CN110865404A - Target positioning system for cooperative operation of multiple rotor unmanned aerial vehicles - Google Patents
Target positioning system for cooperative operation of multiple rotor unmanned aerial vehicles Download PDFInfo
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- CN110865404A CN110865404A CN201810990090.1A CN201810990090A CN110865404A CN 110865404 A CN110865404 A CN 110865404A CN 201810990090 A CN201810990090 A CN 201810990090A CN 110865404 A CN110865404 A CN 110865404A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The invention discloses a target positioning system for cooperative operation of multiple rotor unmanned aerial vehicles, which comprises a carrying device carrying multiple rotor unmanned aerial vehicles and an airborne system arranged in the rotor unmanned aerial vehicles, wherein the airborne system comprises an image capturing device and a satellite signal receiving device; through image capture device catches the target location and records the distance between target and the rotor unmanned aerial vehicle, through satellite signal receiving arrangement obtains rotor unmanned aerial vehicle self positional information, works as when carrier reachs predetermined airspace, pop out in the unmanned aerial vehicle of rotor from the carrier, airborne system start work image capture device catches behind the target location, rotor unmanned aerial vehicle flies around the target to the information transfer to ground station that in real time obtained image capture device and satellite signal receiving arrangement, thereby can handle many sets of rotor unmanned aerial vehicle's data message in ground station, finally obtains accurate target location information.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a target positioning system for cooperative operation of multiple rotor unmanned aerial vehicles.
Background
With the increasing improvement of unmanned aerial vehicle technology, unmanned aerial vehicles are introduced into more and more fields, and people can conveniently and quickly complete tasks which are seemingly difficult to complete by using the unmanned aerial vehicles; wherein, the rotor unmanned aerial vehicle is a more important branch of the unmanned aerial vehicle, the rotor unmanned aerial vehicle can hover, has smaller volume and can execute special operations such as fixed-point shooting and the like, but, affected by its own structural characteristics, the existing rotorcraft also has its own drawbacks, such as the use of propeller power, the flying speed is slower than that of an airfoil unmanned aerial vehicle, the flying height is also greatly limited, the unmanned aerial vehicle cannot rapidly climb to a higher height and is difficult to meet the requirement of a special task, in addition, because of the problems of volume and power, the energy sources such as batteries and the like which can be carried by the rotor unmanned aerial vehicle are relatively limited, the working radius is small, which is difficult to be competent for long-distance reconnaissance and observation tasks, in addition, for some special tasks, one unmanned aerial vehicle is often difficult to be competent, a plurality of unmanned aerial vehicles are required to operate cooperatively, therefore, how to rapidly launch the multiple unmanned aerial vehicles to a specified area becomes a greater problem;
for special task requirements, not only quick arrangement in place is required, but also the unmanned aerial vehicle is required to go to operate according to a specific rule after being arranged in place, and expected task effects can be obtained.
Because of the reason, the inventor designs a can deploy rotor unmanned aerial vehicle's target positioning system fast, transports rotor unmanned aerial vehicle to specific position through this system, pops out a plurality of rotor unmanned aerial vehicle from the carrying device one by one again to carry out work according to predetermined mode, thereby solve above-mentioned problem.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention carries out intensive research and designs a target positioning system for cooperative operation of multiple rotor unmanned aerial vehicles, wherein the system comprises a carrying device carrying multiple rotor unmanned aerial vehicles and an airborne system arranged in the rotor unmanned aerial vehicles, and the airborne system comprises an image capturing device and a satellite signal receiving device; the method comprises the steps that a target position is captured through the image capturing device, the distance between the target and the rotor unmanned aerial vehicle is recorded, the position information of the rotor unmanned aerial vehicle is obtained through the satellite signal receiving device, when the carrying device reaches a preset airspace, the rotor unmanned aerial vehicle pops out of the carrying device, an airborne system starts to work, after the target position is captured by the image capturing device, the rotor unmanned aerial vehicle flies around the target, and information obtained by the image capturing device and the satellite signal receiving device is transmitted to a ground station in real time, so that Kalman filtering processing or other processing can be carried out on data information of a plurality of rotor unmanned aerial vehicles in the ground station, and accurate target position information is finally obtained, and the method is completed.
In particular, the invention aims to provide a target positioning system for cooperative operation of a plurality of rotor unmanned aerial vehicles,
this system includes that the carrying device 2 of carrying a plurality of rotor unmanned aerial vehicle 1 and the airborne system 3 of setting in rotor unmanned aerial vehicle 1.
Wherein the onboard system comprises an image capturing device 31 and a satellite signal receiving device 32.
Wherein the target position is captured by the image capturing means 31 and the distance between the target and the rotorcraft 1 is recorded,
the satellite signal receiving device 32 obtains the position information of the unmanned rotorcraft 1 itself.
Wherein a plurality of sleeves 4 are mounted in the carrier 2,
an ejection part 5 is arranged at the bottom of the inner side of the sleeve 4;
the rotor unmanned aerial vehicle 1 is fixed on the ejection part 5 after being folded and stored and is positioned in the sleeve 4,
the ejection part 5 can eject from the bottom of the sleeve 4 to the top of the sleeve 4, and then eject the unmanned rotorcraft 1 from the sleeve 4.
Wherein, an openable hatch door 6 is arranged on the side wall of the carrying device 2;
the top of the opening on the sleeve 4 is abutted against the inner side of the cabin door 6;
preferably, said respective sleeves 4 are symmetrically distributed inside said carrier 2;
more preferably, an elastic pad 61 is provided inside the hatch door 6;
under the circumstances that hatch door 6 was closed, cushion 61 and the rotor unmanned aerial vehicle 1 butt that is located the inside of sleeve 4 to fix rotor unmanned aerial vehicle 1 in sleeve 4.
Wherein, hatch door 6 opens when carrier 2 reaches predetermined airspace to launch rotor unmanned aerial vehicle 1 from carrier 2 with launch portion 5.
Wherein, after the image capturing device 31 captures the target position, the unmanned rotorcraft 1 flies around the target and transmits the information obtained by the image capturing device 31 and the satellite signal receiving device 32 to the ground station in real time.
The ejection part 5 comprises a base 51 positioned at the bottom and a support cylinder 52 positioned above the base 51, and a bearing plate 53 is arranged inside the support cylinder 52;
the base 51 is ejected to the top of the sleeve 4 by the base 51 cooperating with the sleeve 4,
the rotor unmanned aerial vehicle 1 is locked through the supporting cylinder 52,
the rotor unmanned aerial vehicle 1 is pushed through the supporting plate 53, so that the rotor unmanned aerial vehicle 1 is separated from the supporting cylinder 52;
preferably, the support plate 53 is capable of moving outward along the axial direction of the support cylinder 52 inside the support cylinder 52, thereby pushing out the unmanned rotorcraft 1 located above the inside of the support cylinder 52 to the outside of the support cylinder 52.
Wherein the rotary-wing drone comprises a frame 11 and a radial arm 12;
when the rotary wing unmanned aerial vehicle bends downwards relative to the frame 11, the bottom end of the rotary arm 12 can be embedded into the support cylinder 52, so as to be fastened on the support cylinder 52,
when the rotor drone is disengaged from the support cylinder 52, the swing arm 12 of the drone automatically rebounds to the horizontal position and starts to work;
preferably, the unmanned rotorcraft further comprises a connecting disc 13 arranged right below the frame 11;
the reciprocating movement of the connecting disc 13 in the vertical direction controls the radial arm 12 to bend downwards or rebound to the horizontal position.
The invention also provides a target positioning method in the system,
the method comprises the following steps:
step 2, opening a cabin door 6 when the carrying device 2 flies to a preset airspace;
3, ejecting the ejection parts 5 from the bottom of the sleeve 4 to the top of the sleeve 4 in sequence, wherein the intervals are 1 second;
step 5, each rotor unmanned aerial vehicle captures the position of a target through an image capturing device 31, records the distance between the target and the rotor unmanned aerial vehicle 1, obtains the position information of the rotor unmanned aerial vehicle 1 through a satellite signal receiving device 32, and transmits the information to a ground station in real time;
and 6, flying each rotor-wing unmanned aerial vehicle around the target point, wherein the flying tracks of the rotor-wing unmanned aerial vehicles preferably have different radiuses from each other.
The invention has the advantages that:
(1) according to the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, which is provided by the invention, the multiple rotor unmanned aerial vehicles are arranged, so that the purpose of quickly arranging the multiple rotor unmanned aerial vehicles is realized;
(2) according to the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, which is provided by the invention, the multiple rotor unmanned aerial vehicles acquire and transmit information, and the basic observation purpose can be realized even if the working states of part of the unmanned aerial vehicles are not good;
(3) according to the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, which is provided by the invention, the multiple rotor unmanned aerial vehicles acquire and transmit information, and then the information is uniformly received and processed by the ground station, so that more accurate target position information can be acquired;
(4) the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles can convey the rotor unmanned aerial vehicles to a designated area, has the capability of quickly reaching a remote operation site, has high working efficiency, and can execute tasks with special requirements on reaction speed and starting time, such as fire reconnaissance, specific target reconnaissance and the like;
(5) according to the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, provided by the invention, the energy carried by the rotor unmanned aerial vehicles is not consumed before the rotor unmanned aerial vehicles arrive at an operation place, so that the working duration of the rotor unmanned aerial vehicles is longer, and a long-distance operation task can be executed.
Drawings
Fig. 1 is a schematic diagram illustrating an overall structure of a target positioning system for cooperative operation of multiple rotary-wing drones according to a preferred embodiment of the invention;
fig. 2 is a schematic structural view of a vehicle in a target positioning system for cooperative operation of multiple rotary-wing drones according to a preferred embodiment of the invention;
FIG. 3 is a schematic view of a partial structure of a door closing of a target positioning system for cooperative operation of multiple rotary-wing drones according to a preferred embodiment of the invention;
fig. 4 is a partial schematic view of the structure of the doors of the target positioning system for the cooperative operation of multiple unmanned gyroplanes according to a preferred embodiment of the present invention;
FIG. 5 shows a cross-sectional view of a support cylinder in a co-operating target positioning system of multiple rotor drones, in accordance with a preferred embodiment of the present invention;
fig. 6 is a schematic structural view of a rotor drone in a target positioning system for the cooperative operation of multiple rotor drones according to a preferred embodiment of the invention.
The reference numbers illustrate:
1-rotor unmanned plane
11-frame
12-radial arm
121-polished rod segment
122-ring sliding sleeve
13-connecting disc
14-connecting rod
15-drive motor
16-propeller
2-carrying device
3-airborne system
31-image capturing device
32-satellite signal receiving device
33-communication transmission module
4-sleeve
41-limit stop
5-ejection part
51-base
52-support cylinder
53-bearing plate
6-cabin door
61-elastic cushion
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The hinge joint of the invention is a connection relationship which has enough strength and is not easy to break, and the connection allows the relative rotation between the two connected with each other; the articulation is generally achieved in the present invention by a rotating shaft or hinge.
According to the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, as shown in fig. 1, fig. 2 and fig. 3, the system comprises a carrying device 2 carrying the multiple rotor unmanned aerial vehicles 1 and an onboard system 3 arranged in the rotor unmanned aerial vehicles 1.
The on-board system includes an image capture device 31 and a satellite signal receiving device 32. The target position is captured by the image capture device 31 and the distance between the target and the rotorcraft 1 is recorded,
the satellite signal receiving device 32 obtains the position information of the unmanned rotorcraft 1 itself.
Preferably, the image capturing device 31 includes a camera and an infrared ray head, so as to capture image information in the day or night, and since the image features of the target are already filled into the unmanned gyroplane before the task starts, the unmanned gyroplane continuously captures possible target images during operation until an image matching the filled image features is obtained, and further takes the object in the image as a target and continuously tracks and obtains the image information of the target; the distance between the rotorcraft and the target can be measured by infrared rays, or can be measured or calculated by any other feasible method;
preferably, the satellite signal receiving device 32 includes a GPS signal receiving device and/or a beidou signal receiving device, and the latitude and longitude coordinates of the position of the target, which is preferably a general ground target, can be calculated by processing and calculating after the ground station receives the above information transmitted by the unmanned gyroplane through the satellite signal or the latitude and longitude coordinates and the height of the satellite signal itself.
More preferably, after the image capturing device 31 captures the target position, the rotorcraft 1 flies around the target and transmits the information obtained by the image capturing device 31 and the satellite signal receiving device 32 to the ground station in real time.
The rotor unmanned aerial vehicle flies around the target, so that the target can be observed from various angles, interference information can be eliminated, and a more accurate target position can be obtained;
still be provided with communication transmission module 33 among the rotor unmanned aerial vehicle, like 4G module etc. give the ground station through the information transmission that this module will obtain in real time, the ground station has the receiving arrangement who matches with it, obtains the information that rotor unmanned aerial vehicle transmitted to do kalman filter to this information and handle or other processings, learn the specific longitude and latitude coordinate of target through calculating again. When the multiple rotors position the target, the target position information can be calculated only according to the self position information of each rotor and the measured self and target distance information.
In a preferred embodiment, as shown in fig. 2, a plurality of sleeves 4 are mounted in the carrier 2, and an ejector 5 is provided at the bottom inside the sleeves 4;
the rotor unmanned aerial vehicle 1 is fixed on the ejection part 5 after being folded and stored and is positioned in the sleeve 4,
the ejection part 5 can eject from the bottom of the sleeve 4 to the top of the sleeve 4, and then eject the unmanned rotorcraft 1 from the sleeve 4.
Inside said sleeve 4, near the opening, a limit stop 41 is provided to prevent the ejector 5 from being completely ejected from the sleeve 4.
In a preferred embodiment, the carrying device releases the fastening of the unmanned rotorcraft when reaching a predetermined airspace, so that the unmanned rotorcraft is separated from the carrying device, and the unmanned rotorcraft has a smaller distance from a predetermined working area and can reach quickly; therefore, the preparation and navigation time from the moment when the unmanned aerial vehicle is in place and starts to work after receiving the task instruction and the related target information is greatly shortened, the fast response and the fast maneuver of the rotor unmanned aerial vehicle are realized, and the unmanned aerial vehicle can be used for handling emergent emergency tasks.
The carrier device is similar to a rocket or a rocket projectile, the flying principle of the carrier device is similar to that of the rocket, and the carrier device is an aircraft propelled forwards by the reaction force generated by the working medium injected by a rocket engine; the launching mode of the rocket projectile is similar to that of a rocket projectile, the rocket projectile is an ammunition launched by a rocket barrel or a rocket gun, and the warhead of the ammunition needs to be replaced by the rotor unmanned aerial vehicle or a sleeve.
Preferably, as shown in fig. 3, 4, an openable hatch 6 is provided on a side wall of the carrier 2;
the top of the opening on the sleeve 4 is abutted against the inner side of the cabin door 6;
preferably, the individual sleeves 4 are symmetrically distributed within the carrier 2.
When the hatch is closed, the top of the sleeve 4 abuts against the inside of the hatch 6; the cabin door 6 can be opened outwards, when the cabin door is opened, the top/opening end of the sleeve 4 is not blocked, and the rotor unmanned aerial vehicle in the sleeve can be freely ejected;
preferably, the hatch 6 is opened when the vehicle 2 reaches a predetermined airspace, so that the launcher 5 ejects the rotorcraft 1 from the vehicle;
in the invention, the base 51 is ejected to the top of the sleeve 4 by matching the base 51 and the sleeve 4, the ejection between the sleeve 4 and the base 51 can be carried out in any of various ways, such as setting a compression spring as power for ejection, setting an elastic rubber band as power for ejection, setting an electromagnet for ejection by repulsion force or attraction force, or using an electromagnetic induction coil as power for ejection, and selecting according to specific working requirements.
The cabin door 6 is opened when the carrying device reaches a preset airspace, so that the ejection part 5 ejects the rotor unmanned aerial vehicle 1 from the carrying device; the hatch door can be provided with a plurality of hatches or only one or two hatches, namely, one hatch door can correspond to one or more sleeves 4; preferably, the hatch door can be controlled by hydraulic means, at first outwards remove to the side after certain distance again, can ensure the leakproofness when the hatch door is closed, also can ensure that the hatch door can not block rotor unmanned aerial vehicle's pop-up route after opening.
In a preferred embodiment, the ejection part 5 comprises a base 51 at the bottom and a support cylinder 52 above the base 51, and a support plate 53 is arranged inside the support cylinder 52;
the base 51 is ejected to the top of the sleeve 4 by the base 51 cooperating with the sleeve 4,
the rotor unmanned aerial vehicle 1 is locked through the supporting cylinder 52,
through the support plate 53 promotes rotor unmanned aerial vehicle 1 for break away from with rotor unmanned aerial vehicle 1 and support section of thick bamboo 52.
Specifically, as shown in fig. 3 and 4, the size of the support cylinder 52 is substantially consistent with the outer diameter of a quasi-circular structure formed by folding the swing arm of the rotor unmanned aerial vehicle, so that the support cylinder 52 can be just embedded between the swing arm of the unmanned aerial vehicle and a propeller, the end of the swing arm 12 abuts against the inner ring wall surface of the support cylinder 52, the support cylinder 52 can block the swing arm 12 from rotating, and further block the swing arm 12 from rebounding to a horizontal position, thereby realizing confinement of the unmanned aerial vehicle; the height of the support cylinder 52 is 30-50mm, i.e. the distance between the highest point of the support cylinder 52 and the support plate 53 is 30-50mm, and since the support plate 53 can be moved in the vertical direction, the support plate 53 is at the lowest possible point when calculating this height/distance.
When the carrying device is used for closing the unmanned aerial vehicle, the supporting plate 53 is located below the swing arm 12, the distance between the supporting plate 53 and the swing arm is small, generally smaller than 10mm, the supporting plate 53 can move in the vertical direction, the moving stroke of the supporting plate is at least 30-50mm, namely, along with the movement of the supporting plate 53, the supporting plate 53 can push the swing arm of the unmanned aerial vehicle out of the supporting seat 2, and because the moving speed of the supporting plate 53 is high, when the unmanned aerial vehicle breaks away from the supporting seat 2, the unmanned aerial vehicle has certain initial speed, and can continue to move a certain distance along the direction.
The repulsion that bearing plate 53 can produce through the electro-magnet is as power, also can be as power through compression spring, can select by oneself according to actual conditions, can realize above-mentioned reciprocating motion and promote rotor unmanned aerial vehicle's function can.
In a preferred embodiment, as shown in figures 2, 3, 4 and 5,
when the cabin door receives a deployment instruction, the cabin door can be started to work and is opened outwards, so that the sleeve and the rotor unmanned aerial vehicle in the cabin door are exposed;
preferably, the carrying device is further provided with a control module, the control module is used for sending a deployment instruction to the cabin door, and the control module can generate and send the deployment instruction based on time information, can also generate and send the deployment instruction based on detected state information, and can also generate and send the deployment instruction based on a ground instruction;
the time information refers to that a preset unfolding instruction is generated and sent after a preset time, and the unfolding instruction is generated and sent after the preset time is filled, such as 40 seconds, generally before the carrying device is started;
the detected state information refers to the position information and the speed information of the carrier device, and is mainly detected and obtained through a satellite positioning module such as a satellite signal receiving device, and the like, and when the detected state information meets preset conditions, a deployment instruction is generated and sent, for example, the deployment instruction is generated and sent when the detected state information reaches the position near 800m, or the deployment instruction is generated and sent when the detected state information reaches the position near 316.3 degrees of east longitude and 39.95 degrees of north latitude, or the deployment instruction is generated and sent when the vertical speed value is 0, and the like;
the ground command refers to a control command sent by a ground control station and received by a carrying device in real time.
In a preferred embodiment, a second type of inductive switch is arranged on the cabin door, and the second type of inductive switch is connected with the bearing plate 53 and used for controlling the bearing plate 53 to start to work;
when the cabin door is opened and moved to a preset position, the corresponding second type inductive switch can be triggered, preferably, the cabin door needs to be completely opened at the moment, and the ejection path of the rotor wing unmanned aerial vehicle cannot be interfered/blocked;
in a preferred embodiment, as shown in fig. 2, 3, 4, an elastic pad 61 is provided inside the door 6; the elastic pad 61 is made of rubber or polymer material, and has certain elasticity and can bear certain acting force.
Under the circumstances that hatch door 6 was closed, cushion 61 and the rotor unmanned aerial vehicle 1 butt that is located sleeve 4 inside to fix rotor unmanned aerial vehicle 1 in sleeve 4, prevent rotor unmanned aerial vehicle vibration or swing in the carrier.
In a preferred embodiment, when the door 6 is completely opened, the ejectors 5 in the plurality of sleeves are activated one by one, preferably, each ejector 5 is activated at an interval of 1 second, so that each of the unmanned rotorcraft 1 does not touch each other and interfere with each other, thereby ensuring stable and safe operation of the whole system, and providing a position basis for subsequent unmanned rotorcraft flying around a target point at different radiuses.
In a preferred embodiment, as shown in fig. 6, the rotorcraft comprises a frame 11 and a radial arm 12; the rotor unmanned aerial vehicle is a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle or an eight-rotor unmanned aerial vehicle;
the unmanned aerial vehicle is confined in the carrying device when the rotary arm 12 of the unmanned aerial vehicle bends downwards relative to the frame 11, preferably, the unmanned aerial vehicle can be confined in the carrying device only when the bending angle is about 90 degrees; the most preferred bend angle in the present invention is 95 degrees.
When the carrying device releases the fixation on the unmanned aerial vehicle, the rotating arm 12 of the unmanned aerial vehicle automatically rebounds to the horizontal position and starts working; particularly, work as swing arm 12 is automatic kick-backs to horizontal position under the elasticity effect, and the motor start-up work on the swing arm this moment drives the screw rotation for unmanned aerial vehicle hovers in this airspace as early as possible, and meanwhile, airborne system 3 on the unmanned aerial vehicle starts the work.
In a preferred embodiment, as shown in fig. 1, 2 and 5, the drone further comprises a connection disc 13 arranged directly below the frame 11,
the reciprocating movement of the connecting disc 13 in the vertical direction controls the radial arm 12 to bend downwards or rebound to the horizontal position. When the connecting disc 13 moves downwards, the spiral arm 12 is driven to bend downwards, and when the connecting disc 13 moves upwards, the spiral arm 12 is driven to rebound to a horizontal position; similarly, the connecting plate 13 can be driven to move downwards when the radial arm 12 bends downwards, and the connecting plate 13 can be driven to move upwards when the radial arm 12 rebounds to the horizontal position.
In particular, preferably, a connecting rod 14 is provided on said connecting disc 13,
one end of the connecting rod 14 is hinged with the connecting plate 3,
the other end of the link 14 is connected to the radial arm 12. The number of links 14 corresponds to the number of radial arms 12, one for each other.
Further preferably, the radial arm 12 comprises a light rod segment 321,
an annular sliding sleeve 322 is sleeved on the polished rod section 321, and the annular sleeve 322 can slide back and forth along the polished rod section 321, or the annular sleeve 322 is fixed on the polished rod section 321;
the connecting rod 14 is hinged to the annular sliding sleeve 322, that is, the connecting rod 14 is hinged to the radial arm 12 through the annular sliding sleeve 322.
Preferably, a limiting mechanism is arranged on the connecting plate 3 and the frame 11, so that the radial arm can only swing back and forth between the horizontal direction and the downward bending of 95 degrees.
Preferably, a stretching mechanism is arranged between the connecting disc 13 and the frame 11,
the stretching mechanism is used for pulling the connecting disc 13 to be close to the rack 11 upwards, and then the rotating arm 12 is driven to rebound to the horizontal position. The stretching mechanism comprises a vertically arranged spring which is always in a stretching state; when the swing arm 12 is bent downwards, a large elastic potential energy is stored in the stretching mechanism, so that the swing arm 12 has a tendency of returning to a horizontal position, and when an external force for limiting and closing the swing arm 12 disappears, the swing arm 12 can accelerate and rotate from a stationary state at a large acceleration under the action of the stretching mechanism, and rebounds to the horizontal position from a downward bending state.
Further preferably, a torsion spring is arranged at two hinged positions, one end of the connecting rod 14 is hinged with the connecting plate 3, and the connecting rod 14 is hinged with the annular sliding sleeve 322, and the torsion spring is also a part of the stretching mechanism, so that the elasticity of the radial arm 12 required to be overcome from the horizontal position to the bending state is increased through the torsion spring, and further, the elastic potential energy stored in the stretching mechanism is increased when the radial arm 122 is bent downwards; this torsion spring can also make the effort that receives a plurality of directions on connecting rod 14 and the swing arm 12, ensures that connecting rod 14 and swing arm 12 remove according to setting for the orbit, and then strengthens this system's reliability, in predetermined airspace, when releasing the confinement to unmanned aerial vehicle, unmanned aerial vehicle's swing arm must kick-back to horizontal position.
In a preferred embodiment, as shown in fig. 2 and 5, a driving motor 15 and a propeller 16 are provided at an end of the swing arm 12, the driving motor 15 is used for controlling the propeller 16 to rotate, and when the unmanned aerial vehicle is locked in the carrying device, a control circuit of the driving motor 15 is in a standby state; an induction switch is arranged at the joint of the swing arm and the rack, the induction switch is triggered when the swing arm returns to the horizontal position, and after the induction switch is triggered, a control circuit of the driving motor 15 is switched on, and the driving motor 15 starts to work. The inductive switch can be an electromagnetic inductive switch, also can be a mechanical contact switch, can be arranged at will, and can realize the functions.
Wherein, a predetermined gap is left between the radial arm 12 and the propeller 16, one part of the driving motor 15 is embedded in the radial arm 12, the other part is exposed outside, and the end of the exposed outside is provided with the propeller 16.
Preferably, the radial arm 12 is provided with a plurality, preferably 4-8,
when the unmanned aerial vehicle is confined in the carrying device, a plurality of preset gaps corresponding to the swing arms 12 are circularly arranged; the carrying device is locked in the unmanned aerial vehicle through the gap, namely, a supporting cylinder 52 which prevents the swing arm 12 from rebounding to the horizontal position is embedded in the gap, and under the action of the elastic force on the swing arm, the whole unmanned aerial vehicle is fixed and locked in the carrying device.
The invention also provides a target positioning method in the target positioning system for the cooperative operation of the multiple rotor unmanned aerial vehicles, which comprises the following steps:
step 2, opening a cabin door 6 when the carrying device flies to a preset airspace;
3, ejecting the ejection parts 5 from the bottom of the sleeve 4 to the top of the sleeve 4 in sequence, wherein the intervals are 1 second;
step 5, each rotor unmanned aerial vehicle captures the position of a target through an image capturing device 31, records the distance between the target and the rotor unmanned aerial vehicle 1, obtains the position information of the rotor unmanned aerial vehicle 1 through a satellite signal receiving device 32, and transmits the information to a ground station in real time;
and 6, flying each rotor-wing unmanned aerial vehicle around the target point, wherein the flying tracks of the rotor-wing unmanned aerial vehicles preferably have different radiuses from each other.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (10)
1. A target positioning system for cooperative operation of a plurality of rotor unmanned aerial vehicles is characterized in that,
the system comprises a carrying device (2) carrying a plurality of rotor unmanned aerial vehicles (1) and an airborne system (3) arranged in the rotor unmanned aerial vehicles (1).
2. The system of claim 1,
the onboard system comprises an image capturing device (31) and a satellite signal receiving device (32).
3. The system of claim 2,
capturing the target position by means of the image capturing device (31) and recording the distance between the target and the rotorcraft (1),
and obtaining the position information of the rotor unmanned aerial vehicle (1) through the satellite signal receiving device (32).
4. The system of claim 1,
a plurality of sleeves (4) are mounted in the carrier device (2),
an ejection part (5) is arranged at the bottom of the inner side of the sleeve (4);
the rotor unmanned aerial vehicle (1) is fixed on the ejection part (5) after being folded and stored and is positioned in the sleeve (4),
launch portion (5) can launch to the top of sleeve (4) from the bottom of sleeve (4), and then pop out rotor unmanned aerial vehicle (1) from in sleeve (4).
5. The system of claim 4,
an openable cabin door (6) is arranged on the side wall of the carrying device (2);
the top of the opening on the sleeve (4) is abutted against the inner side of the cabin door (6);
preferably, said respective sleeves (4) are symmetrically distributed inside said carrier (2);
more preferably, an elastic pad (61) is arranged inside the hatch (6);
under the circumstances that hatch door (6) were closed, cushion (61) and rotor unmanned aerial vehicle (1) butt that is located sleeve (4) inside to fix rotor unmanned aerial vehicle (1) in sleeve (4).
6. The system of claim 5,
the cabin door (6) is opened when the carrying device (2) reaches a preset airspace, so that the ejection part (5) ejects the rotor unmanned aerial vehicle (1) from the carrying device (2).
7. The system according to any one of claims 1 to 6,
after the image capturing device (31) captures the target position, the unmanned gyroplane (1) flies around the target and transmits the information obtained by the image capturing device (31) and the satellite signal receiving device (32) to a ground station in real time.
8. The system of claim 4,
the ejection part (5) comprises a base (51) positioned at the bottom and a support cylinder (52) positioned above the base (51), and a bearing plate (53) is arranged in the support cylinder (52);
the base (51) is ejected to the top of the sleeve (4) through the matching of the base (51) and the sleeve (4),
the rotor unmanned aerial vehicle (1) is locked up through the supporting cylinder (52),
pushing the rotor unmanned aerial vehicle (1) through the supporting plate (53) so that the rotor unmanned aerial vehicle (1) is separated from the supporting cylinder (52);
preferably, the support plate (53) can move outwards along the axial direction of the support cylinder (52) inside the support cylinder (52), so that the unmanned rotorcraft (1) above the inside of the support cylinder (52) is pushed out of the support cylinder (52).
9. The system of claim 8,
the rotor unmanned aerial vehicle comprises a frame (11) and a rotary arm (12);
when the rotary wing unmanned aerial vehicle is bent downwards relative to the frame (11) by the rotary arm (12), the bottom end of the rotary arm (12) can be embedded into the support cylinder (52) so as to be confined on the support cylinder (52),
when the rotor unmanned aerial vehicle is separated from the support cylinder (52), the rotating arm (12) of the unmanned aerial vehicle automatically rebounds to the horizontal position and starts to work;
preferably, the unmanned rotorcraft further comprises a connecting disc (13) arranged right below the frame (11);
the swing arm (12) is controlled to bend downwards or rebound to a horizontal position through the reciprocating movement of the connecting disc (13) in the vertical direction.
10. Method for object localization according to the system of one of the claims 1 to 9, characterized in that the method comprises the following steps:
step 1, a rotor unmanned aerial vehicle (1) is confined on an ejection part (5) in a sleeve (4);
step 2, opening a cabin door (6) when the carrying device (2) flies to a preset airspace;
3, ejecting the ejection parts (5) from the bottom of the sleeve (4) to the top of the sleeve (4) in sequence;
step 4, the supporting plate (53) moves upwards to push the rotor wing unmanned aerial vehicle (1) out of the supporting cylinder (52);
step 5, each rotor unmanned aerial vehicle captures the position of a target through an image capturing device (31) and records the distance between the target and the rotor unmanned aerial vehicle (1);
and 6, flying each rotor unmanned aerial vehicle around the target point.
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