CN109398744A - One kind being tethered at UAV system and its control method - Google Patents
One kind being tethered at UAV system and its control method Download PDFInfo
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- CN109398744A CN109398744A CN201811222954.1A CN201811222954A CN109398744A CN 109398744 A CN109398744 A CN 109398744A CN 201811222954 A CN201811222954 A CN 201811222954A CN 109398744 A CN109398744 A CN 109398744A
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- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000006378 damage Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 9
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000606750 Actinobacillus Species 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Electric Cable Installation (AREA)
Abstract
本发明涉及一种系留无人机系统及其控制方法，系留无人机系统包括无人机平台、降落伞装置、系留线缆和自动收放线装置，无人机平台上设置有降落伞装置，且降落伞装置与控制无人机平台的控制器电连接；系留线缆的一端与无人机平台连接，系留线缆的另一端缠绕在自动收放线装置上；还包括安全装置，安全装置包括通过无线连接的发射器和接收器，发射器设置在无人机平台上，且与控制器电连接，接收器设置在自动收放线装置上，且与自动收放线装置电连接。在无人机平台发生故障时，本发明能够使无人机平台在减速下落的同时，保证其落地点在可视可控的范围内，避免无人机平台遭遇二次损伤，同时保证落地点人员和财产的安全。
The invention relates to a tethered unmanned aerial vehicle system and a control method thereof. The tethered unmanned aerial vehicle system comprises an unmanned aerial vehicle platform, a parachute device, a tethered cable and an automatic retracting and releasing device, and a parachute is arranged on the unmanned aerial vehicle platform. device, and the parachute device is electrically connected with the controller that controls the drone platform; one end of the mooring cable is connected with the drone platform, and the other end of the mooring cable is wound on the automatic retractable wire device; it also includes a safety device , the safety device includes a transmitter and a receiver connected wirelessly, the transmitter is arranged on the drone platform and is electrically connected to the controller, and the receiver is arranged on the automatic retracting and releasing device, and is electrically connected to the automatic retracting and releasing device. connect. When the unmanned aerial vehicle platform fails, the present invention can make the unmanned aerial vehicle platform decelerate and fall while ensuring that its landing point is within a visible and controllable range, avoiding secondary damage to the unmanned aerial vehicle platform, and at the same time ensuring the landing point. Safety of people and property.
Description
Technical field
The present invention relates to air vehicle technique fields more particularly to one kind to be tethered at UAV system and its control method.
Background technique
Being tethered at unmanned plane is a kind of UAV system for having the stagnant empty ability of overlength, and aerial platform is connected by being tethered at cable
Ground plane power supply unit can be realized 24 hours or more spot hovers, Ke Yizuo to obtain endlessly power supply
For long-time floating platform, carry multiple-task load executes prolonged air tasking.It is tethered at the volume and weight of unmanned plane
Usual bigger, the matching relationship relative close with ground installation, once system breaks down, and the safeguard protection of unmanned plane
Functional failure, heavy weight aerial device is out of control to fall, by spot personnel and equipment cause serious security threat.
Therefore, focus of attention problem in industry is become to the protection for being tethered at unmanned plane security performance.Existing unmanned plane
Parachute technology is capable of providing parachute assembly that is small in size, light-weight, meeting multi-rotor unmanned aerial vehicle usage scenario.Work as unmanned plane
It breaks down in flight course, dynamical system failure, when needing emergency landing, parachute is incuded by posture or control instruction is opened
Umbrella increases the buoyancy of aerial device, decrease speed is greatly reduced, and keeps the landing speed of unmanned plane in safe range.It protects
On the one hand the degree of injury of unmanned plane can be reduced by holding safe landing speed, guarantee the safety of aerial device, on the other hand may be used
To extend unmanned plane fall time, ground staff is enable to make emergency reaction in time, guarantees the safety of ground staff and equipment.
Traditional unmanned plane parachute can be such that the landing speed of unmanned plane drops in safe range, but be unable to control nothing
Man-machine pick-up point.Such as strong wind weather, parachute is influenced by air blast interference, may be descended slowly and lightly to other than vision coverage area
The danger zones such as place or high-voltage line, lake, highway are easy that unmanned plane is made to meet with secondary damage, while threatening pick-up point
The safety of personnel and property make parachute lose the meaning of safeguard protection.
Therefore, it is urgent to provide one kind to be tethered at UAV system and its control method to solve the above technical problems.
Summary of the invention
The purpose of the present invention is to provide one kind to be tethered at UAV system and its control method, to solve to deposit in the prior art
The uncontrollable technical problem in unmanned plane pick-up point.
To achieve this purpose, the present invention adopts the following technical scheme:
One kind is tethered at UAV system, including unmanned aerial vehicle platform, parachute assembly, is tethered at cable and automatic deploying and retracting is traditional thread binding
It sets, the parachute assembly, and the parachute assembly and the control unmanned aerial vehicle platform is provided on the unmanned aerial vehicle platform
Controller electrical connection；Described one end for being tethered at cable is connect with the unmanned aerial vehicle platform, and the other end for being tethered at cable twines
It is wound on the automatic deploying and retracting line apparatus, the automatic deploying and retracting line apparatus is used to control the releasing and withdrawal for being tethered at cable；
It further include safety device, the safety device includes the transmitter and receiver by wireless connection, the transmitting
Device setting is electrically connected on the unmanned aerial vehicle platform, and with the controller, and the receiver is arranged in the automatic deploying and retracting line
On device, and it is electrically connected with the automatic deploying and retracting line apparatus.
As the optimal technical scheme for being tethered at UAV system, the controller is to be integrated on the unmanned aerial vehicle platform
Control unit or wirelessly to manipulate the remote controler of the unmanned aerial vehicle platform on the ground.
As the optimal technical scheme for being tethered at UAV system, the landing that the automatic deploying and retracting line apparatus is placed in ground is flat
On platform.
As the optimal technical scheme for being tethered at UAV system, the automatic deploying and retracting line apparatus includes reel, servo motor
And servo-driver, on the reel, the reel and the servo motor are drivingly connected the cable winds that are tethered at, described
Servo motor is electrically connected with the servo-driver, and the servo-driver is electrically connected with the receiver.
As the optimal technical scheme for being tethered at UAV system, the automatic deploying and retracting line apparatus further includes wire-arranging mechanism, institute
It states wire-arranging mechanism and the servo motor is drivingly connected, be wound in the cable that is tethered on the reel across the cable machine
It is connect after structure with the unmanned aerial vehicle platform.
As the optimal technical scheme for being tethered at UAV system, aviation-grade connector is provided on the unmanned aerial vehicle platform,
It is described to be tethered at one end that cable is connect with the unmanned aerial vehicle platform and be connected to the aviation-grade connector.
As the optimal technical scheme for being tethered at UAV system, it is provided with photoelectricity slip ring on the automatic deploying and retracting line apparatus,
The cable winds that are tethered at are electrically connected by the photoelectricity slip ring with power supply unit in one end of the automatic deploying and retracting line apparatus.
A kind of as above described in any item control methods for being tethered at UAV system, when unmanned aerial vehicle platform breaks down,
Controller issues parachute-opening instruction to parachute assembly, while issuing take-up instruction to transmitter, and transmitter, which connects, to be referred to receiving take-up
Take-up instruction is sent to receiver by wireless communication after order, and receiver controls automatic deploying and retracting line after receiving take-up instruction
Device executes take-up movement, until automatic deploying and retracting line apparatus stops take-up after unmanned aerial vehicle platform landing.
The present invention compared with the prior art the utility model has the advantages that
Provided by the invention to be tethered at UAV system, when unmanned aerial vehicle platform breaks down, controller is to parachute assembly
Parachute-opening instruction is issued, while issuing take-up instruction to transmitter, transmitter receipt to take-up will be received by wireless communication after instructing
Line sends receiver to, and receiver is logical with the servo-driver in automatic deploying and retracting line apparatus after receiving take-up instruction
Letter, servo-driver control servo motor and execute take-up movement, until automatic deploying and retracting line apparatus stops receiving after unmanned aerial vehicle platform landing
Line.While whereabouts to make unmanned aerial vehicle platform slow down, guarantee that its pick-up point in visual controllable range, avoids unmanned plane flat
Platform meets with secondary damage, while guaranteeing the safety of pick-up point personnel and property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the present invention is tethered at UAV system；
Fig. 2 is the operation principle schematic diagram that the present invention is tethered at UAV system；
Fig. 3 is unmanned aerial vehicle platform dropping process schematic diagram of the present invention.
In figure:
10- unmanned aerial vehicle platform；20- parachute assembly；30- is tethered at cable；40- automatic deploying and retracting line apparatus；50- landing is flat
Platform；61- transmitter；62- receiver.
Specific embodiment
Technical solution of the present invention is further illustrated with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to
Convenient for description, in attached drawing, only the parts related to the present invention are shown and it is not all.
As shown in Figure 1, the present invention, which provides one kind, is tethered at UAV system, including unmanned aerial vehicle platform 10, parachute assembly 20,
Automatic deploying and retracting line apparatus 40 is tethered at cable 30 and safety device.It is provided with parachute assembly 20 on unmanned aerial vehicle platform 10, and drops
It falls umbrella device 20 and is electrically connected with the controller for controlling unmanned aerial vehicle platform 10, controller can be integrated on unmanned aerial vehicle platform 10
Control unit (i.e. flight controller) is also possible to wirelessly manipulate the remote controler of unmanned aerial vehicle platform 10 on the ground.It is tethered at cable
30 one end is connect with unmanned aerial vehicle platform 10, and the other end for being tethered at cable 30 is wrapped on automatic deploying and retracting line apparatus 40, automatic to receive
Actinobacillus device 40 can be realized the releasing and withdrawal for being tethered at cable 30；Automatic deploying and retracting line apparatus 40 is integrated in landing platform 50
In.Safety device includes transmitter 61 and receiver 62, and by being wirelessly connected, transmitter 61 is arranged for transmitter 61 and receiver 62
It on unmanned aerial vehicle platform 10, and is electrically connected with the controller, receiver 62 is arranged on automatic deploying and retracting line apparatus 40, and receives with automatic
Actinobacillus device 40 is electrically connected.
Specifically, automatic deploying and retracting line apparatus 40 includes reel, servo motor and servo-driver, and reel and servo motor drive
Dynamic connection, servo motor are electrically connected with servo-driver, and servo-driver is electrically connected with receiver 62.Reel is tethered at for winding
Cable 30, servo-driver and servo motor are tethered at cable 30 for driving spool turns to release or withdraw.Further,
The automatic deploying and retracting line apparatus 40 further includes wire-arranging mechanism, and wire-arranging mechanism and servo motor are drivingly connected, and is wrapped on reel and is
It is connect after staying cable 30 to pass through wire-arranging mechanism with unmanned aerial vehicle platform 10.
It is provided with aviation-grade connector on unmanned aerial vehicle platform 10, is tethered at one end that cable 30 is connect with unmanned aerial vehicle platform 10 and connects
It is connected to aviation-grade connector.It is provided with photoelectricity slip ring on automatic deploying and retracting line apparatus 40, is tethered at cable 30 and is wound in automatic deploying and retracting line
One end of device 40 is electrically connected by photoelectricity slip ring with power supply unit.
As shown in Fig. 2, the control method provided by the invention for being tethered at UAV system is, when unmanned aerial vehicle platform 10 occurs
When failure, controller issues parachute-opening instruction to parachute assembly 20, while issuing take-up instruction to transmitter 61, and transmitter 61 connects
Take-up instruction is sent to receiver 62 by wireless communication after receiving take-up instruction, and receiver 62 is receiving take-up instruction
It being communicated afterwards with the servo-driver in automatic deploying and retracting line apparatus 40, servo-driver controls servo motor and executes take-up movement, until
Automatic deploying and retracting line apparatus 40 stops take-up after unmanned aerial vehicle platform 10 lands.While whereabouts to make unmanned aerial vehicle platform 10 slow down,
Guarantee its pick-up point in visual controllable range.
The dropping process of lower unmanned aerial vehicle platform 10 of the invention in the event of a failure is described in detail below.
Referring to Fig. 3, it is assumed that when unmanned aerial vehicle platform 10 compels to drop to ground using parachute assembly 20, what is be not retracted is
The length for staying cable 30 is L, and the distance of pick-up point to the landing platform 50 of unmanned aerial vehicle platform 10 is D, right due to being tethered at cable 30
The scope of activities of unmanned aerial vehicle platform 10 has certain limitation, so D < L, that is, the pick-up point of unmanned aerial vehicle platform 10 is with landing
Centered on platform 50, in circular scope of the radius less than L.Therefore L is solved, can estimate the landing position of unmanned aerial vehicle platform 10.
During unmanned aerial vehicle platform 10 is by the forced landing of landing-gear umbrella, need to undergo three motion processes: freely falling body
Movement, retarded motion and uniform motion.According to test data, when unmanned aerial vehicle platform 10 is force-landed using parachute assembly 20, from nothing
Man-machine platform 10 breaks down to the time t of the fully open needs of parachute assembly 201=2s, unmanned aerial vehicle platform during this
10, which fall, is similar to the movement of falling object, decrease speed V1With falling head H1It can ask:
V1=gt1
After parachute assembly 20 fully opens, unmanned aerial vehicle platform 10 enters retarded motion process.According to experimental data, lead to
Often reach at the uniform velocity by 3s time unmanned aerial vehicle platform 10.Therefore during retarded motion, it is known that t2=3s.By hindering air
Power integral, available rate equation under the conditions of air drag.According to air drag formula:
Wherein, C is coefficient of air resistance, which is usually experiment value；ρ is atmospheric density, and normal dry air can use 1.293kg/
m2；S is the front face area of parachute assembly 20；V is the relative velocity of unmanned aerial vehicle platform 10 and air.Assuming that air is motionless, then
The relative velocity V of unmanned aerial vehicle platform 10 and air is the falling speed v of unmanned aerial vehicle platform 10, be can be obtained under unmanned aerial vehicle platform 10
The Acceleration Formula fallen are as follows:
The relationship of falling speed and time can be obtained by solving the differential equation:
Then the speed formula in the motion process can also be write as:
Solution
?
The relationship for displacement and the speed of falling:
According to above-mentioned formula it is found that in the retarded motion stage, the height of the whereabouts of unmanned aerial vehicle platform 10Speed when reaching at the uniform velocity
After two processes of the movement of falling object and retarded motion, unmanned aerial vehicle platform 10 enters the process at the uniform velocity to fall,
Falling speed V at this time3=V2, height of drop H3=H-H1-H2, fall time is
It sets safety device and in case of emergency controls the take-up speed of automatic deploying and retracting line apparatus 40 as Vs, then unmanned plane is flat
When platform 10 is from breaking down to falling to ground, what automatic deploying and retracting line apparatus 40 recycled is tethered at 30 length of cable are as follows:
L1=Vs·(t1+t2+t3)
It is then remaining unrecovered to be tethered at 30 length of cable are as follows:
L=H-L1
Bringing above-mentioned formula into can obtain:
L=H-Vs·(t1+t2+t3)
Can be evaluated whether the approximate location of 10 pick-up point of unmanned aerial vehicle platform with above-mentioned formula, for example, when gravity acceleration g=
9.8m/s2, flying height H=300m, the total weight of unmanned aerial vehicle platform 10 and parachute assembly 20 is 40kg, parachute assembly
20 front face area is S=12m2, take-up speed V that safety device starts in failuresIt, can be according to above-mentioned meter when=4.8m/s
Calculation process calculates the landing position of unmanned aerial vehicle platform 10:
V1=gt1=9.8 × 2=19.6 (m/s)
Work as H2When=0, V2=V1=19.6 (m/s), then can acquire C0=6.37, bringing all parameters into formula can obtain:
H3=H-H1-H2=300-19.6-9=271.4 (m)
L1=Vs·(t1+t2+t3)=4.8 × (2+3+54.3)=284.64 (m)
L=H-L1=300-284.64=15.36 (m)
By above-mentioned calculating process it is found that in this case the pick-up point of unmanned aerial vehicle platform 10 centered on landing platform 50,
In the range of radius about 15m.
It can be seen that provided by the invention be tethered at UAV system and its control method, can be sent out in unmanned aerial vehicle platform 10
When raw failure, guarantee that the pick-up point of unmanned aerial vehicle platform 10 in visual controllable range, avoids unmanned aerial vehicle platform 10 from meeting with secondary
Damage, while guaranteeing the safety of pick-up point personnel and property.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811222954.1A CN109398744A (en) | 2018-10-19 | 2018-10-19 | One kind being tethered at UAV system and its control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110286690A (en) * | 2019-06-12 | 2019-09-27 | 浙江吉利控股集团有限公司 | One kind is vehicle-mounted to be tethered at multi-rotor unmanned aerial vehicle control system and vehicle |
| FR3097198A1 (en) * | 2019-06-14 | 2020-12-18 | Dorian BLOT | Monitoring and protection installation of sensitive areas |
| CN113492978A (en) * | 2020-04-01 | 2021-10-12 | 桂林航天工业学院 | Can prevent mooring unmanned aerial vehicle and prevent inclining device that inclines |
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