CN205952334U - A receive and release system for mooring unmanned aerial vehicle - Google Patents
A receive and release system for mooring unmanned aerial vehicle Download PDFInfo
- Publication number
- CN205952334U CN205952334U CN201620660845.8U CN201620660845U CN205952334U CN 205952334 U CN205952334 U CN 205952334U CN 201620660845 U CN201620660845 U CN 201620660845U CN 205952334 U CN205952334 U CN 205952334U
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- cable
- tethered
- cabin
- unmanned plane
- folding
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Abstract
The utility model relates to a receive and release system for mooring unmanned aerial vehicle, including the cabin of receiving and releasing that is used for holding staying unmanned aerial vehicle, should receive and release the cabin and include: the elevating platform, it sets up at the inner space that receive and releases the cabin and is used for supplying staying unmanned aerial vehicle to stay in it, the slidable cabin cover, it sets up at the top of receiving and releasing the cabin in order to be used for opening and closing the inner space that receive and releases the cabin, a cable for communicating by letter and power transmission, and being used for receiving and releasing the cable pay -off and take -up equipment of cable, the cabin is being receive and release in its setting the inner space is connected with staying unmanned aerial vehicle through the cable. This system can supply it to park storage and protection for a long time during at perform tasks not at staying unmanned aerial vehicle, when staying unmanned aerial vehicle need take off, can in time open and lift preset position with it, make its departure of being convenient for, when staying unmanned aerial vehicle need descend, can in time open and navigate back to the assigned position through its accuracy of positioner precise guidance assurance, at the in -process that takes off and land, can also realize receiving and releasing the automation of cable through coiling and uncoiling device.
Description
Technical field
This utility model is related to aircraft field.More specifically, this utility model be related to a kind of for being tethered at unmanned plane
Extension and retraction system.
Background technology
Being tethered at unmanned plane is a kind of unmanned plane quickly growing now.Due to being tethered at the flight of unmanned plane and controlling requirement negative
Carry high voltage and high current, therefore, major part is tethered at unmanned plane and has been configured without power supply unit, or the confession of its power supply unit in itself
Electricity is very little.Generally, it is tethered at unmanned plane dependence one or multi-cable to be attached with ground power supply system and rely on ground to supply
Electric system provides continuation of the journey required electricity for it.Therefore, it is tethered at unmanned plane and always pulls cable in flight course, be tethered at no
Man-machine also hence obtain one's name.
And the folding and unfolding technology being tethered at unmanned plane is the important component part being tethered at unmanned air vehicle technique, rise to being tethered at unmanned plane
Drop and park protection etc. and play important guaranteeing role.And also not can effectively solve the problem that in prior art and be tethered at unmanned plane folding and unfolding
Problem, meets and is tethered at unmanned plane landing, the system corresponding requirement such as reclaim, park, protecting or device.
Utility model content
In order to solve the problems, such as the above-mentioned folding and unfolding being tethered at unmanned plane, this utility model provide a kind of for being tethered at unmanned plane
Extension and retraction system, it includes the folding and unfolding cabin for being tethered at unmanned plane described in accommodating, and wherein, described folding and unfolding cabin includes：Lifting platform, its
It is arranged on the inner space in described folding and unfolding cabin and for stopping thereon for the described unmanned plane that is tethered at；Slidably hatchcover；Its setting
Described folding and unfolding cabin top for open and close described folding and unfolding cabin inner space；For communication and power transmission
Cable；And the drawing cable equipment for folding and unfolding cable, described drawing cable equipment is arranged on the described interior of described folding and unfolding cabin
Portion space is simultaneously connected with the described unmanned plane that is tethered at by described cable.
Further, described lifting platform includes：Lifting platform body, its top surface be used for disposing described in be tethered at unmanned plane；Rise
Fall platform support, it is used for supporting described lifting platform body；And guide, it is located at the bottom of the inner space in described folding and unfolding cabin.
Further, described guide includes：Guide rail slide unit, guide rail slide block and motor, described guide rail slide block connects
To described lifting platform support, described motor drives described guide rail slide block to move up and down in described guide rail slide unit, thus
Described lifting platform support is driven to move up and down.
Further, described lifting platform body is provided with through hole, and described through hole is used for passing through for described cable；Described through hole
Lower section is provided with cable guiding device, and described cable guiding device is used for controlling the direction of described cable.
Further, described slidably hatchcover includes hatchcover body, hatchcover slide rail and sliding motor, and described sliding motor drives
Move described hatchcover body to slide to open and close described folding and unfolding cabin in described hatchcover slide rail.
Further, described cable is tethered at cable for aviation, and described aviation is tethered at cable and includes the alloy of more than to be led
The optical fiber cable of line and more than one.
Further, described drawing cable equipment includes：Wire spool, it is used for making described cable be wound around thereon；Stepping
Motor, it connects to described wire spool and controls the folding and unfolding linear velocity of described cable；Encoder, it is coaxially pacified with described wire spool
It is filled with for detecting winding length；Torque sensor, its one end connects to described wire spool and the other end connects to described stepping
Motor, for monitoring the torque value that described motor produces with respect to described wire spool；And controller, it is with described step
Stepper motor, described encoder and the electrical connection of described torque sensor, for controlling described motor and receiving described coiling
Length and torque value, wherein, described controller is communicated with GCU.
Further, described drawing cable equipment further includes the photoelectric integral type slip ring with described cable connection, institute
State photoelectric integral type slip ring include more than one electrical wire for loading high voltage and high current and more than one be used for counting
Light battery core according to communication.
Further, described extension and retraction system also includes and is tethered at when unmanned plane takes off, makes a return voyage, hovering and be servo-actuated pair described
Described it is tethered at the positioner that unmanned plane is positioned.
Further, described positioner includes the difference of the centralized positioning coordinate information for obtaining described lifting platform body
Divide GPS locator.
This utility model compared with prior art has the advantages that：
First, the system can be tethered at unmanned plane when not executing task, for parking storage for a long time for it, and passes through
Closable nacelle device is protected to it；
2nd, when being tethered at unmanned plane and needing to take off, this device can be opened in time, and is lifted by lowering or hoisting gear
Precalculated position flies out so as to easily put from former off-position；
3rd, be tethered at unmanned plane need make a return voyage landing when, this device can be opened in time, and is accurately made by positioner
It accurately makes a return voyage to specified location to lead guarantee, completes recovery operation；
4th, moreover it is possible to be realized to the automatic deploying and retracting being tethered at unmanned plane institute tape cable by take-up and pay-off device during landing,
To have ensured the landing being tethered at unmanned plane, hovering and automatically to have followed.
Brief description
Fig. 1 is that the closed mode of the extension and retraction system according to one embodiment of this utility model for being tethered at unmanned plane is illustrated
Figure.
Fig. 2 is to be opened according to the extension and retraction system of another embodiment of this utility model and lifting platform will be tethered at unmanned plane and hold out
The schematic diagram of state.
Fig. 3 is the schematic diagram of the drawing cable equipment according to the another embodiment of this utility model.
Specific embodiment
With reference to Figure of description, the technical solution of the utility model is described in further details.
As illustrated in fig. 1 and 2, the extension and retraction system for being tethered at unmanned plane of the present utility model includes being tethered at nobody for accommodating
The folding and unfolding cabin 20 of machine 10, it includes an inner space.Specifically, this folding and unfolding cabin 20 includes：Lifting platform 210, slidably hatchcover
220th, cable 230 and the drawing cable equipment 240 for folding and unfolding cable 230.
Wherein, lifting platform 210 is arranged in the inner space in folding and unfolding cabin 20 and stays in it for making to be tethered at unmanned plane 10
On.Specifically, lifting platform 210 includes：Lifting platform body 211, its top surface is tethered at unmanned plane 10 for arrangement；Lifting platform support
212, it is used for supporting lifting platform body 211；Guide, it is located at the bottom of the inner space in described folding and unfolding cabin, this guide
Including guide rail slide unit 213, guide rail slide block 214 and motor, the guide rail slide block 214 sliding along is set in guide rail slide unit 213,
One end of lifting platform support 212 connects to guide rail slide block 214 other end and connects to lifting platform body 211, and motor drives
The elevating movement that guide rail slide block 214 is carried out in guide rail slide unit 213 can drive lifting platform support 212 to move up and down, Jin Erke
Lifting platform body 211 and the unmanned plane 10 that is tethered at thereon is driven to move up and down.Preferably, lifting platform body 211 can rise to
The height substantially parallel with slidably hatchcover 220, or even exceed certain altitude, with favourable than slidably hatchcover 220 upper surface
In being tethered at taking off and landing of unmanned plane 10.
Further, it is tethered at unmanned plane 10 because cable 230 can followed by always, so being the entanglement avoiding cable 230
With guarantee cable 230, there is correct outlet direction, lifting platform body 211 is additionally provided with through hole 211a and is arranged at this through hole
Cable guiding device 211b below 211a（As shown in Figure 3）, cable 230 passes through through hole 211a and cable guiding device 211b connecting
To being tethered at unmanned plane 10.
Further, slidably hatchcover 220 is arranged on the top in folding and unfolding cabin 20 for opening and closing folding and unfolding cabin 20
Inner space.Specifically, slidably hatchcover 220 includes hatchcover body 221, hatchcover slide rail 222 and sliding motor 223, and slide electricity
Machine 223 drives hatchcover body 221 level in hatchcover slide rail 222 to slide to open and close inner space.
Further it is preferable that cable 230 can be tethered at cable for aviation, it includes two alloy lead wires and an optical fiber
Line, it has anti-big pulling force, characteristic that is soft, can coiling recovery, anti-high pressure and heavy current, and single-mode optics fibre core can be used for leading to
Letter.
Further, as shown in figure 3, drawing cable equipment 240 is also disposed in the inner space in folding and unfolding cabin 20, it is used for twining
Around with release cable 230, main include：Cable 230 is made to be wound around wire spool 241 thereon；Connect to described wire spool 241 simultaneously
Control the motor 242 of the folding and unfolding linear velocity of cable 230；It is co-axially mounted for detection winding length with wire spool 241
Encoder 243；For monitoring the torque sensor 244 of the torque value that motor 242 produces with respect to wire spool 241；And
Controller 245.
More specifically, wire spool 241 should be lightweight, inertia is little, facilitates electric 242 startups of stepping.Therefore, wire spool
The 241 coiling diameter of axle is chosen as 20-40cm, preferably 30cm.One end of torque sensor 244 connects to wire spool 241 and another
One end connects to the motor shaft of motor 242, the torsion producing with respect to wire spool 241 in order to real-time monitoring motor 242
Square value, and this numerical value is supplied to controller 245.When exceeding predetermined value when torque value is excessive, illustrate to be tethered at unmanned plane 10
Threading speed is too fast, and this leads to the pulling force that cable 230 bears excessive or explanation is tethered at unmanned plane 10 and is being subject to extremely strong external force, such as
Wind-force, effect, now should control and adjust the folding and unfolding speed of cable 230.
In one embodiment, the data of encoder 243 and torque sensor 244 collection can be by, for example, RS485 interface
Or controller 245, transmit to GCU（Including electric power system 30）, GCU obtains simultaneously and is tethered at unmanned plane
10 status data, such as flying quality and position data, and these data are carried out with COMPREHENSIVE CALCULATING acquisition control data, this control
Data processed can be fed back to the controller 245 of drawing cable equipment 240, to adjust and to control folding and unfolding linear velocity, and then coordinates system
Stay taking off and falling after rise of unmanned plane 10.
Further, drawing cable equipment 240 further includes photoelectric integral type slip ring 246, and it includes more than one use
Electrical wire and more than the one light battery core being used for data communication in load high voltage and high current.
Controller 245 and one of above-mentioned motor 242, encoder 243, torque sensor 244, slip ring 246 or
Many person's electrical connections.Controller 245 can be used for controlling startup and the stopping of motor 242.Controller 245 can be additionally used in receive around
Line length and torque value.Further, controller 245 is communicated with GCU and/or is electrically connected, and it will be around line length
Degree and torque value etc. transmit to GCU, and obtain control data from GCU and be tethered at unmanned plane 10 to control
Flight.Preferably, controller 245 can also gather flying quality and the position data of unmanned plane, and lifting platform body 211
Centralized positioning coordinate data, and be sent to GCU.It will be appreciated by those skilled in the art that drawing cable equipment
240 still further comprise the motor driver 247 of drive stepping motor 242, conversion electric power etc..
Further, also include in this extension and retraction system and be tethered at when unmanned plane takes off, makes a return voyage, hovering and be servo-actuated pair described
Described be tethered at the positioner that unmanned plane is positioned, in a preferred embodiment, this positioner is arranged on folding and unfolding cabin 20
In.
Further, this positioner includes a differential GPS localizer（Not shown）, it is used for obtaining lifting platform body
211 data relevant with centralized positioning coordinate, these data can be transferred into the controller of drawing cable equipment 240（As rear
Described）, accurately stop to drop on lifting platform body 211 thus contributing to control and being tethered at unmanned plane 10.
In the case of not execution task, hatchcover body 221 is in the state of the interior space in closing folding and unfolding cabin 20,
As shown in Figure 1.It is tethered in the internally positioned space of unmanned plane 10 and rests on the top surface of lifting platform body 211.So, reclaim
Cabin 20 is used for protecting a whole set of UAS and mechanism.After being connected to the instruction of execution aerial mission, sliding motor 223 starts cabin
To two Slideslips to open inner space, subsequently or simultaneously lifting platform body 211 is actuated to preferably rise up to lid body 221
The height substantially parallel with hatchcover body 221, completes flight preparation action, as shown in Figure 2.Then, it is tethered at unmanned plane 10 and drag city
Cable 230 takes off and executes task to setting height.After the completion of task, it is tethered at unmanned plane and makes a return voyage to lifting platform body 211, lifting platform
Body 211 drives and is tethered at the inner space that unmanned plane 10 drops to folding and unfolding cabin 20, and then or therewith hatchcover body 221 is slided to middle part
Move to close this inner space, thus completing this aerial mission.
In one embodiment, it is tethered at unmanned plane 10 and includes many rotor wing unmanned aerial vehicles body, fly control unit, IMU unit, communication
Unit, the second differential GPS unit, power module, TU task unit etc..Communication unit may be configured with optical transmitter and receiver, passes through Aviation cable
The information such as position and flying quality are transmitted back to GCU by optical fiber, are tethered at unmanned described in the second differential GPS unit acquisition
The position data of machine 10, thus realizing being accurately positioned, is realized unmanned plane and is taken off, makes a return voyage, hovers and automatically follow.
As described above, a kind of the utility model discloses extension and retraction system for being tethered at unmanned plane.When not executing task,
As shown in figure 1, be tethered at unmanned plane being encapsulated in folding and unfolding cabin；When needing execution task, pass through as shown in Figure 2 to control lifting platform
Slidably hatchcover will be tethered at unmanned plane and hold out in folding and unfolding cabin, be tethered at unmanned plane and can leave folding and unfolding cabin and rise and execute and be tethered at
Task, after the completion of task, the centralized positioning coordinate by means of the differential GPS unit of its own and the lifting platform body obtaining is realized
Accurately land in lifting platform body, and then lifting platform body automatically retracts in folding and unfolding cabin, complete the recovery action of unmanned plane.
Whole process can control via GCU and the controller being arranged in drawing cable equipment, without manual operation.
Therefore, this utility model solves the problems, such as to be tethered at the accurate takeoff and landing of unmanned plane, the problem that precise guidance is maked a return voyage, unmanned plane
Digital preservation, the problem of storage, and long-time to being tethered at the problem that unmanned plane is powered.
This utility model applicant describes in detail to embodiment of the present utility model with reference to Figure of description and retouches
State, it will be appreciated by those skilled in the art that above example is only a kind of embodiment of the present utility model, be only used for
Bright this utility model, the structure of wherein each part, connected mode etc. all can change, and explanation in detail is intended merely to help
Reader more fully understands this utility model spirit, and the not restriction to this utility model protection domain, on the contrary, any based on this
Any improvement modification that the utility model spirit of utility model is made and equivalents all should not be excluded in this practicality with improving
Outside new protection domain.
Claims (10)
1. a kind of extension and retraction system for being tethered at unmanned plane is it is characterised in that include the receipts for being tethered at unmanned plane described in accommodating
Put cabin, wherein, described folding and unfolding cabin includes：
Lifting platform, it is arranged on the inner space in described folding and unfolding cabin and for stopping thereon for the described unmanned plane that is tethered at；
Slidably hatchcover；It is arranged on the top in described folding and unfolding cabin for opening and closing the inner space in described folding and unfolding cabin；
Cable for communication and power transmission；
And the drawing cable equipment for folding and unfolding cable, described drawing cable equipment is arranged on the described inside in described folding and unfolding cabin
Space is simultaneously connected with the described unmanned plane that is tethered at by described cable.
2. extension and retraction system according to claim 1 is it is characterised in that described lifting platform includes：
Lifting platform body, its top surface be used for disposing described in be tethered at unmanned plane；
Lifting platform support, it is used for supporting described lifting platform body；With
Guide, it is located at the bottom of the inner space in described folding and unfolding cabin.
3. extension and retraction system according to claim 2 is it is characterised in that described guide includes：
Guide rail slide unit, guide rail slide block and motor, described guide rail slide block connects to described lifting platform support, described motor
Described guide rail slide block is driven to move up and down in described guide rail slide unit, thus driving described lifting platform support to move up and down.
4. extension and retraction system according to claim 2 is it is characterised in that described lifting platform body is provided with through hole, described logical
Hole is used for passing through for described cable；It is provided with cable guiding device, described cable guiding device is used for controlling described below described through hole
The direction of cable.
5. extension and retraction system according to claim 1 is it is characterised in that described slidably hatchcover includes hatchcover body, hatchcover
Slide rail and sliding motor, described sliding motor drives described hatchcover body to slide to open and close in described hatchcover slide rail
State folding and unfolding cabin.
6. extension and retraction system according to claim 1 is it is characterised in that described cable is tethered at cable for aviation, described aviation
It is tethered at cable and include the alloy lead wire of more than and the optical fiber cable of more than.
7. extension and retraction system according to claim 1 is it is characterised in that described drawing cable equipment includes：
Wire spool, it is used for making described cable be wound around thereon；
Motor, it connects to described wire spool and controls the folding and unfolding linear velocity of described cable；
Encoder, it is co-axially mounted for detecting winding length with described wire spool；
Torque sensor, its one end connects to described wire spool and the other end connects to described motor, for monitoring institute
State the torque value that motor produces with respect to described wire spool；And
Controller, it is electrically connected with described motor, described encoder and described torque sensor, for controlling described step
Stepper motor and the described winding length of reception and torque value, wherein, described controller is communicated with GCU.
8. extension and retraction system according to claim 7 it is characterised in that described drawing cable equipment further include with described
The photoelectric integral type slip ring of cable connection, described photoelectric integral type slip ring includes more than one being used for loading high voltage and high current
Electrical wire and more than one be used for data communication light battery core.
9. extension and retraction system according to claim 1 is tethered at nothing it is characterised in that described extension and retraction system also includes described
Man-machine it is tethered at, to described, the positioner that unmanned plane is positioned when taking off, make a return voyage, hovering and be servo-actuated.
10. extension and retraction system according to claim 9 is it is characterised in that described positioner is included for obtaining described liter
The differential GPS localizer of the centralized positioning coordinate information of fall playscript with stage directions body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620660845.8U CN205952334U (en) | 2016-06-29 | 2016-06-29 | A receive and release system for mooring unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620660845.8U CN205952334U (en) | 2016-06-29 | 2016-06-29 | A receive and release system for mooring unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN205952334U true CN205952334U (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620660845.8U Expired - Fee Related CN205952334U (en) | 2016-06-29 | 2016-06-29 | A receive and release system for mooring unmanned aerial vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005462A (en) * | 2016-06-29 | 2016-10-12 | 任雪峰 | Retraction system for mooring unmanned aerial vehicle and method for deploying and retracting mooring unmanned aerial vehicle with same |
| CN106963019A (en) * | 2017-04-25 | 2017-07-21 | 苏州科伊嘉航空科技有限公司 | A kind of day eye Hull-Mounted Set |
| CN108147230A (en) * | 2017-12-16 | 2018-06-12 | 广东容祺智能科技有限公司 | One kind is tethered at unmanned plane retractable cable system |
| CN108806181A (en) * | 2017-05-02 | 2018-11-13 | 刘玥 | A kind of financial institution's warning aid |
| CN109398744A (en) * | 2018-10-19 | 2019-03-01 | 北京大工科技有限公司 | One kind being tethered at UAV system and its control method |
| CN111413997A (en) * | 2020-04-14 | 2020-07-14 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor mooring unmanned aerial vehicle and flight control method thereof |
| US10737581B2 (en) | 2018-06-04 | 2020-08-11 | Industrial Technology Research Institute | Adaptive power supply system and operation method thereof |
| CN112277682A (en) * | 2020-09-14 | 2021-01-29 | 广东顺德电力设计院有限公司 | Belt-off type unmanned aerial vehicle charging system |
| CN112623252A (en) * | 2020-12-25 | 2021-04-09 | 中国电子科技集团公司第五十四研究所 | Tethered unmanned aerial vehicle system based on vehicle-mounted platform |
| CN113487827A (en) * | 2021-07-12 | 2021-10-08 | 吴桐雨 | Environment intelligent alarm system with high accuracy |
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2016
- 2016-06-29 CN CN201620660845.8U patent/CN205952334U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005462A (en) * | 2016-06-29 | 2016-10-12 | 任雪峰 | Retraction system for mooring unmanned aerial vehicle and method for deploying and retracting mooring unmanned aerial vehicle with same |
| CN106963019A (en) * | 2017-04-25 | 2017-07-21 | 苏州科伊嘉航空科技有限公司 | A kind of day eye Hull-Mounted Set |
| CN108806181A (en) * | 2017-05-02 | 2018-11-13 | 刘玥 | A kind of financial institution's warning aid |
| CN108147230A (en) * | 2017-12-16 | 2018-06-12 | 广东容祺智能科技有限公司 | One kind is tethered at unmanned plane retractable cable system |
| US10737581B2 (en) | 2018-06-04 | 2020-08-11 | Industrial Technology Research Institute | Adaptive power supply system and operation method thereof |
| CN109398744A (en) * | 2018-10-19 | 2019-03-01 | 北京大工科技有限公司 | One kind being tethered at UAV system and its control method |
| CN111413997A (en) * | 2020-04-14 | 2020-07-14 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor mooring unmanned aerial vehicle and flight control method thereof |
| CN111413997B (en) * | 2020-04-14 | 2023-08-22 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor wing mooring unmanned aerial vehicle and flight control method thereof |
| CN112277682A (en) * | 2020-09-14 | 2021-01-29 | 广东顺德电力设计院有限公司 | Belt-off type unmanned aerial vehicle charging system |
| CN112623252A (en) * | 2020-12-25 | 2021-04-09 | 中国电子科技集团公司第五十四研究所 | Tethered unmanned aerial vehicle system based on vehicle-mounted platform |
| CN113487827A (en) * | 2021-07-12 | 2021-10-08 | 吴桐雨 | Environment intelligent alarm system with high accuracy |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170215 Termination date: 20190629 |