CN211919004U - Unmanned aerial vehicle and control system are put in to goods and materials - Google Patents

Abstract

The application provides a material throwing unmanned aerial vehicle and a control system, which comprise an unmanned aerial vehicle, a driving mechanism and a carrying box, wherein the driving mechanism is fixed below the unmanned aerial vehicle, and the carrying box is connected below the driving mechanism through a traction rope; unmanned aerial vehicle includes: a fuselage, a pair of wings and a pair of empennages; the tail wing is provided with a deflectable tail vane, and the wing is provided with a deflectable aileron; a pair of backward rear boosting propellers and a pair of forward front tilting propellers are arranged below the wings; the driving mechanism comprises a stepping motor, a driving gear is mounted on the stepping motor, the outer side of the driving gear is meshed with a winding structure, one end of a traction rope is fixed on the winding structure, and the other end of the traction rope is connected to the object carrying box. The beneficial effect of this application is: after the unmanned aerial vehicle flies to a target destination, the traction rope pulls the carrying box to vertically lift through the rotation of the stepping motor in the driving mechanism, so that the throwing accuracy and stability are improved.

Description

Unmanned aerial vehicle and control system are put in to goods and materials

Technical Field

The utility model relates to an unmanned aerial vehicle searches for ands rescue technical field, concretely relates to goods and materials input unmanned aerial vehicle and control system.

Background

At present unmanned aerial vehicle search and rescue field most rely on high definition and thermal imagery camera to carry out peripheral investigation and detection, can't be real plays the effect of help to the wounded, and traditional parachute landing goods and materials uncertainty is very big in addition, and the directionality is relatively poor, can cause the loss of goods and materials midway moreover, can not guarantee that the goods and materials can fix a point, perpendicularly to ground send to meet the people's of distress the side.

Disclosure of Invention

The utility model provides a material input unmanned aerial vehicle and control system to above problem.

In a first aspect, the application provides a material throwing unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a driving mechanism and a carrying box, wherein the driving mechanism is fixed below the unmanned aerial vehicle, and the carrying box is connected below the driving mechanism through a traction rope;

the unmanned aerial vehicle includes: the aircraft comprises an airframe, a pair of wings and a pair of empennages, wherein the wings and the empennages are arranged on two sides of the airframe; the pair of tail wings are arranged in a V shape and fixed at the tail part of the machine body, tail rudders are arranged on the pair of tail wings respectively, and tail steering engines for controlling the tail rudders to deflect are arranged on the tail wings corresponding to the tail rudders; ailerons are respectively arranged on one sides of the wings close to the empennage, and aileron steering engines for controlling the ailerons to deflect are arranged on the wings corresponding to the ailerons;

the lower surfaces of the pair of wings are respectively fixedly provided with a mounting bracket, the mounting bracket is arranged in a direction parallel to the fuselage, one end of the mounting bracket, which is close to the empennage, is provided with a rear-mounted boosting propeller, and the other end of the mounting bracket is provided with a front-mounted tilting propeller; the mounting bracket is provided with a pair of rear boosting paddles and a pair of front tilting paddles which are corresponding to each other and are respectively provided with a driving motor, and the mounting bracket is provided with a tilting steering engine which is corresponding to the pair of tilting paddles and is used for controlling the tilting paddles to turn over;

the driving mechanism comprises a stepping motor, a driving gear is mounted on an output shaft of the stepping motor, the outer side of the driving gear is meshed with a winding structure, one end of the traction rope is fixed on the winding structure, and the other end of the traction rope is connected to the carrying box.

According to the technical scheme provided by the embodiment of the application, the driving mechanism comprises a first mounting plate detachably mounted on the bottom surface of the machine body, a second mounting plate is connected to the lower portion of the first mounting plate through a first supporting mechanism, the stepping motor is fixed to one side, far away from the first mounting plate, of the second mounting plate, and an output shaft of the stepping motor penetrates through the second mounting plate and then extends to a position between the second mounting plate and the first mounting plate; the lower part of the second mounting plate is connected with the carrying box; and the driving gear is fixed on an output shaft of the stepping motor between the first mounting plate and the second mounting plate.

According to the technical scheme provided by the embodiment of the application, the winding structure comprises four groups of winding assemblies, wherein the four groups of winding assemblies are symmetrically arranged on the outer side of the driving gear; the winding assembly comprises a driven gear, a fixing column and a gland, the fixing column is vertically fixed between the second mounting plate and the first mounting plate, the driven gear is rotatably sleeved on the fixing column, the driven gear is horizontally meshed with the driving gear, the gland is rotatably sleeved on the fixing column and fixedly connected with the driven gear, the gland is fixed above the driven gear and forms a winding groove with the driven gear, one end of the traction rope is fixed in the winding groove, and the other end of the traction rope is connected to the carrying box.

According to the technical scheme provided by the embodiment of the application, the second mounting plate is respectively provided with a guide structure corresponding to each winding assembly, and each guide structure is symmetrically arranged above the carrying box; the movable end of the traction rope passes through the guide structure and then extends downwards to be connected to the carrying box; and a stop microswitch arranged corresponding to the carrying box is arranged at the lower edge of one end, far away from the winding assembly, of the guide structure.

According to the technical scheme provided by the embodiment of the application, the guide structure comprises a guide carbon tube horizontally arranged and a rotating assembly arranged at one end, far away from the winding assembly, of the guide carbon tube, and one end, far away from the rotating assembly, of the guide carbon tube is fixed on the second mounting plate through a fixing seat; the movable end of the hauling rope sequentially penetrates through the guide carbon tube and the rotating assembly and then is connected to the carrying box.

According to the technical scheme that this application embodiment provided, rotating assembly includes a pair of installation cover, and is a pair of installation cover parcel is in the outside of guide carbon pipe is a pair of be equipped with bearing, location axle and roller bearing between the installation cover respectively, the bearing sets up a pair relatively with the location axle between the installation cover, the bearing embedded is one in the installation cover, the one end of location axle is fixed in another in the installation cover, be connected with rotationally the roller bearing between bearing and the location axle.

According to the technical scheme that this application embodiment provided, be equipped with on the actuating mechanism unmanned aerial vehicle can trigger start micro-gap switch.

According to the technical scheme that this application embodiment provided, the bottom of carrying the thing case is equipped with the chamber door, carry and correspond on the thing case the chamber door sets up the case steering wheel of control chamber door switching.

According to the technical scheme provided by the embodiment of the application, the ultrasonic sensor is installed on the carrying box.

In a second aspect, the present application provides a material delivery unmanned aerial vehicle control system, including: the first control system is used for controlling the driving mechanism, the second control system is used for controlling the carrying box, and the third control system is used for controlling the unmanned aerial vehicle;

the first control system comprises a first controller, a first data transmission module, a first voltage reduction module and a first power supply; the first power supply is configured to supply power to the first voltage reduction module; the first voltage reduction module is configured to power the first controller; the first controller is configured to receive signals for stopping the micro switch and starting the micro switch, and send control signals to the stepping motor;

the second control system comprises a second controller, a second data transmission module, a second voltage reduction module, a third voltage reduction module, a fourth voltage reduction module and a second power supply; the second power supply is configured to respectively supply power to the second voltage-reducing module, the third voltage-reducing module and the fourth voltage-reducing module; the second voltage reduction module is configured to power the second controller; the third voltage reduction module and the fourth voltage reduction module respectively supply power to a pair of box steering engines; the second controller is configured to receive signals of the ultrasonic sensor and send control signals to the pair of box steering engines;

the first and second data transmission modules are configured for signal communication between the first and second controllers;

the third control system comprises a third controller, a fifth voltage reduction module, a sixth voltage reduction module, a third data transmission module, an electronic speed regulator and a third power supply; the third power supply is configured to power the third controller, the electronic governor, and a fifth buck module; the fifth voltage reduction module is configured to reduce the voltage of the third power supply and supply power to the sixth voltage reduction module; the sixth voltage reduction module is configured to reduce the voltage of the fifth voltage reduction module and supply power to the third data transmission module; the four electronic speed regulators are respectively configured for controlling the rotating speed of the driving motor; and the third controller is configured to communicate with ground software through a third data transmission module and respectively send control signals to the electronic speed regulator, the tilting steering engine, the tail steering engine and the aileron steering engine.

The invention has the beneficial effects that: the application provides a material throwing unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a driving mechanism and a carrying box, wherein the driving mechanism is fixed below the unmanned aerial vehicle, and the carrying box is connected below the driving mechanism through a traction rope; the unmanned aerial vehicle includes: the aircraft comprises an airframe, a pair of wings and a pair of empennages, wherein the wings and the empennages are arranged on two sides of the airframe; the pair of tail wings are arranged in a V shape and fixed at the tail part of the machine body, tail rudders are arranged on the pair of tail wings respectively, and tail steering engines for controlling the tail rudders to deflect are arranged on the tail wings corresponding to the tail rudders; ailerons are respectively arranged on one sides of the wings close to the empennage, and aileron steering engines for controlling the ailerons to deflect are arranged on the wings corresponding to the ailerons; the lower surfaces of the pair of wings are respectively fixedly provided with a mounting bracket, the mounting bracket is arranged in a direction parallel to the fuselage, one end of the mounting bracket, which is close to the empennage, is provided with a rear-mounted boosting propeller, and the other end of the mounting bracket is provided with a front-mounted tilting propeller; the mounting bracket is provided with a pair of rear boosting paddles and a pair of front tilting paddles which are corresponding to each other and are respectively provided with a driving motor, and the mounting bracket is provided with a tilting steering engine which is corresponding to the pair of tilting paddles and is used for controlling the tilting paddles to turn over; the driving mechanism comprises a stepping motor, a driving gear is mounted on an output shaft of the stepping motor, the outer side of the driving gear is meshed with a winding structure, one end of the traction rope is fixed on the winding structure, and the other end of the traction rope is connected to the carrying box.

The unmanned aerial vehicle carrying the materials vertically takes off from the base under the action of the rear booster propeller and the front tilting propeller, enters a fixed wing mode under the action of wings and empennages to fly for a long distance in the air, carries out spiral search after reaching a destination, and enters a vertical hovering mode under the action of the rear booster propeller and the front tilting propeller after confirming a target to prepare for material release; actuating mechanism control step motor is rotatory, it is rotatory to drive the driving gear, the rotatory winding arrangement that drives the meshing of driving gear is rotatory, thereby make the haulage rope of winding on winding arrangement constantly extend the unwrapping wire, thereby make the thing case of carrying of connecting on the haulage rope constantly move down, after carrying the vertical decline of thing case apart from ground certain distance, the goods and materials of carrying the thing incasement are put in to fixed point region, thereby realize the perpendicular of goods and materials through unmanned aerial vehicle, the accurate input of fixed point.

Drawings

FIG. 1 is a schematic side view of an axial structure of a first embodiment of the present application;

FIG. 2 is a schematic front view of a first embodiment of the present application;

FIG. 3 is a schematic side view of the driving mechanism and the carrying case of the first embodiment of the present application;

FIG. 4 is a front view of the driving mechanism and the carrying case of the first embodiment of the present application;

FIG. 5 is a schematic view of an exploded structure of a driving gear engaged with a driven gear in a first embodiment of the present application;

FIG. 6 is a schematic exploded view of a guide structure according to a first embodiment of the present application;

figure 7 is a schematic exploded view of a carrier case according to a first embodiment of the present application;

FIG. 8 is a schematic block diagram of a second embodiment of the present application;

FIG. 9 is a circuit wiring diagram of a first control system of a second embodiment of the present application;

FIG. 10 is a circuit wiring diagram of a second control system of the second embodiment of the present application;

FIG. 11 is a circuit wiring diagram of a third control system of the second embodiment of the present application;

the text labels in the figures are represented as: 110. a first mounting plate; 120. a second mounting plate; 200. a carrying box; 210. a box door; 220. a box steering engine; 230. an ultrasonic sensor; 240. a box body connecting piece; 300. a stepping motor; 410. a driving gear; 420. a driven gear; 430. fixing a column; 440. a gland; 450. a winding groove; 500. a hauling rope; 600. stopping the microswitch; 710. a guide carbon tube; 720. installing a sleeve; 721. a bearing; 722. positioning the shaft; 723. a roller; 730. a fixed seat; 810. a body; 820. an airfoil; 821. an aileron; 830. a tail wing; 831. a tail rudder; 840. mounting a bracket; 850. a boosting paddle is arranged at the rear part; 860. a front inclined rotating paddle; 861. a tilting steering engine; 870. the motor is driven.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.

Fig. 1 to 4 are schematic diagrams illustrating a first embodiment of the present application, which includes an unmanned aerial vehicle, a driving mechanism and a carrying case 200, wherein the driving mechanism is fixed below the unmanned aerial vehicle, and the carrying case 200 is connected below the driving mechanism through a hauling rope 500. After vertically taking off from a base through an unmanned aerial vehicle system which vertically takes off and lands and carries out launching of goods and materials, carrying out spiral search after long-distance flight is carried out and the unmanned aerial vehicle system reaches a destination, and entering a vertical hovering mode after a target is confirmed to prepare for launching of the goods and materials; the driving mechanism controls the carrying box 200 below the driving mechanism to move vertically, and after the driving mechanism reaches a fixed point area, the throwing materials in the carrying box 200 are thrown.

The unmanned aerial vehicle includes: a fuselage 810, a pair of wings 820 and a pair of empennages 830 arranged on both sides of the fuselage 810; the pair of the empennages 830 are arranged in a V shape and fixed at the tail part of the fuselage 810, tail rudders 831 are respectively arranged on the pair of the empennages 830, and tail steering engines for controlling the deflection of the tail rudders 831 are arranged on the empennages 830 corresponding to the tail rudders 831; ailerons 821 are respectively arranged on one side of the pair of wings 820 close to the empennage 830, and aileron steering engines for controlling the deflection of the ailerons 821 are arranged on the wings 820 corresponding to the ailerons 821.

In this embodiment, the empennage 830 and the wings 820 form fixed wings of the drone, and on the basis that the empennage 830 and the wings 820 are fixed relative to the fuselage 810, the ailerons 821 can deflect relative to the wings 820 to adjust the attitude of the fuselage 810, and the tail rudder 831 can deflect relative to the empennage 830 and also play a role in adjusting the attitude of the fuselage 810. In this embodiment, the yawing motion of the aileron 821 relative to the wing 820 is driven and controlled by an aileron steering engine; the yaw movement of the tail rudder 831 relative to the tail wing 830 is drivingly controlled by a tail steering engine. In this embodiment, the unmanned aerial vehicle adopts a fixed-wing flight mode when taking off to control for long-distance flight, and the attitude of the unmanned aerial vehicle in the fixed-wing flight mode is adjusted through the ailerons 821 and the tail rudder 831 on the premise that the wings 820 and the tail fin 830 are fixed.

In this embodiment, aileron steering wheel and tail steering wheel all adopt silver swallow metal 9G steering wheel.

The lower surfaces of the pair of wings 820 are respectively fixedly provided with a mounting bracket 840, the mounting bracket 840 is arranged in a direction parallel to the fuselage 810, one end of the mounting bracket 840 close to the empennage 830 is provided with a rear boosting propeller 850, and the other end of the mounting bracket 840 is provided with a front tilting propeller 860; the mounting bracket 840 is provided with a pair of driving motors 870 corresponding to the rear boosting paddles 850 and the front tilting paddles 860, and the mounting bracket 840 is provided with a pair of tilting steering engines 861 corresponding to the tilting paddles and controlling the tilting paddles to turn.

In this embodiment, the pair of rear propellers 850 are mainly used to provide lift force when the aircraft is in a vertical flight mode, and are stationary in a fixed-wing flight mode. In this embodiment, the driving motor 870 of the rear booster blade 850 is a motor of langyu 4112.

In this embodiment, the pair of forward tilt propellers 860 provide lift for the vertical flight mode of the aircraft and thrust for the fixed wing flight mode, that is, the forward tilt propellers 860 are both operational and functional in both flight modes of the drone. In the vertical flight mode, the forward tilt-rotate paddle 860 rotates at high speed under the action of the driving motor 870 to provide lift force for the vertical flight of the airplane; in the fixed-wing flight mode, the front tilt propeller 860 rotates at a high speed by the driving motor 870, and the tilt steering engine 861 drives the front tilt propeller 860 to rotate for 90 degrees integrally and then works continuously to provide thrust for the aircraft in the fixed-wing flight mode. In this embodiment, the driving motor 870 of the front tilting paddle 860 is a langyu 3520 motor, and the tilting steering engine 861 is a 25KG tilting steering engine 861.

The driving mechanism comprises a stepping motor 300, a driving gear 410 is mounted on an output shaft of the stepping motor 300, the outer side of the driving gear 410 is meshed with a winding structure, one end of the traction rope 500 is fixed on the winding structure, and the other end of the traction rope is connected to the carrying box 200. In this embodiment, the stepping motor 300 is a Nology42 planetary speed reduction stepping motor 300, and the pull rope 500 is a steel wire rope.

In this embodiment, the unmanned aerial vehicle carrying the materials vertically takes off from the base under the action of the rear booster propellers 850 and the front tilt propellers 860, flies for a long distance in a fixed wing mode in which the unmanned aerial vehicle enters the wings 820 and the empennage 830 in the air, searches for a circle after arriving at a destination, and enters a vertical hovering mode in which the rear booster propellers 850 and the front tilt propellers 860 act after confirming a target to prepare for material delivery; actuating mechanism control step motor 300 is rotatory, it is rotatory to drive driving gear 410, the rotatory winding structure who drives the meshing of driving gear 410 is rotatory, thereby make the continuous extension unwrapping wire of haulage rope 500 of winding on winding structure, thereby make the thing case 200 of carrying of connection on haulage rope 500 constantly move down, after carrying the vertical decline of thing case 200 apart from ground certain distance, the goods and materials of carrying in the thing case 200 are put in to fixed point region, thereby realize the perpendicular of goods and materials through unmanned aerial vehicle, the accurate input of fixed point.

In a preferred embodiment, the driving mechanism includes a first mounting plate 110 detachably mounted on the bottom surface of the body 810, a second mounting plate 120 is connected to the lower side of the first mounting plate 110 through a first supporting mechanism, the side of the second mounting plate 120 away from the first mounting plate 110 fixes the stepping motor 300, and the output shaft of the stepping motor 300 passes through the second mounting plate 120 and then extends between the second mounting plate 120 and the first mounting plate 110; the carrying box 200 is connected below the second mounting plate 120; the driving gear 410 is fixed to the output shaft of the stepping motor 300 between the first mounting plate 110 and the second mounting plate 120.

In the preferred embodiment, the first mounting plate 110 and the second mounting plate 120 are fixedly mounted, the step motor 300 operates under the action of the control system, and the step motor 300 rotates to drive the driving gear 410 to rotate.

In a preferred implementation of the above preferred embodiment, as shown in fig. 5, the winding assemblies are symmetrically disposed outside the driving gear 410; the winding assembly comprises a driven gear 420, a fixed column 430 and a gland 440, the fixed column 430 is vertically fixed between the second mounting plate 120 and the first mounting plate 110, the driven gear 420 is rotatably sleeved on the fixed column 430, the driven gear 420 is horizontally meshed with the driving gear 410, the gland 440 is rotatably sleeved on the fixed column 430 and is fixedly connected with the driven gear 420, the gland 440 is fixed above the driven gear 420 and forms a winding groove 450 with the driven gear 420, one end of the traction rope 500 is fixed in the winding groove 450, and the other end of the traction rope is connected to the carrying case 200. In the preferred embodiment, the driven gear 420 of the winding assembly is engaged with the driving gear 410, and the driven gear 420 rotates and simultaneously realizes the paying-off and the taking-up of the hauling cable 500 wound in the winding groove 450, thereby realizing the vertical lifting of the carrier box 200 connected below the hauling cable 500, so that the winding assembly has a multiplexing function.

In a preferred implementation manner of the above preferred embodiment, the second mounting plate 120 is provided with a guiding structure corresponding to each winding assembly, and each guiding structure is symmetrically arranged above the carrying box 200; the movable end of the pulling rope 500 passes through the guide structure and then extends downwards to be connected to the luggage box 200; the lower edge of one end of the guiding structure far away from the winding assembly is provided with a stop microswitch 600 which is arranged corresponding to the carrying box 200. In the preferred embodiment, the guiding structure is provided to guide the pulling rope 500 wound on the winding assembly outwardly over the edge of the corresponding carrier case 200. In this preferred embodiment, the stop microswitch 600 is provided on the guide structure, and when the loading box 200 is raised after being thrown in, the stop microswitch 600 is triggered after the upper edge of the loading box 200 contacts the stop microswitch 600, thereby controlling the stepping motor 300 to stop working. In this embodiment, the stop microswitch 600 is of the type AC1300V 5A.

Preferably, as shown in fig. 6, the guiding structure includes a horizontally disposed guiding carbon tube 710 and a rotating component disposed at an end of the guiding carbon tube 710 far from the winding component, and an end of the guiding carbon tube 710 far from the rotating component is fixed on the second mounting plate 120 by a fixing seat 730; the movable end of the pulling rope 500 is connected to the carrying case 200 after passing through the guiding carbon tube 710 and the rotating component in sequence. In this preferred mode, the expansion end of the hauling cable 500 passes through the guiding carbon tube 710 and the rotating component in sequence and then is connected to the carrying case 200, the guiding carbon tube 710 is used for extending the hauling cable 500 outwards from the winding component, because the cross-sectional area of the carrying case 200 is larger than the cross-sectional areas of the first mounting plate 110 and the second mounting plate 120, the hauling cable 500 is connected to the four corners of the carrying case 200 for the ascending or descending function of the carrying case 200 to be more stable. The rotation component makes the hauling cable 500 pass through the guiding carbon tube 710 and then contact with the edge of the guiding carbon tube 710 more smoothly, thereby ensuring the stability of the lifting and moving process of the carrying box 200.

Preferably, as shown in fig. 6, the rotating assembly includes a pair of mounting sleeves 720, the pair of mounting sleeves 720 is wrapped outside the carbon guide tube 710, a bearing 721, a positioning shaft 722 and a roller 723 are respectively disposed between the pair of mounting sleeves 720, the bearing 721 and the positioning shaft 722 are disposed between the pair of mounting sleeves 720 in an opposite manner, the bearing 721 is embedded in one of the mounting sleeves 720, one end of the positioning shaft 722 is fixed in the other mounting sleeve 720, and the roller 723 is rotatably connected between the bearing 721 and the positioning shaft 722. In the preferred embodiment, a pair of mounting sleeves 720 are fixedly mounted on the outer periphery of the carbon guide tube 710, so that the pair of mounting sleeves 720 are wrapped on the outer periphery of the carbon guide tube 710, the bearings 721 and the positioning shafts 722 are respectively and oppositely mounted in the pair of mounting sleeves 720, the roller 723 is connected between the bearings 721 and the positioning shafts 722, and the roller 723 is rotatably connected between the bearings 721 and the positioning shafts 722. The movable end of the pulling rope 500 extending from the end of the guide carbon tube 710 is transmitted along the roller 723, and the roller 723 can rotate relatively, so that the friction force generated when the pulling rope 500 contacts the roller 723 is reduced, and the pulling rope 500 is transmitted along the roller 723 more smoothly.

In a preferred embodiment, the driving mechanism is provided with a start microswitch which can be triggered by the unmanned aerial vehicle. In this preferred mode, set up on first mounting panel 110 and start the micro-gap switch, after unmanned aerial vehicle's remote controller sent the start instruction, start the start-up steering wheel (not shown in the figure) on the unmanned aerial vehicle and trigger and start the micro-gap switch, start the micro-gap switch and triggered the back, step motor 300 begins to start work. In this embodiment, the start microswitch is of the type AC1300V 5A.

In a preferred embodiment, as shown in fig. 7, a box door 210 is disposed at the bottom of the carrying box 200, and a box steering gear 220 for controlling the opening and closing of the box door 210 is disposed on the carrying box 200 corresponding to the box door 210. In this preferred mode, after carrying case 200 and arriving to set for the height apart from ground, control box steering wheel 220 is rotatory to drive chamber door 210 and open, will carry the material of carrying in the case 200 and put in. In the preferred embodiment, the box steering engine 220 is a dual-output-shaft digital steering engine.

In a preferred embodiment, the carrier case 200 is provided with an ultrasonic sensor 230. The ultrasonic sensor 230 is installed on the carrier case 200 to detect the height of the carrier case 200 from the ground. Preferably, when the ultrasonic sensor 230 detects a distance of 1 m from the ground, the stepping motor 300 stops operating. In the preferred embodiment, the ultrasonic sensor 230 employs an IOE-SR05 ultrasonic ranging module.

In a preferred embodiment, box connectors 240 are respectively installed at four corners of the top plate of the carrier box 200, and the movable end of the traction rope 500 is fixed to the box connectors 240. In this preferred embodiment, set up box connecting piece 240 respectively on the four corners of carrying case 200 roof, can make four haulage ropes 500 of connecting respectively on box connecting piece 240 evenly atress, can guarantee that four haulage ropes 500 evenly bear and carry case 200 to make the input process more steady.

As shown in fig. 8, a second embodiment of the present application, which is a control system of the first embodiment, includes: the first control system for controlling the driving mechanism, the second control system for controlling the carrying box 200 and the third control system for controlling the unmanned aerial vehicle.

As shown in fig. 9, the first control system includes a first controller, a first data transmission module, a first voltage reduction module, and a first power supply; the first power supply is configured to supply power to the first voltage reduction module; the first voltage reduction module is configured to power the first controller. In this embodiment, the first power supply is a rechargeable lithium battery, and the first power supply is configured to supply power to the first voltage reduction module; the first voltage reduction module is configured to supply power to the first controller, and in this embodiment, the first voltage reduction module adopts a HENGE 4A switch UBEC voltage reduction module, so as to reduce an input power supply of 7V to 26V of the first power supply to 5V 4A of electric quantity for the first controller to use.

The first controller is configured to receive signals of the stop micro switch 600 and the start micro switch, and send control signals to the stepping motor 300. The first controller is configured to receive signals of the stop micro switch 600 and the start micro switch, and send control signals to the stepping motor 300; in this embodiment, the first controller uses Arduino nano V3.0 ATMEGA328P, and sends a stop signal to the stepping motor 300 when the first controller receives a signal to stop the micro switch 600, and sends a start signal to the stepping motor 300 when the first controller receives a signal to start the micro switch. In this embodiment, the first controller controls the stepping motor 300 through the seven-te stepping motor 300 driving controller, the stepping motor 300 driving controller is used for controlling the rotation direction, speed and enable of the stepping motor 300 and providing power for the stepping motor 300, and the power of the stepping motor 300 driver is provided by the first controller.

As shown in fig. 10, the second control system includes a second controller, a second data transmission module, a second voltage reduction module, a third voltage reduction module, a fourth voltage reduction module, and a second power supply; the second power supply is configured to respectively supply power to the second voltage-reducing module, the third voltage-reducing module and the fourth voltage-reducing module; the second voltage reduction module is configured to power the second controller; the third voltage reduction module and the fourth voltage reduction module respectively supply power to a pair of the box steering engines 220. In this embodiment, the second power supply is a rechargeable lithium battery, and the second power supply is configured to respectively supply power to the second voltage-reducing module, the third voltage-reducing module, and the fourth voltage-reducing module;

the second voltage reduction module, the third voltage reduction module and the fourth voltage reduction module are BEC voltage reduction modules, wherein the second voltage reduction module reduces the 7V-26V input power of the second power supply into 5V 3A electric quantity to supply power to the second controller, and the third voltage reduction module and the fourth voltage reduction module respectively reduce the 7V-26V input power of the second power supply into 7V 3A electric quantity to supply power to a pair of steering engines of the control box door 210; in this embodiment, the steering engine for controlling the box door 210 is a double-output-shaft digital steering engine.

The second controller is configured to receive signals from the ultrasonic sensor 230 and send control signals to a pair of the tank steering engines 220. The second controller is configured to receive a signal from the ultrasonic sensor 230 and send a control signal to a pair of steering engines; in this embodiment, the second controller adopts Arduino nano V3.0 ATMEGA328P, and when the second controller receives the signal of 1 meter on the ground that ultrasonic sensor 230 detected, send ultrasonic signal to the first controller through second data transmission module and first data transmission module, by the stop work of first controller control step motor 300.

The first and second data transfer modules are configured for signal communication between the first and second controllers. The first and second data transmission modules are configured for signal communication between the first and second controllers, and in this embodiment, the first and second data transmission modules are both of an AS01-ML01DP52.4G 100mw type.

As shown in fig. 11, the third control system includes a third controller, a fifth voltage-reducing module, a sixth voltage-reducing module, a third data-transmission module, an electronic governor, and a third power supply.

The third power supply is configured to supply power to the third controller, the electronic governor, and the fifth voltage-reducing module, and the third power supply is a 6S16000MAH battery in this embodiment.

The fifth voltage reduction module is configured to reduce the voltage of the third power supply and supply power to the sixth voltage reduction module. In this embodiment, the fifth voltage reduction module converts the 7V-26V input power supply of the third power supply into 12V electric quantity by using a HENGE 4A switch UBEC.

The sixth voltage reduction module is configured to reduce the voltage of the fifth voltage reduction module and supply power to the third data transmission module. In this embodiment, the sixth voltage-reducing module reduces the voltage of the electric quantity of the fifth voltage-reducing module to 3.3V, so as to supply power to the third data transmission module.

The number of the electronic speed regulators is four, and the electronic speed regulators are respectively configured to control the rotation speed of the driving motor 870. In this embodiment, the electronic speed regulator for controlling the driving motor 870 of the rear-mounted boost paddle 850 is a good platinum 40A electronic speed regulator, and the electronic speed regulator for controlling the driving motor 870 of the front-mounted tilt paddle 860 is a good platinum 60A electronic speed regulator.

And the third controller is configured to communicate with ground software through a third data transmission module and respectively send control signals to the electronic speed regulator, the tilting steering engine 861, the tail steering engine and the aileron steering engine. In this embodiment, the third controller employs PIXHACK V3.

In a preferred embodiment, the third control system further comprises a current meter configured to detect a voltage and a current of the third power source and supply power to the third controller.

In a preferred embodiment, the third control system further includes an external GPS module, and the GPS module is configured to detect the position information of the drone and send the position information to the third controller. In the preferred embodiment, M8N GPS is used.

In a preferred embodiment, the third control system further comprises an airspeed sensor configured to detect the speed of the aircraft relative to the air and send an airspeed signal to the third controller through the I2C expansion board.

In a preferred embodiment, the third control system further comprises a camera arranged through the pan/tilt head, the camera sending the acquired image information to the third controller. Preferably, the third controller is correspondingly provided with an OSD and image transmission module, and the third controller sends the image information to a display screen of the ground control center through the OSD and image transmission module. In the preferred mode, the cradle head is in signal connection with a third controller, and the third controller adjusts the setting angle of the cradle head. In the preferred embodiment, the figure transmission module is an ohnw 1W module.

In a preferred embodiment, the third control system further comprises an external receiver configured for signal communication between the drone and the remote control.

In a preferred embodiment, the third control system further comprises an external safety switch and a buzzer module configured for unlocking and alerting the aircraft.

The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.

Claims (10)

1. An unmanned aerial vehicle for delivering materials is characterized by comprising an unmanned aerial vehicle, a driving mechanism and a carrying box (200), wherein the driving mechanism is fixed below the unmanned aerial vehicle, and the carrying box (200) is connected below the driving mechanism through a traction rope (500);

the unmanned aerial vehicle includes: the airplane wing aircraft comprises a fuselage (810), a pair of wings (820) arranged on two sides of the fuselage (810) and a pair of empennages (830); the pair of the tail wings (830) are arranged in a V shape and fixed at the tail part of the machine body (810), tail rudders (831) are arranged on the pair of the tail wings (830) respectively, and tail steering engines for controlling the tail rudders (831) to deflect are arranged on the tail wings (830) corresponding to the tail rudders (831); ailerons (821) are respectively arranged on one side of each pair of wings (820) close to the tail wing (830), and aileron steering engines for controlling the ailerons (821) to deflect are arranged on the wings (820) corresponding to the ailerons (821);

the lower surfaces of the pair of wings (820) are respectively fixedly provided with a mounting bracket (840), the mounting bracket (840) is arranged in a direction parallel to the fuselage (810), one end of the mounting bracket (840), which is close to the empennage (830), is provided with a rear-mounted boosting propeller (850), and the other end of the mounting bracket is provided with a front-mounted tilting propeller (860); the mounting bracket (840) is provided with a driving motor (870) corresponding to the pair of rear boosting propellers (850) and the pair of front tilting propellers (860), and the mounting bracket (840) is provided with a tilting steering engine (861) corresponding to the pair of tilting propellers and used for controlling the tilting of the tilting propellers;

the driving mechanism comprises a stepping motor (300), a driving gear (410) is installed on an output shaft of the stepping motor (300), the outer side of the driving gear (410) is meshed with a winding structure, one end of the traction rope (500) is fixed on the winding structure, and the other end of the traction rope is connected to the carrying box (200).

2. The material delivery unmanned aerial vehicle of claim 1, wherein the driving mechanism comprises a first mounting plate (110) detachably mounted on the bottom surface of the main body (810), a second mounting plate (120) is connected to the lower side of the first mounting plate (110) through a first supporting mechanism, the stepping motor (300) is fixed to the side of the second mounting plate (120) far away from the first mounting plate (110), and an output shaft of the stepping motor (300) passes through the second mounting plate (120) and then extends between the second mounting plate (120) and the first mounting plate (110); the carrying box (200) is connected below the second mounting plate (120); the driving gear (410) is fixed on an output shaft of the stepping motor (300) positioned between the first mounting plate (110) and the second mounting plate (120).

3. The material delivery unmanned aerial vehicle of claim 2, wherein the winding structure comprises four winding assemblies, and the four winding assemblies are symmetrically arranged outside the driving gear (410);

the winding assembly comprises a driven gear (420), a fixed column (430) and a gland (440), the fixed column (430) is vertically fixed between the second mounting plate (120) and the first mounting plate (110), the driven gear (420) is rotatably sleeved on the fixed column (430), the driven gear (420) is horizontally meshed with the driving gear (410), the gland (440) is rotatably sleeved on the fixed column (430) and is fixedly connected with the driven gear (420), the gland (440) is fixed above the driven gear (420) and forms a winding groove (450) with the driven gear (420), one end of the traction rope (500) is fixed in the winding groove (450), and the other end of the traction rope is connected to the carrying case (200).

4. The material delivery unmanned aerial vehicle of claim 3, wherein the second mounting plate (120) is provided with a guide structure corresponding to each winding assembly, and each guide structure is symmetrically arranged above the carrying box (200); the movable end of the traction rope (500) passes through the guide structure and then extends downwards to be connected to the luggage box (200); the lower edge of one end of the guide structure far away from the winding assembly is provided with a stop microswitch (600) which is arranged corresponding to the carrying box (200).

5. The material delivery unmanned aerial vehicle of claim 4, wherein the guiding structure comprises a horizontally arranged guiding carbon tube (710) and a rotating assembly arranged at one end of the guiding carbon tube (710) far away from the winding assembly, and one end of the guiding carbon tube (710) far away from the rotating assembly is fixed on the second mounting plate (120) through a fixing seat (730); the movable end of the traction rope (500) sequentially penetrates through the guide carbon tube (710) and the rotating assembly and then is connected to the carrying box (200).

6. The material delivery unmanned aerial vehicle of claim 5, wherein the rotating assembly comprises a pair of mounting sleeves (720), the pair of mounting sleeves (720) are wrapped outside the guide carbon tube (710), a bearing (721), a positioning shaft (722) and a roller (723) are respectively arranged between the pair of mounting sleeves (720), the bearing (721) and the positioning shaft (722) are oppositely arranged between the pair of mounting sleeves (720), the bearing (721) is embedded in one mounting sleeve (720), one end of the positioning shaft (722) is fixed in the other mounting sleeve (720), and the rotatable roller (723) is connected between the bearing (721) and the positioning shaft (722).

7. The material delivery unmanned aerial vehicle of claim 6, wherein the actuating mechanism is provided with a start microswitch that can be triggered by the unmanned aerial vehicle.

8. The material delivery unmanned aerial vehicle of claim 7, wherein a box door (210) is disposed at the bottom of the carrying box (200), and a box steering gear (220) for controlling the opening and closing of the box door (210) is disposed on the carrying box (200) corresponding to the box door (210).

9. The material delivery unmanned aerial vehicle of claim 8, wherein the carrier box (200) is mounted with an ultrasonic sensor (230).

10. A launch control system for a drone, according to claim 9, characterized in that it comprises: a first control system for controlling the driving mechanism, a second control system for controlling the carrying box (200) and a third control system for controlling the unmanned aerial vehicle;

the first control system comprises a first controller, a first data transmission module, a first voltage reduction module and a first power supply; the first power supply is configured to supply power to the first voltage reduction module; the first voltage reduction module is configured to power the first controller; the first controller is configured to receive signals for stopping the micro switch (600) and starting the micro switch, and send control signals to the stepper motor (300);

the second control system comprises a second controller, a second data transmission module, a second voltage reduction module, a third voltage reduction module, a fourth voltage reduction module and a second power supply; the second power supply is configured to respectively supply power to the second voltage-reducing module, the third voltage-reducing module and the fourth voltage-reducing module; the second voltage reduction module is configured to power the second controller; the third voltage reduction module and the fourth voltage reduction module respectively supply power to a pair of box steering engines (220); the second controller is configured to receive signals of the ultrasonic sensor (230) and send control signals to a pair of the tank steering engines (220);

the first and second data transmission modules are configured for signal communication between the first and second controllers;

the third control system comprises a third controller, a fifth voltage reduction module, a sixth voltage reduction module, a third data transmission module, an electronic speed regulator and a third power supply; the third power supply is configured to power the third controller, the electronic governor, and a fifth buck module; the fifth voltage reduction module is configured to reduce the voltage of the third power supply and supply power to the sixth voltage reduction module; the sixth voltage reduction module is configured to reduce the voltage of the fifth voltage reduction module and supply power to the third data transmission module; the four electronic speed regulators are respectively configured for controlling the rotating speed of the driving motor (870); and the third controller is configured to communicate with ground software through a third data transmission module and send control signals to the electronic speed regulator, the tilting steering engine (861), the tail steering engine and the aileron steering engine respectively.

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