CN109911232B - Unmanned aerial vehicle roof airdrop indicating method for urban roof installation - Google Patents
Unmanned aerial vehicle roof airdrop indicating method for urban roof installation Download PDFInfo
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- CN109911232B CN109911232B CN201910243928.5A CN201910243928A CN109911232B CN 109911232 B CN109911232 B CN 109911232B CN 201910243928 A CN201910243928 A CN 201910243928A CN 109911232 B CN109911232 B CN 109911232B
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Abstract
A roof airdrop indicating method for an unmanned aerial vehicle installed on a roof of a city belongs to the field of receiving freight of unmanned aerial vehicles, and aims to solve the problem that goods suitable for being delivered by a fixed-wing unmanned aerial vehicle can be delivered and received at any time, S1, release preparation is carried out; s2, adjusting and throwing the flying height of the fixed-wing unmanned aerial vehicle; and S3, storing. The effect is that no harmful substance is generated in the receiving process, the environmental adaptability is good, and the fixed-point feeding can be realized.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle freight receiving, and relates to an unmanned aerial vehicle roof airdrop indicating device and method for urban roof installation.
Background
The existing situation is as follows: with the progress of society and the development of science and technology, the living standard of people is improved day by day, various demands in the field of intelligent logistics are increased rapidly, and the requirements on the logistics efficiency are higher and higher. For example: the remote mountain area is limited by factors such as terrain, road conditions and weather, and transported materials cannot arrive in time; the military field needs to deliver combat supplies to battlefields with abnormally complex environments in time; the medical field requires rapid delivery of emergency drugs to a destination; or when the traffic infrastructure is seriously damaged by natural disasters, disaster relief materials are timely conveyed to the disaster area. The traditional logistics taking road transportation, railway transportation and water and air transportation as main transportation modes cannot meet the conditions, so that a new intelligent remote logistics mode based on the rapid transportation of the small goods of the fixed-wing unmanned aerial vehicle is derived.
In the future: the fixed wing unmanned aerial vehicle has the advantages of long navigation distance, large cruising area, high flying speed, high flying height, large load capacity, strong autonomous flight control capability and the like. With the increasing perfection of flight control, battery and communication technology of the fixed wing unmanned aerial vehicle, the fixed wing unmanned aerial vehicle is used for low-altitude delivery of small goods and is certainly applied more widely in multiple fields and multiple scenes.
Currently, some countries have developed related experiments for carrying out small cargo transportation using multi-rotor and fixed-wing drones. Rotor unmanned aerial vehicle flies nimble, be convenient for control, takes off and lands and do not receive the place restriction, but flying distance is short, the loading capacity is little. For example: 10 months 2014 DHL announced that drone delivery will be achieved in germany. But the quad-rotor unmanned aerial vehicle of the company can only carry 1.2 kilograms of goods, the longest flight time is 45 minutes, and the unmanned aerial vehicle is not completely separated from manpower and still controlled by ground workers.
The fixed wing unmanned aerial vehicle has high navigational speed, long navigational distance and large carrying capacity. For example: 26 th 12 th month in 2017, carrying out demonstration and verification flight of rapid emergency material delivery of the fixed-wing unmanned aerial vehicle at a place in Yunnan, taking off the unmanned aerial vehicle from a certain airport in Yunnan, after flying for about 30 minutes and arriving at an air space near a base station of a disaster site, lowering the height of the aircraft to about 300 meters, launching a parachute from the air by a pod, and after about 30 seconds, landing the pod on the air space. The method does not need aircraft landing and can quickly transport goods, but the pod is influenced by factors such as the cargo throwing height, the wind direction, the wind speed and ground buildings in the parachuting process, and the requirement of accurate throwing is difficult to meet.
Disclosure of Invention
In order to solve the problem that goods suitable for being delivered by a fixed wing unmanned aerial vehicle can be delivered and received at any time, the invention provides the following technical scheme:
an unmanned aerial vehicle roof airdrop indicating method for urban roof installation comprises the following steps:
s1, preparing for putting;
s2, adjusting and throwing the flying height of the fixed-wing unmanned aerial vehicle;
and S3, storing.
Further, step S1 includes the following steps: when fixed wing unmanned aerial vehicle is used for intelligent commodity circulation, fields such as the goods and materials transportation in remote areas and mountain area, when needing to put in the goods, before fixed wing unmanned aerial vehicle puts in the goods, cell-phone APP can receive the input signal, send and receive the alarm, ground operating personnel is through looking over this unmanned aerial vehicle flight route in real time on the cell-phone, put in the goods region and be about to put in the volume of goods, confirm whether receiving arrangement can put in the goods, if satisfy the input requirement, the cell-phone can send to this fixed wing unmanned aerial vehicle and receive the acknowledgement signal.
Further, step S1 includes the steps of:
s1.1, confirming the flying direction and the throwing position of the unmanned aerial vehicle by an operator through a mobile phone, and accurately determining a throwing area;
s1.2, determining real-time wind direction and wind speed according to a miniature wind direction speed measuring sensor at the top of the receiving device, and determining a throwing angle and an accurate direction according to a movement track of an airdropped cargo;
s1.3, assembling a receiving device to prepare for receiving.
Further, step S1.1 comprises the steps of: the method for accurately determining the throwing area comprises the following steps: firstly, dividing the whole air-drop area into an air-drop initial area, a control area and a delayed control area from outside to inside in sequence; secondly, determining the maximum control area radius R after time delay max (ii) a Then use R max Obtaining the radius r of the maximum control area of air drop max (ii) a Finally utilize r max Obtaining the maximum initial area radius R of the air drop Omax 。
Further, the method of assembling the receiving device in step S1.3 is as follows:
taking out the high-elastic rubber net 2, the longitudinal support rod 5, the inclined support rod 6 and the buffer spring 8 from the device;
taking out the polyester sponge 3 from the 4 elastic containing bags in the device body 1 and placing the polyester sponge on the inner surface of the rear panel 1.3 of the device;
connecting a high-elasticity rubber net 2 with the front part and the rear part of the device body 1, pulling out the bottom fixing telescopic rod 4, and respectively connecting two sections of the longitudinal support rod 5 with the bottom fixing telescopic rod 4 and the middle upper part of the rear part of the device body 1 through fixing buckles;
one end of the inclined support rod 6 is connected with the longitudinal support rod 5 through a slide fastener, the other end of the inclined support rod is connected with one end of the buffer spring 8 through a spring slide way, finally, the four side support rods are pulled out, the receiving direction and the receiving angle of the device are adjusted through adjusting the spring slide way and the inclined support rod 6, and the assembly is finished.
Further, the equipment back that finishes, ground operating personnel can send the goods signal of can delivering to unmanned aerial vehicle through cell-phone APP, when fixed wing unmanned aerial vehicle received the drop signal, unmanned aerial vehicle is the high level flight of a certain vertical distance from the ground by the high altitude flight adjustment, when reacing the receiving area, unmanned aerial vehicle encircles this receiving arrangement flight, in the flight of fixed wing unmanned aerial vehicle horizontal ring receiving arrangement, digital camera among the fixed wing unmanned aerial vehicle detects two white light source pixels and two red light source pixels of LED lamp, unmanned aerial vehicle is according to light source pixel position, confirm receiving arrangement's direction of reception.
Further, based on the visual angle of the fixed-wing unmanned aerial vehicle, the midpoint value between two white light source pixels is found out through an image recognition algorithm according to the white light source pixel distance between the LED lamp A and the LED lamp B detected by the digital camera in the unmanned aerial vehicle, the direction is adjusted and corrected according to the real-time wind direction and the wind speed measured by the miniature wind direction speed measuring sensor, the position of the fuselage is adjusted in time, the fixed-wing unmanned aerial vehicle flies along the midpoint values of the two white light source pixels, the optimal delivery cargo position is found, and the cargo is accurately dropped.
Further, when the goods accuracy falls into the receipt, the inside high-elastic rubber net of receiving arrangement is through flexible, the deformation can be done the one-level speed reduction for the goods that fly, the polyester sponge can provide the second grade protection for the goods that fly, the bearing diagonal pole at the receiving arrangement back receives the effect of impact force, buffer spring compression deformation, when buffer spring compression to the maximum stroke, the hasp in the spring slide dies the buffer spring lock, bearing diagonal pole bending deformation, alleviate the transverse velocity of goods, when bearing diagonal pole deformation to a certain extent, the collateral branch vaulting pole of device both sides lands, do supplementary buffering for transverse velocity.
Further, step S3 includes the steps of: when the airdrop goods are received, firstly, the buffer spring and the inclined supporting rod are taken down, the side supporting rod is received in the device, the longitudinal supporting rod is taken down, and the telescopic fixed rod is received in the device; then taking the high-elasticity rubber net out of the device, checking the damage condition of each part, if each part is intact, placing the high-elasticity rubber net and the longitudinal support rod in a hidden bag at the bottom of the device body, and placing the inclined support rod and the buffer spring in a hidden bag at the side of the device body; and finally, checking the damage condition of the air-dropped goods and timely accommodating the goods.
Has the advantages that: the device comprises conventional components such as a high-elastic rubber net, polyester sponge, an LED lamp and the like, and has the characteristics of low production cost, low use cost, low damage rate and low maintenance cost. The device application scope is wide, as long as there is the goods that are fit for fixed wing unmanned aerial vehicle to deliver, can deliver the receipt to the goods at any time. The fixed telescopic rod, the longitudinal supporting rod, the inclined supporting rod and the side supporting rod of the device are made of carbon fiber composite materials, glass fiber materials and the like, the anti-falling capacity is strong, when no device suitable for receiving is available, the device can be thrown first, then materials can be thrown, and the device is particularly suitable for disaster relief, military and other aspects. The device is composed of oxford cloth, carbon fiber, glass fiber and the like, has light weight and moderate volume, and can be conveniently carried. The device adopts a combined design mode, the receiving device part adopts a support rod, a buffer spring and other combined devices, and the mechanical structure design is simple. The portable and beautiful portable device is convenient to carry when not needing to receive objects. The device comprises high-elastic rubber net, polyester sponge, buffer spring etc. and when the goods was put in, high-elastic rubber net can be through flexible, deformation and do the one-level buffering that slows down for the goods that fly from at a high speed, and the polyester sponge can provide the one-level protection for the goods that fly from a high speed, and buffer spring compression deformation does the second grade buffering that slows down for the goods, and twice buffering that slows down has ensured the safety of goods. The device four corners are equipped with the LED lamp and are constituteed, and miniature wind direction tachymeter is equipped with at the device top, and when the goods was about to put in, the LED at four angles was lighted in the device, and fixed wing unmanned aerial vehicle discerns through the location to the LED lamp to through detecting wind direction and the wind speed that miniature wind direction tachymeter acquireed in real time, ensure the optimum position that the goods was put in, make the goods accuracy fall in the device. The device does not need to be adapted with a power supply in the process of receiving goods, does not generate harmful substances in the receiving process, and has good environmental adaptability. The device can realize the fixed point and put in, and when fixed wing unmanned aerial vehicle was about to put in the goods in some place, the position is put in to the position signal determination goods that this unmanned aerial vehicle transmitted can be according to cell-phone app, saves the time that the goods and materials arrived the target place. The device is little influenced by the weather scope when using, and the operation is stable.
Drawings
FIG. 2: a device side view;
FIG. 1: a schematic view of the apparatus;
FIG. 3: a schematic drawing of the high elastic rubber net for storage and expansion;
FIG. 4: the storage and expansion of the polyester sponge are illustrated.
Detailed Description
The invention relates to a combined device for receiving airdropped small goods of a fixed-wing unmanned aerial vehicle, which can be used for receiving small goods with the volume not more than 0.035m 3 And the length, width and height are not more than 0.35m 0.15m 0.45m, and the mass is not more than 2 kg.
The device receives the air-drop goods wide range, when receiving the goods and puting in the signal, as long as have and satisfy the fixed wing unmanned aerial vehicle low latitude flight area, can carry out the receiving operation at any time, receives the region restriction for a short time.
The device assembling process is simple, if there is fixed wing unmanned aerial vehicle when having the delivery demand, only need cooperate cell-phone app, through the simple installation operation of 2 minutes, can be in order to receive the goods that this unmanned aerial vehicle put in.
The device comprises conventional components such as a high-elastic rubber net, polyester sponge, an LED lamp and the like, and has the characteristics of low production cost, low use cost, low damage rate and low maintenance cost.
The device application scope is wide, as long as there is the goods that are fit for fixed wing unmanned aerial vehicle to deliver, can deliver the receipt to the goods at any time.
The fixed telescopic rod, the longitudinal supporting rod, the inclined supporting rod and the side supporting rod of the device are made of carbon fiber composite materials, glass fiber materials and the like, the anti-falling capacity is strong, when no device suitable for receiving is available, the device can be thrown first, then materials can be thrown, and the device is particularly suitable for disaster relief, military and other aspects.
The device is composed of oxford cloth, carbon fiber, glass fiber and the like, has light weight and moderate volume, and can be conveniently carried.
The device adopts the combination formula design mode, and the receiving arrangement part adopts composite set such as bracing piece, buffer spring, and mechanical structure design is simple. The portable and beautiful portable device is convenient to carry when not needing to receive objects.
The device comprises high-elastic rubber net, polyester sponge, buffer spring etc. and when the goods was put in, high-elastic rubber net can be through flexible, deformation and do the one-level buffering that slows down for the goods that fly from at a high speed, and the polyester sponge can provide the one-level protection for the goods that fly from a high speed, and buffer spring compression deformation does the second grade buffering that slows down for the goods, and twice buffering that slows down has ensured the safety of goods.
The device four corners are equipped with the LED lamp and are constituteed, and miniature wind direction tachymeter is equipped with at the device top, and when the goods was about to put in, the LED at four angles was lighted in the device, and fixed wing unmanned aerial vehicle discerns through the location to the LED lamp to through detecting wind direction and the wind speed that miniature wind direction tachymeter acquireed in real time, ensure the optimum position that the goods was put in, make the goods accuracy fall in the device.
The device does not need to be adapted with a power supply in the process of receiving goods, does not generate harmful substances in the receiving process, and has good environmental adaptability.
The device can realize the fixed point and put in, and when fixed wing unmanned aerial vehicle was about to put in the goods in some place, the position is put in to the position signal determination goods that this unmanned aerial vehicle transmitted can be according to cell-phone app, saves the time that the goods and materials arrived the target place.
The device is little influenced by the weather scope when using, and the operation is stable.
When the device receives the airdropped goods, the fixed-wing unmanned aerial vehicle throws the goods at a position which is about 1m away from the receiving device, the process that the goods break away from the fixed-wing unmanned aerial vehicle and fall into the receiving device needs about 0.4 s-0.5 s, in the process, the fixed-wing unmanned aerial vehicle and the airdropped goods cross the receiving device and are about 20% of the air flow influence on the receiving device; due to the influence of irresistible factors such as air, wind direction and the like, the probability that the airdropped goods accurately fall into the receiving device is about 80%; the damage to the airdropped cargo due to the deceleration cushioning effect of the receiving device is reduced by about 85% compared to when the cargo is directly airdropped.
The utility model provides a composite set for receiving fixed wing unmanned aerial vehicle air-drop smallclothes goods comprises parts such as 1 device body, 2 high-elastic rubber net, 3 polyester sponge, 4 fixed telescopic link, 5 vertical support bars, 6 bearing diagonal pole, 7 side bracing pieces, 8 buffer spring, 9LED lamps, 10 miniature wind direction speed sensor, 11 elasticity storage bag.
The device body 1 is composed of four parts, namely a bottom surface 1.1 (0.35m x 0.2m), a front amplitude 1.2 (0.35m x 0.45m), a rear amplitude 1.3 (0.35m x 0.5m) and a side amplitude 1.4 (0.2m x 0.6m), wherein the bottom surface, the front amplitude and the side amplitude are composed of grid-sleeved oxford cloth, and the device body has the advantages of light and thin texture, soft hand feeling, good waterproofness, good durability and the like. The bottom surface of the utility model is divided into an upper layer and a lower layer, and a hidden bag is arranged in the middle and is used for storing devices such as a coiled high-elastic rubber net 2, a longitudinal support rod 5 and the like; wherein the back panel comprises inside, middle part, outside triplex, comprises full elastic oxford, silicic acid gel, polyester sponge etc. respectively, when receiving low air-drop goods, ensures the shock attenuation resistance to compression effect, wherein the inside camera bag that is equipped with of side panel can be used to deposit devices such as bracing strut 6, can follow the bottom surface and expand when being used for receiving the air-drop goods to increase the area of receiving the air-drop goods, ensure that the air-drop goods is accurate to fall into in this receiving arrangement. Wherein the front panel is fully openable when it is used to receive the air-dropped cargo to ensure that the receiving means can receive the cargo in its largest area.
The high-elasticity rubber net 2 is made of polyurethane rubber, is a material polymerized by polyester and diisocyanamide compounds, and has the advantages of high impact resistance, strong tear resistance, high buffering and damping performance and the like. When the receiving device is used, the high-elastic rubber net 2 is respectively connected with the front part and the rear part of the device body 1 and can be used for buffering air-dropped goods falling into the device at one stage, so that the gravitational potential of the goods is converted into kinetic energy, and the damage of the transverse speed to the air-dropped goods is reduced. When not receiving the airdropped goods, 2 high elastic rubber net can be put into the dark bag at the bottom of the device body 1. Polyester sponge 3 comprises 4 independent honeycomb formula polyester sponge strips, is taken out polyester sponge and resumes original volume and place 1.3 surfaces on the back of the device in 4 elasticity storage bags compression storages in device body 1 at ordinary times, when using, pulls open the zip and put back 1.3 surfaces of device with polyester sponge. Flexible dead lever 4 is carbon-fibre composite, links to each other with device body 1 bottom through sewing up the interface, has high strength, and proportion is little, anti falling advantage such as ability reinforce. The carbon fiber has the characteristics of a general carbon material, but unlike the general carbon material, the shape thereof has remarkable anisotropy, is soft, can be processed into various fabrics, and shows high strength along the fiber axis direction. When receiving the airdropped goods, the fixing lever is pulled out from the bottom of the apparatus body 1 to fix the bottom of the apparatus.
The longitudinal support rod 5 (phi 0.01m x 0.6 m) is a telescopic structural rod made of titanium-magnesium alloy material, and has the advantages of high specific strength, low density, corrosion resistance, recoverability and the like. The middle part of the longitudinal support rod adopts a zigzag design so that the angle of the 6 inclined support rods can be adjusted, the inclined support rods 6 are fixed, when the aerial delivery goods are received, one end of the longitudinal support rod 5 is connected with the shrinkage fixing rod 4 through a fixing buckle, and the other end of the longitudinal support rod is connected with the back panel of the device body 1 through a round double buckle and is used for supporting the device. When not in use, the utility model is put into a dark bag at the bottom of the device body 1.
The inclined support rod 6 (phi 0.01m x 0.45m) is a composite material which takes glass fiber and products thereof as reinforcing materials and synthetic resin as a matrix material, has the relative density of 1.5-2.0, only 1/4-1/5 of carbon steel, but has the tensile strength close to that of carbon steel and even exceeds that of the carbon steel, and the strength can be compared with high-grade alloy steel. When being used for receiving the air-drop goods, the one end of bearing diagonal pole 6 links to each other with longitudinal support pole 5 through the thread slipping, and the other end links to each other with 8 buffer spring, but adjusting device inclination for when receiving the air-drop goods, bearing diagonal pole 6 cushions the transverse speed of goods through deformation. When not in use, the utility model is put into a dark bag at the side of the device body 1.
The side supporting rods 7 are made of the same materials as the inclined supporting rods 6, and are four in number and are respectively arranged on two sides of the upper part and two sides of the middle part of the device body 1, wherein the side supporting rods 7 arranged on two sides of the upper part of the device body are of telescopic structures, and spring steel is arranged at the bottom of the side supporting rods. And the buffer is pulled out when the receiving device is used for assisting buffering.
The buffer spring 8 is made of alloy spring steel and has high tensile strength, elastic limit and high fatigue strength so as to ensure that the spring has enough elastic deformation capacity and can bear larger load. When receiving the air-dropped goods, the device is connected with the bottom end of the inclined supporting rod 6 through the spring slideway, and the horizontal speed of the empty-head objects falling into the device can be buffered. When not in use, the utility model is put into a dark bag at the side of the device body 1.
Miniature wind direction tachometer sensor 10 appearance is small and exquisite light, portable and equipment, and adaptation 1v button cell can effectively obtain wind direction information, and this tachometer sensor casing adopts high-quality aluminium alloy ex-trusions, and the spraying plastics processing is electroplated to the outside, has characteristics such as good anticorrosive, anti-corrosion, can guarantee that the inside changer of tachometer sensor uses rust-free carving phenomenon for a long time, cooperates inside smooth bearing system simultaneously, has ensured information acquisition's accuracy nature. When receiving the airdrop goods, the miniature wind direction speed sensor is mainly used for detecting real-time wind direction and wind speed, and after the fixed-wing unmanned aerial vehicle receives the collected data, the fixed-wing unmanned aerial vehicle is matched with the recognition device of the LED lamp 9, and the position of the machine body is adjusted and corrected in time to ensure that the airdrop goods can accurately fall into the receiving device.
The use process comprises the following steps:
1. when this fixed wing unmanned aerial vehicle is used for intelligent commodity circulation, fields such as the goods and materials transportation in remote areas and mountain area, when only needing to put in the goods, before fixed wing unmanned aerial vehicle puts in the goods, cell-phone APP can receive the input signal, send and receive the alarm, ground operating personnel is through looking over this unmanned aerial vehicle flight route in real time on the cell-phone, put in the goods region, and be about to the volume size of putting in the goods, confirm whether can put in the goods, if satisfy above-mentioned input requirement, the cell-phone can send to this fixed wing unmanned aerial vehicle and receive the acknowledgement signal.
1, confirming the flying direction and the throwing position of the unmanned aerial vehicle by an operator through a mobile phone, and determining an accurate throwing area, wherein the determining method of the throwing area comprises the following steps: firstly, dividing a whole air-drop area into an air-drop initial area, a control area and a delayed control area from outside to inside in sequence; secondly, determining the maximum control area radius R after time delay max (ii) a Then use R max Obtaining the radius r of the maximum control area of air drop max (ii) a Finally utilize r max Obtaining the maximum initial area radius R of air drop Omax . Thereby improving the throwing precision and achieving the aim of accurate throwing.
And 2, determining the size of the real-time wind direction and the wind speed and the movement track of the airdropped goods according to a miniature wind direction speed measuring sensor 10 at the top of the device to obtain a dropping angle and an accurate direction.
After the position and the direction are determined, firstly taking out 8 the high-elastic rubber net 2, the longitudinal support rod 5, the inclined support rod 6 and the buffer spring from the device, then taking out the polyester sponge 3 from 4 elastic containing bags in the device body 1 and placing the polyester sponge on the surface of 1.3 rear panels of the device, then connecting the high-elastic rubber net 2 with the front panels and the rear panels of the device body 1, then pulling out the bottom fixing telescopic rod 4, respectively connecting two sections of the longitudinal support rod 5 with the bottom fixing telescopic rod 4 through fixing buckles and connecting the middle upper part of the rear panels of the device body 1, then connecting one end of the inclined support rod 6 with the longitudinal support rod 5 through a slide buckle, connecting the other end of the inclined support rod with one end of the buffer spring 8 through a spring slideway, finally pulling out the four side support rods, and adjusting the receiving direction and the angle of the device through adjusting the spring slideway and the inclined support rod 6, after the assembly is finished, wherein the whole assembly process takes about 5 minutes. After the assembly is finished, a ground operator sends a signal capable of delivering goods to the unmanned aerial vehicle through the mobile phone APP, when the fixed-wing unmanned aerial vehicle receives a throwing signal, the unmanned aerial vehicle is adjusted to fly horizontally at a height of 100cm (the distance is adjusted in real time according to the height of the receiving device) from high altitude, when the fixed-wing unmanned aerial vehicle arrives at a receiving area, the unmanned aerial vehicle flies around the receiving device, and due to the fact that the direction of the receiving device is not fixed, in the process that the fixed-wing unmanned aerial vehicle flies around the receiving device horizontally, a digital camera in the fixed-wing unmanned aerial vehicle can detect two white light source pixels (an LED lamp A and an LED lamp B) and two red light source pixels (an LED lamp C and an LED lamp D) of an LED lamp 9, and at the moment, the unmanned aerial vehicle can determine the receiving direction of the receiving device according to the positions of the light source pixels; and based on the visual angle of the fixed-wing unmanned aerial vehicle, the midpoint value between the two white light source pixels is found out through an image recognition algorithm according to the white light source pixel distance between the LED lamp A and the LED lamp B detected by the digital camera in the unmanned aerial vehicle, the direction is timely adjusted and corrected according to the real-time wind direction, the wind speed and other irresistible factors detected by the miniature wind direction speed measuring sensor 10, the position of the body is timely adjusted, and the fixed-wing unmanned aerial vehicle flies along the midpoint value of the two white light source pixels. The unmanned aerial vehicle determines the position of the device and the receiving direction through the recognition device LED9 lamp, adjusts the flying height and speed in time, comprehensively finds the best delivery goods position and accurately drops the goods.
When the goods accuracy falls into the knapsack, inside high-elastic rubber net 2 of knapsack is through flexible, the deformation can be for the high-speed goods that flies to come to do the one-level speed reduction, polyester sponge 3 can provide the one-level protection for the high-speed goods that fly to come, meanwhile, because back bearing diagonal pole 6 receives the effect of impact force, buffer spring 8 compression deformation, when buffer spring compresses to the maximum stroke, hasp in the spring slide dies the buffer spring lock, then, 6 bending deformation of bearing diagonal pole, with this horizontal speed of alleviating the goods, when 6 deformation of bearing diagonal pole to the certain extent, device both sides collateral branch vaulting pole 7 lands, do supplementary buffering for horizontal speed.
2. When this fixed wing unmanned aerial vehicle is applied to fields such as first aid, military affairs, when not having suitable receiving arrangement, this receiving arrangement also can install in fixed wing unmanned aerial vehicle together with the air-drop article, is put in by this unmanned aerial vehicle. If the distribution end of the fixed-wing unmanned aerial vehicle receives the material transportation requirement, the distribution station judges whether the position has an airspace meeting the low-altitude flight requirement of the fixed-wing unmanned aerial vehicle according to the specific position of the received goods, if the low-altitude flight requirement is met, the flight route of the fixed-wing unmanned aerial vehicle is planned immediately, the position of a target area and the quantity and size of the distributed goods are determined, a receiving device is arranged below the distributed goods and is installed on the unmanned aerial vehicle together with the distributed goods, and then the receiving device flies to the target area according to the planned flight route.
This fixed wing unmanned aerial vehicle reachs the target area after, this unmanned aerial vehicle is adjusted by high altitude flight for the high level flight that is 100cm (this distance is adjusted according to the receiving arrangement height in real time) from the ground vertical distance, when reacing the receiving area, receiving arrangement is thrown down to this unmanned aerial vehicle, because fixed wing unmanned aerial vehicle focus position longitudinal movement, this unmanned aerial vehicle can fly to the high altitude rapidly in order to revise fuselage focus position, treat to adjust focus position after the stable flight, this unmanned aerial vehicle encircles the flight of receiving arrangement, again by high altitude flight adjustment for being 100cm ~ 200 cm's height and level around the device flight from the ground vertical distance. Meanwhile, a ground operator rapidly assembles the receiving device after receiving the device (the assembling process is the same as the assembling process), the ground operator sends a signal capable of delivering goods to the unmanned aerial vehicle through a mobile phone APP after the device is assembled, the fixed-wing unmanned aerial vehicle flies around the receiving device, and because the direction of the receiving device is not fixed, a digital camera in the fixed-wing unmanned aerial vehicle can detect two white light source pixels (an LED lamp A and an LED lamp B) and two red light source pixels (an LED lamp C and an LED lamp D) in the horizontal surrounding flight of the fixed-wing unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle can determine the receiving direction of the receiving device according to the positions of the light source pixels; and based on the visual angle of the fixed-wing unmanned aerial vehicle, finding out a midpoint value between two white light source pixels through an image recognition algorithm according to the white light source pixel distance between the LED lamp A and the LED lamp B detected by a digital camera in the unmanned aerial vehicle, timely adjusting and correcting the direction according to real-time wind direction, wind speed and other irresistible factors, and timely adjusting the position of the body to enable the fixed-wing unmanned aerial vehicle to fly along the midpoint value of the two white light source pixels. This unmanned aerial vehicle accessible recognition device confirming device position, direction of receipt in time adjusts flying height, speed, synthesizes and finds the best delivery goods position, accurately drops the goods.
When the airdrop goods are received, firstly, the buffer spring 8 and the inclined support rod 6 are taken down, the side support rod 7 is received in the device, the longitudinal support rod 5 is taken down, and the telescopic fixed rod 4 is received in the device; then taking the high-elasticity rubber net 2 out of the device, checking the damage condition of each part, if each part is intact, placing the high-elasticity rubber net 2 and the longitudinal support rod 5 in a hidden bag at the bottom of the device body 1, and placing the inclined support rod 6 and the buffer spring 8 in a hidden bag at the side of the device body 1; and finally, checking the damage condition of the air-dropped goods and timely accommodating the goods.
A combined device for receiving small goods airdropped by a fixed-wing unmanned aerial vehicle mainly comprises a device body, a high-elasticity rubber net, polyester sponge, a fixed telescopic rod, a longitudinal supporting rod, an inclined supporting rod and a side supporting rod; the device body consists of four parts, namely a bottom surface, a front panel, a rear panel and a side panel, wherein the bottom surface is divided into an upper layer and a lower layer, and a hidden bag is arranged between the two layers and used for storing a curled high-elastic rubber net and a longitudinal supporting rod; the back panel consists of an inner part, a middle part and an outer part which are respectively a full elastic oxford fabric layer, a silicic acid gel layer and a polyester sponge layer, a dark bag is arranged inside the side panel and is used for storing an inclined supporting rod, and the side panel and the front panel can be unfolded along the bottom surface; the high-elasticity rubber net is respectively connected with the front panel and the rear panel, the polyester sponge is composed of four independent honeycomb type polyester sponge strips, four elastic containing bags in the device body are compressed and stored, the polyester sponge is locked in the elastic containing bags through zippers, and the polyester sponge is placed in the device and tightly attached to the surface of the rear panel when the polyester sponge is taken out to restore the original volume.
Furthermore, the telescopic fixed rod is connected with the bottom of the device body through a sewing interface, the longitudinal supporting rod is a telescopic structural rod, one end of the longitudinal supporting rod is connected with the telescopic fixed rod through a fixed buckle, and the other end of the longitudinal supporting rod is connected with the upper part of the rear panel of the device body through a round double buckle; longitudinal support pole has about two, two longitudinal support poles form triangle-shaped with flexible dead lever, longitudinal support pole mid portion is the zigzag, it is fixed through the thread slipping with the bearing diagonal pole, bearing diagonal pole's tip installation buffer spring, the collateral branch vaulting pole is total four, place respectively in device body upper portion both sides and middle part both sides, the collateral branch vaulting pole that is located the upper portion both sides is extending structure to be equipped with the spring steel at the tip of bracing piece, and the bracing piece of upper portion both sides will be longer than the collateral branch vaulting pole of middle part both sides.
Further, still include the LED lamp, the LED lamp is the rectangle and places in the four corners of device, and LED lamp A and LED lamp B are white lamp and are located the left upper portion and the upper right portion in device body device four corners respectively, and LED lamp C and LED lamp D are red lamp and are located the right lower part and the left lower part in device body four corners respectively, and when being used for receiving the air-drop goods, LED lights.
Furthermore, the wind speed measuring device also comprises a miniature wind direction speed measuring sensor.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An unmanned aerial vehicle roof airdrop indicating method installed on the roof of a city is characterized by comprising the following steps:
s1, preparing for putting;
s2, adjusting and throwing the flying height of the fixed-wing unmanned aerial vehicle;
s3, storage; the step S1 includes the steps of: when the fixed-wing unmanned aerial vehicle is used in the field of intelligent logistics and material transportation in remote areas and needs to throw goods, before the fixed-wing unmanned aerial vehicle throws the goods, the mobile phone APP receives a throwing signal and sends out a receiving alarm, a ground operator checks the flight path of the unmanned aerial vehicle, a goods throwing area and the volume of the goods to be thrown in real time on the mobile phone to determine whether the receiving device can throw the goods, and if the throwing requirement is met, the mobile phone sends out a receiving confirmation signal to the fixed-wing unmanned aerial vehicle; the step S1 includes the steps of:
s1.1, confirming the flying direction and the throwing position of the unmanned aerial vehicle by an operator through a mobile phone, and accurately determining a throwing area;
s1.2, determining real-time wind direction and wind speed according to a miniature wind direction speed measuring sensor at the top of the receiving device, and determining a throwing angle and an accurate direction according to a movement track of an air-dropped cargo;
s1.3. Assembling a receiver ready to receive
Step S1.3 the method of assembling the receiving device is as follows:
taking out the high-elastic rubber net (2), the longitudinal support rod (5), the inclined support rod (6) and the buffer spring (8) in the device;
taking out the polyester sponge (3) from 4 elastic containing bags in the device body (1) and placing the polyester sponge on the inner surface of the rear panel 1.3 of the device;
connecting a high-elastic rubber net (2) with the front breadth and the rear breadth of the device body (1), then pulling out the bottom fixing telescopic rod (4), and respectively connecting two sections of the longitudinal support rod (5) with the bottom fixing telescopic rod (4) and the middle-upper part of the rear breadth of the device body (1) through fixing buckles;
one end of the inclined supporting rod (6) is connected with the longitudinal supporting rod (5) through a slide fastener, the other end of the inclined supporting rod is connected with one end of a buffer spring (8) through a spring slideway, finally, four side supporting rods are pulled out, the receiving direction and the receiving angle of the device are adjusted through adjusting the spring slideway and the inclined supporting rod (6), and the assembly is finished.
2. The city roof-mounted unmanned aerial vehicle roof airdrop indicating method of claim 1, wherein after the assembly is completed, a ground operator sends a signal that goods can be delivered to the unmanned aerial vehicle through a mobile phone APP, when the fixed-wing unmanned aerial vehicle receives the drop signal, the unmanned aerial vehicle is adjusted to fly horizontally at a certain vertical distance from the ground from high altitude, when the unmanned aerial vehicle reaches a receiving area, the unmanned aerial vehicle flies around the receiving device, in the flying process of the fixed-wing unmanned aerial vehicle horizontally surrounding the receiving device, a digital camera in the fixed-wing unmanned aerial vehicle detects two white light source pixels and two red light source pixels of an LED lamp, and the unmanned aerial vehicle determines the receiving direction of the receiving device according to the positions of the light source pixels.
3. The indication method of the city roof-mounted unmanned aerial vehicle roof airdrop according to claim 2, wherein based on the view angle of the fixed-wing unmanned aerial vehicle, the midpoint value between the two white light source pixels is found out through the white light source pixel distance between the LED lamp a and the LED lamp B detected by the digital camera in the unmanned aerial vehicle through an image recognition algorithm, and the position of the airframe is adjusted in time and the direction is corrected according to the real-time wind direction and wind speed measured by the miniature wind direction speed sensor, so that the fixed-wing unmanned aerial vehicle flies along the midpoint value of the two white light source pixels to find the best delivery cargo position and accurately drop the cargo.
4. The city roof mounted unmanned aerial vehicle roof airdrop indicating method of claim 3, wherein when the goods accurately fall into and are received, the high elastic rubber net inside the receiving device can be used for first-level deceleration for the goods flying, the polyester sponge can be used for providing second-level protection for the goods flying, the inclined support rod on the back of the receiving device is under the action of impact force, the buffer spring is compressed and deformed, when the buffer spring is compressed to the maximum stroke, the lock catch in the spring slide way locks the buffer spring, the inclined support rod is bent and deformed to relieve the transverse speed of the goods, when the inclined support rod is deformed to a certain degree, the side support rods on the two sides of the device land to assist in buffering for the transverse speed.
5. The city roof-mounted unmanned aerial vehicle roof airdrop indicating method of claim 4, wherein the step S3 comprises the steps of: when the airdrop goods are received, firstly, the buffer spring (8) and the inclined supporting rod (6) are taken down, the side supporting rod (7) is received in the device, the longitudinal supporting rod (5) is taken down, and the fixed telescopic rod (4) is received in the device; then taking the high-elasticity rubber net (2) out of the device, checking the damage condition of each part, if each part is intact, placing the high-elasticity rubber net (2) and the longitudinal support rod (5) into a dark bag at the bottom of the device body (1), and placing the inclined support rod (6) and the buffer spring (8) into a side dark bag of the device body (1); and finally, checking the damage condition of the air-dropped goods and timely storing the goods.
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| CN113568437B (en) * | 2021-09-27 | 2022-02-22 | 西安羚控电子科技有限公司 | Air-drop system and air-drop control method for large and medium-sized fixed wing unmanned aerial vehicle |
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