CN220764728U - Unmanned aerial vehicle mounting system - Google Patents
Unmanned aerial vehicle mounting system Download PDFInfo
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- CN220764728U CN220764728U CN202322712319.4U CN202322712319U CN220764728U CN 220764728 U CN220764728 U CN 220764728U CN 202322712319 U CN202322712319 U CN 202322712319U CN 220764728 U CN220764728 U CN 220764728U
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Abstract
The application discloses unmanned aerial vehicle mounting system includes: the unmanned aerial vehicle body comprises a detection unit and an airborne communication module, wherein the detection unit acquires cargo information of cargoes, and the output end of the detection unit is in communication connection with the airborne communication module; the ground station comprises an intelligent matching unit, an information processing unit, an alarming unit and a ground station communication module, wherein the ground station communication module is in communication connection with the airborne communication module, the intelligent matching unit and the information processing unit receive cargo information output by the detection unit, the intelligent matching unit comprises a plurality of mounting mode units, the information processing unit comprises a judging unit, the judging unit is in communication connection with the alarming unit, and when the mounting limit is exceeded, the alarming unit sends out alarming information. The method and the device can match corresponding mounting modes according to different cargo weights and volumes; when the mounting limit of the unmanned aerial vehicle is exceeded, an alarm is sent out, and out-of-control accidents caused by overload operation and difficult flight control due to the fact that the mounting limit is exceeded are avoided.
Description
Technical Field
The utility model relates to the technical field of unmanned aerial vehicle application, in particular to an unmanned aerial vehicle mounting system.
Background
At present, with the development of technology, the application range of unmanned aerial vehicles is wider and wider, and the unmanned aerial vehicles for the successive purchase of units are used for solving various demands of various departments in institutions such as electric power departments, public security departments, traffic police departments and the like. Especially, the medium-sized and large-sized unmanned aerial vehicle has wider application and plays an important role even in military. The unmanned aerial vehicle is used as a carrier, the purpose of the unmanned aerial vehicle depends on a mounting module of the unmanned aerial vehicle, and different tasks can be completed by mounting different modules. Therefore, the mounting capability of the unmanned aerial vehicle is important.
The application range of the unmanned aerial vehicle is determined by the mounting capacity of the unmanned aerial vehicle, but the mounting weight and the mounting volume are controlled to exceed the mounting requirement of the unmanned aerial vehicle or the load is increased due to the flying action in the transportation process, so that the flying speed or the height needs to be reduced, and the warning system is lacking.
Disclosure of Invention
In order to solve at least one problem mentioned in the background art, the utility model provides an unmanned aerial vehicle mounting system which can give an alarm when mounting exceeds a limit, and avoid unmanned aerial vehicle flight accidents caused by mounting overrun.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
the application provides an unmanned aerial vehicle mounting system, include:
the unmanned aerial vehicle body comprises a detection unit and an airborne communication module, the detection unit acquires cargo information of the cargo, and the output end of the detection unit is in communication connection with the airborne communication module;
the ground station comprises an intelligent matching unit, an information processing unit, an alarm unit and a ground station communication module, wherein the ground station communication module is in communication connection with the airborne communication module, the input ends of the intelligent matching unit and the information processing unit are respectively in communication connection with the ground station communication module, the intelligent matching unit and the information processing unit receive cargo information output by the detection unit through the airborne communication module and the ground station communication module, the intelligent matching unit comprises a plurality of mounting mode units, the information processing unit comprises a judging unit, the judging unit is in communication connection with the alarm unit, and when the mounting limit is exceeded, the alarm unit sends alarm information.
In one embodiment, the detection unit comprises a tension sensor, a camera and a positioning tag, and the cargo information comprises cargo weight, volume and cargo lowering distance.
In one embodiment, the intelligent matching unit further comprises a control unit, each mounting mode unit corresponds to the weight, the volume and the goods lowering distance of the mounted goods in a certain range, the input ends of the plurality of mounting mode units are in communication connection with the detection unit, the output ends of the plurality of mounting mode units are connected with the control unit, the detection unit detects that goods information is input into the plurality of mounting mode units, and then the control unit controls the flight mode of the unmanned aerial vehicle.
In one embodiment, the system further comprises a cable winch, a cable and a hook, wherein two ends of the cable are respectively connected with the cable winch and the hook.
In one embodiment, one end of the tension sensor is connected with the steel cable, and the other end is connected with the hook.
In one embodiment, the camera is disposed on the bottom surface of the unmanned aerial vehicle body, and the camera data output end is in communication connection with the airborne communication module.
In one embodiment, the positioning tag is disposed on the hook, a positioning base station is disposed at the bottom of the unmanned aerial vehicle body, the positioning tag is in communication connection with the positioning base station, and the positioning base station is in communication connection with the airborne communication module, so that the airborne communication module obtains the distance for lowering cargoes.
In one embodiment, the intelligent matching unit comprises an image recognition module, the image recognition module is in communication connection with the output end of the camera and receives the cargo image information collected by the camera, the image recognition module comprises an image conversion module, and the image conversion module converts the cargo image information into the volume information of the cargo.
In one embodiment, the tension sensor is loaded with a bluetooth wireless transmission module, the unmanned aerial vehicle body is loaded with an onboard bluetooth receiving module, an input end of the onboard bluetooth receiving module is in communication connection with the bluetooth wireless transmission module, and an output end of the onboard bluetooth receiving module is in communication connection with the onboard communication module, so that the onboard communication module obtains the weight of goods.
In one embodiment, the ground station further comprises a display control unit, and the display control unit is connected with the output end of the alarm unit and displays information output by the alarm unit.
The beneficial effect of this scheme:
1) According to the influence of the hoisted cargoes with different weights and volumes on the unmanned aerial vehicle, a plurality of different mounting modes are built in, the weight of the mounted cargoes is calculated through the tension value transmitted by the tension sensor, estimated cargo volume data are obtained according to the camera, and the length data of the cargo to be placed down are combined with the three data to automatically judge and adopt the mounting mode corresponding to the current mounting when the unmanned aerial vehicle is hoisted, so that the flying can be controlled more stably and safely;
2) When the mounting limit of the unmanned aerial vehicle is exceeded, an alarm is sent out, and out-of-control accidents caused by overload operation and difficult flight control due to the fact that the mounting limit is exceeded are avoided.
Drawings
Fig. 1 is a schematic diagram of an overall structure module of a mounting system of an unmanned aerial vehicle in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present utility model by way of illustration, and only the components related to the present utility model are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the utility model, which is defined by the claims, but rather by the claims.
References in this specification to orientations or positional relationships as "upper", "lower", "left", "right", "intermediate", "longitudinal", "transverse", "horizontal", "inner", "outer", "radial", "circumferential", etc., are based on the orientation or positional relationships shown in the drawings, are also for convenience of description only, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore are not to be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
An alternative embodiment according to the present utility model will be described in detail below with reference to fig. 1.
The embodiment provides an unmanned aerial vehicle mounting system, including:
the unmanned aerial vehicle body comprises a detection unit and an airborne communication module, the detection unit acquires cargo information of the cargo, and the output end of the detection unit is in communication connection with the airborne communication module;
the ground station comprises an intelligent matching unit, an information processing unit, an alarm unit and a ground station communication module, wherein the ground station communication module is in communication connection with the airborne communication module, the input ends of the intelligent matching unit and the information processing unit are respectively in communication connection with the ground station communication module, the intelligent matching unit and the information processing unit receive cargo information output by the detection unit through the airborne communication module and the ground station communication module, the intelligent matching unit comprises a plurality of mounting mode units, the information processing unit comprises a judging unit, the judging unit is in communication connection with the alarm unit, and when the mounting limit is exceeded, the alarm unit sends alarm information.
It should be noted that, the unmanned aerial vehicle depends on the flight control algorithm, and the effect of the lifting cargoes with different weights and volumes and the length of the lifting rope on the dynamic model of the flight control algorithm is large, which may bring about large effects on the aspects of flight stability, control precision, flight performance and the like. Therefore, different mounting mode units are preset in the system, each mounting mode unit corresponds to a mounting mode in a certain range and a corresponding flying mode under the mounting mode, for example, the weight is 0-10kg, and the volume is 0-1m 3 The lifting goods with the lifting rope length of 0-20m corresponds to an A mounting mode; the weight is 11kg-20kg, and the volume is 0-1m 3 The lifting goods with the lifting rope length of 0-20m corresponds to a 'B mounting mode', and the like. The flight modes corresponding to the mounting mode units are obtained by correcting relevant parameters of the original unmanned aerial vehicle dynamic model according to the flight control algorithm after the gravity center deviation, damping coefficient increase and other parameter changes caused by the mounting of different weights, different volumes of cargoes and different lifting rope lengths on the basis of the original unmanned aerial vehicle dynamic model without mounting.
Further, the intelligent matching module takes the cargo information detected by the detection unit as input and matches with the plurality of mounting mode units, so that the flight mode adapting to the current mounting is automatically judged and adopted when the unmanned aerial vehicle is hoisted, and the flight is controlled more stably and safely.
Referring to fig. 1, in this embodiment, the information processing unit receives the cargo information collected by the detecting unit, and the information processing unit further includes a judging unit, judges whether the current mount is within the limit range by the judging unit, and transmits the judging result to the alarm unit, and when the mount limit is exceeded, the alarm unit gives an alarm. If the warning is mounted during take-off, stopping take-off, and readjusting the mounted flying; if the flying speed and the acceleration are regulated in the flying process, the flying is stabilized, and the flying is prevented from being out of control.
Based on the basic scheme, the working principle of the embodiment is that the detection unit acquires the cargo information of the mounted cargo in real time and transmits the cargo information to the ground station communication module through the airborne communication module on the unmanned aerial vehicle, the intelligent matching unit receives the cargo information of the detection unit and takes the cargo information as the input of a plurality of mounting mode units, and the cargo information is matched with the mounting in the range corresponding to the mounting mode units, so that the mounting mode suitable for the current mounting can be adjusted in real time to control the flight no matter in take-off or flight, and the lifting task can be safely and stably executed. The information processing unit of the ground station judges whether the current unmanned aerial vehicle mounting exceeds the mounting limit through the judging unit according to the received cargo information, and sends a judging result to the alarming unit, and when the current unmanned aerial vehicle mounting exceeds the mounting limit, the alarming unit gives an alarm, so that the ground station operator stops mounting or reduces corresponding operations such as flying acceleration according to the alarm information.
In some embodiments, the detection unit includes a tension sensor, a camera, and a positioning tag, and the cargo information includes cargo weight, volume, and cargo lowering distance.
In some embodiments, the intelligent matching unit further comprises a control unit, each mounting mode unit corresponds to the weight, the volume and the goods lowering distance of the mounted goods in a certain range, the input ends of the plurality of mounting mode units are in communication connection with the detection unit, the output ends of the plurality of mounting mode units are connected with the control unit, the detection unit detects the goods information to be input into the plurality of mounting mode units, and then the control unit controls the flight mode of the unmanned aerial vehicle.
In this embodiment, the loading mode unit takes the weight, the volume and the unloading distance of the goods acquired in real time by the detection unit as input, and matches with a plurality of built-in loading modes, wherein each preset loading mode corresponds to the weight, the volume and the length of the lifting rope of the lifted goods in a certain range, and the relevant parameters are corrected to obtain the weight-based lifting rope based on the unmanned aerial vehicle dynamic model without loading according to the change of parameters such as gravity center offset, damping coefficient increase and the like brought by different loading. Therefore, after real-time cargo information is input, the mounting mode corresponding to the current cargo weight, the current cargo volume and the current lifting rope length can be automatically judged, and then the unmanned aerial vehicle flight mode is controlled through the control unit, and different mounting modes can be adjusted in real time due to the change of loads when the unmanned aerial vehicle takes off and flies, so that lifting and flight tasks can be completed better.
In some embodiments, the system further comprises a cable winch, a cable and a hook, wherein both ends of the cable are respectively connected with the cable winch and the hook.
In some embodiments, a tension sensor is connected to the steel cable at one end and to the hanger at the other end, the tension sensor being used to measure tension data between the two ends in real time to obtain the weight of the cargo.
It should be noted that in actual mounting operation, unmanned aerial vehicle along with the promotion of flight altitude and speed, the resistance factor that it received also can change thereupon to lead to the fact unmanned aerial vehicle to roll over the air crash easily when lifting rope pulling force and unmanned aerial vehicle lifting force are unbalanced, consequently this system adopts tension sensor to carry out real-time accurate measurement through the pulling force that causes the cable wire, thereby avoided because of the steel cable pulling force is too big, thereby cause unmanned aerial vehicle lifting force not enough to hover even fall to the safe risk of crash, in addition, also avoided worrying about the condition that continues flight and influence operating efficiency to the potential safety hazard, unnecessary operating time has been reduced.
Further, the tension sensor is loaded with a Bluetooth wireless transmission module, the unmanned aerial vehicle body is loaded with an onboard Bluetooth receiving module, the input end of the onboard Bluetooth receiving module is in communication connection with the Bluetooth wireless transmission module, the output end of the onboard Bluetooth receiving module is in communication connection with the onboard communication module, the tension sensor transmits monitored tension data to the onboard Bluetooth module in real time through the Bluetooth wireless transmission module, and the onboard communication module receives data from the onboard Bluetooth module and transmits the data to the ground station communication module, so that the weight of goods is calculated through the measured tension value.
In some embodiments, the camera is arranged on the bottom surface of the unmanned aerial vehicle and is used for collecting image information of cargoes, the camera can observe the flight position of the unmanned aerial vehicle in the whole process and help to collect environment information, the camera data output end is in communication connection with the airborne communication module, and the collected image information of cargoes can be transmitted to the ground station communication module through the airborne communication module.
Further, the intelligent matching unit comprises an image recognition module, the image recognition module is in communication connection with the output end of the camera and receives the cargo image information collected by the camera, the image recognition module comprises an image conversion module, and the image conversion module converts the cargo image information into the volume information of cargoes.
In some embodiments, the positioning tag is disposed on the hook, the positioning base station is disposed at the bottom of the unmanned aerial vehicle body, the positioning tag is in communication connection with the positioning base station, and the positioning base station is in communication connection with the airborne communication module, so that the airborne communication module obtains the distance for goods to be placed down.
In this embodiment, an independent time stamp is generated from the start of the positioning tag start, and it is assumed that positioning tag a initiates a ranging request pulse at time TA1 on its time stamp, positioning base station B receives the ranging request pulse sent by positioning tag a at time TB1, and then positioning base station B sends a response request pulse at time TB2, where the response signal is received by positioning tag a at time TA 2. The flight time of the pulse signal between the two devices can be calculated, so that the distance D= [ (TA 2-TA 1) - (TB 2-TB 1) ]cbetween the hook and the unmanned aerial vehicle body, namely the cargo lowering distance and the steel cable lowering length, is determined, wherein c is the light speed.
In some embodiments, the ground station further comprises a display control unit, wherein the display control unit is connected with the output end of the alarm unit and is used for receiving the signal of the alarm unit and displaying the information of normal mounting or mounting overrun alarm. And the ground station operators stop mounting or reduce the flying acceleration and the like according to the alarm information.
Optionally, unmanned aerial vehicle selects for use many rotor unmanned aerial vehicle, installs visual image device, and many rotor unmanned aerial vehicle can produce bigger lift to still reduced the influence of low wind speed to unmanned aerial vehicle flight, visual image device is used for gathering the near environment of unmanned aerial vehicle and reduces the possibility of taking place the flight accident.
Based on the scheme, the unmanned aerial vehicle utilizes a steel rope winch, a steel rope and a hook to carry out cargo mounting, tension data of the cargo on the hook is measured in real time through a tension sensor arranged on the steel rope, the tension data is transmitted to a Bluetooth receiving module on the unmanned aerial vehicle through a wireless Bluetooth transmission module on the tension sensor, an airborne communication module receives the tension data from the Bluetooth receiving module and transmits the tension data to a ground station communication module in real time, an information processing unit receives the tension data from the ground station communication module, a judging unit judges whether the current mounting is in a limiting range or not, then a judging result is sent to an alarm unit, when the detected tension data exceeds the mounting limit, the alarm unit gives an alarm, a display control unit receives and displays information output by the alarm unit, if the detected tension data exceeds the mounting limit, the alarm is stopped during take-off, flying after the mounting is readjusted, if the flight speed and acceleration are adjusted during the flying, and the flying is stable and the flying is prevented from being out of control; meanwhile, the ground station calculates the weight of the mounted goods according to the tensile force data transmitted by the tension sensor, the goods volume data is estimated by utilizing an image processing algorithm according to the goods image acquired by the camera, and the goods lowering distance obtained by utilizing the cooperation measurement of the positioning tag and the positioning base station is combined with three data to carry out matching selection on the mounting mode which is matched with the current mounting mode when the unmanned aerial vehicle is hoisted, so that the mounting mode can be adjusted in real time during take-off and flying, and the flying can be controlled more stably and safely.
The embodiment has the following effects based on the scheme: according to the influence of the hoisted cargoes with different weights and volumes on the unmanned aerial vehicle, the weight of the hoisted cargoes is calculated through the tension value transmitted by the tension sensor, estimated cargo volume data is obtained according to the camera, and the length data of the cargoes put down are combined with three data to be matched with a built-in mounting mode unit, so that the mounting mode corresponding to the current mounting mode is automatically judged and adopted when the unmanned aerial vehicle is hoisted, and the flying is controlled more stably and safely; when the mounting limit of the unmanned aerial vehicle is exceeded, an alarm is sent out, and out-of-control accidents caused by overload operation and difficult flight control due to the fact that the mounting limit is exceeded are avoided.
The foregoing describes in detail preferred embodiments of the present utility model. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the utility model by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. An unmanned aerial vehicle mounting system, wherein the mounting system mounts cargo, comprising:
the unmanned aerial vehicle body comprises a detection unit and an airborne communication module, the detection unit acquires cargo information of the cargo, and the output end of the detection unit is in communication connection with the airborne communication module;
the ground station comprises an intelligent matching unit, an information processing unit, an alarm unit and a ground station communication module, wherein the ground station communication module is in communication connection with the airborne communication module, the input ends of the intelligent matching unit and the information processing unit are respectively in communication connection with the ground station communication module, the intelligent matching unit and the information processing unit receive cargo information output by the detection unit through the airborne communication module and the ground station communication module, the intelligent matching unit comprises a plurality of mounting mode units, the information processing unit comprises a judging unit, the judging unit is in communication connection with the alarm unit, and when the mounting limit is exceeded, the alarm unit sends alarm information.
2. The unmanned aerial vehicle mounting system of claim 1, wherein: the detection unit comprises a tension sensor, a camera and a positioning tag, and the cargo information comprises cargo weight, cargo volume and cargo lowering distance.
3. The unmanned aerial vehicle mounting system of claim 1, wherein: the intelligent matching unit further comprises a control unit, each mounting mode unit corresponds to the weight, the volume and the goods lowering distance of the mounted goods in a certain range, the input ends of the mounting mode units are in communication connection with the detection unit, the output ends of the mounting mode units are connected with the control unit, the detection unit detects goods information to be input into the mounting mode units, and then the control unit controls the flight mode of the unmanned aerial vehicle.
4. The unmanned aerial vehicle mounting system of claim 2, wherein: the system also comprises a steel rope winch, a steel rope and a hook, wherein two ends of the steel rope are respectively connected with the steel rope winch and the hook.
5. The unmanned aerial vehicle mounting system of claim 4, wherein: one end of the tension sensor is connected with the steel cable, and the other end of the tension sensor is connected with the hook.
6. The unmanned aerial vehicle mounting system of claim 4, wherein: the camera is arranged on the bottom surface of the unmanned aerial vehicle body, and the camera data output end is in communication connection with the airborne communication module.
7. The unmanned aerial vehicle mounting system of claim 4, wherein: the positioning tag is arranged on the hook, a positioning base station is arranged at the bottom of the unmanned aerial vehicle body, the positioning tag is in communication connection with the positioning base station, and the positioning base station is in communication connection with the airborne communication module so that the airborne communication module can obtain the distance for goods to be placed down.
8. The unmanned aerial vehicle mounting system of claim 2, wherein: the intelligent matching unit comprises an image recognition module, the image recognition module is in communication connection with the output end of the camera and receives the cargo image information collected by the camera, the image recognition module comprises an image conversion module, and the image conversion module converts the cargo image information into the volume information of cargoes.
9. The unmanned aerial vehicle mounting system of claim 5, wherein: the pull sensor is loaded with a Bluetooth wireless transmission module, the unmanned aerial vehicle body is loaded with an onboard Bluetooth receiving module, the input end of the onboard Bluetooth receiving module is in communication connection with the Bluetooth wireless transmission module, and the output end of the onboard Bluetooth receiving module is in communication connection with the onboard communication module, so that the onboard communication module obtains the weight of goods.
10. The unmanned aerial vehicle mounting system of claim 1, wherein: the ground station also comprises a display control unit, wherein the display control unit is connected with the output end of the alarm unit and displays information output by the alarm unit.
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| CN202322712319.4U CN220764728U (en) | 2023-10-10 | 2023-10-10 | Unmanned aerial vehicle mounting system |
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