CN205293066U - Empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system - Google Patents
Empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system Download PDFInfo
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- CN205293066U CN205293066U CN201620010304.0U CN201620010304U CN205293066U CN 205293066 U CN205293066 U CN 205293066U CN 201620010304 U CN201620010304 U CN 201620010304U CN 205293066 U CN205293066 U CN 205293066U
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- wire
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- pipe
- lead screw
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Abstract
The utility model discloses an empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system, including central controller, water distribution module, pipe transport module and pipe accent appearance module, the water distribution module include peristaltic pump machine controller, with the peristaltic pump motor that peristaltic pump machine controller wire is connected, still include the flowmeter of being connected with the central controller wire, the pipe carries that the module includes the step motor driver, step motor, the photoelectric encoder of setting on pipe transport step motor are carried to the pipe is connected with step motor driver wire, the pipe transfers that the appearance module includes lead screw motor drive, appearance lead screw motor, two photoelectric encoder of setting on pipe accent appearance lead screw motor are transferred to the pipe is connected with lead screw motor drive wire. The utility model discloses can carry out real time control to the counter weight system for unmanned aerial vehicle is in flight, when water surface navigation two types switches, and stability is high, is favorable to retrenching the actuating system, practices thrift the space.
Description
[technical field]
The present invention relates to the technical field of unmanned aerial vehicle control system, particularly posture adjustment counterweight controls the technical field of system.
[background technology]
Unmanned plane has been widely applied to Military and civil fields, and traditional unmanned plane only adapts to single environment, has greatly limited to its range of application. the empty amphibious unmanned plane of water is that one can as aircraft, the equipment that can navigate by water on the water again, on the empty dual-purpose unmanned plane of general water, the drive system of the drive system and responsible water sailing state of being responsible for state of flight takes two independent set driving equipment, the amphibious unmanned plane structure of this employing discrete driving equipment is complicated, volume is big, and stability is difficult to be guaranteed in process when to adopt one of major obstacle that a set of drive system provides power encountered for state of flight and water sailing state be exactly switch between two states simultaneously, and one of solution route adopts adjustable Weighting system to carry out pose adjustment exactly, so needing a kind of control system suitable in the empty amphibious unmanned plane posture adjustment counter weight construction of water of exploitation.
[summary of the invention]
The purpose of the present invention solves the problems of the prior art exactly, propose the empty amphibious unmanned plane posture adjustment counterweight of a kind of water and control system, Weighting system can be controlled in real time, make unmanned plane when flight, surface navigation two states switch over, stability is high, be conducive to simplifying drive system, save space.
For achieving the above object, the present invention proposes the empty amphibious unmanned plane posture adjustment counterweight of a kind of water and controls system, including central controller, water distribution module, conduit conveyor module and conduit posture adjustment module; The peristaltic pump motor that the peristaltic pump electric machine controller that described water distribution module includes being connected with central controller wire is connected with peristaltic pump electric machine controller wire, also includes the effusion meter being connected with central controller wire; The conduit conveying motor that the stepper motor driver that described conduit conveyor module includes being connected with central controller wire is connected with stepper motor driver wire, being arranged on the first photoelectric encoder on conduit conveying motor, described first photoelectric encoder is connected with central controller by wire;Described conduit posture adjustment module includes the conduit posture adjustment lead screw motor being connected with lead screw motor driver wire with described central controller, the second photoelectric encoder being arranged in conduit posture adjustment lead screw motor by the lead screw motor driver that wire is connected, and described second photoelectric encoder is connected with described central controller by wire; Described central controller is also connected to gyroscope and lodar respectively through wire.
Beneficial effects of the present invention: the present invention carries out the water distribution module of posture adjustment counterweight by adopting central controller centralized management for unmanned plane, conduit conveyor module and conduit posture adjustment module, unmanned plane is made to be changed into the process of water sailing state can stablize and adjust attitude slowly by injecting the water of centre-of gravity shift in water pocket from flight attitude, simultaneously conduit reaches the length of engine body exterior and angle and dynamically adjusts along with the heeling condition of body itself, so that terminal can be immersed under the water surface all the time by conduit before end of drawing water, ensure the stability of pose adjustment, adopt peristaltic pump pulse little, be also beneficial to the stability of posture adjustment.
Inventive feature and advantage will be described in detail in conjunction with accompanying drawing by embodiment.
[accompanying drawing explanation]
Fig. 1 is the connection block diagram that the empty amphibious unmanned plane posture adjustment counterweight of water of the present invention controls system;
Fig. 2 is the flight attitude schematic diagram of the empty amphibious unmanned plane of water that the present invention is suitable for;
Fig. 3 is the empty amphibious unmanned plane water sailing attitude internal structure schematic diagram of water used in the present invention.
In figure: 1-drive system, 2-body, 3-water pocket.
[detailed description of the invention]
Consulting Fig. 1, Fig. 2 and Fig. 3, the empty amphibious unmanned plane posture adjustment counterweight of one water of the present invention controls system, including central controller, water distribution module, conduit conveyor module and conduit posture adjustment module; The peristaltic pump motor that the peristaltic pump electric machine controller that described water distribution module includes being connected with central controller wire is connected with peristaltic pump electric machine controller wire, also includes the effusion meter being connected with central controller wire; The conduit conveying motor that the stepper motor driver that described conduit conveyor module includes being connected with central controller wire is connected with stepper motor driver wire, being arranged on the first photoelectric encoder on conduit conveying motor, described first photoelectric encoder is connected with central controller by wire; Described conduit posture adjustment module includes the conduit posture adjustment lead screw motor being connected with lead screw motor driver wire with described central controller, the second photoelectric encoder being arranged in conduit posture adjustment lead screw motor by the lead screw motor driver that wire is connected, and described second photoelectric encoder is connected with described central controller by wire; Described central controller is also connected to gyroscope and lodar respectively through wire.
Work process of the present invention:
1) the empty amphibious unmanned plane posture adjustment counterweight of one water of the present invention controls system in the course of the work, when amphibious unmanned plane is in flight attitude as shown in Figure 2, to be changed into water sailing attitude, then body 2 gradually decreases to water surface site, in decline process, lodar can be launched ultrasound wave to the water surface and carry out altitude location, makes decline process mild without impacting;
2) after the bottom of body 2 drops to the water surface, conduit conveying step motor drive conduit in central controller controls conduit conveyor module is deep into below the water surface, and the length stretched out in body converts according to the revolution of the conduit conveying motor that the first photoelectric encoder records;
3) central controller controls peristaltic pump electric machine controller sends instruction and makes peristaltic pump motor start working, the peristaltic pump being located thereon is made to be transported to by only small pulse water flow in water pocket 3 as shown in Figure 3, now body 2 is because the position of water pocket 3 offset by center of gravity and tilts gradually, this process is slowly stable, the degree that body 2 tilts is detected by gyroscope, and feeds back in central controller;
4) along with the inclination and offset of body 2, conduit has the trend progressively disengaging the water surface, now central controller controls lead screw motor trigger sends instruction, conduit posture adjustment lead screw motor compressing conduit is made to be bent downwardly while elongation outside body 2 originally, so when body 2 transfers level to from the state of establishing gradually, conduit is bent downwardly still can be immersed in below the water surface, thus ensureing water pocket 3 can obtain enough water yields, ensure that posture adjustment can reach the most rational state, so that the work efficiency of drive system 1 reaches maximum.
The present invention, by adopting central controller centralized management to carry out the water distribution module of posture adjustment counterweight, conduit conveyor module and conduit posture adjustment module for unmanned plane, unmanned plane is made to be changed into the process of water sailing state can stablize and adjust attitude slowly by injecting the water of centre-of gravity shift in water pocket from flight attitude, simultaneously conduit reaches the length of engine body exterior and angle and dynamically adjusts along with the heeling condition of body itself, so that terminal can be immersed under the water surface all the time by conduit before end of drawing water, it is ensured that the stability of pose adjustment; Adopt peristaltic pump pulse little, be also beneficial to the stability of posture adjustment.
Above-described embodiment is the description of the invention, is not limitation of the invention, any scheme after simple transformation of the present invention is belonged to protection scope of the present invention.
Claims (1)
1. the empty amphibious unmanned plane posture adjustment counterweight of water controls system, it is characterised in that: include central controller, water distribution module, conduit conveyor module and conduit posture adjustment module; The peristaltic pump motor that the peristaltic pump electric machine controller that described water distribution module includes being connected with central controller wire is connected with peristaltic pump electric machine controller wire, also includes the effusion meter being connected with central controller wire; The conduit conveying motor that the stepper motor driver that described conduit conveyor module includes being connected with central controller wire is connected with stepper motor driver wire, being arranged on the first photoelectric encoder on conduit conveying motor, described first photoelectric encoder is connected with central controller by wire; Described conduit posture adjustment module includes the conduit posture adjustment lead screw motor being connected with lead screw motor driver wire with described central controller, the second photoelectric encoder being arranged in conduit posture adjustment lead screw motor by the lead screw motor driver that wire is connected, and described second photoelectric encoder is connected with described central controller by wire; Described central controller is also connected to gyroscope and lodar respectively through wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620010304.0U CN205293066U (en) | 2016-01-06 | 2016-01-06 | Empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620010304.0U CN205293066U (en) | 2016-01-06 | 2016-01-06 | Empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205293066U true CN205293066U (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620010304.0U Expired - Fee Related CN205293066U (en) | 2016-01-06 | 2016-01-06 | Empty amphibious unmanned aerial vehicle of water transfers appearance counter weight control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205293066U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539815A (en) * | 2016-01-06 | 2016-05-04 | 陈威宇 | Posture-adjusting balance-weight control system of water-air-amphibious unmanned aerial vehicle |
| CN113306703A (en) * | 2021-07-20 | 2021-08-27 | 武汉航测空间信息技术有限公司 | But balanced survey and drawing unmanned aerial vehicle of automatically regulated |
-
2016
- 2016-01-06 CN CN201620010304.0U patent/CN205293066U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539815A (en) * | 2016-01-06 | 2016-05-04 | 陈威宇 | Posture-adjusting balance-weight control system of water-air-amphibious unmanned aerial vehicle |
| CN113306703A (en) * | 2021-07-20 | 2021-08-27 | 武汉航测空间信息技术有限公司 | But balanced survey and drawing unmanned aerial vehicle of automatically regulated |
| CN113306703B (en) * | 2021-07-20 | 2023-07-18 | 武汉航测空间信息技术有限公司 | Surveying and mapping unmanned aerial vehicle capable of automatically adjusting balance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yi Weibo Inventor before: Chen Weiyu |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170419 Address after: 550003 Guiyang City, Yunyan District, Guizhou fly Hill Street (Kai fat building, building 3, No. 14) Patentee after: Guiyang Tongzhou New Technology Co., Ltd. Address before: Taizhou City, Zhejiang province 317599 Wenling city streets East Village two district 54 Building No. 622 Patentee before: Chen Weiyu |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160608 Termination date: 20180106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |