CN108146634A - A kind of unmanned plane aircraft carrier based on earth station and helium balloon - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle carrier based on a ground station and a helium balloon, which mainly includes a ground station part, a helium balloon part, a UAV part and a connecting pipeline; the helium balloon part is suspended above the ground station and is pulled by the ground station. The drone is attached to the helium balloon part and flies at a lower altitude than the helium balloon. The helium balloon part includes a helium balloon, an aircraft carrier platform, a wire winder, a distribution box, an aerial functional box, a solar cell, a power system, a GPS module, a camera module and a helium balloon control system; the ground station part includes an external power supply system, a balloon wire Disc, battery and ground function box; UAV part includes multi-rotor UAV, pipeline connection box and mission operation parts. The invention uses the ground station and the helium balloon to transfer most of the load of the traditional UAV to the ground, which improves the endurance of the UAV; it can be equipped with various task equipment to complete low-altitude agriculture and forestry maintenance, low-altitude fine picking, dangerous Tasks such as regional monitoring have wider adaptability.

Description

A drone carrier based on ground stations and helium balloons

technical field

The invention relates to structural design and coordinated control of a multi-unmanned aerial vehicle system, and belongs to the field of structural design and control of unmanned aerial vehicles.

Background technique

Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. UAVs have attracted much attention in various fields due to their advantages such as wide size distribution, light weight, convenient operation, and the ability to perform tasks in some harsh environments. With the development of UAV technology, UAV has played its unique advantages in all walks of life relying on its inherent advantages, such as natural disaster search and rescue, agricultural plant protection, forest fire prevention, surveying and mapping, power patrol, etc. check etc.

As the performance indicators of UAVs are getting higher and higher, the application range is getting wider and wider. However, due to the limitations of battery technology, most drones are currently used in areas with low load requirements and low endurance performance. The flight time of a single charge is short, and the advantages of drones cannot be maximized. Helium balloons in aircraft are unpowered aerostats. Helium balloons have advantages that drones do not have: long time in the air, low power requirements, and are often used for high-altitude scientific detection, etc., but the maneuverability is not good enough. If the two can be combined to make up for their disadvantages, the application space of unmanned aerial vehicles and helium balloons can be expanded. Therefore, some people have combined the drone with the helium balloon (patent number: CN201420292163.7) to make a new type of drone, relying on the lift of the helium balloon to increase the available load of the drone, and use it for pesticides in agriculture of spraying. This one-piece design restricts the performance of the UAV, and the rigid connection between the UAV and the helium balloon also makes the flight efficiency of the UAV less than the target expectation, and it is difficult to perform tasks with high flexibility.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention relates to an unmanned aerial vehicle carrier based on a ground station and a helium balloon, which can realize long-endurance low-altitude flight operations. Platforms, not limited to ships at sea.

The present invention adopts the following technical scheme: an unmanned aerial vehicle carrier based on a ground station and a helium balloon, which mainly includes a ground station part, a helium balloon part, a UAV part and a connecting pipeline; Station traction, the UAV is connected to the helium balloon part, and the flying height is lower than the helium balloon. The helium balloon part includes a helium balloon, an aircraft carrier platform, a wire winder, a distribution box, an air function box, a solar cell, a power system, a GPS module, a camera module and a helium balloon control system; the ground station part includes an external power supply system, a balloon wire Disc, battery and ground function box; the UAV part includes multi-rotor UAV, pipeline connection box and mission operation parts; in addition, there are connecting pipelines for connecting various parts.

The bottom of the helium balloon is equipped with a circular or regular polygon carrier platform, and the carrier platform is equipped with the winder, air function box, power system, distribution box, camera module and helium balloon control system; The upper part is equipped with solar cells and GPS modules.

The winders are evenly distributed near the edge of the carrier platform, and the number of winders must be greater than or equal to the number of multi-rotor UAVs; the winders are used to connect the collection of multi-rotor UAV pipelines, and a multi-rotor without The man-machine is connected with a wire winder; when the UAV is far away from and close to the aircraft carrier platform, the scroll spring drives the rotation of the wire reel to realize the automatic pulling out and retracting of the pipeline, preventing the pipeline from being entangled with each other or falling on the ground; When the drone needs to dock back to the aircraft carrier, use the stepper motor to drive the reel to pull the drone back and lock the connecting pipeline.

The distribution box is used to connect the pipelines from the ground station, and distribute the medium transported by the pipelines to the sub-pipelines on each winder.

The air function box is located in the middle of the aircraft carrier platform, and the air function box carried under different task conditions is different, and can be replaced according to actual requirements.

The solar cell is a thin-plate or film-shaped solar cell, which can supply power for the entire system in good weather and share the pressure of the ground station for power supply.

The power system is composed of four symmetrical motors and propellers. When the position of the helium balloon needs to be moved or stabilized, the helium balloon control system controls the rotation of the motors and propellers according to the position information sent by the GPS module to realize the helium balloon sport control.

The camera module is installed in the center of the bottom of the aircraft carrier platform, and is used to monitor the relative position and working status of each multi-rotor UAV. The anti-collision task allocation algorithm can be used to indicate the flight path of each multi-rotor UAV to prevent unmanned Machines collide with each other.

The ground station part is divided into two implementation methods: fixed and mobile; the fixed ground station is fixed on the ground, and the external power supply system uses grid power supply or generator power supply; the mobile ground station is generally fixed on the vehicle, and the external The power supply system can be powered by an on-board generator.

The storage battery is used for the power supply of the entire UAV carrier system; when the external power supply system is working, the external power supply system can supply power to the UAV carrier system and charge the battery at the same time.

The balloon reel is driven by a stepping motor, and a pipeline connected with the helium balloon is wound on the reel, and the height of the helium balloon can be adjusted when the stepping motor drives the reel to rotate.

The ground functional box is used in conjunction with the aerial functional box, and different boxes can be replaced according to actual tasks.

Each rotor of the multi-rotor UAV is equipped with a protective ring to prevent the connecting pipeline from contacting the high-speed rotating propeller, and is also used to prevent accidents caused by collision between the propellers of the multi-rotor aircraft; the upper part of the body is equipped with a pipeline connection The box is used to fix the connection pipeline from the helium balloon, and to divide the electric energy and material flow from the pipeline; the lower part of the machine body is equipped with task operation parts, which are used to implement specific tasks.

The connecting pipelines mainly include power supply lines, liquid conveying pipelines or other pipelines, which can be selected according to actual tasks; the pipeline material is made of polymer light fiber, which is light in weight, soft and can resist a certain tensile force.

The beneficial effects of the present invention are: the present invention can simultaneously operate the multi-rotor unmanned aerial vehicle in a plurality of operating states, and can improve the efficiency of completing low-altitude and high-density operations; Part of the load is transferred to the ground, and it can be powered by a generator or power grid, which improves the endurance of the UAV; at the same time, the UAV can carry various mission equipment to complete low-altitude agriculture and forestry maintenance, low-altitude fine picking, and monitoring of dangerous areas And other tasks, wide adaptability.

Description of drawings

Fig. 1 is the structural representation of the helium balloon part of a kind of unmanned aerial vehicle carrier based on ground station and helium balloon of the present invention;

Fig. 2 is a kind of structural representation of the ground station part of the unmanned aerial vehicle carrier based on ground station and helium balloon of the present invention;

Fig. 3 is a structural schematic diagram of the unmanned aerial vehicle part of a kind of unmanned aerial vehicle carrier based on ground station and helium balloon of the present invention;

Fig. 4 is a kind of overall structural representation of the unmanned aerial vehicle carrier based on ground station and helium balloon of the present invention;

Fig. 5 is a schematic diagram for deep spraying of an unmanned aircraft carrier based on a ground station and a helium balloon of the present invention;

Fig. 6 is a schematic diagram of picking equipment carried by an unmanned aerial vehicle carrier based on a ground station and a helium balloon according to the present invention.

In the figure: 1-helium balloon, 2-carrier platform, 3-winder, 4-distribution box, 5-air function box, 6-solar battery, 7-power system, 8-GPS module, 9-camera module, 10-Helium balloon control system, 11-External power supply system, 12-Balloon reel, 13-Battery, 14-Ground function box, 15-Multi-rotor UAV, 16-Pipeline connection box, 17-Mission operation parts, 18 - depth spraying device, 19 - picking equipment.

Detailed ways

In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

The present invention will be further described below in conjunction with the accompanying drawings. As shown in Figure 1 and Figure 2, the present invention includes a ground station part, a helium balloon part and an unmanned aerial vehicle part, specifically including a helium balloon 1, an aircraft carrier platform 2, a wire winder 3, a distribution box 4, an aerial function box 5, a solar energy Battery 6, power system 7, GPS module 8, camera module 9, helium balloon control system 10, external power supply system 11, balloon reel 12, battery 13, ground function box 14, multi-rotor UAV 15, pipeline connection box 16 And task operation parts 17; In addition, there are connecting pipelines for connecting each part.

The present invention is an unmanned aerial vehicle carrier based on a ground station and a helium balloon. As shown in FIG. Solar cell 6, power system 7, GPS module 8, camera module 9 and helium balloon control system 10, take six winders as example, as shown in Figure 3; The top of helium balloon 1 is covered with solar cell 6, helium balloon There is a GPS module 8 on the top of the helium balloon for obtaining the position of the helium balloon 1; the bottom of the helium balloon 1 is connected to the aircraft carrier platform 2, and since six wire winders are used, the aircraft carrier platform is designed as a regular hexagon, and the six wire winders 3 Distributed near the six corners, it is used to connect six multi-rotor aircraft; there is a distribution box 4 at the bottom center of the aircraft carrier platform 2, and the distribution box 4 is used to connect the connecting pipeline from the ground station, and transfer the energy transmitted in the pipeline It is divided into six parts with the medium and supplied to the pipelines on the six winders respectively; the air function box 5 is installed in the center above the aircraft carrier platform 2, which can be used for the storage of a small amount of medium or install other components to cooperate with the drone to complete the task ; A power system 7 is installed around the air function box 5, that is, four symmetrical motor propellers, and the four motors can be rotated forward and reverse, and can be driven in the horizontal direction to move or stabilize the helium balloon; the helium balloon control system 10 can obtain the information of the GPS module 8 and the camera module 9, thereby controlling the power system 8 to move or stabilize the helium balloon.

The ground station part includes a balloon reel 12, a storage battery 13, a ground function box 14 and a power supply system; the ground station is located directly under the helium balloon 1 and is pulling the helium balloon 1; taking the mobile ground station as an example, as shown in Figure 2 , the whole ground station is installed on the agricultural vehicle, wherein the power supply system shares the power generation system of the car, that is, the whole system can be powered by the storage battery 13, or the car generator can be used to power the whole system; 1. The connected pipeline can use the stepper motor to drive the rotation of the reel to adjust the height of the helium balloon; the function of the ground function box 14 is similar to that of the air function box. It can be installed with a storage tank to store a large amount of media, and can also be installed with other components for cooperation. Task.

The UAV part includes a multi-rotor UAV 15, a pipeline connection box 16 and a task operation part 17, as shown in Figure 3; the multi-rotor UAV 15 carries flight tasks, including attitude control, fixed height and fixed point, and data return etc.; the pipeline connection box 16 is used to connect the pipeline from the helium balloon 1, and separate the electric energy and medium flow transmitted in the pipeline for use by other parts; the task operation part 17 can replace different parts according to specific tasks, such as the nozzle , robotic arm and camera, etc.

The connecting pipeline is divided into many wire cores, including but not limited to multi-rotor aircraft power supply wires, mission medium pipes, etc., which can be selected according to actual tasks; each wire core is isolated by rubber and coating, and the pipe material is made of polymer light fiber. It is light in weight and can resist certain pulling force.

Now give examples as follows:

Embodiment one: the depth spraying of pesticide and foliar fertilizer

UAVs are very useful in spraying agriculture and forestry maintenance. However, in order to pursue a certain efficiency in spraying pesticides or foliar fertilizers by traditional UAVs, they generally spray at a height with a certain height difference from the crops, which is easy to make The misty liquid is suspended in the air and scattered around; in addition, due to the limitation of battery technology, the endurance of high-load drones is short, and it is necessary to go back to recharge and replenish pesticides or fertilizers frequently.

The drone carrier of the present invention can spray pesticides or foliar fertilizers; first, the connecting pipeline is a pipeline with a medium pipeline, and the ground station function box is a storage box for pesticides or fertilizer liquid; there is a small liquid pump at the bottom of the storage box, The liquid in the box can be pumped to the air function box of the helium balloon, and distributed to the connecting pipeline of each drone through the distribution box and delivered to the multi-rotor drone; at the same time, the lower part of the multi-rotor drone is equipped with liquid depth spraying Device 18, the pesticide spraying device evenly sprinkles the transported liquid, and under the wind force of the four propellers, the liquid droplets can quickly reach the designated crops. As shown in Figure 5, the depth spraying device 18 is a flexible pipe or a hard pipe with many horizontal nozzles installed on it, which can be used for the spraying of pesticides or foliar fertilizers for crops with higher growth heights, which overcomes the traditional spraying problem. The problem that the application cannot be sprayed to the bottom foliage.

In addition, if the amount of tasks is small, the pesticide or fertilizer liquid can be directly stored in the air function box, and the liquid can be transported to each working drone by gravity to complete low-altitude spraying; if a mobile ground station is used, when After the spraying of an area is completed, the ground station vehicle can be directly moved to the next spraying site, which is efficient and convenient.

Embodiment two: the efficient picking of cotton fruit etc.

Cotton fruit and other crops have a large number of fruit per tree, and the branches and leaves are relatively luxuriant. The picking of these crops can only be done manually, and the efficiency is low. Although a lot of mechanized equipment that can be picked automatically have been developed at present, because the equipment itself is on the ground, it is difficult to pick for most of the fruits that are in a higher position. Due to its flexibility and mobility, drones are suitable for picking certain crops. Due to the heavy weight of the battery, traditional UAVs are greatly limited in carrying picking equipment, and due to battery life, they are not suitable for long-term and large-area picking operations.

The drone carrier of the present invention can solve this problem very well; the multi-rotor drone of the present invention does not load batteries, has more space to carry picking equipment 19, and ensures mobility and flexibility at the same time, as shown in the figure As shown in 6; the ground function box is a storage box for crops, and the crops picked by the drone can be transported to the storage box for unified storage; at the same time, the power is provided by the ground station, which can be applied to long-term operations; if the ground station vehicle is used , further expanding the scope of work.

Embodiment 3: Intelligent monitoring of chemical equipment, nuclear, biological and chemical equipment, hazardous chemical storage areas, etc.

In industry, chemical equipment, nuclear, biological and chemical equipment, hazardous chemical storage areas and other areas have high risks. In order to ensure personal safety, automatic monitoring equipment is generally used; however, for some temporary events that need real-time monitoring, new installations are required. Monitoring equipment is time-consuming and labor-intensive, and manual monitoring is required, which is troublesome.

The UAV aircraft carrier of the present invention can realize real-time intelligent monitoring by carrying cameras, various sensors and other equipment; since the power can be directly provided by the power grid through the fixed ground station, there are sufficient guarantees in mobility and endurance performance; A UAV can monitor a variety of data from the air at the same time, which is convenient for data sorting and analysis, and reduces monitoring costs.

The above are concrete equipment and process conditions of the present invention, which are explained in cooperation with each figure. But the present invention is not limited to the above-mentioned specific equipment and process, any modification or replacement of related equipment based on the above-mentioned, any local adjustment of related processes based on the above-mentioned, as long as it is within the spirit of the present invention Within the scope, all belong to the present invention.

Claims (10)

1. a kind of unmanned plane aircraft carrier based on earth station and helium balloon, it is characterised in that：Mainly include earth station part, helium balloon Partly, unmanned plane part and connecting pipeline；Helium balloon is partially suspended on above earth station, is drawn by earth station, unmanned plane connection Onto helium ball portion, and flying height is lower than helium balloon；The helium ball portion include helium balloon, aircraft carrier platform, bobbin winoler, Distributor disk, aerial functional compartment, solar cell, dynamical system, GPS module, camera module and helium balloon control system；Ground It stands and partly includes exterior power supply plant, balloon drum, accumulator and ground functional compartment；Unmanned plane part include more rotors nobody Machine, pipeline connection box and Mission Operations component；In addition with for connecting the connecting pipeline of each section；The distributor disk is used to connect The pipeline from earth station is fetched, and the medium of pipeline transmission is distributed to the sub- pipeline on each bobbin winoler；Aerial functional compartment position In the centre of aircraft carrier platform；The camera module is mounted on the bottom center of aircraft carrier platform；The balloon drum uses stepping Motor drives, and the pipeline being connect with helium balloon is wound on drum, and helium can be adjusted when stepper motor driving drum rotation The height of ball；Ground functional compartment uses for aerial functional compartment of arranging in pairs or groups, and different babinets can be replaced according to actual task；More rotations Each rotor of wing unmanned plane is fitted with guard ring, and body upper is equipped with pipeline connection box, for fixed from helium balloon Connecting pipeline, and by the electric energy from pipeline, material flow point stream；The lower part of body is equipped with Mission Operations component；It is described Connecting pipeline mainly includes supply of electric power circuit, liquid conducting pipes or other pipelines；Earth station part is fixed or mobile Formula.

2. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：The helium Balloon bottom equipped with round or regular polygon aircraft carrier platform, be equipped on aircraft carrier platform the bobbin winoler, aerial functional compartment, Dynamical system, distributor disk, camera module and helium balloon control system；Solar cell is installed in the top half of helium balloon And GPS module.

3. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：It is described around Line device is evenly distributed in the place that aircraft carrier platform leans on proximal edge, and the quantity of bobbin winoler has to be larger than or equal to multi-rotor unmanned aerial vehicle Quantity；One multi-rotor unmanned aerial vehicle connects a bobbin winoler；When multi-rotor unmanned aerial vehicle is far from and close to aircraft carrier platform, scrollwork bullet Spring drives the rotation of drum to pull out and withdraw so as to fulfill the automatic of pipeline, using stepper motor driving drum by more rotors nobody Machine retracts and locks connecting pipeline.

4. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：It is described dynamic Force system is made of four symmetrical motors and propeller, the location information transmitted according to GPS module, by helium balloon control system The rotation of motor and propeller is controlled so as to fulfill helium balloon motion control.

5. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：It is mobile Earth station be generally fixed on vehicle, exterior power supply plant can be powered using mobile generator.

6. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：The storage Battery is used for the power supply of entire unmanned plane aircraft carrier system；When exterior power supply plant works, exterior power supply plant can give nobody Machine aircraft carrier system power supply, charges a battery simultaneously.

7. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：Connecting tube Line is the pipeline of subsidiary medium pipeline, and earth station's functional compartment is pesticide or the storage box of fertilizer solution；Have in storage box bottom small-sized Liquid pump, in the lower part of multi-rotor unmanned aerial vehicle equipped with liquid depth flusher, depth flusher is a hose or hard There are many horizontal nozzles for peace turn on pipeline.

8. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 7, it is characterised in that：By pesticide Or fertilizer solution is stored in functional compartment in the air, and liquid is transported to the multi-rotor unmanned aerial vehicle of each work by gravity, is completed low Sky sprinkling.

9. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：More rotors UAV flight's seed harvester, ground functional compartment are the storage bin of crop, and the crop of multi-rotor unmanned aerial vehicle picking can be transported to Unified storage in the storage box.

10. a kind of unmanned plane aircraft carrier based on earth station and helium balloon according to claim 1, it is characterised in that：More rotations The equipment such as wing UAV flight camera, various sensors realize real time intelligent control.