CN112027106A - Unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off and unmanned aerial vehicle positioning method - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off wires and an unmanned aerial vehicle positioning method, wherein the mooring platform comprises a double-layer frame, the upper end of the double-layer frame is a lifting platform, a mooring cable penetrates through the middle part of the lifting platform, the lower part of the mooring cable penetrates through an outgoing line measuring device and is wound on a wire spool, and the wire spool is in transmission connection with a tension control device; the tension control device comprises a magnetic powder clutch connected with the tail end of the cable and a motor in transmission connection with the magnetic powder clutch. The positioning method comprises the following steps that firstly, a controller drives a magnetic powder clutch to tension a cable; secondly, the number of encoder lines, the number of pulses, the number of turns and the length of a single turn in the encoder guide wheel are obtained to calculate the length of the lines, finally, the outgoing line yaw angle and the outgoing line pitch angle are calculated through an outgoing line measuring device, and the spatial position of the outgoing line tail end relative to the lifting platform is comprehensively calculated. The invention can solve the problems that the mooring platform in the prior art has single function and the mooring cable solves the problem of reliable positioning of the unmanned aerial vehicle in the scene without the GPS.

Description

A UAV tethered platform and UAV positioning method with self-adaptive retractable line

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle mooring platform and an unmanned aerial vehicle positioning method with an adaptive retractable and unwinding line.

Background technique

In order to ensure the long-term flight capability of existing UAVs, tethered platforms are usually set up to continuously supply the UAVs with energy. However, as the drone moves up and down, the tethered cable of the tethered platform is prone to winding redundancy, which affects the retraction and release of the tethered cable; in addition, in the absence of GPS signals, the current tethered Humans and machines cannot obtain accurate position information and cannot fly safely and reliably.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a UAV tethered platform that can solve the problem that the tethered platform tethered cable is prone to failure in the prior art.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

Provided is a drone mooring platform with adaptive retraction and release line, which includes a double-layer frame, the upper end of the double-layer frame is a take-off and landing platform, a mooring cable is passed through the middle of the take-off and landing platform, and the lower part of the mooring cable is provided. Passing through the outgoing wire measuring device and winding on the bobbin, the wire reel is drivingly connected with the tension control device; the tension control device includes a magnetic powder clutch connected with the end of the cable and a motor connected with the magnetic powder clutch; the outgoing wire measuring device includes The encoder guide wheel, the yaw angle sensor and the pitch angle sensor are hinged with the mooring cable; the motor is electrically connected with the controller and the power module respectively.

The present invention also provides a UAV positioning method based on the above-mentioned self-adaptive retractable line-based UAV tethered platform, which comprises the following steps:

S1. The controller drives the magnetic powder clutch to tension the cable;

S2. Obtain the encoder line number P, the pulse number S, the number of turns L and the single-turn length D in the encoder guide wheel, and calculate the cable outlet length d;

S3. Obtain the monitoring results monitored by the yaw angle sensor and the pitch angle sensor, filter and optimize the monitoring results, and obtain the optimized angle value;

S4. Calculate the angle position of the drone according to the optimized angle value;

S5. Obtain the specific position of the drone according to the angular position of the drone and the outgoing length of the cable.

The main beneficial effects of the above-mentioned self-adaptive UAV tethered platform provided by the present invention are:

By setting the tension control device, the invention realizes the tension control of the tethered cable retraction and release line, and can cooperate with the outgoing line measuring device to realize the calculation of the length and angle information of the tethered cable, which can reduce the need for unmanned personnel to retract the tethered cable. It can provide the relative spatial position information of the UAV. At the same time, it can ensure that the tethered cable maintains proper tension and retraction, and ensures that the cable is not redundant during retraction and retraction; the cable outgoing measuring device is combined with the tension control device to prevent the cable from slipping. Real-time calculation of the spatial position information of the end of the tethered cable relative to the take-off and landing platform, providing positioning control guarantee for the tethered UAV.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the structure of the outlet device.

FIG. 3 is a flow chart of the UAV positioning method.

FIG. 4 is a schematic diagram of pitch and yaw angle information.

Among them, 1. UAV, 2. Connector, 3. Tethered cable, 4. Take-off and landing platform, 5. Backup power supply, 6. Booster module, 7. Encoder guide wheel, 8. Yaw angle sensor , 9, pitch angle sensor, 10, double frame, 11, controller, 12, power module, 13, winding disk, 14, motor, 15, magnetic powder clutch.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figure 1, it is a schematic diagram of the structure of the UAV tethered platform of the adaptive retractable line.

The UAV mooring platform of the present invention includes a double-layer frame 10, the upper end of the double-layer frame 10 is a take-off and landing platform 4, and the take-off and landing platform 4 can provide the mooring drone without affecting the mooring. Cable safe take-off and landing platform.

The middle of the take-off and landing platform 4 is provided with a mooring cable 3, the upper end of the mooring cable 3 is connected with the connecting piece 2 at the lower end of the drone 1, and the lower part of the mooring cable 3 passes through the outgoing line measuring device and is wound on the winding reel 13, the spool 13 is drivingly connected to the tension control device; the tension control device includes a magnetic powder clutch 15 connected to the end of the mooring cable 3 and a motor 14 that is drivingly connected to the magnetic powder clutch 15; 3. The hinged encoder guide wheel 7, the yaw angle sensor 8 and the pitch angle sensor 9; the motor 14 is electrically connected to the controller 11 and the power module 12, respectively.

Preferably, the power supply module 12 includes a boosting module 6 and a backup power supply 5 which are connected to each other. When the take-off and landing platform 4 is connected to an external power supply, the external power supply can supply power to the UAV 1 for a long time and a long distance through the booster module 6 and the tethered cable 3, and the backup power supply 5 can provide backup power in time when the external power supply is interrupted. .

The outgoing wire measuring device, the controller 11 and the power module 12 are arranged on the upper layer of the double-layer frame 10 ; the tension control device and the bobbin 13 are arranged on the lower layer of the double-layer frame 10 . The outgoing wire measuring device is arranged just above the tension control device. Adjusting the winding reel 13 connected to the tension control device by the controller 11 can ensure that the tethered cable 3 maintains a proper tension for retraction, and ensures that the cable is not redundant during retraction and retraction.

The outgoing wire measuring device is hinged with the double-layer frame 10 and can be rotated in any horizontal direction around the hinged part. Specifically, the outgoing line measuring device can rotate within a range of ±180 degrees in the horizontal direction, while supporting 0-180 degree rotation in the vertical direction.

The present invention also provides a UAV positioning method based on the above-mentioned self-adaptive retractable line-based UAV tethered platform, which comprises the following steps:

S1. The controller 11 drives the magnetic powder clutch 15 to tension the cable.

Specifically, the upper computer determines the current working mode and the duty ratio of the magnetic powder clutch 15 by sending an instruction. Then, the controller 11 uses the output PWM wave to control the magnetic powder clutch 15 to achieve the purpose of controlling the tension of the cable.

S2. Obtain the encoder wire number P, the pulse number S, the number of turns L and the length D of a single turn in the encoder guide wheel 7, and calculate the outgoing length d of the cable.

Further, the method for calculating the outgoing length of the tethered cable 3 is:

S2-1. Calculate the interrupt reload value C of the encoder, and the calculation method is as follows:

C=4×P-1;

S2-2. Calculate the outgoing length d of the cable according to the interrupted reassembly value, and the calculation method is as follows:

S3. Obtain the monitoring results monitored by the yaw angle sensor 8 and the pitch angle sensor 9, and filter and optimize the monitoring results to obtain an optimized angle value.

The monitoring result is the actual value after ADC data acquisition and conversion; the optimization method for the monitoring result is the mean filtering method.

S4. Calculate the angular position of the UAV 1 according to the optimized angle value.

The optimized angle values include the elevation angle β monitored by the pitch angle sensor 9 and the yaw angle α monitored by the yaw angle sensor 8 .

Further, the method for calculating the angular position of the UAV 1 is:

其计算公式为：S4-1, record the azimuth as

Its calculation formula is:

S4-2, record the pitch angle as θ, and its calculation formula is:

S5. Obtain the specific position of the drone according to the angular position of the drone and the outgoing length of the cable.

The polar coordinate space position information of the end of the tethered cable 3 relative to the take-off and landing platform 4 can be obtained through the information of the length of the retracting and releasing line and the pitch and yaw angle information, thereby providing the positioning control guarantee of the tethered UAV 1 .

The specific embodiments of the present invention are described above to facilitate those skilled in the art to understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Such changes are obvious within the spirit and scope of the present invention as defined and determined by the appended claims, and all inventions and creations utilizing the inventive concept are within the scope of protection.

Claims (10)

1. An unmanned aerial vehicle mooring platform for self-adaptive retracting and releasing line, is characterized in that, comprises double-layer frame, the upper end of double-layer frame is take-off and landing platform, and the middle part of take-off and landing platform wears with mooring cable, mooring The lower part of the cable passes through the outlet measuring device and is wound on the winding reel, and the winding reel is connected with the tension control device; the tension control device includes a magnetic powder clutch connected with the end of the cable and a motor connected with the magnetic powder clutch; the outlet wire The measuring device includes an encoder guide wheel hinged with the mooring cable, a yaw angle sensor and a pitch angle sensor; the motor is electrically connected with the controller and the power module respectively. 2. The unmanned aerial vehicle tethered platform of claim 1, wherein the power supply module comprises a boosting module and a backup power supply. 3. The unmanned aerial vehicle mooring platform according to claim 1, wherein the outgoing line measuring device, the controller and the power supply module are arranged on the upper layer of the double-layer frame; the tension control device And the bobbin is arranged on the lower layer of the double-layer frame. 4 . The drone mooring platform for self-adaptive retraction and payout according to claim 3 , wherein the outgoing wire measuring device is arranged just above the tension control device. 5 . 5 . The UAV mooring platform for adaptively retracting and releasing lines according to claim 4 , wherein the outgoing line measuring device is hinged to the double-layer frame, and can rotate in any horizontal direction around the hinged part. 6 . 6. A UAV positioning method of the UAV mooring platform of the self-adaptive retractable line according to any one of claims 1 to 5, is characterized in that, comprises the steps: S1. The controller drives the magnetic powder clutch to tension the cable; S2. Obtain the encoder line number P, the pulse number S, the number of turns L and the single-turn length D in the encoder guide wheel, and calculate the cable outlet length d; S3. Obtain the monitoring results monitored by the yaw angle sensor and the pitch angle sensor, filter and optimize the monitoring results, and obtain the optimized angle value; S4. Calculate the angle position of the drone according to the optimized angle value; S5. Obtain the specific position of the drone according to the angular position of the drone and the outgoing length of the cable. 7. The UAV positioning method according to claim 6, wherein the method for calculating the cable outlet length is: S2-1. Calculate the interrupt reload value C of the encoder, and the calculation method is as follows: C=4×P-1; S2-2. Calculate the outgoing length d of the cable according to the interrupted reassembly value, and the calculation method is as follows:

8 . The UAV positioning method according to claim 6 , wherein the optimization method for monitoring results is a mean filtering method. 9 . 9 . The UAV positioning method according to claim 8 , wherein the optimized angle value comprises the elevation angle β monitored by the pitch angle sensor and the yaw angle α monitored by the yaw angle sensor. 10 . 10. UAV positioning method according to claim 9, is characterized in that, the described method for calculating the angular position of UAV is: S4-1, record the azimuth as

Its calculation formula is:

S4-2, record the pitch angle as θ, and its calculation formula is:

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