female unmanned plane 1 breaks down, sub- unmanned plane 2 can carry female unmanned plane and fly back ground,
Increased the reliability of system.
4th, the above-mentioned splicing of repetitive cycling, separation process are capable of achieving the purpose worked when double UAS length are navigated.
Embodiment one：
If the continuous hours underway of sub- unmanned plane 2 20 minutes, the continuous hours underway of female unmanned plane 1 30 minutes；Fly back each time
It is 2 minutes that replaced on ground battery flies up into the sky again again, and female unmanned plane 1 shifts to an earlier date alarm in 5 minutes and unclamps when soon not having electricity；Then most
Whole hours underway is exactly：(25+2) * (20 divided by 2)=270 minutes；Namely can at least extend original sub- unmanned plane 2
Work perform task and do not interrupt, extend more than 10 times of cruising time.
Embodiment two：
20 kilometers of the width in such as the Changjiang river, and single unmanned plane before performs every time task can only fly 10 kilometers and just do not have
Electricity, then this unmanned plane cannot the work of span length river.
Opposite bank is flown to if necessary to unmanned plane over there from this side in the Changjiang river, while work can not be interrupted in the middle of ensureing.Now
On the market all of unmanned plane all cannot be solved, and double UASs of the present invention are it is achieved that the problem can be solved.
It should be noted last that, above specific embodiment and embodiment are only to illustrate technical scheme
And it is unrestricted, although being described in detail to the present invention with reference to example, it will be understood by those within the art that, can with
Technical scheme is modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention, its
All should cover in the middle of scope of the presently claimed invention.
Claims (6)
1. it is a kind of lifted endurance double unmanned planes, it is characterised in that it comprising mother 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 with the upper end of sub- unmanned plane by docking mechanism
Connect；Described docking mechanism is pyramidal structure, and the outside of docking mechanism is a shell, and the upper end of the shell fills with control is docked
The bottom surface put is fixedly connected, and the inside of shell is provided with overcoat by coaxial bearing, and the lower end of overcoat is separately installed with lock pin, red
External reflectance position sensor module, several automatic focusing camera head modules；The inside of overcoat is coaxially plugged with plug, and plug is fixed
Installed in sub- unmanned plane upper surface, the vertical direction lock hole of plug both sides, direction alignment mark layer respectively with lock pin and infrared
Reflection position sensor assembly is corresponding.
2. a kind of double unmanned planes for lifting endurance according to claim 1, it is characterised in that described female unmanned plane,
Sub- unmanned plane realizes double unmanned planes splicings and disengaging by the grafting of overcoat and plug, separation；The lower end of sub- unmanned plane is provided with
Task execution device.
3. a kind of double unmanned planes for lifting endurance according to claim 1, it is characterised in that described docking is controlled
Gear reduction box servomotor one and gear reduction box servomotor two, gear reduction box servo electricity are installed on the base plate of device
The clutch end of machine one is engaged by driving gear component with the gear outside outer set upper side, gear reduction box servomotor two
Clutch end and linear screw drive locking device be connected, be connected with position potentiometer on linear screw driving locking device
Sensor, and linear screw drives locking device corresponding with the lockhole of plug upper end；The both sides peace of base plate middle part plug hole position
Equipped with fiber alignment success sensor assembly.
4. it is according to claim 1 it is a kind of lifted endurance double unmanned planes, it is characterised in that described double unmanned planes
In female unmanned plane select big aircraft, sub- unmanned plane selects flivver；The rotor wing rotation direction phase of female unmanned plane, sub- unmanned plane
Instead, while starting, then load just can be improved, and also can be improved during boat.
5. a kind of double unmanned planes for lifting endurance according to claim 1, it is characterised in that female unmanned plane, it is sub nobody
The rotor of machine replace with it is one-to-one stagger, be activated individually, then load and boat when will diminish, play flexible and changeable effect.
6. a kind of control lifts double unmanned plane methods of endurance, it is characterised in that its workflow is：
(1), female unmanned plane, the splicing flow process of sub- unmanned plane are：
(1) the height transfixion for, keeping sub- unmanned plane hovering certain first, 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,
Using the technology of machine vision, find the position of sub- unmanned plane upper end plug, when female unmanned plane find plug exact position it
Afterwards, that is, sub- unmanned plane top is flown to, it is vertical to decline；
(3), plug is just entered after overcoat, and infrared external reflection position sensor module coordinates with direction alignment mark layer can be true
Whether vertical direction lock hole is determined just to lock pin, if malposition, gear reduction box servomotor one drives driving gear set
Part is finely adjusted to the position of overcoat, and overcoat is rotated with plug makes position accurate；
(4), after fiber alignment success sensor assembly sensing plug splicing in place, send right together with position potentiometer sensor
Signal is connect, starter receiver reduction box servomotor two drives linear screw to drive locking device, you can locked plug；
(5), while, lock pin is a spring that can be moved up and down and latch composition, and latch is up big and down small, by adjusting latch
Move up and down, go oppress overcoat width, you can tightly push down plug；
(6) when, female unmanned plane, sub- unmanned plane splice, it is also possible to be to maintain the certain height transfixion of female unmanned plane hovering, and
Sub- unmanned plane flies to below female unmanned plane and is docked；
(2), female unmanned plane, the separation process of sub- unmanned plane are：
(I), a few minutes before release, the rotor of promoter unmanned plane is started working；
(II), wait sub- unmanned plane energy can support oneself weight and mounting task execution device when, send life
Make to female unmanned plane；
(III), now female unmanned plane starts starter receiver reduction box servomotor two, drives linear screw to drive locking device pine
The latch of plug is opened, and unclamps the lock pin of lower end；
(IV) female unmanned plane and then slowly and sub- unmanned plane just departing from, during this disengaging, can allow it is female nobody
The certain height transfixion of machine hovering, and sub- unmanned plane departs from；
(V) the height transfixion that sub- unmanned plane hovering, can also be allowed certain, because in order to ensure the tasks carrying dress for mounting
Put work continuously not interrupt, and female unmanned plane slowly up flies, and departs from splicing apparatus, fly back and replaced on ground battery or fill
Electricity；
(3), in task process, when female unmanned plane breaks down, sub- unmanned plane can carry female unmanned plane and fly back ground, increase
The reliability of system；
(4), the above-mentioned splicing of repetitive cycling, separation process are capable of achieving the purpose worked when double UAS length are navigated.
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| CN201510544855.5A CN105059550B (en) | 2015-08-31 | 2015-08-31 | Double unmanned aerial vehicle with improved endurance |
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