CN110347172B - Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle - Google Patents
Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle Download PDFInfo
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- CN110347172B CN110347172B CN201910759691.6A CN201910759691A CN110347172B CN 110347172 B CN110347172 B CN 110347172B CN 201910759691 A CN201910759691 A CN 201910759691A CN 110347172 B CN110347172 B CN 110347172B
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- 238000006243 chemical reaction Methods 0.000 abstract description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a ground angle detection device, a ground control device and a control system of a tethered unmanned aerial vehicle, which comprises a moving assembly, a correction assembly and a rocker assembly, wherein the moving assembly comprises a first transmission arm, a second transmission arm, a first angle sensor and a second angle sensor, the first transmission arm is provided with a first arc-shaped limiting groove, the second transmission arm is provided with a second arc-shaped limiting groove, the first angle sensor is connected with the first transmission arm and acquires the rotation angle of the first transmission arm, the second angle sensor is connected with the second transmission arm and acquires the rotation angle of the second transmission arm, the rocker assembly comprises a rocker, the rocker is used for connecting a tethered rope, and when the corresponding movement is detected by the ground angle detection device, the rocker passes through the first arc-shaped limiting groove and the second arc-shaped limiting groove, and the acquisition of a conversion signal and the reception control signal of the tethered unmanned aerial vehicle of the ground angle detection device are more timely, so that the following performance of the tethered unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a ground angle detection device, a ground control device and a control system of a tethered unmanned aerial vehicle.
Background
The tethered unmanned aerial vehicle is mainly applied to continuous air monitoring and emergency communication for a long time, can be provided with a special visible light camera and an infrared thermal imager, and also can be provided with special emergency communication relay equipment, and is widely applied to a plurality of professional fields such as military, fire fighting, petroleum, mapping, traffic and scientific research.
At present, the multi-rotor tethered unmanned aerial vehicle and the common unmanned aerial vehicle are provided with the same flight control device, and the flight control device comprises a chip, a navigation device, a three-axis gyroscope, a three-axis accelerometer, a barometer and other sensors, except that the common unmanned aerial vehicle is provided with power supply energy sources, such as a battery or an oil tank; and the device is also provided with a wireless data transmission system and a wireless communication system, so that the flying can be controlled in a larger range, but the flying time is short. And the power energy of the tethered unmanned aerial vehicle comes from a ground power supply system, and energy transmission, communication and data transmission are performed through tethered cables. At present, the flight controller controls the unmanned aerial vehicle to move through the GPS navigation positioning technology, so that the unmanned aerial vehicle hovers at a required position and continuously works for a long time, but the GPS navigation is positioned, is easy to be interfered, and the phenomenon of inaccurate positioning appears to influence the following effect of the tethered unmanned aerial vehicle.
Disclosure of Invention
A first object of the present invention is to provide a ground angle detection device with improved detection accuracy and wide adaptability.
A second object of the present invention is to provide a ground control device that improves the following performance of an unmanned aerial vehicle.
A third object of the present invention is to provide a control system for a tethered unmanned aerial vehicle that improves the following performance of the unmanned aerial vehicle.
In order to achieve the first object of the invention, the invention provides a ground angle detection device, which comprises a moving assembly, a correcting assembly and a rocker assembly, wherein the moving assembly comprises a first transmission arm, a second transmission arm, a first angle sensor and a second angle sensor, the first transmission arm is provided with a first arc-shaped limit groove, the second transmission arm is provided with a second arc-shaped limit groove, the first angle sensor is connected with the first transmission arm and acquires the rotation angle of the first transmission arm, the second angle sensor is connected with the second transmission arm and acquires the rotation angle of the second transmission arm, the rocker assembly comprises a rocker and is used for connecting a mooring rope, the rocker penetrates through the first arc-shaped limit groove and the second arc-shaped limit groove, the correcting assembly comprises a motor assembly, a fixed plate and a gyroscope, the motor assembly comprises a first motor, a second motor and a third motor, the first motor is connected with the moving assembly and drives the moving assembly to rotate on a first rotation plane, the second motor is connected with the second motor and drives the second motor to rotate on a third rotation plane, the third rotation plane is perpendicular to the third rotation plane, and the third rotation plane is perpendicular to the third rotation plane is arranged on the third rotation plane.
According to the scheme, when the moving carrier or the ground angle detection device moves, the mooring rope take-up and pay-off device is located on the moving carrier and moves synchronously, one end of the mooring rope moves along with the ground control device, the rocker is driven to move in the first arc limiting groove and the second arc limiting groove, accordingly, the first transmission arm and the second transmission arm rotate, the first angle sensor and the second angle sensor receive rotation signals, the rotation signals are correspondingly processed and then corresponding control signals are output to the mooring unmanned aerial vehicle, when the ground angle detection device detects corresponding movement, the ground angle detection device obtains conversion signals and the mooring unmanned aerial vehicle receives the control signals more timely, the improvement of the following performance of the mooring unmanned aerial vehicle is facilitated, if the ground angle detection device moves in a non-horizontal plane state, the corresponding angle change is detected through the gyroscope, and then the second motor and the third motor can make corresponding rotation, the first rotation plane is parallel to the horizontal plane, the detection motor still keeps on the horizontal plane under a complex use scene, the first rotation plane is further kept in the first rotation plane, the accurate direction of the mooring unmanned aerial vehicle is further improved, and the following performance of the mooring unmanned aerial vehicle is further improved.
Still further scheme is, the rocker subassembly includes the fixing base, and the fixing base is provided with the constant head tank, and the rocker runs through and is provided with first through wires hole, and the bottom of rocker is provided with the universal joint, and the universal joint is arranged in the constant head tank and can rotate in the constant head tank, and the fixing base is connected with the drive end of first motor.
From the above, the universal joint is arranged at the bottom of the rocker, so that the rocker can rotate in multiple directions, and the universal joint is arranged in the positioning groove, so that the stability of the rocker is improved, the accuracy of signals received by the two angle sensors is further improved, and the following performance of the tethered unmanned aerial vehicle is further improved.
Still further, the rocker assembly further comprises a rocker connecting piece, the rocker connecting piece penetrates through the first motor, the rocker connecting piece penetrates through the second threading hole, and the second threading hole is communicated with the first threading hole.
From above, the second through wires hole and first through wires hole intercommunication for the rope that moors can pass two spacing grooves, rocker and first motor, further optimize the rope overall arrangement that moors, make the rocker when rotating, avoid unnecessary to interfere, thereby improve the detection accuracy.
Still further scheme is, remove the subassembly still and include the mount pad, the mount pad is connected with first motor and can rotate on first rotation plane, the mount pad is provided with first mounting hole and second mounting hole, first transmission arm is provided with first erection column at the tip, the second transmission arm is provided with the second erection column at the tip, first erection column cooperates with first mounting hole, second erection column cooperates with the second erection hole, the middle part of mount pad is provided with the installation cavity throughout, fixing base and universal joint all are located the installation cavity, first through wires hole and second through wires hole form the line passageway, the line passageway passes the installation cavity.
From the above, the mount pad is provided with the mounting hole, and the drive arm tip is provided with the erection column, and the erection column uses with the mounting hole cooperation, and the mount pad is connected with first motor and rotates on first plane of rotation, and first through wires hole and second through wires hole form the wiring passageway for the mooring rope can pass the mount pad and connect the mooring rope coiling and uncoiling device through the wiring passageway, still further optimize the layout of mooring rope, improve detection accuracy.
In a further aspect, the correction assembly further includes a first connecting arm and a second connecting arm, the first connecting arm is connected between the first motor and the second motor, and the second connecting arm is connected between the second motor and the third motor.
From the above, connect first motor, second motor and third motor through the linking arm, strengthened the stability of correction subassembly when the operation.
Still further, the first transmission arm and the second transmission arm are all arc-shaped, and the first transmission arm is rotatably arranged in the second transmission arm, and the first transmission arm and the second transmission arm are all arranged on the same side of the first rotating surface.
From the above, the transmission arm is arc-shaped and is in an inner-outer nested layout, and the structural layout of the transmission arm is optimized, so that the rotation of the rocker can be better converted into the rotation of the transmission arm, and the detection precision is improved.
In a further scheme, the first angle sensor adopts a first potentiometer, the second angle sensor adopts a second potentiometer, the first mounting column is connected with a first adjusting knob of the first potentiometer, and the second mounting column is connected with a second adjusting knob of the second potentiometer.
From the above, the angle sensor is set as a potentiometer, and the potentiometer has the characteristic of wear resistance and has a strong mechanical life, so that the service life of the device is prolonged.
In order to achieve the second object of the invention, the invention provides a ground control device for improving the following performance of an unmanned aerial vehicle, which comprises a movable carrier, a ground angle detection device and a tethered rope reeling and unreeling device, wherein the ground angle detection device is arranged on the movable carrier, and the tethered rope reeling and unreeling device is used for reeling and unreeling the tethered rope, and the tethered rope is connected with a rocker and rotates along with the rocker.
In order to achieve the third object of the invention, the invention provides a control system of a tethered unmanned aerial vehicle, which comprises the tethered unmanned aerial vehicle, a tethered rope and a ground control device, wherein the ground control device comprises a tethered rope winding and unwinding device, a mobile carrier and a ground angle detection device, the ground angle detection device is arranged on the mobile carrier, the tethered rope is wound on the tethered rope winding and unwinding device, and the tethered rope is connected with a rocker and rotates along with the rocker.
According to the scheme, when the moving carrier or the ground angle detection device moves, the mooring rope take-up and pay-off device is located on the moving carrier and moves synchronously, one end of the mooring rope moves along with the ground control device, the rocker is driven to move in the first arc limiting groove and the second arc limiting groove, accordingly, the first transmission arm and the second transmission arm rotate, the first angle sensor and the second angle sensor receive rotation signals, the rotation signals are correspondingly processed and then corresponding control signals are output to the mooring unmanned aerial vehicle, when the ground angle detection device detects corresponding movement, the ground angle detection device obtains conversion signals and the mooring unmanned aerial vehicle receives the control signals more timely, the improvement of the following performance of the mooring unmanned aerial vehicle is facilitated, if the ground angle detection device moves in a non-horizontal plane state, the corresponding angle change is detected through the gyroscope, and then the second motor and the third motor can make corresponding rotation, the first rotation plane is parallel to the horizontal plane, the detection motor still keeps on the horizontal plane under a complex use scene, the first rotation plane is further kept in the first rotation plane, the accurate direction of the mooring unmanned aerial vehicle is further improved, and the following performance of the mooring unmanned aerial vehicle is further improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a control system of a tethered drone of the present invention.
Fig. 2 is a three-dimensional positional relationship diagram of a ground angle detection device in an embodiment of a control system of a tethered unmanned aerial vehicle of the present invention.
Fig. 3 is a partial exploded view of a ground angle detection device in an embodiment of a control system of a tethered drone of the present invention.
Fig. 4 is a partial cross-sectional view of an embodiment of a ground angle detection device in an embodiment of a control system of a tethered drone of the present invention.
Fig. 5 is a block diagram of an embodiment of a ground angle detection device in an embodiment of a control system of a tethered drone of the present invention.
Fig. 6 is a block diagram of another angle of an embodiment of a ground angle detection device in an embodiment of a control system of a tethered drone of the present invention.
The invention is further described below with reference to the drawings and examples.
Detailed Description
The invention relates to a control system embodiment of a tethered unmanned aerial vehicle:
referring to fig. 1 to 6, the control system of the tethered unmanned aerial vehicle comprises a tethered unmanned aerial vehicle 1, a tethered rope 2 and a ground control device 3. The ground control device 3 comprises a mooring rope reeling and unreeling device 5, a mobile carrier 4 and a ground angle detection device 6. The ground angle detection device 6 is arranged on the movable carrier 4, the mooring rope 2 is connected between the ground angle detection device 6 and the mooring unmanned aerial vehicle 1, and the mooring rope 2 is wound on the mooring rope winding and unwinding device 5.
The ground angle detection device 6 comprises a movement assembly 7, a correction assembly 8 and a rocker assembly 9.
The moving assembly 7 includes a first driving arm 71, a second driving arm 72, a first angle sensor 73, a second angle sensor 74, and a mount 75, the mount 75 is provided on a first motor 811, the mount 75 is provided with two first mounting holes 751 and two second mounting holes 752, a mounting cavity 753 is provided through the middle of the mount 75, the two first mounting holes 751 are coaxially provided, the two second mounting holes 752 are coaxially provided, and the axis of the first mounting holes 751 is mutually perpendicular to the axis of the second mounting holes 752. The two first mounting holes 751 and the two second mounting holes 752 are uniformly distributed in the circumferential direction of the outer side of the mounting chamber. The first transmission arm 71 and the second transmission arm 72 are both arc-shaped, the first transmission arm 71 is rotatably arranged on the inner side of the second transmission arm 72, the first transmission arm 71 is respectively provided with two first mounting posts 712 at two ends, the second transmission arm 72 is respectively provided with two second mounting posts 722 at two ends, the two first mounting posts 712 are matched with the two first mounting holes 751, and the two second mounting posts 722 are matched with the two second mounting holes 752.
The first and second drive arms 71, 72 are each provided on the same side of the first rotation surface 86, the first drive arm 71 being provided with a first arcuate limit slot 711 and the second drive arm 72 being provided with a second arcuate limit slot 721.
The first angle sensor 73 and the second angle sensor 74 are both disposed on the first motor 811, and rotate along with the rotation of the first rotating surface 86, the first angle sensor 73 and the second angle sensor 74 are both potentiometers, the potentiometers are provided with adjusting knobs, resistance value changes of the potentiometers can be achieved through the rotation of the adjusting knobs, and then the change of angles is detected through the resistance values, the first angle sensor 73 is connected with the first driving arm 74 and obtains the rotation angle of the first driving arm 71, the first angle sensor 73 is connected with the second driving arm 72 and obtains the rotation angle of the second driving arm 72, one first mounting post 712 is connected with the adjusting knob of the first potentiometers, and one second mounting post 722 is connected with the adjusting knob of the second potentiometers. In addition to the embodiment, the angle sensor may also detect the angle by using an angle encoder, or may use other conventional angle sensors to obtain the angle.
The rocker assembly 9 includes a fixing seat 91, a rocker 92 and a rocker connecting member 93, in this embodiment, the fixing seat 91 is composed of a first fixing block 911 and a second fixing block 912, a first positioning groove 913 is provided in the first fixing block 911 in a penetrating manner, a second positioning groove 914 is provided in the second fixing block 912 in a penetrating manner, the first positioning groove 913 and the second positioning groove 914 are arc-shaped concave, the rocker 92 is used for connecting a mooring rope, the rocker 92 passes through the first arc-shaped limiting groove 711 and the second arc-shaped limiting groove 721, a first threading hole 94 is provided in the rocker 92 in a penetrating manner, a universal joint 921 is arranged at the bottom of the rocker 92, the first positioning groove 913 and the second positioning groove 914 form the positioning groove of this embodiment, the universal joint 921 is arranged in the positioning groove, the universal joint 921 is limited by the positioning groove, the universal joint 921 can rotate in the positioning groove, the fixing seat 91 is connected with the driving end of the first motor 811, and the fixing seat 91 and the universal joint 921 are located in the installation cavity 753.
The correction assembly 8 comprises a motor assembly 81, a first connecting arm 82, a second connecting arm 83, a fixing plate 84 and a gyroscope 85, wherein the motor assembly 81 comprises a first motor 811, a second motor 812 and a third motor 813, the first motor 811 is connected with the moving assembly 7 and drives the moving assembly 7 to rotate on a first rotation plane 86, specifically, the driving end of the first motor 811 is provided with a bearing surface, the bearing surface can rotate on the first rotation plane 86 under the driving action of the first motor 811, and the moving assembly 7, the fixing seat 91 and the rocker 92 are all arranged on the bearing surface and rotate along with the bearing surface, so that the mounting seat 75 rotates on the first rotation plane 86 under the driving action of the first motor 811.
The top of rocker connecting piece 93 is provided with flange structure, and rocker connecting piece 93 passes first motor 811 to through flange structure and loading surface fixed connection, so rocker connecting piece 93 also rotates along with the rotation of loading surface, and rocker connecting piece 93 runs through and is provided with second through wires hole 95, and the bottom of first through wires hole 94 and the top of second through wires hole 95 are relative and be close to each other, and first through wires hole 94 and second through wires hole 95 intercommunication form the wiring passageway, and the wiring passageway passes installation cavity 753.
The second motor 812 is connected to the first motor 811 and drives the first motor 811 to rotate on the second rotation plane 87, the third motor 813 is connected to the second motor 812 and drives the second motor 812 to rotate on the third rotation plane 88, the first rotation plane 86 is perpendicular to the second rotation plane 87, the second rotation plane 87 is perpendicular to the third rotation plane 88, the third motor 813 and the gyroscope 85 are both provided on the fixed plate 84, the first connecting arm 82 is provided with a first stator hole, the second connecting arm 83 is provided with a second stator hole, the fixed plate 84 is also provided with a third stator hole, the stator of the first motor 811 is provided in the first stator hole, the stator of the second motor 812 is provided in the second stator hole, the first connecting arm 82 is connected between the first motor 811 and the second motor 812, and the second connecting arm 83 is connected between the second motor 812 and the third motor 813. The first motor 811, the second motor 812 and the third motor 813 are connected through the first connecting arm 82 and the second connecting arm 83, so that stability of the correction assembly 8 in operation is enhanced, a complex use environment is adapted, and suitability of equipment is improved.
Referring to fig. 1 and 2, when the ground control device 3 is ready for operation, the mooring rope 2 is wound in the mooring rope winding and unwinding device 5, and the outer end of the mooring rope 2 needs to be connected with the mooring unmanned aerial vehicle 1, so the mooring rope 2 sequentially passes through the second threading hole 95 of the rocker connecting piece 93 and the first threading hole 94 of the rocker from the bottom, that is, the mooring rope 2 passes through the routing channel to be connected with the mooring unmanned aerial vehicle 1.
The tethered unmanned aerial vehicle 1 takes off, and the tethered rope reeling and unreeling device 5 starts paying off until the tethered unmanned aerial vehicle 1 reaches a preset position for operation. When the position needs to be changed, the moving carrier 4 starts to move, the first end of the mooring rope 2, which is close to the ground, moves along with the moving carrier 4, the first end of the mooring rope 2 is deviated, then the rocker 92 is driven to rotate, the rocker 92 drives the first transmission arm 71 and the second transmission arm 72 to correspondingly decompose and rotate, the adjusting knobs of the first potentiometer 731 and the second potentiometer 741 rotate and then output corresponding resistance values, corresponding decomposition rotation angle signals are obtained after processing, the rotation angle signals or control signals after converting the rotation angle signals are sent to the mooring unmanned aerial vehicle 1, and the mooring unmanned aerial vehicle 1 carries out follow-up movement according to the signals. The ground control device 3 is also provided with a first motor 811 control system assembly, and the first motor 811 control system assembly receives information of a magnetic compass on the tethered unmanned aerial vehicle 1, so that the front end direction of the tethered unmanned aerial vehicle 1 and the preset reference direction of the moving assembly 7 are arranged in the same direction. When the mobile carrier 4 moves to a non-horizontal plane, such as an ascending slope or a descending slope, the ground angle detection device 6 receives the change of the inclination angle of the mobile carrier 4, if the ground angle detection device 6 directly sends the angle information to the tethered unmanned aerial vehicle 1, the tethered unmanned aerial vehicle 1 deviates from the set position, so that the gyroscope 85 is further provided, the gyroscope 85 is a two-axis electronic gyroscope, and after the two-axis electronic gyroscope 85 senses the change of the inclination angle of the mobile carrier 4, a rotation signal is sent, so that the second motor 812 and the third motor 813 make corresponding rotation actions, and the rotation actions are used for counteracting the angle change caused by the inclination of the mobile carrier 4, so that the first rotation plane 86 always keeps a horizontal state, the accuracy of the control signal received by the tethered unmanned aerial vehicle 1 is further improved, and the following performance of the tethered unmanned aerial vehicle 1 is improved.
From the above, when the moving carrier 4 starts to move, the tethered rope winding and unwinding device 5 and the rocker 92 move synchronously, the ground angle detection device 6 generates resultant force acting in the AE direction and the CE direction when being deviated by the tethered line, the angle a of the ZX plane and the angle b of the ZY plane are respectively obtained through the first transmission arm 71 and the second transmission arm 72, in addition, the relative ground height CE of the unmanned aerial vehicle is obtained through the barometer on the tethered unmanned aerial vehicle, according to the trigonometric function tangent formula, af=ce/tanb, the distance of AF can be obtained, and ag=ce/tana can be obtained, the tethered unmanned aerial vehicle is positioned to the target position according to the two distance parameters of AF and AG, and then moves relatively to achieve the following purpose.
Claims (7)
1. The utility model provides a ground angle detection device which characterized in that: the device comprises a moving assembly, a correcting assembly and a rocker assembly;
the moving assembly comprises a first transmission arm, a second transmission arm, a first angle sensor and a second angle sensor, wherein the first transmission arm is provided with a first arc-shaped limiting groove, the second transmission arm is provided with a second arc-shaped limiting groove, the first angle sensor is connected with the first transmission arm and acquires the rotation angle of the first transmission arm, and the second angle sensor is connected with the second transmission arm and acquires the rotation angle of the second transmission arm;
The rocker assembly comprises a rocker, the rocker passes through the first arc-shaped limit groove and the second arc-shaped limit groove, and the rocker is used for connecting a mooring rope;
The correction assembly comprises a motor assembly, a fixed plate and a gyroscope, wherein the motor assembly comprises a first motor, a second motor and a third motor, the first motor is connected with the movement assembly and drives the movement assembly to rotate on a first rotation plane, the second motor is connected with the first motor and drives the first motor to rotate on a second rotation plane, the third motor is connected with the second motor and drives the second motor to rotate on a third rotation plane, the first rotation plane is perpendicular to the second rotation plane, the second rotation plane is perpendicular to the third rotation plane, and the third motor and the gyroscope are both arranged on the fixed plate;
The rocker assembly comprises a fixing seat, the fixing seat is provided with a positioning groove, the rocker is provided with a first threading hole in a penetrating mode, the bottom of the rocker is provided with a universal joint, the universal joint is located in the positioning groove and can rotate in the positioning groove, and the fixing seat is connected with the driving end of the first motor;
The correction assembly further comprises a first connecting arm and a second connecting arm, wherein the first connecting arm is connected between the first motor and the second motor, and the second connecting arm is connected between the second motor and the third motor;
the first transmission arm and the second transmission arm are all arc-shaped, the first transmission arm is rotatably arranged in the second transmission arm, and the first transmission arm and the second transmission arm are all arranged on the same side of the first rotating surface.
2. The ground angle detection apparatus according to claim 1, wherein:
The rocker assembly further comprises a rocker connecting piece, the rocker connecting piece penetrates through the first motor, a second threading hole is formed in the rocker connecting piece in a penetrating mode, and the second threading hole is communicated with the first threading hole.
3. The ground angle detection apparatus according to claim 2, wherein:
The movable assembly further comprises a mounting seat, the mounting seat is connected with the first motor and can rotate on the first rotating plane, the mounting seat is provided with a first mounting hole and a second mounting hole, the end part of the first transmission arm is provided with a first mounting column, the end part of the second transmission arm is provided with a second mounting column, the first mounting column is matched with the first mounting hole, and the second mounting column is matched with the second mounting hole;
the middle part of mount pad is provided with the installation cavity with penetrating, the fixing base with the universal joint all is located the installation cavity is interior, first through wires hole and second through wires hole form the wiring passageway, the wiring passageway passes the installation cavity.
4. A ground angle detection apparatus according to claim 3, wherein:
The first angle sensor adopts a first potentiometer, the second angle sensor adopts a second potentiometer, the first mounting column is connected with a first adjusting knob of the first potentiometer, and the second mounting column is connected with a second adjusting knob of the second potentiometer.
5. Ground control device, characterized by comprising a mobile carrier and a ground angle detection device according to any of the preceding claims 1 to 4, said ground angle detection device being arranged on said mobile carrier.
6. The floor control device of claim 5, wherein:
The ground control device further comprises a mooring rope winding and unwinding device, wherein the mooring rope winding and unwinding device is used for winding and unwinding the mooring rope, and the mooring rope is connected with the rocker and rotates along with the rocker.
7. The control system of the tethered unmanned aerial vehicle is characterized by comprising the tethered unmanned aerial vehicle, a tethered rope and a ground control device;
the ground control device comprises a tethered rope reeling and unreeling device, a mobile carrier and the ground angle detection device of any one of the above claims 1 to 4, wherein the ground angle detection device is arranged on the mobile carrier;
the mooring rope is wound on the mooring rope winding and unwinding device, and is connected with the rocker and rotates along with the rocker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910759691.6A CN110347172B (en) | 2019-08-16 | 2019-08-16 | Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle |
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| CN201910759691.6A CN110347172B (en) | 2019-08-16 | 2019-08-16 | Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle |
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| CN110347172B true CN110347172B (en) | 2024-05-03 |
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| FR2941922A1 (en) * | 2009-02-12 | 2010-08-13 | Geocean | Captive aerodyne i.e. unmanned aerodyne, launching and receiving system, has platform pierced with openings such that air flow blown by propulsion device at base of hull traverses platform by openings formed in platform |
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| WO2018040893A1 (en) * | 2016-08-31 | 2018-03-08 | 深圳市道通智能航空技术有限公司 | Rocker device and remote control unit |
| CN207115190U (en) * | 2017-06-07 | 2018-03-16 | 金华市兴飞机器人有限公司 | A kind of multi-environment adaptation sniffing robot |
| CN210166662U (en) * | 2019-08-16 | 2020-03-20 | 珠海市双捷科技有限公司 | Ground angle detection device, ground control device, mooring unmanned aerial vehicle's control system |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2941922A1 (en) * | 2009-02-12 | 2010-08-13 | Geocean | Captive aerodyne i.e. unmanned aerodyne, launching and receiving system, has platform pierced with openings such that air flow blown by propulsion device at base of hull traverses platform by openings formed in platform |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| WO2018040893A1 (en) * | 2016-08-31 | 2018-03-08 | 深圳市道通智能航空技术有限公司 | Rocker device and remote control unit |
| CN207115190U (en) * | 2017-06-07 | 2018-03-16 | 金华市兴飞机器人有限公司 | A kind of multi-environment adaptation sniffing robot |
| CN210166662U (en) * | 2019-08-16 | 2020-03-20 | 珠海市双捷科技有限公司 | Ground angle detection device, ground control device, mooring unmanned aerial vehicle's control system |
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