CN107264786A - A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier - Google Patents
A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier Download PDFInfo
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- CN107264786A CN107264786A CN201710426804.1A CN201710426804A CN107264786A CN 107264786 A CN107264786 A CN 107264786A CN 201710426804 A CN201710426804 A CN 201710426804A CN 107264786 A CN107264786 A CN 107264786A
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- aircraft carrier
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- unmanned plane
- control device
- aerial vehicle
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 16
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier, it is made up of stop unit, service hoisting unit and control system, stopping unit includes aircraft carrier frame, airplane parking area, magnechuck, fixed mount；The service hoisting unit is made up of sub- unmanned plane, spring and adsorption plate, and adsorption plate is located at the bottom surface of sub- unmanned plane, and adsorption plate is connected with sub- unmanned plane by spring；Control system has aircraft carrier flight controller, sub- UAV Flight Control device, signal projector and signal receiver; sub- UAV Flight Control device and signal receiver are located on sub- unmanned plane; aircraft carrier flight controller and signal projector are located in aircraft carrier frame, and service hoisting unit is parked on the airplane parking area for stopping unit.Compared with the unmanned plane that tradition only relies on independent control control, the present invention controls other sub- unmanned planes to provide lift for itself by unmanned plane aircraft carrier, and the control of unmanned aerial vehicle group grade can be achieved, prevents unmanned plane aircraft carrier failure from falling, unmanned aerial vehicle group operation stability is improved.
Description
Technical field
The present invention relates to multi-rotor unmanned aerial vehicle field, and in particular to a kind of multi-rotor unmanned aerial vehicle aircraft carrier balance control dual unit dress
Put.
Background technology
Unmanned plane is a kind of aircraft in developing rapidly.Multi-rotor unmanned aerial vehicle is more as one kind in unmanned plane
Rotor wing unmanned aerial vehicle has simple to operate, small volume, the low feature of lightweight, expense, is widely used in Aerial photography, electric power and patrols
Inspection, geographical mapping, pesticide spraying etc..The multi-rotor unmanned aerial vehicle aircraft carrier that this patent is proposed, it is actually a kind of to provide benefit to unmanned aerial vehicle group
Give and information transfer large-scale unmanned aerial vehicle platform.The realization of unmanned plane during flying, propeller is driven by the motor under driven by power,
Lift is obtained, according to existing unmanned aerial vehicle (UAV) control technology, UAV Attitude is only controlled by solo hop controller, according to nobody
The real-time attitude of machine, adjusts the size of each current of electric input, changes lift, so as to realize the pose adjustment of unmanned plane.If nothing
Man-machine aircraft carrier uses above-mentioned control mode completely, and any blade or motor break down, and all can be difficult to ensure that unmanned plane aircraft carrier
, there is falling from high altitude accident, easily causes injury to personnel and property loss in balance.
The content of the invention
There is provided a kind of two-stage balanced control of multi-rotor unmanned aerial vehicle aircraft carrier for deficiency of the present invention present in prior art
Device.Using primary-secondary type two-stage flight controller, many estrade unmanned plane auxiliary adjustment unmanned plane aircraft carrier postures, the present invention can be effective
When avoiding any blade of unmanned plane aircraft carrier or electrical fault, flight attitude is unbalance, the serious accident that aircraft carrier rapidly falls.
The technical scheme is that：A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier, by stop unit,
Service hoisting unit and control system composition.The stop unit includes aircraft carrier frame, airplane parking area, magnechuck, fixed mount；Institute
Service hoisting unit is stated to be made up of sub- unmanned plane, spring and adsorption plate；Control system has aircraft carrier flight controller, sub- unmanned plane to fly
Line control unit, signal projector and signal receiver, sub- UAV Flight Control device and signal receiver are located on sub- unmanned plane,
Aircraft carrier flight controller and signal projector are located in aircraft carrier frame.Service hoisting unit is integrally parked in the airplane parking area for stopping unit
On.
Aircraft carrier lifting in a kind of stop unit of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention
Propeller is arranged on aircraft carrier Frame end by fixed mount, and airplane parking area is also secured in aircraft carrier frame, is embedded in from the lower end of airplane parking area
Have magnechuck, it is necessary to when magnechuck be powered can produce powerful attraction, airplane parking area level is fixed and is slightly above aircraft carrier spiral
The oar surfaces of revolution, magnechuck upper surface and airplane parking area upper surface flush.Because each airplane parking area is fitted with magnechuck, auxiliary
Lift unit can need any stop according to lifting.
Adsorption plate is thin in a kind of two-stage balanced control device service hoisting unit of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention
The sheet metal component that iron plate is clipped, be stamped to form, the bottom of sub- unmanned plane is fastened on by spring, is formed with sub- unmanned plane supporting leg
Supporting plane it is equal.Spring plays a part of connection, traction and the damping between sub- unmanned plane body and adsorption plate.
Service hoisting unit can be one in a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention,
Preferably two, when service hoisting unit is two, service hoisting unit is arranged symmetrically on unit is stopped, and can be protected in work
Demonstrate,prove service hoisting dynamic balance.
The present apparatus is by set of in a kind of two-stage balanced control device control system of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention
Signal projector and signal receiver complete the transmission of control signal.In case of failure or other reasons cause aircraft carrier side lift
Not enough or disappearance, the flight controller of aircraft carrier passes through the unmanned plane aircraft carrier aerial statue that balanced gyroscope is recorded in monitor controller
Unusual condition and Motor torque monitoring unusual condition carry out system self-monitoring, are launched by signal, receiver is to sub- unmanned plane
The related correspondence rescue instruction of transmission, the flight controller of sub- unmanned plane both according to instruction needed for aircraft carrier offer lift, and foundation
Itself real-time flight attitude adjustment Equilibrium.
A kind of two-stage balanced control method of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention is (below by taking four rotors as an example)：Just
Under normal working condition, the state of flight of unmanned plane aircraft carrier and sub- unmanned plane is all only controlled by itself flight controller, mutually it
Between it is unaffected；When unmanned plane aircraft carrier failure occurs, certain side is run out of steam, i.e., the signal carried using unmanned plane aircraft carrier is sent out
Emitter, to it around sub- unmanned plane with adsorption plate send distress signal, two closest framves carry the nothing of adsorption plate
Man-machine rapid action comes to the rescue, on the airplane parking area for resting in faulty motor both sides.Magnechuck is fixed on shutdown by fixed mount
Below level ground, unmanned plane aircraft carrier controller is powered for corresponding magnechuck, and irony adsorption plate is magnetized in electromagnetic field, is inhaled with electromagnetism
Produced between disk and keep being relatively fixed between larger suction, sub- unmanned plane and unmanned plane aircraft carrier, its suction is enough to overcome two machines
Pulling force needed for separation.The nothing that the flight controller of unmanned plane aircraft carrier controller is recorded by balanced gyroscope in monitor controller
Man-machine aircraft carrier aerial statue unusual condition and Motor torque monitoring unusual condition carries out system self-monitoring, and whether failure judgement side
Lift need to be increased, unmanned plane aircraft carrier fault-signal is sent to sub- unmanned plane in real time.Sub- unmanned plane is after aircraft carrier signal is obtained, knot
Itself real-time flight attitude is closed, the power output of each motor is adjusted, on the one hand traction unmanned plane aircraft carrier provides foot for it
Enough lift, on the other hand maintains the steady of itself flight attitude.Realize unmanned plane aircraft carrier in motor power failure feelings in this approach
, being capable of smooth flight under condition, it is to avoid unmanned plane aircraft carrier high-altitude is unbalance to fall.
Compared with the unmanned plane that tradition only relies on independent control control, the present invention controls other sons by unmanned plane aircraft carrier
Unmanned plane provides lift for itself, and unmanned aerial vehicle group grade can be achieved and controls, the function of preventing unmanned plane aircraft carrier failure from falling, necessarily
Unmanned aerial vehicle group overall operation stability is improved in degree.
Brief description of the drawings
Fig. 1 is a kind of two-stage balanced control device system overall schematic of multi-rotor unmanned aerial vehicle aircraft carrier.
Fig. 2 is a kind of stop cellular construction schematic diagram of the two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier.
Fig. 3 is airplane parking area part part in a kind of stop unit of the two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier
Schematic diagram.
Fig. 4 is a kind of service hoisting cellular construction schematic diagram of the two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier.
In figure：1- stops unit；2- service hoisting units；3- UAV Flight Control devices；4- signal receivers；5- stops
Machine level ground；6- adsorption plates；7- springs；8- signal projectors；9- unmanned plane aircraft carrier flight controllers；10- aircraft carrier frames；11- electromagnetism
Sucker；12- fixed mounts；13- unmanned planes.
Embodiment
The invention provides a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier, as shown in figure 1, the device by
Stop unit 1, service hoisting unit 2 and control system composition.The stop unit 1 includes aircraft carrier frame 10, airplane parking area 5, electricity
Magnetic-disc 11 and fixed mount 12, as shown in Figures 2 and 3；Service hoisting unit 2 is by sub- unmanned plane 13, adsorption plate 6 and the structure of spring 7
Into as shown in Figure 4；Control system has aircraft carrier flight controller 9, sub- UAV Flight Control device 3, signal projector 8 and signal
Receiver 4.
A kind of course of work of the two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier of the present invention is to work as unmanned plane aircraft carrier
During because of electrical fault or other reasonses cause certain side lift not enough, the lift needed for faulty motor side can by two estrades nobody
The collaboration of machine 13 is substituted.The aerial appearance of unmanned plane aircraft carrier that aircraft carrier flight controller 9 is recorded by balanced gyroscope in monitor controller
State unusual condition and Motor torque monitoring unusual condition carry out system self-monitoring, and whether failure judgement side needs to increase lift, lead to
Cross signal projector 8 and send instruction, after the signal receiver 4 for closing on two estrade unmanned planes 13 is received, sub- unmanned plane 2 is flown
Controller 3 is controlled, and the airplane parking area 5 of faulty motor both sides is gone to rapidly, and magnechuck 11 is fixed on airplane parking area bottom by fixed mount 12
Portion, the adsorption plate 6 that group unmanned plane is closed on airplane parking area, magnechuck powered operation, magnechuck attractor unmanned plane 13, makes
Sub- unmanned plane 13 is relatively fixed with aircraft carrier.Whether aircraft carrier controller needs increase lift to judge to current failure side, real
When be sent to sub- unmanned plane 13.The sub- flight controller real-time reception signal of unmanned plane 13, with reference to itself flight attitude, adjusts sub- nothing
Man-machine 13 each motor power output, while providing lift for unmanned plane aircraft carrier, adjusts itself flight attitude.Utilize son
The lift that unmanned plane 13 is provided, recovers unmanned plane aircraft carrier flight attitude steady.
Claims (4)
1. a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier, it is characterised in that：By stop unit, service hoisting list
Member and control system composition, the stop unit include aircraft carrier frame, airplane parking area, magnechuck, fixed mount；The service hoisting
Unit is made up of sub- unmanned plane, spring and adsorption plate, and adsorption plate is located at the bottom surface of sub- unmanned plane, and adsorption plate passes through with sub- unmanned plane
Spring is connected；Control system has aircraft carrier flight controller, sub- UAV Flight Control device, signal projector and signal receiver,
Sub- UAV Flight Control device and signal receiver are located on sub- unmanned plane, and aircraft carrier flight controller and signal projector are located at boat
On machine tool frame, service hoisting unit is parked on the airplane parking area for stopping unit.
2. a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier according to claim 1, it is characterised in that：Boat
The propeller of female lifting is arranged on aircraft carrier Frame end by fixed mount, and airplane parking area is also secured in aircraft carrier frame, from airplane parking area
Lower end be embedded with magnechuck.
3. a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier according to claim 2, it is characterised in that：Stop
Machine level ground level is fixed and is slightly above aircraft carrier propellerpiston, magnechuck upper surface and airplane parking area upper surface flush.
4. a kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier according to claim 1, it is characterised in that：It is auxiliary
The sheet metal component for helping adsorption plate in lift unit and being that sheet iron is clipped, being stamped to form, sub- unmanned plane is fastened on by spring
Bottom, the supporting plane with the formation of sub- unmanned plane supporting leg is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710426804.1A CN107264786A (en) | 2017-06-08 | 2017-06-08 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710426804.1A CN107264786A (en) | 2017-06-08 | 2017-06-08 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107264786A true CN107264786A (en) | 2017-10-20 |
Family
ID=60066073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710426804.1A Pending CN107264786A (en) | 2017-06-08 | 2017-06-08 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
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| Country | Link |
|---|---|
| CN (1) | CN107264786A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674644A (en) * | 2018-05-21 | 2018-10-19 | 西北工业大学明德学院 | A kind of multi-rotor aerocraft with slave |
| CN112319835A (en) * | 2020-11-18 | 2021-02-05 | 南京新领空科技有限公司 | Unmanned aerial vehicle descending positioning device and unmanned aerial vehicle nest |
| CN112423256A (en) * | 2020-11-12 | 2021-02-26 | 太原理工大学 | Unmanned aerial vehicle control system and method for executing transportation, signal transfer and remote tasks |
| CN113928557A (en) * | 2021-10-21 | 2022-01-14 | 北京天玛智控科技股份有限公司 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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| GB882073A (en) * | 1957-02-26 | 1961-11-08 | Rolls Royce | Improvements in or relating to aircraft |
| US5000398A (en) * | 1988-10-25 | 1991-03-19 | Rashev Michael S | Flying multi-purpose aircraft carrier and method of V/STOL assisted flight |
| CN204279932U (en) * | 2014-10-28 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Bottom is provided with the unmanned vehicle of wireless charging current-collecting device |
| CN105302150A (en) * | 2015-11-30 | 2016-02-03 | 上海理工大学 | Unmanned aircraft infinite endurance system |
| CN106005410A (en) * | 2016-07-05 | 2016-10-12 | 国网浙江省电力公司衢州供电公司 | Novel son and mother unmanned aerial vehicle system |
| CN106786956A (en) * | 2017-01-11 | 2017-05-31 | 河北省自动化研究所 | Colony's unmanned plane electric supply installation |
-
2017
- 2017-06-08 CN CN201710426804.1A patent/CN107264786A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB882073A (en) * | 1957-02-26 | 1961-11-08 | Rolls Royce | Improvements in or relating to aircraft |
| US5000398A (en) * | 1988-10-25 | 1991-03-19 | Rashev Michael S | Flying multi-purpose aircraft carrier and method of V/STOL assisted flight |
| CN204279932U (en) * | 2014-10-28 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Bottom is provided with the unmanned vehicle of wireless charging current-collecting device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674644A (en) * | 2018-05-21 | 2018-10-19 | 西北工业大学明德学院 | A kind of multi-rotor aerocraft with slave |
| CN112423256A (en) * | 2020-11-12 | 2021-02-26 | 太原理工大学 | Unmanned aerial vehicle control system and method for executing transportation, signal transfer and remote tasks |
| CN112319835A (en) * | 2020-11-18 | 2021-02-05 | 南京新领空科技有限公司 | Unmanned aerial vehicle descending positioning device and unmanned aerial vehicle nest |
| CN113928557A (en) * | 2021-10-21 | 2022-01-14 | 北京天玛智控科技股份有限公司 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |
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