CN109720575A - Unmanned plane cargo delivery apparatus and method, unmanned plane - Google Patents
Unmanned plane cargo delivery apparatus and method, unmanned plane Download PDFInfo
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- CN109720575A CN109720575A CN201711051804.4A CN201711051804A CN109720575A CN 109720575 A CN109720575 A CN 109720575A CN 201711051804 A CN201711051804 A CN 201711051804A CN 109720575 A CN109720575 A CN 109720575A
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Abstract
The present invention relates to a kind of unmanned plane cargo delivery apparatus and methods, unmanned plane, device includes control unit (1), drawing piece (8) and the cable elevator structure (3) being located on unmanned plane, the first end of drawing piece (8) is connect with cargo (4), second end is separatably connect with cable elevator structure (3), control unit (1) can be such that cargo declines when needing to deliver cargo by cable elevator structure (3) release drawing piece (8), and be detached from drawing piece (8) and cable elevator structure (3) after cargo reaches predeterminated position.Without droping to ground when such unmanned plane delivers cargo, not only avoids people and contacted with unmanned plane, the safety that unmanned plane delivers cargo can be improved, moreover it is possible to improve cargo and deliver efficiency, reduce the requirement to state of ground.Moreover, cargo by drawing piece slow release, can guarantee that cargo security reaches ground, disconnect automatically between drawing piece and unmanned plane later, cargo can be smoothly completed without picking personnel cooperation and is delivered.
Description
Technical field
The present invention relates to unmanned plane cargo delivery technology field more particularly to a kind of unmanned plane cargo delivery apparatus and sides
Method, unmanned plane.
Background technique
Logistics unmanned plane is the important applied field of unmanned air vehicle technique, will greatly facilitate people's lives.Automation
Unmanned plane logistics system using unmanned plane replace it is artificial deliver cargo, can be realized the automation of speed delivery, unmanned, information
Change, promotes efficiency and service quality that express delivery is delivered.Unmanned plane is in cargo delivery process, it should be ensured that cargo security is kept away simultaneously
Exempt from unmanned plane and hurt ground staff, ground staff is also avoided to damage unmanned plane.
Logistics unmanned plane in the prior art generally delivers cargo in the following way:
(1) unmanned plane drop to surface delivery.Unmanned plane drop to ground, discharges cargo automatically, or unloaded by ground staff
Loading object is completed after delivering, and unmanned plane, which takes off, to make a return voyage.The shortcomings that such delivering method, is, when unmanned plane drops to ground, by
Yu Renyu unmanned plane has the chance to contact with each other, and aircraft is easy by the intentional or unintentional damage of ground staff, and when personnel grasp
Make improper or non-working person, such as when passerby, child, old man are close to unmanned plane, is easy the wound by the unmanned plane operated
Evil.In addition, unmanned plane landing also has certain requirement to the ground flat degree of landing.
(2) unmanned plane is jettisoninged in the air.Unmanned plane flies to goods place overhead is thrown, and opens and delivers mechanism, completes cargo and delivers, throws
Goods process is participated in without ground staff, and cargo with higher delivers efficiency.Although the mode jettisoninged in the air avoids people and aircraft
Contact, but cargo is easily damaged when falling, and is carried out risk to the safety belt of cargo, is limited the type of deliverable article.
Summary of the invention
The embodiment provides a kind of unmanned plane cargo delivery apparatus and methods, unmanned plane, can be improved logistics
Safety in unmanned plane cargo delivery process.
To achieve the above object, the embodiment of the present invention first aspect provides a kind of unmanned plane cargo delivery apparatus, packet
It includes control unit, drawing piece and the cable elevator structure being located on unmanned plane, the first end of drawing piece to connect with cargo, second end and rope
Descending mechanism separatably connects, and control unit can gradually discharge drawing by cable elevator structure when unmanned plane needs to deliver cargo
Part declines cargo, and is detached from drawing piece and cable elevator structure when cargo reaches predeterminated position.
Further, unmanned plane cargo delivery apparatus further includes the holding mechanism being located on unmanned plane, and holding mechanism is used for
Position holding is carried out to cargo during goods handling, control unit can first make holding mechanism solution when needing to deliver cargo
Except the limitation to cargo, then discharging drawing piece by cable elevator structure declines cargo.
Further, at least one of holding mechanism and cable elevator structure are located at the fuselage bottom of unmanned plane.
Further, unmanned plane cargo delivery apparatus further includes height sensor, for detecting the flying height of unmanned plane,
Control unit can receive the detection signal of height sensor, and start to deliver goods after unmanned plane reaches predetermined throwing goods height
Object.
Further, after cargo reaches predeterminated position, unmanned plane keeps cable elevator structure and drawing piece de- by moving upwards
From.
Further, cable elevator structure includes pedestal, driving part and wrap, and cable elevator structure is mounted on unmanned plane by pedestal
On, driving part and wrap are set on the base, and for drawing piece on wrap, control unit can control driving part band
Dynamic wrap rotation, declines cargo to discharge drawing piece.
Further, pedestal uses U-shaped structure, and U-shaped structure includes interconnecting piece and the side arm for being respectively provided at interconnecting piece both ends
Portion, interconnecting piece are mounted on unmanned plane, and the both ends of wrap are rotatably arranged at respectively in two side arm portions, and driving part is located at
In one of side arm portion and it is located at outside, the output shaft of driving part and one end of wrap connect.
Further, at least one side arm portion is equipped with the mounting groove of one end open, and the end of wrap can be from installation
The open end of slot is packed between two side arm portions.
Further, cable elevator structure further includes block piece, and block piece is movably located in side arm portion, can need to fill
The position for leaving mounting groove is moved to when entering wrap, and is moved to after the installation is completed in wrap and stopped wrap from mounting groove
The position of middle abjection.
Further, one of side arm portion is equipped with mounting groove, and cable elevator structure further includes block piece, and block piece is rotatable
Ground is mounted on the outer wall in the side arm portion equipped with mounting groove, and the position for leaving mounting groove can be turned to when needing to be packed into wrap
It sets, and turns to the position of the axial freedom of limitation wrap after the installation is completed in wrap.
Further, cable elevator structure includes driving part and current sensor, and current sensor is for detecting driving part
Electric current when work release drawing piece, control unit being capable of the judgement when the detected value of current sensor is decreased to the first preset value
Cargo has arrived at predeterminated position, and when the detected value of current sensor continues to be decreased to the second preset value determine drawing piece with
Cable elevator structure is detached from.
Further, cable elevator structure includes the driving part with position detecting element, and position detecting element is for detecting
The turnning circle of driving part, control unit can obtain the release length of drawing piece according to the turnning circle of driving part, with
Determine that cargo has arrived at predeterminated position when the release length of drawing piece reaches predetermined throwing goods height, and in the release of drawing piece
Length determines that drawing piece and cable elevator structure are detached from when reaching total length.
Further, when the predetermined throwing goods height of unmanned plane is identical, drawing piece length phase used by each delivery cargo
Together.
Further, drawing piece includes rope or film band.
To achieve the above object, the embodiment of the present invention second aspect provides a kind of unmanned plane, including above-mentioned each implementation
The unmanned plane cargo delivery apparatus of example.
To achieve the above object, the embodiment of the present invention third aspect provides a kind of unmanned plane goods based on the above embodiment
The cargo delivering method of object delivery apparatus, comprising:
The instruction of cargo is delivered in response to unmanned plane, gradually discharging drawing piece by cable elevator structure declines cargo；
Drawing piece and cable elevator structure are detached from after cargo reaches predeterminated position.
Further, before gradually discharging the step of drawing piece declines cargo by cable elevator structure, unmanned plane cargo
Delivering method further include:
Holding mechanism is set to unclamp cargo.
Further, unmanned plane cargo delivering method further include: reach predetermined delivery place and predetermined throwing goods in unmanned plane
In the case where height, the instruction that unmanned plane delivers cargo is generated.
Further, cargo reach predeterminated position after make drawing piece and cable elevator structure disengaging the step of include:
After cargo reaches predeterminated position, unmanned plane is detached from cable elevator structure and drawing piece by moving upwards.
Further, gradually discharging the step of drawing piece declines cargo by cable elevator structure includes:
It controls driving part and drives wrap rotation, decline cargo to discharge the drawing piece on wrap.
Further, unmanned plane cargo delivering method further include:
Current sensor detects electric current when driving part work release drawing piece；
Determine that cargo has arrived at predeterminated position when the detected value of current sensor is decreased to the first preset value；
After determining cargo and having arrived at predeterminated position, the detected value of current sensor continues to be decreased to the second preset value
When determine that drawing piece and cable elevator structure are detached from.
Further, unmanned plane cargo delivering method further include:
The turnning circle of position detecting element detection driving part in driving part；
The release length of drawing piece is obtained according to the turnning circle of driving part；
Determine that cargo has arrived at predeterminated position when the release length of drawing piece reaches predetermined throwing goods height；
Determine that drawing piece and cable elevator structure are detached from when the release length of drawing piece reaches total length.
Further, unmanned plane cargo delivering method further include:
By drawing piece in advance on wrap, and wrap is mounted on unmanned plane；
The first end of drawing piece is connect with cargo before needing to deliver cargo, cargo is loaded on unmanned plane.
Further, unmanned plane cargo delivering method further include:
The first end of drawing piece is connect with cargo, second end is connect with wrap；
It controls driving part and drives wrap rotation, make drawing piece on wrap, cargo is loaded into nobody
On machine.
Further, unmanned plane cargo delivering method further include:
It connect its first end with cargo later on wrap drawing piece；
The related wrap for having drawing piece and cargo is mounted on unmanned plane before needing to deliver cargo.
Based on the above-mentioned technical proposal, the unmanned plane cargo delivery apparatus of one embodiment of the invention, including drawing piece and set
Cable elevator structure on unmanned plane, can gradually discharge drawing piece by cable elevator structure when unmanned plane needs to deliver cargo makes goods
Object decline, and drawing piece and cable elevator structure are detached from after the predeterminated position that cargo reaches Near Ground.Unmanned plane is being thrown as a result,
It is not necessarily to drop to ground during passing cargo, not only avoids people and contacted with unmanned plane, logistics unmanned plane can be improved and deliver goods
The safety of object, moreover it is possible to improve the delivery efficiency of cargo, and reduce the requirement to state of ground.Moreover, cargo passes through drawing
Part slow release can guarantee that cargo security reaches ground, and the connection between drawing piece and unmanned plane disconnects automatically later, is not necessarily to
Picking personnel cooperation can smoothly complete cargo delivery.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the module composition schematic diagram of one embodiment of unmanned plane cargo delivery apparatus；
Fig. 2 is the structural schematic diagram that unmanned plane cargo delivery apparatus of the present invention is mounted on one embodiment on unmanned plane；
Fig. 3 a to 3d is the state diagram during unmanned plane of the present invention delivery cargo；
Fig. 4 is the structural schematic diagram of one embodiment of cable elevator structure in unmanned plane cargo delivery apparatus of the present invention；
Fig. 5 is the cross-sectional view of one embodiment of cable elevator structure in unmanned plane cargo delivery apparatus of the present invention；
Fig. 6 is the structural schematic diagram of one embodiment of pedestal in cable elevator structure of the present invention；
Fig. 7 is the structural schematic diagram of one embodiment of wrap in cable elevator structure of the present invention；
Fig. 8 is the structural schematic diagram of one embodiment of block piece in cable elevator structure of the present invention；
Fig. 9 is the flow diagram of one embodiment of unmanned plane cargo delivering method of the present invention.
Description of symbols
1, control unit；2, holding mechanism；3, cable elevator structure；4, cargo；5, height sensor；6, current sensor；7,
Fuselage；8, drawing piece；
31, pedestal；311, interconnecting piece；312, side arm portion；313, fixation hole；314, mounting groove；315, mounting hole；316, solid
Fixed column；32, driving part；33, wrap；331, cable-through hole；332, axis is wound；333, wire-blocking board；334, the first connecting shaft；
335, the second connecting shaft；34, block piece；341, baffle；342, shaft；35, axle sleeve.
Specific embodiment
The present invention described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail.So
The various aspects of restriction can be combined with any other one aspect or many aspects, can not be combined unless explicitly stated otherwise.Especially,
It is considered as preferred or advantageous any feature can be considered as preferred or advantageous feature group with other one or more
It closes.
The terms descriptions merely for convenience such as " first " that occurs in the present invention, " second " have same names to distinguish
Different building blocks, be not offered as successively or primary-slave relation.
In the description of the present invention, the instruction such as "upper", "lower", "top", "bottom", "front", "rear", "inner" and "outside" is used
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention, rather than
The device of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limiting the scope of the invention.
As depicted in figs. 1 and 2, the present invention provides a kind of unmanned plane cargo delivery apparatus, including control unit 1, drawing
Part 8 and the cable elevator structure 3 being located on unmanned plane.Wherein, drawing piece 8, which can choose rope, film band or chain etc., can bear goods
The first end of the elongate articles of 4 weight of object, drawing piece 8 is connect with cargo 4, is connected to cargo for example, by using the mode of binding, hasp
On ontology or cargo compartment, second end is separatably connect with cable elevator structure 3.
Preferably, cable elevator structure 3 may be provided in the underbelly of unmanned plane, i.e. ventral position, the position and unmanned plane lower section
The cargo 4 of carrying is closer, and be can be avoided drawing piece 8 and applied uneven loading action power to cargo 4, stablizes cargo 4 vertical
It falls.During goods handling, drawing piece 8 is in retracted state in cable elevator structure 3, during cargo is delivered,
Control unit 1, which can make cable elevator structure 3 rallentando discharge drawing piece 8, declines cargo 4, and reaches default position in cargo 4
Postponing is detached from drawing piece 8 and cable elevator structure 3, and control unit 1 can be located on unmanned plane.Predeterminated position according to circumstances can be
Ground, the air position that ground will be arrived at, the platform being above the ground level or from recessed platform in ground etc..Then, unmanned plane
Other tasks can be increased, return or execute, drawing piece 8 is stayed with cargo in ground as consumptive material.
The unmanned plane cargo delivery apparatus of the embodiment, at least has one of following advantage:
(1) mode of cargo is delivered by using drawing piece, unmanned plane is in aerial always during delivering cargo,
Without droping to ground, not only avoid people and contacted with unmanned plane, prevent people from damaging to unmanned plane, can be improved logistics nobody
The safety of machine delivery cargo, moreover it is possible to improve the delivery efficiency of cargo, and reduce the requirement to state of ground, state of ground is not
It will affect the delivery of cargo.
(2) cargo can guarantee that cargo security reaches ground, it is not easy to cause to damage to cargo by drawing piece slow release
It is bad, the safety of cargo delivery can be further increased, the type that can deliver cargo has been widened.
(3) after cargo reaches the predeterminated position such as ground, drawing piece and unmanned plane can be made by the movement of unmanned plane
Between connection disconnect automatically, without picking personnel cooperate dismantling drawing piece picking can smoothly complete cargo deliver, prevent people
Unmanned plane is damaged indirectly by drawing piece in picking, and the waiting time of unmanned plane can be saved, improves delivery effect
Rate.Even if ground has personnel to pull drawing piece, it also can only accelerate the disengaging of drawing piece and unmanned plane, will not influence the peace of unmanned plane
Entirely.
In order to reliably carry cargo 4 during goods handling, referring still to Fig. 1 and Fig. 2, unmanned plane cargo of the invention
Delivery apparatus may also include the holding mechanism 2 being located on unmanned plane, and holding mechanism 2 is used for during cargo 4 transports to cargo 4
Position holding is carried out, control unit 1 can first make holding mechanism 2 release the constraint to cargo 4 when needing to deliver cargo 4, then
Discharging drawing piece 8 by cable elevator structure 3 declines cargo 4.Holding mechanism 2 can guarantee cargo fix tightly during transport
Gu preventing the cargo before reaching throwing goods place from falling, the safety of goods handling is improved.
For example, holding mechanism 2 can use multiple claws, claw clamps cargo 4 from the side of cargo 4 or bottom, passes through
Claw, which is swung out, unclamps cargo 4.Or holding mechanism 2 may be configured to the frame-shaped structure of holding freight 4, frame shape
The bottom of structure is equipped with the locating parts such as baffle, moves locating part outward when needing to deliver cargo, to release to 4 bottom of cargo
Constraint.
Preferably, holding mechanism 2 is located at 7 bottom of fuselage of unmanned plane, and cable elevator structure 3 is located at the top of cargo and 7 bottom of fuselage
In space between portion, cable elevator structure 3 may be provided at the middle position that holding mechanism 2 is enclosed space, so that cargo 4 can
Stablize landing under the action of drawing piece 8.
Further, unmanned plane cargo delivery apparatus of the invention further includes the height sensor 5 being located on unmanned plane, is used
In the flying height of detection unmanned plane.Start to land after unmanned plane reaches predetermined delivery place, control unit 1 can receive height
The detection signal of sensor 5 is spent, and starts to deliver cargo 4 after unmanned plane reaches predetermined throwing goods height, makes a reservation for throw goods height root
It is determined according to the length of drawing piece 8.Specifically, after unmanned plane reaches predetermined throwing goods height, control unit 1 first makes holding mechanism 2
The constraint to cargo 4 is released, then discharging drawing piece 8 by cable elevator structure 3 declines cargo 4.
The opportunity for starting to deliver cargo 4 can be accurately judged by the way that height sensor 5 is arranged, and cargo 4 can be made to exist
Fall on during the entire process of the predeterminated position such as ground, can be delivered under the action of drawing piece 8, avoid cargo 4 due to by
It is damaged to biggish impact force, further increases safety when cargo lands.
After cargo 4 reaches the predeterminated positions such as ground, unmanned plane can make cable elevator structure 3 and drawing piece 8 by moving upwards
It is detached from, when unmanned plane moves upwards, so that the remaining drawing piece 8 being retracted on cable elevator structure 3 is discharged, make drawing piece 8
Release completely is finally detached from cable elevator structure 3, and drawing piece 8 is used as consumptive material and cargo 4 together stand-down.Preferably, unmanned plane
It can move straight up, drawing piece 8 can be made to be easier to be detached from from cable elevator structure 3.
It will be apparent from the specific structure of cable elevator structure 3 below.
As shown in figure 4, cable elevator structure 3 includes pedestal 31, driving part 32 and wrap 33, pedestal 31 is by cable elevator structure 3
It is mounted on unmanned plane, driving part 32 and wrap 33 are located on pedestal 31, and drawing piece 8 is on wrap 33, control
Component 1 can control driving part 32 and wrap 33 is driven to rotate, and decline cargo 4 to discharge drawing piece 8.Wherein, driving portion
Part can be motor, motor, steering engine etc., and direct current generator, stepper motor or servo motor etc. may be selected in motor.
Specifically, as shown in fig. 6, pedestal 31 forms U-shaped structure using flat plate buckling, U-shaped structure includes 311 He of interconnecting piece
It is respectively provided at the side arm portion 312 at 311 both ends of interconnecting piece.Wherein, interconnecting piece 311 is equipped with fixation hole 313, can be incited somebody to action by fastener
Pedestal 31 is mounted on the ventral of unmanned plane.The both ends of wrap 33 are rotatably arranged at respectively in two side arm portions 312, make to twine
It is located between two side arm portions 312 around part 33, driving part 32 is located in one of side arm portion 312 and is located at outside, driving
The output shaft of component 32 is connect with one end of wrap 33, and the rotation of wrap 33 can be driven to discharge or wind drawing piece 8.
Fig. 7 illustrates the structural schematic diagram of one embodiment of wrap 33.Wrap 33 includes: winding 332 He of axis
It is located at the wire-blocking board 333 at winding 332 both ends of axis, drawing piece 8 is on winding axis 332, the outside difference of two wire-blocking boards 333
The first connecting shaft 334 and the second connecting shaft 335, the first connecting shaft 334 and the second connecting shaft 335 are coaxially provided with winding axis 332
Difference is rotationally connect with two side arm portions 312.In conjunction with Fig. 5 and Fig. 7, the position for winding 332 both ends of axis was respectively equipped with line
Hole 331, the first end of drawing piece 8 pass through one of after cable-through hole 331 along winding 332 outer wall of axis axially into another
Cable-through hole 331, is wound again later, and such winding mode can make the winding of drawing piece 8 more reliable, is delivering cargo 4
Can guarantee that cargo gradually slowly declines in the process, prevent due to cargo is overweight and cause in cargo descent drawing piece 8 from
It falls off on wrap 33.
In order to which wrap 33 to be quickly mounted on pedestal 31, installation effectiveness is improved, to save sending for unmanned plane
ETCD estimated time of commencing discharging, with reference to Fig. 6, at least one side arm portion 312 is equipped with the mounting groove 314 of one end open, and the end of wrap 33 can
It is packed between two side arm portions 312 from the open end of mounting groove 314.
Further, cable elevator structure 3 further includes block piece 34, and block piece 34 is movably located in side arm portion 312, can
The position for leaving mounting groove 314 is moved to when needing to be packed into wrap 33, to be packed into wrap 33, and is pacified in wrap 33
The position for stopping wrap 33 to be deviate from from mounting groove 314 is moved to after dress, and wrap 33 is securely fixed in base
On seat 31.
In one form of construction, mounting groove 314 is equipped in two side arm portions 312, block piece 34 is located at close to installation
The position of 314 open end of slot.When needing to be packed into wrap 33, two block pieces 34 are pushed aside, by the of 33 both ends of wrap
One connecting shaft 334 and the second connecting shaft 335 are packed into from the open end of two sides mounting groove 314 simultaneously.After being installed in place, by block piece
34 dial to the position for blocking 314 open end of mounting groove, which is being not shown in the figure.
In another structure type, as shown in Figure 4 and Figure 6, one of side arm portion 312 is equipped with mounting groove 314, peace
Tankage 314 is obliquely installed open end upward, another side arm portion 312 is equipped with mounting hole 315.In order to
It is easily installed, as shown in figure 5, the length of the first connecting shaft 334 is greater than the length of the second connecting shaft 335.It is needing to be packed into winding
When part 33, the first connecting shaft 334 is encased in extreme position from the open end of mounting groove 314, then again by 33 direction of wrap
The side arm portion 312 that mounting hole 315 is arranged is mobile, enters the second connecting shaft 335 in mounting hole 315.
Wrap 33 is deviate from order to prevent, and block piece 34 is installed in rotation on the side arm portion 312 equipped with mounting groove 314
On outer wall, the position for leaving mounting groove 314 can be turned to when needing to be packed into wrap 33, and install in wrap 33
The position for turning to the axial freedom of limitation wrap 33 afterwards, that is, withstand the end of the first connecting shaft 334.As shown in figure 8, resistance
Block piece 34 includes baffle 341 and shaft 342, and shaft 342 is threaded through in the hole in side arm portion 312, protrudes into side arm portion in shaft 342
The length section of 312 insides is equipped with card slot, to realize the fixation of block piece 34 by retainer ring.Block piece 34 can prevent wrap
33 abjections, and be able to achieve and be coupled the fast assembling-disassembling that slot 314 realizes wrap 33.
When needing to remove wrap 33, block piece 34 dials to the position for leaving mounting groove 314, then by wrap
33 is mobile towards mounting groove 314, can take out wrap 33 between two side arm portions 312.
In order to realize the fixation of driving part 32, hole is fitted around on the outer wall in side arm portion 312 for being equipped with mounting hole 315
The 315 multiple fixed columns 316 of setting, for fixing driving part 32.It is arranged with axle sleeve 35 on the output shaft of driving part 32, second
Connecting shaft 335 is equipped with flat bit architecture, and directly the second connecting shaft 335 is inserted into axle sleeve 35 and realizes driving part 32 and wrap
33 connection.
On the basis of the above embodiments, it can judge that cargo 4 reaches ground and drawing piece 8 and rope is dropped by two ways
The opportunity that mechanism 3 is detached from, to realize the entire automatic control for throwing goods process.
In one implementation, as shown in Figure 1, unmanned plane cargo delivery apparatus of the invention further includes current sensor
6, current sensor 6 is used to detect electric current when driving part 32 drives the rotation release drawing piece 8 of wrap 33, control unit 1
It can determine that cargo 4 has arrived at ground etc. and can play branch when the detected value of current sensor 6 is decreased to the first preset value
The predeterminated position of support effect, because the load that driving part 32 is born is mainly drawing piece 8 after cargo 4 is by the support on ground
Gravity.Further, control unit 1 can also the judgement when the detected value of current sensor 6 continues to be decreased to the second preset value
Drawing piece 8 and cable elevator structure 3 are detached from, because drawing piece 8 is applied to driving part 32 after drawing piece 8 and cable elevator structure 3 are detached from
Load also disappears therewith.Such detection mode can expire without obtaining the descent altitude of cargo in real time in 8 length of drawing piece
Under the premise of foot throws goods height, without knowing that the length of drawing piece 8 can be achieved with detecting.
In another implementation, cable elevator structure 3 includes the driving part 32 with position detecting element, such as with
Stepper motor or servo motor of position control etc..Position detecting element is used to detect the turnning circle of driving part 32, control
Component 1 can obtain the release length of drawing piece 8 according to the turnning circle of driving part 32, in the release length of drawing piece 8
Determine that cargo 4 has arrived at ground, and the judgement when the release length of drawing piece 8 reaches total length when reaching predetermined throwing goods height
Drawing piece 8 and cable elevator structure 3 are detached from.
Preferably, when the predetermined throwing goods height of unmanned plane is identical, 8 length phase of drawing piece used by each delivery cargo 4
Together.The length data of drawing piece 8, which is stored in control unit 1, to sentence drawing piece 8 and 3 disengaging opportunity of cable elevator structure
Disconnected, without the change storage of drawing piece 8 for different length length data.
It is said below with reference to the process that status diagram shown in Fig. 3 a to Fig. 3 d delivers cargo to unmanned plane of the present invention
It is bright.
As shown in Figure 3a, unmanned plane starts to land after reaching predetermined delivery place, according to the detected value of height sensor 5,
Control unmanned plane drops to predetermined throwing goods height, and predetermined goods height of throwing is preferably higher than the height that people can touch, to avoid personnel couple
Unmanned plane directly brings damage to unmanned plane.
As shown in Figure 3b, after cargo 4 reaches predetermined throwing goods height, control unit 1 unclamps holding mechanism 2, then makes to drive
Dynamic component 32 drives the rotation release drawing piece 8 of wrap 33 to be gradually reduced cargo 4.
As shown in Figure 3c, control unit 1 receives the detected value of current sensor 6, when the detected value of current sensor 6 is unexpected
When being decreased to the first preset value, determine that cargo 4 has fallen to the predeterminated positions such as ground or other platforms, it is such to mention unmanned plane
Rise, and continue control cord descending mechanism 3 and discharge drawing piece 8.
As shown in Figure 3d, since drawing piece 8 has fixed length, the detected value of current sensor 6 reduces again suddenly
When to the second preset value, show that drawing piece 8 discharges completely, drawing piece 8 is detached from wrap 33 to disconnect and unmanned plane
Connection.Nobody continues to increase, return at this time, and drawing piece 8 is stayed with cargo 4 in ground as consumptive material, and ground staff will lead again
Draw piece 8 is taken off from cargo 4.
Secondly, the present invention also provides a kind of unmanned plane, including unmanned plane cargo delivery apparatus described in above-described embodiment.
Such unmanned plane can guarantee the safety of cargo and itself when throwing goods, and it is high-efficient to throw goods.
Finally, the present invention also provides a kind of cargo delivery sides of unmanned plane cargo delivery apparatus based on the above embodiment
Method, in a schematical embodiment, flow diagram as shown in Figure 9, which includes:
Step 101, the instruction that cargo 4 is delivered in response to unmanned plane, drawing piece 8 is gradually discharged by cable elevator structure 3 makes goods
Object 4 declines；
Step 102 is detached from drawing piece 8 and cable elevator structure 3 after cargo 4 reaches predeterminated position.
The unmanned plane cargo delivering method of the embodiment is not necessarily to that unmanned plane is made to drop to ground during delivering cargo,
It not only avoids people to contact with unmanned plane, the safety that logistics unmanned plane delivers cargo can be improved, moreover it is possible to improve the delivery of cargo
Efficiency, and reduce the requirement to state of ground.Moreover, cargo can guarantee that cargo security arrives by drawing piece slow release
Up to ground, the connection between drawing piece and unmanned plane disconnects automatically later, can smoothly complete cargo without picking personnel cooperation
It delivers.
Step 102 executes after 101, in which:
Step 101 is executed by control unit 1, and the instruction that control unit 1 delivers cargo 4 in response to unmanned plane includes all full
Foot delivers the case where cargo opportunity, such as unmanned plane has sent instruction or the unmanned plane that can deliver cargo 4 to control unit
Instruction not sent more than preset time etc. is postponed reaching default goods yard of throwing.In a specific embodiment, goods of the invention
Object delivering method further include: in the case where unmanned plane reaches predetermined delivery place and predetermined throwing goods height, generate unmanned plane and throw
Pass the instruction of cargo 4.
In step 101 by cable elevator structure 3 gradually discharge drawing piece 8 make cargo 4 decline the step of specifically include: control drive
Dynamic component 32 drives wrap 33 to rotate, and is gradually reduced cargo 4 to discharge the drawing piece 8 on wrap 33.
In a step 102, after cargo 4 reaches the predeterminated positions such as ground, unmanned plane makes cable elevator structure 3 by moving upwards
It is detached from drawing piece 8, specifically, when unmanned plane moves upwards, drawing piece 8 is further discharged from wrap 33, finally makes to lead
Draw piece 8 leaves wrap 33.
In another embodiment of the present invention, still referring to FIG. 9, before step 102, such unmanned plane cargo delivery side
Method further include:
Step 101A, holding mechanism 2 is made to unclamp cargo 4.
Step 101A is executed by control unit 1, as shown in Fig. 2, control unit 1 can make the claw of goods clamping 4 outside
It opens to unclamp cargo 4, or the locating parts such as the baffle for being located at 4 bottom of cargo can also be removed outward to discharge cargo 4.
Further, during unmanned plane delivers cargo 4, also detectable cargo 4 reaches ground etc., and there is support to make
The opportunity that predeterminated position and drawing piece 8 and cable elevator structure 3 are detached from.
In one implementation, unmanned plane cargo delivering method of the invention may also include that
Step 201, current sensor 6 detect the electric current when work release drawing piece 8 of driving part 32；
Step 202, control unit 1 have determined cargo 4 when the detected value of current sensor 6 is decreased to the first preset value
Reach predeterminated position；
Step 203, control unit 1 are after determining cargo 4 and having arrived at predeterminated position, the detected value of current sensor 6
Continue to be decreased to determine that drawing piece 8 and cable elevator structure 3 are detached from when the second preset value.
In another implementation, unmanned plane cargo delivering method of the invention may also include that
The turnning circle of position detecting element detection driving part 32 in step 301, driving part 32；
Step 302, control unit 1 obtain the release length of drawing piece 8 according to the turnning circle of driving part 32；
Step 303, control unit 1 determine that cargo 4 has arrived when the release length of drawing piece 8 reaches predetermined throwing goods height
Up to predeterminated position；
Step 304, control unit 1 determine drawing piece 8 and cable elevator structure when the release length of drawing piece 8 reaches total length
3 are detached from.
Further, before step 101, unmanned plane cargo delivering method of the invention further includes being loaded into cargo 4
The method of following three kinds of loadings cargo at least can be used by taking cable elevator structure 3 shown in fig. 5 as an example in step on unmanned plane.
First, by drawing piece 8 in advance on wrap 33, and wrap 33 is mounted on base by mounting groove 314
On seat 31, so that wrap 33 is fixed on unmanned plane；Then by the first end and goods of drawing piece 8 before needing to deliver cargo
Object 4 connects, such as cargo 4 is equipped with the connectors such as hook, or directly drawing piece 8 is bundled on cargo 4, by cargo 4
It is loaded on unmanned plane.Drawing piece 8 need to only be connect by this method before needing to deliver cargo 4 with cargo 4, simple mounted in cargo
Fast.
Second, first the first end of drawing piece 8 is connect with cargo 4 before needing to deliver cargo, second end and wrap
33 connections；Then control driving part 32 drives wrap 33 to rotate, and makes drawing piece 8 on wrap 33, by cargo 4
It is loaded on unmanned plane.
Third, connecting its first end with cargo 4 later on wrap 33 drawing piece 8；It is needing to deliver goods
Directly there is the wrap 33 of drawing piece 8 and cargo 4 to be mounted on pedestal 31 by mounting groove 314 for related before object 4, by goods
Object 4 is loaded on unmanned plane.This method is in advance linked together wrap 33 with cargo 4 by drawing piece 8, is needing to deliver
The fast-assembling for only needing to realize wrap 33 before cargo 4, can save shipping load time.
Detailed Jie has been carried out to a kind of unmanned plane cargo delivery apparatus provided by the present invention and method, unmanned plane above
It continues.Principle and implementation of the present invention are described for specific embodiment used herein, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention.It should be pointed out that for the ordinary skill of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for personnel, these improvement
It is also fallen within the protection scope of the claims of the present invention with modification.
Claims (25)
1. a kind of unmanned plane cargo delivery apparatus, which is characterized in that including control unit (1), drawing piece (8) and be located at unmanned plane
On cable elevator structure (3), the first end of the drawing piece (8) connect with cargo (4), and second end and the cable elevator structure (3) can
Be detached from ground connection, the control unit (1) can when unmanned plane needs to deliver cargo (4) by the cable elevator structure (3) by
Gradually release drawing piece (8) declines cargo (4), and makes the drawing piece (8) and the rope when cargo (4) reach predeterminated position
Descending mechanism (3) is detached from.
2. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that further include the guarantor being located on unmanned plane
It holds mechanism (2), the holding mechanism (2) is used to carry out position holding, the control to cargo (4) during cargo (4) are transported
Component (1) processed can first make the holding mechanism (2) to release the limitation to cargo (4) when needing to deliver cargo (4), then pass through
Cable elevator structure (3) release drawing piece (8) declines cargo (4).
3. unmanned plane cargo delivery apparatus according to claim 2, which is characterized in that the holding mechanism (2) and described
At least one of cable elevator structure (3) is located at fuselage (7) bottom of unmanned plane.
4. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that further include height sensor (5), use
In the flying height for detecting the unmanned plane, the control unit (1) can receive the detection letter of the height sensor (5)
Number, and start to deliver cargo (4) after the unmanned plane reaches predetermined throwing goods height.
5. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that reached in the cargo (4) default
Behind position, the unmanned plane is detached from the cable elevator structure (3) and drawing piece (8) by moving upwards.
6. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that the cable elevator structure (3) includes base
The cable elevator structure (3) is mounted on the unmanned plane by seat (31), driving part (32) and wrap (33), the pedestal (31)
On, the driving part (32) and the wrap (33) are located on the pedestal (31), and the drawing piece (8) is wound on described
On wrap (33), the control unit (1) can control the driving part (32) and drive wrap (33) rotation, with
Discharging the drawing piece (8) declines cargo (4).
7. unmanned plane cargo delivery apparatus according to claim 6, which is characterized in that the pedestal (31) uses U-shaped knot
Structure, the U-shaped structure include interconnecting piece (311) and the side arm portion (312) for being respectively provided at the interconnecting piece (311) both ends, described
Interconnecting piece (311) is mounted on the unmanned plane, and the both ends of the wrap (33) are rotatably arranged at two sides respectively
On arm (312), the driving part (32) is located on one of them described side arm portion (312) and is located at outside, the driving
The output shaft of component (32) is connect with one end of the wrap (33).
8. unmanned plane cargo delivery apparatus according to claim 7, which is characterized in that at least one described side arm portion
(312) it is equipped with the mounting groove (314) of one end open, the end of the wrap (33) can be from the mounting groove (314)
Open end is packed between two side arm portions (312).
9. unmanned plane cargo delivery apparatus according to claim 8, which is characterized in that the cable elevator structure (3) further includes
Block piece (34), the block piece (34) are movably located on the side arm portion (312), can need to be packed into the winding
The position for leaving the mounting groove (314) is moved to when part (33), and moves to resistance after the installation is completed in the wrap (33)
Keep off the position that the wrap (33) is deviate from from mounting groove (314).
10. unmanned plane cargo delivery apparatus according to claim 8, which is characterized in that one of them described side arm portion
(312) mounting groove (314) are equipped with, the cable elevator structure (3) further includes block piece (34), and the block piece (34) can turn
It is mounted on the outer wall in the side arm portion (312) equipped with the mounting groove (314) dynamicly, can need to be packed into the wrap
(33) position for leaving the mounting groove (314) is turned to when, and turns to limitation after the installation is completed in the wrap (33)
The position of the axial freedom of the wrap (33).
11. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that the cable elevator structure (3) includes driving
Dynamic component (32) and current sensor (6), the current sensor (6) are led for detecting the driving part (32) work release
Electric current when draw piece (8), it is default that the control unit (1) can be decreased to first in the detected value of the current sensor (6)
Determine that cargo (4) have arrived at predeterminated position when value, and continues to be decreased to second in advance in the detected value of the current sensor (6)
If determining that the drawing piece (8) and the cable elevator structure (3) are detached from when value.
12. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that the cable elevator structure (3) includes tool
There is the driving part (32) of position detecting element, the position detecting element is used to detect the turning collar of the driving part (32)
Number, the control unit (1) can show that the release of the drawing piece (8) is long according to the turnning circle of the driving part (32)
Degree determines that cargo (4) have arrived at predeterminated position when reaching predetermined throwing goods height with the release length in the drawing piece (8),
And determine that the drawing piece (8) and the cable elevator structure (3) are de- when the release length of the drawing piece (8) reaches total length
From.
13. unmanned plane cargo delivery apparatus according to claim 12, which is characterized in that the predetermined throwing goods of the unmanned plane
When highly identical, drawing piece (8) length used by each delivery cargo (4) is identical.
14. unmanned plane cargo delivery apparatus according to claim 1, which is characterized in that the drawing piece (8) includes rope
Or film band.
15. a kind of unmanned plane, which is characterized in that including any unmanned plane cargo delivery apparatus of claim 1~14.
16. a kind of cargo delivering method based on any unmanned plane cargo delivery apparatus of claim 1~14, feature exist
In, comprising:
The instruction of cargo (4) is delivered in response to unmanned plane, drawing piece (8) is gradually discharged by the cable elevator structure (3) makes cargo
(4) decline；
The drawing piece (8) and the cable elevator structure (3) are detached from after cargo (4) reach predeterminated position.
17. unmanned plane cargo delivering method according to claim 16, which is characterized in that passing through the cable elevator structure
(3) before the step of gradually release drawing piece (8) declines cargo (4), further includes:
Holding mechanism (2) are made to unclamp cargo (4).
18. unmanned plane cargo delivering method according to claim 16, which is characterized in that further include: in the unmanned plane
In the case where reaching predetermined delivery place and predetermined throwing goods height, the instruction that the unmanned plane delivers cargo (4) is generated.
19. unmanned plane cargo delivering method according to claim 16, which is characterized in that reach default position in cargo (4)
Postponing the step of being detached from the drawing piece (8) with the cable elevator structure (3) includes:
After the cargo (4) reach predeterminated position, the unmanned plane makes the cable elevator structure (3) and drawing by moving upwards
Part (8) is detached from.
20. unmanned plane cargo delivering method according to claim 16, which is characterized in that pass through the cable elevator structure (3)
Gradually release drawing piece (8) make cargo (4) decline the step of include:
It controls driving part (32) and drives wrap (33) rotation, to discharge the drawing piece on the wrap (33)
(8) decline cargo (4).
21. unmanned plane cargo delivering method according to claim 16, which is characterized in that further include:
Current sensor (6) detects electric current when driving part (32) work release drawing piece (8)；
Determine that cargo (4) have arrived at predeterminated position when the detected value of the current sensor (6) is decreased to the first preset value；
After determining cargo (4) and having arrived at predeterminated position, the detected value of the current sensor (6) continues to be decreased to second
Determine that the drawing piece (8) and the cable elevator structure (3) are detached from when preset value.
22. unmanned plane cargo delivering method according to claim 16, which is characterized in that further include:
Position detecting element in driving part (32) detects the turnning circle of the driving part (32)；
The release length of the drawing piece (8) is obtained according to the turnning circle of the driving part (32)；
Determine that cargo (4) have arrived at predeterminated position when the release length of the drawing piece (8) reaches predetermined throwing goods height；
Determine that the drawing piece (8) and the cable elevator structure (3) are de- when the release length of the drawing piece (8) reaches total length
From.
23. unmanned plane cargo delivering method according to claim 20, which is characterized in that further include:
By the drawing piece (8) in advance on the wrap (33), and the wrap (33) is mounted on the nothing
On man-machine；
The first end of the drawing piece (8) is connect with cargo (4) before needing to deliver cargo (4), cargo (4) are loaded
In on the unmanned plane.
24. unmanned plane cargo delivering method according to claim 20, which is characterized in that further include:
The first end of the drawing piece (8) is connect with cargo (4), second end is connect with the wrap (33)；
It controls the driving part (32) and drives wrap (33) rotation, make the drawing piece (8) wound on the wrap
(33) on, cargo (4) is loaded on the unmanned plane.
25. unmanned plane cargo delivering method according to claim 20, which is characterized in that further include:
It connect its first end with cargo (4) later on the wrap (33) drawing piece (8)；
Have described in the wrap (33) of the drawing piece (8) and cargo (4) is mounted on needing to deliver before cargo (4) by related
On unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051804.4A CN109720575A (en) | 2017-10-30 | 2017-10-30 | Unmanned plane cargo delivery apparatus and method, unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051804.4A CN109720575A (en) | 2017-10-30 | 2017-10-30 | Unmanned plane cargo delivery apparatus and method, unmanned plane |
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| CN109720575A true CN109720575A (en) | 2019-05-07 |
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| CN111452970A (en) * | 2020-04-08 | 2020-07-28 | 胡国斌 | Unmanned aerial vehicle delivery high-value target releaser and control method thereof |
| CN113232866A (en) * | 2021-06-18 | 2021-08-10 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cargo distribution loading and delivery device and method |
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