CN110294112B - Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster - Google Patents
Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster Download PDFInfo
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- CN110294112B CN110294112B CN201910464298.4A CN201910464298A CN110294112B CN 110294112 B CN110294112 B CN 110294112B CN 201910464298 A CN201910464298 A CN 201910464298A CN 110294112 B CN110294112 B CN 110294112B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0235—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by means of containers, e.g. buckets
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
The invention relates to a foldable storage type ring-flapping four-axis aircraft and a fire extinguisher cluster, which comprise an unmanned aircraft and a landing storage module for parking the unmanned aircraft; the unmanned aerial vehicle comprises a body module, foot rests arranged below the body module, folding wings distributed around the body module, rotors arranged on the folding wings, a containing space arranged on the body module and used for containing the folded folding wings, a sleeve frame arranged on the body module, a three-surface clamping manipulator arranged on the body module and used for clamping an object, and a top propeller arranged on the body module; the invention has reasonable design, compact structure and convenient use.
Description
Technical Field
The invention relates to a foldable and retractable type ring-flapping quadcopter and a fire extinguisher cluster.
Background
At present, the aircraft is most prone to faults and the using link of accidents is landing, and according to investigation, the incidence rate of the aircraft accidents is approximately that 85% of the aircraft accidents occur in the landing stage, 12% of the aircraft accidents occur in the climbing stage, and 3% of the aircraft accidents occur in the level flight stage. When the vertical lifting type unmanned aerial vehicle is close to the ground, the vehicle is very easy to turn over, the requirement on the remote control level of an operator is high, and a large-area flat landing surface is generally required during landing. The landing phase is therefore a critical part of the four-axis aircraft flight. The common four-axis aircraft landing modes are a hand-connected mode and a remote control mode, but the two modes have low reliability. Simultaneously, the screw of aircraft is one of the accessories that are impaired most easily, therefore makes four shaft air vehicle safe landing and in time warp and accomodate to be the key link of extension aircraft life-span.
Disclosure of Invention
The invention aims to solve the technical problems of providing a foldable and retractable type ring-flapping four-axis aircraft and a fire extinguisher cluster; the technical problems to be solved and the advantages to be achieved are set forth in the description which follows and in the detailed description of the embodiments. The landing mechanism and the storage equipment of the four-axis aircraft need to wait for an intelligent multifunctional mechanism design, the existing mature four-axis aircraft mechanism can be combined with automatic mechanical equipment, and the invention designs an intelligent mechanism specially used for landing of the four-axis aircraft; combine folding wing unmanned aerial vehicle's folding mode, design a section and can carry out mechanical folding, and protection flight unit that can be fine is difficult to crowd bad mechanical structure.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a foldable storage type ring-shooting four-axis aircraft comprises an unmanned aircraft and a stopping and landing storage module for stopping the unmanned aircraft;
the unmanned aerial vehicle comprises a body module, foot rests arranged below the body module, folding wings distributed around the body module, rotors arranged on the folding wings, a containing space arranged on the body module and used for containing the folded folding wings, a sleeve frame arranged on the body module, a three-surface clamping manipulator arranged on the body module and used for clamping objects, a top propeller arranged on the body module, a central gear arranged in the containing space, two-way racks arranged on two sides of the central gear and meshed with the central gear and moving in opposite directions simultaneously, a traction head arranged at the end of the two-way rack, a swing arm with the end connected with the root of the folding wings and the middle hinged on the body module, a guide sleeve sleeved on the folding wings and sliding, a linkage arm hinged between the guide sleeve and the traction head, And the positioning clamping groove is arranged in the accommodating space and is used for clamping the folded folding wing.
As a further improvement of the above technical solution:
an image transmitter for shooting and transmitting to a ground receiver, a battery for providing electric energy, a GPS module for positioning and a flight controller are respectively arranged on the body module.
The stopping and descending storage module comprises a fixed connecting piece, a stopping and descending plate arranged on the fixed connecting piece, a lead screw telescopic rod vertically arranged on the stopping and descending plate, a base arranged at the lower end of the lead screw telescopic rod, process guide grooves distributed in a circumferential array at the center of the lead screw telescopic rod and arranged along the radial direction, a slide rail arranged on one side of the process guide grooves along the radial direction, a slide block arranged on the slide rail, an upright post arranged on the slide block and used for drawing a sleeve frame, a lead screw nut arranged on the lead screw telescopic rod, and a connecting rod which passes through the process guide grooves, is provided with one end on the slide block, and is;
and a stopping and descending processor which is in butt joint with the flight controller is arranged on the stopping and descending storage module.
A fire extinguisher cluster is based on a folding storage type ring-shooting four-axis aircraft; which comprises
The aerial water-carrying aircraft is characterized in that an aerial water tank is carried at the upper end of the fuselage module;
the water supply aircraft is provided with a water supply tank with an electrically controlled water valve at the lower end of the fuselage module, and the water supply tank is used for supplementing a fire-fighting liquid to an aerial water tank in the air through the water supply tank;
a fire extinguishing aircraft is provided with a guide groove which is obliquely arranged on a fuselage module, a fire extinguishing ball is stored in the guide groove, one end of the guide groove is provided with a lower outlet for outputting the fire extinguishing ball, a ball feeding push rod for outputting the fire extinguishing ball is arranged above the lower outlet,
the hydrojet aircraft is provided with the dry powder box on the fuselage module, be provided with the propelling movement screw feeder that is used for exporting the dry powder in the dry powder box, be provided with export toper tee bend in the fuselage module, export toper tee bend upper end import inserts the dry powder export of dry powder box, another import of export toper tee bend is connected with the water pump, the water pump is connected with the flow pipe, the flow pipe is connected with the water aspirator that is used for immersing aerial water tank, be provided with the outlet pipe in export toper tee bend toper exit, be provided with the hoist section of thick bamboo that is used for coiling the flow pipe in the fuselage module.
As a further improvement of the above technical solution:
the folding and accommodating type ring shooting four-axis aircraft is in a wild goose matrix formation shape during flying; the aerial water-carrying aircraft is positioned at the middle rear part of the formation; the fire extinguishing aircraft and the liquid spraying aircraft are arranged in a wild goose matrix array and distributed at other positions.
The lower end of a fuselage module of the fire extinguishing aircraft is provided with a water absorption spray nozzle and a water pump, and the water pump sprays water in the air water tank through the water absorption spray nozzle through a pipeline.
A control method of a foldable storage type ring shooting four-axis aircraft is based on the foldable storage type ring shooting four-axis aircraft; which comprises the following steps;
firstly, starting to go out of a ship, and firstly, identifying and recording a takeoff place; then, analyzing and recording the time t of flying to the designated area; secondly, flying to a designated place;
step two, in the return stage of the task, the signal receiving system of the folding storage type circular shooting four-axis aircraft is opened and is communicated with the ground controller and the stopping and landing storage module,
when the signal receiving system does not receive the landing stopping signal of the landing stopping storage module, the signal receiving system continues flying;
when the signal receiving system receives the stopping and descending signal of the stopping and descending containing module, executing a step three;
firstly, the ground controller analyzes GPS data, and the GPS coordinate is converted to analyze the position of a flight coordinate; then, the flight position is sent to a landing processor;
step four, the stopping and landing processor judges whether the distance between the flight coordinate position and the stopping and landing storage module is within a preset threshold range;
if not, adjusting the position of the flight coordinate and repeating the third step;
if yes, positioning is finished.
As a further improvement of the above technical solution:
after the positioning is finished, the top propeller is shut down;
step five, firstly, the aircraft adjusts the direction and falls to and adjusts the position; then, the central gear drives the folding wings to fold through the bidirectional rack and is clamped with the positioning clamping grooves;
step six, firstly, sleeving the sleeve frame on the corresponding upright post; then, the screw rod telescopic rod draws the connecting rod through the screw nut, so that the sliding block is close to the center;
and step seven, shutting down the top propeller after the speed sensor of the flight controller senses that the vertical speed is zero.
The foldable storage type four-axis aircraft mechanism capable of being used for circular shooting can realize the functions of four-axis folding, shooting at a specific angle, portable storage and the like, can be applied to industries needing to operate in specific environments and visual angles, and can be widely applied to military striking, public security pursuit, disaster search and rescue, agriculture and forestry investigation, power transmission line patrol, fire extinguishment and fire fighting, advertising and aerial shooting and model airplane toys. This four shaft air vehicle has can the vertical lift, and the nimble characteristics that remove of arbitrary angle can also carry on different equipment according to the usage of difference on its fuselage, for example camera, arm, pesticide shower nozzle etc.. The invention relates to folding of a four-axis aircraft. The rotating two polar positions of the four shafts of the aircraft are respectively provided with a connecting clamping seat shaped like a shifting fork for clamping, so that the four shafts of the aircraft can be rotated and folded after completing the flight task, and the damage probability of the four shafts is reduced. And shooting at multiple angles. Set up trilateral fixture in aircraft back top and contain three pneumatic clamping jaw, can the centre gripping camera respectively, carry out different angles and shoot. The 'grabbing' mechanism for the four-axis aircraft during flying is designed, so that the four-axis aircraft can decelerate and land stably at the same time, and human direct contact is avoided. And the aircraft is parked and stored. The GPS technology is used for acquiring position information, a proper descending position is found through a positioning judgment mechanism for descending, and finally the descending is stopped on a special descending stopping and containing mechanism, a plurality of four-axis aircrafts can be stopped and descended simultaneously, and the aircrafts are stably, safely and efficiently contained.
The advantages of the invention are not limited to this description, but are described in more detail in the detailed description for better understanding.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of another view angle of the present invention.
Fig. 3 is a schematic structural view of the folding mechanism of the present invention.
FIG. 4 is a schematic diagram of a cluster according to the present invention.
FIG. 5 is a schematic diagram of another aspect of the cluster of the present invention.
Wherein: 1. an unmanned aerial vehicle; 2. a stopping and descending storage module; 3. a fuselage module; 4. a foot rest; 5. folding the wing; 6. an accommodating space; 7. an image transmitter; 8. a rotor; 9. a battery; 10. a GPS module; 11. a flight controller; 12. sleeving a frame; 13. a three-side clamping manipulator; 14. a top propeller; 15. a sun gear; 16. a bidirectional rack; 17. a traction head; 18. a linkage arm; 19. a guide sleeve; 20. a wing swing arm; 21. positioning the clamping groove; 22. stopping descending; 23. a screw rod is used for telescoping; 24. a base; 25. fixing the connecting piece; 26. a process guide groove; 27. a slide rail; 28. a slider; 29. a column; 30. a connecting rod; 31. a lead screw nut; 32. a water delivery vehicle; 33. a water supply tank; 34. a water valve; 35. an aerial water craft; 36. an aerial water tank; 37. fire fighting aircraft; 38. a water-absorbing nozzle; 39. a guide groove; 40. fire extinguishing balls; 41. a ball feeding push rod; 42. a liquid spraying aircraft; 43. a dry powder box body; 44. pushing the auger; 45. an outlet cone tee joint; 46. a water absorber; 47. a water supply pipe; 48. and (5) discharging a water pipe.
Detailed Description
As shown in fig. 1 to 5, the collapsible storage type ring shooting quadcopter of the present embodiment includes an unmanned aerial vehicle 1, and a parking and landing storage module 2 for parking the unmanned aerial vehicle 1;
the unmanned aerial vehicle 1 comprises a body module 3, foot rests 4 arranged below the body module 3, folding wings 5 distributed around the body module 3, a rotor wing 8 arranged on the folding wings 5, a containing space 6 arranged on the body module 3 and used for containing the folded folding wings 5, a sleeve frame 12 arranged on the body module 3, a three-surface clamping manipulator 13 arranged on the body module 3 and used for clamping an object, a top propeller 14 arranged on the body module 3, a central gear 15 arranged in the containing space 6, two-way racks 16, two ends of which are arranged on two sides of the central gear 15 and are meshed with the central gear 15 and move in opposite directions, a traction head 17 arranged at the ends of the two-way racks 16, a wing swing arm 20, the ends of which are connected with the root of the folding wings 5 and the middle of which is hinged on the body module 3, a guide sleeve 19, a guide sleeve and a guide sleeve, wherein the guide sleeve is sleeved on the, A linkage arm 18 hinged between the guide sleeve 19 and the traction head 17, and a positioning clamping groove 21 arranged in the accommodating space 6 and used for clamping the folded folding wing 5.
An image transmitter 7 for capturing images and transmitting them to a ground receiver, a battery 9 for supplying electric power, a GPS module 10 for positioning, and a flight controller 11 are provided on the body module 3, respectively.
The stopping and descending storage module 2 comprises a fixed connecting piece 25, a stopping and descending plate 22 arranged on the fixed connecting piece 25, a lead screw telescopic rod 23 vertically arranged on the stopping and descending plate 22, a base 24 arranged at the lower end of the lead screw telescopic rod 23, process guide grooves 26 distributed in a circumferential array at the center of the lead screw telescopic rod 23 and arranged along the radial direction, a slide rail 27 arranged on one side of the process guide grooves 26 along the radial direction, a slide block 28 arranged on the slide rail 27, an upright post 29 arranged on the slide block 28 and used for drawing the sleeve frame 12, a lead screw nut 31 arranged on the lead screw telescopic rod 23, and a connecting rod 30 which passes through the process guide grooves 26, is arranged on the slide block 28 at one end, and is arranged;
the parking and landing storage module 2 is provided with a parking and landing processor that interfaces with the flight controller 11.
The fire extinguisher group of the embodiment is based on a folding storage type ring-shooting four-axis aircraft; which comprises
An aerial water-carrying aircraft 35 having an aerial water tank 36 mounted on the upper end of the fuselage module 3;
a water supply aircraft 32, a water supply tank 33 with an electric control water valve 34 is mounted at the lower end of the fuselage module 3, and is used for supplementing fire-fighting liquid to an aerial water tank 36 in the air through the water supply tank 33;
the fire extinguishing aircraft 37 is provided with a guide groove 39 which is obliquely arranged on the fuselage module 3, a fire extinguishing ball 40 is stored in the guide groove 39, one end of the guide groove 39 is provided with a lower outlet for outputting the fire extinguishing ball 40, a ball feeding push rod 41 for outputting the fire extinguishing ball 40 is arranged above the lower outlet,
the hydrojet aircraft 42 is provided with a dry powder box 43 on the fuselage module 3, a pushing auger 44 for outputting dry powder is arranged in the dry powder box 43, an outlet conical tee 45 is arranged on the fuselage module 3, an inlet at the upper end of the outlet conical tee 45 is connected to a dry powder outlet of the dry powder box 43, the other inlet of the outlet conical tee 45 is connected with a water pump, the water pump is connected with a water delivery pipe 47, the water delivery pipe 47 is connected with a water absorber 46 for immersing the water tank 36 in the air, a water outlet pipe 48 is arranged at a conical outlet of the outlet conical tee 45, and a hoisting drum for coiling the water delivery pipe 47 is arranged on the fuselage module 3.
The folding and accommodating type ring shooting four-axis aircraft is in a wild goose matrix formation shape during flying; the aerial water-borne craft 35 is positioned at the middle rear part of the formation; the fire extinguishing aircraft 37 and the liquid spraying aircraft 42 are arranged in a wild goose matrix formation and distributed at other positions.
A water suction nozzle 38 and a water pump are arranged at the lower end of the fuselage module 3 of the fire-fighting aircraft 37, and the water pump sprays water in the aerial water tank 36 through the water suction nozzle 38 through a pipeline.
The control method of the foldable storage type ring shooting quadcopter is based on the foldable storage type ring shooting quadcopter; which comprises the following steps;
firstly, starting to go out of a ship, and firstly, identifying and recording a takeoff place; then, analyzing and recording the time t of flying to the designated area; secondly, flying to a designated place;
step two, in the return stage of the task, the signal receiving system of the folding storage type circular shooting four-axis aircraft is opened and is communicated with the ground controller and the stopping and landing storage module 2,
when the signal receiving system does not receive the landing stopping signal of the landing stopping storage module 2, the flying is continued;
when the signal receiving system receives the stopping and descending signal of the stopping and descending containing module 2, executing a step three;
firstly, the ground controller analyzes GPS data, and the GPS coordinate is converted to analyze the position of a flight coordinate; then, the flight position is sent to a landing processor;
step four, the stopping and landing processor judges whether the distance between the flight coordinate position and the stopping and landing storage module 2 is within a preset threshold range;
if not, adjusting the position of the flight coordinate and repeating the third step;
if yes, positioning is finished.
After the positioning is finished, the top propeller 14 is shut down;
step five, firstly, the aircraft adjusts the direction and falls to and adjusts the position; then, the central gear 15 drives the folding wings 5 to fold through the bidirectional rack 16 and is clamped with the positioning clamping grooves 21;
step six, firstly, the sleeve frame 12 is sleeved on the corresponding upright post 29; then, the screw rod 23 pulls the connecting rod 30 through the screw nut 31, so that the sliding block 28 is close to the center;
and step seven, shutting down the top propeller after the speed sensor of the flight controller 11 senses that the vertical speed is zero.
The folding of the wings is realized through the central gear 15 and the bidirectional rack 16, the wing is used as a cluster, the goose-shaped array effect is utilized, the working load of the aerial water-carrying aircraft 35 can be reduced and shared to surrounding aircrafts, so that the aerial water tank 36 is better and more durably stayed in the air, the water-carrying aircraft 32 continuously feeds water, the fire-extinguishing aircraft 37 can fly above a specified fire to realize high-altitude fire extinguishing, meanwhile, gravity is utilized to realize gravity impact fire extinguishing on a fire, the water-absorbing nozzle 38 realizes liquid ejection, the fire-extinguishing ball 40 in the guide groove 39 is sent out through the ball-feeding push rod 41 and collides with the fire through a free falling body, in the liquid-spraying aircraft 42, the pushing auger 44 pushes out the dry powder tank body 43 and is mixed with the liquid to realize jet ejection through the taper mouth of the outlet taper tee 45, the water absorber 46 sinks to the bottom of the water tank by self weight, the water-feeding pipe 47 realizes length adjustment through a winding, is particularly suitable for places such as forests, mountain areas and the like which are inconvenient for artificial fire extinguishment.
A flight controller. Keeping the aircraft flying stably; receiving and transmitting signals to realize the change of the rotating speed of the motor. A battery. The four-axis aircraft is provided with energy. And a GPS module. And acquiring the position information of the quadcopter. An image transmitter. And transmitting the image shot by the camera back to the ground display screen to realize human-computer interaction. A top propeller. The four-axis aircraft slows down the descending speed of the four-axis aircraft when landing. Three-sided fixture. The miniature camera is used for clamping the miniature camera and shooting at a specific angle. And (5) sleeving a frame. Used for sleeving the upright column to stop descending and store when descending. A stopping and descending storage mechanism. The structure of the imitated umbrella realizes synchronous contraction and release actions in four directions by driving the four connecting rods through the lead screw, converts the rotary motion of the motor lead screw into linear motion of the sliding block, and can ensure the synchronization in four directions.
The specific structure of the stopping and descending storage mechanism is the structural shape imitating an umbrella, the design of the stopping and descending storage mechanism with an inverted umbrella shape is carried out by taking the structural characteristics of the inverted umbrella shape as the thinking, and the stopping and descending storage mechanism mainly comprises a stand column, a slide block, a slide rail, a connecting rod, a stopping and descending plate, a fixing piece, a lead screw nut, a motor lead screw telescopic rod, a base and the like. The specific structural design scheme is as follows: the motor lead screw telescopic rod is used as the center of the rotating mechanism and is fastened on the base through a plum blossom knob, and a motor is arranged in the base. The motor lead screw telescopic rod can realize the telescopic function similar to the telescopic mode of the middle rod part of the umbrella, in addition, the upper half part of the rod is a lead screw, and the motor in the base drives the telescopic rod to rotate so as to drive the fixing piece on the lead screw nut to do vertical linear motion. Four connecting rods are connected outside the fixing piece, every two connecting rods are spaced by 90 degrees, the connecting rods are hinged with the sliding block, the sliding rail is fixed on a landing stop plate paved with sponge through screws, and the vertical linear motion of the fixing piece drives the sliding block to reciprocate on the sliding rail through the connecting rods. The upright post is a part which is directly contacted with the quadcopter in stopping and descending, the quadcopter extends out of the sleeve frame in the descending process, a series of other stopping and descending actions are executed after the sleeve frame sleeves the upright post, and the upright post is fixed on the upper part of the sliding block. When the fixing piece is arranged on the uppermost part of the screw rod part of the telescopic rod, the four upright posts are completely unfolded and can work; the mounting is four stands shrink completely when telescopic link lead screw part is below, covers the stand with the visor this moment to make motor lead screw telescopic link length shrink, loosen the plum blossom knob and take out it from the base, can accomplish stopping to fall receiving mechanism's accomodating.
The four rotors are required to be clamped at a specific angle in the rotor folding module, and the occupied area of the four rotors is reduced by more than 1/5 when the four rotors are unfolded compared with the rotor folding module. In this design, the difference between the two rotation limit positions of the rotor wing is 155 degrees, and each rotor wing keeps parallel after being folded. Now, it is calculated to determine whether the design meets the requirements.
The area of the quadcopter when unfolded is as follows: 499 × 437-218063 mm for S12
The area when four shaft air vehicle folds does: s2-330 x 504-166320 mm2
The area shrinkage rate is
Theoretical calculation shows that the area shrinkage of the folded quadcopter is 23.7%, the expected target is achieved, and the final conclusion is that: in the design, the two rotary limit positions of the rotor wing have a difference of 155 degrees due to the limited positions of the two connecting clamping seats, the area shrinkage of the quadrotor basically meets the requirement after the quadrotor is folded at the angle,
the working process is as follows:
the method comprises the steps of starting → clamping the miniature camera → starting a four-axis propeller → taking off → flying to a designated area → opening the camera for shooting → wireless image transmission → shooting ending → returning → positioning near a stopping and descending mechanism → opening a top propeller → stopping the four-axis propeller → folding the four-axis → marking a connecting clamping seat → slowly descending → sleeving a clamping ring on a column → (after stopping and descending), stopping the top propeller → manually taking off or directly placing on a stopping and descending plate paved with a sponge mat → finishing the storage.
Specifically, a user places the three-face-clamping mechanism on a flat ground, clamps a miniature camera on the three-face-clamping mechanism, flies to a designated area through remote control, opens the camera to shoot at a specific angle, and transmits shooting information back to the ground by an image transmitter to finish a mission and return to the ground. When returning to 2/3 of recording time of sailing, open signal reception system, combine GPS module data, judge through accurate location that the mechanism is fixed a position near stopping to descend the mechanism, open the top screw, then the screw on four wings is shut down, thereby four wings of rotation are to connecting the cassette extreme position and accomplish the wing and fold, draw the suit frame and entangle the stand behind the suit frame, the aircraft descends slowly according to the speed of setting for, when judging out the aircraft through stopping the mechanism and stopping to descend and accomplish, shut down top screw, the manual work is taken off this moment or directly place and to accomplish on the board that stops to descend that has laid the foam-rubber cushion and accomodate.
The invention relates to a processing mechanism of a slow descending link
When the four-axis aircraft flies in low altitude and close range, the lift force borne by the four-axis aircraft is approximated to be f ═ kw2Wherein w is the motor rotation speed; k is a lift coefficient, and is determined by the shape, size and installation mode of the propeller.
The equation of motion in the Z direction is
Where m is the mass of the aircraft, g is the gravitational acceleration, k' is the drag coefficient in the z direction, vzIs the velocity in the z direction.
Therefore, the required descending speed can be obtained according to the specific external parameters of the flight of the aircraft and the artificially set motor rotating speed during landing, so that the slow descending is realized, and the condition that the four-axis aircraft is greatly impacted during descending is avoided.
The invention solves the problems that the process from positioning to descending has the following difficulties: the landing precision is improved; damage to the glass is avoided to a greater extent; the service life of the battery energy in the positioning process is prolonged, and the energy consumption is reduced.
The invention has the advantages of reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, capital saving, compact structure and convenient use.
The present invention has been fully described for a clear disclosure and is not to be considered as an exemplification of the prior art.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious as a person skilled in the art to combine several aspects of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides a four shaft air vehicle is clapped to collapsible formula of accomodating, its characterized in that: the unmanned aerial vehicle parking device comprises an unmanned aerial vehicle (1) and a parking and landing storage module (2) for parking the unmanned aerial vehicle (1);
the unmanned aerial vehicle (1) comprises a body module (3), foot rests (4) arranged below the body module (3), folding wings (5) distributed around the body module (3), rotors (8) arranged on the folding wings (5), a containing space (6) arranged on the body module (3) and used for containing the folded folding wings (5), a sleeve frame (12) arranged on the body module (3), a three-side clamping manipulator (13) arranged on the body module (3) and used for clamping an object, a top propeller (14) arranged on the body module (3), a central gear (15) arranged in the containing space (6), two bidirectional racks (16) with two sides arranged on the two sides of the central gear (15) and meshed with the central gear (15) and moving in opposite directions simultaneously, a traction head (17) arranged at the ends of the bidirectional racks (16), A wing swing arm (20) with the end part connected with the root part of the folding wing (5) and the middle part hinged on the fuselage module (3), a guide sleeve (19) sleeved on the folding wing (5) and sliding, a linkage arm (18) hinged between the guide sleeve (19) and the traction head (17), and a positioning clamping groove (21) arranged in the containing space (6) and used for clamping the folded folding wing (5),
the stopping and descending storage module (2) comprises a fixed connecting piece (25), a stopping and descending plate (22) arranged on the fixed connecting piece (25), a lead screw telescopic rod (23) vertically arranged on the stopping and descending plate (22), a base (24) arranged at the lower end of the lead screw telescopic rod (23), process guide grooves (26) which are distributed in a circumferential array at the center of the lead screw telescopic rod (23) and are arranged along the radial direction, a slide rail (27) which is arranged at one side of the process guide grooves (26) along the radial direction, a slide block (28) arranged on the slide rail (27), upright columns (29) which are arranged on the slide block (28) and are used for drawing the sleeve frame (12), lead screw nuts (31) arranged on the lead screw telescopic rod (23), and connecting rods (30) which pass through the process guide grooves (26), are arranged on the slide block (28) at one;
a stopping and descending processor which is in butt joint with the flight controller (11) is arranged on the stopping and descending storage module (2).
2. Collapsible storage quad copter according to claim 1, characterized in that there are an image transmitter (7) for shooting and sending to ground receiver, a battery (9) for providing power, a GPS module (10) for positioning, and a flight controller (11) on the fuselage module (3), respectively.
3. A fire extinguisher cluster is characterized in that the folding retractable type ring-beating quadcopter is based on the folding retractable type ring-beating quadcopter of claim 1; which comprises
An aerial water-carrying aircraft (35) which is provided with an aerial water tank (36) at the upper end of the fuselage module (3);
a water supply aircraft (32), wherein a water supply tank (33) with an electrically controlled water valve (34) is mounted at the lower end of the fuselage module (3) and is used for supplementing a fire-fighting liquid to an aerial water tank (36) in the air through the water supply tank (33);
a fire extinguishing aircraft (37), a guide groove (39) is obliquely arranged on the fuselage module (3), a fire extinguishing ball (40) is stored in the guide groove (39), a lower outlet for outputting the fire extinguishing ball (40) is arranged at one end of the guide groove (39), a ball feeding push rod (41) for outputting the fire extinguishing ball (40) is arranged above the lower outlet,
the liquid spraying aircraft (42) is provided with a dry powder box body (43) on the fuselage module (3), a pushing auger (44) for outputting dry powder is arranged in the dry powder box body (43), an outlet conical tee joint (45) is arranged on the fuselage module (3), an inlet at the upper end of the outlet conical tee joint (45) is connected to a dry powder outlet of the dry powder box body (43), the other inlet of the outlet conical tee joint (45) is connected with a water pump, the water pump is connected with a water supply pipe (47), the water supply pipe (47) is connected with a water absorber (46) for immersing an aerial water tank (36), a water outlet pipe (48) is arranged at the conical outlet of the outlet conical tee joint (45), and a hoisting drum for coiling the water supply pipe (47) is arranged on the fuselage module (3.
4. The fire extinguisher cluster according to claim 3, wherein the foldable retractable type ring-shooting quadcopter is arranged in a wild goose formation during flying; the aerial water-carrying aircraft (35) is positioned at the middle rear part of the formation; the fire extinguishing aircraft (37) and the liquid spraying aircraft (42) are arranged in a wild goose matrix array and distributed at other positions.
5. The fire extinguisher cluster according to claim 4, characterized in that a water suction nozzle (38) and a water pump are arranged at the lower end of the fuselage module (3) of the fire extinguishing aircraft (37), and the water pump sprays water in the aerial water tank (36) through the water suction nozzle (38) through a pipeline.
6. A control method of a foldable storage type ring shooting four-axis aircraft is characterized in that the foldable storage type ring shooting four-axis aircraft is based on the foldable storage type ring shooting four-axis aircraft of claim 1; which comprises the following steps;
firstly, starting to go out of a ship, and firstly, identifying and recording a takeoff place; then, analyzing and recording the time t of flying to the designated area; secondly, flying to a designated place;
step two, in the return stage of the task, the signal receiving system of the folding storage type circular shooting four-axis aircraft is opened and is communicated with the ground controller and the stopping and landing storage module (2),
when the signal receiving system does not receive the landing stopping signal of the landing stopping storage module (2), the flying is continued;
when the signal receiving system receives the stopping and descending signal of the stopping and descending containing module (2), executing a step three;
firstly, the ground controller analyzes GPS data, and the GPS coordinate is converted to analyze the position of a flight coordinate; then, the flight position is sent to a landing processor;
step four, the stopping and landing processor judges whether the distance between the flight coordinate position and the stopping and landing storage module (2) is within a preset threshold range;
if not, adjusting the position of the flight coordinate and repeating the third step;
if yes, positioning is finished.
7. The control method of the collapsible storage type four-axis rotary racket vehicle as recited in claim 6, wherein the step of shutting down the top propeller (14) is performed after the positioning is finished;
step five, firstly, the aircraft adjusts the direction and falls to and adjusts the position; then, the central gear (15) drives the folding wings (5) to fold through the bidirectional rack (16) and is clamped with the positioning clamping grooves (21);
step six, firstly, sleeving the sleeve frame (12) on the corresponding upright post (29); then, the screw rod telescopic rod (23) pulls the connecting rod (30) through a screw nut (31), so that the sliding block (28) is close to the center;
and step seven, shutting down the top propeller after the speed sensor of the flight controller (11) senses that the vertical speed is zero.
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| CN201910464298.4A CN110294112B (en) | 2019-05-30 | 2019-05-30 | Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster |
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| CN201910464298.4A CN110294112B (en) | 2019-05-30 | 2019-05-30 | Foldable storage type ring-shooting four-axis aircraft, control method and fire extinguisher cluster |
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| CN112107814B (en) * | 2020-08-21 | 2022-01-28 | 唐山哈船科技有限公司 | Unmanned aerial vehicle extinguishing device is used in ocean harbour conflagration |
| CN112386832B (en) * | 2020-12-01 | 2021-10-22 | 安徽信息工程学院 | Fire rescue unmanned aerial vehicle |
| CN113187992B (en) * | 2021-03-29 | 2022-12-23 | 源德盛塑胶电子（深圳）有限公司 | Shooting auxiliary equipment and control method thereof |
| CN113443161B (en) * | 2021-06-10 | 2023-01-03 | 西安电子科技大学 | Unmanned aerial vehicle recovery method, system, control terminal and processing terminal |
| CN114537648B (en) * | 2022-03-14 | 2023-11-24 | 西北工业大学 | Control device for coordinating deformation and flight of deformer |
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| DE102009001759B4 (en) * | 2009-03-23 | 2013-02-21 | Gregor Schnoell | locking system |
| CN206345001U (en) * | 2017-01-06 | 2017-07-21 | 润泰救援装备科技河北有限公司 | Rescue unmanned plane, rescue unmanned aerial vehicle group and its regulation and control fire-fighting system |
| CN206782047U (en) * | 2017-03-23 | 2017-12-22 | 西安天问智能科技有限公司 | A kind of portable multi-rotor unmanned aerial vehicle rack construction |
| CN108688798B (en) * | 2017-04-11 | 2020-11-06 | 北京乐普盛通信息技术有限公司 | Auxiliary take-off and landing device of aircraft and landing and take-off control method thereof |
| CN109331360B (en) * | 2018-09-28 | 2020-12-01 | 北京理工大学 | Unmanned aerial vehicle fire extinguishing systems based on operation of unmanned aerial vehicle group |
| CN109703735B (en) * | 2018-10-11 | 2024-04-09 | 深圳市科卫泰实业发展有限公司 | Automatic folding device of unmanned aerial vehicle horn |
| CN109592025B (en) * | 2018-11-15 | 2020-12-04 | 航天恒星科技有限公司 | Multi-rotor unmanned aerial vehicle, kit and foldable rotor assembly thereof |
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