CN112607026A - Automatic recovery and release device and method for multi-rotor unmanned aerial vehicle - Google Patents
Automatic recovery and release device and method for multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN112607026A CN112607026A CN202011601699.9A CN202011601699A CN112607026A CN 112607026 A CN112607026 A CN 112607026A CN 202011601699 A CN202011601699 A CN 202011601699A CN 112607026 A CN112607026 A CN 112607026A
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- 238000011084 recovery Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004804 winding Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 27
- 230000005484 gravity Effects 0.000 claims description 3
- 230000003578 releasing effect Effects 0.000 abstract description 13
- 230000001681 protective effect Effects 0.000 description 7
- 239000012141 concentrate Substances 0.000 description 2
- 239000011888 foil Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000002716 delivery method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 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
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- 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
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- 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
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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Abstract
The invention discloses an automatic recovery and release device and method for a multi-rotor unmanned aerial vehicle, wherein the device comprises a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a first elastic cushion layer is arranged on the rod body of the folding and unfolding rod, and a first pressure strain gauge is laid in the first elastic cushion layer; the winding and unwinding device comprises a fixed bottom plate, a fixed ring, a movable ring and a driving device, wherein the bottom surface of the fixed bottom plate is provided with a second elastic cushion layer, a second pressure strain gauge is arranged in the second elastic cushion layer area, the circumference of the bottom of the fixed bottom plate is connected with the fixed ring through a plurality of connecting rods, the fixed ring and the movable ring are provided with arc-shaped scroll strips, and the directions of the two arc-shaped scroll strips are opposite; the driving device comprises a motor and a worm which are arranged on the fixing ring, the outer ring of the moving ring is provided with a turbine, and the turbine is meshed with the worm. The device disclosed by the invention has the advantages of simple structure, rapid and reliable clamping and releasing actions, low requirement on positioning precision of the unmanned aerial vehicle, capability of being integrally assembled and disassembled as a module, and capability of being recycled and released for multiple times in an operation time period.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle recovery and release, in particular to an automatic recovery and release device and method for a multi-rotor unmanned aerial vehicle.
Background
The unmanned aerial vehicle is developed rapidly and is widely applied to civil fields such as entertainment, logistics, monitoring and rescue and military fields. Particularly, the disaster situation can be rapidly detected and judged by adopting unmanned aerial vehicle detection on the site of geological disasters such as earthquake and the like, and a scientific basis is provided for subsequent rescue. However, the large unmanned aerial vehicle is limited by the size and cannot penetrate into the damaged building; adopt small-size many rotor unmanned aerial vehicle can get into impaired building inside and survey, but it is restricted to continuation of the journey and payload, need develop the survey again after as close as possible to the scene. If can use small-size many rotor unmanned aerial vehicle and large-scale moving platform (like vehicle or large-scale unmanned aerial vehicle etc.) combine together will overcome above-mentioned not enough easily, greatly expand the application scene.
Simultaneously along with the continuous expansion of demand and the continuous deepening of cost theory, except that unmanned target, most unmanned aerial vehicle all retrieves through different modes and recycles in order to more fully realize its value after having carried out the task. At present, unmanned aerial vehicle retrieves still mainly to concentrate on fixed wing unmanned aerial vehicle's recovery, and the recovery mode also mainly concentrates on hitting the net, colliding wire, parachute, gasbag equidirectional, involves many rotor unmanned aerial vehicle very few, does not consider the problem of secondary release in addition after retrieving yet. For example, a damping controllable unmanned aerial vehicle net collision recovery device (patent number: 2017219007196) adopts real-time recovery of unmanned aerial vehicle net collision. The corresponding recovery technology of the multi-rotor unmanned aerial vehicle still focuses on a vertical landing recovery mode, and the multi-rotor unmanned aerial vehicle has no re-release capability, for example, a method of landing a bag box with a spherical protective cover in a mother cabin is proposed in a patent primary and secondary unmanned aerial vehicle letter box and a delivery method thereof, and the multi-rotor unmanned aerial vehicle cannot be released again (patent number: 2018110305930). The intelligent and autonomous level of the primary and secondary unmanned aerial vehicles at the present stage is still very low, and the primary and secondary unmanned aerial vehicles cannot adapt to the development of the industry.
Therefore, there is an urgent need for a system that can be applied to an aerial mobile platform and effectively recover, fix, and release sub-drones again, and at the same time, the device must also have sufficient recovery fault tolerance capability due to the uncertainty of the displacement of the mobile platform and the difficulty in accurate positioning in the flight state of the multi-rotor drone in a complex environment.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic recovery and release device and method for a multi-rotor unmanned aerial vehicle, so as to achieve the purposes of small volume, simple structure, rapid and reliable clamping and release actions, low requirement on positioning precision of the unmanned aerial vehicle, capability of being integrally assembled and disassembled as a module, and capability of being recovered and released for multiple times in an operation time period.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic recovery and release device of a multi-rotor unmanned aerial vehicle comprises a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a first elastic cushion layer is arranged on the rod body of the retraction rod, and a first pressure strain gauge is paved on the rod body in the first elastic cushion layer area;
the winding and unwinding device comprises a fixed bottom plate, a fixed ring, a movable ring and a driving device, wherein the fixed bottom plate is connected with the recovery platform, the bottom surface of the fixed bottom plate is provided with a second elastic cushion layer, a second pressure strain gauge is arranged on the fixed bottom plate in the second elastic cushion layer region, the circumference of the bottom of the fixed bottom plate is connected with the fixed ring through a plurality of connecting rods, the fixed ring and the movable ring are provided with arc-shaped strips, the directions of the two arc-shaped strips are opposite, and the centers of the fixed ring and the movable ring are connected through a; the driving device comprises a motor and a worm which are arranged on a fixing ring, a turbine is arranged on the outer ring of the moving ring, and the turbine is meshed with the worm.
In the scheme, the top of the take-up and pay-off rod is provided with the annular boss.
In the above scheme, the recovery releasing device further comprises a control system and a communication system, and the control system is connected with the communication system and the motor.
In a further technical scheme, communication system is including setting up location communication device on many rotor unmanned aerial vehicle, the communication module one that meets an emergency with pressure strain gauge one connection to and the communication module two that meets an emergency with pressure strain gauge two connection.
In a further technical scheme, the rod body of the receiving and releasing rod is of a hollow structure, and a communication circuit for connecting the first pressure strain gauge and the first strain communication module is arranged in the rod body.
In the above scheme, set up the support frame on the solid fixed ring, install turbine protective housing and worm protective housing on the support frame, motor and worm are located the worm protective housing, worm one end pass through the bearing frame install in on the worm protective housing, the turbine is located the turbine protective housing.
In the scheme, the turbine inner ring is provided with a step, and the circumferential end face of the movable ring is pressed on the step through the fixing ring and is fixed by the bolt.
In the above scheme, the recovery platform comprises a fixed platform and a movable platform.
Preferably, the number of the arc-shaped scroll strips on the fixed ring and the moving ring is the same, and the number of the arc-shaped scroll strips is 3-4.
The utility model provides a many rotor unmanned aerial vehicle automatic recovery release method, adopts foretell many rotor unmanned aerial vehicle automatic recovery release, includes recovery process and release process, the recovery process is as follows:
the multi-rotor unmanned aerial vehicle reaches the lower part of the retraction device and slowly rises to be inserted between any two arc-shaped strips, a pressure strain gauge II in an elastic cushion layer II on the fixed bottom plate is touched, after the control system receives a line current change signal, the motor is started to rotate positively to drive the turbine to rotate, so that the space distance between two adjacent arc-shaped strips on the fixed ring and the moving ring is reduced until the two arc-shaped strips hold the retraction rod and extrude the pressure strain gauge I laid in an area of the elastic cushion layer on the retraction rod, after the control system receives the line current change signal, the motor is stopped to rotate, the multi-rotor unmanned aerial vehicle stops the rotation of the rotor, and the retraction is finished;
the release process is as follows:
after the control system receives a release control instruction, the motor is started to rotate reversely, the arc-shaped swaths holding the take-up and pay-off rods of the multi-rotor unmanned aerial vehicle are separated, the adjacent next arc-shaped swath pushes out the take-up and pay-off rods through the rotation of the moving ring, and the multi-rotor unmanned aerial vehicle is separated from the take-up and pay-off device under the action of gravity; meanwhile, the rotor wings of the multi-rotor unmanned aerial vehicle are started to fly to a set destination; the motor stops rotating and the release is completed.
Through the technical scheme, the automatic recovery and release device and method for the multi-rotor unmanned aerial vehicle have the following beneficial effects:
1. the automatic recovery and release device can be integrally assembled and disassembled as a module, so that the recovery of the multi-rotor unmanned aerial vehicle can be realized, and the multi-rotor unmanned aerial vehicle can be flexibly released for many times.
2. The device is suitable for recovering and releasing the multi-rotor unmanned aerial vehicle on the fixed platform, and is also suitable for recovering and releasing the multi-rotor unmanned aerial vehicle on the aerial mobile platform, such as recovering and releasing the primary and secondary unmanned aerial vehicles.
3. The device disclosed by the invention realizes the holding and releasing of the take-up and release rods on the multi-rotor unmanned aerial vehicle through the arc-shaped spokes reversely arranged on the fixed ring and the moving ring, so that the multi-rotor unmanned aerial vehicle is recovered and released.
4. According to the invention, the stepping motor is adopted to drive the worm gear to move, the clamping and releasing actions are rapid and reliable, and meanwhile, by means of the self-locking of the worm gear, the retractable rod of the multi-rotor unmanned aerial vehicle cannot fall off from the device.
5. The annular boss is arranged at the top of the retractable rod, and can hook the arc scroll, so that the retractable rod of the multi-rotor unmanned aerial vehicle can be further prevented from falling off from the device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic view illustrating a recovery state of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of the connection between the multi-rotor unmanned aerial vehicle and the retraction device according to the embodiment of the present invention;
fig. 3 is a schematic structural view of a multi-rotor sub-drone disclosed in the embodiments of the present invention;
FIG. 4 is a schematic structural diagram of a retracting device disclosed in the embodiments of the present invention;
FIG. 5 is a schematic view of a portion of the structure of the mounting base and the mounting ring according to the embodiment of the present invention;
FIG. 6 is a schematic view of a moving ring according to an embodiment of the present invention;
fig. 7 is a connection structure view of the fixed ring and the movable ring according to the embodiment of the present invention.
In the figure, 1, a sub unmanned plane; 2. a parent unmanned aerial vehicle; 3. a rod is retracted and released; 4. a first elastic cushion layer; 5. an annular boss; 6. fixing the bottom plate; 7. a fixing ring; 8. a moving ring; 9. a second elastic cushion layer; 10. a connecting rod; 11. an arc-shaped scroll; 12. a stepping motor; 13. a worm; 14. a turbine; 15. a stationary ring; 16. a support frame; 17. a turbine containment vessel; 18. a worm protective housing; 19. a bearing seat; 20. positioning the communication device; 21. a retraction device.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides an automatic recovery and release device of a multi-rotor unmanned aerial vehicle (1), which comprises a retractable rod (3) fixed at the top of the unmanned aerial vehicle (1) and a retractable device (3) fixed on a recovery platform. Retrieve the platform and can be fixed platform or aerial moving platform, this embodiment shows to be fixed in on female unmanned aerial vehicle 2, as shown in fig. 1 and fig. 2, realizes primary and secondary unmanned aerial vehicle's recovery and release.
As shown in fig. 3, an elastic cushion layer one 4 is disposed on the rod body of the retractable rod 3, a pressure strain gauge one (not shown) is laid on the rod body in the area of the elastic cushion layer one 4, and when the rod body is extruded by the arc-shaped banner 11, the pressure strain gauge is deformed for a while, and then the signal is transmitted to the control system through the communication line. Receive and release 3 tops of pole and set up annular boss 5, and arc scroll 11 can be caught on annular boss 5, can further guarantee that receiving and releasing pole 3 of sub-unmanned aerial vehicle 1 can not drop from the device. The rod body of the receiving and releasing rod 3 is of a hollow structure, and a communication circuit for connecting the first pressure strain gauge and the first strain communication module is arranged in the rod body.
As shown in fig. 4, the winding and unwinding device 3 includes a fixed base plate 6 connected with the primary unmanned aerial vehicle 2, a fixed ring 7, a movable ring 8 and a driving device, the bottom surface of the fixed base plate 6 is provided with a second elastic cushion layer 9, a second pressure strain gauge (not shown in the figure) is arranged on the fixed base plate 6 in the second elastic cushion layer 9 region, when the winding and unwinding rod 3 of the secondary unmanned aerial vehicle 1 touches the second pressure strain gauge in the second elastic cushion layer 9 region, the second pressure strain gauge can deform, and then signals are transmitted to the control system through a communication line. The circumference of the bottom of the fixed bottom plate 6 is connected with a fixed ring 7 through a plurality of connecting rods 10.
As shown in fig. 5 and 6, the fixed ring 7 and the moving ring 8 are provided with arc-shaped banners 11, the two arc-shaped banners 11 are opposite in direction, the centers of the fixed ring 7 and the moving ring 8 are connected through a thrust bearing and a bolt, and the moving ring 8 can rotate on the fixed ring 7. In this embodiment, the number of the arc-shaped banners 11 on the fixed ring 7 and the moving ring 8 is 4 respectively.
The driving device comprises a stepping motor 12 (with a speed reducer) and a worm 13, a worm wheel 14 is arranged on the outer ring of the moving ring 8, and the worm wheel 14 is meshed with the worm 13. The inner ring of the turbine 14 is provided with a step, and the circumferential end surface of the moving ring 8 is pressed on the step through a fixed ring 15 and fixed by bolts. The moving ring 8 can be rotated by a stepping motor 12, a worm 13 and a worm wheel 14. The fixing ring 7 is provided with a support frame 16, the support frame 16 is provided with a worm gear protection shell 17 and a worm protection shell 18, the stepping motor 12 and the worm 13 are positioned in the worm protection shell 18, as shown in fig. 7, one end of the worm 13 is mounted on the worm protection shell 18 through a bearing seat 19, and the worm gear 14 is positioned in the worm gear protection shell 17.
The recovery and release device further comprises a control system and a communication system, and the control system is connected with the communication system and the motor. Communication system is including setting up location communication device 20 on many rotor unmanned aerial vehicle, with the strain communication module one of pressure foil gage one connection to and the strain communication module two of being connected with pressure foil gage two.
The automatic recovery and release method of the multi-rotor unmanned aerial vehicle 1 comprises a recovery process and a release process, wherein the recovery process comprises the following steps:
the sub unmanned aerial vehicle 1 machine carries GPS navigation and arrives 3 below of last coiling and uncoiling device of mother unmanned aerial vehicle 2, and slowly rise, insert between arbitrary two arc banners 11, touch pressure strain gauge two in the elastic cushion layer two 9 on the PMKD 6, after control system received the line current change signal, start step motor 12 corotation, it is rotatory to drive turbine 14, make the solid fixed ring 7 and move the ring 8 on the space distance of two adjacent arc banners 11 diminish, receive pole 3 until two arc bangs 11, and extrude receive pole 3 on the elastic cushion layer 4 regional pressure strain gauge one of laying, after control system received the line current change signal, stop step motor 12 rotatory, sub unmanned aerial vehicle 1 stops the rotor rotatory, retrieve and accomplish.
The release process is as follows:
after the control system receives the release control instruction, the motor is started to rotate reversely, the arc-shaped banners 11 holding the receiving and releasing rods 3 of the sub unmanned aerial vehicle 1 are separated, the adjacent next arc-shaped banners 11 push out the receiving and releasing rods 3 through the rotation of the movable ring 8, and the sub unmanned aerial vehicle 1 is separated from the receiving and releasing device 3 under the action of gravity; meanwhile, the rotor of the sub unmanned aerial vehicle 1 is started to fly to a set destination; the stepper motor 12 stops rotating and the release is complete.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic recovery and release device of a multi-rotor unmanned aerial vehicle is characterized by comprising a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a first elastic cushion layer is arranged on the rod body of the retraction rod, and a first pressure strain gauge is paved on the rod body in the first elastic cushion layer area;
the winding and unwinding device comprises a fixed bottom plate, a fixed ring, a movable ring and a driving device, wherein the fixed bottom plate is connected with the recovery platform, the bottom surface of the fixed bottom plate is provided with a second elastic cushion layer, a second pressure strain gauge is arranged on the fixed bottom plate in the second elastic cushion layer region, the circumference of the bottom of the fixed bottom plate is connected with the fixed ring through a plurality of connecting rods, the fixed ring and the movable ring are provided with arc-shaped strips, the directions of the two arc-shaped strips are opposite, and the centers of the fixed ring and the movable ring are connected through a; the driving device comprises a motor and a worm which are arranged on a fixing ring, a turbine is arranged on the outer ring of the moving ring, and the turbine is meshed with the worm.
2. The automatic recovery and release device of multi-rotor unmanned aerial vehicle of claim 1, wherein an annular boss is disposed on the top of the retraction rod.
3. The automatic retrieval release of many rotor unmanned aerial vehicle of claim 1, wherein retrieve the release and further include control system and communication system, control system connects communication system and motor.
4. The automatic recovery and release device of claim 3, wherein the communication system comprises a positioning communication device disposed on the multi-rotor unmanned aerial vehicle, a first strain communication module connected to the first pressure strain gauge, and a second strain communication module connected to the second pressure strain gauge.
5. The automatic recovery and release device of multi-rotor unmanned aerial vehicle of claim 4, wherein the rod body of the retraction rod is a hollow structure, and a communication line for connecting the first pressure strain gauge and the first strain communication module is arranged inside the retraction rod.
6. The automatic recovery and release device of multi-rotor unmanned aerial vehicle of claim 1, wherein the fixing ring is provided with a support frame, the support frame is provided with a turbine protection shell and a worm protection shell, the motor and the worm are located in the worm protection shell, one end of the worm is installed on the worm protection shell through a bearing seat, and the turbine is located in the turbine protection shell.
7. The automatic recovery and release device of claim 1, wherein the turbine inner ring is provided with a step, and the circumferential end surface of the moving ring is pressed on the step through a fixing ring and fixed by bolts.
8. The automatic retrieval release of many rotor unmanned aerial vehicle of any one of claims 1-6, wherein the retrieval platform comprises a fixed platform and a mobile platform.
9. The automatic recovery and release device of claim 1, wherein the number of arc-shaped spokes of the fixed ring and the moving ring is the same, and the number of arc-shaped spokes is 3-4.
10. An automatic recovery and release method of a multi-rotor unmanned aerial vehicle, which adopts the automatic recovery and release device of the multi-rotor unmanned aerial vehicle according to claim 1, and comprises a recovery process and a release process, wherein the recovery process comprises the following steps:
the multi-rotor unmanned aerial vehicle reaches the lower part of the retraction device and slowly rises to be inserted between any two arc-shaped strips, a pressure strain gauge II in an elastic cushion layer II on the fixed bottom plate is touched, after the control system receives a line current change signal, the motor is started to rotate positively to drive the turbine to rotate, so that the space distance between two adjacent arc-shaped strips on the fixed ring and the moving ring is reduced until the two arc-shaped strips hold the retraction rod and extrude the pressure strain gauge I laid in an area of the elastic cushion layer on the retraction rod, after the control system receives the line current change signal, the motor is stopped to rotate, the multi-rotor unmanned aerial vehicle stops the rotation of the rotor, and the retraction is finished;
the release process is as follows:
after the control system receives a release control instruction, the motor is started to rotate reversely, the arc-shaped swaths holding the take-up and pay-off rods of the multi-rotor unmanned aerial vehicle are separated, the adjacent next arc-shaped swath pushes out the take-up and pay-off rods through the rotation of the moving ring, and the multi-rotor unmanned aerial vehicle is separated from the take-up and pay-off device under the action of gravity; meanwhile, the rotor wings of the multi-rotor unmanned aerial vehicle are started to fly to a set destination; the motor stops rotating and the release is completed.
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