CN109319128A - A kind of unmanned plane cuts umbrella device automatically - Google Patents
A kind of unmanned plane cuts umbrella device automatically Download PDFInfo
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- CN109319128A CN109319128A CN201811285803.0A CN201811285803A CN109319128A CN 109319128 A CN109319128 A CN 109319128A CN 201811285803 A CN201811285803 A CN 201811285803A CN 109319128 A CN109319128 A CN 109319128A
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- tongue piece
- pin shaft
- umbrella
- mounting base
- crank
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- 239000000956 alloy Substances 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 3
- 238000005538 encapsulation Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract description 5
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000004064 recycling Methods 0.000 description 7
- 230000005622 photoelectricity Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- 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
- B64D17/00—Parachutes
- B64D17/22—Load suspension
- B64D17/38—Releasable fastening devices between parachute and load or pack
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of unmanned planes to cut umbrella device automatically, is made of image capture module, image procossing and automatic control unit and Qie San mechanism.The electron-light cameraing head of image capture module is located at unmanned aerial vehicle body bottom, connects between the output end of electron-light cameraing head and the input terminal of image pick-up card；Electron-light cameraing head has the function of infrared photography, high sensitivity.Image procossing and automatic control unit are integrated in unmanned aerial vehicle onboard computer, and reasonable distribution utilizes the hardware resource of airborne computer, and processing speed is fast, control precision is high；Image procossing is connected with the output end of automatic control unit with the input terminal of Qie San mechanism.Qie San mechanism is connected with unmanned aerial vehicle body.Using four-bar mechanism using reliable and stable, it is secured, not easily to fall off that umbrella band lantern ring before umbrella acts is cut in guarantee for Qie San mechanism, when carrying out cutting umbrella movement tongue piece open quickly, umbrella band lantern ring moment and umbrella organizational separation can be cut.Automatically cut that umbrella device structure is simple, and install convenient is versatile.
Description
Technical field
The present invention relates to the unmanned machine-cut umbrella technologies of parachuting formula, specifically, be related to a kind of unmanned plane cuts umbrella device automatically.
Background technique
The landing recycling of unmanned plane occupies an important position in the flight system of unmanned plane, the landing recycling side of unmanned plane
Formula is broadly divided into downhill type recycling, the recycling of parachuting formula, hits the recycling of net formula and the recycling of hook rope formula.Wherein, parachuting formula is recycled because its is right
The characteristics of requirement of external environment is low, recorery parachute is reusable, strong applicability is widely used in unmanned plane field.It adopts
The unmanned plane recycled with parachuting formula successively needs to undergo parachute-opening, cuts umbrella, throws several steps such as umbrella in parachuting removal process.?
Before carrying out cutting umbrella step, unmanned plane is to prevent complete machine swing excessive, needs to fix the umbrella band part of parachute with rope, to
Air speed is steady and close to ground when cuts off rope again, discharges fixed umbrella band, separates aircraft and parachute, avoid due to
Parachute and aircraft do not separate, and in turn resulting in aircraft is influenced the damage that occurs pulling and collide with, damage by wind on the ground
It is bad.Therefore, the umbrella of cutting in unmanned aircraft parachute descent formula removal process crosses range request speed fastly, securely and reliably.
Patent of invention 201310269265.7 proposes " a kind of unmanned plane and parachute automatic separation system and method ", should
Automatic separation system and method to unmanned machine-cut umbrella device without mechanical protection mechanism, the device when the pulling force of parachute is excessive,
Motor is be easy to cause to realize that the torque for needing motor to export when cutting umbrella is big by the movement of the rotation driving removable pin of rocker arm
Damage." a kind of unmanned plane cut umbrella device automatically " is disclosed in patent of invention 201710259453.X, this cuts the use of umbrella device automatically
The mode of full mechanical, only relies on to link up with when unmanned plane contacts to earth and reduces to the pressure of tongue piece to realize parachute and unmanned plane
Separation, but reliability is low, it is intelligent low.
Summary of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of unmanned plane cuts umbrella device automatically.
The technical solution adopted by the present invention to solve the technical problems is: including image capture module, image procossing and from
Dynamic control unit, Qie San mechanism, it is characterised in that described image acquisition module includes electron-light cameraing head and image pick-up card, photoelectricity
Camera is located at unmanned aerial vehicle body bottom, and the output end of electron-light cameraing head is connected with the input terminal of image pick-up card；
Described image processing and automatic control unit are image processing board and automatic control in unmanned aerial vehicle onboard computer
Plate, the output end of image capture module are connected with the input terminal of image processing board, the output end of image processing board and automatic control
The input terminal of plate connects, and image procossing is connected with the output end of automatic control unit with the input terminal of Qie San mechanism；
The Qie San mechanism includes electric machine assembly, crank, connecting rod, rocking bar, tongue piece, lantern ring, pin shaft, spring and mounting base,
The mounting base provides support for each component；The electric machine assembly includes motor and retarder, and motor output shaft and retarder are logical
Cross shaft coupling connection, retarder output end connect with crank, and motor is reverse rotating motor, motor receive image procossing with
After the instruction of automatic control unit output, output turning moment driving retarder and crank rotation；The crank be square and
Cylindrical body integral structure, cylindrical body top are spheric, have radial pin shaft hole on the square and cylindrical body of crank, and
The axis of two pin shaft holes on crank, which is parallel to each other, to be in the same plane；The connecting rod is H-shaped structure, and both ends are provided with pin shaft
Hole, connecting rod one end are connected with crank by pin shaft, and the connecting rod other end fits through pin shaft with rocking bar and connects；
The rocking bar is cylindrical body, and rocking bar top end part is spherical surface, and rocking bar lower end side is provided with pin shaft hole；The tongue piece front end
To there is the arc structure of curvature, position is provided with pin shaft hole among tongue piece, and tongue piece rear end is slab construction, and tongue piece is located in mounting base
It holds in groove, the pin shaft hole that pin shaft passes through in mounting base and tongue piece is connected in mounting base, and tongue piece is rotated around pin shaft, after tongue piece
It holds bottom surface and rocking bar top to cooperate, is point contact between tongue piece and rocking bar；
For the lantern ring across the front end of tongue piece in gap positioned at tongue piece and mounting base, lantern ring is used for Connectable umbrella band；
The spring encapsulation makes the front end of the initial position tongue piece of tongue piece lean against installation on connection tongue piece and the pin shaft of mounting base
On seat, Qie San mechanism is connected with unmanned aerial vehicle body by mounting base.
The crank, connecting rod, rocking bar, tongue piece, lantern ring and mounting base are all made of aluminum alloy material processing.
Beneficial effect
A kind of unmanned plane proposed by the present invention cuts umbrella device automatically, compared with prior art:
(1) the electron-light cameraing head of image capture module is the general corollary equipment of unmanned plane, is used without installing other sensors additional
In ranging, unmanned aerial vehicle body weight is reduced, reduces unmanned plane cost.Electron-light cameraing head has the function of infrared photography, not by night
With the influence in light difference ring border, sensitivity is higher.
(2) image procossing and automatic control unit are integrated in unmanned aerial vehicle onboard computer, and reasonable distribution utilizes airborne meter
The hardware resource of calculation machine, processing speed is fast, control precision is high.
(3) Qie San mechanism uses the principle of four-bar mechanism, and practical application is reliable and stable, and umbrella band lantern ring before umbrella acts is cut in guarantee
Securely, not easily to fall off；When cut umbrella movement, tongue piece, which opens quickly not Caton, umbrella band lantern ring, moment and to cut umbrella organizational separation.
(4) small in size, install convenient of cutting umbrella device automatically, adaptability and versatile.
Detailed description of the invention
Umbrella device is cut automatically to a kind of unmanned plane of the present invention with embodiment with reference to the accompanying drawing to be described in further detail.
Fig. 1 is that unmanned plane of the present invention cuts umbrella device installation position schematic diagram automatically.
Fig. 2 is that the present invention cuts umbrella device in Qie Sanqianqie umbrella mechanism working state schematic representation automatically.
Fig. 3 is that the present invention cuts umbrella device in Qie Sanhouqie umbrella mechanism working state schematic representation automatically.
Fig. 4 cuts the automatic of umbrella device for the present invention automatically and cuts umbrella control flow chart.
In figure:
1. 5. crank of 2. image procossing of image capture module and 3. Qie San mechanism of automatic control unit, 4. electric machine assembly
6. 11. spring of connecting rod 7. rocking bar, 8. tongue piece, 9. lantern ring, 10. pin shaft, 12. mounting base
Specific embodiment
The present embodiment is that a kind of unmanned plane cuts umbrella device automatically.
Refering to fig. 1~Fig. 4, the present embodiment unmanned plane cut umbrella device automatically, by image capture module 1, image procossing and from
Dynamic control unit 2 and Qie San mechanism 3 form；Wherein, image capture module 1 includes electron-light cameraing head and image pick-up card, photoelectricity
Camera is mounted on the holder of unmanned aerial vehicle body bottom photoelectric nacelle, and there are three the rotary freedom in direction, photoelectricity for holder tool
Vertically ground is shot the camera lens of camera, and the output end of electron-light cameraing head is connected with the input terminal of image pick-up card.Image
Processing and automatic control unit 2 are image processing board and automatic control panel in unmanned aerial vehicle onboard computer, image capture module 1
Output end connected with the input terminal of image processing board, the output end of image processing board is connected with the input terminal of automatic control panel,
Image procossing is connected with the output end of automatic control unit 2 with the input terminal of Qie San mechanism 3.
Image capture module 1 pre-processes the image got, and electron-light cameraing head is responsible for obtaining image information, camera shooting
Head is binocular camera, is distinguished using left camera and right camera, and camera obtains image and realizes image light signals to mould
The conversion of quasi- signal, image pick-up card is by analog signal progress A/D conversion and output digit signals are controlled to image procossing with automatic
Unit 2 processed；Image processing board in image procossing and automatic control unit 2 to digital signal carry out image remove dryness, the elimination that distorts,
Feature extraction, images match and apart from calculating, automatic control panel judges the result of image processing board, sends control and refers to
It enables.
In the present embodiment, Qie San mechanism 3 includes electric machine assembly 4, crank 5, connecting rod 6, rocking bar 7, tongue piece 8, lantern ring 9, pin shaft
10, spring 1, mounting base 12；Wherein, electric machine assembly 4 includes motor and retarder, and motor output shaft and retarder pass through shaft coupling
Connection, output end and crank 5 connection of retarder, motor is reverse rotating motor.Motor is receiving image procossing and automatic
After the instruction that control unit 2 exports, turning moment is exported, retarder and crank 5 is driven to rotate, motor is that Qie San mechanism 3 provides
Driving force.Crank 5 is processed using aluminum alloy material, and crank 5 is square and cylindrical body integral structure, 5 lower part square of crank
Two sides on be provided with pin shaft hole, the output shaft of electric machine assembly 4 passes through pin shaft hole and cooperates the output shaft of electric machine assembly and crank 5
Connection, 5 Upper cylindrical body side surface of crank are provided with pin shaft hole, the axis of 5 lower pin axis hole of crank and the axis phase of upper pin axis hole
Mutually parallel and in same plane.
In the present embodiment, connecting rod 6 is processed using aluminum alloy materials, and connecting rod 6 is symmetrical structure, and there is pin shaft at the both ends of connecting rod 6
Hole, pin shaft 10, which passes through connecting rod 6 and the pin shaft hole of crank 5, connects crank 5 and connecting rod 6.Rocking bar 7 is processed using aluminum alloy material,
Rocking bar 7 is cylindrical shape, and 7 top of rocking bar is spherical surface, is coated with wear-resistant material on spherical surface；7 lower end side of rocking bar is provided with pin shaft hole,
Pin shaft 10 passes through connecting rod 6 and the pin shaft hole of rocking bar 7 connects connecting rod 6 and rocking bar 7.Tongue piece 8 is aluminum alloy material, 8 front end of tongue piece
To there is the arc structure of curvature, the intermediate position of tongue piece 8 is provided with pin shaft hole, and 8 rear end of tongue piece is slab construction, the bottom of 8 plate of tongue piece
Face is coated with wear-resistant material.8 front end of tongue piece leans against in mounting base 12, and the rear end of tongue piece 8 is located on the spherical surface on 7 top of rocking bar, tongue
It is point contact between piece 8 and rocking bar 7, the pin shaft hole that pin shaft 10 passes through on pin shaft hole and tongue piece 8 in mounting base 12 consolidates tongue piece
It is scheduled in mounting base.
Lantern ring 9 is circular ring structure, and lantern ring 9 passes through the front end of tongue piece 8, between covering between 8 front end of tongue piece and mounting base 12
In gap, lantern ring 9 is processed using aluminum alloy material.Spring 11 is sleeved on connection tongue piece 8 and the pin shaft 10 of mounting base 12, and is guaranteed
The initial position of tongue piece 8 is that the front end of tongue piece 8 leans against in mounting base 12.Mounting base 12 is processed using aluminum alloy material, mounting base
12 support above-mentioned each component, Qie San mechanism 3 and unmanned aerial vehicle body to connect by mounting base 12 for installing.
In the present embodiment, when Qie Sanqian umbrella mechanism 3 is in initial position, 6 length of axis and connecting rod of 5 length direction of crank
Azimuth axis is on the same line；The axis of 7 length direction of rocking bar is vertical direction, and the axis of 8 pin shaft hole of tongue piece is water
Square to guaranteeing orthogonal between rocking bar 7 and tongue piece 8, be in mechanical dead point position between connecting rod 6 and rocking bar 7 at this time.
The location of each component in Qie San mechanism 3 turns over the angle of very little, the axis of 5 length direction of crank in crank 5
The axis of 6 length direction of line and connecting rod is no longer conllinear at this time；Rocking bar 7 deflects the angle of very little under the drive of connecting rod 6, breaks machine
Tool dead-centre position, tongue piece 8 rotate an angle around pin shaft 10, and tongue piece 8 is under leverage, and the front end of tongue piece 8 is upturned, tongue
Gap between piece 8 and mounting base 12 becomes larger, and lantern ring 9 is easily sliding out tongue piece 8 and mounting base 12 under the pulling force effect of umbrella band
Between gap, realization cut umbrella movement.
When unmanned plane enters landing recycling track, Qie San mechanism 3 starts to work, and successively adjusts, searches by camera head
Distant object, left and right camera synchronous acquisition image, the pretreatment of image, image segmentation, image characteristics extraction, camera shooting leader
Fixed, Image Feature Matching calculates left and right camera parallax x, calculates target range L, judges target range L and cuts umbrella critical distance
Each step of the size of L0, when meeting target range L when cutting within umbrella critical distance, automatic control panel is cut umbrella to motor sending and is referred to
It enables, motor rotates an angle, and umbrella movement is cut in realization, and that completes Qie San mechanism 3 cuts umbrella process automatically.
Claims (2)
1. a kind of unmanned plane cuts umbrella device automatically, including image capture module, image procossing and automatic control unit, cut umbrella machine
Structure, it is characterised in that: described image acquisition module includes electron-light cameraing head and image pick-up card, and electron-light cameraing head is located at unmanned plane
Fuselage bottom, the output end of electron-light cameraing head are connected with the input terminal of image pick-up card；
Described image processing and automatic control unit are image processing board and automatic control panel in unmanned aerial vehicle onboard computer, figure
As the output end of acquisition module is connected with the input terminal of image processing board, the output end of image processing board and automatic control panel it is defeated
Enter end connection, image procossing is connected with the output end of automatic control unit with the input terminal of Qie San mechanism；
The Qie San mechanism includes electric machine assembly, crank, connecting rod, rocking bar, tongue piece, lantern ring, pin shaft, spring and mounting base, described
Mounting base provides support for each component；The electric machine assembly includes motor and retarder, and motor output shaft and retarder pass through connection
The connection of axis device, retarder output end connect with crank, and motor is reverse rotating motor, motor receive image procossing with automatically
After the instruction of control unit output, output turning moment driving retarder and crank rotation；The crank is square and cylinder
Body integral structure, cylindrical body top are spheric, have radial pin shaft hole, and crank on the square and cylindrical body of crank
On the axis of two pin shaft holes be parallel to each other and be in the same plane；The connecting rod is H-shaped structure, and both ends are provided with pin shaft hole,
Connecting rod one end is connected with crank by pin shaft, and the connecting rod other end fits through pin shaft with rocking bar and connects；
The rocking bar is cylindrical body, and rocking bar top end part is spherical surface, and rocking bar lower end side is provided with pin shaft hole；The tongue piece front end is to have
The arc structure of curvature, tongue piece centre position are provided with pin shaft hole, and tongue piece rear end is slab construction, and it is recessed that tongue piece is located at mounting base upper end
In slot, the pin shaft hole that pin shaft passes through in mounting base and tongue piece is connected in mounting base, and tongue piece is rotated around pin shaft, the rear end bottom of tongue piece
Face and rocking bar top cooperate, and are point contact between tongue piece and rocking bar；
For the lantern ring across the front end of tongue piece in gap positioned at tongue piece and mounting base, lantern ring is used for Connectable umbrella band；It is described
Spring encapsulation makes the front end of the initial position tongue piece of tongue piece lean against mounting base on connection tongue piece and the pin shaft of mounting base
On, Qie San mechanism is connected with unmanned aerial vehicle body by mounting base.
2. unmanned plane according to claim 1 cuts umbrella device automatically, it is characterised in that: the crank, connecting rod, rocking bar, tongue
Piece, lantern ring and mounting base are all made of aluminum alloy material processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811285803.0A CN109319128A (en) | 2018-10-31 | 2018-10-31 | A kind of unmanned plane cuts umbrella device automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811285803.0A CN109319128A (en) | 2018-10-31 | 2018-10-31 | A kind of unmanned plane cuts umbrella device automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109319128A true CN109319128A (en) | 2019-02-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811285803.0A Pending CN109319128A (en) | 2018-10-31 | 2018-10-31 | A kind of unmanned plane cuts umbrella device automatically |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB862552A (en) * | 1958-03-14 | 1961-03-15 | Martin James | A cutter unit primarily for use in ejection seats for aircraft |
| CN103318414A (en) * | 2013-06-28 | 2013-09-25 | 中国石油天然气集团公司 | Automatic separation system and method for unmanned plane and parachute |
| CN203876987U (en) * | 2014-06-11 | 2014-10-15 | 国家电网公司 | Parachute cutting device and parachute cutting system |
| CN205256682U (en) * | 2015-12-21 | 2016-05-25 | 威海三智科技有限公司 | Control system is retrieved in unmanned aerial vehicle parachuting |
| CN106995060A (en) * | 2017-04-20 | 2017-08-01 | 长光卫星技术有限公司 | A kind of unmanned plane cuts umbrella device automatically |
| CN107985609A (en) * | 2017-11-23 | 2018-05-04 | 长光卫星技术有限公司 | Unmanned plane parachute piece-rate system based on ultrasonic wave module |
| CN209192242U (en) * | 2018-10-31 | 2019-08-02 | 西安爱生技术集团公司 | A kind of unmanned plane cuts umbrella device automatically |
-
2018
- 2018-10-31 CN CN201811285803.0A patent/CN109319128A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB862552A (en) * | 1958-03-14 | 1961-03-15 | Martin James | A cutter unit primarily for use in ejection seats for aircraft |
| CN103318414A (en) * | 2013-06-28 | 2013-09-25 | 中国石油天然气集团公司 | Automatic separation system and method for unmanned plane and parachute |
| CN203876987U (en) * | 2014-06-11 | 2014-10-15 | 国家电网公司 | Parachute cutting device and parachute cutting system |
| CN205256682U (en) * | 2015-12-21 | 2016-05-25 | 威海三智科技有限公司 | Control system is retrieved in unmanned aerial vehicle parachuting |
| CN106995060A (en) * | 2017-04-20 | 2017-08-01 | 长光卫星技术有限公司 | A kind of unmanned plane cuts umbrella device automatically |
| CN107985609A (en) * | 2017-11-23 | 2018-05-04 | 长光卫星技术有限公司 | Unmanned plane parachute piece-rate system based on ultrasonic wave module |
| CN209192242U (en) * | 2018-10-31 | 2019-08-02 | 西安爱生技术集团公司 | A kind of unmanned plane cuts umbrella device automatically |
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