CN109384102A - A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane - Google Patents
A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane Download PDFInfo
- Publication number
- CN109384102A CN109384102A CN201811206256.2A CN201811206256A CN109384102A CN 109384102 A CN109384102 A CN 109384102A CN 201811206256 A CN201811206256 A CN 201811206256A CN 109384102 A CN109384102 A CN 109384102A
- Authority
- CN
- China
- Prior art keywords
- cable
- capstan winch
- module
- motor
- folding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Abstract
The invention proposes a kind of devices of the aerial automatic deploying and retracting tow cable of unmanned plane, the middle axis connection of the shaft of retracting motor and cable capstan winch in device, coder module is installed on cable capstan winch periphery hole location, motor module and cable capstan winch are fixed on inside or outside unmanned aerial vehicle body by bracket, packing controller receives code device signal to calculate the length and folding and unfolding speed of drawing cable, the revolving speed of packing controller module connection retracting motor module controlling cable capstan winch, rotation time and rotation direction, cable one end is fixed on cable capstan winch, cable ends are equipped with the hook of mounting trailing equipment, packing controller connects airborne end wireless communication module and carries out wireless communication with ground surface end wireless control apparatus.The present invention has filled up the blank that unmanned plane pulls the controllable draw off gear of flight detecting devices, so that detecting devices and aircraft keep controllable distance, aircraft utilities is avoided to interfere, obtains more accurately detecting data.
Description
Technical field
The present invention relates to unmanned plane automatic deploying and retracting cable dragging object hydraulically airmanship fields, and in particular to a kind of unmanned plane is empty
The device and its operating method of middle automatic deploying and retracting tow cable.
Background technique
Fixed-wing unmanned plane, multi-rotor unmanned aerial vehicle and unmanned airship are in fields such as production, life, scientific researches using very at present
Extensively.People usually utilize unmanned plane to pull some equipment flights to complete some specific tasks, such as pull survey meter, pass
The detecting devices such as sensor.
The method of current fixed-wing unmanned plane, multi-rotor unmanned aerial vehicle and unmanned airship trailing equipment is mainly by task device
It is directly anchored to be articulated on unmanned plane on unmanned plane or by cable.Wherein, the side on unmanned plane is articulated in by cable
Method, due to cable can not automatic deploying and retracting and control adjustment length, if cable is too long when may cause unmanned plane takeoff and landing
Locking equipment hits ground and causes equipment damage, if cable is too short, some detecting devices are vulnerable to aircraft engine itself, machine
The interference that tool and electromagnetism generate will seriously affect the accuracy of detection data, need to have centainly with unmanned plane when these equipment work
Distance.Therefore, in a kind of unmanned plane during flying can automatic deploying and retracting cable, and can control tow cable length and speed method and
Device will be the very high technique device of practicability in unmanned plane dragging object hydraulically airmanship field.
Summary of the invention
The invention proposes a kind of devices of the aerial automatic deploying and retracting tow cable of unmanned plane, are installed on inside unmanned aerial vehicle body
Or external fuselage, for automatic deploying and retracting cable in unmanned plane during flying and control tow cable length and speed.The dress
It sets and includes:
Cable capstan winch.Cable capstan winch is the warping end being vertically fixedly mounted, and hole arranged in a uniform, capstan winch are with outside capstan winch
The folding and unfolding of cable is realized in rotation clockwise or counterclockwise.
Cable.Cable is power supply line or electric wire (light needed for the drawstring and trailing equipment with load-bearing capacity that casing entangles
It is fine) data line.Cable one end is fixed on cable capstan winch, and cable ends are equipped with the hook of mounting trailing equipment.
Retracting motor module.The shaft of retracting motor and the middle axis connection of cable capstan winch, are used for controlling cable capstan winch up time
Needle or rotation counterclockwise.Retracting motor module includes two parts of motor driven and motor, and motor driven provides conjunction for motor
Suitable driving electric signal, motor drive the rotation of cable capstan winch.
Bracket.Motor module and cable capstan winch are fixed on inside or outside unmanned aerial vehicle body by bracket.
Coder module.Coder module is installed on cable capstan winch periphery hole location, the speed that capstan winch can be rotated
Code conversion exports for electric signal and gives packing controller module.
Packing controller module.Packing controller is the control circuit with processor.Packing controller can be to folding and unfolding
The control to the rotation direction, velocity of rotation of cable capstan winch is realized in the control of motor module.Packing controller can receive coding
Device signal is to calculate the length and folding and unfolding speed of drawing cable.Packing controller is attached with airborne end wireless communication module,
It can be communicated with ground surface end wireless control apparatus.
Airborne end wireless communication module.Realize the wireless communication of transceiver controller and ground surface end wireless control apparatus.
Ground surface end wireless control apparatus.The length of control folding and unfolding cable and the control signal of speed are issued, folding and unfolding control is received
The length for the cable that device processed issues and the data of speed.
Power module.For packing controller module, airborne end wireless communication module and retracting motor module provide required electricity
Source.Power module provides spare interface simultaneously, can be trailing equipment power supply by the cable in cable.
The middle axis connection of the shaft of retracting motor and cable capstan winch, coder module are installed on cable in the device of the invention
Motor module and cable capstan winch are fixed on inside or outside unmanned aerial vehicle body by capstan winch periphery hole location, bracket, folding and unfolding control
Device can receive code device signal to calculate the length of drawing cable and folding and unfolding speed, and packing controller module connects retracting motor
Revolving speed, rotation time and the rotation direction of module controlling cable capstan winch, cable one end are fixed on cable capstan winch, cable ends peace
Hook equipped with mounting trailing equipment, packing controller connect airborne end wireless communication module and ground surface end wireless control apparatus into
Row wireless communication.
For the aerial automatic deploying and retracting tow cable device of a kind of unmanned plane, the invention proposes a kind of devices
Operating method includes the following steps:
Step 1: according to the demand of trailing equipment, control being issued by ground surface end wireless control apparatus before unmanned plane takes off
It instructs to packing controller, tow cable is received to the length of short safe take-off by packing controller control retracting motor；
Step 2: before unmanned plane takes off, trailing equipment being articulated on cable；
Step 3: unmanned plane in the sky when, the demand according to trailing equipment to folding and unfolding speed and required length of cable, lead to
It crosses ground surface end wireless control apparatus and issues control instruction to packing controller, by packing controller control retracting motor with required
Folding and unfolding speed lengthens cable to the length of trailing equipment demand；
Step 4: before unmanned plane landing, according to the demand of trailing equipment, being issued and controlled by ground surface end wireless control apparatus
It instructs to packing controller, retracting motor is controlled as packing controller and is short to cable receipts with folding and unfolding speed needed for trailing equipment
The length of safe falling；
Step 5: after unmanned plane landing, trailing equipment being removed from cable.
The present invention filled up unmanned plane pull flight detecting devices controllable draw off gear blank so that detecting devices with
Aircraft keeps controllable distance, and aircraft utilities is avoided to interfere, and obtains more accurately detecting data.
Detailed description of the invention
Fig. 1 is schematic structural diagram of the device of the invention.
Specific embodiment
The invention proposes a kind of method and apparatus of the aerial automatic deploying and retracting tow cable of unmanned plane, in order to make in invention
Hold clearer explanation, the embodiment of device is provided in conjunction with Fig. 1.The device of the invention is installed on fixed-wing by bracket in Fig. 1
Inside unmanned aerial vehicle body, for automatic deploying and retracting cable in unmanned plane during flying and control tow cable length and speed, specific packet
The module included:
Cable capstan winch.Cable capstan winch is the lightweight warping end for having some strength being vertically fixedly mounted, and capstan winch is clockwise
Or the folding and unfolding of cable is realized in anticlockwise rotation.According to the size of the inner space of unmanned plane, the diameter of cable capstan winch can
It adjusts.It is with hole arranged in a uniform outside capstan winch, the density of hole can control the precision of folding and unfolding length of cable, and hole is closeer
The precision of retractable cable is higher, conversely, then precision is lower.
Cable.Cable is power supply line or electric wire (light needed for the drawstring and trailing equipment with load-bearing capacity that casing entangles
It is fine) data line.The casing can be snakeskin casing or other soft hollow casings.It is installed in casing with certain load-bearing
The drawstring of ability, such as nylon rope.Power supply line needed for trailing equipment can also be installed in casing or electric wire (optical fiber) data line,
Power supply line or data line in casing can have, and can not also be installed with, depending on the demand of trailing equipment.Cable one end
It is fixed on cable capstan winch, cable ends are equipped with hook, for mounting trailing equipment.
Retracting motor module.The shaft of retracting motor and the middle axis connection of cable capstan winch, connection type, which can be, directly to be connected
It is connected to the axis of cable capstan winch, cable capstan winch axis can also be connected to by gear or belt chain drive.Retracting motor
The rotation of controlling cable capstan winch clockwise or counterclockwise forward or reverse.Retracting motor module includes motor driven and two, motor
Part, motor driven provide suitable driving electric signal for motor, and motor part drives the rotation of cable capstan winch.Retracting motor can be with
It is servo motor or stepper motor etc., motor driven is and the matched driving circuit of motor.
Bracket.Motor module and cable capstan winch are fixed on inside unmanned aerial vehicle body by bracket, using with some strength
Lightweight material makes bracket, such as aluminium alloy, carbon fibre material etc..
Coder module.Coder module is installed on cable capstan winch periphery hole location, can use photoelectric encoder, inspection
The rotation code conversion of capstan winch is exported for electric signal and gives packing controller module by the rotation for surveying capstan winch periphery hole.
Packing controller module.Packing controller is the control circuit with processor, and it is mono- to can be 51 single-chip microcontrollers, PIC
The controller that the processors such as piece machine, ARM or PLC are constituted.Control of the packing controller output control signal to retracting motor module
Realize the control to the rotation direction, velocity of rotation of cable capstan winch.Packing controller can receive code device signal and calculate cable
The length and folding and unfolding speed of folding and unfolding, to judge whether the folding and unfolding of cable reaches the demand of trailing equipment.Packing controller with it is airborne
End wireless communication module is attached, and can be communicated with ground surface end wireless control apparatus.Ground surface end wireless control apparatus hair
The number of delivering letters realizes the folding and unfolding of controlling cable to packing controller, and it is real that packing controller sends a signal to ground surface end wireless control apparatus
Existing ground surface end wireless control apparatus checks the function of the practical folding and unfolding situation of cable.
Airborne end wireless communication module.Realize the wireless communication of transceiver controller and ground surface end wireless control apparatus.It is airborne
Hold wireless communication module that can realize wireless communication using 2.4G communication or other communications.It is various wireless
The command range of communication mode is different, and ground surface end wireless control apparatus, which needs to issue control in the distance that communication mode covers, to be received
The signal of unwrapping wire cable.
Ground surface end wireless control apparatus.Ground surface end wireless control apparatus is the control circuit comprising wireless communication module.Ground
Face end wireless control apparatus is the controller constituted with processor, and controller can be arm processor system or smart phone
Etc. systems.The length of control folding and unfolding cable and the control signal of speed are issued, the length for the cable that packing controller issues is received
With the data of speed.
Power module.For packing controller module, airborne end wireless communication module and retracting motor module provide required electricity
Source.Power module provides spare interface simultaneously, can be trailing equipment power supply by the cable in cable.Power module can be used
Lithium battery is controlled as power supply, power circuit comprising DC-DC, can export 24V, the direct current of the different voltages grade such as 12V, 5V
Source.
Packing controller module connection encoder to be in the device of the invention to obtain the revolving speed and rotation time of cable capstan winch,
Packing controller module connects revolving speed, rotation time and the rotation direction of retracting motor module controlling cable capstan winch, cable winds
On cable capstan winch, trailing equipment is articulated in the hook of the end of cable, and packing controller connects airborne end wireless communication module
It is carried out wireless communication with ground surface end wireless control apparatus.
For the aerial automatic deploying and retracting tow cable device of a kind of unmanned plane, a kind of operation side of device is proposed
Method includes the following steps:
Step 1: according to the demand of trailing equipment, control being issued by ground surface end wireless control apparatus before unmanned plane takes off
It instructs to packing controller, tow cable is received to the length of short safe take-off by packing controller control retracting motor；
Step 2: before unmanned plane takes off, trailing equipment being articulated on cable.It can be to drag according to the demand of trailing equipment
The power supply line or data line in interfacility link cable are dragged, provides the data line of power supply or signal transmission for trailing equipment.
Step 3: unmanned plane in the sky when, in the distance range of wireless communication coverage, according to trailing equipment to folding and unfolding speed
The demand of degree and required length of cable issues control instruction to packing controller, by receiving by ground surface end wireless control apparatus
Controller control retracting motor is put cable lengthens to the length of trailing equipment demand with required folding and unfolding speed；
Step 4: before unmanned plane landing, in the distance range of wireless communication coverage, according to the demand of trailing equipment, passing through
Ground surface end wireless control apparatus issues control instruction to packing controller, by packing controller control retracting motor with trailing equipment
Cable is received the length for being short to safe falling by required folding and unfolding speed；
Step 5: after unmanned plane landing, trailing equipment being removed from cable.
Claims (10)
1. a kind of device of the aerial automatic deploying and retracting tow cable of unmanned plane characterized by comprising cable capstan winch, cable, folding and unfolding
Motor module, bracket, coder module, packing controller module, airborne end wireless communication module, ground surface end wireless control apparatus
And power module；
The middle axis connection of the shaft of retracting motor and cable capstan winch, coder module are installed on outside cable capstan winch in the device
Hole location is enclosed, motor module and cable capstan winch are fixed on inside or outside unmanned aerial vehicle body by bracket, and packing controller receives
For code device signal to calculate the length and folding and unfolding speed of drawing cable, packing controller module connects retracting motor module control line
Revolving speed, rotation time and the rotation direction of cable capstan winch, cable one end are fixed on cable capstan winch, and cable ends are equipped with mounting and drag
The hook of equipment is dragged, packing controller connects airborne end wireless communication module and ground surface end wireless control apparatus carries out channel radio
Letter.
2. the apparatus according to claim 1, which is characterized in that cable capstan winch be vertically be fixedly mounted have some strength
The folding and unfolding of cable is realized in lightweight warping end, the rotation of capstan winch clockwise or counterclockwise.According to the inner space of unmanned plane
Size, the diameter of cable capstan winch can adjust；It is with hole arranged in a uniform outside capstan winch, the density of hole can control folding and unfolding
The precision of the precision of length of cable, the closeer retractable cable of hole is higher, conversely, then precision is lower.
3. the apparatus according to claim 1, which is characterized in that cable be the drawstring with load-bearing capacity that entangles of casing with
The data line of power supply line or electric wire needed for trailing equipment (optical fiber).Power supply line or data line in casing can have, can also not
It is installed with, depending on the demand of trailing equipment, cable one end is fixed on cable capstan winch, and cable ends are equipped with hook,
For mounting trailing equipment.
4. the apparatus according to claim 1, which is characterized in that the shaft of retracting motor and the middle axis connection of cable capstan winch,
Connection type can be connected directly to the axis of cable capstan winch, can also be connected to cable by gear or belt chain drive
Capstan winch axis.The rotation of the capstan winch of controlling cable forward or reverse of retracting motor clockwise or counterclockwise.Retracting motor module packet
Two parts of motor driven and motor are included, motor driven provides suitable driving electric signal for motor, and motor part drives cable
Capstan winch rotation, retracting motor can be servo motor or stepper motor etc., and motor driven is and the matched driving circuit of motor.
5. the apparatus according to claim 1, which is characterized in that motor module and cable capstan winch are fixed on unmanned plane by bracket
Fuselage interior makes bracket using the lightweight material with some strength.
6. the apparatus according to claim 1, which is characterized in that coder module is installed on cable capstan winch periphery hole position
It sets, can use photoelectric encoder, detect the rotation of capstan winch periphery hole, be electric signal output by the rotation code conversion of capstan winch
Give packing controller module.
7. the apparatus according to claim 1, which is characterized in that packing controller is the control circuit with processor.It receives
Put control of the controller output control signal to the control realization of retracting motor module to the rotation direction, velocity of rotation of cable capstan winch
System.Packing controller can receive the length and folding and unfolding speed that code device signal calculates drawing cable, to judge the folding and unfolding of cable
Whether the demand of trailing equipment is reached；Packing controller is attached with airborne end wireless communication module, can with ground surface end without
Line traffic control control equipment is communicated.Ground surface end wireless control apparatus sends a signal to the folding and unfolding that packing controller realizes controlling cable,
Packing controller sends a signal to ground surface end wireless control apparatus and realizes that ground surface end wireless control apparatus checks the practical receipts of cable
The to one's heart's content function of condition.
8. the apparatus according to claim 1, which is characterized in that airborne end wireless communication module realizes transceiver controller and ground
The wireless communication of face end wireless control apparatus；The command range of various communications is different, ground surface end wireless control apparatus
Need to issue the signal of control folding and unfolding cable in the distance that communication mode covers.
9. the apparatus according to claim 1, which is characterized in that ground surface end wireless control apparatus is comprising wireless communication module
Control circuit.Ground surface end wireless control apparatus is the controller constituted with processor.Issue the length of control folding and unfolding cable
With the control signal of speed, the length for the cable that packing controller issues and the data of speed are received；Power module is folding and unfolding control
Power supply needed for device module processed, airborne end wireless communication module and retracting motor module provide.Power module provides reserved connect simultaneously
Mouthful, it can be trailing equipment power supply by the cable in cable.Power module can use lithium battery as power supply, can export
The DC power supply of the different voltages grade such as 24V, 12V, 5V.
10. a kind of operating method of any described device of claim 1 to 9, which is characterized in that including following operating procedure:
Step 1: according to the demand of trailing equipment, control instruction being issued by ground surface end wireless control apparatus before unmanned plane takes off
To packing controller, tow cable is received to the length of short safe take-off by packing controller control retracting motor；
Step 2: before unmanned plane takes off, trailing equipment being articulated on cable.It can be set according to the demand of trailing equipment to pull
Power supply line or data line in standby connection cables provide the data line of power supply or signal transmission for trailing equipment.
Step 3: unmanned plane in the sky when, in the distance range of wireless communication coverage, according to trailing equipment to folding and unfolding speed and
The demand of required length of cable issues control instruction to packing controller, by folding and unfolding control by ground surface end wireless control apparatus
Device control retracting motor processed is lengthened cable to the length of trailing equipment demand with required folding and unfolding speed；
Step 4: before unmanned plane landing, in the distance range of wireless communication coverage, according to the demand of trailing equipment, passing through ground
Wireless control apparatus is held to issue control instruction to packing controller, as packing controller control retracting motor needed for trailing equipment
Folding and unfolding speed cable received be short to the length of safe falling；
Step 5: after unmanned plane landing, trailing equipment being removed from cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811206256.2A CN109384102A (en) | 2018-10-17 | 2018-10-17 | A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811206256.2A CN109384102A (en) | 2018-10-17 | 2018-10-17 | A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109384102A true CN109384102A (en) | 2019-02-26 |
Family
ID=65427669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811206256.2A Pending CN109384102A (en) | 2018-10-17 | 2018-10-17 | A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109384102A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109835781A (en) * | 2019-03-23 | 2019-06-04 | 深圳市贝贝特科技实业有限公司 | It is tethered at unmanned plane wire-winding unit and its working method |
| CN113733111A (en) * | 2021-08-31 | 2021-12-03 | 北京空间飞行器总体设计部 | Wheel leg and foot self-reconfigurable mobile robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005231876A (en) * | 2004-02-23 | 2005-09-02 | Elquest Corp | Rolled paper feeding device and medicine folding device |
| CN104677394A (en) * | 2013-11-29 | 2015-06-03 | 刘伯安 | Code and device for sensing position or angular position |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN205374494U (en) * | 2016-02-25 | 2016-07-06 | 长沙南车电气设备有限公司 | Photoelectric rotating -speed sensor |
| CN206068158U (en) * | 2016-08-31 | 2017-04-05 | 四川聚能核技术工程有限公司 | A kind of lifting device based on unmanned plane |
| CN206088557U (en) * | 2016-09-21 | 2017-04-12 | 成都嘉泰华力科技有限责任公司 | It is two around cable cable laying mechanism |
-
2018
- 2018-10-17 CN CN201811206256.2A patent/CN109384102A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005231876A (en) * | 2004-02-23 | 2005-09-02 | Elquest Corp | Rolled paper feeding device and medicine folding device |
| CN104677394A (en) * | 2013-11-29 | 2015-06-03 | 刘伯安 | Code and device for sensing position or angular position |
| CN205374494U (en) * | 2016-02-25 | 2016-07-06 | 长沙南车电气设备有限公司 | Photoelectric rotating -speed sensor |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN206068158U (en) * | 2016-08-31 | 2017-04-05 | 四川聚能核技术工程有限公司 | A kind of lifting device based on unmanned plane |
| CN206088557U (en) * | 2016-09-21 | 2017-04-12 | 成都嘉泰华力科技有限责任公司 | It is two around cable cable laying mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109835781A (en) * | 2019-03-23 | 2019-06-04 | 深圳市贝贝特科技实业有限公司 | It is tethered at unmanned plane wire-winding unit and its working method |
| CN113733111A (en) * | 2021-08-31 | 2021-12-03 | 北京空间飞行器总体设计部 | Wheel leg and foot self-reconfigurable mobile robot |
| CN113733111B (en) * | 2021-08-31 | 2023-02-28 | 北京空间飞行器总体设计部 | Wheel leg and foot self-reconfigurable mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106005462A (en) | Retraction system for mooring unmanned aerial vehicle and method for deploying and retracting mooring unmanned aerial vehicle with same | |
| CN205952338U (en) | A cable pay -off and take -up device for mooring unmanned aerial vehicle receive and releases cabin | |
| CN205952334U (en) | A receive and release system for mooring unmanned aerial vehicle | |
| AU2013261044B2 (en) | Point take-off and landing of unmanned flying objects | |
| CN107512391B (en) | Rotor unmanned aerial vehicle based on mooring cable power supply | |
| CN104743129A (en) | Automatic lock line winding and unwinding device for mooring unmanned aerial vehicle | |
| RU2441809C2 (en) | Method of control unmanned aircraft and unmanned aircraft complex | |
| KR20130119633A (en) | Unmanned aerial vehicle system with cable connection equipment | |
| CN112977821B (en) | Transmission line inspection aircraft | |
| WO2015088971A1 (en) | Ground station with shuttled drum for tethered aerial vehicles | |
| CN109384102A (en) | A kind of device and its operating method of the aerial automatic deploying and retracting tow cable of unmanned plane | |
| CN111650949A (en) | Mooring unmanned aerial vehicle control system and method | |
| CN105836153A (en) | Mooring system of unmanned aerial vehicle | |
| CN111355186A (en) | Automatic inspection device of formula of flying away many rotors overhead transmission line | |
| CN105958372A (en) | String system for mountainous area through employing unmanned plane | |
| CN109018420B (en) | Unmanned aerial vehicle mooring platform capable of being automatically positioned | |
| CN212626849U (en) | Automatic inspection device of formula of flying away many rotors overhead transmission line | |
| CN106767181B (en) | A kind of plug-in target nacelle of aviation | |
| CN112977819A (en) | Power transmission line inspection flying robot comprising double machines | |
| CN109795710B (en) | Full-automatic pay-off and take-up system synchronously controlled by tethered unmanned aerial vehicle | |
| CN112469896A (en) | Unmanned aerial vehicle, control method, associated platform and high altitude turbine | |
| CN111114737B (en) | Hybrid lift high-altitude mooring system | |
| CN206387315U (en) | A kind of plug-in target nacelle of aviation | |
| RU2094325C1 (en) | Device for remote control of gliding-type parachute | |
| CN110589631B (en) | Unmanned aerial vehicle mooring cable winding and unwinding control system and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190226 |
|
| RJ01 | Rejection of invention patent application after publication |