CN109911239A - It is tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system - Google Patents
It is tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system Download PDFInfo
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- CN109911239A CN109911239A CN201910282349.1A CN201910282349A CN109911239A CN 109911239 A CN109911239 A CN 109911239A CN 201910282349 A CN201910282349 A CN 201910282349A CN 109911239 A CN109911239 A CN 109911239A
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Abstract
The present invention relates to being tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system, it further includes head pulley, head pulley has been fixedly and coaxially connected master gear that unwrapping wire length control device, which includes encoder and the meter counter that is electrically connected with encoder,；The peripheral side of head pulley is moved with cable adjoining, head pulley is tethered at by being tethered at cable tie turn；Encoder one end is fixedly connected with end gear, and end gear is driven by master gear and rotated；Meter counter connects control circuit.The present invention can accurately obtain the unwrapping wire length for being tethered at cable in real time, and can control and be tethered at cable unwrapping wire length.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to one kind is tethered at unmanned plane unwrapping wire length control device, capstan winch dress
It sets and UAV system.
Background technique
It is tethered at one kind that unmanned plane is unmanned plane.Unmanned plane is tethered at generally to connect by the capstan winch being tethered on cable and ground
It connects, electric energy required when being tethered at unmanned plane during flying is supplied by ground station.Unmanned plane is tethered to be had with other unmanned planes
Fixed point height-lock control stable performance outside, also have the function of long boat flight.For theoretically, as long as ground station provides
Enough electric energy, be tethered at unmanned plane fixed high fixed point ground follow-on mission, such unmanned plane during flying device can be widely applied for a long time
When communication emergency relaying, live and aerial monitoring.
It is existing to be tethered at unmanned plane when in use, it is tethered at length of cable and is difficult accurate judgement in real time, be at present usually to be tethered at
Marker color needs to pay close attention to always the label on the cable of ground as length diacritical point on cable when being tethered at unmanned plane during flying, knows
Not very troublesome, being easy to cause and being tethered at drone flying height is more than to be tethered at length of cable, and then bring hidden danger to flight safety.
Summary of the invention
In view of the deficiencies of the prior art, the first object of the present invention be to provide it is a kind of can be real-time for be tethered at unmanned plane
Ground accurately obtains the unwrapping wire length for being tethered at cable and can control the unwrapping wire length control device for being tethered at cable unwrapping wire length.
The second object of the present invention, which is to provide, a kind of is tethered at line for being tethered at capable of accurately obtaining in real time for unmanned plane
The unwrapping wire length of cable simultaneously can control the capstan arrangement for being tethered at cable unwrapping wire length.
The third object of the present invention is to provide a kind of unwrapping wire length and energy that can accurately obtain in real time and be tethered at cable
Enough control is tethered at the UAV system of cable unwrapping wire length.
The first purpose to realize the present invention, the present invention provides one kind to be tethered at unmanned plane unwrapping wire length control device,
It includes encoder and the meter counter that is electrically connected with encoder, further includes head pulley, head pulley has been fixedly and coaxially connected main tooth
Wheel；The peripheral side of head pulley is moved with cable adjoining, head pulley is tethered at by being tethered at cable tie turn；Encoder one end is fixedly connected
There is end gear, end gear is driven by master gear and rotated；Meter counter connects control circuit.
Therefore the present invention can easily be obtained in real time using encoder with meter counter be tethered at cable unwrapping wire it is long
Degree avoids the need on being tethered at cable paint color etc. to judge the trouble of length of cable.Of the invention is tethered at cable drive
Head pulley rotation, head pulley drive encoder to rotate, can be improved the accuracy of unwrapping wire length obtained again.If will coding
Device is directly connected in winch drum, and due to being tethered at the folding and unfolding of cable, the winding turns in winch drum will appear variation, cause
Diameter change, so that the length for causing every circle to be tethered at cable has differences.The present invention can overcome this problem well.And this
The problems such as encoder of invention reconnects head pulley by gear, is able to solve assembly interference problem and limited diameter of pulley.
Further technical solution is that be tethered at unmanned plane unwrapping wire length control device further include transmission gear, driving cog
Wheel is engaged with master gear, while transmission gear is engaged with end gear；Master gear is provided separately with end gear.
Therefore the present invention is further defined and is driven between master gear and end gear by transmission gear,
The position of encoder can be made to be arranged more flexible, facilitate the design of gear and pulley.
Further technical solution is that be tethered at unmanned plane unwrapping wire length control device further include auxiliary pulley, and auxiliary is slided
The peripheral side of wheel and the peripheral side of head pulley are adjacent；The peripheral side of head pulley is equipped with the groove for accommodating and being tethered at cable.
Therefore the present invention is additionally provided with auxiliary pulley in the peripheral side of head pulley, auxiliary pulley can will be tethered at line
Cable presses to head pulley, more stably head pulley is driven to rotate to make to be tethered at cable, and the peripheral side of head pulley has and accommodates
It is tethered at the groove of cable, further avoids being tethered at cable pine cunning from driving pulley.Auxiliary pulley also can have receiving system
The groove for staying cable cooperates with the groove on head pulley, is tethered at cable for accommodating.The present invention can have one or more auxiliary
Help pulley.Transmission gear of the invention can coaxially be fixedly installed with an auxiliary pulley.
Further technical solution is that control circuit includes warning circuit and motor halt circuit；Warning circuit includes report
Alert device；Motor halt circuit includes coil, and coil is used to control the opening and closing of the unwrapping wire switch of capstan winch motor.Alarm is preferably sound
Light crossing-signal.
Therefore the present invention controls the opening and closing of alarm and capstan winch motor unwrapping wire circuit using meter counter, to remind
UAV Flight Control personnel, and capstan winch motor transitional rotation capstan winch can be prevented and cause to invert take-up.Motor stops electricity
The coil on road and the unwrapping wire switch of capstan winch motor side constitute relay.
Further technical solution is that meter counter includes the first relay and the second relay, the connection of the first relay
Warning circuit, the second relay connect motor halt circuit.
Therefore the present invention is arranged two group relays and controls warning circuit and motor halt circuit respectively, convenient for setting
Different conditions realizes alarm respectively and stops the function of capstan winch motor.Such as it can be respectively communicated with according to different unwrapping wire length
Warning circuit and motor halt circuit can also be respectively communicated with warning circuit and electricity according to the number for reaching some unwrapping wire length
Machine halt circuit.
Further technical solution is that meter counter is provided with the switch control numerical value of the first relay and the second relay；
When unwrapping wire length reaches the first numerical value, the first relay is connected to warning circuit；When unwrapping wire length reaches second value, second
Relay is connected to motor halt circuit；First numerical value is less than or equal to second value, and second value, which is less than or equal to, is tethered at cable
Maximum unwrapping wire length.
Therefore different switch control numerical value can be arranged for two group relays on meter counter in the present invention, when putting
When line length reaches the first numerical value, it is connected to warning circuit, reminds UAV Flight Control personnel；When unwrapping wire length reaches the second number
When value, it is connected to motor halt circuit, capstan winch motor is prevented to continue unwrapping wire.
Further technical solution is that meter counter further includes the display for showing unwrapping wire length.
Therefore the present invention can also use the meter counter with display, real-time display unwrapping wire length.Of the invention
Meter counter can also pass through sound prompting unwrapping wire length.
The second purpose to realize the present invention, the present invention provide one kind and are tethered at unmanned plane capstan arrangement, including capstan winch electricity
Machine, pulling force sensing device, bidirectional control device and it is tethered at unmanned plane unwrapping wire length control device；Pulling force sensing device includes
Pivotable sensing arm, one end connection induction pulley of sensing arm, the other end and potentiometer of sensing arm cooperate；Double-direction control dress
Set the retractable cable signal for receiving and being triggered by potentiometer；Bidirectional control device connects the capstan winch motor by one-way conduction element,
One-way conduction element is used to be connected the take-up circuit of capstan winch motor；Unwrapping wire switch and one-way conduction element in parallel, when motor stops
When circuit is in open-circuit condition, unwrapping wire is closed the switch, for the unwrapping wire circuit of capstan winch motor to be connected；It is long to be tethered at unmanned plane unwrapping wire
Spending control device is to be tethered at unmanned plane unwrapping wire length control device in any of the above-described scheme；Capstan winch motor folding and unfolding is tethered at line
Cable along unwinding direction around after head pulley with induction pulley contact.
Therefore the present invention provides a kind of including the above-mentioned capstan winch dress for being tethered at unmanned plane unwrapping wire length control device
It sets.In the induction pulley of the side of head pulley setting pulling force sensing device, be conducive to be tethered at the smooth retractable cable of cable.When being tethered at line
Cable pulling force reduces or when becoming larger, and induction pulley is moved in the case where being tethered at cable effect, drives sensing arm rotation, the sensing arm other end with
Potentiometer cooperation changes the resistance value etc. of potentiometer, and potentiometer triggers take-up signal or unwrapping wire signal, and bidirectional control device receives
The take-up of capstan winch motor or unwrapping wire are controlled after signal.It is not reached when motor halt circuit is in open-circuit condition, such as in unwrapping wire length
When to second value, unwrapping wire switch is in closed state, and bidirectional control device can control capstan winch unwrapping wire.When motor halt circuit
When connection, such as when unwrapping wire length reaches second value, unwrapping wire switch is in the open state, even if being tethered at cable pull change
Greatly, bidirectional control device can not control capstan winch unwrapping wire.And one-way conduction element can guarantee the take-up circuit of capstan winch motor
It is connected at one-way conduction unit, no matter whether motor halt circuit is connected to, and the controllable capstan winch motor of bidirectional control device is received
Line.
Further technical solution is that be tethered at unmanned plane capstan arrangement further include leading block, is tethered at cable along unwrapping wire
Direction is after incuding pulley using leading block.
Therefore the present invention is additionally provided with leading block, leading block can play guiding and limit to cable is tethered at
Effect, can guarantee during take-up or unwrapping wire, and the cable that is tethered at incuded between pulley and directive wheel can be in one direction
Extend, guarantees the accurate stress of sensing arm.
Third purpose to realize the present invention, the present invention provide a kind of UAV system, including unmanned plane and capstan arrangement,
Unmanned plane and capstan arrangement are connected by being tethered at cable, and capstan arrangement is that the unmanned plane that is tethered in any of the above-described scheme is filled with capstan winch
It sets.
Therefore the present invention provides a kind of UAV system including above-mentioned capstan arrangement.When being tethered on unmanned plane
When rising, it is tethered at cable pull and becomes larger, capstan arrangement unwrapping wire, until unwrapping wire length reaches special value, unwrapping wire length control device
It gives a warning and stops capstan winch motor and continue unwrapping wire.When being tethered at unmanned plane decline, it is tethered at cable pull reduction, capstan arrangement is received
Line.
Detailed description of the invention
Fig. 1 is the connection circuit diagram of capstan arrangement embodiment of the present invention.
Fig. 2 is the pulley blocks linkage encoder mechanical transmission structure schematic diagram of capstan arrangement embodiment of the present invention.
Below in conjunction with attached drawing and specific embodiment, the present invention is described in further detail.
Specific embodiment
Of the invention is tethered at unmanned plane unwrapping wire length control device and capstan arrangement applied to unmanned plane is tethered at, and is being
It stays unmanned plane during flying to provide enough electric energy to unmanned plane by being tethered at cable in the process, is able to maintain and is tethered at unmanned plane steadily
Long-term fixed high fixed point follow-on mission is kept, the reliability for being tethered at unmanned plane is improved, is enabled and is tethered at unmanned plane and is widely applied
In terms of live and aerial.
Unwrapping wire length control device embodiment
As depicted in figs. 1 and 2, the unwrapping wire length control device of the present embodiment is used in and is tethered in the capstan arrangement of machine.Wherein, unwrapping wire
Length control device includes encoder 1 and meter counter 2, and encoder 1 is electrically connected with meter counter 2.Encoder 1 is rotary coding
Device.Meter counter 2 has display, is used for real-time display unwrapping wire length.
As shown in Fig. 2, the unwrapping wire length control device of the present embodiment includes head pulley 3, the peripheral side of head pulley 3 is equipped with
Accommodate the groove 41 for being tethered at cable 4.Auxiliary pulley 5, the peripheral side and head pulley 3 of auxiliary pulley 5 are additionally provided with around head pulley 3
Peripheral side it is adjacent, the peripheral side of auxiliary pulley 5 also is provided with accommodating the groove 41 for being tethered at cable 4.Auxiliary pulley 5 facilitates
Holding is tethered at cable 4 and contacts with the peripheral side of head pulley 3.
Head pulley 3 has been fixedly and coaxially connected master gear 31, has been fixedly and coaxially connected transmission gear on an auxiliary pulley 5
51, one end of encoder 1 is fixedly connected with end gear 11.Master gear 31 is engaged with transmission gear 51, transmission gear 51 and end
Portion's gear 11 engages, to realize the transmission of head pulley 3 Yu encoder 1.This setup is able to solve assembly interference problem
The problems such as being limited with diameter of pulley facilitates the design of pulley blocks.
As shown in Figure 1, meter counter 2 is equipped with the first relay 21 and the second relay 22, the first relay 21 is for alarming
The switch of circuit, the second relay 22 are used for the switch of motor halt circuit.Warning circuit includes combined aural and visual alarm 23, and motor stops
Only circuit includes coil 24, and coil 24 is used to control the opening and closing of the unwrapping wire switch 61 in capstan arrangement, and coil 24 and unwrapping wire switch
61 constitute another relay.
In the present embodiment, the switch control numerical value of the first relay 21 and the second relay 22 is set in meter counter 2.When
When unwrapping wire length reaches the first numerical value, the first relay 21 is connected to warning circuit, reminds UAV Flight Control personnel.Work as unwrapping wire
When length reaches second value, the second relay 22 is connected to motor halt circuit, and capstan winch motor 6 is prevented to continue unwrapping wire.Wherein,
One numerical value is less than or equal to second value, and second value is less than or equal to the maximum unwrapping wire length for being tethered at cable 4.It is preferred that the first number
Value is less than second value, and second value is less than the maximum unwrapping wire length for being tethered at cable 4.
The unwrapping wire length control device of the present embodiment can accurately obtain the unwrapping wire length for being tethered at cable 4 in real time.Root
According to the diameter of head pulley 3 and the transmission ratio of gear, the practical track lengths that encoder 1 turns around can be calculated, according to coding
The practical line length of a pulse is arranged in the umber of pulse of device 1.The coding of different pulse number can be selected according to different Trace speeds
Device 1.
Capstan arrangement embodiment
The capstan arrangement of the present embodiment includes capstan winch motor 6, pulling force sensing device 7, bidirectional control device 8 and above-described embodiment
In unwrapping wire length control device.
As illustrated in fig. 1 and 2, wherein pulling force sensing device 7 includes pivotable sensing arm 71, and one end of sensing arm 71 connects
Induction pulley 72 is connect, the other end and potentiometer 73 of sensing arm 71 cooperate.Potentiometer 73 triggers take-up signal or unwrapping wire signal, double
6 take-up of capstan winch motor or unwrapping wire are controlled after receiving signal to control device 8.Bidirectional control device 8 passes through one-way conduction element 62
Capstan winch motor 6 is connected, one-way conduction element 62 is used to be connected the take-up circuit of capstan winch motor 6.Unwrapping wire switch 61 and one-way conduction
Element 6 is in parallel.
Capstan arrangement further includes to two leading blocks 9 for being tethered at cable 4 and playing guiding and position-limiting action.It is tethered at cable 4
Successively pass through head pulley 3, induction pulley 72 and leading block 9 along unwinding direction.Incude the peripheral side of pulley 72 and leading block 9
Groove 41 can also be equipped on face.
In the present embodiment, encoder 1, head pulley 3, auxiliary pulley 5, pulling force sensing device 7 and leading block 9 are respectively provided with
On same bracket, pulley blocks rational deployment.
When being tethered at the reduction of 4 pulling force of cable or becoming larger, induction pulley 72 moves under the action of being tethered at cable 4, dynamic
Arm 71 is answered to rotate, to change the resistance value etc. of potentiometer 73, potentiometer 73 triggers take-up signal or unwrapping wire signal, double-direction control
Device 8 controls 6 take-up of capstan winch motor or unwrapping wire after receiving signal.
When unwrapping wire length is not up to second value at that time, motor halt circuit is in open-circuit condition, and unwrapping wire switch 61 is in
Closed state, bidirectional control device can control 6 unwrapping wire of capstan winch motor.When unwrapping wire length reaches second value, motor stops
Circuit communication, unwrapping wire switch 6 is in the open state, and due to the barrier of one-way conduction unit 62, bidirectional control device 8 can not be controlled
6 unwrapping wire of capstan winch motor processed.No matter whether motor halt circuit is connected to, and one-way conduction element 62 enables bidirectional control device 8
Control 6 take-up of capstan winch motor.
When manufacturing the capstan arrangement of the present embodiment, it can be used by parts such as design processing gear, pulley, brackets
The accessories such as existing encoder, meter counter, relay, alarm assemble pulley blocks linkage by the structural relation of the present embodiment
Encoder mechanical transmission structure reconnects encoder, meter counter, combined aural and visual alarm, circuit for controlling motor etc..
UAV system embodiment
The present embodiment provides a kind of UAV system, including the capstan arrangement in unmanned plane and above-described embodiment, unmanned plane and strand
Disk device is connected by being tethered at cable 4, is tethered at cable 4 and is connected unmanned plane after leading block 9.
Therefore of the invention it is tethered at unmanned plane unwrapping wire length control device, capstan arrangement and UAV system energy
It is enough accurately to obtain the unwrapping wire length for being tethered at cable in real time, and can control and be tethered at cable unwrapping wire length, such as give a warning
It works with capstan winch motor is stopped.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. be tethered at unmanned plane unwrapping wire length control device, including encoder and the meter counter being electrically connected with the encoder,
It is characterized by:
It further include head pulley, the head pulley has been fixedly and coaxially connected master gear；The peripheral side of the head pulley and it is tethered at line
Cable is adjacent, and the head pulley is moved by the cable tie turn that is tethered at；
Described encoder one end is fixedly connected with end gear, and the end gear is driven by the master gear and rotated；
The meter counter connects control circuit.
2. according to claim 1 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
It further include transmission gear, the transmission gear is engaged with the master gear, while the transmission gear and the end tooth
Wheel engagement；The master gear is provided separately with the end gear.
3. according to claim 1 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
It further include auxiliary pulley, the peripheral side of the peripheral side of the auxiliary pulley and the head pulley is adjacent；The main cunning
The peripheral side of wheel is equipped with the groove that cable is tethered at described in receiving.
4. according to any one of claims 1 to 3 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
The control circuit includes warning circuit and motor halt circuit；The warning circuit includes alarm；The motor stops
Only circuit includes coil, and the coil is used to control the opening and closing of the unwrapping wire switch of capstan winch motor.
5. according to claim 4 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
The meter counter includes the first relay and the second relay, and first relay connects the warning circuit, institute
It states the second relay and connects the motor halt circuit.
6. according to claim 5 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
The meter counter is provided with the switch control numerical value of first relay and second relay；
When unwrapping wire length reaches the first numerical value, first relay is connected to the warning circuit；When unwrapping wire length reaches
When two numerical value, second relay is connected to the motor halt circuit；
First numerical value is less than or equal to the second value, and the second value is tethered at cable most less than or equal to described
Big unwrapping wire length.
7. according to claim 4 be tethered at unmanned plane unwrapping wire length control device, it is characterised in that:
The meter counter further includes the display for showing unwrapping wire length.
8. be tethered at unmanned plane capstan arrangement, including capstan winch motor, pulling force sensing device, bidirectional control device and it is tethered at nobody
Machine unwrapping wire length control device；
The pulling force sensing device includes pivotable sensing arm, one end connection induction pulley of the sensing arm, the induction
The other end and potentiometer of arm cooperate；
The bidirectional control device receives the retractable cable signal triggered by the potentiometer；
It is characterized by:
It is described that be tethered at unmanned plane with unwrapping wire length control device be the described in any item unmanned planes that are tethered at of claim 4 to 7 with putting
Line length control device；
The bidirectional control device connects the capstan winch motor by one-way conduction element, and the one-way conduction element is for being connected
The take-up circuit of the capstan winch motor；The unwrapping wire switch and the one-way conduction element in parallel, when the motor halt circuit
When in open-circuit condition, the unwrapping wire is closed the switch, for the unwrapping wire circuit of the capstan winch motor to be connected；
The capstan winch motor folding and unfolding be tethered at cable along unwinding direction around after the head pulley with the induction pulley contact.
9. according to claim 8 be tethered at unmanned plane capstan arrangement, it is characterised in that:
Further include leading block, it is described be tethered at cable along unwinding direction after the induction pulley using the guiding slide
Wheel.
10. UAV system, including unmanned plane and capstan arrangement, the unmanned plane and the capstan arrangement are connected by being tethered at cable
It connects, it is characterised in that:
The capstan arrangement is that unmanned plane capstan arrangement is tethered at described in claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910282349.1A CN109911239B (en) | 2019-04-09 | 2019-04-09 | Paying-off length control device for tethered unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910282349.1A CN109911239B (en) | 2019-04-09 | 2019-04-09 | Paying-off length control device for tethered unmanned aerial vehicle, winch device and unmanned aerial vehicle system |
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| Publication Number | Publication Date |
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| CN109911239A true CN109911239A (en) | 2019-06-21 |
| CN109911239B CN109911239B (en) | 2023-10-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112027106A (en) * | 2020-08-31 | 2020-12-04 | 西南科技大学 | Unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off and unmanned aerial vehicle positioning method |
| CN113495579A (en) * | 2021-09-08 | 2021-10-12 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
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