CN109748154B - Control device for pumping power line and data line for unmanned aerial vehicle system and implementation method - Google Patents
Control device for pumping power line and data line for unmanned aerial vehicle system and implementation method Download PDFInfo
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- CN109748154B CN109748154B CN201711062632.0A CN201711062632A CN109748154B CN 109748154 B CN109748154 B CN 109748154B CN 201711062632 A CN201711062632 A CN 201711062632A CN 109748154 B CN109748154 B CN 109748154B
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Abstract
The invention discloses a control device for drawing and sending power lines and data lines for an unmanned aerial vehicle system and an implementation method thereof. The device structure adopts aluminum alloy and aluminium alloy, has improved stability when reducing system's weight. The device can be mounted on a motor vehicle such as a pickup truck. The use of the control device promotes the development of all-weather high-precision remote sensing surveying and mapping technology of the remote sensing helicopter.
Description
Technical Field
The invention relates to the field of power supply and data transmission of unmanned aerial vehicles, in particular to a control device for pumping a power line and a data line for an unmanned aerial vehicle system and an implementation method thereof.
Background
Remote sensing helicopters generally refer to various rotor-type airplanes used for aerial remote sensing, including remote-controlled helicopters and multi-axis unmanned aerial vehicles. The remote sensing aircraft is mainly used as a remote sensing platform and is loaded with various sensors, such as: aerial cameras, multispectral cameras, various scanners, radiometers, altimeters, and the like. Different windows are usually provided on the abdomen to facilitate the observation of the ground. The general requirements for remote sensing helicopters are: the aircraft has the advantages of good stability, long endurance time, strong data transmission capability, capability of providing larger equipment space and energy supply, and even requirement of all-weather flight capability.
The battery-driven rotary wing type unmanned aerial vehicle in the current market only has the endurance of 20-30 minutes, and can not meet the requirement of aviation remote sensing application on the endurance far away, if the electric quantity of the battery is improved, the weight of the battery can be increased while the electric quantity is improved according to the current battery technology, and the load of the aircraft can be reduced, which is one aspect of contradiction. With current battery technology, it is difficult to make an aircraft with a large load (above 20 KG) fly for more than 30 minutes. A wired drone (a drone system that transmits power and data in a wired manner) is one solution to the above problems, but there is no control device for drawing and sending a power line and a data line in the market.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a control device for drawing and sending power lines and data lines for an unmanned aerial vehicle system and an implementation method thereof.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control device for drawing and sending power lines and data lines for an unmanned aerial vehicle system comprises a system support frame, a cable rotating shaft and a cable drawing and detecting device, wherein the cable rotating shaft and the cable drawing and detecting device are arranged on the system support frame,
the cable pivot includes: the power and data transmission cable is wound on a cable rotating shaft through the photoelectric integrated rotary joint, and the cable rotating shaft is driven by the servo motor to rotate; the movable end of the power and data transmission cable wound on the cable rotating shaft passes through the cable pumping and detecting device;
the cable pumping and detecting device comprises a cable detecting device, a cable centering device, a sliding supporting plate, a fixed supporting plate, a connecting sliding block, a sliding rail, an extension spring, an L-shaped support, a sliding block, a lead screw, a support and a stepping motor;
the support is fixed on the system support, the lead screw and the stepping motor are fixed on the support, the lead screw can be driven by the stepping motor to rotate axially, the slider can move radially along the lead screw under the drive of the lead screw, the fixed supporting plate is fixed on the slider, the fixed supporting plate is provided with the slide rail and the cable detection device, the connecting slider can move on the slide rail, the sliding supporting plate is fixed on the connecting slider, the sliding supporting plate is provided with the cable centering device, one end of the extension spring is fixed on the L-shaped support, and the other end of the extension spring is fixed on the sliding supporting plate.
Further, an infrared light emitting diode array and an infrared receiving tube array are mounted on the cable detection device.
Further, the other end that power and data transmission cable and unmanned aerial vehicle are connected is connected in the cable pivot.
Further, the power and data transmission cable is composed of a power line and an optical fiber.
Furthermore, the system supporting frame, the cable rotating shaft, the sliding supporting plate, the fixing supporting plate, the connecting sliding block and the bracket are made of aluminum profiles and aluminum alloy materials.
An implementation method using the control device comprises the following steps:
step A, when remote sensing operation is required, after a takeoff control command is sent out, the remote sensing helicopter rises, the power and data transmission cable starts to stretch outwards under the driving of the remote sensing helicopter, the power and data transmission cable displaces along the bending direction of the cable under the action of tension, and acts on a cable centering device to stretch a stretching spring, and an assembly consisting of the cable centering device and a sliding support plate moves towards the extending direction of the spring;
under the stretching effect of the unmanned aerial vehicle, the position of the power and data transmission cable in the cable drawing and detecting device moves from a first position to a second position, the cable detecting device detects the position change of the power and data transmission cable, the cable rotating shaft starts to rotate to prolong the power and data transmission cable, and the unmanned aerial vehicle is lifted;
and step B, when the remote sensing detection operation is finished and a landing control command is sent, the remote sensing helicopter lands, the tension of the power and data transmission cable is reduced, the position of the power and data transmission cable in the cable drawing and detecting device is moved to the first position from the second position under the action of the spring, the cable detecting device detects the position change of the power and data transmission cable, the cable rotating shaft starts to rotate to withdraw the power and data transmission cable, and the unmanned aerial vehicle lands.
Compared with the prior art, the control device for pumping the power line and the data line for the unmanned aerial vehicle system and the implementation method have the following advantages: through a control device for drawing power lines and data lines for an unmanned aerial vehicle system and an implementation method thereof, the system and the method can control the drawing and the recovery of power and data transmission cables of the unmanned aerial vehicle, and can detect the rising and falling states of the unmanned aerial vehicle, so as to determine the rotating direction of a cable rotating shaft.
Under the effect of the device, the drawing-out and the recovery of unmanned aerial vehicle power and data transmission cables can be automatically controlled, and the human intervention is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the system cable pumping and detection device;
FIG. 3 is a schematic diagram of the system in a cable stretching state;
FIG. 4 is a schematic diagram of the system in a cable free state;
FIG. 5 is a schematic view of the cable detection device of the system;
in the drawings, the components represented by the respective reference numerals are listed below:
1: a system support frame;
2: a cable shaft; 2-1: a photoelectric integrated rotary joint;
2-2: power and data transmission cables; 2-3: a servo motor;
3: a cable pumping and detecting device; 3-1: a cable detection device;
3-2: a cable centering device; 3-3: a sliding support plate;
3-4: fixing the supporting plate; 3-5: connecting the sliding block;
3-6: a slide rail; 3-7: an extension spring;
3-8: an L-shaped bracket; 3-9: a slider;
3-10: a lead screw; 3-11: a support:
3-12: a stepping motor;
3-1-1: an infrared light emitting diode array; 3-1-2: an array of infrared receiving tubes;
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
A control device for power line and data line pumping for an unmanned aerial vehicle system, see fig. 1, the control device comprising: the system comprises a system support frame 1 and a cable rotating shaft 2; a cable drawing and detecting device 3; the cable rotating shaft 2 and the cable pumping and detecting device 3 are arranged on the system supporting frame 1;
referring to fig. 1, the cable reel 2 includes: a photoelectric integrated rotary joint 2-1; a power and data transmission cable 2-2; 2-3 of a servo motor;
referring to fig. 1, a power and data transmission cable 2-2 is wound on a cable rotating shaft 2 through a photoelectric integrated rotary joint 2-1, and the cable rotating shaft 2 is driven by a servo motor 2-3 to rotate;
referring to fig. 1, a movable end of a power and data transmission cable 2-2 wound on a cable shaft 2 passes through a cable drawing and detecting device 3;
referring to fig. 2, the cable drawing and detecting device 3 includes: the device comprises a cable detection device 3-1, a cable centering device 3-2, a sliding supporting plate 3-3, a fixed supporting plate 3-4, a connecting slide block 3-5, a slide rail 3-6, an extension spring 3-7, an L-shaped support 3-8, a slide block 3-9, a lead screw 3-10, a support 3-11 and a stepping motor 3-12;
referring to fig. 5, the cable detecting device 3-1 has mounted thereon: an infrared light emitting diode array 3-1-1 and an infrared receiving tube array 3-1-2;
referring to fig. 2, the cable drawing and detecting device 3: the bracket 3-11 is fixed on the system bracket 1, the lead screw 3-10 and the stepping motor 3-12 are fixed on the bracket 3-11, the lead screw 3-10 can axially rotate under the drive of the stepping motor 3-12, the slide block 3-9 can radially move along the lead screw 3-10 under the drive of the lead screw 3-10, the fixed supporting plate 3-4 is fixed on the slide block 3-9, the fixed supporting plate 3-4 is provided with a slide rail 3-6 and a cable detection device 3-1, the connecting slide block 3-5 can move on the slide rail 3-6, the slide supporting plate 3-3 is fixed on the connecting slide block 3-5, the cable centering device 3-2 is arranged on the slide supporting plate 3-3, one end of the tension spring 3-7 is fixed on the L-shaped bracket 3-8, the other end is fixed to the sliding pallet 3-3.
When the remote sensing detection operation is required, a takeoff control command is sent, the remote sensing helicopter is lifted, the power and data transmission cable 2-2 starts to stretch outwards, the power and data transmission cable 2-2 displaces along the cable bending direction under the action of tension, the cable centering device 3-2 is acted by force to stretch the stretching spring 3-7, and an assembly formed by the cable centering device 3-2 and the sliding support plate 3-3 moves towards the extending direction of the spring 3-7, referring to fig. 3 and 4. Referring to fig. 5, under the stretching effect of the unmanned aerial vehicle, the position of the power and data transmission cable 2-2 in the cable drawing and detecting device 3 moves from the first position to the second position, the cable detecting device 3-1 detects the position change of the power and data transmission cable 2-2, the cable rotating shaft 2 starts to rotate to extend the power and data transmission cable 2-2, and the unmanned aerial vehicle is lifted.
Referring to fig. 3 and 4, after the remote sensing operation is finished and a landing control command is sent, the remote sensing helicopter lands, the tension of the power and data transmission cable 2-2 is reduced, the position of the power and data transmission cable 2-2 in the cable drawing and detecting device 3 is moved from the second position to the first position under the action of the spring 3-7, the cable detecting device 3-1 detects the position change of the power and data transmission cable 2-2, the cable rotating shaft 2 starts to rotate to withdraw the power and data transmission cable 2-2, and the unmanned aerial vehicle lands.
Further, the multi-axis drone 7 may be a remote controlled helicopter, or other vertically liftable flying device.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides a controlling means that power and data transmission cable pumped for unmanned aerial vehicle system, its characterized in that: comprises a system supporting frame (1), a cable rotating shaft (2) and a cable pumping and detecting device (3), wherein the cable rotating shaft (2) and the cable pumping and detecting device (3) are arranged on the system supporting frame (1),
the cable shaft (2) comprises: the power and data transmission cable (2-2) is wound on the cable rotating shaft (2) through the photoelectric integrated rotary joint (2-1), and the cable rotating shaft (2) is driven by the servo motor (2-3) to rotate; the movable end of the power and data transmission cable (2-2) wound on the cable rotating shaft (2) is pumped and detected by the cable pumping and detecting device (3);
the cable drawing and detecting device (3) comprises a cable detecting device (3-1), a cable centering device (3-2), a sliding supporting plate (3-3), a fixed supporting plate (3-4), a connecting sliding block (3-5), a sliding rail (3-6), an extension spring (3-7), an L-shaped support (3-8), a sliding block (3-9), a screw rod (3-10), a support (3-11) and a stepping motor (3-12);
the support (3-11) is fixed on a system support frame (1), the lead screw (3-10) and the stepping motor (3-12) are fixed on the support (3-11), the lead screw (3-10) can axially rotate under the drive of the stepping motor (3-12), the slide block (3-9) can radially move along the lead screw (3-10) under the drive of the lead screw (3-10), the fixed support plate (3-4) is fixed on the slide block (3-9), the slide rail (3-6) and the cable detection device (3-1) are installed on the fixed support plate (3-4), the connecting slide block (3-5) can move on the slide rail (3-6), the sliding support plate (3-3) is fixed on the connecting slide block (3-5), the centering cable device (3-2) is installed on the sliding support plate (3-3), one end of the extension spring (3-7) is fixed on the L-shaped bracket (3-8), and the other end is fixed on the sliding supporting plate (3-3);
an infrared light emitting diode array (3-1-1) and an infrared receiving tube array (3-1-2) are mounted on the cable detection device (3-1).
2. The control device of claim 1, wherein the power and data transmission cable comprises: the other end that power and data transmission cable (2-2) are connected with unmanned aerial vehicle is connected on cable pivot (2).
3. The control device of claim 1, wherein the power and data transmission cable comprises: the power and data transmission cable (2-2) is composed of a power line and an optical fiber.
4. The control device of claim 1, wherein the power and data transmission cable comprises: the system supporting frame, the cable rotating shaft, the sliding supporting plate, the fixing supporting plate, the connecting sliding block and the support are made of aluminum profiles and aluminum alloy materials.
5. A method for realizing the control device according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
step A, when remote sensing detection operation is needed, after a takeoff control instruction is sent out, the remote sensing helicopter rises, the power and data transmission cable (2-2) starts to stretch outwards under the driving of the remote sensing helicopter, the power and data transmission cable (2-2) generates displacement along the cable bending direction under the action of tension, in addition, the cable centering device (3-2) generates force action, the tension spring (3-7) is stretched, and an assembly consisting of the cable centering device (3-2) and the sliding support plate (3-3) moves towards the extending direction of the spring (3-7);
under the stretching effect of the unmanned aerial vehicle, the position of the power and data transmission cable (2-2) in the cable drawing and detecting device (3) is moved from a first position to a second position, the cable detecting device (3-1) detects the position change of the power and data transmission cable (2-2), the cable rotating shaft (2) starts to rotate to prolong the power and data transmission cable (2-2), and the unmanned aerial vehicle is lifted;
and step B, when the remote sensing detection operation is finished and a landing control command is sent, the remote sensing helicopter lands, the tension of the power and data transmission cable (2-2) is reduced, under the action of the spring (3-7), the position of the power and data transmission cable (2-2) in the cable drawing and detecting device (3) is moved to the first position from the second position, the cable detecting device (3-1) detects the position change of the power and data transmission cable (2-2), the cable rotating shaft (2) starts to rotate to withdraw the power and data transmission cable (2-2), and the unmanned aerial vehicle lands.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711062632.0A CN109748154B (en) | 2017-11-02 | 2017-11-02 | Control device for pumping power line and data line for unmanned aerial vehicle system and implementation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711062632.0A CN109748154B (en) | 2017-11-02 | 2017-11-02 | Control device for pumping power line and data line for unmanned aerial vehicle system and implementation method |
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| CN109748154B true CN109748154B (en) | 2020-11-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001039668A (en) * | 1999-07-30 | 2001-02-13 | Hitachi Constr Mach Co Ltd | Rotation support device of barrel windup drum |
| CN103832895B (en) * | 2014-03-03 | 2015-10-28 | 哈尔滨工业大学 | One determines tension cables automatic delivering mechanism |
| CN205952338U (en) * | 2016-06-29 | 2017-02-15 | 任雪峰 | A cable pay -off and take -up device for mooring unmanned aerial vehicle receive and releases cabin |
| CN106058783A (en) * | 2016-07-06 | 2016-10-26 | 合肥通鼎光电科技有限公司 | Communication cable coiling/uncoiling system for low-altitude sensing unmanned aerial vehicle |
| CN205739670U (en) * | 2016-07-14 | 2016-11-30 | 江西凯安铜业有限公司 | A kind of copper strips is around winding apparatus |
| CN107161808B (en) * | 2017-06-09 | 2019-04-12 | 哈尔滨工程大学 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
| CN107097954A (en) * | 2017-06-21 | 2017-08-29 | 安徽博识电子科技有限公司 | It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle |
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