CN112027106A - Unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off and unmanned aerial vehicle positioning method - Google Patents
Unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off and unmanned aerial vehicle positioning method Download PDFInfo
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- CN112027106A CN112027106A CN202010896098.9A CN202010896098A CN112027106A CN 112027106 A CN112027106 A CN 112027106A CN 202010896098 A CN202010896098 A CN 202010896098A CN 112027106 A CN112027106 A CN 112027106A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000006247 magnetic powder Substances 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 5
- 238000004804 winding Methods 0.000 description 5
- 239000006249 magnetic particle Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off wires and an unmanned aerial vehicle positioning method.
Background
Current unmanned aerial vehicle can set up the mooring platform in order to last the energy supply to unmanned aerial vehicle usually in order to guarantee its long-time flight ability. However, as the unmanned aerial vehicle moves up and down, the mooring cable of the mooring platform is easy to wind redundantly, and the winding and unwinding of the mooring cable are further influenced; in addition, under the scene without GPS signals, the existing tethered unmanned aerial vehicle cannot obtain accurate position information and cannot fly safely and reliably.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off wires, which can solve the problem that mooring cables of the mooring platform in the prior art easily break down.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides an unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off wires, which comprises a double-layer frame, wherein 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 outgoing line measuring device comprises an encoder guide wheel, a yaw angle sensor and a pitch angle sensor which are hinged with the mooring cable; the motor is respectively and electrically connected with the controller and the power module.
The invention also provides an unmanned aerial vehicle positioning method of the unmanned aerial vehicle mooring platform based on the self-adaptive take-up and pay-off line, which comprises the following steps:
s1, driving the magnetic powder clutch by the controller to tension the cable;
s2, acquiring the number P of encoder wires, the number S of pulses, the number L of turns and the length D of a single turn in an encoder guide wheel, and calculating the outgoing length D of the cable;
s3, acquiring monitoring results of the yaw angle sensor and the pitch angle sensor, and performing filtering optimization on the monitoring results to obtain an optimized angle value;
s4, calculating the angle position of the unmanned aerial vehicle according to the optimized angle value;
s5, obtaining the specific position of the unmanned aerial vehicle according to the angle position of the unmanned aerial vehicle and the outgoing length of the cable.
The unmanned aerial vehicle mooring platform with the self-adaptive take-up and pay-off line provided by the invention has the main beneficial effects that:
according to the invention, the tension control device is arranged to realize tension control on the reeling and unreeling of the mooring cable, so that the mooring cable can be matched with the outgoing line measuring device, the calculation of the length angle information of the mooring cable is realized, the influence of reeling and unreeling of the mooring cable on the flight of the unmanned aerial vehicle can be reduced, and the relative spatial position information of the unmanned aerial vehicle can be provided. Meanwhile, the mooring cable can be ensured to be kept in proper tension for winding and unwinding, and the cable is ensured not to be redundant in the winding and unwinding process; through being qualified for the next round of competitions measuring device and combining tension control device, avoid the cable to skid, through receive and release line length and every single move yaw angle information, but the terminal relative take-off and landing platform's of mooring cable spatial position information of real-time computation provides mooring unmanned aerial vehicle positioning control guarantee.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the wire outlet device.
Fig. 3 is a flow chart of a drone positioning method.
Fig. 4 is a schematic view of pitch yaw information.
Wherein, 1, unmanned aerial vehicle, 2, connecting piece, 3, mooring cable, 4, take off and land the platform, 5, stand-by power supply, 6, the module that steps up, 7, encoder guide pulley, 8, yaw angle sensor, 9, pitch angle sensor, 10, double-deck frame, 11, controller, 12, power module, 13, wire reel, 14, motor, 15, magnetic particle clutch.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, it is a schematic structural diagram of an unmanned aerial vehicle mooring platform for adaptive pay-off and take-up line.
The unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off the line comprises a double-layer frame 10, wherein the upper end of the double-layer frame 10 is provided with a take-off and landing platform 4, and the take-off and landing platform 4 can provide a take-off and landing platform for the mooring unmanned aerial vehicle without influencing the safety of a mooring cable.
A mooring cable 3 penetrates through the middle of the lifting platform 4, the upper end of the mooring cable 3 is connected with a connecting piece 2 at the lower end of the unmanned aerial vehicle 1, the lower part of the mooring cable 3 penetrates through the outgoing line measuring device and is wound on a wire spool 13, and the wire spool 13 is in transmission connection with a tension control device; the tension control device comprises a magnetic powder clutch 15 connected with the tail end of the mooring cable 3 and a motor 14 in transmission connection with the magnetic powder clutch 15; the outgoing line measuring device comprises an encoder guide wheel 7, a yaw angle sensor 8 and a pitch angle sensor 9 which are hinged with the mooring cable 3; the motor 14 is electrically connected to the controller 11 and the power module 12, respectively.
Preferably, the power module 12 includes the boost module 6 and the backup power source 5 connected to each other. When 4 external power supplies of platform that takes off and land, external power supply is through 6 and mooring cable 3 of step-up module, can be long-time remote for unmanned aerial vehicle 1 energy supplies, and backup power supply 5 can in time provide backup electric energy when external power supply breaks down simultaneously.
The outgoing line measuring device, the controller 11 and the power supply module 12 are arranged on the upper layer of the double-layer frame 10; the tension control means and the wire spool 13 are disposed at the lower layer of the double frame 10. The outgoing line measuring device is arranged right above the tension control device. The controller 11 is used for adjusting the wire spool 13 connected with the tension control device, so that the mooring cable 3 can be ensured to keep proper tension for winding and unwinding, and the cable is ensured not to be redundant in the winding and unwinding process.
The outgoing line measuring device is hinged with the double-layer frame 10 and can rotate around the hinged part in any horizontal direction. Specifically, the outgoing line measuring device can rotate within a range of +/-180 degrees in the horizontal direction, and meanwhile supports 0-180 degrees in the vertical direction.
The invention also provides an unmanned aerial vehicle positioning method of the unmanned aerial vehicle mooring platform based on the self-adaptive take-up and pay-off line, which comprises the following steps:
s1, the controller 11 drives the magnetic particle clutch 15 to tension the cable.
Specifically, the upper computer sends an instruction to determine the current operating mode and the duty ratio of the magnetic particle clutch 15. Then the controller 11 controls the magnetic powder clutch 15 by using the output PWM wave, so as to achieve the purpose of controlling the tension of the cable.
And S2, acquiring the number P of encoder wires, the number S of pulses, the number L of turns and the length D of a single turn in the encoder guide wheel 7, and calculating the outgoing length D of the cable.
Further, the method of calculating the outgoing length of the mooring cable 3 is:
s2-1, calculating an interruption reloading value C of the encoder, wherein the calculation method comprises the following steps:
C＝4×P-1；
s2-2, calculating the outgoing line length d of the cable according to the interrupted reinstallation value, wherein the calculating method comprises the following steps:
and S3, acquiring monitoring results monitored by the yaw angle sensor 8 and the pitch angle sensor 9, and performing filtering optimization on the monitoring results to obtain an optimized angle value.
The monitoring result is an actual value obtained after ADC data acquisition and conversion; the optimization method of the monitoring result is a mean value filtering method.
And S4, calculating the angle position of the unmanned aerial vehicle 1 according to the optimized angle value.
The optimized angle values include an elevation angle beta monitored by a pitch angle sensor 9 and a yaw angle alpha monitored by a yaw angle sensor 8.
Further, the method for calculating the angular position of the unmanned aerial vehicle 1 comprises the following steps:
s4-1, noting the azimuth angle as
The calculation formula is as follows:
s4-2, recording the pitch angle as theta, and the calculation formula is as follows:
s5, obtaining the specific position of the unmanned aerial vehicle according to the angle position of the unmanned aerial vehicle and the outgoing length of the cable.
Through the length of the retractable wire and the pitch yaw angle information, the polar coordinate space position information of the tail end of the mooring cable 3 relative to the take-off and landing platform 4 can be obtained, and therefore the positioning control guarantee of the mooring unmanned aerial vehicle 1 is provided.
The above description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Claims (10)
1. An unmanned aerial vehicle mooring platform capable of adaptively taking up and paying off wires is characterized by comprising a double-layer frame, wherein 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 a wire outlet 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 outgoing line measuring device comprises an encoder guide wheel, a yaw angle sensor and a pitch angle sensor which are hinged with the mooring cable; the motor is respectively and electrically connected with the controller and the power module.
2. The adaptive pay-off and take-up line drone mooring platform of claim 1, wherein the power module comprises a boost module and a backup power source.
3. The unmanned aerial vehicle mooring platform of adaptive pay-off and take-up line of claim 1, wherein the outgoing line measuring device, the controller and the power module are disposed on an upper layer of a double-layer frame; the tension control device and the wire spool are arranged on the lower layer of the double-layer frame.
4. The unmanned aerial vehicle mooring platform of adaptive pay-off and take-up line of claim 3, wherein the outgoing line measuring device is disposed directly above the tension control device.
5. The unmanned aerial vehicle mooring platform of adaptive pay-off and take-up line of claim 4, wherein the outgoing line measuring device is hinged to the double-layered frame and can rotate in any horizontal direction around the hinge.
6. A method for positioning a drone of a drone mooring platform of an adaptive take-up and pay-off line according to any one of claims 1 to 5, characterized in that it comprises the following steps:
s1, driving the magnetic powder clutch by the controller to tension the cable;
s2, acquiring the number P of encoder wires, the number S of pulses, the number L of turns and the length D of a single turn in an encoder guide wheel, and calculating the outgoing length D of the cable;
s3, acquiring monitoring results of the yaw angle sensor and the pitch angle sensor, and performing filtering optimization on the monitoring results to obtain an optimized angle value;
s4, calculating the angle position of the unmanned aerial vehicle according to the optimized angle value;
s5, obtaining the specific position of the unmanned aerial vehicle according to the angle position of the unmanned aerial vehicle and the outgoing length of the cable.
7. The unmanned aerial vehicle positioning method of claim 6, wherein the method for calculating the cable outlet length is:
s2-1, calculating an interruption reloading value C of the encoder, wherein the calculation method comprises the following steps:
C＝4×P-1；
s2-2, calculating the outgoing line length d of the cable according to the interrupted reinstallation value, wherein the calculating method comprises the following steps:
8. the unmanned aerial vehicle positioning method of claim 6, wherein the optimization method for the monitoring result is a mean filtering method.
9. The method of claim 8, wherein the optimized angle values include an elevation angle β monitored by a pitch angle sensor and a yaw angle α monitored by a yaw angle sensor.
10. The method for positioning an unmanned aerial vehicle according to claim 9, wherein the method for calculating the angular position of the unmanned aerial vehicle comprises:
s4-1, noting the azimuth angle as
The calculation formula is as follows:
s4-2, recording the pitch angle as theta, and the calculation formula is as follows:
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Cited By (3)
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| CN114426229A (en) * | 2022-01-26 | 2022-05-03 | 北京三一智造科技有限公司 | Method, device and equipment for positioning double-wheel milling mud pipe and operating machine |
| CN115313780A (en) * | 2022-09-01 | 2022-11-08 | 宁波九菱电机有限公司 | Motor winding method and system, storage medium and intelligent terminal |
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| CN113627392A (en) * | 2021-09-02 | 2021-11-09 | 南京工业职业技术大学 | Rape waterlogging hyperspectral image detection method based on Spark platform and image acquisition device thereof |
| CN114426229A (en) * | 2022-01-26 | 2022-05-03 | 北京三一智造科技有限公司 | Method, device and equipment for positioning double-wheel milling mud pipe and operating machine |
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