CN110001981A - The carry mechanism of unmanned plane and the control method of unmanned plane - Google Patents
The carry mechanism of unmanned plane and the control method of unmanned plane Download PDFInfo
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- CN110001981A CN110001981A CN201810010071.8A CN201810010071A CN110001981A CN 110001981 A CN110001981 A CN 110001981A CN 201810010071 A CN201810010071 A CN 201810010071A CN 110001981 A CN110001981 A CN 110001981A
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- carry
- unmanned plane
- fixed part
- rotation section
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- 230000007246 mechanism Effects 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 23
- 125000004122 cyclic group Chemical group 0.000 claims description 33
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 33
- 239000011324 bead Substances 0.000 claims description 9
- 230000014759 maintenance of location Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 230000013011 mating Effects 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 7
- 238000002360 preparation method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
Abstract
The present invention discloses a kind of carry mechanism of unmanned plane, including carry and bindiny mechanism, bindiny mechanism includes fixed part for being fixed on the body of unmanned plane and is connected with fixed part, and the rotation section that can be rotated relative to fixed part, carry rotation is assembled on fixed part, rotation section is connected with carry, and rotates with carry.Above scheme can solve in the carry mechanism of current unmanned plane carry can not quick despatch the problem of.Invention additionally discloses a kind of control method of unmanned plane, disclosed control method can ensure that unmanned plane is just allowed to take off after carry is installed in place, and largely ensure the safe take-off of unmanned plane.
Description
Technical field
The present invention relates to the controlling parties of the carry mechanism and unmanned plane of air vehicle technique field more particularly to a kind of unmanned plane
Method.
Background technique
With advances in technology and the promotion of user demand, unmanned plane become increasingly popular to apply in multiple fields, such as
Shooting field, field of pesticide delivery, broadcast world etc..Body needs to carry carry progress work to unmanned plane in the process of work
Make, such as when unmanned plane is used for aerial photographing, carry is then holder for installing video camera or is directly video camera.
The carry mechanism of unmanned plane includes bindiny mechanism and carry at present, and carry passes through the body of bindiny mechanism and unmanned plane
Connection, current carry mechanism are more traditional bindiny mechanism, need operator to carry out during handling more numerous
Trivial assembly and disassembly operations, this is unfavorable for the quick despatch of carry, influences the usage experience of user.
Summary of the invention
The present invention provides a kind of carry mechanism of unmanned plane, and carry can not in the carry mechanism to solve current unmanned plane
The problem of being assembled relatively stablely with bindiny mechanism.
To solve the above-mentioned problems, the present invention adopts the following technical solutions:
The carry mechanism of unmanned plane, including carry and bindiny mechanism, the bindiny mechanism include for being fixed on unmanned plane
Body on fixed part and be connected with the fixed part, and can relative to the fixed part rotate rotation section, the carry
Rotation is assembled on the fixed part, and the rotation section is connected with the carry, and is rotated with the carry.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the rotation section is provided with line joint, and the carry has the
One interface, the rotation section and the carry pass through the line joint and the first interface plug connection.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the rotation section includes being rotatably arranged on the fixed part
Loading plate and the plugboard that is fixed on the loading plate, the line joint be arranged on the plugboard, the carrying
Avoid holes are provided on plate, the line joint passes through the avoid holes, and mating with the first interface.
Preferably, in the carry mechanism of above-mentioned unmanned plane, in the loading plate and the carry, one includes at least two
Positioning column, another one offer at least two location holes, and the positioning column and the location hole are mating one by one.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the carry mechanism further includes photoelectric sensor, the photoelectric transfer
Sensor is connected with the rotation section, and rotates with the rotation section；The fixed part is provided with occlusion part, is in the carry
When rigging position, the photographic department of the photoelectric sensor is blocked by the occlusion part, and issues electric signal.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the fixed part is provided with mounting hole, and the rotation section is rotationally
Cooperate with the mounting hole, and can be rotated within the scope of set angle relative to the mounting hole.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the fixed part is equipped with moveable lock key, the rotation section
It is provided with locating recesses, the lock key and the locating recesses location fit.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the rotation section offers guide-localization slot, the guide-localization
Slot includes arcuate guide section and linking in the positioning section of the end of the arcuate guide section, and the positioning section is along the rotation section
It radially extends；The lock key includes the positioning region slided in the guide-localization slot, and the positioning region can be with the rotation
The rotation in portion from the arcuate guide section enter the positioning section in, and with the positioning section location fit.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the lock key includes key ontology and elastic component, the key ontology
It is slidably arranged on the fixed part, the fixed part is fixed on the key ontology, and one end of the elastic component is positioned at
On the fixed part, the other end is positioned on the key ontology, and the elastic component is used to apply elastic force, institute to the key ontology
Elastic force is stated for driving the positioning region to be maintained at the position with the positioning section location fit.
Preferably, in the carry mechanism of above-mentioned unmanned plane, in the rotation section and the fixed part, one includes limit convex
It rises, another one includes limit flange, and the retention bead and limit flange limit cooperate.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the fixed part includes support portion, and the fixed part has grafting
Hole is provided with the evacuation gap extended along plugging direction on the inner wall of the spliced eye, and the carry includes overlap joint protrusion, described
The spliced eye can be inserted into along the evacuation gap by overlapping protrusion, and be turned to and support portion cooperation with the rotation section
Position.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the fixed part includes the base for being fixed on the body
Seat and the cyclic annular elastic slice being fixed on the pedestal, the ring-type elastic slice includes elastic arm, and the elastic arm is the support portion.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the ring-type elastic slice is fixed on the pedestal by cyclic annular pressing plate
On, the ring-type pressing plate is fixed on the pedestal, and the cyclic annular elastic slice be folded in the cyclic annular pressing plate and the pedestal it
Between, the inside edge of the inside edge of the ring-type elastic slice and the cyclic annular pressing plate is provided with the evacuation positioned opposite and slits
Mouthful.
Preferably, in the carry mechanism of above-mentioned unmanned plane, in the pedestal and the cyclic annular elastic slice, one is provided with fool proof
Protrusion, another one are provided with fool proof recess, the fool proof recess and the fool proof protrusion location fit.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the pedestal is vibration damper plate, is provided with installation on the vibration damper plate
Hole, the overlapping edges of the rotation section turn on the port of the body, and relative to the port on the mounting hole
It is dynamic.
Preferably, in the carry mechanism of above-mentioned unmanned plane, the fixed part further includes being arranged in the mounting hole close to institute
State the capping on the port of body.
A kind of control method of unmanned plane, which comprises
Judge whether there is the carry；
The carry if it exists then judges whether to get the electric signal；
If the electric signal has not been obtained, it is determined that the carry is in and is not mounted to a state, and controls unmanned plane taboo
Only take off.
Preferably, in above-mentioned control method, if getting the electric signal, it is determined that the carry is in and is installed in place shape
State, and control the unmanned plane and carry out preparation of taking off.
At least one above-mentioned technical solution that the present invention uses can reach it is following the utility model has the advantages that
In the carry mechanism of unmanned plane disclosed by the invention, rotation section can be rotated with carry, and rotation section can be relative to solid
Determine portion's rotation, carry drives rotation section rotation, and then can rotate the rigging position being assembled on fixed part, realizes the peace of carry
Dress.Equally, carry can be detached from by rotation from its rigging position, and then realize disassembly.When compared to being assembled and disassembled at present to carry
Operate it is relatively complicated for, carry mechanism disclosed by the invention is able to achieve user to the quick despatch of carry.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the configuration schematic diagram of carry mechanism disclosed by the embodiments of the present invention；
Fig. 2 is the structural schematic diagram that carry mechanism section building block disclosed by the embodiments of the present invention is in assembled state；
Fig. 3 is the scheme of installation of carry disclosed by the embodiments of the present invention and bindiny mechanism；
Fig. 4 is the structural schematic diagram of cyclic annular elastic slice disclosed by the embodiments of the present invention；
Fig. 5 is the assembling structure schematic diagram of cyclic annular elastic slice and elastic slice pressing plate disclosed by the embodiments of the present invention；
Fig. 6 and Fig. 7 is respectively the structural schematic diagram of the both side surface of pedestal；
Fig. 8 is the structural schematic diagram of rotation section in carry mechanism disclosed by the embodiments of the present invention；
Fig. 9 is the structural schematic diagram that the part of carry mechanism disclosed by the embodiments of the present invention forms；
Figure 10 is the structural schematic diagram of lock key disclosed by the embodiments of the present invention；
Figure 11 and Figure 12 is structural schematic diagram of the rotation section relative to two states in fixed part rotation process；
Figure 13 is the flow diagram of the control method of unmanned plane disclosed by the embodiments of the present invention.
Description of symbols:
100- bindiny mechanism, 110- fixed part, 111- pedestal, 111a- threaded connection hole, 111b- fool proof protrusion, 111c-
Threaded connection hole, 111d- limit rib, 111e- mounting hole, 112- ring-type elastic slice, 112a- elastic arm, 112b- locating recesses,
112c- fool proof recess, 113- ring-type pressing plate, 114- fastening screw, 115- capping, 115a- threading hole, 116- fastening screw,
The rotation section 120-, the first terminals of 121-, the second terminals of 122-, 123- loading plate, 123a- avoid holes, 123b- arcuate guide
Section, 123c- positioning section, 123d- retention bead, 123e- threaded hole, 123f- positioning column, 124- plugboard, 125- fastening screw,
130- lock key, the positioning region 131-, 132- key ontology, 133- elastic component, 134- occlusion part, 200- carry, 210- overlap joint protrusion,
220- first interface, 230- location hole, 300- photoelectric sensor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The technical solution provided below in conjunction with attached drawing, each embodiment that the present invention will be described in detail.
Fig. 1-9 is please referred to, the embodiment of the present invention discloses a kind of carry mechanism of unmanned plane, and disclosed carry mechanism includes
Bindiny mechanism 100 and carry 200.
Bindiny mechanism 100 includes fixed part 110 for being fixed on the body of unmanned plane and is connected with fixed part 110
Rotation section 120.Rotation section 120 can be rotated relative to fixed part 110, and rotation section 120 is connected with carry 200, and can be with carry 200
Rotation, the rotation of carry 200 are assembled on fixed part 110, and then realize that carry 200 passes through the connection of bindiny mechanism 100.
In the carry mechanism of unmanned plane disclosed by the embodiments of the present invention, rotation section 120 can be rotated with carry 200, and be rotated
Portion 120 can be rotated relative to fixed part 110, and carry 200 drives rotation section 120 to rotate, and then can rotate and be assembled to fixed part 110
On, the final installation for realizing carry 200.Equally, carry 200 can be detached from by rotation from its rigging position, and then realized and torn open
It unloads.Compared at present to carry assemble and disassemble when operate it is relatively complicated for, carry mechanism disclosed by the embodiments of the present invention is able to achieve use
Quick despatch of the family to carry.
Carry 200 is realized there are many modes assembled and disassembled by way of rotation, for example, can set on fixed part 110
It is equipped with clinch, carry 200 can be overlapped on clinch by its edge after rotation, and then realize assembling.For another example fixed
Realized and connected by helicitic texture between portion 110 and carry 200, by rotation then can be realized carry 200 and fixed part 110 it
Between disassembly and assembly.
In the embodiment of the present invention, fixed part 110 includes support portion, and fixed part 110 has spliced eye, and spliced eye is in grafting side
To being provided with evacuation gap.Carry 200 has overlap joint boss 210.Overlap joint protrusion 210 can be inserted into spliced eye from evacuation gap, and
The position with support portion cooperation is turned to rotation section 120, and then realizes the assembly of carry 200.A kind of specific embodiment
In, carry 200 can be connect after being inserted into spliced eye with rotation section 120, and then energy band moves rotation section 120 together relative to solid
Determine the rotation of portion 110.
The overlap joint protrusion 210 of carry 200 can be moved along evacuation gap, and then realize that carry 200 is inserted into spliced eye, be hung
It carries 200 to be connected with rotation section 120, energy band is moved rotation section 120 and rotated together, and then can make overlap joint protrusion 210 and fixed part 110
Support portion cooperation, that is, realize carry 200 and bindiny mechanism 100 assembly and connection.
Fixed part 110 may include pedestal 111 for being fixed on the body of unmanned plane and be fixed on pedestal 111
Cyclic annular elastic slice 112, cyclic annular elastic slice 112 include elastic arm 112a, and elastic arm 112a can be used as support portion described above, are such as schemed
Shown in 4 and 5.
In a kind of specific embodiment, rotation section 120 is rotatably arranged on pedestal 111, and elastic arm 112a is from its root
It holds towards free end and gradually extends towards the direction for moving closer to rotation section 120, so that elastic arm 112a and rotation section 120
Between the gradually smaller clamping gap of formation width, the overlap joint protrusion 210 of carry 200 rotates with rotation section 120 and screws in and clamp
In gap, it is consistent that screw-in direction with the width of clamping gap gradually becomes smaller direction.In such cases, elastic arm 112a can be more
Steadily realize the support to carry 200.Usual situation, cyclic annular elastic slice 112 is made of the good material of elasticity, specifically, ring
Shape elastic slice 112 is steel disc.
Cyclic annular elastic slice 112 can directly be connected with pedestal 111, can also be realized by other intermediate connectors and pedestal
111 connection.Specifically, cyclic annular elastic slice 112 can be fixed on pedestal 111 by cyclic annular pressing plate 113.Cyclic annular elastic slice 112 presss from both sides
It is located between cyclic annular pressing plate 113 and pedestal 111.The inside edge of the inside edge of cyclic annular elastic slice 112 and cyclic annular pressing plate 113
To be provided with evacuation gap positioned opposite.Preferably, evacuation gap and overlap joint protrusion 210 are multiple, multiple overlap joint protrusions
210 can be realized and more balancedly overlap.
Fig. 4 and Fig. 5 are please referred to, specifically, cyclic annular pressing plate 113 can be fixed on pedestal 111 by fastening screw 114,
Cyclic annular elastic slice 112 can be fastened between cyclic annular pressing plate 113 and pedestal 111.In such cases, be provided on pedestal 111 with
The threaded connection hole 111a that fastening screw 114 cooperates, as shown in Figure 7.In order to improve the stability of cyclic annular pressing plate 113, it is preferred that
Locating recesses 112b has can be set in cyclic annular elastic slice 112, and locating recesses 112b can be with 114 location fit of fastening screw.
In order to facilitate the installation of, avoid cyclic annular elastic slice 112 anti-loaded, in preferred scheme, in pedestal 111 and cyclic annular elastic slice 112,
Fool proof protrusion has can be set in one, and fool proof recess, fool proof recess and fool proof protrusion location fit has can be set in another one, into
And realize the purpose of assembling fool proof.In a kind of specific embodiment, fool proof protrusion 111b can be set on pedestal 111, such as
Shown in Fig. 7, correspondingly, fool proof recess 112c can be set on cyclic annular elastic slice 112, as shown in Figure 4.
In the actual working process, biggish vibration can be generated when unmanned plane during flying, in order to reduce vibration to carry 200
Influence, in preferred scheme, pedestal 111 can be vibration damper plate, as shown in Figure 1.It is provided with mounting hole 111e on vibration damper plate, turns
Dynamic portion 120 and mounting hole 111e is rotatably assorted.
In order to promote the protection to carry mechanism, in the embodiment of the present invention, fixed part 110 can also include capping 115, envelope
Mounting hole 111e is arranged on the port of the body of unmanned plane in lid 115.Specifically, capping 115 is solid by fastening screw 116
It is scheduled on pedestal 111.Correspondingly, the threaded connection hole 111c that can cooperate with fastening screw 116 can be set on pedestal 111,
As shown in Figures 6 and 7.Under normal conditions, the body of carry mechanism and unmanned plane realizes data connection or power supply by wired mode
Connection.Based on this, threading hole 115a can be set in capping 115, threading hole 115a can be passed through for data line or power supply line.
Incorporated by reference to reference Fig. 8 and Fig. 9, in the embodiment of the present invention, line joint, carry 200 has been can be set in rotation section 120
With first interface 220, rotation section 120 and carry 200 are realized by the grafting between line joint and first interface 220 and are connected
It connects.Line joint can be connect with the second interface on the body of unmanned plane, and then realize the body of carry 200 and unmanned plane
Connection.Specifically, first interface can be data-interface, it is also possible to electrical interface.Certainly, first interface can both include data
Interface also may include electrical interface.
Specifically, line joint includes the first terminals 121 and the second terminals 122, the first terminals 121 are located at rotation
Towards a side surface of carry 200 in portion 120, the second terminals 122 are located at the other side for deviating from carry 200 on rotation section 120
Surface.First terminals 121 and first interface 220 are mating, and the second terminals 122 connect with second on the body of unmanned plane
Mouth is connected.Specifically, the second terminals 122 can realize the with the body of unmanned plane by the cable across threading hole 115a
The connection of two interfaces.
In a kind of specific embodiment, rotation section 120 may include loading plate 123 and plugboard 124, plugboard 124
It is fixed on loading plate 123.Specifically, plugboard 124 can be fixedly linked with loading plate 123 by fastening screw 125.Fastening
Screw 125 passes through the perforation on plugboard 124, and is fixedly linked with the threaded hole 123e on loading plate 123, as shown in Figure 1.?
In the specific embodiment, avoid holes 123a is provided on loading plate 123, the first terminals 121 and the second terminals 122 are solid
It is scheduled on plugboard 124.Specifically, the first terminals 121 can be set on a side surface of plugboard 124, the second wiring
End 122 can be set on another side surface of plugboard 124.First terminals 121 can pass through avoid holes 123a, and with the
One interface 220 is mating.Loading plate 123 is fixedly linked with fixed part 110, and then is able to achieve plugboard 124 and line joint
Around rotating together for fixed part 110.
As described above, carry 200 is connected with rotation section 120, and can rotate with rotation section 120.A kind of specific implementation
In mode, in loading plate 123 and carry 200, one is provided at least two positioning columns, and another one is provided at least two positioning
Hole is positioned at mating one by one with location hole.Above-mentioned at least two positioning cooperates at least two location holes, enables to hang
200 are carried with rotation section 120 in its rotation direction location fit, and then can make carry 200 that rotation section 120 be followed to rotate.Specifically
, it is provided at least two location holes 230 on carry 200, at least two positioning column 123f, such as Fig. 1 are provided on loading plate 123
It is shown.
In actual cargo handling process, carry 200 is rotated with rotation section 120, and then realizes the connection with fixed part 110,
Rotation section 120 needs to rotate in certain angular range.Based on this, in the embodiment of the present invention, fixed part 110 can be with
It is provided with mounting hole, such as described above, mounting hole 111e is provided on pedestal 111.Match with mounting hole 111e rotation section 120
It closes, and can be rotated within the scope of set angle relative to mounting hole 111e.
In the embodiment of the present invention, rotation section 120 is provided with locating recesses, and fixed part 110 includes moveable lock key
130, lock key 130 can and locating recesses in the rotation direction location fit of rotation section 120, and then realize rotation section 120 and solid
Determine the locking in portion 110, overlap joint protrusion 210 can finally be made to be maintained at its rigging position.In the embodiment of the present invention, rotation section 120
Locating recesses are provided with, fixed part 110 includes moveable lock key 130, and lock key 130 can be moved to and locating recesses are turning
The position of the rotation direction location fit in dynamic portion 120, so that overlap joint protrusion 210 is in its rigging position without pine
It is de-.It is connect more stablely as it can be seen that carry mechanism disclosed by the embodiments of the present invention can be realized carry 200 and bindiny mechanism 100,
Achieve the purpose that 200 anticreep of carry.
In the process of disassembly, operator's manipulation lock key 130 is removed out of locating recesses can be realized unlock, then
Convolution carry 200 can be such that its overlap joint protrusion 210 is detached from from support portion, final to realize that carry 200 be torn open along evacuation gap
From.
Please refer to Fig. 1,2,8 and 9, in the embodiment of the present invention, guide-localization slot has been can be set in rotation section 120.Specifically,
Can offer guide-localization slot on the loading plate 123 of rotation section 120, guide-localization slot may include arcuate guide section 123b and
It is connected in the positioning section 123c of the end of arcuate guide section 123b.Positioning section 123c is radially extended along rotation section 120；Lock key
130 include positioning region 131, and positioning region 131 can be slidably matched with arcuate guide section 123b.Positioning region 131 is arranged in guide-localization
In slot, positioning region 131 can enter in positioning section 123c with the rotation of rotation section 120 from arcuate guide section 123b, and and positioning section
123c is in rotation direction location fit.In specific operating process, rotation section 120 is rotated together with carry 200, and setting is solid
The positioning region 131 determined in portion 110 can be mobile relative to loading plate 123, and then can be mobile relative to arcuate guide section 123b.Work as lock
After only key 130 is moved to positioning section 123c, operator can manipulate positioning region 131 and move along positioning section 123c, so that
Positioning region 131 and positioning section 123c location fit are finally able to achieve rotation section 120 and fixed part 110 in the positioning of rotation direction
Cooperation, achievees the purpose that locking, and in such cases, rotation section 120 can not all rotate, and then realizes the stabilization locking of carry 200,
Finally it is avoided that loosening for carry 200.
Fig. 1 and Fig. 7 are please referred to, in order to realize reliable location, more preferably scheme after the rotation of rotation section 120 set angle
In, rotation section 120 includes retention bead, and fixed part 110 includes limit rib, limits rib energy and retention bead in rotation section
120 rotation direction limits cooperation.Specifically, being provided with retention bead 123d on loading plate 123.It is arranged on pedestal 111 limited
Position rib 111d, limit rib 111d, which can be limited with retention bead 123d in rotation direction, to be cooperated.
As described above, mounting hole 111e has can be set in pedestal 111, and rotation section 120 and mounting hole 111e cooperate, and energy
It is rotated relative to mounting hole 111e.Specifically, the overlapping edges of rotation section 120 are on the port of mounting hole 111e, and relative to
It is rotated on mounting hole 111e close to the port of body.On the basis of rotation section 120 includes loading plate 123, the side of loading plate 123
Edge is overlapped on the port rotation of mounting hole 111e, as shown in figure 11.
Specifically, limit flange 111d is the cyclic structure with gap, limit flange 111d is arranged in mounting hole 111e
End face, and between the port of mounting hole 111e formed overlap joint position, loading plate 123 be rotationally assemblied in overlap joint position on.Carrying
The retention bead 123d of plate 123 is then located in the gap of limit flange 111d, and then realizes and match with the limit of limit flange 111d
It closes.Certainly, realize there are many modes that rotation section 120 and pedestal 111 are rotatably assorted, the embodiment of the present invention to this with no restriction.
In order to realize the more stable locking of lock key 130, lock key 130 disclosed by the embodiments of the present invention may include key
Ontology 132 and elastic component 133, key ontology 132 are slidably arranged on fixed part 110, and positioning region 131 is fixed on key ontology 132
On.One end of elastic component 133 is located on fixed part 110, and the other end is positioned on key ontology 132.Elastic component 133 is used for key
Ontology 132 applies elastic force, and elastic force is for driving positioning region 131 to be maintained at the position with positioning section 123c location fit.
Elastic component 133 can preferably make positioning region 131 be located in positioning section 123c, avoid the maloperation of operator
Lead to loosening for carry 200.In the process of disassembly, it is mobile can to manipulate key ontology 132 by operator, and then overcomes elastic component
133 elastic force can relatively move in arcuate guide section 123b, achieve the purpose that separate carry 200.
Referring again to Fig. 1,2,8,9,10,11 and 12, carry mechanism disclosed by the embodiments of the present invention can also include light
Electric transducer 300, photoelectric sensor 300 are connected with rotation section 120, and can rotate with rotation section 120.Fixed part 110 is provided with
Occlusion part, when rotation section 120 turns to the rigging position of carry 200 with carry 200, the photographic department quilt of photoelectric sensor 300
Occlusion part blocks, and issues electric signal.The photographic department portion of being blocked of photoelectric sensor 300 is blocked, and can result in photographic department
Photosensitive variation, thus variation issues electric signal.The electric signal can be transmitted directly to special reception device, can also directly send out
The ground control station of unmanned plane is given, and then ensures that carry 200 is installed in place.
The setting of above-mentioned photoelectric sensor 300 enables to carry 200 after being installed in place, and the photographic department portion of being blocked hides
Gear, and then the electric signal issued can remind whether carry 200 is installed in place.As it can be seen that carry mechanism disclosed by the embodiments of the present invention
It can be realized the identification that carry 200 is installed in place, user avoided to take off when carry 200 installs not in place unmanned plane.
In a kind of specific embodiment, lock key 130 may include occlusion part 134, and occlusion part 134 is fixed on key ontology
On 132.Under positioning region 131 and positioning section 123c location fit state, occlusion part 134 blocks the photosensitive of photoelectric sensor 300
Portion, so that the signal that photoelectric sensor 300 acquires changes and issues electric signal.
As described above, the electric signal that photoelectric sensor 300 issues can be sent to special reception device, a kind of specific
Embodiment in, carry mechanism disclosed by the embodiments of the present invention can also include be installed in place alarm set, be installed in place and mention
Device of waking up is connected with photoelectric sensor 300, is installed in place electric signal of the alarm set for issuing according to photoelectric sensor 300 and sends out
It is installed in place prompting message out, and then user's carry 200 is reminded to be in the state being installed in place.
In the embodiment of the present invention, carry 200 can be the holder of installation video camera, as shown in Figure 1, or other kinds
Functional product, such as scale insecticide sprayer, mapping machine, broadcasting equipment etc., the present invention does not limit the specific type of carry 200.
Based on carry mechanism disclosed by the embodiments of the present invention, please refer to Figure 13, the embodiment of the present invention be also disclosed it is a kind of nobody
The control method of machine, disclosed control method include the following steps:
S131, carry is judged whether there is.
This step is to judge unmanned plane with the presence or absence of carry 200, this deterministic process can be by for detecting carry 200
Equipment complete, then can be verified by the detection of detection device after unmanned plane installation carry 200.A kind of specific implementation
In mode, detection device can be weight detection equipment, due to directly affecting the weight of unmanned plane whether unmanned plane carry 200,
Weight detection equipment can determine unmanned plane with the presence or absence of carry by the detection of weight.It is, of course, also possible to using other sides
Formula judge unmanned plane whether carry, such as in unmanned plane there are when carry 200, carry 200 and unmanned plane circuit are connected, therefore,
Detection device can be by information such as connecting and disconnecting of the circuit, circuit size, voltage differences to determine whether there are carries 200.Identify nothing
It man-machine there are many ways to whether there is carry 200, is then not listed one by one at this.
When the judgment result is yes, then illustrating unmanned plane, there are carries 200 for this step, are transferred to step S132 at this time.
S132, judge whether to obtain electric signal.
In this step, after so-called electric signal refers to that the photographic department portion of being blocked of above photoelectric sensor 300 is blocked,
The electric signal that photoelectric sensor 300 issues then is transferred to step S133 when the judging result of this step is no；Judging result is yes
When, step S134 can be transferred to.
S133, it determines that carry is in and is not mounted to a state, and control unmanned plane and forbid taking off.
Electric signal has not been obtained, then illustrating photoelectric sensor 300, there is no issue electric signal, that is to say, that photoelectric sensing
The photographic department of device 300 is not blocked, and in such cases, then can determine that carry 200 is not installed in place, and control unmanned plane is prohibited
The case where only taking off, causing carry 200 to fall off to prevent to take off.
Specifically, control unmanned plane is forbidden taking off including but not limited to following operation: disconnect unmanned plane active force power supply,
The display interface for issuing forbid taking off alarm, hand-held remote controller or integral type earth station shows prompt information etc. of forbidding taking off.?
In actual operating process, usually judged by takeoff condition work of the control equipment of unmanned plane to unmanned plane, as long as each take off
Condition all meets requirement of taking off, and (such as the GPS of unmanned plane is working properly, the barometer of unmanned plane is working properly, unmanned plane ground
Magnetic Sensor is working properly etc.), it just can control unmanned plane and take off, correspondingly, as long as there is a takeoff condition to be unsatisfactory for taking off and want
It asks, the control equipment of unmanned plane can control unmanned plane and forbid taking off, required some equipment correspondingly, unmanned plane takes off
Then without starting.
S134, it determines that carry is in and is installed in place state, and control unmanned plane and carry out preparation of taking off.
When getting electric signal, then illustrate that photoelectric sensor 300 has been sent from electric signal, in such cases, photoelectric transfer
The photographic department of sensor 300 is blocked, and can determine that carry 200 has been mounted to position, can control unmanned plane and enters preparation of taking off
State takes off and prepares for the carry of subsequent unmanned plane.
Specifically, control unmanned plane carries out the including but not limited to following operation of preparation of taking off: connecting the active force of unmanned plane
Power supply starts the equipment self-inspection function of unmanned plane, shows prompt of taking off in control interface, whether the GPS for detecting unmanned plane works
Normally, whether the barometer of unmanned plane is working properly, whether unmanned plane geomagnetic sensor is working properly etc..
Herein, as long as the technical characteristic non-contradiction in each preferred embodiment can combine to form scheme, these schemes
In range disclosed by the invention.
Herein, only emphasis describes the difference with other preferred embodiments, each preferred embodiment to each preferred embodiment
As long as not conflicting, can any combination, embodiment is formed by after combination also within scope disclosed in this specification, is examined
It is succinct to consider text, is individually described with regard to being no longer formed by embodiment to combination herein.
The above description is only an embodiment of the present invention, is not intended to restrict the invention.For those skilled in the art
For, the invention may be variously modified and varied.All any modifications made within the spirit and principles of the present invention are equal
Replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (18)
1. the carry mechanism of unmanned plane, including carry and bindiny mechanism, which is characterized in that the bindiny mechanism includes for fixing
Fixed part on the body of unmanned plane and the rotation section that is connected with the fixed part, and can be rotated relative to the fixed part,
The carry rotation is assembled on the fixed part, and the rotation section is connected with the carry, and rotates with the carry.
2. carry mechanism according to claim 1, which is characterized in that the rotation section is provided with line joint, the extension
Carrier has first interface, and the rotation section and the carry pass through the line joint and the first interface plug connection.
3. carry mechanism according to claim 2, which is characterized in that the rotation section is described solid including being rotatably arranged at
The plugboard determining the loading plate in portion and being fixed on the loading plate, the line joint are arranged on the plugboard, institute
It states and is provided with avoid holes on loading plate, the line joint passes through the avoid holes, and mating with the first interface.
4. carry mechanism according to claim 3, which is characterized in that in the loading plate and the carry, one includes
At least two positioning columns, another one offer at least two location holes, and the positioning column and the location hole are mating one by one.
5. carry mechanism according to claim 1, which is characterized in that the carry mechanism further includes photoelectric sensor, institute
It states photoelectric sensor to be connected with the rotation section, and is rotated with the rotation section；The fixed part is provided with occlusion part, described
When being in rigging position of carry, the photographic department of the photoelectric sensor is blocked by the occlusion part, and issues electric signal.
6. carry mechanism according to claim 1 or 5, which is characterized in that the fixed part is provided with mounting hole, and described turn
Dynamic portion rotationally cooperates with the mounting hole, and can rotate within the scope of set angle relative to the mounting hole.
7. carry mechanism according to claim 6, which is characterized in that the fixed part is equipped with moveable lock key, institute
It states rotation section and is provided with locating recesses, the lock key and the locating recesses location fit.
8. carry mechanism according to claim 7, which is characterized in that the rotation section offers guide-localization slot, described
Guide-localization slot includes arcuate guide section and linking in the positioning section of the end of the arcuate guide section, and the positioning section is described in
Rotation section radially extends；The lock key includes the positioning region slided in the guide-localization slot, and the positioning region can be with
The rotation of the rotation section from the arcuate guide section enter the positioning section in, and with the positioning section location fit.
9. carry mechanism according to claim 8, which is characterized in that the lock key includes key ontology and elastic component, institute
Key ontology to be stated to be slidably arranged on the fixed part, the fixed part is fixed on the key ontology, and the one of the elastic component
End is positioned on the fixed part, and the other end is positioned on the key ontology, and the elastic component is used to apply to the key ontology
Elastic force, the elastic force is for driving the positioning region to be maintained at the position with the positioning section location fit.
10. carry mechanism according to claim 6, which is characterized in that in the rotation section and the fixed part, one packet
Retention bead is included, another one includes limit flange, and the retention bead and limit flange limit cooperate.
11. carry mechanism according to claim 1, which is characterized in that the fixed part includes support portion, the fixed part
With spliced eye, the evacuation gap extended along plugging direction is provided on the inner wall of the spliced eye, the carry includes overlap joint
Protrusion, the overlap joint protrusion can be inserted into the spliced eye along the evacuation gap, and turn to and the branch with the rotation section
The position of support part cooperation.
12. carry mechanism according to claim 11, which is characterized in that the fixed part includes for being fixed on the machine
Pedestal on body and the cyclic annular elastic slice being fixed on the pedestal, the ring-type elastic slice includes elastic arm, and the elastic arm is institute
State support portion.
13. carry mechanism according to claim 12, which is characterized in that the ring-type elastic slice is fixed on by cyclic annular pressing plate
On the pedestal, the ring-type pressing plate is fixed on the pedestal, and the cyclic annular elastic slice is folded in the cyclic annular pressing plate and institute
It states between pedestal, the inside edge of the inside edge of the ring-type elastic slice and the cyclic annular pressing plate is provided with institute positioned opposite
State evacuation gap.
14. carry mechanism according to claim 12, which is characterized in that in the pedestal and the cyclic annular elastic slice, one
It is provided with fool proof protrusion, another one is provided with fool proof recess, the fool proof recess and the fool proof protrusion location fit.
15. carry mechanism according to claim 12, which is characterized in that the pedestal is vibration damper plate, on the vibration damper plate
Be provided with mounting hole, the overlapping edges of the rotation section on the mounting hole on the port of the body, and relative to
The port rotation.
16. carry mechanism according to claim 15, which is characterized in that the fixed part further includes being arranged in the installation
Capping of the hole on the port of the body.
17. a kind of control method of unmanned plane, which is characterized in that the unmanned plane includes described in any one of claim 5-10
Carry mechanism, which comprises
Judge whether there is the carry；
The carry if it exists then judges whether to get the electric signal；
If the electric signal has not been obtained, it is determined that the carry is in and is not mounted to a state, and controls unmanned plane and forbidden
Fly.
18. control method according to claim 17, which is characterized in that if getting the electric signal, it is determined that described
Carry is in and is installed in place state, and controls the unmanned plane and carry out preparation of taking off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010071.8A CN110001981A (en) | 2018-01-04 | 2018-01-04 | The carry mechanism of unmanned plane and the control method of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010071.8A CN110001981A (en) | 2018-01-04 | 2018-01-04 | The carry mechanism of unmanned plane and the control method of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001981A true CN110001981A (en) | 2019-07-12 |
Family
ID=67164525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810010071.8A Pending CN110001981A (en) | 2018-01-04 | 2018-01-04 | The carry mechanism of unmanned plane and the control method of unmanned plane |
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| CN (1) | CN110001981A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112824829A (en) * | 2019-11-20 | 2021-05-21 | 杭州海康机器人技术有限公司 | Cloud deck attitude adjusting method and device |
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| WO2017000299A1 (en) * | 2015-07-02 | 2017-01-05 | 深圳市大疆创新科技有限公司 | Limit device and unmanned aerial vehicle having same |
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| CN112824829A (en) * | 2019-11-20 | 2021-05-21 | 杭州海康机器人技术有限公司 | Cloud deck attitude adjusting method and device |
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