CN111361756A - Connection balance system for mooring unmanned aerial vehicle - Google Patents
Connection balance system for mooring unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111361756A CN111361756A CN202010302339.2A CN202010302339A CN111361756A CN 111361756 A CN111361756 A CN 111361756A CN 202010302339 A CN202010302339 A CN 202010302339A CN 111361756 A CN111361756 A CN 111361756A
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- aerial vehicle
- unmanned aerial
- propeller
- lantern ring
- connecting rod
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- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 125000003003 spiro group Chemical group 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a connection balance system of a tethered unmanned aerial vehicle, which comprises a rotating lantern ring, wherein the inner wall of the rotating lantern ring is provided with bilaterally symmetrical switching holes, the inside of the rotating lantern ring is hinged with a hinged seat through the switching holes, the lower side of the hinged seat is integrally formed with a sliding barrel, the upper end of the inner wall of the sliding barrel is in threaded connection with an electronic dynamometer, the lower end of the electronic dynamometer is welded with a connecting rod, the lower end of the connecting rod penetrates through the sliding barrel and extends to the outside, the lower end of the connecting rod is provided with a tethered rope fixing hole, the previous feedback information of a gyroscope is directly integrated through the direction and the magnitude of a pulling force, so that the purpose of distributing the workload of the gyroscope processor is achieved, the structure directly detects the direction and the magnitude of the force instead of detecting the deflection degree of a machine body after the force is applied, the feedback step is reduced in a processing link, this mooring unmanned aerial vehicle balanced system has higher data feedback and processing efficiency.
Description
The invention relates to the technical field of control of a tethered unmanned aerial vehicle, in particular to a tethered unmanned aerial vehicle connection balancing system.
Background
Mooring type unmanned aerial vehicle for many rotor unmanned aerial vehicle's a special form, uses the ground power supply through mooring cable transmission as power source, replaces traditional lithium cell, and the leading characteristics are long-time stagnation ability of suspending. The unmanned aerial vehicle has the advantages of no need of human intervention, rapid deployment and the like, and is widely applied to various fields. However, the endurance of the drone is short, which limits the large-scale application of the drone. Current unmanned aerial vehicle's balanced system only relies on the gyroscope as data acquisition end usually, the data processor handles the output of the different screws of information control who judges the gyroscope feedback, reach the balanced effect of unmanned aerial vehicle, this kind of single information feedback means is more applicable to ordinary unmanned aerial vehicle, and it is equipped with the mooring rope to tie unmanned aerial vehicle arouse the lower part to hang, data processor is behind the control screw, the organism probably receives mooring rope traction restriction at the in-process of adjustment balance, lead to the organism to lose balance in the twinkling of an eye, the feedback speed of handling by data processor again is slower through the indirect feedback information of gyroscope, and increase gyroscope data processing subassembly's data processing pressure.
Disclosure of Invention
The invention aims to provide a tethered unmanned aerial vehicle connection balancing system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: mooring unmanned aerial vehicle connects balanced system to solve the problem that proposes among the above-mentioned background art.
Mooring unmanned aerial vehicle connects balanced system, including rotating the lantern ring, the switching hole of bilateral symmetry is seted up to the inner wall that rotates the lantern ring, and the inside of rotating the lantern ring articulates through the switching hole has articulated seat, the downside integrated into one piece of articulated seat has the slide cartridge, the last end spiro union of slide cartridge inner wall has the electron dynamometer, the lower extreme welding of electron dynamometer has the connecting rod, the lower extreme of connecting rod runs through the slide cartridge and extends to the outside, and the lower extreme of connecting rod has seted up mooring rope fixed orifices.
Preferably, the central point of unmanned aerial vehicle organism downside puts and offers the assembly groove that is used for the installation to rotate the lantern ring, it is in the assembly groove to rotate lantern ring fixed mounting.
Preferably, the rotating lantern ring is of a bearing structure, and the switching hole is formed in the inner surface of the bearing inner ring.
Preferably, the upper end of electron dynamometer is embedded with and touches ring and contact, the screw of slide cartridge inside is embedded with the position and touches the ring and the corresponding contact, touch ring and contact pass through the contact and inside wire is connected with unmanned aerial vehicle's data processor electricity.
Preferably, the side wall of the sliding cylinder is provided with a limiting hole, and the outer side wall of the connecting rod is integrally formed with a limiting clamping plate which slides in the limiting hole.
Preferably, the lower end of the sliding cylinder is integrally formed with a second-stage limiting wall.
Preferably, the gyroscope in the unmanned aerial vehicle body is connected with the data processor through an internal wire, the data processor is connected with the propeller 1, the propeller 2, the propeller 3 and the propeller 4 through the internal wire, and the data processor is in a positive-negative bidirectional feedback relationship with the propeller 1, the propeller 2, the propeller 3 and the propeller 4.
Compared with the prior art, the invention has the beneficial effects that: compared with the existing balance system of the mooring unmanned aerial vehicle, the balance system of the mooring unmanned aerial vehicle is additionally provided with a mooring rope suspension structure capable of detecting the tension and the stress direction of the mooring rope, the mooring rope is suspended at a mooring rope fixing hole through suspension structures such as a hook, after the unmanned aerial vehicle is lifted off, an electronic dynamometer is acted by the self-weight and the wind force of the mooring rope for a long time and is in an activated state, the tension value and the stress angle of the electronic dynamometer are respectively detected and fed back to a processor through an electronic dynamometer and a corner meter in a hinged seat, when the unmanned aerial vehicle is impacted by strong wind, each propeller can feed back and adjust balance after gyroscope data received by the data processor, at the moment, if the machine body is limited by the tension of the mooring rope in the adjustment process, the balance system of the unmanned aerial vehicle does not need to repeatedly measure the offset through the gyroscope and then controls the propeller to carry out balance, but directly synthesize the previous feedback information of gyroscope through pulling force direction and pulling force size, check and calculate the balanced condition of department unmanned aerial vehicle to play the purpose of sharing gyroscope treater work load, the direction of this structure direct detection power and size, and the skew of non-detection atress back organism is the degree, the feedback step has been reduced in the processing link, consequently have compare in relying on the balanced unmanned aerial vehicle balanced system of mooring of gyroscope adjustment completely, this unmanned aerial vehicle balanced system of mooring has higher data feedback and treatment effeciency.
Drawings
FIG. 1 is a schematic block diagram of the data flow of the present invention;
FIG. 2 is a schematic structural view of a mooring line suspension of the present invention;
fig. 3 is a schematic view of the disassembled structure of the mooring rope suspension structure of the present invention.
In the figure: the device comprises a rotating lantern ring 1, a switching hole 2, a hinge base 3, a sliding barrel 4, a limiting hole 5, a secondary limiting wall 6, an electronic dynamometer 7, a connecting rod 8, a limiting clamping plate 9, a mooring rope fixing hole 10, a contact ring 11 and a contact point 12.
Detailed Description
The invention will be further described with reference to specific embodiments and the accompanying drawings in the description, without limiting the scope of the invention thereto.
Referring to fig. 1-3, a first technical solution provided by the present invention is: the utility model provides a basketball strorage device with clean function, including rotating lantern ring 1, bilateral symmetry's switching hole 2 has been seted up to the inner wall of rotating lantern ring 1, and the inside of rotating lantern ring 1 articulates through switching hole 2 has articulated seat 3, the downside integrated into one piece of articulated seat 3 has slide cartridge 4, the upper end spiro union of slide cartridge 4 inner wall has electronic dynamometer 7, electronic dynamometer 7's lower extreme welding has connecting rod 8, the lower extreme of connecting rod 8 runs through slide cartridge 4 and extends to the outside, and connecting rod 8's lower extreme has been seted up and has been moored rope fixed orifices 10, be equipped with the electron corner meter of being connected with data processor in the articulated seat 3, a horizontal contained angle for survey mooring rope traction force.
Particularly, the central point of unmanned aerial vehicle organism downside puts and offers the assembly groove that is used for the installation to rotate lantern ring 1, rotates lantern ring 1 fixed mounting in the assembly groove.
Specifically, the rotating collar 1 is a bearing structure, and the adapting hole 2 is opened on the inner surface of the bearing inner ring.
Specifically, the upper end of electronic dynamometer 7 is embedded with and touches ring 11 and contact 12, and the screw hole of slide 4 inside is embedded with the position and touches ring 11 and the corresponding contact of contact 12, touches ring 11 and contact 12 and is connected with unmanned aerial vehicle's data processor electricity through contact and inside wire.
Specifically, the side wall of the slide cylinder 4 is provided with a limit hole 5, the outer side wall of the connecting rod 8 is integrally formed with a limit clamping plate 9 sliding in the limit hole 5, and the hole length of the limit hole 5 is equal to the maximum deformation displacement of the electronic dynamometer 7.
Specifically, the lower end of the slide cylinder 4 is integrally formed with a secondary stopper wall 6.
Particularly, the gyroscope in the unmanned aerial vehicle body is connected with the data processor through the internal lead, and the data processor is connected with propeller 1, propeller 2, propeller 3 and propeller 4 through the internal lead, and the data processor is in positive and negative two-way feedback relation with propeller 1, propeller 2, propeller 3 and propeller 4.
The working principle is as follows:
compared with the existing balance system of the mooring unmanned aerial vehicle, the balance system of the mooring unmanned aerial vehicle is additionally provided with a mooring rope suspension structure capable of detecting the tension and the stress direction of the mooring rope, the mooring rope is suspended at the position of a mooring rope fixing hole 10 through suspension structures such as a hook, after the unmanned aerial vehicle is lifted off, the electronic dynamometer 7 is in an activated state under the action of the dead weight and the wind force of the mooring rope for a long time, the tension value and the stress angle of the electronic dynamometer are respectively detected and fed back to the processor through the electronic dynamometer 7 and the rotation angle meters in the hinged seat 3, when the unmanned aerial vehicle is impacted by strong wind, each propeller feeds back and adjusts the balance after the gyroscope data received by the data processor, at the moment, if the machine body is limited by the tension of the mooring rope in the adjusting process, the balance system of the unmanned aerial vehicle does not need to repeatedly measure the offset through the gyroscope and then controls the propeller to carry out balance adjustment, but directly synthesizes the previous, checking the balance condition of the unmanned aerial vehicle, thereby achieving the purpose of sharing the workload of the gyroscope processor, directly detecting the direction and the size of the force by the structure, but not detecting the deflection of the stressed rear body, reducing the feedback step in the processing link, and comparing with a tethered unmanned aerial vehicle balance system which completely depends on the gyroscope to adjust the balance, wherein the tethered unmanned aerial vehicle balance system has higher data feedback and processing efficiency.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Balance system is connected to mooring unmanned aerial vehicle, its characterized in that, including rotating lantern ring (1), bilateral symmetry's switching hole (2) are seted up to the inner wall that rotates lantern ring (1), and the inside of rotating lantern ring (1) articulates through switching hole (2) has articulated seat (3), the downside integrated into one piece of articulated seat (3) has slide cartridge (4), the upper end spiro union of slide cartridge (4) inner wall has electron dynamometer (7), the lower extreme welding of electron dynamometer (7) has connecting rod (8), the lower extreme of connecting rod (8) runs through slide cartridge (4) and extends to the outside, and mooring rope fixed orifices (10) have been seted up to the lower extreme of connecting rod (8).
2. The tethered drone connection balancing system of claim 1, wherein: the central point of unmanned aerial vehicle organism downside puts and offers the assembly groove that is used for the installation to rotate lantern ring (1), rotate lantern ring (1) fixed mounting in the assembly groove.
3. The tethered drone connection balancing system of claim 1, wherein: the rotating lantern ring (1) is of a bearing structure, and the switching hole (2) is formed in the inner surface of the bearing inner ring.
4. The tethered drone connection balancing system of claim 1, wherein: the upper end embedding of electron dynamometer (7) has contact ring (11) and contact (12), the embedding has the position and touches ring (11) and contact (12) corresponding contact in the screw hole of slide cartridge (4) inside, it is connected with unmanned aerial vehicle's data processor electricity through contact and inside wire to touch ring (11) and contact (12).
5. The tethered drone connection balancing system of claim 1, wherein: the side wall of the sliding barrel (4) is provided with a limiting hole (5), and the outer side wall of the connecting rod (8) is integrally formed with a limiting clamping plate (9) which slides in the limiting hole (5).
6. The tethered drone connection balancing system of claim 1, wherein: the lower end of the sliding cylinder (4) is integrally formed with a second-stage limiting wall (6).
7. The tethered drone connection balancing system of claim 1, wherein: the gyroscope in the unmanned aerial vehicle body is connected with the data processor through an internal lead, the data processor is connected with the propeller 1, the propeller 2, the propeller 3 and the propeller 4 through the internal lead, and the data processor is in a positive-negative bidirectional feedback relation with the propeller 1, the propeller 2, the propeller 3 and the propeller 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010302339.2A CN111361756A (en) | 2020-04-16 | 2020-04-16 | Connection balance system for mooring unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010302339.2A CN111361756A (en) | 2020-04-16 | 2020-04-16 | Connection balance system for mooring unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN111361756A true CN111361756A (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010302339.2A Pending CN111361756A (en) | 2020-04-16 | 2020-04-16 | Connection balance system for mooring unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115051308A (en) * | 2022-07-04 | 2022-09-13 | 深圳市亮视智能工程有限公司 | Unmanned aerial vehicle wire loop structure, mobile power supply box and lamp switching control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9214022B1 (en) * | 2014-07-07 | 2015-12-15 | Google Inc. | Enhanced accuracy for tracking tethered airborne vehicles |
| US20150375873A1 (en) * | 2014-06-30 | 2015-12-31 | Google Inc. | Drive Mechanisms for Use in Controlling Rotation and Twist of a Tether |
| CN206407164U (en) * | 2016-12-05 | 2017-08-15 | 西北工业大学 | It is a kind of to be powered bindiny mechanism for rotor wing unmanned aerial vehicle tether cable |
| CN206430939U (en) * | 2016-09-30 | 2017-08-22 | 东莞华创环保检测技术有限公司 | It is a kind of to be tethered at release unit automatically for what is sampled |
| CN110626518A (en) * | 2019-10-16 | 2019-12-31 | 珠海市双捷科技有限公司 | Angle moving device with rocker deflecting and uniform stress, mooring unmanned aerial vehicle and system |
-
2020
- 2020-04-16 CN CN202010302339.2A patent/CN111361756A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150375873A1 (en) * | 2014-06-30 | 2015-12-31 | Google Inc. | Drive Mechanisms for Use in Controlling Rotation and Twist of a Tether |
| US9214022B1 (en) * | 2014-07-07 | 2015-12-15 | Google Inc. | Enhanced accuracy for tracking tethered airborne vehicles |
| CN206430939U (en) * | 2016-09-30 | 2017-08-22 | 东莞华创环保检测技术有限公司 | It is a kind of to be tethered at release unit automatically for what is sampled |
| CN206407164U (en) * | 2016-12-05 | 2017-08-15 | 西北工业大学 | It is a kind of to be powered bindiny mechanism for rotor wing unmanned aerial vehicle tether cable |
| CN110626518A (en) * | 2019-10-16 | 2019-12-31 | 珠海市双捷科技有限公司 | Angle moving device with rocker deflecting and uniform stress, mooring unmanned aerial vehicle and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115051308A (en) * | 2022-07-04 | 2022-09-13 | 深圳市亮视智能工程有限公司 | Unmanned aerial vehicle wire loop structure, mobile power supply box and lamp switching control method thereof |
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Application publication date: 20200703 |