CN209321278U - It is tethered at UAV system - Google Patents
It is tethered at UAV system Download PDFInfo
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- CN209321278U CN209321278U CN201822144081.9U CN201822144081U CN209321278U CN 209321278 U CN209321278 U CN 209321278U CN 201822144081 U CN201822144081 U CN 201822144081U CN 209321278 U CN209321278 U CN 209321278U
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- control circuit
- tethered
- main control
- unmanned plane
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Abstract
The utility model provides one kind and is tethered at UAV system, which includes being tethered at unmanned plane, ground control box and mooring line, is ground control box connection external power supply；Being tethered at unmanned plane includes fuselage, main control circuit and sub-control circuit, multiple paddle components are provided on fuselage, ground control box is powered to main control circuit, main control circuit includes controller, voltage sensor, Power Component and GPS module, voltage sensor, Power Component and GPS module are connect with controller respectively, the voltage of voltage sensor detection main control circuit simultaneously obtains voltage monitoring signal, voltage sensor is to controller output voltage monitoring signals, Power Component includes multiple driving devices, and driving device drives paddle components；Sub-control circuit includes battery, and battery and external power supply are powered to main control circuit simultaneously, works as line fault, is main control circuit power supply by external power supply or battery, can be executed and be maked a return voyage by GPS module convenient for unmanned plane, reduce falling accident.
Description
Technical field
The utility model relates to unmanned plane fields, are specifically related to one kind and are tethered at UAV system.
Background technique
Unmanned plane is tethered at it is characterized in that carrying out operation of leaving a blank for a long time in limited distance, is communication relay and investigation etc.
The first-selected type for job requirements of leaving a blank for a long time.The power supply mode for being tethered at unmanned plane is entirely to rely on the power supply system on ground, machine
With it without energy storage device, it is tethered at unmanned plane Just because of this if there is mains supply line disruption, unmanned plane will be complete
It runs out of steam entirely, the major accidents such as personnel or property loss are caused on ground in direct settlement.
Currently, do not have in industry for the self-rescue system for being tethered at unmanned plane and designing, and traditional unmanned plane largely uses
Following two is saved oneself mode: 1, parachute is saved oneself mode, due to being tethered at the problem of unmanned plane is limited to transmission lines, flying height
It is limited, traditional parachute self-rescue system, which needs certain altitude, can just be fully deployed the work for playing and saving oneself as premise
With, be tethered at unmanned plane be unable to reach parachute open required for height, so being unable to satisfy the requirement saved oneself.Furthermore parachute
Self-rescue system is the freely falling body under non-autonomous state of a control, and landing place descent is determined by environmental factor completely, nothing
Method accomplishes avoidance, and the functions such as pinpoint landing, during unmanned plane falls, unmanned plane is possible to occur with the barrier on ground
Collision damages unmanned plane.2, gasbag-type is saved oneself mode, is provided with air bag in unmanned plane, although this kind of mode not by height limitation,
But since the gas generator of inside air bag belongs to disposable material, require to replace after each use, it is at high cost.
Utility model content
The main purpose of the utility model is to provide a kind of pinpoint landing and repeatedly used is tethered at UAV system.
In order to realize above-mentioned main purpose, it is provided by the utility model be tethered at UAV system include be tethered at unmanned plane,
Ground control box and mooring line, mooring line, which is connected to, to be tethered between unmanned plane and ground control box, and ground control box is for connecting
External power supply；Being tethered at unmanned plane includes fuselage, main control circuit and sub-control circuit, and multiple paddle components are provided on fuselage,
Ground control box be used for main control circuit power, main control circuit include controller, voltage sensor, Power Component and
GPS module, voltage sensor, Power Component and GPS module are connect with controller respectively, and voltage sensor is for detecting master control
The voltage of circuit processed simultaneously obtains voltage monitoring signal, and voltage sensor is to controller output voltage monitoring signals, Power Component packet
Multiple driving devices are included, driving device is for driving paddle components；Sub-control circuit includes battery, and battery is used for main control electricity
Road power supply.
It can be seen that ground control box connects external power supply and is powered by mooring line to unmanned plane, while in unmanned plane
Battery also the main control circuit in unmanned plane is powered, voltage sensor in main control circuit detects main control circuit
Voltage and obtain voltage detection signal, for voltage sensor to controller output voltage monitoring signals, controller receives voltage prison
After surveying signal, voltage monitoring signal is analyzed and determined, when controller analyze the voltage that is detected not setting value it
It is interior, and voltage is on a declining curve, after controller judges that power supply line breaks down, while electric line breaks down, unmanned plane
It is interior by external power supply or battery be main control circuit power, controller according to voltage monitoring signal judge whether execute landing journey
Sequence, it is the drop of unmanned plane that if controller judges executable landing procedure, battery or external power supply, which are powered main control circuit,
It falls the time required to striving for, and making a return voyage for unmanned plane is executed by GPS module, be accurately positioned and drop to departure location, avoid
During landing, the accidents such as collide, fall, and component in unmanned plane such as battery, voltage sensor etc. is also anti-
Multiple charging carries out using effectively save cost.
Further embodiment, battery are rechargeable battery, and sub-control circuit includes battery management module, battery management module
For detecting the temperature and electricity and to controller output temperature signal and electric quantity signal of battery, battery management module connection electricity
Pond.
As it can be seen that rechargeable battery can Reusability, save the cost, and battery management module has battery and balancedly protects
Shield extends battery.
Further embodiment be further include voltage changing module in unmanned plane, voltage changing module connects main control circuit, voltage changing module
It is connect by mooring line with ground control box.
As it can be seen that external power supply can be municipal administration power supply or generator powered, and the voltage of external power supply is excessive, is not suitable for nothing
Man-machine in-line power, therefore outer power voltage enters before unmanned plane inside and needs to carry out transformation.
Further embodiment is that, including rectifier and mooring line folding and unfolding module in ground control box, rectifier is for connecting
External power supply is connect, rectifier connects mooring line folding and unfolding module, and mooring line folding and unfolding module is tethered at unmanned plane by mooring line connection.
Detailed description of the invention
Fig. 1 is the structure chart that the utility model is tethered at UAV system embodiment.
Fig. 2 is the signal that the utility model is tethered at that main control circuit is connect with sub-control circuit in UAV system embodiment
Figure.
Fig. 3 is that the utility model is tethered at main control circuit in another embodiment of UAV system and connect with sub-control circuit
Schematic diagram.
The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.
Specific embodiment
Referring to Fig. 1, being tethered at UAV system includes being tethered at unmanned plane 2, ground control box 3 and mooring line 4, and mooring line 4 connects
It connects and is being tethered between unmanned plane 2 and ground control box 3, ground control box 3 is for connecting external power supply 1.In ground control box 3 also
It is provided with rectifier 32 and mooring line folding and unfolding module 31, rectifier 32 connects mooring line for connecting external power supply 1, rectifier 32
Folding and unfolding module 31, mooring line folding and unfolding module 31 are tethered at unmanned plane 2 by the connection of mooring line 4.Mooring line folding and unfolding module 31 include around
Drum 311, bidirectional driving apparatus 320, tension sensing arm 312, elastic component 319, induced magnet 315, Hall sensor 316 with
And signal generator 317, bidirectional driving apparatus 320, either-rotation motor 318, tension sensing arm 312, elastic component 319, hall sensing
Device 316 and signal generator 317 are arranged on wire spool 311, and wire spool 311 puts mooring line, tension sensing arm for rolling up
312 are articulated with wire spool 311, and the first end of tension sensing arm 312 is provided with idler wheel 314, the second end of tension sensing arm 312
It is provided with induced magnet 315, the hinged place 313 of tension sensing arm 312 is located at the first end and tension sense of tension sensing arm 312
Between the second end for answering arm 312.Elastic component 319 is connected between wire spool 311 and the second end of tension sensing arm 312.Hall
Sensor 316 is arranged by induced magnet 315,316 connection signal generator 317 of Hall sensor, and signal generator 317 connects
Bidirectional driving apparatus 320, two-wire driving device 320 drive either-rotation motor 318 to realize rotation.That places on wire spool 311 is tethered at
Idler wheel 314 and idler wheel 314 in the adjacent tension sensing arm 312 of rope 4 extend towards the direction of motion for being tethered at unmanned plane 2, are being tethered at
During unmanned plane 2 rises, tension that tension sensing arm 312 is subject under the traction of mooring line 4 towards tension sensing arm 312
The direction rotation to become larger, while overcoming the pulling force of elastic component 319, the rotation of tension sensing arm 312 drives turning for induced magnet 315
It is dynamic, so that induced magnet 315 is far from Hall sensor 316, so that Hall sensor 316 exports unwrapping wire to signal generator 317
Signal, signal generator 317 output control signals to bidirectional driving apparatus 320, and bidirectional driving apparatus 320 drives either-rotation motor
Driving, either-rotation motor 318 drive wire spool 311 to carry out unwrapping wire.After being tethered at the stopping rising of unmanned plane 2, the pulling force drop of mooring line 4
The low but certain pulling force of holding, tension sensing arm 312 are moved towards the direction that the tension being subject to becomes smaller, and tension sensing arm 312 turns to
Position originally, Hall sensor 316 stops output unwrapping wire signal, so that signal generator 317 stops to bidirectional driving apparatus
320 output control signals, so that either-rotation motor 318 stops working, 4 draw off gear of mooring line stops unwrapping wire.It is being tethered at unmanned plane 2
During decline, tension sensing arm 312 is no longer influenced by the pulling force for being tethered at unmanned plane 2, under the action of 319 pulling force of elastic component,
Power sensing arm 312 is rotated to the direction of 319 pulling force of elastic component, and the rotation of tension sensing arm 312 drives induced magnet 315 close
Hall sensor 316 is mobile, and Hall sensor 316 exports take-up signal to signal generator 317, and signal generator 317 receives
Control signal just is exported to bidirectional driving apparatus 320 after touching take-up signal, bidirectional driving apparatus 320 drives either-rotation motor 318 to drive
Dynamic, either-rotation motor 318 drives 311 take-up of wire spool.
Being tethered at unmanned plane 2 includes fuselage 21, main control circuit and sub-control circuit, and main control circuit and sub-control circuit divide
Multiple paddle components 22 She Zhi not be provided on fuselage 21 in fuselage 21.Ground control box 3 is used to supply to main control circuit
Electricity, referring to fig. 2, main control circuit include controller 5, voltage sensor 9, Power Component 7, GPS module 8 and electron speed regulator
6, voltage sensor 9, electron speed regulator 6 and GPS module 8 are connect with controller 5 respectively.Voltage sensor 9 is for detecting master
The voltage of control circuit simultaneously obtains voltage monitoring signal, and voltage sensor 9 is to 5 output voltage monitoring signals of controller, controller 5
After receiving the voltage monitoring signal that voltage sensor 9 exports, which is analyzed, received voltage is analyzed
When the voltage that monitoring signals are reflected in default range, to judge whether the situation of power supply line is normal.Power packages
Part 7 includes multiple driving devices, and in the present embodiment, driving device is motor, and driving device is for driving paddle components, electronics
Governor 6 connects motor, and controller 5 is also connect with electron speed regulator 6 to 6 speed-regulating signal of electron speed regulator, ground control box 3.
It further include voltage changing module 10 in unmanned plane 1, voltage changing module 10 connects main control circuit and connected by mooring line 4 and ground control box 3
It connects, external power supply 1 can be municipal administration power supply or generator powered, and the voltage of external power supply 1 is excessive, is not suitable for unmanned plane 2
In-line power, therefore 1 voltage of external power supply enters before 2 inside of unmanned plane and needs to carry out transformation.Controller 5 can be used with operation energy
The chip or CPU or single-chip microcontroller of power.
Sub-control circuit includes battery pack 12 and battery management module 13, and multiple monomer electricity are provided in battery pack 12
Pond, multiple single battery connections, battery pack 12 are used to power to main control circuit.In the present embodiment, battery pack 12 connects electricity
Sub- governor 6.In the present embodiment, battery is rechargeable battery, and sub-control circuit includes battery management module 13, battery management
Module 13 is used to detect the temperature and electricity and to 5 output temperature signal of controller and electric quantity signal, battery management module of battery
13 connection batteries.Rechargeable battery can Reusability, save the cost, and battery management module 13 has battery and balancedly protects
Shield extends battery.
Ground control box 3 connects external power supply 1 and is powered by mooring line 4 to unmanned plane 2, while the electricity in unmanned plane 1
Pond group 12 is also powered the main control circuit in unmanned plane 1, and the voltage sensor 9 in main control circuit detects main control electricity
The voltage on road simultaneously obtains voltage detection signal, and voltage sensor 9 receives electricity to 5 output voltage monitoring signals of controller, controller 5
After pressing monitoring signals, voltage monitoring signal is analyzed and determined, the voltage detected is analyzed when controller 5 and is not setting
Within value, and voltage is on a declining curve, after controller 5 judges that power supply line breaks down, while electric line breaks down, nothing
It by external power supply or battery is that main control circuit is powered in man-machine, controller judges whether to execute landing according to voltage monitoring signal
Program, it is unmanned plane 2 that if controller judges executable landing procedure, battery or external power supply, which are powered main control circuit,
Landing strive for the time required to, and by unmanned plane 2 can according to take off when GPS module 8 record longitude and latitude position execute nothing
Man-machine 2 make a return voyage, is accurately positioned and drops to departure location, avoids during landing, and the accidents such as collide, fall,
And also charging carries out using effectively save cost component in unmanned plane 2 such as battery, voltage sensor 9 etc. repeatedly.
It alternatively, in sub-control circuit further include control switch 11 referring to Fig. 3, controller 5 is opened to control
Close 11 output switching signals, control switch 11 is used to control the on-off of battery, control switch 11 can be used relay, triode or
Field-effect tube with switching function.Ground control box 3 connects external power supply 1 and is powered by mooring line 4 to unmanned plane 2, main
The voltage that voltage sensor 9 in control circuit detects main control circuit simultaneously obtains voltage detection signal, and voltage sensor 9 is to control
5 output voltage monitoring signals of device processed, controller 5 receive voltage monitoring signal after, voltage monitoring signal is analyzed and determined, when
Controller 5 analyzes the voltage detected not within setting value, and voltage is on a declining curve, the judgement power supply of controller 5
Route breaks down, and controller 5 exports switching signal to control switch 11, so that control switch 11 controls the energization of battery, makes
It obtains battery to be powered main control circuit, controller judges whether to execute landing procedure according to voltage monitoring signal, if control
Device judges executable landing procedure, strives for required time for the landing of unmanned plane 2, and passing through unmanned plane 2 can be according to when taking off
The longitude and latitude position that GPS module 8 records executes making a return voyage for unmanned plane 2, is accurately positioned and drops to departure location.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, it is not limited to this reality
With novel, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (4)
1. being tethered at UAV system, including it is tethered at unmanned plane, ground control box and mooring line, the mooring line is connected to the system
It stays between unmanned plane and the ground control box, the ground control box is for connecting external power supply；
It is characterized by:
The unmanned plane that is tethered at includes:
Fuselage is provided with multiple paddle components on the fuselage,
Main control circuit, the ground control box are used to power to the main control circuit, and the main control circuit includes control
Device, voltage sensor, Power Component and GPS module, the voltage sensor, the Power Component and the GPS module
It is connect respectively with the controller, the voltage sensor is used to detect the voltage of the main control circuit and obtains voltage monitoring
Signal, the voltage sensor export the voltage monitoring signal to the controller, and the Power Component includes multiple drivings
Device, the driving device is for driving the paddle components；
Sub-control circuit, the sub-control circuit include battery, and the battery is used to power to the main control circuit.
2. according to claim 1 be tethered at UAV system, it is characterised in that:
The battery is rechargeable battery, and the sub-control circuit includes battery management module, and the battery management module is used for
Detect the temperature and electricity and to the controller output temperature signal and electric quantity signal of battery, the battery management module connection
The battery.
3. according to claim 1 be tethered at UAV system, it is characterised in that:
It further include voltage changing module in the unmanned plane, the voltage changing module connects the main control circuit, and the voltage changing module is logical
The mooring line is crossed to connect with the ground control box.
4. according to any one of claims 1 to 3 be tethered at UAV system, it is characterised in that:
It include rectifier and mooring line folding and unfolding module in the ground control box, the rectifier is for connecting the external electrical
Source, the rectifier connect mooring line folding and unfolding module, and the mooring line folding and unfolding module described in mooring line connection by being tethered at
Unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144081.9U CN209321278U (en) | 2018-12-20 | 2018-12-20 | It is tethered at UAV system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144081.9U CN209321278U (en) | 2018-12-20 | 2018-12-20 | It is tethered at UAV system |
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| Publication Number | Publication Date |
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| CN209321278U true CN209321278U (en) | 2019-08-30 |
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| CN201822144081.9U Active CN209321278U (en) | 2018-12-20 | 2018-12-20 | It is tethered at UAV system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190435A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method for mooring unmanned aerial vehicle |
| CN112849417A (en) * | 2021-02-05 | 2021-05-28 | 深圳市亮视智能工程有限公司 | Unmanned aerial vehicle airborne power source and unmanned aerial vehicle system |
-
2018
- 2018-12-20 CN CN201822144081.9U patent/CN209321278U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190435A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method for mooring unmanned aerial vehicle |
| CN112849417A (en) * | 2021-02-05 | 2021-05-28 | 深圳市亮视智能工程有限公司 | Unmanned aerial vehicle airborne power source and unmanned aerial vehicle system |
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