CN113665812A - Multi-channel unmanned aerial vehicle control system and method - Google Patents
Multi-channel unmanned aerial vehicle control system and method Download PDFInfo
- Publication number
- CN113665812A CN113665812A CN202110910101.2A CN202110910101A CN113665812A CN 113665812 A CN113665812 A CN 113665812A CN 202110910101 A CN202110910101 A CN 202110910101A CN 113665812 A CN113665812 A CN 113665812A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- rotor
- control system
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 18
- 238000011835 investigation Methods 0.000 claims abstract description 14
- 229910000746 Structural steel Inorganic materials 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 6
- 238000010079 rubber tapping Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Remote Sensing (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Toys (AREA)
Abstract
The invention provides a multi-channel unmanned aerial vehicle control system, which comprises: the unmanned aerial vehicle comprises a body, wherein a plurality of rotor systems are arranged on the body; the position investigation system is fixed on the middle part of the lower surface of the machine body; the mechanical grab is arranged on the lower surface of the machine body and/or the lower surface of the position investigation system, and the unmanned aerial vehicle, the position investigation system and the mechanical grab are controlled through respective channels. Through the cooperation of dividing the worker by multichannel, obtain a section and can stably survey and snatch the equipment system of sample, have higher practicality. The application environment and the application range are more.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle surveying and sampling, in particular to a multi-channel unmanned aerial vehicle control system and method.
Background
In recent years, due to the continuous development of open-source unmanned aerial vehicle flight controllers and automatic aircraft pilots, the technology has become mature, and tens of thousands of excellent talents worldwide are contributing codes to open-source unmanned aerial vehicle projects. So that more and more ordinary people can easily enter the field. Generally, drones are divided into three categories: fixed wing aircraft, single rotor helicopter, multi-rotor helicopter. In the early stage, fixed wing aircraft and helicopter have a leading position, and the theory of many rotors has matured day by day in nearly ten years, and the equipment is simple, and the override is nimble, has gradually become the unmanned aerial vehicle that people liked.
A multi-rotor helicopter refers to an inorganic helicopter that consists of three, four, or more propellers. The most typical and common is a four-rotor helicopter (hereinafter referred to as a four-rotor). The four rotors have four shafts, four propellers are arranged, and the vertical take-off and landing can be realized by upward pulling force generated by the high-speed rotation of the propellers. However, unlike a helicopter, the forward, reverse, left and right flight of multiple rotors is based on different rotational speeds of the four propellers, rather than on changing the pitch of the main power propellers as in a helicopter, because the pitch of the four rotor propellers is fixed and the size of the propellers is also fixed. The wheelbases of the four shafts of the four rotors are also generally the same, so the power system is also generally symmetrical. Three, six, eight or other multi-rotors are not substantially different from four rotors, except for the distribution of power and torque to the plurality of propellers.
Except carrying out the aerial photography with unmanned aerial vehicle among the prior art, because in its environment that can be very nimble go to various dangers itself, many scientific research institutes utilize unmanned aerial vehicle to carry out the collection of different samples, on unmanned aerial vehicle's basis, carry out reconnaissance and sample acquisition, how to provide the suitable equipment that satisfies above-mentioned requirement, are our direction that needs research.
Disclosure of Invention
The invention provides a multi-channel unmanned aerial vehicle control system, which solves the problems in the prior art.
The technical scheme of the invention is realized as follows:
a multi-channel drone control system comprising:
the unmanned aerial vehicle comprises a body, wherein a plurality of rotor systems are arranged on the body;
the position investigation system is fixed on the middle part of the lower surface of the machine body;
a mechanical grab arranged on the lower surface of the machine body and/or the lower surface of the position exploration system,
the unmanned aerial vehicle, the position investigation system and the mechanical grab are respectively controlled through respective channels.
As a preferable scheme of the invention, the rotor system comprises a rotor arm system and a vertical lifting system, the rotor system is uniformly arranged on the outer eave of the machine body, and the vertical lifting system is arranged in the middle of the upper surface of the machine body.
As a preferred scheme of the invention, the rotor arm system comprises a rotor arm, wherein the connecting end of the rotor arm is connected with an arm seat, and the arm seat is connected with the machine body through a rotating hinge; the free end of rotor arm is fixed with the rotor drive seat, install the rotor motor on the rotor drive seat, the rotor motor linkage has the screw.
As a preferred scheme of the present invention, the position surveying system is fixed to the lower portion of the machine body by a plurality of connecting rods, the lower ends of the connecting rods are connected to an upper fixing plate, a lower fixing plate is arranged below the connecting rods in parallel to the upper fixing plate, and the upper fixing plate and the lower fixing plate are connected and fixed by a plurality of connecting blocks.
As a preferable scheme of the invention, a measuring instrument is fixed between the upper fixing plate and the lower fixing plate, a touch switch is arranged on the measuring instrument, and the position surveying system further comprises a knocking component which touches the touch switch as required.
As a preferred aspect of the present invention, the position surveying system further comprises a transceiver and a power pack, the transceiver and the power pack being connected with the tapping assembly and the measuring instrument.
As a preferable scheme of the present invention, the knocking assembly includes a motor base fixed on the upper fixing plate, an angle bar is fixed on the motor base, a crank driven to rotate by the motor is disposed on the angle bar, a connecting rod is rotatably connected to a free end of the crank, the connecting rod is rotatably connected to a rocking hammer for knocking the touch switch, and the motor is fixed on the angle bar.
As a preferable scheme of the invention, the mechanical gripper comprises a gripper base, a plurality of damping pieces are arranged on the upper part of the main base, the damping pieces are fixedly connected with a corresponding fixing plate on the upper part, the lower part of the gripper base is rotatably connected with a lead screw driving group, the lower part of the lead screw driving group is linked with a lead screw assembly, the lead screw assembly comprises a vertical lead screw linked with the lead screw driving group, a lead screw base fixed at the free end of the lead screw, and a lifting nut sleeved on the lead screw and lifted.
As a preferable scheme of the invention, two sides of the lower part of the screw rod seat are symmetrically provided with grabbing structures, each grabbing structure comprises an upper parallel rod group and a lower parallel rod group, each upper parallel rod group comprises a first parallel rod and a second parallel rod which are vertically arranged in parallel, and the lower ends of the first parallel rod and the second parallel rod are respectively and rotatably connected with a third parallel rod and a fourth parallel rod through a first rotating shaft and a second rotating shaft correspondingly;
a telescopic assembly is arranged between the first rotating shaft and the screw rod seat;
and a linkage assembly is arranged between the upper end of the upper parallel rod group and the lifting nut.
A control method of a multi-channel unmanned aerial vehicle control system is characterized in that the multi-channel unmanned aerial vehicle control system is used for controlling an unmanned aerial vehicle, a mechanical grab and a position investigation system through corresponding control circuits respectively.
Has the advantages that:
the invention provides a multi-channel unmanned aerial vehicle control system, which comprises: the unmanned aerial vehicle comprises a body, wherein a plurality of rotor systems are arranged on the body; the position investigation system is fixed on the middle part of the lower surface of the machine body; the mechanical grab is arranged on the lower surface of the machine body and/or the lower surface of the position investigation system, and the unmanned aerial vehicle, the position investigation system and the mechanical grab are controlled through respective channels. Through the cooperation of dividing the worker by multichannel, obtain a section and can stably survey and snatch the equipment system of sample, have higher practicality. The application environment and the application range are more.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic front view of an embodiment of the present invention;
FIG. 2 is a schematic view of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic top view of an embodiment of the unmanned aerial vehicle of the present invention;
FIG. 4 is a schematic view of a main view of the position surveying system of the present invention;
FIG. 5 is a schematic side view of the position survey system of the present invention;
FIG. 6 is a schematic front view of a mechanical grab embodiment of the present invention;
FIG. 7 is a side view of a mechanical grab embodiment of the present invention;
FIG. 8 is a schematic view of an embodiment of a gripper according to the present invention.
In the figure, the unmanned aerial vehicle 100, the body 101, the rotor drive base 102, the rotor motor 103, the rotor arm 104, the propeller 105, the arm base 106, the landing gear 107, the buffer sleeve 108, the position survey system 200, the upper fixing plate 201, the measuring instrument 202, the connecting block 203, the lower fixing plate 204, the angle iron 205, the crank 206, the rocking hammer 207, the transceiver 208, the power box 209, the motor base 210, the motor 211, the mechanical gripper 300, the gripper base 301, the shock absorbing member 302, the rotating shaft 303, the screw motor 304, the coupling 305, the screw 306, the lifting nut 307, the pull rod 308, the screw base 309, the first fixing knuckle 310, the fixing plate 311, the first parallel rod 312, the second parallel rod 313, the linkage rod 314, the linkage knuckle 315, the fourth parallel rod 316, the third parallel rod 317, the second fixing knuckle 318, the suction cup 319, and the electromagnet 320.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A multi-channel drone 100 control system as shown in figures 1-3, comprising: the unmanned aerial vehicle 100 comprises a body 101, wherein a plurality of rotor systems are arranged on the body 101; a position surveying system 200 fixed on the middle of the lower surface of the body 101; and the mechanical grab 300 is arranged on the lower surface of the machine body 101 and/or the lower surface of the position surveying system 200, and the unmanned aerial vehicle 100, the position surveying system 200 and the mechanical grab 300 are respectively controlled through respective channels.
The rotor system includes rotor arm 104 system and vertical lift system, and the rotor system evenly sets up on organism 101 outer eaves, and vertical lift system sets up in organism 101 upper surface middle part.
The rotor arm 104 system comprises a rotor arm 104, the connecting end of the rotor arm 104 is connected with an arm seat 106, and the arm seat is connected with the machine body 101 through a rotating hinge; a rotor driving seat 102 is fixed at the free end of the rotor arm 104, a rotor motor 103 is mounted on the rotor driving seat 102, and the rotor motor 103 is linked with a propeller 105.
In the higher unmanned aerial vehicle equipment of configuration, can set up on the arm seat and rotate the motor, folding is withdrawed to better assistance rotor arm. Here, all accomplish through close passageway about the control of each spare part of unmanned aerial vehicle.
The unmanned aerial vehicle drive in this system embodiment adopts big understanding instire 2 four-axis aerial vehicle deformation unmanned aerial vehicle ware of taking photo by plane to change and extend, and its rotor arm and relevant drive arrangement adopt the correspondence among the above-mentioned product to change not. The aircraft is made of a variable magnesium-aluminum alloy fuselage and a carbon fiber horn, so that the lightness of the whole material is guaranteed as much as possible, the maximum horizontal flight speed can reach 94km/h, and a single shaft has 2kg of thrust.
In addition, the binocular vision system is arranged in the front view and the downward view of the aircraft body, so that the obstacle within the range of 30 meters can be detected, the aircraft still has good maneuvering performance under the condition that the obstacle sensing system is started, the top sensing system can be arranged at the upper part of the aircraft body, objects within the range of 5 meters above the aircraft can be effectively sensed, and the aircraft is prevented from colliding with the top obstacle with high probability in the ascending process.
The aircraft has an intelligent return function, can map a flight environment in the flight process at any time based on the forward-looking and downward-looking binocular stereo vision systems, records the flight track, and can return along the flight path when the aircraft is shielded by an object to cause image transmission or the disconnection of a remote controller signal until the image signal returns linearly after being recovered. The fly-around path can be planned in advance, connection can be established more quickly when the aircraft returns out of control, the flight state can be mastered as early as possible, and safer and smoother self-life return flight can be realized.
In a more preferred embodiment, the aircraft as in fig. 2-3 is provided with a landing gear 107. Reference is made to the form of aircraft landing gear. In the past, the aircraft landing gear was made up of a fixed carrier and wheels, which did not require a high level of skill for manufacture, due to the low flight speed of the aircraft and the less stringent aerodynamic profile requirements of the aircraft.
Like the landing gear of an airplane, in the embodiment of the application, the landing gear which is easy to retract and release is arranged at the position of the outer eave of the airplane body, and the landing gear can be automatically controlled by a rotating motor or manually operated by a rotating shaft structure.
The undercarriage structure in this design is with bumper shock absorber and receive and release system incidentally, and in some important equipment, automatic receive and release structure can be better cooperation unmanned aerial vehicle's safe landing.
Therefore, the landing gear in the design is also provided with a buffer sleeve at the tail end.
Like unmanned aerial vehicle structure among the above-mentioned technical scheme, wherein the effect of undercarriage is more than this, when unmanned aerial vehicle lower part manipulator snatchs, because unmanned aerial vehicle's the dive in-process of snatching, has too big impulsive force, and unmanned aerial vehicle's undercarriage in-service use just in time can cushion the too fast action of dive. The action of buffering has conveniently protected unmanned aerial vehicle greatly because inertia causes the offend in low bottom surface, can also stabilize the organism, and the in-process that snatchs is being snatched to the machinery claw when, snatchs the success rate and improves.
Undercarriage among the above-mentioned scheme just should be the undercarriage structure through pivot control, has calculated unmanned aerial vehicle's speed and sample position at the treater of organism to and under the circumstances of surrounding environment, the undercarriage is automatic to rotate to reasonable position, carries out additional protection to unmanned aerial vehicle and sample process.
Example 2
The position detecting system 200 shown in fig. 4-5 is fixed at the lower part of the machine body 101 by a plurality of connecting rods, the lower ends of the connecting rods are connected with an upper fixing plate 201, a lower fixing plate 204 is arranged below the upper fixing plate 201 in parallel, and the upper fixing plate 201 and the lower fixing plate 204 are connected and fixed by a plurality of connecting blocks 203.
A measuring instrument 202 is fixed between the upper fixing plate 201 and the lower fixing plate 204, a touch switch is arranged on the measuring instrument 202, and the position surveying system 200 further comprises a knocking assembly which touches the touch switch as required.
The position surveying system 200 also includes a transceiver 208 and a power pack 209, the transceiver 208 and the power pack 209 being connected to the tapping assembly and the gauge 202.
The knocking component comprises a motor base 210 fixed on an upper fixing plate 201, an angle iron 205 is fixed on the motor base 210, a crank 206 driven to rotate through a motor 211 is arranged on the angle iron 205, the free end of the crank 206 is rotatably connected with a connecting rod, the connecting rod is rotatably connected with a rocking hammer 207 for knocking a touch switch, and the motor 211 is fixed on the angle iron 205.
The transceiver 208 is a signal transceiving processing system commonly used in the prior art, and a storage battery module is arranged in the power supply box and is used as a power supply for supplying power to the surveying system independently.
The position reconnaissance system 200 integrates a high-precision GPS positioning system, an accurate area calculation method and an intelligent palm computer system, and can realize real-time testing of irregular areas, dynamic graphic display and intelligent data processing and storage. The data of measuring area, perimeter, distance, gradient, etc. can be obtained simultaneously by one measurement. The measured area graph and all the measured data can be called at any time, and the archive storage is convenient.
The system can provide real-time navigation and positioning information such as longitude, latitude, elevation and the like by adopting a GPS global satellite positioning system, obtains the coordinates of each point by utilizing the positioning function of the GPS, and calculates data such as distance, area and the like by a mathematical method. Since the earth is an ellipsoid, in order to accurately calculate the distance or area, a projection method is generally adopted to convert the distance or area into plane coordinates. In China, a map with a large scale is usually converted by adopting Gaussian-gram Luge projection, but the projection method is very complicated in calculation and is difficult to realize in a single chip microcomputer. To simplify the calculation, we consider the earth as a perfect sphere. Taking the earth radius of 6371116m, the earth can be converted into plane coordinates.
The system also has the following functions: the multi-area measurement mode supports the measurement of the slope surface area, the mode of measuring the area by the traditional track method and the break point method is adopted, the equal-width harvesting method is added for measuring the area, the harvesting width can be defined by users, and the measurement of the length can be realized by the powerful area calculation function.
The measurement data is graphical, and graphical data can be displayed no matter in the acquisition process or browsing stored data information, so that the data can be displayed more visually.
The work flow design is specialized, and the interface sequence is completely designed according to the work flow of the client, so that the client can use the interface sequence with ease. The interface design is humanized. All interfaces are represented by large fonts and image icons, so that the understanding of product functions and the mastering of operation processes are facilitated.
The operation prompt is used for reducing misoperation to a great extent, obvious prompts can be provided when the operations of deleting or canceling the acquisition are involved, the data are prevented from being deleted by misoperation, and the satellite signal loss can be prompted by sound in the acquisition process.
Multiple units can be selected, total price is automatically calculated, commonly used length and area units are built in, the area unit price can be defined by users, the area total price is automatically calculated, manual secondary calculation is not needed, and manual operation is reduced.
The position investigation system in the design adopts an independent mechanical control switch, and data of the position investigation system can be output and received through a signal receiving and transmitting device. The switch of the internal measuring instrument 202 is a mechanical switch, the switch can be controlled through an independent channel, and the upper part of the mechanical button is provided with a pressing structure of a crank connecting rod, so that opening and closing can be timely and effectively completed.
Example 3
The mechanical gripper 300 shown in fig. 6 includes a gripper base, a plurality of shock absorbing members 302 are disposed on the upper portion of the main base, the shock absorbing members 302 are fixedly connected to the corresponding fixing plate on the upper portion, the lower portion of the gripper base is rotatably connected to a lead screw driving set, a lead screw assembly is linked with the lower portion of the lead screw driving set, the lead screw assembly includes a vertical lead screw 306 linked with the lead screw driving set, a lead screw base 309 fixed to the free end of the lead screw, and a lifting nut 307 connected to the lead screw 306 in a sleeved manner for lifting.
The two sides of the lower part of the screw rod seat 309 are symmetrically provided with a grabbing structure, the grabbing structure comprises an upper parallel rod group and a lower parallel rod group, the upper parallel rod group comprises a first parallel rod 312 and a second parallel rod 313 which are vertically arranged in parallel, and the lower ends of the first parallel rod 312 and the second parallel rod 313 are respectively and rotatably connected with a third parallel rod 317 and a fourth parallel rod 316 through a first rotating shaft and a second rotating shaft;
a telescopic component is arranged between the first rotating shaft and the screw rod seat 309;
a linkage component is arranged between the upper end of the upper parallel rod group and the lifting nut 307.
As shown in the embodiment of fig. 2, two fixed vertical plates are arranged at the lower part of the gripper base 301, a rotating shaft motor is installed at the side part of each fixed vertical plate, the rotating shaft motor is linked with a rotating shaft 303, a screw rod driving group with a screw rod motor is arranged between the two fixed vertical plates, the lower part of the screw rod driving group is connected with a screw rod base 309 in the fixed screw rod assembly through a connecting plate, and the screw rod finishes rotation in the screw rod base.
The rotating shaft penetrates through the screw rod driving group, the screw rod driving group is driven by the rotating shaft motor to complete rotation, and the screw rod driving group is linked with the screw rod seat and the grabbing structure at the lower part of the screw rod seat.
Wherein the lead screw motor 304 in the lead screw driving group is connected with the lead screw 306 through the coupler 305.
The grab configuration is a symmetrical arrangement, as shown in fig. 8, which is the configuration of one of the embodiments.
The grabbing structure comprises an inverted L-shaped pull rod 308, the upper end of the pull rod 308 is fixedly connected with a lifting nut 307, and the lower end of the pull rod 308 is rotatably connected to a rotating shaft point A. The screw rod seat 309 is arranged at the free end of the screw rod 308, the two ends of the screw rod seat 309 are symmetrically fixed with a fixing plate 311, wherein the middle part of the fixing plate 311 is provided with a rotating shaft point B, the free end of the fixing plate 311 is provided with a rotating shaft point C, and the rotating shaft point B and the rotating shaft point C are on the same horizontal plane. And a rotating shaft point D and a rotating shaft point E are arranged below the rotating shaft point B and the rotating shaft point C, and when the grasping structure is in a non-stressed state and in a natural falling state, the overlooking projection of the rotating shaft point D and the rotating shaft point E at the lower part of the grasping structure is correspondingly superposed with the rotating shaft point B and the rotating shaft point C. And the horizontal heights of the rotating shaft point D and the rotating shaft point E are the same.
And a rotating shaft point F and a rotating shaft point G are arranged on the lower parts of the rotating shaft point D and the rotating shaft point E, and when the grabbing structure is in a non-stressed state and in a natural falling state, the overlooking projection of the rotating shaft point F and the rotating shaft point G is correspondingly superposed with the rotating shaft point D and the rotating shaft point E. And the horizontal heights of the rotating shaft point F and the rotating shaft point G are the same.
Here, a linkage rod 314 is disposed between the rotation axis point D and the rotation axis point E, and two ends of the linkage rod 314 are rotatably connected to the rotation axis point D and the rotation axis point E, respectively.
Here, a second fixed knuckle 318 is disposed between the rotation shaft point F and the rotation shaft point G, and the second fixed knuckle 318 is rotatably connected to the rotation shaft point F and the rotation shaft point G, respectively.
The first parallel rod 312 is an inverted L-shaped structure, and the right angle thereof is rotatably connected to the pivot point B, the upper end thereof is rotatably connected to the pivot point a, and the lower end thereof is rotatably connected to the pivot point D.
The two ends of the second parallel bar 313 are rotatably connected to the rotation axis point C and the rotation axis point E, respectively. The two ends of the third parallel rod 317 are rotatably connected to the rotation shaft point D and the rotation shaft point F, respectively. The two ends of the fourth parallel rod 316 are rotatably connected to the rotation axis point E and the rotation axis point G, respectively.
The telescopic assembly in the above embodiment may be a telescopic rod connected by a hinge, and the telescopic assembly may also be a structure as shown in fig. 8, and includes a first fixed knuckle 310, one end of the first fixed knuckle 310 is fixed on the screw seat 309, and the free end of the first fixed knuckle 310 is provided with a sliding block H.
The telescopic rod further comprises a linkage knuckle 315, an arc-shaped track is arranged on the upper portion of the linkage knuckle 315, and the sliding block H is clamped in the arc-shaped track.
A fixing piece is integrally arranged at the lower part of the linkage knuckle 315, the free end of the fixing piece is rotatably connected on a rotating shaft point D,
furthermore, the tail end of the grabbing structure is provided with a sucking disc 319, the sucking disc is of a silica gel structure or a rubber structure, and the sucking disc of the silica gel structure can help to better complete grabbing actions.
Further, a sanding pad or a tooth pad may be provided on the third parallel bar 317 to facilitate gripping.
Furthermore, an electromagnet 320 can be arranged on the outer side of the second fixed knuckle and connected with an electromagnetic suction bowl to help clamp the metal magnetically attractable samples or materials.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A multi-channel drone control system, comprising:
the unmanned aerial vehicle comprises a body, wherein a plurality of rotor systems are arranged on the body;
the position investigation system is fixed on the middle part of the lower surface of the machine body;
a mechanical grab arranged on the lower surface of the machine body and/or the lower surface of the position exploration system,
the unmanned aerial vehicle, the position investigation system and the mechanical grab are respectively controlled through respective channels.
2. The multi-channel unmanned aerial vehicle control system of claim 1, wherein the rotor system comprises a rotor arm system and a vertical lift system, the rotor system is uniformly arranged on an outer eave of the machine body, and the vertical lift system is arranged in the middle of the upper surface of the machine body.
3. The multichannel unmanned aerial vehicle control system of claim 2, wherein the rotor arm system comprises a rotor arm, a connecting end of the rotor arm is connected with an arm base, and the arm base is connected with the machine body through a rotating hinge; the free end of rotor arm is fixed with the rotor drive seat, install the rotor motor on the rotor drive seat, the rotor motor linkage has the screw.
4. The multi-channel unmanned aerial vehicle control system of claim 1, wherein the position surveying system is fixed to the lower portion of the machine body through a plurality of connecting rods, an upper fixing plate is connected to the lower ends of the connecting rods, a lower fixing plate is arranged below the connecting rods in parallel with the upper fixing plate, and the upper fixing plate and the lower fixing plate are fixedly connected through a plurality of connecting blocks.
5. The multi-channel unmanned aerial vehicle control system of claim 4, wherein a measuring instrument is fixed between the upper fixing plate and the lower fixing plate, a touch switch is arranged on the measuring instrument, and the position surveying system further comprises a knocking component for touching the touch switch as required.
6. The multi-channel drone control system of claim 5, wherein the position survey system further includes a transceiver and a power box, the transceiver and power box being connected to the tapping assembly and the gauge.
7. The multichannel unmanned aerial vehicle control system of claim 5, wherein the knocking assembly comprises a motor base fixed on the upper fixing plate, an angle iron is fixed on the motor base, a crank driven to rotate by a motor is arranged on the angle iron, a connecting rod is rotatably connected to a free end of the crank, the connecting rod is rotatably connected with a rocking hammer for knocking a touch switch, and the motor is fixed on the angle iron.
8. The multichannel unmanned aerial vehicle control system of claim 1, characterized in that, machinery is grabbed and is included grabbing the frame, host computer seat upper portion sets up a plurality of shock attenuation pieces, the shock attenuation piece corresponds the fixed plate with upper portion and is connected fixedly, grab frame lower part rotation connection lead screw drive group, lead screw drive group lower part linkage lead screw subassembly, the lead screw subassembly includes the vertical lead screw with lead screw drive group linkage, and the lead screw seat that the lead screw free end is fixed, still include to cup joint the lifting nut who goes up and down on the lead screw.
9. The multi-channel unmanned aerial vehicle control system of claim 1, wherein the two sides of the lower portion of the screw seat are symmetrically provided with a grabbing structure, the grabbing structure comprises an upper parallel rod group and a lower parallel rod group, the upper parallel rod group comprises two parallel and vertically arranged first parallel rods and second parallel rods, and the lower ends of the first parallel rods and the second parallel rods are respectively and rotatably connected with a third parallel rod and a fourth parallel rod through a first rotating shaft and a second rotating shaft;
a telescopic assembly is arranged between the first rotating shaft and the screw rod seat;
and a linkage assembly is arranged between the upper end of the upper parallel rod group and the lifting nut.
10. A control method of a multi-channel unmanned aerial vehicle control system is characterized in that the multi-channel unmanned aerial vehicle control system is used for controlling an unmanned aerial vehicle, a mechanical grab and a position investigation system through corresponding control circuits respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910101.2A CN113665812A (en) | 2021-08-09 | 2021-08-09 | Multi-channel unmanned aerial vehicle control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910101.2A CN113665812A (en) | 2021-08-09 | 2021-08-09 | Multi-channel unmanned aerial vehicle control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113665812A true CN113665812A (en) | 2021-11-19 |
Family
ID=78541969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110910101.2A Pending CN113665812A (en) | 2021-08-09 | 2021-08-09 | Multi-channel unmanned aerial vehicle control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113665812A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013056493A1 (en) * | 2011-10-17 | 2013-04-25 | Tian Yu | Composite aircraft consisting of fixed-wing and electrically driven propellers |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| US9522732B1 (en) * | 2016-01-27 | 2016-12-20 | Walt Froloff | Unmanned aerial vehicle perching maneuver |
| CN106347648A (en) * | 2016-11-11 | 2017-01-25 | 北京航空航天大学 | Multi-rotor plant protection unmanned aerial vehicle |
| CN108248845A (en) * | 2018-01-31 | 2018-07-06 | 湖南大学 | A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation |
| CN212099343U (en) * | 2020-04-10 | 2020-12-08 | 南京智慧岩土工程技术研究院有限公司 | Engineering investigation unmanned aerial vehicle system based on satellite positioning navigation |
| CN112249324A (en) * | 2020-11-09 | 2021-01-22 | 浙江理工大学 | Garbage picking robot device facing high-risk scenic spot and working method |
-
2021
- 2021-08-09 CN CN202110910101.2A patent/CN113665812A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013056493A1 (en) * | 2011-10-17 | 2013-04-25 | Tian Yu | Composite aircraft consisting of fixed-wing and electrically driven propellers |
| US9522732B1 (en) * | 2016-01-27 | 2016-12-20 | Walt Froloff | Unmanned aerial vehicle perching maneuver |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| CN106347648A (en) * | 2016-11-11 | 2017-01-25 | 北京航空航天大学 | Multi-rotor plant protection unmanned aerial vehicle |
| CN108248845A (en) * | 2018-01-31 | 2018-07-06 | 湖南大学 | A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation |
| CN212099343U (en) * | 2020-04-10 | 2020-12-08 | 南京智慧岩土工程技术研究院有限公司 | Engineering investigation unmanned aerial vehicle system based on satellite positioning navigation |
| CN112249324A (en) * | 2020-11-09 | 2021-01-22 | 浙江理工大学 | Garbage picking robot device facing high-risk scenic spot and working method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104950904B (en) | Mine emergency management and rescue aircraft autonomous flight method | |
| CN101976278B (en) | Virtual reality technique-based airplane landing aid system and method thereof | |
| CN105259917A (en) | Quick and safe landing device and method for unmanned aerial vehicle | |
| CN105404308A (en) | Flight control unit for parafoil type unmanned plane | |
| CN109358654A (en) | A kind of empty amphibious search and rescue support unmanned vehicle system of water | |
| CN206532142U (en) | A kind of rotor wing unmanned aerial vehicle tenacious tracking of view-based access control model moves the control system of target | |
| CN209102898U (en) | A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle | |
| CN102117362B (en) | Light airplane horizontal tail design load determination method under slipstream influence | |
| CN106915452A (en) | A kind of composite aircraft landing system | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN207374661U (en) | Multi-rotor unmanned aerial vehicle | |
| CN112612294A (en) | Unmanned aerial vehicle with automatic laser radar obstacle avoidance system | |
| CN102539182A (en) | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device | |
| CN205121348U (en) | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof | |
| CN107719695B (en) | Test flight method for water surface pitching test boundary of large amphibious aircraft | |
| CN114228420A (en) | Air-land amphibious air coupling radar detection robot for tunnel engineering | |
| CN113665812A (en) | Multi-channel unmanned aerial vehicle control system and method | |
| CN112099533A (en) | Vehicle-mounted unmanned aerial vehicle capable of automatically taking off and landing, system and method | |
| CN108263606B (en) | Vertical take-off and landing fixed wing-based unmanned aerial vehicle and natural gas pipeline inspection system and method thereof | |
| CN106802662A (en) | A kind of multi-rotor unmanned aerial vehicle embedded control system | |
| CN205192528U (en) | Flight data acquisition system towards light helicopter | |
| CN108105593B (en) | Infrared camera and unmanned aerial vehicle for natural gas pipeline inspection based on infrared camera | |
| CN209649972U (en) | A kind of land and air double-used operation type flying robot | |
| CN114162317B (en) | Airport foreign matter monitoring system | |
| Maisel et al. | Hover Tests of the XV-15 Tilt Rotor Research Aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211119 |