CN108820214B - Aircraft scouting control transmitting system - Google Patents
Aircraft scouting control transmitting system Download PDFInfo
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- CN108820214B CN108820214B CN201810597130.6A CN201810597130A CN108820214B CN 108820214 B CN108820214 B CN 108820214B CN 201810597130 A CN201810597130 A CN 201810597130A CN 108820214 B CN108820214 B CN 108820214B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000006854 communication Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 5
- 230000007175 bidirectional communication Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000010304 firing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides an aircraft scouting control emission system, which comprises an aircraft body, wherein a mounting device is arranged on the aircraft body and is used for mounting an emission load, and the emission load is correspondingly provided with a fire control unit and a servo control unit connected with the fire control unit; the servo control unit is used for adjusting the pitching and azimuth angles of the emission load; the fire control unit is connected with the flight control unit through a communication interface, and the flight control unit is connected with the ground station through a wireless communication module. The aircraft reconnaissance control launching system is provided with the launching load posture adjusting device, namely the servo control unit, can realize posture adjustment of pitching and azimuth of the launching load, can strike a target in a certain range without adjusting the postures of multiple rotors, has high task execution flexibility, and can realize omnibearing and multi-angle striking.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to an aircrafts scouting control emission system.
Background
With the rapid development of the technical level of unmanned aerial vehicles at home and abroad, the variety and the application of the unmanned aerial vehicle are more and more various, particularly the unmanned aerial vehicle is rapidly developed into a plurality of rotary wings, has the advantages of vertical take-off and landing, fixed-point hovering, simple mechanical structure, high safety, low cost and the like, can be carried with multipurpose equipment such as visible light, thermal infrared imagers and the like, and is widely applied to various fields such as electric power line inspection, mapping, fire protection, anti-terrorism, aerospace and the like.
In the anti-terrorism field, the multi-rotor wing can be applied to reconnaissance and striking tasks, the application is mainly concentrated on the reconnaissance tasks, the multi-rotor wing is rarely applied to the striking tasks, and the striking range is limited. Therefore, the small-sized observing and beating multi-rotor launching system is designed, the multi-rotor is organically combined with launching load, and an air firepower supporting system convenient to carry and transport is provided for anti-terrorism and fire fighting.
At present, a scheme of combining a plurality of rotors with a transmitting load is rarely provided, in the prior art, the plurality of rotors and the transmitting load are rigidly connected, the transmitting load is a grenade, a fire extinguishing bomb and the like with small load, the position of a target relative to the carrier is detected through an image, and the small-range striking of the target is realized through adjusting the gesture of the plurality of rotors.
The existing aircraft and the launching load generally adopt a rigid connection mode, the gesture adjustment of the launching load is realized by adjusting the gesture of a plurality of rotors, the target is hit in a small range, and the task is executed in the mode, so that the task execution is not flexible; and in the tracking process, the target is detected according to the image, the position of the target relative to the carrier is obtained, the real-time tracking of the target is realized by manually adjusting the gesture and focal length of the image, and the target is easy to lose, especially for moving targets.
Disclosure of Invention
In view of the above, the present invention aims to provide an aircraft reconnaissance control launching system, so as to solve the problems that the existing aircraft is inflexible in controlling the launching load in the process of performing reconnaissance and striking, and needs to manually track the target, so that the target is easy to be lost.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the aircraft scouting control emission system comprises an aircraft body, wherein a mounting device is arranged on the aircraft body and is used for mounting an emission load, and the emission load is correspondingly provided with a fire control unit and a servo control unit connected with the fire control unit;
the servo control unit is used for adjusting the pitching and azimuth angles of the emission load;
the fire control unit is connected with the flight control unit through a communication interface, and the flight control unit is connected with the ground station through a wireless communication module.
Further, the mounting device comprises a bracket frame and a loading plate, wherein the bracket frame is U-shaped, and the loading plate is arranged on the bracket frame;
the servo control unit comprises a pitching angle adjusting device, and the pitching angle adjusting device is arranged on the support frame and used for adjusting the pitching angle of the loading plate.
Further, the support frame comprises a first frame and a second frame which are arranged below the unmanned aerial vehicle body, a loading plate is arranged between the first frame and the second frame, and the loading plate is used for mounting a transmitting load;
the loading plate is rotationally connected with the first frame and the second frame;
the pitching angle adjusting device is arranged on the first frame and is used for adjusting the pitching angle of the loading plate.
Further, the first frame and the second frame are vertically arranged in parallel;
the upper half part of the first frame is rectangular, and the lower half part of the first frame is inverted triangle; the pitching angle adjusting device comprises a pitching servo motor, the pitching servo motor is arranged on the outer side of the first frame, and the pitching servo motor is connected with the fire control unit through a driving circuit; the pitching servo motor is arranged on one side of the lower half part of the first frame; a pitching shaft hole is formed in the middle position, close to the bottom, of the lower half part of the first frame, and an active pitching assembly is arranged in the pitching shaft hole;
the pitching servo motor is used for driving the active pitching assembly;
the upper half part of the second frame is rectangular, and the lower half part of the second frame is inverted triangle; the lower half part of the second frame is also provided with a corresponding pitching shaft hole and is provided with a driven pitching assembly.
Further, the active pitching assembly comprises a pitching rotating shaft arranged in a pitching shaft hole, a pair of meshed involute cylindrical gears are arranged on the outer side of the pitching rotating shaft, and the pitching servo motor drives the pitching rotating shaft by driving the involute cylindrical gears; a pitching supporting device is arranged at the inner side end part of the pitching rotating shaft;
the driven pitching assembly comprises a pitching rotating shaft arranged in a pitching shaft hole of the second frame and a pitching supporting device arranged on the inner side of the pitching rotating shaft.
Furthermore, two sides of the loading plate are respectively provided with a strip-shaped limiting groove, each strip-shaped limiting groove is internally provided with four screw holes, and two sides of the loading plate are fixed on the pitching supporting device through fixing bolts;
one side of the pitching servo motor installation position of the first frame is further provided with a limiting nail installation hole, the limiting nail installation hole is used for installing a limiting nail, and the limiting nail is used for limiting the pitching angle of the loading plate.
Further, the servo control unit further comprises an azimuth angle adjusting device, the azimuth angle adjusting device is arranged on the loading plate and comprises an azimuth servo motor and an azimuth assembly, and the azimuth servo motor is connected with the fire control unit through a driving circuit;
the bearing assembly comprises a bearing rotating shaft, the loading plate is provided with a bearing shaft hole, the bearing rotating shaft is arranged in the bearing shaft hole, and two angular contact ball bearings are arranged on the outer side of the upper end of the bearing rotating shaft to realize the rotation freedom degree of the bearing shaft around the Z axis;
the bearing servo motor is vertically arranged on the loading plate and drives the bearing rotating shaft to rotate by driving a pair of meshed involute cylindrical gears.
Further, the lower end of the azimuth rotating shaft is connected with the connecting shaft; the connecting shaft is fixed on a mounting plate, and the mounting plate mounts a transmitting load through a suspension device;
the hanging device comprises a first guide block and a second guide block, wherein the first guide block and the second guide block both comprise a vertical plate and a transverse plate perpendicular to the vertical plate, the vertical plates of the first guide block and the second guide block are arranged on adjacent sides, and gaps are arranged between the vertical plates;
the mounting heights of the transverse plates of the first guide block and the second guide block are the same, guide holes penetrating through the transverse plates are formed in the transverse plates, the axes of the guide holes of the two transverse plates are on the same straight line, steel pins are correspondingly arranged in the guide holes, and lifting lugs are hung on the steel pins between the first guide block and the vertical plate of the second guide block; the steel pin is correspondingly provided with a rotary steering engine, the rotary steering engine drives the steel pin to move through a transmission device, and the rotary steering engine is connected with the fire control unit through a driving circuit.
Furthermore, the transmitting load is correspondingly provided with limiting brackets, each load is correspondingly provided with a front limiting bracket and a rear limiting bracket, the limiting brackets are in an inverted Y shape, the upper ends of the limiting brackets are fixed on the lower end face of the mounting plate, the lower ends of the limiting brackets extend outwards to form two limiting plates, and the transmitting load is arranged between the two limiting plates;
the two limiting plates of the limiting support are provided with an adjusting bolt, and the other limiting plate is provided with a limiting bolt, wherein the installation directions of the adjusting bolt and the limiting bolt are perpendicular to the limiting plate;
the outer side surface of the adjusting bolt is provided with a hand-screwed nut, and the installation depth of the adjusting bolt is set through the hand-screwed nut;
the upper end face of the limiting support is also provided with a status pin mounting hole, the status pin mounting hole is used for mounting a status pin, the status pin penetrates through the upper end of the limiting support, the lower end of the status pin extends out of the status pin mounting hole, and the status pin mounting hole is vertically arranged between the two limiting plates;
the upper end of the state pin is also provided with a spring, the upper end of the spring is provided with a position sensor, the spring and the position sensor are arranged in the state pin mounting hole, the position sensor is connected with a fire control unit of the unmanned aerial vehicle, and the position sensor is used for detecting the in-place state of the emission load.
Furthermore, a target tracking and locking device is arranged below the aircraft body, and comprises a hanging plate, a damping device, an azimuth structure, a connecting arm and a nacelle;
the hanging plate is arranged below the machine body through a connecting column, a round hole is formed in the middle of the hanging plate, a plurality of damping devices are arranged at the circumferential position of the round hole above the hanging plate, the azimuth structure is fixedly connected with the damping devices, the azimuth structure is arranged right above the round hole, and a vertical servo motor is arranged on the azimuth structure;
the two connecting arms are arranged below the hanging plate, the upper ends of the two connecting arms are rotationally connected with the azimuth structure through a connecting device, the nacelle is arranged between the two connecting arms, the two sides of the nacelle are rotationally connected with the connecting arms, a transverse servo motor is arranged, the target tracking locking device is correspondingly provided with a control unit, the control unit is connected with the transverse servo motor and the vertical servo motor through a driving circuit, the pitching angle of the nacelle is adjusted through the transverse servo motor, and the azimuth angle of the nacelle is adjusted through the vertical servo motor;
the nacelle is internally provided with a visible light sensor, a thermal infrared imager, a laser range finder and an image tracking module, wherein signal output ends of the visible light sensor, the thermal infrared imager and the laser range finder are connected with signal input ends of the image tracking module, and the image tracking module is in bidirectional communication with the control unit; and the signal output end of the image tracking module is connected with the signal input end of the fire control unit.
Compared with the prior art, the aircraft scout control emission system has the following advantages:
(1) The aircraft reconnaissance control launching system is provided with the launching load posture adjusting device, namely the servo control unit, can realize posture adjustment of pitching and azimuth of the launching load, can strike a target in a certain range without adjusting the postures of multiple rotors, has high task execution flexibility, and can realize omnibearing and multi-angle striking.
(2) The mounting device of the aircraft reconnaissance control launching system adopts a U-shaped support frame structure, can greatly adjust the pitching attitude and the horizontal azimuth angle of the launching load, reduces the requirements on the flying attitude of the aircraft, and effectively improves the tracking and striking efficiency.
(3) The aircraft scouting control launching system is provided with the suspension device, the smart structural design can realize quick loading and unloading of launching loads, the launching loads can be thrown in the air according to throwing instructions sent by the ground, and potential safety hazards of missile loading and returning are eliminated.
(4) The aircraft reconnaissance control emission system is provided with the target tracking and locking device, visible light and infrared in the device can be used for carrying out real-time reconnaissance and effect evaluation on the target, the image tracking module can be used for automatically carrying out real-time tracking and locking on the target, the laser range finder can be used for automatically measuring the distance between the target and the carrier and can be used as an input parameter for trajectory calculation, the optimal emission window can be effectively and reliably searched through the target tracking and locking device, and the hitting precision of the target is ensured.
(5) The aircraft scouting control launching system can utilize the measurement data of an external sensor as an input parameter of trajectory calculation, calculate the trajectory in real time, and transmit the impact point back to the ground end in real time for display, if the target is in the hitting range, the servo control unit can be automatically adjusted according to the fire control unit instruction to complete autonomous hitting, if the target exceeds the hitting range, the aircraft can be automatically adjusted according to the fire control unit control instruction, once the target enters the hitting range, the hitting task can be automatically completed, the delay is greatly reduced, and the target hitting precision is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of an aircraft according to an embodiment of the present invention;
FIG. 2 is a block diagram of the mounting device according to the embodiment of the present invention;
FIG. 3 is a front view of a mounting device according to an embodiment of the present invention;
fig. 4 is an overall structure diagram of a mounting plate according to an embodiment of the present invention;
FIG. 5 is a block diagram of a spacing bracket according to an embodiment of the present invention;
FIG. 6 is a diagram of a guide block configuration according to an embodiment of the present invention;
FIG. 7 is a block diagram of a target tracking lock according to an embodiment of the present invention;
FIG. 8 is a flow chart of the task execution according to the embodiment of the invention.
Reference numerals illustrate:
1-an aircraft body; 2-supporting frames; 21-a first bezel; 211-pitch servo motor; 212-an active pitch assembly; 2121-pitch support means; 22-a second bezel; 221-a slave pitch assembly; 23-loading plate; 231-azimuth servo motor; 232-azimuth component; 24-connecting plates; 31-mounting plates; 32-connecting shaft; 33-limiting brackets; 331-a limiting plate; 332-adjusting bolts; 333-a limit bolt; 334-status pin; 335-bolt holes; 336-corner plates; 34-a first guide block; 341-risers; 342-a cross plate; 343-a guide hole; 344-damper block; 35-a second guide block; 4-a target tracking lock; a 41-azimuth structure; 42-a damping device; 43-hanging plate; 44-a transverse servo motor; 45-connecting arms; 46-a visible light sensor; 47-thermal infrared imager; 48-laser rangefinder; 5-transmitting load.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, an aircraft scout control launching system comprises an aircraft body 1, wherein the aircraft body 1 comprises an upper plate and a lower plate, and the upper plate and the lower plate are fixedly connected through reinforcing ribs; the aircraft comprises an aircraft body 1, wherein a U-shaped groove is formed in the aircraft body 1, a mounting device is mounted on the aircraft body 1 and used for mounting a transmitting load 5, the pitching angle of the transmitting load 5 can be adjusted at a large angle through the U-shaped groove and a supporting frame on the aircraft body 1, and a fire control unit and a servo control unit connected with the fire control unit are correspondingly arranged on the transmitting load 5;
the servo control unit is used for adjusting the pitching and azimuth angles of the emission load 5;
the fire control unit is connected with the flight control unit through a communication interface, the flight control unit is connected with the ground station through a wireless communication module, and the fire control unit and the flight control unit are all existing microcontrollers. The fire control unit can receive the state information of the aircraft transmitted by the flight control unit, including information such as the position, the gesture, the speed, the acceleration, the navigation and the like of the aircraft; the flight control unit may also be taken over.
As shown in fig. 1 to 3, the mounting device includes a bracket frame 2 and a loading plate 23, the aircraft body 1 is also provided with a U-shaped slot, the bracket frame 2 is disposed in the U-shaped slot, and a U-shaped structural design is adopted between a first frame 21 of the bracket frame 2 and the loading plate 23 and a second frame 22, so that the pitch angle of the loading plate 23 can be increased, and the loading plate 23 is mounted on the bracket frame 2;
the servo control unit includes a pitch angle adjusting device mounted on the stand frame 2 for adjusting the pitch angle of the loading plate 23.
The bracket frame 2 comprises a first frame 21 and a second frame 22 which are arranged below the unmanned aerial vehicle body, a loading plate 23 is arranged between the first frame 21 and the second frame 22, and the loading plate 23 is used for mounting the transmitting load 5;
the loading plate 23 is rotatably connected with the first frame 21 and the second frame 22;
the pitch angle adjusting means is provided on the first frame 21, and is used for adjusting the pitch angle of the loading plate 23.
The first frame 21 and the second frame 22 are vertically arranged in parallel;
the upper half part of the first frame 21 is rectangular, and the lower half part is inverted triangle; the pitching angle adjusting device comprises a pitching servo motor 211, wherein the pitching servo motor 211 is arranged on the outer side of the first frame 21, and the pitching servo motor 211 is connected with the fire control unit through a driving circuit; the pitching servo motor 211 is arranged on the lower half side of the first frame 21; a pitching shaft hole is formed in the middle position, close to the bottom, of the lower half part of the first frame 21, and an active pitching assembly 212 is arranged in the pitching shaft hole;
the pitching servo motor 211 is used for driving the active pitching assembly 212;
the upper half part of the second frame 22 is rectangular, and the lower half part is inverted triangle; the lower half of the second frame 22 is also provided with a corresponding pitch shaft aperture and a slave pitch assembly 221.
The active pitching assembly 212 comprises a pitching rotating shaft arranged in a pitching shaft hole, a pair of meshed involute cylindrical gears are arranged on the outer side of the pitching rotating shaft, and the pitching servo motor 211 drives the pitching rotating shaft by driving the involute cylindrical gears; a pitching supporting device 2121 is arranged at the inner side end part of the pitching rotating shaft;
the slave pitch assembly 221 includes a pitch axis disposed in the pitch axis hole of the second bezel 22, and a pitch support 2121 disposed inboard of the pitch axis.
Two sides of the loading plate 23 are respectively provided with a strip-shaped limiting groove, each strip-shaped limiting groove is internally provided with four screw holes, and two sides of the loading plate 23 are fixed on the pitching support device 2121 through fixing bolts;
one side of the installation position of the pitching servo motor 211 of the first frame 21 is also provided with a limit nail installation hole, the limit nail installation hole is used for installing a limit nail, and the limit nail is used for limiting the pitching angle of the loading plate 23.
Three square weight-reducing grooves are formed in the upper half of the first frame 21, and two special-shaped weight-reducing grooves are formed in one side of the pitching motor installation position of the lower half;
the upper half part of the second frame 22 is provided with three square weight-reducing grooves which are the same as the first frame 21; the lower half of the second frame 22 is provided with three special-shaped weight-reducing grooves. The rib plate modeling is reserved at the key stress point, the operation requirement is met through mechanical simulation, and the integral rigidity and the strength of the structure meet the operation requirement through actual measurement.
A plurality of upper plate mounting holes are vertically formed above the first frame 21 and the second frame 22, and the tops of the first frame 21 and the second frame 22 are fixed on the upper plate of the machine body through fixing bolts;
a strip-shaped chute is transversely formed in the middle of the first frame 21 and the second frame 22, and the strip-shaped chute is used for being embedded into a lower plate of the installation machine body;
the strip-shaped sliding chute is provided with a plurality of bosses, the strip-shaped sliding chute penetrates through the bosses, the bosses are provided with lower plate mounting holes, and the bosses are fixed on the lower plate of the machine body through bolts.
The bracket frame 2 further comprises a connecting plate 24, the upper parts of the first frame 21 and the second frame 22 and the connecting plate 24 are both arranged in U-shaped grooves on the aircraft body 1, the connecting plate 24 is arranged between the first frame 21 and the second frame 22, and the connecting plate 24 is arranged at the end parts of the first frame 21 and the second frame 22, which are close to one end of the aircraft body;
concave tables are arranged on two sides of the connecting plate 24, connecting holes are formed in the concave tables, the first frame 21 and the second frame 22 are fixed in the concave tables of the connecting plate 24 through bolts, and the first frame 21 and the second frame 22 are perpendicular to the connecting plate 24;
the upper part of the connecting plate 24 is fixed on the upper plate of the machine body through bolts, and the lower part is fixed on the lower plate of the machine body through bolts.
The connecting plate 24 is a rectangular frame, three vertical connecting ribs are arranged in the rectangular frame support, and the rectangular frame is uniformly distributed in left and right space; the three vertical connecting ribs are connected through two diagonal lacing wires in a reinforcing mode, and the joint of the rib plates is smoothly transited by using an R3 round angle.
The servo control unit further comprises an azimuth angle adjusting device, the azimuth angle adjusting device is arranged on the loading plate 23 and comprises an azimuth servo motor 231 and an azimuth assembly 232, and the azimuth servo motor 231 is connected with the fire control unit through a driving circuit;
the azimuth component 232 comprises an azimuth rotating shaft, an azimuth shaft hole is formed in the loading plate 23, the azimuth rotating shaft is arranged in the azimuth shaft hole, and two angular contact ball bearings are arranged on the outer side of the upper end of the azimuth rotating shaft, so that the rotation freedom degree of the azimuth shaft around the Z axis is realized;
as shown in fig. 1 and 4, the upper end surface of the mounting plate 31 is a smooth surface, and the lower end surface of the mounting plate 31 is provided with multiple paths of reinforcing ribs, which are used for increasing the strength of the mounting plate 31. Each path of reinforcing ribs is approximately triangular or large hexagonal, and the requirement of mounting strength is met through simulation and calculation.
The loading plate 23 is provided with an azimuth servo motor 231 mounting position, the azimuth servo motor 231 is vertically mounted on the loading plate 23, and the azimuth servo motor 231 drives the azimuth rotating shaft to rotate by driving a pair of meshed involute cylindrical gears.
The lower end of the azimuth rotating shaft is connected with a connecting shaft 32; the connecting shaft 32 is fixed on the mounting plate 31, and the mounting plate 31 mounts the transmitting load 5 through a suspension device;
as shown in fig. 4 and 5, the suspension device includes a first guide block 34 and a second guide block 35, each of the first guide block 34 and the second guide block 35 includes a vertical plate 341 and a horizontal plate 342 perpendicular to the vertical plate 341, the vertical plates 341 of the first guide block 34 and the second guide block 35 are disposed at adjacent sides, and a gap is provided between the vertical plates 341;
the mounting heights of the transverse plates 342 of the first guide block 34 and the second guide block 35 are the same, the transverse plates 342 are provided with guide holes 343 penetrating through the transverse plates 342, the axes of the guide holes 343 of the two transverse plates 342 are on the same straight line, the guide holes 343 are correspondingly provided with steel pins, and the lifting lugs are hung on the steel pins between the vertical plates 341 of the first guide block 34 and the second guide block 35; the steel pin is correspondingly provided with a rotary steering engine, the rotary steering engine drives the steel pin to move through a transmission device, when the steel pin is separated from the guide hole 343 of the first guide block 34 and enters the guide hole 343 of the second guide block 35, the lifting lug falls off, and the rotary steering engine is connected with the fire control unit through a driving circuit. The steel pin is also provided with a pull rod, the pull rod is perpendicular to the steel pin, and the steel pin can be pulled manually by pulling the pull rod except for being pulled electrically by a servo steering engine, so that the manual installation of the emission load is realized.
The mounting plate 31 is provided with guide block mounting holes corresponding to the first guide block 34 and the second guide block 35, the front side and the rear side of the guide block mounting holes are provided with transverse plate 342 mounting holes, and the transverse plates 342 of the first guide block 34 and the transverse plates 342 of the second guide block 35 are fixed on the upper end surface of the mounting plate 31 through bolts;
the length of the vertical plate 341 of the first guide block 34 is longer than that of the vertical plate 341 of the second guide block 35, and one side, close to the first guide block 34, below the second guide block 35 is a circular angle surface; the side of the first guide block 34 adjacent to the side of the second guide block 35 are also provided with a shock-absorbing layer. The lifting lug is conveniently hung on a steel pin between the first guide block 34 and the second guide block 35.
As shown in fig. 4 and fig. 6, the launching and throwing of the launching load 5 belongs to disposable use, the hanger is fixed on the airborne platform and needs to be reused, the launching load 5 of the next same type needs to be loaded after the launching load 5 is used, how to realize quick and convenient assembly of the launching load 5, and the reliable connection positioning is ensured. The transmitting load 5 is correspondingly provided with limiting brackets 33, each load is correspondingly provided with a front limiting bracket 33 and a rear limiting bracket 33, the limiting brackets 33 are in an inverted Y shape, the upper ends of the limiting brackets 33 are fixed on the lower end face of the mounting plate 31, the lower ends of the limiting brackets 33 extend outwards to form two limiting plates 331, and the transmitting load 5 is arranged between the two limiting plates 331;
two limiting plates 331 of the limiting support 33, wherein one limiting plate 331 is provided with an adjusting bolt 332, the other limiting plate 331 is provided with a limiting bolt 333, and the installation directions of the adjusting bolt 332 and the limiting bolt 333 are perpendicular to the limiting plate 331;
a hand-screwed nut is arranged on the outer side surface of the adjusting bolt 332, and the installation depth of the adjusting bolt 332 is set through the hand-screwed nut; in order to reduce the shake of the firing load 5, it is necessary to minimize the gap between the firing load 5 and the limiting plate 331, and the gap between the side plate and the side plate can be effectively adjusted by the adjusting bolt 332, and the operation is convenient.
The upper end surface of the limit bracket 33 is also provided with a status pin 334 mounting hole, the status pin 334 mounting hole is used for mounting the status pin 334, the status pin 334 penetrates through the upper end of the limit bracket 33, and the lower end extends out of the status pin 334 mounting hole and is vertically arranged between the two limit plates 331;
the upper end of the state pin 334 is also provided with a spring, the upper end of the spring is provided with a position sensor, the spring and the position sensor are both arranged in the state pin 334 mounting hole, the position sensor is connected with a fire control unit of the unmanned aerial vehicle, and the position sensor is used for detecting the in-place state of the emission load 5. When a transmitting load 5 exists, the transmitting load 5 can prop against the state pin 334, so that the spring is compressed, and pressure is applied to the position sensor; when the load 5 is not transmitted, the status pin 334 is at the bottom, the spring applies less pressure to the position sensor, and the ground station can clearly know the status information of the load 5 according to the signals. Status signals at different locations of the status pin 334 may be transmitted by the data link to the ground station as to whether the load is in place, and then telemetry of the load is in place on the spacing brackets or reliable separation is performed.
The lower end surface of the mounting plate 31 is provided with a mounting groove corresponding to the upper end of the limit bracket 33, and the upper end of the limit bracket 33 is correspondingly mounted in the mounting groove; the upper end of the limiting bracket 33 is also provided with a bolt hole 335, and the limiting bracket 33 and the mounting plate 31 are fixed through bolts;
four limiting brackets 33 are arranged below the mounting plate 31, and two transmitting loads 5 are mounted through the four limiting brackets 33. The included angle between the two limiting plates 331 of the limiting bracket 33 is 90 degrees, and the upper parts of the inner sides of the two limiting plates 331 are connected through circular arcs;
two adjacent limit brackets 33 are fixedly connected through a corner plate 336; the corner plate 336 is disposed between two adjacent limit plates 331, and the corner plate 336 is fixed by a limit bolt 333.
After the limiting support 33 is fixed through the mounting groove, the limiting plates 331 on the inner side of the limiting support 33 are not connected, at this time, the limiting plates 331 of the limiting support 33 are mutually independent, the rigidity of the whole horizontal direction of the structure is low, after the corner plates 336 are introduced, the connection of the limiting plates 331 of the limiting support 33 is realized, meanwhile, a local triangle is formed with the mounting plate 31, the rigidity of the limiting support 33 in the horizontal direction is enhanced, the adverse vibration of a single transmitting load 5 in the horizontal direction in unmanned aerial vehicle flight mounting is further weakened, and the design mode is effectively verified in practical application.
The mounting plate 31 is also provided with wiring holes, and the wiring holes belong to multiplexing holes, so that the arrangement of lines in the transmitting load 5 is realized, the mounting space of the brake can be multiplexed, and the mounting function of the hanger in the unmanned aerial vehicle system is greatly optimized.
As shown in fig. 1 and 7, a target tracking and locking device 4 is further arranged below the aircraft body 1, and the target tracking and locking device 4 comprises a hanging plate 43, a damping device 42, an azimuth structure 41, a connecting arm 45 and a nacelle; the vibration reduction device is used for isolating the vibration of the aircraft and reducing the influence of the vibration of the aircraft on the posture of the target tracking and locking device;
the hanging plate 43 is arranged below the machine body through a connecting column, a round hole is formed in the middle position of the hanging plate 43, a plurality of damping devices 42 are arranged at the circumferential position of the round hole above the hanging plate 43, the azimuth structure 41 is fixedly connected with the damping devices 42, the azimuth structure 41 is arranged right above the round hole, and a vertical servo motor is arranged on the azimuth structure 41;
the two connecting arms 45 are arranged below the hanging plate 43, the two connecting arms 45 are arranged, the upper ends of the two connecting arms 45 are rotatably connected with the azimuth structure 41 through a connecting device, the nacelle is arranged between the two connecting arms 45, the two sides of the nacelle are rotatably connected with the connecting arms 45, the transverse servo motor 44 is arranged, the target tracking locking device 4 is correspondingly provided with a control unit, the control unit is connected with the transverse servo motor 44 and the vertical servo motor through a driving circuit, the pitching angle of the nacelle is adjusted through the transverse servo motor 44, and the azimuth angle of the nacelle is adjusted through the vertical servo motor;
the nacelle is internally provided with a visible light sensor 46, a thermal infrared imager 47, a laser range finder 48 and an image tracking module, the signal output ends of the visible light sensor 46, the thermal infrared imager 47 and the laser range finder 48 are all connected with the signal input end of the image tracking module, and the image tracking module is in bidirectional communication with the control unit; the control unit is a microcontroller; and the signal output end of the image tracking module is connected with the signal input end of the fire control unit.
The visible light sensor 46, the thermal infrared imager 47 and the laser range finder 48 are arranged in the nacelle structure in a parallel axis mode in a shape like a Chinese character 'pin', and can detect a target in real time and measure the distance;
the image tracking module is used for measuring the relative position of the target and the carrier, feeding back the relative position information to the control unit in real time, keeping the target at the center of the image, and carrying out real-time tracking and locking on the target.
The fire control unit receives information such as the gesture, the relative position, the distance measurement and the like of the target tracking and locking device 4, receives information such as the position, the gesture, the speed, the acceleration, the navigation and the like of a flight control system, and receives information such as the gesture, the angular speed, the angular acceleration and the like of the servo control unit;
carrying out ballistic calculation according to the data and combining ballistic characteristics of the launching load 5, estimating a strike point, and displaying the strike point on a ground station in real time;
autonomously judging whether the target is in the striking range;
if the target is in the striking range, the servo control unit can be automatically adjusted according to the control instruction of the fire control unit, and the servo control unit feeds back the current angle information to the fire control unit to form a closed-loop control loop so as to finish autonomous striking;
the target exceeds the striking range, the gesture of the aircraft can be automatically adjusted according to the control instruction of the fire control unit, and once the target enters the striking range, the striking task can be automatically completed.
As shown in fig. 8, the flow of the aircraft performing the hit task is as follows:
(1) According to the task, the transmitting system is transported to a task execution area, and the system is unfolded and checked to ensure that the system works normally;
(2) The task executive personnel fly the transmitting system to the upper part of the target area;
(3) The collected image information is transmitted back to the ground through a data chain, and a task executor identifies a target according to the image information and confirms the striking target;
(4) Selecting a hit target by a ground frame, uploading characteristic data of the hit target to an image tracking module of a target tracking and locking device through a data chain, and locking and tracking the target;
(5) The fire control unit is communicated with the target tracking and locking device through a data interface, and information such as the gesture, the relative position, the distance measurement and the like of the target tracking and locking device is obtained in real time;
(6) The fire control unit is communicated with the servo control unit through a data interface, and information such as the gesture, the angular speed, the angular acceleration and the like of the pitching servo motor and the azimuth servo motor is obtained in real time;
(7) The fire control unit is communicated with the aircraft flight control unit through a data interface, and information such as the position, the gesture, the speed, the acceleration, the navigation and the like of the multiple rotors are obtained in real time;
(8) The fire control unit fuses the data information of the target tracking, locking device, servo device and multiple rotors, calculates the trajectory in real time by combining the characteristic of the emission load, and transmits the estimated impact point back to the ground station in real time;
(9) The task executor selects a machine to start firing preparation, the fire control unit takes over the flight control unit, and the emission system is controlled to aim by combining data information such as target tracking, locking devices, servo devices, emission load characteristics and the like, so that the emission system meets the state of firing;
(10) The task executor selects a machine to start a firing button, a firing instruction is uploaded to the on-board fire control unit through a data chain, and the fire control unit selects a machine to fire automatically;
(11) The target effect conditions acquired by the target tracking and locking device are transmitted back to the ground station through the data link for evaluating the striking effect;
(12) The transmitting system returns to the home and executes the next task.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. An aircraft scouting control emission system, characterized in that: the aircraft comprises an aircraft body (1), wherein a mounting device is arranged on the aircraft body (1) and is used for mounting a transmitting load (5), and the transmitting load (5) is correspondingly provided with a fire control unit and a servo control unit connected with the fire control unit;
the servo control unit is used for adjusting the pitching and azimuth angles of the emission load (5);
the fire control unit is connected with the flight control unit through a communication interface, and the flight control unit is connected with the ground station through a wireless communication module;
the mounting device comprises a bracket frame (2) and a loading plate (23), wherein the bracket frame (2) is U-shaped, and the loading plate (23) is arranged on the bracket frame (2);
the servo control unit comprises a pitching angle adjusting device which is arranged on the bracket frame (2) and used for adjusting the pitching angle of the loading plate (23);
the servo control unit further comprises an azimuth angle adjusting device, the azimuth angle adjusting device is arranged on the loading plate (23), the azimuth angle adjusting device comprises an azimuth servo motor (231) and an azimuth assembly (232), and the azimuth servo motor (231) is connected with the fire control unit through a driving circuit;
the bearing assembly (232) comprises a bearing rotating shaft, the loading plate (23) is provided with a bearing shaft hole, the bearing rotating shaft is arranged in the bearing shaft hole, and two angular contact ball bearings are arranged on the outer side of the upper end of the bearing rotating shaft to realize the rotation freedom degree of the bearing shaft around the Z axis;
the loading plate (23) is provided with an azimuth servo motor (231) installation position, the azimuth servo motor (231) is vertically installed on the loading plate (23), and the azimuth servo motor (231) drives an azimuth rotating shaft to rotate by driving a pair of meshed involute cylindrical gears;
the lower end of the azimuth rotating shaft is connected with a connecting shaft (32); the connecting shaft (32) is fixed on the mounting plate (31), and the mounting plate (31) mounts the transmitting load (5) through the hanging device;
the suspension device comprises a first guide block (34) and a second guide block (35), wherein the first guide block (34) and the second guide block (35) comprise a vertical plate (341) and a transverse plate (342) perpendicular to the vertical plate (341), the vertical plates (341) of the first guide block (34) and the second guide block (35) are arranged on adjacent sides, and gaps are arranged between the vertical plates (341);
the mounting heights of the transverse plates (342) of the first guide block (34) and the second guide block (35) are the same, guide holes (343) penetrating through the transverse plates (342) are formed in the transverse plates (342), the axes of the guide holes (343) of the two transverse plates (342) are on the same straight line, steel pins are correspondingly arranged in the guide holes (343), and lifting lugs are hung on the steel pins between the vertical plates (341) of the first guide block (34) and the second guide block (35); the steel pin is correspondingly provided with a rotary steering engine, the rotary steering engine drives the steel pin to move through a transmission device, and the rotary steering engine is connected with the fire control unit through a driving circuit;
the device is characterized in that the transmitting load (5) is correspondingly provided with limiting supports (33), each load is correspondingly provided with a front limiting support and a rear limiting support (33), the limiting supports (33) are in an inverted Y shape, the upper ends of the limiting supports (33) are fixed on the lower end face of the mounting plate (31), the lower ends of the limiting supports (33) extend outwards to form two limiting plates (331), and the transmitting load (5) is arranged between the two limiting plates (331);
two limiting plates (331) of the limiting support (33), wherein one limiting plate (331) is provided with an adjusting bolt (332), the other limiting plate is provided with a limiting bolt (333), and the installation directions of the adjusting bolt (332) and the limiting bolt (333) are perpendicular to the limiting plate (331) where the adjusting bolt (332) and the limiting bolt (333) are located;
a hand-screwed nut is arranged on the outer side surface of the adjusting bolt (332), and the installation depth of the adjusting bolt (332) is set through the hand-screwed nut;
the upper end face of the limiting support (33) is further provided with a status pin (334) mounting hole, the status pin (334) mounting hole is used for mounting the status pin (334), the status pin (334) penetrates through the upper end of the limiting support (33), the lower end of the status pin (334) extends out of the status pin (334) mounting hole, and the status pin is vertically arranged between the two limiting plates (331);
the upper end of the state pin (334) is also provided with a spring, the upper end of the spring is provided with a position sensor, the spring and the position sensor are arranged in a mounting hole of the state pin (334), the position sensor is connected with a fire control unit of the unmanned aerial vehicle, and the position sensor is used for detecting the in-place state of the emission load (5);
a target tracking and locking device (4) is further arranged below the aircraft body (1), and the target tracking and locking device (4) comprises a hanging plate (43), a damping device (42), an azimuth structure (41), a connecting arm (45) and a nacelle;
the hanging plate (43) is arranged below the machine body through a connecting column, a round hole is formed in the middle position of the hanging plate (43), a plurality of damping devices (42) are arranged at the circumferential position of the round hole above the hanging plate (43), the azimuth structure (41) is fixedly connected with the damping devices (42), the azimuth structure (41) is arranged right above the round hole, and the azimuth structure (41) is provided with a vertical servo motor;
the two connecting arms (45) are arranged below the hanging plate (43), the two connecting arms (45) are arranged, the upper ends of the two connecting arms (45) are rotationally connected with the azimuth structure (41) through a connecting device, the nacelle is arranged between the two connecting arms (45), the two sides of the nacelle are rotationally connected with the connecting arms (45), a transverse servo motor (44) is arranged, the target tracking locking device (4) is correspondingly provided with a control unit, the control unit is connected with the transverse servo motor (44) and the vertical servo motor through a driving circuit, the pitching angle of the nacelle is adjusted through the transverse servo motor (44), and the azimuth angle of the nacelle is adjusted through the vertical servo motor;
the nacelle is internally provided with a visible light sensor (46), a thermal infrared imager (47), a laser range finder (48) and an image tracking module, wherein signal output ends of the visible light sensor (46), the thermal infrared imager (47) and the laser range finder (48) are connected with a signal input end of the image tracking module, and the image tracking module is in bidirectional communication with the control unit; and the signal output end of the image tracking module is connected with the signal input end of the fire control unit.
2. The aircraft scout control launch system according to claim 1, wherein: the support frame (2) comprises a first frame (21) and a second frame (22) which are arranged below the unmanned aerial vehicle body, a loading plate (23) is arranged between the first frame (21) and the second frame (22), and the loading plate (23) is used for mounting the emission load (5);
the loading plate (23) is rotatably connected with the first frame (21) and the second frame (22);
the pitching angle adjusting device is arranged on the first frame (21) and is used for adjusting the pitching angle of the loading plate (23).
3. The aircraft scout control launch system according to claim 2, wherein: the first frame (21) and the second frame (22) are vertically arranged in parallel;
the upper half part of the first frame (21) is rectangular, and the lower half part of the first frame is inverted triangle; the pitching angle adjusting device comprises a pitching servo motor (211), wherein the pitching servo motor (211) is arranged on the outer side of the first frame (21), and the pitching servo motor (211) is connected with the fire control unit through a driving circuit; the pitching servo motor (211) is arranged on one side of the lower half part of the first side frame (21); a pitching shaft hole is formed in the middle position, close to the bottom, of the lower half part of the first frame (21), and an active pitching assembly (212) is arranged in the pitching shaft hole;
the pitching servo motor (211) is used for driving the active pitching assembly (212);
the upper half part of the second frame (22) is rectangular, and the lower half part is inverted triangle; the lower half part of the second frame (22) is also provided with a corresponding pitching shaft hole, and is provided with a driven pitching assembly (221).
4. An aircraft scout control launch system according to claim 3, wherein: the active pitching assembly (212) comprises a pitching rotating shaft arranged in a pitching shaft hole, a pair of meshed involute cylindrical gears are arranged on the outer side of the pitching rotating shaft, and the pitching servo motor (211) drives the pitching rotating shaft by driving the involute cylindrical gears; a pitching supporting device (2121) is arranged at the inner side end part of the pitching rotating shaft;
the slave pitch assembly (221) includes a pitch axis disposed in a pitch axis hole of the second bezel (22), and a pitch support device (2121) disposed inside the pitch axis.
5. The aircraft scout control launch system according to claim 4, wherein: two sides of the loading plate (23) are respectively provided with a strip-shaped limiting groove, each strip-shaped limiting groove is internally provided with four screw holes, and two sides of the loading plate (23) are fixed on the pitching support device (2121) through fixing bolts;
one side of the pitching servo motor (211) installation position of the first frame (21) is further provided with a limiting nail installation hole, the limiting nail installation hole is used for installing a limiting nail, and the limiting nail is used for limiting the pitching angle of the loading plate (23).
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| CN201810597130.6A CN108820214B (en) | 2018-06-11 | 2018-06-11 | Aircraft scouting control transmitting system |
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| CN201810597130.6A CN108820214B (en) | 2018-06-11 | 2018-06-11 | Aircraft scouting control transmitting system |
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| CN108820214B true CN108820214B (en) | 2023-12-22 |
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| CN109398716B (en) * | 2018-12-03 | 2023-11-28 | 中航技进出口有限责任公司 | External airborne control system |
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| CN112078796A (en) * | 2020-08-19 | 2020-12-15 | 北京机械设备研究所 | Pneumatic net gun device, unmanned aerial vehicle and pneumatic net gun launching system |
| CN112644713A (en) * | 2020-12-21 | 2021-04-13 | 中国人民解放军63677部队 | Middle and low altitude airship missile hanging posture stabilizing device |
| CN114455086B (en) * | 2021-12-30 | 2023-06-06 | 哈瓦国际航空技术（深圳）有限公司 | Look into and beat integrative cloud platform and unmanned aerial vehicle |
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