CN205507546U - Gyroplane is air refuelling simulation platform independently - Google Patents

Abstract

The utility model discloses an autonomous aerial refueling simulation platform for a rotorcraft, which relates to the technical field of unmanned aerial vehicles. The autonomous aerial refueling simulation platform is built by using the rotorcraft, and provides a verification scheme for the realization of the autonomous aerial refueling technology. The platform includes the rotorcraft, ground computer and refueling drogue. The rotorcraft can fly in the air independently, and the rotorcraft is equipped with a camera, an airborne single-board computer, an airborne flight control board and carbon rods; the camera and the airborne flight control board are connected with the airborne single-board computer; On the front end of the flight control board, the carbon rod can be matched with the refueling cone sleeve; the travel switch connected with the airborne single-board computer is arranged on the carbon rod; the power supply module and the GPS module are arranged on the airborne flight control board; the refueling cone The sleeve is fixed at a high place; the ground computer is wirelessly connected with the airborne single-board computer. After adopting the above structure, aerial refueling can be simulated with a high degree of simulation, no need to install additional optical marking points, accurate docking of aerial refueling, and high experimental reliability.

Description

A simulation platform for autonomous mid-air refueling of rotorcraft

technical field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an autonomous air refueling simulation platform for rotorcraft.

Background technique

In recent years, drones have performed effectively in many local wars, and have the advantages of fast reconnaissance, wide range, fast attack, and integration of reconnaissance and strike. However, UAVs often restrict their voyage distance, take-off weight and strategic deployment due to the limitation of the amount of fuel they can carry, which seriously weakens the ability of UAVs to perform long-duration and complex tasks.

At present, my country mainly adopts the hose-type aerial refueling based on manual docking. The tanker pilot commands the receiver pilot through passwords to realize the docking of the refueling probe and the drogue. However, in the actual docking process, manual docking is difficult, time-consuming, and has a high risk factor.

Applying aerial refueling technology to unmanned aerial vehicles can enable unmanned aerial vehicles to have the ability to perform missions all-weather and non-stop, and has great advantages in long-term uninterrupted aerial surveillance, reconnaissance and strikes.

Utility model content

The technical problem to be solved by the utility model is to provide a rotorcraft autonomous aerial refueling simulation platform for the above-mentioned deficiencies in the prior art. Optical marking points, accurate aerial refueling and docking, high experimental reliability.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:

The utility model relates to a rotorcraft autonomous air refueling simulation platform, which includes a rotorcraft, a ground computer and a refueling drogue. The rotorcraft can fly in the air independently, and the rotorcraft is equipped with a camera, an airborne single-board computer, an airborne flight control board and carbon rods; the camera and the airborne flight control board are connected with the airborne single-board computer; On the front end of the flight control board, the carbon rod can be matched with the refueling cone sleeve; the travel switch connected with the airborne single-board computer is arranged on the carbon rod; the power supply module and the GPS module are arranged on the airborne flight control board; the refueling cone The set is fixed at a height; the ground computer is wirelessly connected to the onboard single-board computer.

It also includes a wireless router, which is used to provide a wireless local area network and provide communication support for the wireless connection between the ground computer and the airborne single-board computer.

The airborne flight control board is also provided with sonar.

It also includes a remote control, and the airborne flight control board is provided with a remote control receiving line.

The refueling drogue sleeve is fixedly arranged on the top of the moving escalator.

The airborne flight control board is also provided with a buzzer.

The airborne flight control board is a pixhawk flight control board, the camera is a WebCam camera, and the airborne single board computer is an Odroid airborne computer.

The rotorcraft is a quadrotor or a hexacopter.

After the utility model adopts the above-mentioned structure, it has the following beneficial effects:

The above-mentioned camera can be used to shoot the image of the refueling drogue; the above-mentioned airborne single-board computer can be used to simulate the on-board navigation computer, process and solve the image signal transmitted by the camera, generate navigation parameters, and preferably use the MAVLink protocol to transmit to Airborne flight control board; the above-mentioned airborne flight control board can control the rotorcraft to adjust the flight distance and attitude according to the navigation parameters, until gradually realizing the docking of the carbon rod and the refueling drogue in the rotorcraft; the ground computer can be used to simulate ground monitoring Center for real-time monitoring of visual navigation calculations and flight docking. The refueling drogue is tested with real drogue samples of equal proportions. The collected images are basically consistent with the real image of aerial refueling, which can simulate aerial refueling with high simulation degree. No need to install additional optical marking points, and the docking of aerial refueling is accurate. The reliability of the experiment is high.

Description of drawings

Fig. 1 is a schematic structural view of a rotorcraft autonomous mid-air refueling simulation platform of the present invention.

Figure 2 shows a schematic diagram of the working principle of the rotorcraft autonomous mid-air refueling simulation platform.

Figure 3 shows a schematic diagram of the communication link.

Among them are: 1. rotorcraft; 2. ground computer; 3. wireless router; 4. refueling cone sleeve; 41. mobile escalator.

detailed description

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific preferred embodiments.

As shown in FIG. 1 , a simulation platform for autonomous aerial refueling of a rotorcraft includes a rotorcraft 1 , a ground computer 2 , a wireless router 3 , a refueling drogue 4 and a remote controller.

The above-mentioned refueling drogue 4 is fixed at a high place, preferably fixedly arranged at the top of the moving escalator 41 . The refueling drogue is a refueling machine, and it is preferable to use a real drogue equal-scale sample for production.

The ground computer is the main control computer, that is, the ground control center, which is used to simulate the ground monitoring center and monitor the visual navigation solution and flight docking situation in real time.

The above-mentioned rotorcraft 1 may be a quadrotor or a hexacopter, or other rotor types. Gyroplane can fly in the air autonomously in order to simulate the oil receiver in the air.

A video camera, an airborne single-board computer, an airborne flight control board and carbon rods are arranged on the rotorcraft. Both the camera and the airborne flight control board are preferably connected to the airborne single-board computer through a USB interface.

The carbon rod is arranged at the front end of the airborne flight control board, and the carbon rod can cooperate with the refueling cone sleeve; the travel switch connected with the airborne single-board computer is arranged on the carbon rod. The carbon rod is used to simulate the refueling probe. When the refueling probe is inserted into the refueling drogue, it is considered to be connected successfully.

The airborne flight control board is provided with a power supply module, a GPS module, a sonar, a buzzer and a remote control receiving line.

The GPS module can provide information such as the current position and altitude of the rotorcraft, and the sonar can further improve the accuracy of the altitude information.

The remote control receiving line is wirelessly connected with the remote control, and the remote control is used to deal with emergency situations such as equipment damage or program error, and to prevent the rotorcraft from crashing.

The ground computer is wirelessly connected to the onboard single board computer, preferably via a wireless router. The wireless router is used to provide a wireless local area network and provide communication support for the wireless connection between the ground computer and the airborne single-board computer. The ground computer sends control instructions to the onboard single-board computer and receives the returned data in real time to monitor the flight situation of the rotorcraft.

Further, the above-mentioned airborne flight control board is preferably a pixhawk flight control board, the camera is preferably a WebCam camera, and the airborne single-board computer is preferably an Odroid airborne computer.

As shown in Figure 2, the camera is used to capture images of the refueling drogue and transmit them to the onboard single-board computer for corresponding image processing. The onboard single board computer is used to simulate the onboard navigation computer, process and calculate the image signal transmitted by the camera, and generate navigation parameters; that is, calculate the offset of the current position relative to the target from the processing result, and find the appropriate amount of flight control. Then, use the MAVLink protocol shown in Figure 3 to transmit to the flight control board, and control the aircraft through the pixhawk flight control board. The airborne flight control board is used to control the quadrotor to adjust the flight distance and attitude according to the navigation parameters, until the docking of the quadrotor and the drogue is gradually realized; the ground computer is used to simulate the ground monitoring center to calculate the visual navigation and the flight docking situation Perform real-time monitoring.

The communication mode between the various modules of the platform is shown in Figure 3. The communication between the ground computer and the onboard Odroid computer is mainly based on the SSH (Secure Shell) protocol, and the communication between the Odroid and the pixhawk flight control board is based on the MAVlink protocol.

After adopting the above structure, it has the following beneficial effects:

(1) The experiment was carried out with a small rotorcraft, which has a high degree of simulation; (2) The visual system adopts the detection method based on shape features, without the need to install additional optical markers; (3) The experiment is carried out with a real taper sleeve equal-scale sample , the collected image is basically consistent with the real image of aerial refueling; (4) The system includes a complete closed-loop control loop, and the experimental results are highly reliable.

The preferred embodiment of the utility model has been described in detail above, but the utility model is not limited to the specific details in the above-mentioned embodiment, and within the scope of the technical concept of the utility model, various equivalent transformations can be carried out to the technical solution of the utility model , these equivalent transformations all belong to the protection scope of the present utility model.

Claims (8)

1. a gyroplane autonomous aerial refueling simulation platform is characterized in that: comprise gyroplane, ground computer and refueling drogue; The gyroplane can fly in the air autonomously, and the gyroplane is provided with video camera, airborne single-board computer, airborne flight control plate and carbon rod; the camera and the airborne flight control board are connected with the airborne single-board computer; The travel switch connected to the airborne single-board computer; the airborne flight control board is provided with a power module and a GPS module; the refueling drogue is fixed at a high place; the ground computer is wirelessly connected with the airborne single-board computer. 2. rotorcraft autonomous aerial refueling simulation platform according to claim 1, is characterized in that: also comprise wireless router, wireless router is used for providing wireless local area network, provides communication support for the wireless connection of ground computer and airborne single board computer. 3. The rotorcraft autonomous aerial refueling simulation platform according to claim 1, characterized in that: said airborne flight control board is also provided with sonar. 4. The autonomous aerial refueling simulation platform for rotorcraft according to claim 1, characterized in that: it also includes a remote controller, and the airborne flight control board is provided with a remote controller receiving line. 5. The rotorcraft autonomous aerial refueling simulation platform according to claim 1, characterized in that: the refueling drogue is fixedly arranged on the top of the moving escalator. 6. The rotorcraft autonomous aerial refueling simulation platform according to claim 1, characterized in that: the airborne flight control board is also provided with a buzzer. 7. rotorcraft autonomous aerial refueling simulation platform according to claim 1, is characterized in that: described airborne flight control board is a pixhawk flight control board, camera is a WebCam camera, and airborne single board computer is an Odroid airborne computer. 8. The rotorcraft autonomous aerial refueling simulation platform according to claim 1, characterized in that: the rotorcraft is a quadrotor or a hexacopter.