CN208198804U - A kind of unmanned plane with landing pooling feature - Google Patents
A kind of unmanned plane with landing pooling feature Download PDFInfo
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- CN208198804U CN208198804U CN201820711542.3U CN201820711542U CN208198804U CN 208198804 U CN208198804 U CN 208198804U CN 201820711542 U CN201820711542 U CN 201820711542U CN 208198804 U CN208198804 U CN 208198804U
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Abstract
The utility model discloses a kind of unmanned planes with landing pooling feature, including single unmanned plane, the unmanned plane include upper layer rack and lower rack；The upper layer rack is arranged in parallel in above the lower rack, is detachably fixed connection by several vertical connecting columns between the upper layer rack and the lower rack；This programme structure is simple, plays the role of buffering when unmanned plane comparatively fast lands, and landing rigid impact is effectively prevent to damage.
Description
Technical field
The utility model belongs to unmanned plane field more particularly to a kind of unmanned plane with landing pooling feature.
Background technique
Current unmanned plane make a return voyage land when, since there is the phenomenon that fast speed once in a while in operating reason, be easy over the ground
Rigid collision occurs for face or carrier, and then is easily damaged electrical equipment more fragile inside unmanned plane.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model provides a kind of with landing buffering
A kind of unmanned plane with landing pooling feature of function.
Technical solution: to achieve the above object, a kind of unmanned plane with landing pooling feature of the utility model, including
Single unmanned plane, the unmanned plane include upper layer rack and lower rack；The upper layer rack is arranged in parallel in lower layer's machine
Above frame, connection is detachably fixed by several vertical connecting columns between the upper layer rack and the lower rack；
Control module is fixedly installed in the middle part of the upper layer rack；It further include rain-proof right above the control module
Cap, the rainhat are the hollow shell structure that top is in arc-shaped protrusion；The rainhat bottom passes through several rainhat branch
Support is connected with upper layer rack support；The lower rack includes four horns extended around, the end of each horn
Upside is mounted on rotor.
Further, the end parallel beneath of each horn is provided with lead ring, and the lead ring is outstanding by several fixations
Hanging column and the fixed suspension connection of corresponding horn；The middle part of the lead ring is concentric to be provided with guide pillar hole；
It further include buffering guide post, the buffering guide post is concentric to pass through the guide pillar hole, the buffering guide post outer wall and institute
Guide pillar hole inner wall clearance fit is stated, the buffering guide post upper end is concentric to be fixedly connected with spring press disk, and spring presses disk institute
It is greater than the guide pillar hole in diameter, the buffering guide post lower end is connected with support leg；
It further include buffer spring, the lower end press connection spring top platen upper surface of the buffer spring is described slow
Rush the lower wall that spring upper end is fixedly connected with the horn.
Further, the support leg is rubber calotte structure；Also suspension is provided with signal lamp below the lower rack.
The utility model has the advantages that increasing the intensity of whole frame using the double-deck rack construction, bumper post plays certain buffering and makees
With, play the role of buffering when unmanned plane comparatively fast lands, effectively prevent landing rigid impact damage.
Detailed description of the invention
Attached drawing 1 is the monitoring network first state schematic diagram of the utility model；
Attached drawing 2 is second status diagram of monitoring network of the utility model；
Attached drawing 3 is the monitoring network third state schematic diagram of the utility model；
Attached drawing 4 is control module Communication Model
Attached drawing 5 is control module hardware block diagram；
The mutual Communication Model figure between unmanned plane node of attached drawing 6；
Attached drawing 7 is the initial sub-clustering flow chart of the utility model network；
Attached drawing 8 is the utility model period sub-clustering phase flow figure；
Attached drawing 9 is the first schematic diagram of unmanned plane specific structure；
Attached drawing 10 is the second schematic diagram of unmanned plane specific structure；
Attached drawing 11 is structural schematic diagram at the label 15 of attached drawing 9；
Attached drawing 12 is unmanned plane specific structure top view；
Attached drawing 13 is the first schematic diagram of unmanned aerial vehicle console；
Attached drawing 14 is the second schematic diagram of unmanned aerial vehicle console.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
As shown in attached drawing 1 to 14, the utility model is further described with reference to the accompanying drawing.
The specific structure introduction of unmanned plane and ground control platform:
A kind of unmanned plane with landing pooling feature as shown in Fig. 9 to 14, including single unmanned plane 17, it is described nobody
Machine includes upper layer rack 16 and lower rack 9；The upper layer rack 16 is arranged in parallel in 9 top of the lower rack, it is described on
Connection is detachably fixed by several vertical connecting columns 10 between layer rack 16 and the lower rack 9；Using upper layer rack 16
The structural strength of whole frame is improved with the form that lower rack 9 combines, while additionally aiding reduction overall weight；
The middle part of the upper layer rack 16 is fixedly installed with control module 14；The surface of the control module 14 further includes
Rainhat 13, the rainhat 13 are the hollow shell structure that top is in arc-shaped protrusion；If 13 bottom of rainhat passes through
Dry rainhat support 12 is connected with the upper layer rack 16 support；The lower rack 9 includes four horns extended around
9.1, the end upside of each horn 9.1 is mounted on rotor 1.
The end parallel beneath of each horn 9.1 is provided with lead ring 3, and the lead ring 3 passes through several fixed hanging columns 2
With the fixed suspension connection of corresponding horn 9.1；The middle part of the lead ring 3 is concentric to be provided with guide pillar hole 7；
It further include buffering guide post 4, the buffering guide post 4 is concentric to pass through the guide pillar hole 7,4 outer wall of buffering guide post
With the 7 inner wall clearance fit of guide pillar hole, 4 upper ends of the buffering guide post are concentric to be fixedly connected with spring press disk 6, spring top
6 place diameter of platen is greater than the guide pillar hole 7, and 4 lower end of buffering guide post is connected with support leg 5；It further include buffer spring 8,
The lower end press of the buffer spring 8 connects the spring and presses 6 upper surface of disk, and 8 upper end of buffer spring is fixedly connected with institute
State the lower wall of horn 9.1；When 4 structure of buffering guide post plays unmanned plane with fast speed landing ground, certain buffering is played
It acts on, the equipment such as electrical part on effective protection unmanned plane are by impact failure.
In the present embodiment, the support leg is rubber calotte structure；Also suspension is provided with signal below the lower rack
Lamp.
It further include unmanned aerial vehicle console；The unmanned aerial vehicle console includes crawler-type mobile car body；The shoe
18 top horizontal of vehicle frame of belt moving body is provided with cabinet 23, and unmanned plane is movably set in the cabinet 23 and accommodates drawer
21, hydraulic cylinder device 19,24 end of push rod of the hydraulic cylinder device 19 and the unmanned plane are also equipped on the vehicle frame 18
Accommodate 21 synchronized links of drawer, the hydraulic cylinder device 19 can drive the unmanned plane accommodate drawer 21 released from cabinet 23 or
It is drawn back on the outside of cabinet 23 to cabinet 23；The unmanned plane accommodate rest in the accommodating chamber 22 of drawer 21 have it is several nobody
Machine 17, unmanned plane can all drop to unmanned plane and accommodate in drawer 21 during simple unmanned plane transports or is idle, convenient
Directly retract storage, collective conveyance；Signal transmitting and receiving control module 20, the signal transmitting and receiving control are also equipped on the vehicle frame 18
The mutual communication connection of control module 14 of module 20 and each unmanned plane 17.
The unmanned plane 17 to rest in the accommodating chamber 22 of unmanned plane receiving drawer 21 all flies out under 23 state of cabinet, Ge Gewu
The man-machine each unmanned plane node of formation, mutual communication connection between each control module；
Control system brief introduction
This programme devises a kind of intellectual monitoring unmanned aerial vehicle (UAV) control module based on cluster algorithm.Module is mounted in nobody
On machine, by the collaboration of intermodule by unmanned plane at setting up a monitoring system, system by several random distributions unmanned plane
And a ground control cabinet composition, unmanned plane carry out the transmitting of information by way of Uneven Cluster to realize that network is assisted
Make；Unmanned plane is realized by the cooperation mode of Uneven Cluster to the overall monitor in region in monitoring region.
When occurring in monitoring network without target, all unmanned planes are in random motion state in system, and in each work
When starting as the period, several leader cluster nodes are determined according to the different distance of each unmanned plane node and ground control cabinet, are remained
Remaining unmanned plane is added among nearest sub-clustering, such as Fig. 1.Wherein solid arrow is indicated from unmanned plane monitoring node to cluster head
Data transfer path, light arrow indicate data transfer path of the cluster head to the unmanned plane for serving as routing node, dark arrow generation
Table routing unmanned plane node sends the data to the path of ground control cabinet.The light color node such as C1, C2 and dark routing node
At a distance of recently, become leader cluster node, remaining monitoring node is separately added into different clusters according to distance.By Uneven Cluster
Afterwards, unmanned plane monitoring node can will be both sent to by leader cluster node routing unmanned plane node, can also directly with routing nothing
Man-machine node, which is connected, carries out information forwarding.
Since unmanned plane is in persistent movement, after a duty cycle, when next cycle in system nobody
The relative position and absolute position of machine can all change.Therefore system each duty cycle can sub-clustering again, formed new
Topological structure, such as Fig. 2.
After occurring target in monitoring network, perceive at first target unmanned plane monitoring data will be reported to belonging to
Cluster head sends the data to routing unmanned plane node via leader cluster node, is finally forwarded to ground control cabinet, more when occurring simultaneously
When a target, different targets is monitored by different clusters and data report.As Fig. 3, unmanned plane A detect target T1
Afterwards, by leader cluster node C2 and routing unmanned plane R2 by information reporting to ground control cabinet, another region of system at the same time
Middle unmanned plane B captures target T2, is controlled information reporting to ground by different leader cluster node C4 and routing unmanned plane R4
Platform；
The system model of this programme
A kind of intellectual monitoring unmanned aerial vehicle control system based on cluster algorithm, unmanned plane accommodate in the accommodating chamber 22 of drawer 21
The unmanned plane 17 to rest all flies out under 23 state of cabinet, and each unmanned plane forms each unmanned plane node, each control module it
Between mutual communication connection；
One variable H is set in each control module, indicates this unmanned plane at a distance from ground control cabinet；At the beginning of system
Each unmanned plane first detects itself at a distance from ground control cabinet when beginningization, and as the basis for determining sub-clustering；
Meanwhile in system work process, since the unmanned plane itself that control module is carried is in movement, node
H value be also in variation；
The specific implementation of sub-clustering is again based on the comparison of H value between different unmanned planes, and the lesser node of H value first is excellent
First become preparation cluster head, then each prepared cluster head is listened in communication range itself, if not receiving other communication models
The broadcast message for enclosing interior prepared cluster head then sends and announces oneself to become the broadcast of cluster head, while carrying out the number of cluster to oneself, and
Receive member of other unmanned planes as cluster；
H value frequently changes the stability of influence system sub-clustering in order to prevent, introduces the general of threshold value switch_H herein
It reads；At a time, the move distance of unmanned plane can be expressed as Δ H；When only the value of Δ H is greater than threshold value switch_H,
Algorithm just will start the sub-clustering again for this node, allow it to be added in new cluster, or be directly becoming cluster head；
After unmanned plane is mobile, relative position changes, and the sub-clustering of script will be not suitable for and the unmanned plane section in network
Point distribution, carries out the sub-clustering again of unmanned plane at this time, introduces the concept of node degree and timing, carries out the period to whole network
Property sub-clustering, effectively maximally utilizes Internet resources.
Unmanned aerial vehicle (UAV) control modular model:
Firstly, the Communication Model of control module is as shown in figure 4, the unmanned plane node includes monitoring unmanned plane node and road
By unmanned plane node；A monitors unmanned plane node, and B is the target in unmanned plane monitoring range, and C routes unmanned plane node；Often
A monitoring unmanned plane node possesses fixed monitoring range radius Rc and communication radius Rd；Routing unmanned plane node only possesses fixation
Communication radius Rd；In a practical situation since other factors interference communication radius is generally in irregular shape；
After monitoring unmanned plane node A discovery target B, the routing unmanned plane node C in communication range is transferred information to；Nothing
Man-machine node can only be added in a cluster within the same time, can be detached from current cluster at any time in the duty cycle and others are added
In cluster；Each unmanned plane node has the target acquisition region of itself, can be overlapped, is independent of each other；
Control module hardware block diagram 5 is as follows, by power supply module, interactive module with unmanned plane, and radio frequency identification module,
Processing module and memory module are constituted.Wherein radio frequency identification module is responsible for being in communication with each other between control module, for constituting
Network.The interactive module of unmanned plane is then mainly responsible for the information exchange between unmanned plane mounted, sends position to unmanned plane
Confidence breath；
This control module is mounted on unmanned plane, by the cooperation between module, multiple unmanned planes is controlled and sets up one
Intellectual monitoring network.It realizes with the control mode of periodic non-uniform sections the monitoring network that cooperates.It carries
The unmanned plane exemplary diagram of intelligent control module is as follows；
The unmanned plane node for being equipped with control module has the following characteristics that
(1) each unmanned plane node acquisition transmission information of, cannot directly control other unmanned planes in communication zone；
(2) unmanned plane node can only be added in a cluster within the same time, but can be detached from any time in the duty cycle
Current cluster is added in other clusters；
(3) each unmanned plane node of has the target acquisition region of itself, can be overlapped, is independent of each other.
Secondly, routing unmanned plane node communication model is similar with monitoring unmanned plane node, difference is routing node not
Possess the ability of monitoring objective, it is only necessary to be forwarded in communication radius Rd to data.Between routing node and monitoring node
Interaction such as Fig. 6.Wherein A is that monitoring unmanned plane node transfers information in communication range after finding target B
Route unmanned plane node C.
The model of ground control cabinet does not need to draw herein and indicate, in this unmanned plane monitoring system, ground control cabinet is only
The receiving for needing to carry out data, does not need with other function.
Shown in furnace body 7 and 8, the sub-clustering working mechanism of unmanned plane node:
The duty cycle of each unmanned plane node can be divided into three parts, and t1 indicates to determine the cluster head stage, and t2, which indicates to be added, to be divided
The judgement stage of cluster, t3 indicate the normal work stage after the completion of sub-clustering.Three phases are a duty cycle altogether.Nobody
Machine determines whether itself becomes prepared leader cluster node by H value in the t1 stage, if then being detectd in communication range itself
It listens, if not receiving the broadcast message of preparation cluster head in other communication ranges, sends and announce that oneself becomes the broadcast of cluster head.It is no
It is then directly entered the t2 stage, this stage is added some sub-clustering to unmanned plane this working cycles and makes decisions, in the t3 stage according to rank
The cluster of section 2 exported to select work.
First after system initialization, one information of all node broadcasts by ground control cabinet into region (in
Heart node can be sent with sufficiently large power, to guarantee all unmanned planes covered in network, according to RSSI calculation formula, net
Unmanned plane in network is determined and ground control cabinet distance H with this.Here setting is communicated when the H value of unmanned plane node less than node
When radius Rd, this unmanned plane will become preparation leader cluster node；
Setting t moment Ni node is expressed as H (i, t) at a distance from ground control cabinet, and each monitoring unmanned plane node leads to
Letter range is Rd.Unmanned plane node Ni can judge according to the following formula whether oneself becomes prepared leader cluster node；
After determining unmanned plane Ni is preparation leader cluster node, start to send cluster head id signal to surrounding
This sub-clustering will be added in indentifcation, periphery unmanned plane after receiving this signal.If at this time node Ni there is no by
Id signal transmitted by other unmanned planes, then automatically become leader cluster node, if receiving id signal, compares two transmission letters
Number unmanned plane H value, lesser node become leader cluster node, this sub-clustering is then added in another.
What whether setting t moment preparation cluster head Ni became leader cluster node is identified as cluster head (i, t), passes through following formula
It may determine that whether unmanned plane Ni becomes leader cluster node.
After the completion of cluster head judgement, the cluster head id signal of leader cluster node broadcast can be directly received in network
The unmanned plane of indentifcation can be directly added into this sub-clustering, while forward this cluster head id signal
Indentifcation can also be added in other unmanned planes in its communication range in this sub-clustering.At the beginning of lower Fig. 7 is network
Beginning sub-clustering flow chart.
Since unmanned plane is in movement, sub-clustering is also not unalterable, in the move distance Δ H of leader cluster node
Value be greater than threshold value switch_H when, network carry out cluster reconstruct.The energy of various broadcast exchange information when in order to save cluster
Consumption, only in preliminary stage of preparation, all nodes are reconstructed in the period, all using the cluster mode of preparation cluster head in later cluster
Using timing mechanism.Here setting d (Ni, Nj) be node Ni between Nj at a distance from, can be according to RSSI distance calculation formula meter
It calculates.
And the concept of definition node degree, i.e., the neighbor node number within the scope of node perceived indicate are as follows:
Ni.D={ Ni|Nj∈V,d(Ni,Nj)≤Ni(R)}
Wherein V is the set of all monitoring nodes, if d (Ni,Nj) this is apart from the competition radius for being less than or equal to node, i.e.,
Node can the range that arrives of broadcast communication, then this node is denoted as neighbor node, and be accumulated as node degree.
Each unmanned plane is calculated from the formula the timing of oneself, if having received the cluster of other unmanned planes within the time
Leader know message, the cluster is just directly added into, if not receiving, it is determined that oneself for cluster head and broadcasted in communication range oneself at
For the message of cluster head.After reaching the maximum contention time, the cluster of response is added according to the cluster head broadcast message received for all unmanned planes
In, the cluster of network, which reconstructs, to be completed.
Set timing formula are as follows:
Wherein, alpha+beta+γ=1, be each parameter weight adjustment factor, k be an adjustment factor, be set as (0.9,1) it
Between a random number, when in order to reduce transmitting cluster head mark message between node, a possibility that time conflict；TCH0 is setting
The maximum contention time, H0For the initial distance of node and central node, H (Ni) it is node currently at a distance from central node,
NiIt .D is the node degree of node, n is the total number N of nodeiIt (R) is the competition radius of node.
Here timing mechanism is used, energy consumption when every wheel cluster reconstruct can be saved, and improve the efficiency of network.
Influencing timing setting, mainly there are three parameters, and when unmanned plane distance center node is closer, node degree is higher, competes radius
When bigger, set timing is shorter, i.e., more easily becomes leader cluster node.Distance parameter can make close to ground control cabinet
The preferential cluster of unmanned plane.The following figure is the flow chart in period sub-clustering stage.
1. hardware design
The problem of establishing unmanned plane monitoring regional model.When designing Cluster Networks, the correct foundation of regional model is monitored
The correctness of follow-up study achievement will be directly influenced.
The storage to unmanned plane spacing H value concept is realized first on hardware, is controlled here using register pair different moments
The H value of molding block is stored.Then the relative velocity between unmanned plane node and target, and the spirit to target induction are analyzed
Sensitivity, there are also the distance between unmanned plane, barrier, influence of the external factor such as weather environment to communication quality and communication distance.
The mode of intelligence transmission of monitoring node selects broadcast mode, it is established that true Controlling model, and according to authentic testing result
Statistical parameter is modified.
In unmanned air vehicle technique, weight when multiple no-manned plane formation reconfiguration includes formation switching and lacks a frame or multiple UAVs
The reconstruct of new flight pattern.Using this network topology mode based on cluster algorithm, may be implemented to send out in the position of unmanned plane
When changing, the pathfinder of each formation is quickly determined, while realizing the fast synergistic between multiple unmanned plane groupings.
The above is only the preferred embodiment of the utility model, it should be pointed out that: for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (4)
1. a kind of unmanned plane with landing pooling feature, it is characterised in that: including single unmanned plane (17), the unmanned plane packet
Include upper layer rack (16) and lower rack (9)；The upper layer rack (16) is arranged in parallel in above the lower rack (9), institute
It states to be detachably fixed between upper layer rack (16) and the lower rack (9) by several vertical connecting columns (10) and connect；
Control module (14) are fixedly installed in the middle part of the upper layer rack (16)；It also wraps the surface of the control module (14)
It includes rainhat (13), the rainhat (13) is the hollow shell structure that top is in arc-shaped protrusion；Rainhat (13) bottom
Portion supports (12) and the upper layer rack (16) to support and connects by several rainhats.
2. a kind of unmanned plane with landing pooling feature according to claim 1, it is characterised in that: the lower rack
(9) include four horns extended around (9.1), be mounted on rotor (1) on the upside of the end of each horn (9.1).
3. a kind of unmanned plane with landing pooling feature according to claim 2, it is characterised in that: each horn
(9.1) end parallel beneath is provided with lead ring (3), and the lead ring (3) passes through several fixed hanging columns (2) and corresponding machine
The fixed suspension connection of arm (9.1)；The middle part of the lead ring (3) is concentric to be provided with guide pillar hole (7)；
It further include buffering guide post (4), the buffering guide post (4) is concentric to pass through the guide pillar hole (7), the buffering guide post (4)
Outer wall and the guide pillar hole (7) inner wall clearance fit, buffering guide post (4) upper end is concentric to be fixedly connected with spring press disk
(6), diameter is greater than the guide pillar hole (7) where spring press disk (6), and buffering guide post (4) lower end is connected with support leg
(5)；
It further include buffer spring (8), the lower end press of the buffer spring (8) connects the spring and presses disk (6) upper surface, institute
State the lower wall that buffer spring (8) upper end is fixedly connected with the horn (9.1).
4. a kind of unmanned plane with landing pooling feature according to claim 3, it is characterised in that: the support leg
It (5) is rubber calotte structure；Also suspension is provided with signal lamp (11) below the lower rack (9).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710348A (en) * | 2018-05-14 | 2018-10-26 | 西安工业大学 | A kind of unmanned aerial vehicle group control system and its unmanned machine equipment |
| WO2022062203A1 (en) * | 2020-09-24 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
-
2018
- 2018-05-14 CN CN201820711542.3U patent/CN208198804U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710348A (en) * | 2018-05-14 | 2018-10-26 | 西安工业大学 | A kind of unmanned aerial vehicle group control system and its unmanned machine equipment |
| CN108710348B (en) * | 2018-05-14 | 2024-03-26 | 西安工业大学 | Unmanned aerial vehicle crowd control system and unmanned aerial vehicle equipment thereof |
| WO2022062203A1 (en) * | 2020-09-24 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
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