CN108082438B - Method and device for acquiring initial speed of unmanned aerial vehicle during release - Google Patents
Method and device for acquiring initial speed of unmanned aerial vehicle during release Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract description 41
- 230000008569 process Effects 0.000 claims abstract description 25
- 230000001174 ascending effect Effects 0.000 claims abstract description 11
- 238000005520 cutting process Methods 0.000 claims abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 5
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- 238000005259 measurement Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000005265 energy consumption Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
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- 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
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention provides a method for acquiring an initial speed of an unmanned aerial vehicle during release, which comprises the following steps: monitoring the height of a carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, lowering a fixing assembly for fixing the unmanned aerial vehicle so that the unmanned aerial vehicle slides downwards under the traction of the fixing assembly; and monitoring the speed of the unmanned aerial vehicle in the gliding process, and cutting off the fixed component and throwing in the unmanned aerial vehicle when the speed reaches a preset throwing speed. The invention also discloses a device for acquiring the initial speed of the unmanned aerial vehicle during throwing. The invention can ensure that the unmanned aerial vehicle has certain initial speed when leaving the carrying platform for launching, and has the advantages of simple device, low cost and easy realization.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a method and a device for acquiring initial speed of an unmanned aerial vehicle during release.
Background
The near space is an airspace 20-100km away from the ground, is positioned between a space-based satellite platform and an aviation unmanned aerial vehicle platform, and has not been particularly regarded for a long time. But the adjacent space has great potential value in military application, the atmospheric density of the space is thin, most fixed wing unmanned planes and ground-air missiles in the world cannot reach the height, and the possibility of attacking the aircraft in the adjacent space is low; meanwhile, the height of the space is far lower than the running height of a common satellite, so that favorable conditions are provided for information detection, collection and communication. The adjacent space is an important strategic area of national space safety. The goal of the national space strategy is to enter the immediate space, to reside in the immediate space and to control the immediate space. The aircraft can stay in the near space for a long time during the overlong flight in the near space, so that the target of controlling the near space is realized, and the wide attention is paid.
At present, the mode that unmanned aerial vehicle got into near the space mainly has two kinds: autonomous climb and piggyback takeoff. The first mode is that the unmanned aerial vehicle climbs to a preset cruising height by a power device of the unmanned aerial vehicle, the mode has higher requirement on the performance of a motor of the unmanned aerial vehicle, and under the condition of certain total energy, the subsequent cruising time is influenced by excessive energy consumption in the climbing process; in addition, excessive energy demand also means that power plants providing more energy are required, which also increases the structural weight of the drone itself, reducing its load capacity. The second mode is that the carrying platform is utilized to carry the unmanned aerial vehicle to appointed height and put in again, and the energy consumption of unmanned aerial vehicle climbing in-process has been avoided to this mode, only need during the motor design consider power consumption when cruising state can, can furthest's reduction energy demand, guarantee longer cruising time, also for reducing the weight of organism itself, increase the load-carrying capacity and provide the advantage moreover.
However, the unmanned aerial vehicle who carries out take-off faces a serious control difficult problem, and unmanned aerial vehicle and mounting platform separation are in the twinkling of an eye promptly, and unmanned aerial vehicle itself does not have the initial velocity, and at this moment, unmanned aerial vehicle self rudder effect is inoperative, and control system also can not in time make the correction to the unmanned aerial vehicle gesture condition. Therefore, when external disturbance occurs in the moment of putting, the phenomenon that the machine body rolls and the like can be caused, and the task fails directly. Therefore, how to ensure that the unmanned aerial vehicle has a critical speed which can enable the control system to play a role in the release moment is an urgent engineering problem to be solved.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a method and a device for acquiring an initial speed when an unmanned aerial vehicle is launched so as to solve at least one technical problem.
(II) technical scheme
One aspect of the present invention provides a method for acquiring an initial velocity when an unmanned aerial vehicle is launched, including:
monitoring the height of a carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, lowering a fixing assembly for fixing the unmanned aerial vehicle so that the unmanned aerial vehicle slides downwards under the traction of the fixing assembly; and monitoring the speed of the unmanned aerial vehicle in the gliding process, and cutting off the fixed component and throwing in the unmanned aerial vehicle when the speed reaches a preset throwing speed.
In some embodiments of the present invention, monitoring the height of the mounting platform carrying the unmanned aerial vehicle during the ascending process is implemented by the first sensor of the mounting platform.
In some embodiments of the invention, monitoring the speed of the drone during the glide is achieved by a second sensor of the drone.
In some embodiments of the present invention, before launching the drone, the method further comprises the steps of: the gliding height of the unmanned aerial vehicle gliding under the traction of the fixed component is estimated, and the gliding height is not larger than the length of the fixed component.
In some embodiments of the present invention, before launching the drone, the method further comprises the steps of: and adjusting the flight attitude of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach a preset launching attitude.
In another aspect of the present invention, a device for obtaining an initial velocity when an unmanned aerial vehicle is launched is further provided, including:
the first monitoring unit is used for monitoring the height of a carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, a fixing assembly used for fixing the unmanned aerial vehicle is lowered, so that the unmanned aerial vehicle slides downwards under the traction of the fixing assembly; and
and the second monitoring unit is used for monitoring the speed of the unmanned aerial vehicle in the gliding process, and cutting off the fixed component to launch the unmanned aerial vehicle when the speed reaches the preset launching speed.
In some embodiments of the invention, the first monitoring unit comprises: the first sensor is arranged on the carrying platform and used for monitoring the height of the carrying platform carrying the unmanned aerial vehicle in the ascending process.
In some embodiments of the invention, the second monitoring unit comprises: and the second sensor is arranged on the unmanned aerial vehicle and used for monitoring the speed of the unmanned aerial vehicle in the gliding process.
In some embodiments of the present invention, the system further comprises an adjusting unit, configured to adjust a flight attitude of the drone so that the drone reaches a predetermined launch attitude.
In some embodiments of the invention, the ride-on platform comprises a balloon and an airship; and/or the fixing component is a cable with strength and elasticity, and the length of the cable is greater than the gliding height of the unmanned aerial vehicle.
(III) advantageous effects
Compared with the prior art, the method and the device for acquiring the initial speed of the unmanned aerial vehicle during launching have the advantages that:
1. when monitoring that the carrying platform reaches a preset releasing height, the fixing assembly is released, so that the unmanned aerial vehicle slides down under the traction of the fixing assembly, and the controllability of the unmanned aerial vehicle in the sliding down process is ensured.
2. When the gliding speed of detecting unmanned aerial vehicle reachd predetermined input speed, cut off fixed subassembly, put in unmanned aerial vehicle for unmanned aerial vehicle possesses the initial velocity this moment, has realized that unmanned aerial vehicle has the input of initial velocity.
3. Before unmanned aerial vehicle puts in, still adjust its flight gesture for unmanned aerial vehicle reaches the predetermined gesture of putting in, because the problem that the flight gesture leads to inadequately when can prevent to put in, provides the safety guarantee for unmanned aerial vehicle after putting in.
4. The device of the invention has simple structure, and the method is convenient to realize and is suitable for engineering.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for acquiring an initial velocity when an unmanned aerial vehicle is launched according to an embodiment of the present invention.
Fig. 2 is a block diagram of a structure of an apparatus for acquiring an initial velocity when an unmanned aerial vehicle is launched according to an embodiment of the present invention.
Detailed Description
Based on the problems that the initial speed of an unmanned aerial vehicle is zero when the unmanned aerial vehicle is separated from a carrying platform, the self steering effect of the unmanned aerial vehicle does not work at the moment, and the attitude of the unmanned aerial vehicle is uncontrollable and the attitude rolling possibly occurs to cause task failure, the invention provides a method and a device for acquiring the initial speed when the unmanned aerial vehicle is launched, wherein the height of the carrying platform is monitored in real time in the ascending process, and when the height of the carrying platform reaches the preset launching height, a fixed component is released, so that the unmanned aerial vehicle automatically slides downwards under the traction of the fixed component; when the speed of monitoring unmanned aerial vehicle reaches controllable predetermined input speed, will fix unmanned aerial vehicle's fixed subassembly cutting, release unmanned aerial vehicle relies on unmanned aerial vehicle self's control system effect adjustment unmanned aerial vehicle's gesture afterwards, makes unmanned aerial vehicle reach the state of steady flight. The method is simple in structure implementation, low in cost, strong in operability, beneficial to engineering implementation, and capable of ensuring that the unmanned aerial vehicle has a certain initial speed, so that safety guarantee is provided for the flying process after throwing.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In one aspect of the embodiments of the present invention, a method for acquiring an initial velocity when an unmanned aerial vehicle is launched is provided, fig. 1 is a flowchart illustrating steps of the method for acquiring an initial velocity when an unmanned aerial vehicle is launched according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
s1, monitoring the height of the carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, lowering a fixing component for fixing the unmanned aerial vehicle so that the unmanned aerial vehicle slides downwards under the traction of the fixing component. The predetermined drop height may vary according to the actual needs of the user.
Wherein, the height of the carrying platform carrying the unmanned aerial vehicle in the ascending process is monitored, and the monitoring is realized through a first sensor of the carrying platform. Generally, there are three types of sensors used by drones to measure altitude: measuring the flying height by utilizing the radio wave reflection characteristic, and converting the height measurement into the measurement of time; measuring the height by measuring the linear acceleration of the unmanned aerial vehicle moving perpendicular to the ground; and measuring the altitude by measuring an atmospheric parameter. Common types of first sensors include, but are not limited to, MS5540C, MS5534, and HPA200-W2DB (silicon piezoresistive pressure sensors).
When selecting fixed subassembly, need pre-estimate the gliding height that unmanned aerial vehicle slided under fixed subassembly's the traction, just the gliding height is not more than fixed subassembly's length prevents that unmanned aerial vehicle can not reach predetermined input speed.
Monitoring the speed of the unmanned aerial vehicle in the gliding process is realized through a second sensor of the unmanned aerial vehicle. In general, the second sensor may be a magneto sensor, a hall sensor, or an inertial measurement unit, etc. (e.g., a MEMS inertial sensor). Preferably an inertial measurement unit, which incorporates a GPS, maintains direction and flight path, while also employing a multi-axis sensor capable of sensing direction, transmitting data to a CPU, and thereby indicating direction and speed. It will be appreciated that in other embodiments, other speed sensors may be employed.
S2, monitoring the speed of the unmanned aerial vehicle in the gliding process, and cutting off the fixed component and throwing the unmanned aerial vehicle when the speed reaches the preset throwing speed (namely the initial speed obtained when the unmanned aerial vehicle throws). The predetermined release rate may be adjusted according to the actual needs of the user. Generally, the predetermined launch speed is related to parameters of the drone itself and the user's demand, which should be greater than the stall speed of the drone.
In order to prevent the problem caused by the uncomfortable flying attitude during the throwing, and provide safety guarantee for the thrown unmanned aerial vehicle, in the embodiment of the invention, before the unmanned aerial vehicle is thrown, the steps of S201: the flight attitude of adjustment unmanned aerial vehicle, the pitch angle that changes unmanned aerial vehicle for example changes the length of fixed subassembly for unmanned aerial vehicle reaches the predetermined gesture of puting in, because the problem that the flight attitude discomfortable leads to when preventing to put in, provides the safety guarantee for the unmanned aerial vehicle after puting in. The preset throwing posture is related to parameters of the unmanned aerial vehicle, and in the embodiment of the invention, the preset throwing posture refers to that the pitching angle of the vehicle body can be-90 degrees to-76 degrees.
On the other hand, the embodiment of the present invention further provides a device for acquiring the initial velocity when the unmanned aerial vehicle is launched, as shown in fig. 2, the device has a first monitoring unit 21 and a second monitoring unit 22.
The first monitoring unit 21 includes a first sensor disposed on the carrying platform, and is configured to monitor a height of the carrying platform carrying the unmanned aerial vehicle during a lifting process. The choice of the first sensor will not be described in detail here. The carrying platform can be a balloon, an airship and the like, and the invention is not limited.
And the second monitoring unit 22 is used for monitoring the speed of the unmanned aerial vehicle in the gliding process, and when the speed reaches the preset releasing speed, the fixed component is cut off, and the unmanned aerial vehicle is released.
Wherein, this second monitoring unit 22 is including setting up the second sensor on unmanned aerial vehicle for the monitoring unmanned aerial vehicle is at the speed of gliding in-process. The choice of the second sensor will not be described in detail here. The fixing component can be a mooring rope with high strength and elasticity, the fact that after the mooring rope is cut, the rudder of the unmanned aerial vehicle cannot be structurally damaged due to the side force of the mooring rope at the moment of releasing can be guaranteed, in other embodiments, other forms of fixing components can be adopted, and the invention is not limited. It should be noted that the length of the cable should be greater than the glide height of the drone to prevent the drone from being unable to reach the predetermined launch speed when launched.
In order to prevent the problem that the flight attitude is uncomfortable to lead to when puting in, provide the safety guarantee for the unmanned aerial vehicle after puting in, in some embodiments, the device can also include the adjustment unit for before puting in unmanned aerial vehicle, for example, change the length of fixed subassembly and change unmanned aerial vehicle's pitch angle, thereby adjust unmanned aerial vehicle's flight attitude, make unmanned aerial vehicle reach the predetermined gesture of puting in.
According to the method and the device for acquiring the initial speed of the unmanned aerial vehicle during throwing, the height of the balloon platform is measured in real time, and when the height of the carrying platform reaches the preset throwing height, the fixing component on the nacelle is lowered down, so that the unmanned aerial vehicle automatically slides down under the traction of the fixing component; when the speed that detects unmanned aerial vehicle reaches controllable predetermined input speed, cut off fixed subassembly, input unmanned aerial vehicle afterwards, thereby unmanned aerial vehicle reaches the state of steady flight through self adjustment aerodynamic force again. Therefore, the device is simple in structure implementation, low in cost, strong in method operability and beneficial to engineering application.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
Furthermore, "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name. The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for acquiring initial speed of unmanned aerial vehicle during release comprises the following steps:
monitoring the height of a carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, lowering a cable for fixing the unmanned aerial vehicle so that the unmanned aerial vehicle slides downwards under the traction of the cable; and
monitoring the speed of the unmanned aerial vehicle in the gliding process, cutting off the cable when the speed reaches a preset throwing speed, throwing the unmanned aerial vehicle, and adjusting the posture of the unmanned aerial vehicle by means of the action of a control system of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to reach a stable flying state;
the carrying platform is a balloon or an airship and carries and puts the unmanned aerial vehicle to the adjacent space.
2. The acquisition method according to claim 1, wherein the monitoring of the height of the mounting platform on which the unmanned aerial vehicle is mounted during ascent is performed by a first sensor of the mounting platform.
3. The acquisition method according to claim 1, wherein monitoring the speed of the drone during the glide is achieved by a second sensor of the drone.
4. The acquisition method according to claim 1, wherein before launching the drone, further comprising the steps of: estimating the gliding height of the unmanned aerial vehicle gliding under the traction of the mooring rope, wherein the gliding height is not more than the length of the mooring rope.
5. The acquisition method according to claim 1, wherein before launching the drone, further comprising the steps of:
and adjusting the flight attitude of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach a preset launching attitude.
6. An apparatus for acquiring initial velocity of unmanned aerial vehicle during launch, which employs the method for acquiring initial velocity of unmanned aerial vehicle during launch as claimed in any one of claims 1-5, the apparatus comprising:
the first monitoring unit is used for monitoring the height of a carrying platform carrying the unmanned aerial vehicle in the ascending process, and when the height reaches a preset throwing height, a cable for fixing the unmanned aerial vehicle is put down, so that the unmanned aerial vehicle slides downwards under the traction of the cable; and
and the second monitoring unit is used for monitoring the speed of the unmanned aerial vehicle in the gliding process, and when the speed reaches the preset throwing speed, the mooring rope is cut off, and the unmanned aerial vehicle is thrown.
7. The acquisition apparatus according to claim 6, wherein the first monitoring unit includes: the first sensor is arranged on the carrying platform and used for monitoring the height of the carrying platform carrying the unmanned aerial vehicle in the ascending process.
8. The acquisition apparatus according to claim 6, wherein the second monitoring unit includes: and the second sensor is arranged on the unmanned aerial vehicle and used for monitoring the speed of the unmanned aerial vehicle in the gliding process.
9. The acquisition apparatus according to claim 6, further comprising an adjustment unit for adjusting the flight attitude of the drone so that the drone reaches a predetermined launch attitude.
10. The acquisition apparatus according to claim 6,
the hawser has elasticity, just the length of hawser is greater than unmanned aerial vehicle's gliding height.
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| CN108820222B (en) * | 2018-09-03 | 2020-11-03 | 中国科学院工程热物理研究所 | Launch control method for ball-borne solar unmanned aerial vehicle |
| CN109739251B (en) * | 2018-12-28 | 2022-03-29 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle time-sharing control method |
| CN113942062B (en) * | 2021-09-23 | 2023-05-09 | 天津长荣科技集团股份有限公司 | Paper in-place calculation method and system |
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