CN218949517U

CN218949517U - Unmanned air force umbrella of accurate landing

Info

Publication number: CN218949517U
Application number: CN202223198788.0U
Authority: CN
Inventors: 岳玉梅; 石昊; 郭昇; 王留芳; 任赵旭; 胡为; 宋崎; 龚鹏
Original assignee: Shenyang Aerospace University
Current assignee: Shenyang Aerospace University
Priority date: 2022-12-01
Filing date: 2022-12-01
Publication date: 2023-05-02
Anticipated expiration: 2032-12-01

Abstract

The utility model relates to an accurate landing unmanned aerodynamic parachute which comprises a machine body and a punching parafoil, wherein a steering engine I and a steering engine II are arranged at the rear end of the machine body and are respectively connected with a rocker arm I and a rocker arm II; the punching parafoil is fixed on two sides of the frame of the machine body at the same time; the machine body is provided with travelling wheels, and the travelling wheels comprise steering wheels, first directional wheels and second directional wheels which are arranged in a three-point mode; the machine body is provided with a plurality of brushless motors, and the front end of the machine body is provided with main power and the rear end of the machine body is provided with reverse thrust auxiliary power through a connecting propeller; the aircraft body is provided with a navigation and control system, and specifically comprises a flight control device, a GPS positioning device, a vision auxiliary positioning device and an barometer; also comprises a power supply system. The utility model has the advantages of reverse thrust power assistance, capability of greatly reducing the turning radius of the unmanned power parachute, improving the landing precision and improving the accuracy of the power parachute.

Description

Unmanned air force umbrella of accurate landing

Technical Field

The utility model belongs to the technical field of power umbrellas, and particularly relates to an unmanned air power parachute capable of accurately landing.

Background

With the development of scientific technology, intelligent control technology is mature. Compared with the traditional fixed-wing unmanned aerial vehicle and rotor wing unmanned aerial vehicle, the unmanned power parachute vehicle is a steerable unmanned aerial vehicle developed on the basis of a controllable parafoil and a traditional manned parafoil, can realize long-time stable flight under a large load, and has the characteristics of low requirement on take-off and landing conditions, excellent low-speed performance, simple structure, low manufacturing cost and reusability. However, the conventional unmanned power umbrella has only three control inputs of thrust and two pull-down amounts, and the lifting force of the power umbrella is mainly provided by the umbrella wings, so that the control of the power umbrella is difficult and the action is slow.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model provides the accurate unmanned air power parachute which is provided with the back-thrust power assistance, so that the turning radius of the unmanned air power parachute can be greatly reduced, the landing precision can be improved, and the accuracy of the power parachute can be improved.

The unmanned aerial vehicle with accurate landing comprises a machine body and a punching parafoil connected to the machine body, wherein a steering engine I and a steering engine II are arranged at the rear end of the machine body, output ends of the steering engine I and the steering engine II are respectively connected with a rocker arm I and a rocker arm II, the rocker arm I and the rocker arm II are symmetrically arranged by taking the center of the machine body as a symmetrical plane, and the punching parafoil is connected with the tail ends of the rocker arm I and the rocker arm II; the punching parafoil is fixed on two sides of the frame of the machine body at the same time, namely, the fixed points between the punching parafoil and the machine body are all around; the machine body is provided with travelling wheels, each travelling wheel comprises a steering wheel positioned in front, a first directional wheel and a second directional wheel positioned at rear, and the steering wheels and the two travelling wheels are arranged in a triangular three-point mode; the machine body is provided with a plurality of brushless motors, and a main power is provided at the front end of the machine body and a reverse thrust auxiliary power is provided at the rear end of the machine body through a connecting propeller; the machine body is provided with a navigation and control system, and specifically comprises a flight control device, a GPS positioning device, a vision auxiliary positioning device and a barometer, wherein the GPS positioning device, the vision auxiliary positioning device and the barometer are electrically connected with the flight control device; the power umbrella further comprises a power supply system.

The main body of the machine body is a stainless steel frame mechanism and is of a rigid structure.

The stamping parafoil is made of flexible materials and is made of nylon silk.

The machine body is provided with a first brushless motor for providing main power and two second brushless motors and a third brushless motor for providing reverse-thrust auxiliary power, the first brushless motor and the third brushless motor are fixed on the machine body through bolts, and the middle positions of the second brushless motor and the third brushless motor are in the same horizontal line with the mass center of the machine body and the output end of the first brushless motor; the motor shaft of the brushless motor I is provided with a propeller I, and a backward thrust is provided by connecting the propeller I; the brushless motor II and the brushless motor III for providing the reverse thrust auxiliary power are arranged at the front end of the machine body, the center of the machine body is used as a symmetrical plane, the left end and the right end of the machine body are arranged at the left end and the right end of the machine body, the output end of the brushless motor II is connected with the propeller II, the output end of the brushless motor III is connected with the propeller III, the directions of the propeller II and the propeller III are opposite to those of the propeller I, namely, the directions of the thrust provided by the brushless motor II and the brushless motor III are opposite to those provided by the brushless motor I.

The vision auxiliary positioning device is fixed on the body through threaded connection and comprises a first small steering engine, a second small steering engine, a third small steering engine, a cloud platform and a camera, wherein the camera is fixed on the cloud platform, and the camera shoots and transmits information to a flight control after recognizing a landing beacon, and the flight control obtains the relative position between a power parachute and the landing beacon according to the rotation angles of the first small steering engine, the second small steering engine and the third small steering engine and the information provided by an air pressure altimeter, so that the power parachute can land more accurately; the barometer provides flight control altitude information according to the current barometer and airspeed of the power umbrella, and the remote controller and the ground station are in charge of manual control of the unmanned power umbrella and observation of the current information of the power umbrella.

The beneficial effects of the utility model are as follows:

1. the utility model provides a conventional unmanned power umbrella with only three control inputs of thrust and two pull-down amounts, wherein the lifting force of the power umbrella is mainly provided by an umbrella wing, so that the control of the power umbrella is difficult and the action is slow; in addition, in the landing process, the advancing direction of the power parachute can be better regulated, and the transverse landing distance of the power parachute can be reduced through the common counter-pushing action of the two brushless motors with the counter-pushing power auxiliary function, so that the landing precision is improved.

2. The utility model sets the GPS positioning device and the camera, and avoids the situation of large landing error caused by large GPS error of the conventional unmanned aerial vehicle by the mode of GPS and visual guidance.

3. The utility model relates to a pure electric wheel type power umbrella, which solves the problems of large noise, large vibration and emission pollution of the traditional internal combustion engine power umbrella and reduces the running cost of the power umbrella.

4. The utility model has multiple application prospects including plant protection, logistics, high-altitude exploration, electric power inspection and advertisement.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a precision drop unmanned aerodynamic parachute provided by the utility model;

FIG. 2 is a schematic view of the structure of a fuselage in the precision drop unmanned aerodynamic parachute provided by the present utility model;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

wherein, the liquid crystal display device comprises a liquid crystal display device,

the device comprises a 1-body, a 2-flight control device, a 3-GPS positioning device, a 4-air pressure altimeter, a 5-steering wheel, a 6-directional wheel I, a 7-directional wheel II, an 8-propeller I, a 9-propeller II, a 10-propeller III, a 11-brushless motor I, a 12-brushless motor II, a 13-brushless motor III, a 14-steering engine I, a 15-steering engine II, a 16-rocker arm I, a 17-rocker arm II, a 18-umbrella rope fixing point I, a 19-umbrella rope fixing point II, a 20-camera, a 21-small steering engine I, a 22-small steering engine II, a 23-small steering engine III, a 24-fixing frame, a 25-power supply system, a 26-cloud platform I, a 27-Yun Taijia II and a 28-cloud platform III.

Detailed Description

For better explanation of the present utility model, for easy understanding, the technical solution and effects of the present utility model will be described in detail below by way of specific embodiments with reference to the accompanying drawings.

As shown in fig. 1-4, the accurate landing unmanned aerodynamic parachute comprises a main body 1 and a punching parafoil connected to the main body 1, wherein the main body 1 is a stainless steel frame mechanism and is of a rigid structure; the stamping parafoil is made of flexible materials, and nylon silk is adopted in the embodiment. The rear end of the machine body 1 is provided with a steering engine I14 and a steering engine II 15, output ends of the steering engine I14 and the steering engine II 15 are respectively connected with a rocker arm I16 and a rocker arm II 17, the rocker arm I16 and the rocker arm II 17 are symmetrically arranged by taking the center of the machine body 1 as a symmetrical plane, and the stamping parafoil is connected with the tail ends of the rocker arm I16 and the rocker arm II 17; the punching parafoil is fixed on the airframe 1 at two sides of the airframe 1 at the same time, namely four fixed points between the punching parafoil and the airframe 1 are two fixed points and two movable points respectively, wherein the two fixed points are two fixed points fixed on the airframe 1, the first umbrella rope fixed point 18 and the second umbrella rope fixed point 19 are shown in figure 2, and the two movable points are two fixed at the tail ends of the first rocker arm 16 and the second rocker arm 17.

The aerodynamic umbrella is a wheel type power umbrella, the machine body 1 is provided with travelling wheels, each travelling wheel comprises a steering wheel 5 positioned in front, a first directional wheel 6 and a second directional wheel 7 positioned behind, the steering wheels 5 and the two travelling wheels are arranged in a triangular three-point mode, the travelling wheels ensure that the unmanned power umbrella has a good take-off direction in a take-off stage, and the situations that take-off cannot be carried out or take-off is not smooth due to roadblocks, mud pits and other areas are avoided.

The machine body 1 is provided with a plurality of brushless motors, the front end of the machine body 1 is provided with main power and the rear end of the machine body 1 is provided with reverse thrust auxiliary power through a connecting screw propeller, in the embodiment, the machine body 1 is provided with a first brushless motor 11 which provides the main power, and two second brushless motors 12 and third brushless motors 13 which provide the reverse thrust auxiliary power, the middle positions of the second brushless motors 12 and the third brushless motors 13 and the mass center of the machine body 1 and the output end of the first brushless motor 11 are all fixed on the machine body 1 through bolts, the second brushless motors 12 and the third brushless motors 13 provide differential speed or the same rotating speed, and the second brushless motors 12 and the third brushless motors 13 provide auxiliary functions in the turning process and the landing process of the power umbrella respectively. The first brushless motor 11 providing main power is fixed on the frame of the tail body 1 of the body 1 through a motor frame, the first propeller 8 is arranged on a motor shaft of the first brushless motor 11, and a backward thrust is provided by connecting the first propeller 8, so that the power parachute generates forward speed in the air, an upward lifting force is provided for the punching parafoil through the pressure difference between the upper surface and the lower surface of the punching parafoil, and the first brushless motor 11, the first steering engine 14 and the second steering engine 15 provide a parachute rope pull-down amount for the punching parafoil. The brushless motor II 12 and the brushless motor III 13 for providing the reverse thrust auxiliary power are arranged at the front end of the machine body 1, the center of the machine body 1 is used as a symmetrical plane, the left end and the right end of the machine body 1 are arranged at the left end and the right end of the machine body 1, the output end of the brushless motor II 12 is connected with a propeller II 9, the output end of the brushless motor III 13 is connected with a propeller III 10, the directions of the propeller II 9 and the propeller III 10 are opposite to those of the propeller I8, namely, the directions of thrust provided by the brushless motor II 12, the brushless motor III 13 and the brushless motor I11 are opposite. In the steering stage of the power umbrella, a thrust contrast is generated through the differential speed between the brushless motor II 12 and the brushless motor III 13 and is matched with the pull-down amount of the umbrella rope provided by the brushless motor I11, the steering engine I14 and the steering engine II 15, so that the steering radius of the power umbrella is reduced; similarly, in the landing stage, the landing direction is quickly corrected by adjusting the differential speed of the brushless motor II 12 and the brushless motor III 13; the rotation speed of the second brushless motor 12 and the rotation speed of the third brushless motor 13 are adjusted to be the same, and reverse thrust opposite to the first brushless motor 11 is generated, so that the horizontal falling distance of the power parachute is reduced, and the situation that the power parachute acts slowly and is influenced by wind to cross an original set falling point is avoided.

The machine body 1 is provided with a navigation and control system, and specifically comprises a flight control 2, a GPS positioning device 3, a vision auxiliary positioning device and a barometer 4 which are electrically connected with the flight control 2, wherein a steering engine I14 and a steering engine II 15 are electrically connected with the flight control 2, and a brushless motor I11, a brushless motor II 12 and a brushless motor III 13 are electrically connected with the flight control 2 through electric brushes; the flight control 2 sends PWM signals to the first steering engine 14 and the second steering engine 15, the first steering engine 14 and the second steering engine 15 receive signal rotation, so that the first rocker arm 16 and the second rocker arm 17 swing, the pull-down of the rear edge of the ram is completed by pulling the parachute rope, and the larger the swing amplitude of the first rocker arm 16 and the second rocker arm 17 is, the larger the pull-down amount of the ram is. The flight control 2 controls the rocker arm I16 and the rocker arm II 17 to realize the pull-down parachute rope by controlling the operation of the steering engine I14 and the steering engine II 15, which is equivalent to the manual control of the pull-down amount in the conventional power parachute to enable the power parachute to complete the actions of speed reduction, steering and landing. The remote controller and the ground station are connected with the flight control 2 through data transmission, so that communication connection is realized, and the ground end is controlled by an operator. A magnetic compass in the GPS positioning device measures and obtains the triaxial angular velocity and provides longitude and latitude information of the geographical position where the power umbrella is positioned; the barometer 4 provides airspeed and altitude information; the vision-aided positioning device provides a relative position estimate between the powered parachute and the landing beacon.

The vision auxiliary positioning device is fixed on the machine body 1 through threaded connection by adopting a fixing frame 24 and comprises a first small steering engine 21, a second small steering engine 22, a third small steering engine 23, a cloud rack and a camera 20, wherein the camera 20 is fixed on the cloud rack, the cloud rack is divided into three sections which are L-shaped, the third small steering engine 23 is fixed on the fixing frame 24, an output shaft of the third small steering engine 23 is fixedly connected with the third cloud rack section 28, and the third cloud rack section 28 is driven to rotate on an XY plane through rotation of an output shaft of the small steering engine; the second small steering engine 22 is fixed on the third cloud deck section 28, the output shaft of the second small steering engine 22 is fixed on the second cloud deck section 27, and the second cloud deck section 27 rotates on the YZ plane through rotation of the output shaft of the second small steering engine 22; the first small steering engine 21 is fixed with the second cloud deck section 27, the output shaft of the first small steering engine 21 is fixed with the first cloud deck section 26, the first cloud deck section 26 rotates on the XZ plane through rotation of the output shaft of the first small steering engine 21, the second small steering engine 22 and the third small steering engine 23 are electrically connected with the flight control 2, and the rotation of the cloud deck is driven, so that the camera 20 can focus on any direction in space; after the camera 20 recognizes the landing beacon, photographing is carried out, information is transmitted to the flight control 2, and the flight control 2 obtains the relative position between the power parachute and the landing beacon according to the rotation angles of the first small steering engine 21, the second small steering engine 22 and the third small steering engine 23 and the information provided by the air pressure altimeter 4, so that the power parachute can land more accurately; the barometer 4 provides altitude information for the flight control 2 according to the current barometer pressure and airspeed of the power parachute, and the remote controller and the ground station are responsible for manual control of the unmanned power parachute and observation of the current information of the power parachute.

The power umbrella further comprises a power supply system 25, and is used for supplying power to the flight control 2, the GPS positioning device 3, the barometric altimeter 4, the brushless motor I11, the brushless motor II 12, the brushless motor III 13, the steering engine I14, the steering engine II 15, the small steering engine I21, the small steering engine II 22, the small steering engine III 23 and the camera 20, and the device is driven by pure electric power. In this embodiment, the power supply system 25 is a 24V lithium battery, a distributor plate and a bec transformer connected with the 24V lithium battery.

The power source in the flying stage of the power parachute only has the thrust provided by the brushless motor I11, the thrust generates speed, the punched wing umbrella shape is similar to a wing, and an upward lifting force is generated under the condition of the speed; in the turning stage, on one hand, the steering engine I14 and the steering engine II 15 drive the swing amplitude of the rocker arm I16 and the rocker arm II 17 to influence the shape of the rear edge of the parafoil, so that the power parachute finishes turning action, and on the other hand, the steering force is provided through the differential speed of the brushless motor II 12 and the brushless motor III 13 to help the power parachute finish turning action, and the steering device specifically comprises: when the power umbrella turns leftwards, the rotating speed of the brushless motor II 12 is higher than that of the brushless motor III 13, because the positions of the brushless motor II 12 and the brushless motor III 13 for providing thrust are not in the same line with the mass center of the machine body 1, the brushless motor III does not work, the brushless motor II 12 drives the screw II 9 to rotate and can provide a centripetal force for the umbrella vehicle, the top of the power umbrella is seen downwards, and the centripetal force with a anticlockwise direction is provided, so that the power umbrella turns faster, the turning radius is smaller, and similarly, the turning to the right is opposite, namely the brushless motor II 12 does not work, and the brushless motor III 13 drives the screw III 10 to rotate. In the landing stage, the power parachute transmits landing point information to the flight control by means of the GPS positioning device, the flight control transmits the landing point information to the ground station through the data transmission connection, a person sets a set route on the ground station and flies to the vicinity of a landing point according to the set route, but because the GPS positioning device has larger error, the planned landing point on the ground station deviates from the position of an actual landing beacon, the positioning error is reduced by adopting a visual guiding mode, namely, the camera shoots the landing beacon and transmits the landing beacon to the flight control, the flight control transmits the landing beacon to the ground station through the data transmission connection, the person selects the landing beacon through a picture frame transmitted to the ground station and transmits the landing beacon back to the flight control through the data transmission, and the flight control judges the relative position estimation of the power parachute and the landing beacon according to the rotation quantity of a first small steering engine, a second small steering engine and the third upper shaft of the small steering engine of the visual auxiliary positioning device and the altitude information measured by the barometric altimeter, so that the target tracking is realized; the direction of the landing is adjusted similarly to the turning stage, the rotating speed of the brushless motor I11 is reduced or directly reduced to zero, the steering engine I14 and the steering engine II 15 enable the rocker arm I16 and the rocker arm II 17 to simultaneously finish pulling down, and the parachute ropes at the rear edge of the punching parachute are pulled to change the shape of the punching parachute, so that the power parachute is decelerated in a resistance increasing mode, meanwhile, the brushless motor II 12 and the brushless motor III 13 provide the same rotating speed, a force opposite to the action of the brushless motor I11 is generated, the resistance of the machine body 1 is increased, the landing distance of the power parachute is shortened, and the phenomenon that the existing power parachute is too slow to cross a landing point is avoided.

Claims

1. An unmanned aerodynamic parachute capable of accurately landing, which is characterized in that: the intelligent robot comprises a robot body and a stamping parafoil connected to the robot body, wherein a steering engine I and a steering engine II are arranged at the rear end of the robot body, output ends of the steering engine I and the steering engine II are respectively connected with a rocker arm I and a rocker arm II, the rocker arm I and the rocker arm II are symmetrically arranged by taking the center of the robot body as a symmetrical plane, and the stamping parafoil is connected with the tail ends of the rocker arm I and the rocker arm II; the punching parafoil is fixed on two sides of the frame of the machine body at the same time, namely, the fixed points between the punching parafoil and the machine body are all around; the machine body is provided with travelling wheels, each travelling wheel comprises a steering wheel positioned in front, a first directional wheel and a second directional wheel positioned at rear, and the steering wheels and the two travelling wheels are arranged in a triangular three-point mode; the machine body is provided with a plurality of brushless motors, and a main power is provided at the front end of the machine body and a reverse thrust auxiliary power is provided at the rear end of the machine body through a connecting propeller; the machine body is provided with a navigation and control system, and specifically comprises a flight control device, a GPS positioning device, a vision auxiliary positioning device and a barometer, wherein the GPS positioning device, the vision auxiliary positioning device and the barometer are electrically connected with the flight control device; the power umbrella further comprises a power supply system.

2. The precision drop unmanned aerodynamic parachute of claim 1, wherein: the main body of the machine body is a stainless steel frame mechanism and is of a rigid structure.

3. The precision drop unmanned aerodynamic parachute of claim 1, wherein: the stamping parafoil is made of flexible materials and is made of nylon silk.

4. The precision drop unmanned aerodynamic parachute of claim 1, wherein: the machine body is provided with a first brushless motor for providing main power and two second brushless motors and a third brushless motor for providing reverse-thrust auxiliary power, the first brushless motor and the third brushless motor are fixed on the machine body through bolts, and the middle positions of the second brushless motor and the third brushless motor are in the same horizontal line with the mass center of the machine body and the output end of the first brushless motor; the motor shaft of the brushless motor I is provided with a propeller I, and a backward thrust is provided by connecting the propeller I; the brushless motor II and the brushless motor III for providing the reverse thrust auxiliary power are arranged at the front end of the machine body, the center of the machine body is used as a symmetrical plane, the left end and the right end of the machine body are arranged at the left end and the right end of the machine body, the output end of the brushless motor II is connected with the propeller II, the output end of the brushless motor III is connected with the propeller III, the directions of the propeller II and the propeller III are opposite to those of the propeller I, namely, the directions of the thrust provided by the brushless motor II and the brushless motor III are opposite to those provided by the brushless motor I.

5. The precision drop unmanned aerodynamic parachute of claim 1, wherein: the vision auxiliary positioning device is fixed on the body through threaded connection and comprises a first small steering engine, a second small steering engine, a third small steering engine, a cloud platform and a camera, wherein the camera is fixed on the cloud platform, and the camera shoots and transmits information to a flight control after recognizing a landing beacon, and the flight control obtains the relative position between a power parachute and the landing beacon according to the rotation angles of the first small steering engine, the second small steering engine and the third small steering engine and the information provided by an air pressure altimeter, so that the power parachute can land more accurately; the barometer provides flight control altitude information according to the current barometer and airspeed of the power umbrella, and the remote controller and the ground station are in charge of manual control of the unmanned power umbrella and observation of the current information of the power umbrella.