CN113650785A - Remote control delivery system for unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Remote control delivery system for unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113650785A CN113650785A CN202111056572.8A CN202111056572A CN113650785A CN 113650785 A CN113650785 A CN 113650785A CN 202111056572 A CN202111056572 A CN 202111056572A CN 113650785 A CN113650785 A CN 113650785A
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- Prior art keywords
- hook
- hanging
- hanging rod
- unmanned aerial
- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses a remote control delivery system for an unmanned aerial vehicle, which comprises: the throwing device can be carried on the unmanned aerial vehicle and is used for hanging articles; the throwing device is internally provided with a wireless communication module and is provided with an actuating mechanism for hanging articles and throwing the articles; the remote controller is in information interaction with the throwing device based on LoRa long-distance radio; wherein the delivery device is configured to: receiving a throwing signal of the remote controller, wherein the throwing signal is used for indicating a throwing device to throw articles; and controlling the action of the executing mechanism according to the throwing signal to release the hung article. The remote control releasing system for the unmanned aerial vehicle is characterized in that an independent control remote controller is additionally arranged on the releasing device, and the remote controller performs information interaction with the releasing device based on LoRa remote radio. The throwing device controls the action of the actuating mechanism according to a throwing signal of the remote controller to enable the hung articles to be separated, and article throwing is achieved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle aerial delivery equipment, and particularly relates to a remote control delivery system for an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
The unmanned aerial vehicle has flexible action, lower requirements on taking-off and landing environments, good operation performance and the like, and is widely applied to the fields of police, city management, agriculture, geology, meteorology, electric power, emergency rescue and relief, video shooting and the like. And along with unmanned aerial vehicle's technical development, unmanned aerial vehicle can realize carrying on the carry on of article and putting in, realizes through carrying on one at unmanned aerial vehicle and putting in the device.
Because the throwing device belongs to unmanned aerial vehicle's load, the mechanical connection of throwing device and unmanned aerial vehicle realizes comparatively easily. The difficulty lies in that the communication link of putting device and unmanned aerial vehicle can not be built. This is because unmanned aerial vehicle's flight control system, electrical control system are that unmanned aerial vehicle producer independently research and development designs, and the device of puting in of extra carrying can't carry out control communication based on unmanned aerial vehicle and connect, increases the difficult problem of application of putting in the device.
Disclosure of Invention
The invention aims to solve the technical problems and provides a remote control releasing system for an unmanned aerial vehicle and the unmanned aerial vehicle.
In order to solve the problems, the invention is realized according to the following technical scheme:
in a first aspect, the present invention provides a remote control delivery system for an unmanned aerial vehicle, comprising:
the throwing device can be carried on the unmanned aerial vehicle and is used for hanging articles; the throwing device is internally provided with a wireless communication module and is provided with an actuating mechanism for hanging articles and throwing the articles;
the remote controller is in information interaction with the throwing device based on LoRa long-distance radio;
wherein the delivery device is configured to:
receiving a throwing signal of the remote controller, wherein the throwing signal is used for indicating a throwing device to throw articles;
and controlling the action of the executing mechanism according to the throwing signal to release the hung article.
With reference to the first aspect, the present invention provides a 1 st preferred embodiment of the first aspect, specifically, the dispensing device includes a housing; the actuating mechanism comprises a rotatable hanging rod and a driving mechanism arranged in the shell;
the hanging rod is hinged with the bottom of the shell and has a hanging state for hanging articles and a throwing state for releasing the hung articles;
when the hanging rod is in the hanging state, the driving mechanism lifts the hanging rod from the lower part of the hanging rod, limits the rotation of the hanging rod and enables the hanging rod to keep the hanging state; when the driving mechanism acts to separate from the hanging rod, the hanging rod is switched from the hanging state to the throwing state.
In combination with the first aspect, the present invention provides a 2 nd preferred embodiment of the first aspect, specifically, a notch is formed in the bottom of the housing, when the hanging rod is in the hanging state, the hanging rod is transversely disposed in the notch, the hanging rod and the housing form a closed hanging ring structure, or the hanging rod, the driving mechanism and the housing form a closed hanging ring structure.
With reference to the first aspect, the present invention provides a 3 rd preferred embodiment of the first aspect, specifically, a stopping portion is disposed at a bottom of the housing, the stopping portion is used for limiting the hanging rod to rotate upwards, and when the hanging rod is in a hanging state, the stopping portion and the driving mechanism fix and lock the cross rod.
With reference to the first aspect, the present invention provides a 4 th preferred embodiment of the first aspect, specifically, the driving mechanism includes a hook, and a driving component for driving the hook to move:
the bottom of the hook is provided with a raised claw which is used for lifting the rod body of the hanging rod; the hook is hinged to the shell;
when the hanging rod is in a hanging state, the hook lifts the movable end of the hanging rod, and the driving assembly limits the hook to rotate; when the driving component drives the hook to rotate, the claw of the hook is separated from the movable end of the hanging rod.
With reference to the first aspect, the present invention provides a 5 th preferred implementation manner of the first aspect, specifically, the cross section of the hook is in a "threshshape", the middle part of the hook is hinged to the housing, and the hook can rotate around the hinged part to form a lever;
when the hanging rod is in a hanging state, the hook is vertically arranged; the driving component is positioned on one side of the top of the hook.
With reference to the first aspect, the present invention provides the 6 th preferred embodiment of the first aspect, in particular, the driving assembly includes a disc cam, a motor for driving the disc cam to rotate, and an elastic resetting member;
the disc-shaped cam is positioned on one side of the hook, and the side surface of the disc-shaped cam is abutted against the side surface of the hook;
the elastic reset piece is connected with the hook and the shell;
when the hanging rod is in a hanging state, the base circle side surface of the disc-shaped cam is abutted against the hook, and the elastic reset piece limits the hook to rotate; when the motor drives the disc-shaped cam to rotate, the disc-shaped cam abuts against the hook and drives the hook to rotate, and the claw of the hook is separated from the hanging rod.
With reference to the first aspect, the present invention provides a 7 th preferred implementation manner of the first aspect, and specifically, the launch device is provided with two mutually independent wireless communication modules, and the two wireless communication modules can implement independent two-channel and two-way communication, so as to ensure transmission and reception of launch signals;
a controller connected with the wireless communication module is also arranged in the shell; the controller is connected with the driving mechanism and used for the signal driving mechanism to act. The controller is also adapted to be electrically connected to various electrical components of the dispensing device, such as a detection assembly, a separate power supply mounted within the dispensing device, a display light, etc., as described below.
With reference to the first aspect, the present invention provides an 8 th preferred implementation manner of the first aspect, and specifically, the delivering device is further configured to:
when the executing mechanism is in a mounting state, sending a first display signal of the mounting state to the remote controller;
when the execution mechanism is in the release state, sending a second display signal of the release state to the remote controller;
the remote controller is provided with an indicator light assembly, and the remote controller controls the indicator light assembly to display according to the first display signal and/or the second display signal.
In a second aspect, the invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle is equipped with the remote control launching system for the unmanned aerial vehicle of the first aspect, and the launching device is physically connected with the unmanned aerial vehicle.
Compared with the prior art, the invention has the beneficial effects that:
the remote control releasing system for the unmanned aerial vehicle is characterized in that an independent control remote controller is additionally arranged on the releasing device, and the remote controller performs information interaction with the releasing device based on LoRa remote radio. The throwing device controls the action of the actuating mechanism according to a throwing signal of the remote controller to enable the hung articles to be separated, and article throwing is achieved.
The invention adopts the remote communication technology with low power consumption, adopts LoRa remote radio, has longer transmission distance than other wireless modes under the same power consumption condition, realizes the superposition effect of low power consumption and remote distance, and enlarges 3-5 times of the distance of the traditional wireless radio frequency communication under the same power consumption.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic diagram of the system components of the remote control delivery system for unmanned aerial vehicles according to the present invention;
figure 2 is a front view of the delivery device of the invention in mounted state 2a and in delivery state 2 b;
FIG. 3 is an exploded view of the structural components of the dispensing device of the present invention;
fig. 4 is a schematic cut-away view of a mounting state 4a and a release state 4b of the release device of the present invention;
fig. 5 is a schematic sectional view of the dispensing state of the dispensing device of the present invention;
FIG. 6 is a schematic diagram of the operation of the hanger and peg of the present invention;
FIG. 7 is a schematic view of the structure of the stopping portion and the notch of the housing according to the present invention;
in the figure:
10-a delivery device;
11-shell, 111-stop part, 112-notch, 113-rotating shaft;
12-hanging rod, 121-hinge part, 122-straight rod part, 123-clamping part and 124-clamping part;
13-drive assembly, 131-disc cam, 132-cam mounting seat, 133-motor;
14-hook, 141-claw and 142-hinge hole;
15-an elastic return member;
16-hall sensor, 161-magnet;
17-connecting component, 171-connecting groove body and 172-anti-falling component;
20-a remote controller;
30-unmanned plane.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention relates to a remote control releasing system for an unmanned aerial vehicle, which mainly comprises the following applications: the application and unmanned aerial vehicle are last, realize the purpose of accurate input. For example, the system can be applied to scenes such as fire rescue, such as launching lifesaving equipment, lifesaving ropes and the like. And the device can also be used for flood control and rescue, and used for throwing life jackets and life buoys. Or other scenes such as launching operation and emergency launching tasks needing to be carried out by the unmanned aerial vehicle.
As shown in fig. 1, the remote control delivery system for unmanned aerial vehicle according to the present invention includes a delivery device 10 and a remote controller 20. The putting device 10 can be carried on the unmanned aerial vehicle 30, the putting device 10 is used for hanging articles, and a wireless communication module is arranged in the putting device 10. The depositing device 10 is provided with an actuator for mounting and depositing the object. The remote controller 20 performs information interaction with the throwing device 10 based on LoRa long-distance radio;
wherein the delivery device 10 is configured to:
s100: receiving a throwing signal of the remote controller 20, wherein the throwing signal is used for indicating the throwing device 10 to throw the articles;
s200: and controlling the action of the executing mechanism according to the throwing signal to release the hung article.
In a preferred implementation, the throwing device 10 is provided with two independent wireless communication modules 18, and the two wireless communication modules can realize independent two-channel and two-way communication to ensure the sending and receiving of throwing signals; the remote control device 10 can be precisely controlled to act when the remote control signal is within the range of 400 meters.
A controller connected with the wireless communication module 18 is also arranged in the shell 11; the controller is connected with the driving mechanism and used for the signal driving mechanism to act.
In a preferred embodiment, the dispensing device 10 also provides feedback of the dispensing operation signal to form a closed loop. In particular, the delivering device 10 is further configured to:
s300: when the execution mechanism is in a mounting state, sending a first display instruction of the mounting state to the remote controller;
s400: when the execution mechanism is in the release state, sending a second display instruction of the release state to the remote controller;
the remote controller 20 is provided with an indicator light assembly, and the remote controller 20 controls the indicator light assembly to display according to the first display instruction and/or the second display instruction. The first display instruction and the second display instruction may be used to control the same indicator light to display different colors, or control a plurality of indicator lights to display different colors, so that the operator can determine the working status of the dispensing device 10.
Specifically, the operating state (mounted state, thrown state) of the throwing device 10 may be detected by a detection unit built in the throwing device 10. This is achievable by a person skilled in the art and is not explained here too much.
The invention also provides an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with the remote control launching system for the unmanned aerial vehicle, and the launching device 10 is physically connected with the unmanned aerial vehicle.
The applicant researches and discovers that when the existing unmanned aerial vehicle throwing device 10 on the market loads heavy loads, the friction force between a release lever and a base is large, the release lever and the base cannot be dragged by a low-power actuator, thrown objects cannot be released, and the unmanned aerial vehicle throwing device 10 has the defects of serious power consumption, weight increase and the like when being changed into a high-power actuator.
To this end, the present invention further provides an improvement to the dispensing device 10, as shown in fig. 2-7, which is a preferred configuration of the dispensing device 10 according to the present invention.
Example one
As shown in fig. 3, the dispensing device 10 includes a housing 11 and a driving mechanism disposed inside the housing 11. The housing 11 is used for integrally installing various hardware devices required by the launching device 10 and is used as a main body for connecting equipment such as an unmanned aerial vehicle.
Wherein, the bottom of the shell 11 is hinged with a rotatable hanging rod 12, the hanging rod 12 has a hanging state for hanging articles and a throwing state for releasing the hung articles. When the hanging rod 12 is in the hanging state, the driving mechanism lifts the hanging rod 12 from the lower part of the hanging rod 12, limits the rotation of the hanging rod 12 and enables the hanging rod 12 to keep the hanging state. When the drive mechanism is disengaged from the hanging rod 12, the hanging rod 12 is switched from the hanging state to the throwing state.
The use of the product of the invention: when the hanging rod is used, the connecting parts (such as hanging rings, rope sleeves, hanging holes and the like) of articles are sleeved on the hanging rod, the hanging rod is rotated to a specific position in a hanging state, the hanging rod is lifted by the driving device, the hanging rod is limited to rotate, and the hanging rod is kept at the specific position in the hanging state, so that the articles are hung. When carrying out the operation of puting in, carry the device of puting in and article to the position of puting in by unmanned aerial vehicle, through the action of control drive arrangement, actuating mechanism action breaks away from the peg, and the peg switches the state of puting in from the state of puting in, and when the peg lost spacing, under the action of gravity of article, the peg swung down, and then article landing and descend on the peg.
The throwing device has stable and reliable operation, and the hanging rod is lifted from the lower part of the hanging rod by the driving mechanism to limit the rotation of the hanging rod and keep the hanging rod in a hanging state; when the driving mechanism acts to separate from the hanging rod, the hanging rod is switched from the hanging state to the throwing state; put the thing and can easily release, and compare the prior art of pulling peg, this application need not the executor of high power and can realize, reduces power consumptive and weight, makes this product cost low, and light in weight can effectively alleviate unmanned aerial vehicle's load, the loss of reduction energy.
Illustratively, the housing 11 is made of plastic, and the housing 11 can be made by injection molding, compression molding, etc., and the plastic housing 11 has the advantages of light weight and high strength, which can further reduce the weight of the dispensing device 10. Wherein, the top of casing 11 is provided with coupling assembling 17, coupling assembling 17 is used for detachable the mount on unmanned aerial vehicle.
Preferably, the housing 11 may be divided into an upper housing part and a lower housing part, which are overlapped into a whole; or the left shell part and the right shell part are compounded into a whole. The attachment of the shell parts may be by bolts, adhesives, etc.
In one embodiment, the hanging rod 12 is an elongated straight rod, and the hanging rod 12 has a hinged end and a movable end, wherein the hinged end is used for being hinged with the housing 11, so that the hanging rod 12 can rotate around the hinged position. The movable end is the other end which is relatively hinged, in particular, the movable end of the hanging rod 12 is lifted by the driving mechanism. Like two fulcrums, the two ends of the hanging rod 12 are respectively supported upwards, and when the driving mechanism acts, one end of the hanging rod 12 loses the fulcrums, so that the function of releasing the articles is realized.
In one specific implementation, the driving device comprises a power source and an actuator, wherein the power source is used for driving the actuator to act, and particularly, the actuator is a component used for lifting the movable end of the hanging rod 12. The power source drives the actuator to act to a first position, and the actuator lifts the hanging rod 12 and limits the hanging rod 12 to rotate; the power source drives the actuator to move from the first position to the second position, and the actuator leaves from the lower part of the hanging rod 12, so that the object is thrown.
In a preferred implementation, the power source drives the actuator to rotate or swing, so that the actuator is switched from the first position to the second position or from the second position to the first position, and further, the mounting state and the releasing state are switched.
Through the design, because the article is hung on the hanging rod, the weight of the hanging rod and the article can be distributed on the hinged part and the two fulcrums of the actuator during operation, if the actuator is separated from the hanging rod in a sliding pair mode, the friction force between the actuator and the part is large, the actuator cannot be dragged by a low-power source, the article cannot be released, and the power source which is changed into the high-power source has the defects of serious power consumption, weight gain and the like. Therefore, the actuator swings downwards to be separated through a separation mode of the rotating pair, and the throwing of the articles is guaranteed.
Example two
The structure and principle of the dispensing device described in this embodiment 2 are the same as those of embodiment 1. The delivery device described in this embodiment 2 provides an example of a specific hardware structure.
As shown in fig. 3, the driving mechanism includes a hook 14, and a driving assembly 13 for driving the hook 14. The hook 14 is an actuator in embodiment 1, and the driving component 13 is a power source in embodiment 1. Specifically, the hook 14 is movably hinged to the housing 11, and the driving assembly 13 drives the hook 14 to rotate or swing.
Wherein, the bottom of the hook 14 is provided with a tilted claw 141, and the claw 141 is used for lifting the shaft of the hanging rod 12. When the hanging rod 12 is in a hanging state, the claw 141 of the hook 14 lifts the hanging rod 12, and the driving component 13 limits the hook 14 to rotate; when the driving unit 13 rotates the hook 14, the claw 141 of the hook 14 is disengaged from the hanging rod 12.
As shown in fig. 4, the hanging rod 12 is a straight rod, the hanging rod 12 includes a hinge portion 121 and a straight rod portion 122 that are integrally injection-molded, the hinge portion 121 and the straight rod portion 122 are criss-cross disposed, the hinge portion 121 is in a short cylindrical shape, and a through hole is formed in the center of the hinge portion 121.
In one implementation, the straight shaft portion 122 may be a square column, a cylinder, or the like.
A hinge groove for hinging the hanging rod 12 is arranged at the bottom of the shell 11, and the hanging rod 12 is hinged in the hinge groove through a rotating shaft 113 penetrating through the hinge part 121; the hinge slot is provided with a cut-out on the side opposite the hook 14 for the passage of the peg 12. The range of motion of the cloth rail 12 includes at least rotation from horizontal to vertical.
In this embodiment, the lower end of the movable end of the hanging rod 12 is preferably provided with a groove-shaped detent 124, and the detent 124 is adapted to the claw 141 of the hook 14. Specifically, a downward convex clamping part 123 is arranged on the lower surface of the movable end of the hanging rod 12, the clamping part 123 has an inclined plane structure, the inclined plane structure is matched with the claw 141 of the hook 14, and the clamping part 123 and the rod body of the hanging rod 12 form the clamping position 124.
The dispensing device of this embodiment 2 is a preferred design of the drive mechanism. The drive mechanism of embodiment 2 is equally applicable to the other embodiments.
EXAMPLE III
The structure and principle of the dispensing device described in this embodiment 3 are the same as those of embodiment 2. The dispensing device described in this embodiment 3 provides an example of a specific hardware structure of the driving mechanism.
As shown in fig. 5, the cross-section of the hook 14 is "three-dimensional", a hinge hole 142 is formed in the middle of the hook 14 and is hinged to the housing 11 through a rotation shaft 113, and a corresponding mounting hole is formed in the housing 11 to mount the rotation shaft 113. The middle part of the hook 14 is hinged with the shell 11, and the hook 14 can rotate around the hinged part to form a lever.
When the hanging rod is in a hanging state, the hook is vertically arranged. Under the structure, the hook is kept vertical in a hanging state, and the acting force of the hanging rod is applied to the hook claw, so that the hook integrally bears the downward acting force. Therefore, the hinge structure of the hook is used for bearing the acting force, the driving assembly is not a driving assembly, the driving assembly and the hardware of the mounted object are designed to be independent, the structural design can guarantee stability and reliability of the mounted state, and the problem that the hook is disengaged when high load is avoided.
Specifically, the driving assembly 13 is located on one side of the top of the hook 14, and the driving assembly 13 applies a driving force to the top of the hook 14. Compared with the prior art, the invention has the beneficial effects that:
the friction force between the hanging rod 12 and the hook claw 141 is the main acting force for obstructing the rotation of the hook 14, therefore, the invention utilizes the simple lever principle to respectively arrange the hanging claw and the driving component 13 at the upper side and the lower side of the hook 14, the lever can convert the smaller external force into the larger driving force, further the driving force for the driving component 13 to drive the hanging rod 12 to act can be effectively reduced, the driving component 13 with small power can realize the corresponding functional requirement, and the problem that the hanging rod 12 can not be unhooked can be effectively avoided.
In one embodiment, as shown in fig. 3, the driving assembly 13 includes a disc cam 131, a cam mounting seat 132 for mounting the disc cam 131, a motor 133 for driving the disc cam 131 to rotate, and an elastic restoring member 15.
The cam mounting seat 132 and the motor 133 are vertically distributed, the cam mounting seat 132 is connected with the housing 11, and the motor 133 is located below the cam mounting seat 132. The cam mounting seat 132 includes an upper mounting seat and a lower mounting seat, the disc cam 131 is movably connected in the cam mounting seat 132, and the disc cam 131 can rotate in the horizontal direction. The output shaft of the motor 133 is used for driving the disc cam 131 to rotate.
The elastic reset piece 15 is connected with the hook 14 and the shell 11, and the elastic reset piece 15 is used for limiting the rotation of the hook 14, keeping the hook 14 at the first position and preventing the hook 14 from rotating by itself under the normal state so as to enable the hook 14 to be separated from the hanging rod 12. At the same time, the elastic restoring member 15 also serves to restore the hook 14 from the second position to the first position.
In a specific implementation, the elastic restoring member 15 is a torsion spring, the torsion spring is sleeved on the rotating shaft 113 of the hook 14, an embedded groove is formed on the hook 14, one torsion bar of the torsion spring is embedded in the embedded groove, and the other torsion bar abuts against the inner wall of the housing 11. When the hook 14 rotates about the spring center (the rotation shaft 113), the spring pulls the hook 14 back to the original position, generating a torque or a rotation force.
As shown in fig. 4, the disc cam 131 is located on one side of the top of the hook 14, and the side of the disc cam 131 is abutted against the side of the hook 14. When the hanging rod 12 is in a hanging state, the base circle side surface of the disc-shaped cam 131 is abutted against the hook 14, and the elastic resetting piece 15 limits the hook 14 to rotate; when the motor 133 drives the disc cam 131 to rotate, the disc cam 131 abuts against the hook 14 and drives the hook 14 to rotate, and the claw 141 of the hook 14 is disengaged from the hanging rod 12.
The dispensing device of embodiment 3 is a preferred design of the hook and the driving assembly. The hook and drive assembly of embodiment 3 is equally applicable to other embodiments.
Example four
The structure and principle of the dispensing device described in this embodiment 4 are the same as those of embodiment 3. The dispensing device described in this embodiment 4 provides an example of a specific hardware structure of the driving mechanism.
As shown in fig. 6, the driving mechanism further includes a first detecting member and a second detecting member. The first detecting component is used for detecting the action of the disc cam 131 to determine the position state of the disc cam 131, such as whether the hook 14 is successfully driven to rotate, whether the disc cam 131 is successfully reset, and the like. The second detection component is used for detecting the action of the hook 14, so as to determine the position state of the hook 14, ensure whether the hook 14 is successfully reset, detect whether the hanging rod 12 keeps the hanging state and the like.
In one specific implementation, the first detecting assembly includes a hall sensor 16 and a magnet 161, the magnet 161 is embedded on the upper surface of the disc cam 131, and the hall sensor 16 is correspondingly disposed above the magnet 161. When the disc cam 131 is actuated, the magnet 161 rotates with the disc cam 131, and the magnet 161 is detected when it is away from the hall sensor 16.
In one specific implementation, the second detection assembly includes a hall sensor 16 and a magnet 161, the magnet 161 is embedded in the top of the hook 14 and located on the side wall of the hook 14, and the hall sensor 16 is correspondingly disposed on the side of the magnet 161. When the hook 14 is operated, the magnet 161 swings with the hook 14, and the magnet 161 is detected as being away from the hall sensor 16.
Through the setting of the detection assembly, whether each part completes the action or not can be judged, and the method can also be used for fault alarm of hardware equipment.
Specifically, the hook 14, the disc cam 131 and the cam mounting seat 132 are made of plastics, so that the use strength is met, and the weight is light; can be a solid plastic part or a hollow plastic part.
The dispensing device of this embodiment 4 is a preferred design of the drive mechanism. The driving mechanism of the embodiment 4 is also applicable to other embodiments, and can also be used for feedback detection of the working state of the dispensing device.
EXAMPLE five
The structure and principle of the dispensing device described in this embodiment 5 are the same as those of embodiment 2. The dispensing device described in this embodiment 2 provides an example of a specific hardware structure of the housing.
As shown in fig. 2 and 7, a notch 112 is formed at the bottom of the housing 11, and the shape of the notch 112 may be "Jiong", "\\" or "\" n "". The notch 112 is used to accommodate attachment points for different items. For example, some articles are provided with hanging rings, handles and the like. The notch 112 is designed to fit different shapes of bails and handles to fit the majority of articles to be carried, so that the articles can be carried on the hanging rod 12.
Specifically, when the hanging rod 12 is in the hanging state, the hanging rod 12 is horizontally disposed in the notch 112, and the hanging rod 12 and the housing 11 form a closed hanging ring structure, or the hanging rod 12, the driving mechanism and the housing 11 form a closed hanging ring structure.
Preferably, the hinge slot of the mounting hanger 12 is disposed at the open side of the notch 112.
In a preferred implementation, a stopping portion 111 is disposed at the bottom of the housing 11, the stopping portion 111 is used for limiting the hanging rod 12 to rotate upwards, and when the hanging rod 12 is in the hanging state, the stopping portion 111 and the driving mechanism fix and lock the cross rod.
The stopping part 111 may be a stopping part, such as a limiting post, a buffering post, etc., externally added on the housing 11, and the stopping part is installed above the hanging rod 12, and when the hanging rod 12 rotates to a horizontal position, the stopping part collides with the stopping part, and further cannot continue to rotate upwards.
The stopping portion 111 may be a specific structure on the housing 11, such as a stopping platform. In one embodiment, the stop 111 is a platform extending from the hinge slot cut so that the hanging bar 12 cannot rotate upward.
The dispensing device of this embodiment 5 is a preferred design of the drive mechanism. The housing of embodiment 5 is equally applicable to the other embodiments.
EXAMPLE six
The structure and principle of the dispensing device described in this embodiment 6 are the same as those of embodiment 1. The delivery device described in this example 6 provides a preferred example of a coupling assembly.
As shown in fig. 2 and 7, the connection assembly 17 includes a connection groove 171 at the top of the housing 11 and a separation preventing assembly 172 connected to the connection groove 171.
The top of casing 11 is provided with "U" style of calligraphy connecting groove 171, connecting groove 171 is used for the adaptation centre gripping unmanned aerial vehicle's part or cloud platform.
The groove walls on two sides of the connecting groove body 171 are provided with limiting blocks extending inwards and horizontally, and the two limiting blocks are arranged oppositely. Two stoppers and the looks interval of the tank bottom of connecting cell body 171, the stopper can be used to stabilize the part or the cloud platform of putting in device 10 balanced, centre gripping unmanned aerial vehicle or be used for the anticreep.
The anti-falling assembly 172 comprises a screw and a butterfly bolt, the screw penetrates through the tops of the two side groove walls of the connecting groove body 171, and the screw is fixed on the connecting groove body 171 through screwing in the butterfly bolt. The screw rod forms a closed loop with connecting cell body 171, will throw in the locking of device 10 on unmanned aerial vehicle, and further avoid throwing in device 10 and break away from unmanned aerial vehicle.
Based on the above embodiments 1 to 7, the dispensing device of the present invention has the following technical advantages:
1. the throwing device is compact in overall structure and light in weight, and is extremely suitable for the unmanned aerial vehicle platform.
2. The application is simple; this put in device belongs to independent external accessory, built-in independent communication module, independent power supply need not to reform transform the unmanned aerial vehicle platform, and the dress is used promptly, simple to use. The method is suitable for different ready-made unmanned aerial vehicle platforms.
3. The reliability is high. The remote control releasing system is high in design safety redundancy in consideration of application of rescue occasions. In the aspect of a control system, 2 independent wireless communication modules are installed inside the throwing hook, so that independent double channels and bidirectional communication can be realized, and the remote control signals are ensured to be accurately and timely remotely controlled within a range of 400 meters. The hook structure design can ensure that the unlocking action can be easily completed by hands under the state that the system is not electrified.
4. And a low-power consumption remote control technology is adopted. The system design adopts the Long Range Radio (Long Range Radio) technology, is a low-power consumption local area network wireless standard, and is mainly characterized in that the distance of propagation is longer than that of other wireless modes under the same power consumption condition, the unification of low power consumption and Long distance is realized, and the distance of the communication is enlarged by 3-5 times compared with that of the traditional wireless Radio frequency communication under the same power consumption condition.
The remote control delivery system for the unmanned aerial vehicle and other structures of the unmanned aerial vehicle are disclosed in the embodiment and refer to the prior art.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a long-range remote control dispensing system for unmanned aerial vehicle which characterized in that includes:
the throwing device can be carried on the unmanned aerial vehicle and is used for hanging articles; the throwing device is internally provided with a wireless communication module and is provided with an actuating mechanism for hanging articles and throwing the articles;
the remote controller is in information interaction with the throwing device based on LoRa long-distance radio;
wherein the delivery device is configured to:
receiving a throwing signal of the remote controller, wherein the throwing signal is used for indicating a throwing device to throw articles;
and controlling the action of the executing mechanism according to the throwing signal to release the hung article.
2. The remote controlled delivery system for unmanned aerial vehicle of claim 1, wherein the delivery device comprises a housing; the actuating mechanism comprises a rotatable hanging rod and a driving mechanism arranged in the shell;
the hanging rod is hinged with the bottom of the shell and has a hanging state for hanging articles and a throwing state for releasing the hung articles;
when the hanging rod is in the hanging state, the driving mechanism lifts the hanging rod from the lower part of the hanging rod, limits the rotation of the hanging rod and enables the hanging rod to keep the hanging state; when the driving mechanism acts to separate from the hanging rod, the hanging rod is switched from the hanging state to the throwing state.
3. The remote control delivery system for unmanned aerial vehicle of claim 2, wherein:
the bottom of the shell is provided with a notch, when the hanging rod is in a hanging state, the hanging rod is transversely arranged in the notch, the hanging rod and the shell form a closed hanging ring structure, or the hanging rod, the driving mechanism and the shell form a closed hanging ring structure.
4. The remote control delivery system for unmanned aerial vehicle of claim 2, wherein:
the bottom of the shell is provided with a stopping part, the stopping part is used for limiting the hanging rod to rotate upwards, and when the hanging rod is in a hanging state, the stopping part and the driving mechanism fix and lock the cross rod.
5. The remote controlled delivery system for unmanned aerial vehicle of claim 2, wherein the driving mechanism comprises a hook, and a driving component for driving the hook to act:
the bottom of the hook is provided with a raised claw which is used for lifting the rod body of the hanging rod; the hook is hinged to the shell;
when the hanging rod is in a hanging state, the hook lifts the movable end of the hanging rod, and the driving assembly limits the hook to rotate; when the driving component drives the hook to rotate, the claw of the hook is separated from the movable end of the hanging rod.
6. The remote control delivery system for unmanned aerial vehicle of claim 5, wherein:
the cross section of the hook is in a 'three dimensional' shape, the middle part of the hook is hinged with the shell, and the hook can rotate around the hinged part to form a lever;
when the hanging rod is in a hanging state, the hook is vertically arranged; the driving component is positioned on one side of the top of the hook.
7. The remote control delivery system for unmanned aerial vehicle of claim 6, wherein:
the driving assembly comprises a disc cam, a motor for driving the disc cam to rotate and an elastic resetting piece;
the disc-shaped cam is positioned on one side of the hook, and the side surface of the disc-shaped cam is abutted against the side surface of the hook;
the elastic reset piece is connected with the hook and the shell;
when the hanging rod is in a hanging state, the base circle side surface of the disc-shaped cam is abutted against the hook, and the elastic reset piece limits the hook to rotate; when the motor drives the disc-shaped cam to rotate, the disc-shaped cam abuts against the hook and drives the hook to rotate, and the claw of the hook is separated from the hanging rod.
8. The remote control delivery system for unmanned aerial vehicle of claim 2, wherein:
the throwing device is provided with two mutually independent wireless communication modules, and the double wireless communication modules can realize independent double-channel and two-way communication to ensure the sending and receiving of throwing signals;
a controller connected with the wireless communication module is also arranged in the shell; the controller is connected with the driving mechanism and used for the signal driving mechanism to act.
9. The remote control delivery system for unmanned aerial vehicle of claim 8, wherein:
the delivery device is further configured to:
when the executing mechanism is in a mounting state, sending a first display signal of the mounting state to the remote controller;
when the execution mechanism is in the release state, sending a second display signal of the release state to the remote controller;
the remote controller is provided with an indicator light assembly, and the remote controller controls the indicator light assembly to display according to the first display signal and/or the second display signal.
10. An unmanned aerial vehicle, characterized in that, unmanned aerial vehicle carries on claim 1 to 9 for the unmanned aerial vehicle remote control delivery system, the device of puting in is connected with unmanned aerial vehicle physics.
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