CN112009688A - Unmanned aerial vehicle operation system and operation method thereof - Google Patents
Unmanned aerial vehicle operation system and operation method thereof Download PDFInfo
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- CN112009688A CN112009688A CN202010890961.XA CN202010890961A CN112009688A CN 112009688 A CN112009688 A CN 112009688A CN 202010890961 A CN202010890961 A CN 202010890961A CN 112009688 A CN112009688 A CN 112009688A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 43
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 4
- 108010066114 cabin-2 Proteins 0.000 description 14
- 230000001960 triggered effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002716 delivery method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
-
- 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
- G05D1/12—Target-seeking control
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle operation system which comprises a machine body, a transport cabin arranged on the side surface of the machine body, a lower turning plate hinged to an operation opening of the transport cabin, and a self-locking adjusting mechanism arranged between the transport cabin and the lower turning plate and used for realizing self-locking of the lower turning plate. The unmanned aerial vehicle operation system and the operation method thereof can effectively transport and deliver materials to a target area in a short time, overcome the defects of low load capacity and short endurance time of the existing unmanned aerial vehicle operation system, and improve the carrying capacity and endurance time of the operation system; the device has obvious advantages when facing to the terrains of dangerous and severe environment and large span, meets the material transportation delivery function of complex environment and high-risk environment, adds a self-locking function to the transportation cabin, triggers fault protection under abnormal conditions, reduces the power supply voltage of the steering engine through programs, achieves protection, and further ensures that materials can not fall out of the transportation cabin.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle air drop, in particular to an unmanned aerial vehicle operation system and an operation method thereof.
Background
At present, the war can be said to be the material consumption to a certain extent, so that the material transportation and delivery capacity becomes one of the important standards of air force; however, the unmanned aerial vehicle operation system becomes the first choice with the advantages of low casualty rate, high speed, accurate positioning, flexible adjustment and the like.
The air force of air force material transportation in China is mainly based on the consignment-20, the transportation-9, the transportation-8 and other transport machines except for the land and the water, and the prior transport machine aviation troops are not suitable for the air force status of the nation. With the continuous improvement of the comprehensive strength of China, the unmanned aerial vehicle is used for feeding air materials and has important significance for various severe environments and high-risk areas for air supply. The transporter of-20, -9, or-8 can save part of the transporting force and use on the blade.
In many trades, the straight-line distance is than shorter, but the road is severe on the way, need wind very far place just can reach the destination, has caused manpower, goods and materials, waste in the time, adopts unmanned aerial vehicle to move the system of throwing and can reduce manpower output, time loss, goods and materials waste etc. to a great extent.
In plateau areas, the construction investment cost is high and the construction difficulty is high; many sentries, residents and other living goods and materials are scarce, and the cost for transporting the goods and materials is high due to roads, environments and the like.
In the process of emergency rescue, a large part of rescue speed is influenced by that rescue goods and materials cannot reach a disaster site at the first time, a large number of rescue opportunities are missed, and in addition, the site road condition is unknown, collapse and road danger can be encountered, and ground equipment cannot reach a target area; the material demand is time-efficient urgent, the landform span is wide.
But the unexpected condition that drops of some goods and materials can appear in the operation of existing unmanned aerial vehicle operation because of duration and some abnormal conditions takes place.
Therefore, in order to solve the above problems, an unmanned aerial vehicle operation system and an operation method thereof are needed, which can effectively transport and deliver materials to a target area in a short time, overcome the disadvantages of low load capacity and short endurance time of the existing unmanned aerial vehicle operation system, and improve the carrying capacity and endurance time of the operation system; the device has obvious advantages when facing to the terrains of dangerous and severe environment and large span, meets the material transportation delivery function of complex environment and high-risk environment, adds a self-locking function to the transportation cabin, triggers fault protection under abnormal conditions, reduces the power supply voltage of the steering engine through programs, achieves protection, and further ensures that materials can not fall out of the transportation cabin.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide an unmanned aerial vehicle operation system and an operation method thereof, which can effectively transport and deliver materials to a target area in a short time, overcome the disadvantages of low load capacity and short endurance time of the existing unmanned aerial vehicle operation system, and improve the carrying capacity and endurance time of the operation system; the device has obvious advantages when facing to the terrains of dangerous and severe environment and large span, meets the material transportation delivery function of complex environment and high-risk environment, adds a self-locking function to the transportation cabin, triggers fault protection under abnormal conditions, reduces the power supply voltage of the steering engine through programs, achieves protection, and further ensures that materials can not fall out of the transportation cabin.
The unmanned aerial vehicle operation system comprises a machine body, a transport cabin arranged on the side face of the machine body, a lower turning plate hinged to an input port of the transport cabin, and a self-locking adjusting mechanism arranged between the transport cabin and the lower turning plate and used for achieving self-locking of the lower turning plate.
Furthermore, the self-locking adjusting mechanism comprises a rocker arm and a connecting rod, wherein the rocker arm is hinged to the transport cabin, the connecting rod is hinged to the swing end of the rocker arm, the driving end of the connecting rod is hinged to the rocker arm, the acting end of the connecting rod is hinged to the lower turning plate, and the rocker arm can be driven to rotate around the hinge center of the rocker arm and the transport cabin in a controlled mode.
Furthermore, the lower turning plate is vertically and downwardly designed with a hinged support lug along the surface perpendicular to the lower turning plate, and the action end of the connecting rod is in running fit with the hinged support lug.
Furthermore, the connecting rod is integrally of an L-shaped structure, when the lower turning plate is self-locked, the rotating center of the rocker arm and the hinge joints at the two ends of the connecting rod are positioned on the same straight line, and the rotating center of the rocker arm is positioned between the hinge joints at the two ends of the connecting rod.
Further, the transport cabin is provided with upper shed and under shed, the under shed is for throwing in its cross-section of opening and be the isosceles trapezoid structure, turn over the board down and throw in the mouth and form fit and cooperate and be the isosceles trapezoid structure with throwing in.
Furthermore, the self-locking adjusting mechanisms are symmetrically arranged on the front side and the rear side of the transport cabin in the advancing direction of the machine body.
Furthermore, a driving motor for driving the rocker arm to rotate is arranged on the inner side wall of the transport cabin.
A transportation and delivery method adopting a large-scale oil-driven unmanned aerial vehicle provided with a precise transportation and delivery cabin comprises the following steps:
s1, acquiring longitude and latitude coordinates of a target area;
s2, inputting the acquired longitude and latitude coordinates into coordinates of a ground station operation point, and planning a flight path;
s3, uploading the planned tasks to the unmanned aerial vehicle in a point-to-point mode;
s4, automatically triggering a delivery instruction after the unmanned aerial vehicle flies to the longitude and latitude coordinates of the target;
s5, driving a lower box turnover plate of the transport cabin to be opened by a driving motor, and dropping the transported and thrown materials;
s6, tracking the materials by the photoelectric pod, determining the falling position of the materials and monitoring;
and S7, finishing accurate operation and delivery.
In the process of unmanned aerial vehicle operation, because a failure mode is possibly triggered, a steering engine control module is added, the longitude and latitude of a delivery point are set in a ground station after the longitude and latitude coordinates of a target area are obtained, a task is uploaded to flight control, when the unmanned aerial vehicle reaches the target longitude and latitude, an actuating mechanism is triggered by the steering engine control module to control an actuating mechanism to actuate, a driving motor is started to drive a lower turning plate of a transport cabin to open, and the delivered goods and materials fall off, so that the delivery function is completed; in addition, the photoelectric pod is arranged to track the transported and thrown materials and determine the falling position of the materials. After the trigger control module fails, an abnormal protection is provided in the control module of the steering engine, when the steering engine has abnormal working conditions such as mechanical failure, overlarge current, overlarge temperature and the like, the fault protection of the control module of the steering engine is triggered, the power supply voltage of the steering engine is reduced through a program, so that the protection is achieved, meanwhile, the driving of a driving motor is stopped, the lower turning plate is enabled to form self locking, and the falling of goods and materials is avoided.
The throwing opening of the transport cabin is covered by the lower turning plate, so that the force borne by the connecting rod is completely acted on the rocker arm through the contact with the rocker arm, and thus, the self-locking function is realized under the action of no centrifugal force of the rocker arm, after the transport cabin reaches the self-locking condition, the transport cabin is in the self-locking state, and the lower turning plate cannot be opened under the action of external force under the action of no driving of the rocker arm.
The invention has the beneficial effects that: the unmanned aerial vehicle operation system and the operation method thereof can effectively transport and deliver materials to a target area in a short time, overcome the defects of low load capacity and short endurance time of the existing unmanned aerial vehicle operation system, and improve the carrying capacity and endurance time of the operation system; the device has obvious advantages when facing to the terrains of dangerous and severe environment and large span, meets the material transportation delivery function of complex environment and high-risk environment, adds a self-locking function to the transportation cabin, triggers fault protection under abnormal conditions, reduces the power supply voltage of the steering engine through programs, achieves protection, and further ensures that materials can not fall out of the transportation cabin.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the self-locking mechanism of the present invention;
FIG. 3 is a schematic view of a pod configuration of the present invention;
fig. 4 is a control flow chart of the present invention.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, fig. 2 is a schematic structural diagram of a self-locking mechanism of the present invention, fig. 3 is a schematic structural diagram of a transport cabin of the present invention, and fig. 4 is a control flow diagram of the present invention, and as shown in the drawings, in this embodiment, a large-scale oil-powered unmanned aerial vehicle equipped with a precise operation transport cabin 2 includes a machine body 1, a transport cabin 2 disposed on a side surface of the machine body 1, a lower turning plate 3 hinged to a delivery port of the transport cabin 2, and a self-locking adjustment mechanism 4 disposed between the transport cabin 2 and the lower turning plate 3 for realizing self-locking of the lower turning plate 3.
In this embodiment, the self-locking adjusting mechanism 4 includes a rocker arm 41 hinged to the transport compartment 2 and a connecting rod 42 hinged to a swing end of the rocker arm 41, a driving end of the connecting rod 42 is hinged to the rocker arm 41, an acting end of the connecting rod 42 is hinged to the lower turning plate 3, and the rocker arm 41 can be driven to rotate around a hinge center of the rocker arm and the transport compartment 2 under control.
In this embodiment, the lower turning plate 3 is provided with a hinge support lug 31 vertically downward along a plane perpendicular to the lower turning plate 3, and the action end of the connecting rod 42 is rotatably matched with the hinge support lug 31.
In this embodiment, the connecting rod 42 is integrally of an "L" shaped structure, and when the lower turning plate 3 is self-locked, the rotation center of the rocker arm 41 and the hinge points at the two ends of the connecting rod 42 are located on the same straight line, and the rotation center of the rocker arm 41 is located between the hinge points at the two ends of the connecting rod 42.
In this embodiment, the transport cabin 2 is provided with an upper opening and a lower opening, the lower opening is a throwing opening, the cross section of the throwing opening is of an isosceles trapezoid structure, and the lower turning plate 3 is matched with the throwing opening in a shape and is of an isosceles trapezoid structure.
In this embodiment, the self-locking adjusting mechanisms 4 are symmetrically arranged on the front side and the rear side of the transport cabin 2 along the advancing direction of the machine body 1.
In this embodiment, a driving motor for driving the swing arm 41 to rotate is disposed on the inner side wall of the transport cabin 2.
A transportation and delivery method adopting a large-scale oil-driven unmanned aerial vehicle provided with a precise transportation and delivery cabin 2 comprises the following steps:
s1, acquiring longitude and latitude coordinates of a target area;
s2, inputting the acquired longitude and latitude coordinates into coordinates of a ground station operation point, and planning a flight path;
s3, uploading the planned tasks to the unmanned aerial vehicle in a point-to-point mode;
s4, automatically triggering a delivery instruction after the unmanned aerial vehicle flies to the longitude and latitude coordinates of the target;
s5, driving a lower box turnover plate 3 of the transport cabin 2 to be opened by a driving motor, and dropping the transported and thrown materials;
s6, tracking the materials by the photoelectric pod, determining the falling position of the materials and monitoring;
and S7, finishing accurate operation and delivery.
In the process of unmanned aerial vehicle operation, because the failure mode is possibly triggered, a steering engine control module is added, the longitude and latitude of a delivery point are set in a ground station after the longitude and latitude coordinates of a target area are obtained, a task is uploaded to flight control, when the unmanned aerial vehicle reaches the target longitude and latitude, an actuating mechanism is triggered by the steering engine control module to control an actuating mechanism to actuate a steering engine, a driving motor is started to drive a lower turning plate 3 of a transport cabin 2 to be opened, and the delivered goods and materials fall off, so that the delivery function is completed; in addition, the photoelectric pod is arranged to track the transported and thrown materials and determine the falling position of the materials. After the trigger control module fails, an abnormal protection is provided in the control module of the steering engine, when the steering engine has abnormal working conditions such as mechanical failure, overlarge current, overlarge temperature and the like, the fault protection of the control module of the steering engine is triggered, the power supply voltage of the steering engine is reduced through a program, so that the protection is achieved, meanwhile, the driving of the driving motor is stopped, the lower turning plate 3 is enabled to form self-locking, and the falling of goods and materials is avoided.
The throwing opening of the transport cabin 2 is covered by the lower turning plate 3, so that the force borne by the connecting rod 42 is completely acted on the rocker arm 41 through the contact with the rocker arm 41, thus, the self-locking function is realized under the action of no centrifugal force of the rocker arm 41, after the transport cabin 2 reaches the self-locking condition, the transport cabin 2 is in the self-locking state, and the lower turning plate 3 cannot be opened under the action of external force under the action of no driving of the rocker arm 41.
The large-scale oil-driven unmanned aerial vehicle provided with the accurate operation and delivery transport cabin 2 and the operation and delivery method thereof can effectively deliver materials to a target area in a short time, overcome the defects of low load capacity and short endurance time of the existing unmanned aerial vehicle operation and delivery system, and improve the carrying capacity and endurance time of the operation and delivery system; have obvious advantage when facing the topography of dangerous and steep environment, large-span, satisfy the goods and materials transportation delivery function of complex environment, high-risk environment to increased a self-locking function to transport vechicle 2, triggered fault protection under the abnormal conditions, reduced steering wheel supply voltage through the procedure, thereby reach the protection, and then guarantee that goods and materials can not fall out in transport vechicle 2.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. Unmanned aerial vehicle operation system, its characterized in that: the self-locking adjusting mechanism comprises a machine body, a transport cabin arranged on the side surface of the machine body, a lower turning plate hinged to a delivery opening of the transport cabin and a self-locking adjusting mechanism arranged between the transport cabin and the lower turning plate and used for realizing self-locking of the lower turning plate.
2. The unmanned aerial vehicle operation system of claim 1, wherein: the self-locking adjusting mechanism comprises a rocker arm and a connecting rod, the rocker arm is hinged to the transport cabin, the connecting rod is hinged to the swing end of the rocker arm, the driving end of the connecting rod is hinged to the rocker arm, the acting end of the connecting rod is hinged to the lower turning plate, and the rocker arm can be driven to rotate around the hinge center of the rocker arm and the transport cabin in a controlled mode.
3. The unmanned aerial vehicle operation system of claim 2, wherein: the lower turning plate is vertically and downwards provided with a hinged support lug along the surface perpendicular to the lower turning plate, and the action end of the connecting rod is in running fit with the hinged support lug.
4. The unmanned aerial vehicle operation system of claim 3, wherein: the connecting rod is integrally of an L-shaped structure, when the lower turning plate is self-locked, the rotating center of the rocker arm and the hinge joints at the two ends of the connecting rod are positioned on the same straight line, and the rotating center of the rocker arm is positioned between the hinge joints at the two ends of the connecting rod.
5. The unmanned aerial vehicle operation system of claim 1, wherein: the transport cabin is provided with an upper opening and a lower opening, the lower opening is a throwing opening, the cross section of the throwing opening is of an isosceles trapezoid structure, and the lower turning plate is matched with the throwing opening in a shape and is of the isosceles trapezoid structure.
6. The unmanned aerial vehicle operation system of claim 5, wherein: the self-locking adjusting mechanisms are symmetrically arranged on the front side and the rear side of the transport cabin in the advancing direction of the machine body.
7. The unmanned aerial vehicle operation system of claim 2, wherein: and a driving motor for driving the rocker arm to rotate is arranged on the inner side wall of the transport cabin.
8. A method of operation using the unmanned aerial vehicle operation system of any of claims 1-7, wherein: the method comprises the following steps:
s1, acquiring longitude and latitude coordinates of a target area;
s2, inputting the acquired longitude and latitude coordinates into coordinates of a ground station operation point, and planning a flight path;
s3, uploading the planned tasks to the unmanned aerial vehicle in a point-to-point mode;
s4, automatically triggering a delivery instruction after the unmanned aerial vehicle flies to the longitude and latitude coordinates of the target;
s5, driving a lower box turnover plate of the transport cabin to be opened by a driving motor, and dropping the transported and thrown materials;
s6, tracking the materials by the photoelectric pod, determining the falling position of the materials and monitoring;
and S7, finishing accurate operation and delivery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010890961.XA CN112009688A (en) | 2020-08-29 | 2020-08-29 | Unmanned aerial vehicle operation system and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010890961.XA CN112009688A (en) | 2020-08-29 | 2020-08-29 | Unmanned aerial vehicle operation system and operation method thereof |
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