CN105068551B - A kind of double unmanned aerial vehicle control systems for lifting cruising ability - Google Patents
A kind of double unmanned aerial vehicle control systems for lifting cruising ability Download PDFInfo
- Publication number
- CN105068551B CN105068551B CN201510544854.0A CN201510544854A CN105068551B CN 105068551 B CN105068551 B CN 105068551B CN 201510544854 A CN201510544854 A CN 201510544854A CN 105068551 B CN105068551 B CN 105068551B
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- module
- female
- sub
- control
- 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.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of double unmanned aerial vehicle control systems for lifting cruising ability, it is related to vehicle technology field, gps receiver and compass module one, remote measurement radio transceiver chip one, radio control receiver module one, two automatic focusing camera head modules are connected with female unmanned plane cpu motherboard, fiber alignment success sensor assembly, epicyclic gearbox servomotor one, position potentiometer sensor is connected with the linear drive motor control module of docking/release, position potentiometer sensor is connected with epicyclic gearbox servomotor one, infrared external reflection position sensor module, epicyclic gearbox servomotor two is connected with unmanned plane orientation motor control module, unmanned plane orients motor control module and is connected with female unmanned plane cpu motherboard.The degree of automation is high, is easily manipulated, can be extended 5 10 times the cruising time of UAV system；Flexibly the splicing of two frame unmanned planes of control realizes the continuous and smooth purpose of the course of work with separating.
Description
Technical field：
The present invention relates to vehicle technology field, and in particular to a kind of double unmanned aerial vehicle control systems for lifting cruising ability.
Background technology：
Multi-rotor aerocraft abbreviation unmanned plane, has multiple positive incidence rotors at the same time exactly on an aircraft and is risen to produce
Power, and overcome according to different directions rotation the aircraft of anti-twisted power, because multiple rotors are rotated to different directions, such torque
It is exactly zero, it might even be possible to realize hovering of letting go, manual control, which is got up, also to be operated freely, while pilot's training time is shortened, peace
It is qualitative to also improve, if installing additional and flying control, then complicated gesture stability program can neglect, or even will can arrive
The fixed-wing that place can be bought flies control program dislocation and comes.
But current multi-rotor aerocraft is there is also shortcoming, and first, the cruising time of multi-rotor unmanned aerial vehicle extremely makes us
Cause anxiety, this has seriously constrained the development of unmanned air vehicle technique.The either current highest big boundary unmanned plane of occupation rate in the world, also
It is the unmanned plane of some sector applications, general civilian UAV system endurance is more than 20 minutes, the unmanned plane system of sector application
Unite endurance also only have 1-2 it is small when.Moreover, at present on the market completely without technology that is very long, or infinitely continuing a journey of continuing a journey.Big boundary
Unmanned plane during flying at most maintains half an hour, and three or four pieces of batteries must be carried by usually going out, and Foreign Media issue article claims, nobody
The commercial promise of machine is limited to of short duration battery durable and lost contact risk；In addition, the mission payload of multi-rotor aerocraft is non-at present
Normal is small, and several hectograms just have arrived at the limit, and if heavy burden index to be lifted, what the size of its aircraft will greatly shies
People.
There is a kind of patented technology of UAV system continuation of the journey at present, be to allow unmanned plane to perform operation flight in the sky to soon
When out of power, start the second frame unmanned plane heaven and perform same task, first unmanned plane begins to make a return voyage automatically at this time
To departure location or to the charging place specified, then this unmanned plane is about to begin charging, continues after charging complete
Take off, then the second frame unmanned plane gets off charging again, so circulation, achievees the purpose that to extend cruising time；Certainly, first
When unmanned plane charges, artificial charging can be taken, using machine vision unmanned plane can also be allowed to find charging automatically
Ready position, then unmanned plane return ground rest on automatic charging achieved above, can take contact charge or it is non-contact
Wireless charging.
But any mode either mentioned above, when key task is performed, be constantly present interruption or
It is persistent discontinuous problem, because first unmanned plane and the second frame unmanned plane are to depart from, first unmanned plane out of power
When specific location, not the second frame unmanned plane come just just corresponding position.Therefore, there are unmanned plane for this continuation of the journey technology
The defects of system continuation of the journey position is inaccurate.
Meanwhile also there is the defects of task separation performed：Such as first unmanned plane shooting key video sequence or figure
Piece, first unmanned plane out of power, can only leave charging with video camera at this time；Second frame unmanned plane is with other video camera weight
New execution task of taking off；Here details, which exists, interrupts, or must merge processing after returning, very cumbersome, holds
Easily omit key message.
In addition, same load, using above-mentioned separated two framves unmanned plane, can not realize long endurance；If
Same endurance, and can not realize the load of bigger.Therefore, the load of existing unmanned plane and endurance cannot flexibly change.
The content of the invention：
The object of the present invention is to provide a kind of double unmanned aerial vehicle control systems for lifting cruising ability, its degree of automation is high,
It is easily manipulated, the cruising time of UAV system can be extended 5-10 times；Flexibly the docking of two frame unmanned planes of control is real with separating
The continuous and smooth purpose of the existing course of work；And its load and endurance can flexibly change.
In order to solve the problems existing in background technology, the present invention is to use following technical scheme：It include female unmanned plane,
Sub- unmanned plane, docking facilities, the middle part of female unmanned plane is butt-joint control device, the lower end of butt-joint control device and sub- unmanned plane
Upper end is linked together by docking facilities；Wherein, docking facilities are designed using conical grafting, and female unmanned plane, son nobody
Machine is realized double unmanned plane docking by grafting, the separation of docking facilities and is departed from；The lower end of sub- unmanned plane is provided with tasks carrying
Device, such as, camera, holder etc..
In the present invention, the control system of female unmanned plane includes female unmanned plane rotor motor, motor speed control module one, electricity
Pond power supply one, female unmanned plane cpu motherboard, voltage-current sensor module one, gps receiver and compass module one, fiber alignment
It is success sensor assembly, the linear drive motor control module of docking/release, remote measurement radio transceiver chip one, wireless electric-controlled
Receiver module one processed, several automatic focusing camera head modules, infrared external reflection position sensor module, unmanned plane orientation motor control
Molding block, several mother's unmanned plane rotor motors connect several motor speed control modules one respectively, and several motor speeds control mould
Be connected respectively with female unmanned plane cpu motherboard, battery supply one after block one is parallel with one another, battery supply one respectively with female unmanned plane
Cpu motherboard, voltage-current sensor module one connect, gps receiver and compass module one, remote measurement radio transceiver chip one,
Radio control receiver module one, several automatic focusing camera head modules are connected with female unmanned plane cpu motherboard, and remote measurement is wireless
The antenna connection of electric transceiver module one, radio control receiver module one respectively corresponding thereto, fiber alignment successfully sense
Device module, gear reduction box servomotor one, position potentiometer sensor are with docking/linear drive motor control the mould of release
Block connects, and position potentiometer sensor is connected with gear reduction box servomotor one, infrared external reflection position sensor module, gear
Reduction box servomotor two with unmanned plane orientation motor control module be connected, unmanned plane orientation motor control module and mother nobody
Machine cpu motherboard connects.
In the present invention, the control system of sub- unmanned plane includes sub- unmanned plane rotor motor, motor speed control module two, electricity
Pond power supply two, sub- unmanned plane cpu motherboard, voltage-current sensor module two, gps receiver and compass module two, remote measurement is wireless
Electric transceiver module two, radio control receiver module two, camera universal joint control module, camera module, vision signal hair
Module is sent, several unmanned plane rotor motors connect several motor speed control modules two, several motor speed control modules respectively
Two it is parallel with one another after be connected respectively with battery supply two, sub- unmanned plane cpu motherboard, battery supply two respectively with voltage and current sense
Device module two, camera universal joint control module, camera module connection, voltage-current sensor module two, camera universal joint control
Molding block is connected with sub- unmanned plane cpu motherboard, and camera module is connected with vision signal sending module, and vision signal sends mould
Be connected with antenna on block, remote measurement radio transceiver chip two, radio control receiver module two with sub- unmanned plane cpu motherboard
Connect, antenna is connected on remote measurement radio transceiver chip two, radio control receiver module two.
The principle of the present invention is：During task carries out, female unmanned plane passes through remote measurement transceiving with sub- unmanned plane
The radio controller communication of module, radio control receiver module and ground.Voltage-current sensor module monitors in real time
The electricity of female unmanned plane, sub- unmanned plane, if electricity is low, sends low battery warning, reply is made easy to ground driver.
Gps receiver and compass module are used to position, and two kinds of effects are located in this：First, ground driver can learn two airplanes
Position；2nd, before docking, female unmanned plane can be by gps receiver and compass module locator unmanned plane, and makees out position tune
It is whole.Before docking, automatic focusing camera head module helps to find sub- unmanned plane, and infrared external reflection position sensor module is used to determine
Docking location between female unmanned plane and sub- unmanned plane.Fiber alignment success sensor assembly, docking/release Linear actuator horse
It is engaged up to control module, can realizes and signal is provided after docking successfully, and drive servomotor to be locked, when two airplane
When needing separation, the linear drive motor control module of docking/release is used to discharge retaining mechanism.
The invention has the advantages that：
1st, control system is simply easily realized, easily manipulated, the training more simple and fast to driver.
2nd, control system the degree of automation is high, flexibly controls the docking of two frame unmanned planes to realize that the course of work connects with separating
Continuous and smooth purpose.
3rd, it is engaged with double unmanned plane structures, realizes the load of unmanned plane and the purpose that endurance is flexible and changeable.
Brief description of the drawings：
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram that female unmanned plane is docked with sub- unmanned plane in the present invention；
Fig. 3 is the right view of Fig. 2；
Fig. 4 is the schematic block circuit diagram of female unmanned plane in the present invention；
Fig. 5 is the schematic block circuit diagram of neutron unmanned plane of the present invention；
Fig. 6 is the work flow diagram of the present invention；
Fig. 7 is the circuit diagram of embodiment；
Reference numeral：
1-mother unmanned plane；2-sub- unmanned plane；3-docking facilities；4-butt-joint control device；
S1-position potentiometer sensor；M1-gear reduction box servomotor one；M2-gear reduction box servomotor
Two；N-mother's unmanned plane rotor motor；M-motor speed control module one；E1-battery supply one；U1-mother unmanned plane CPU master
Plate；U2-voltage-current sensor module one；U3-gps receiver and compass module one；U4-fiber alignment success sensor
Module；The linear drive motor control module of U5-docking/release；U6-remote measurement radio transceiver chip one；U7-radio
Control receiver module one；U8-automatic focusing camera head module one；U9-automatic focusing camera head module two；U10-nobody
Machine orients motor control module；U11-infrared external reflection position sensor module；T1-antenna one；T2-antenna two；
Z-sub- unmanned plane rotor motor；Y-motor speed control module two；E2-battery supply two；U12-son nobody
Machine cpu motherboard；U13-voltage-current sensor module two；U14-gps receiver and compass module two；U15-remote measurement is wireless
Electric transceiver module two；U16-radio control receiver module two；U17-camera universal joint control module；U18-camera
Module；U19-vision signal sending module；T3-antenna three；T4-antenna four；T5-antenna five.
Embodiment：
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Mode, the present invention will be described in further detail.It should be appreciated that the specific embodiments described herein are only explaining this
Invention, is not intended to limit the present invention.
Referring to Fig. 1-Fig. 3, present embodiment uses following technical scheme：It include female unmanned plane 1, sub- unmanned plane 2,
Docking facilities 3, the middle part of female unmanned plane 1 is butt-joint control device 4, the lower end of butt-joint control device 4 and the upper end of sub- unmanned plane 2
Linked together by docking facilities 3.Female unmanned plane 1 selects the larger aircraft of six rotors, and sub- unmanned plane 2 selects four rotations
The flivver of the wing；Female unmanned plane 1, the rotor of sub- unmanned plane 2 are that direction of rotation is opposite or one-to-one stagger；So can be same
Shi Qidong, can also be activated individually.If double-deck unmanned plane starts at the same time, load can just improve, and endurance can also improve；If
Only start frame unmanned plane therein, then load and endurance will diminish, and play the effect of flexible and changeable.
Referring to Fig. 4, in female unmanned plane 1, the control circuit of butt-joint control device 4 includes female unmanned plane rotor motor
N, one m of motor speed control module, one E1 of battery supply, female unmanned plane cpu motherboard U1, one U2 of voltage-current sensor module,
One U3 of gps receiver and compass module, fiber alignment success sensor assembly U4, the linear drive motor control of docking/release
Module U5, one U6 of remote measurement radio transceiver chip, one U7 of radio control receiver module, unmanned plane orientation motor control module
U10, one T1 of antenna, antenna two T2, six mother unmanned plane rotor motor n connect six one m of motor speed control module respectively, number
It is connected respectively with female unmanned plane cpu motherboard U1, one E1 of battery supply after a one m of motor speed control module is parallel with one another, battery
One E1 of power supply is connected with female unmanned plane cpu motherboard U1, one U2 of voltage-current sensor module respectively, gps receiver and compass mould
One U3 of block, one U6 of remote measurement radio transceiver chip, one U7 of radio control receiver module, automatic focusing camera head module one
U8, two U9 of automatic focusing camera head module are connected with female unmanned plane cpu motherboard U1, one U6 of remote measurement radio transceiver chip, nothing
One U7 of line electric control receiver module is connected with one T1 of antenna, two T2 of antenna respectively, fiber alignment success sensor assembly U4, tooth
One M1 of reduction box servomotor, position potentiometer sensor S1 are taken turns with docking/linear drive motor control module the U5 of release
Connection, position potentiometer sensor S1 are connected with one M1 of gear reduction box servomotor, infrared external reflection position sensor module
U11, two M2 of gear reduction box servomotor are connected with unmanned plane orientation motor control module U10, unmanned plane orientation motor control
Molding block U10 is connected with mother unmanned plane cpu motherboard U1.
Referring to Fig. 5, the control circuit of the sub- unmanned plane 1 includes sub- unmanned plane rotor motor z, motor speed control mould
Two y of block, two E2 of battery supply, sub- unmanned plane cpu motherboard U12, two U13 of voltage-current sensor module, gps receiver and compass
Two U14 of module, two U15 of remote measurement radio transceiver chip, two U16 of radio control receiver module, camera universal joint control mould
Block U17, camera module U18, vision signal sending module U19, three T3 of antenna, four T4 of antenna, five T5 of antenna, four unmanned planes
Rotor motor z connects rear point parallel with one another of four motor speed control modules two y, several two y of motor speed control module respectively
Be not connected with two E2 of battery supply, sub- unmanned plane cpu motherboard U12, two E2 of battery supply respectively with voltage-current sensor module
Two U13, camera universal joint control module U17, camera module U18 connections, two U13 of voltage-current sensor module, camera ten thousand
It is connected to section control module U17 with sub- unmanned plane cpu motherboard U12, camera module U18 and vision signal sending module U19
Connect, be connected with five T5 of antenna on vision signal sending module U19, two U15 of remote measurement radio transceiver chip, radio control connect
Receive two U16 of device module to be connected with sub- unmanned plane cpu motherboard U12, two U15 of remote measurement radio transceiver chip, radio control connect
Receive and be connected to three T3 of antenna, four T4 of antenna on two U16 of device module.
Referring to Fig. 6, the workflow of present embodiment is：
A, female unmanned plane 1, sub- unmanned plane 2 are checked before task start；
B, two radio controllers are opened；
C, female unmanned plane 1, sub- unmanned plane 2 are both placed on ground, and ensure spacing 10-20m, open 1 He of female unmanned plane
The power supply of sub- unmanned plane 2；
D, wait and check GPS positioning LED state indicate, female unmanned plane 1, the gps receiver and compass mould of sub- unmanned plane 2
After the completion of block positions, female unmanned plane 1 and sub- unmanned plane 2 are docked manually；
E, offline mode is set to switch to double unmanned plane during flying patterns by chief aviation pilot（In such a mode, only female nothing
Man-machine 1 motor provides flying power）；
F, under the control of chief aviation pilot, female unmanned plane 1 carries sub- unmanned plane 2 and takes off, meanwhile, transmitted by two frame unmanned planes
State of flight, GPS positioning data, orientation and vision signal all controlled by remote measurement radio transceiver chip（It is in office
In business, copilot can also make female unmanned plane 1 take off）；
G, in flight course, voltage-current sensor module monitors female unmanned plane 1, the battery capacity of sub- unmanned plane 2 in real time,
If sub- 2 electricity of unmanned plane is low, controllers can choose whether to allow female unmanned plane 1 to work on：If female unmanned plane 1 is allowed to continue
Work, then carry sub- unmanned plane 1 when it sends low battery warning and fly back transmitter site, task is completed；If female unmanned plane 1 is allowed to stop
Only work, then female unmanned plane 1 directly carries sub- unmanned plane 1 and flies back transmitter site, and task is completed；
If h, female unmanned plane 1 sends low battery warning, during without continuing to execute task, female unmanned plane 1 directly carries sub- nothing
Man-machine 1 flies back transmitter site, and task is completed；If female unmanned plane 1 sends low battery warning, but when task still needs to continue, main driving
Member sends pre- offline mode signal to two frame unmanned planes, and the motor of promoter unmanned plane 2, enables it to support the weight of itself；
I, at this time, the linear drive motor control module U5 of docking/release is in releasing position, unclamp lower section son nobody
Machine 2, female unmanned plane 1 will fly to the height of sub- 2 top 15-25m of unmanned plane rapidly, and sub- unmanned plane 2 continues task, female unmanned plane
1 flies back transmitter site, and automatically cuts off power supply；
J, copilot helps female unmanned plane 1 to change new rechargeable battery, and opens power supply, waits GPS positioning；
K, after GPS positioning success, female unmanned plane 1 is set pre- docked flight pattern by chief aviation pilot, and female unmanned plane 1 receives son
The GPS location and altitude information of unmanned plane 2, then female unmanned plane 1 fly to the position of 20m above sub- unmanned plane 2GPS positions；
L, two automatic focusing camera head modules are opened and search for sub- unmanned plane 2, and female unmanned plane 1 once finds sub- unmanned plane
2 are locked, and control system can guide female unmanned plane 1 slowly to fly to sub- unmanned plane 2, once control system detects camera Jiao
Away from smaller than predetermined value, or the height less than cone in docking facilities 3, then control system is adjusted to docked flight pattern and complete
Into docking（Before docking, female unmanned plane 1 will pass through the gps receiver and compass module adjustment direction of sub- unmanned plane 2）；
M, whether in place fiber alignment success sensor assembly U4 can detect docking, after docking in place, send docking
Successful signal, female unmanned plane cpu motherboard U1 are received after the signal by the linear drive motor control module of docking/release
One M1 of U5 starter receiver reduction boxes servomotor；If docking is not in place, repeat step l；
N, fiber alignment success sensor assembly U4 sends docking pass signal and becomes offline mode to ground, chief aviation pilot
For double unmanned plane during flying patterns；
O, repetitive cycling step g- steps n is the control that double UAV system can be achieved.
Embodiment：
Sub- unmanned plane can select quadrotor unmanned plane general on the market, in female unmanned aerial vehicle control system, its CPU
The main control chip of mainboard can have multiple choices, in the present embodiment, select STM32F10XCXT6 cake cores as master control core
Piece, referring to Fig. 7.
Two R2 and mono- D1 of docking location LED, bis- D2 of docking location LED, one R1 of resistance, resistance PIC16F1824 monolithics
Machine one connects, composition fiber alignment success sensor assembly, the PIC16F1824 microcontrollers one by I2C buses with
STM32F10XCXT6 main control chips connect；
One brushed DC motor full bridge driver DRV8701, a fet driver H-Driver, position potentiometer pass
Sensor S1, three R3 of resistance are combined into the linear drive motor control module of docking/release, brushed DC motor full bridge driver
DRV8701, position potentiometer sensor S1 are connected with above-mentioned PIC16F1824 microcontrollers one, a fet driver H-
Driver is connected with one M1 of gear reduction box servomotor；
Two R2 and one D3 of infrared LEDs, two D4 of infrared LEDs, four R1 of resistance, resistance PIC16F1824 microcontrollers two
Connection, forms infrared external reflection position sensor module, and PIC16F1824 microcontrollers two pass through I2C buses and STM32F10XCXT6
Main control chip and two automatic focusing camera head modules connect, and the automatic focusing camera head module in the present embodiment selects current city
Common automatic focusing camera head on field；
One brushed DC motor full bridge driver DRV8701, a fet driver H-Driver, six R6 of resistance combinations
Motor control module, the brushed DC motor full bridge driver DRV8701 and above-mentioned PIC16F1824 monolithics are oriented into unmanned plane
Machine two is connected, and fet driver H-Driver is connected with two M2 of gear reduction box servomotor.
In the present embodiment, battery supply is using LD1117AS33 regulator blocks and PTH08080WAH power modules and electricity
The elements such as appearance, resistance form；Gps receiver and compass module are using UBLOX-M8N Big Dippeves GPS module, tri- axis electronics of HMC5983
Compass chip is combined；Remote measurement radio transceiver chip selects 3DR Radio telemetry digital transmission modules；Radio control connects
Receive device module and select Futaba remote controlers, since the industry is usually using such design, thus in this not go into detail.
It should be noted last that above embodiment and embodiment are merely illustrative of the technical solution of the present invention
And it is unrestricted, although the present invention is described in detail with reference to example, it will be understood by those of ordinary skill in the art that, can with
To technical scheme technical scheme is modified or replaced equivalently, without departing from the spirit and scope of technical solution of the present invention, its
It should all cover among scope of the presently claimed invention.
Claims (3)
1. a kind of double unmanned aerial vehicle control systems for lifting cruising ability, it includes female unmanned plane, sub- unmanned plane, docking facilities, female
The middle part of unmanned plane is butt-joint control device, and the lower end of butt-joint control device is connected with the upper end of sub- unmanned plane by docking facilities
Together, it is characterised in that the control system of female unmanned plane includes female unmanned plane rotor motor, motor speed control module one, electricity
Pond power supply one, female unmanned plane cpu motherboard, voltage-current sensor module one, gps receiver and compass module one, fiber alignment
It is success sensor assembly, the linear drive motor control module of docking/release, remote measurement radio transceiver chip one, wireless electric-controlled
Receiver module one processed, several automatic focusing camera head modules, infrared external reflection position sensor module, unmanned plane orientation motor control
Molding block, several mother's unmanned plane rotor motors connect several motor speed control modules one respectively, and several motor speeds control mould
Be connected respectively with female unmanned plane cpu motherboard, battery supply one after block one is parallel with one another, battery supply one respectively with female unmanned plane
Cpu motherboard, voltage-current sensor module one connect, gps receiver and compass module one, remote measurement radio transceiver chip one,
Radio control receiver module one, several automatic focusing camera head modules are connected with female unmanned plane cpu motherboard, and remote measurement is wireless
The antenna connection of electric transceiver module one, radio control receiver module one respectively corresponding thereto, fiber alignment successfully sense
Device module, gear reduction box servomotor one, position potentiometer sensor are with docking/linear drive motor control the mould of release
Block connects, and position potentiometer sensor is connected with gear reduction box servomotor one, infrared external reflection position sensor module, gear
Reduction box servomotor two with unmanned plane orientation motor control module be connected, unmanned plane orientation motor control module and mother nobody
Machine cpu motherboard connects.
A kind of 2. double unmanned aerial vehicle control systems for lifting cruising ability according to claim 1, it is characterised in that it is sub nobody
The control system of machine includes sub- unmanned plane rotor motor, motor speed control module two, battery supply two, sub- unmanned plane CPU master
Plate, voltage-current sensor module two, gps receiver and compass module two, remote measurement radio transceiver chip two, radio control
Receiver module two, camera universal joint control module, camera module, vision signal sending module, several unmanned plane rotor horses
Up to connecting several motor speed control modules two respectively, after several motor speed control modules two are parallel with one another respectively with battery electricity
Source two, the connection of sub- unmanned plane cpu motherboard, battery supply two are controlled with voltage-current sensor module two, camera universal joint respectively
Module, camera module connection, voltage-current sensor module two, camera universal joint control module with sub- unmanned plane CPU master
Plate connects, and camera module is connected with vision signal sending module, antenna is connected with vision signal sending module, remote measurement is wireless
Electric transceiver module two, radio control receiver module two are connected with sub- unmanned plane cpu motherboard, remote measurement radio transceiver chip
2nd, it is connected to antenna in radio control receiver module two.
3. a kind of double unmanned aerial vehicle control systems for lifting cruising ability, it is characterised in that its workflow is：
(a), female unmanned plane, sub- unmanned plane are checked before task start；
(b), two radio controllers are opened；
(c), female unmanned plane, sub- unmanned plane are both placed on ground, and ensure spacing 10-20m, open female unmanned plane and son nobody
The power supply of machine；
(d), wait and check that GPS positioning LED state indicates that female unmanned plane, the gps receiver of sub- unmanned plane and compass module are equal
After the completion of positioning, female unmanned plane and sub- unmanned plane are docked manually；
(e), set offline mode to switch to double unmanned plane during flying patterns by chief aviation pilot, in such a mode, only it is female nobody
The motor of machine provides flying power；
(f), under the control of chief aviation pilot, female unmanned plane carries sub- unmanned plane and takes off, meanwhile, fly transmitted by two frame unmanned planes
Row state, GPS positioning data, orientation and vision signal are all controlled by remote measurement radio transceiver chip, in task
In, copilot also can make female unmanned plane take off；
(g), in flight course, voltage-current sensor module monitors female unmanned plane, the battery capacity of sub- unmanned plane in real time, if sub
Unmanned plane electricity is low, then controllers can choose whether to allow female unmanned plane to work on：If allowing female unmanned plane to work on,
Sub- unmanned plane is carried when it sends low battery warning to fly back transmitter site, task is completed；If allowing female unmanned plane to be stopped,
Female unmanned plane directly carries sub- unmanned plane and flies back transmitter site, and task is completed；
If (h), female unmanned plane sends low battery warning, during without continuing to execute task, female unmanned plane directly carries sub- unmanned plane
Fly back transmitter site, and task is completed；If female unmanned plane sends low battery warning, but when task still needs to continue, chief aviation pilot gives two
Frame unmanned plane sends pre- offline mode signal, and the motor of promoter unmanned plane, enables it to support the weight of itself；
(i), at this time, the linear drive motor control module of docking/release is in releasing position, unclamps the sub- unmanned plane of lower section,
Female unmanned plane will fly to the height of 15-25m above sub- unmanned plane rapidly, and sub- unmanned plane continues task, and female unmanned plane flies back hair
Place is penetrated, and automatically cuts off power supply；
(j), copilot helps female unmanned plane to change new rechargeable battery, and opens power supply, waits GPS positioning；
(k), after GPS positioning success, female unmanned plane is set pre- docked flight pattern by chief aviation pilot, female unmanned plane receive son nobody
The GPS location and altitude information of machine, then female unmanned plane fly to the position of 20m above sub- unmanned plane GPS location；
(l), two automatic focusing camera head modules are opened and search for sub- unmanned plane, and female unmanned plane will if sub- unmanned plane is found
It is locked, and control system can guide female unmanned plane slowly to fly to sub- unmanned plane, once control system detects camera focus than pre-
Definite value is small, or the height less than cone in docking facilities, then control system is adjusted to docked flight pattern and completes to dock,
Before docking, female unmanned plane will pass through the gps receiver of sub- unmanned plane and compass module adjustment direction；
(m), whether in place fiber alignment success sensor assembly can detect docking, after docking in place, send and dock successfully
Signal, female unmanned plane cpu motherboard receives starts tooth after the signal by the linear drive motor control module of docking/release
Take turns reduction box servomotor one；If docking is not in place, repeat step (l)；
(n), fiber alignment success sensor assembly sends docking pass signal to ground, and offline mode is changed into double by chief aviation pilot
Unmanned plane during flying pattern；
(o), repetitive cycling step (g)-step (n) is that the control of double UAV system can be achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510544854.0A CN105068551B (en) | 2015-08-31 | 2015-08-31 | A kind of double unmanned aerial vehicle control systems for lifting cruising ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510544854.0A CN105068551B (en) | 2015-08-31 | 2015-08-31 | A kind of double unmanned aerial vehicle control systems for lifting cruising ability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105068551A CN105068551A (en) | 2015-11-18 |
| CN105068551B true CN105068551B (en) | 2018-04-24 |
Family
ID=54497941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510544854.0A Active CN105068551B (en) | 2015-08-31 | 2015-08-31 | A kind of double unmanned aerial vehicle control systems for lifting cruising ability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105068551B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468023A (en) * | 2016-01-20 | 2016-04-06 | 谭圆圆 | Unmanned aerial vehicle control method, device and system |
| CN106998084A (en) * | 2016-01-26 | 2017-08-01 | 丰唐物联技术（深圳）有限公司 | Unmanned plane charging method and system |
| CN105945903B (en) * | 2016-05-04 | 2018-07-31 | 南京赫曼机器人自动化有限公司 | Space fast reserve is deployed to ensure effective monitoring and control of illegal activities primary-secondary type robot, system and method |
| WO2018018518A1 (en) * | 2016-07-28 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle and control method therefor |
| CN109407693A (en) * | 2017-08-17 | 2019-03-01 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane and unmanned flight's system |
| CN107577243B (en) * | 2017-08-30 | 2020-12-08 | 四川智慧鹰航空科技有限公司 | Sound source and infrared hybrid unmanned aerial vehicle ultrahigh precision docking platform |
| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259702A (en) * | 2011-05-24 | 2011-11-30 | 江闻杰 | Low-consumption composite aircraft attack system with unique power combination mode |
| CN203005745U (en) * | 2012-11-22 | 2013-06-19 | 神翼航空器科技（天津）有限公司 | Remotely controlled aircraft with assistant endurance system and control system thereof |
| CN103434642A (en) * | 2013-08-20 | 2013-12-11 | 朱幕松 | Linked double-wing and double-rotor-wing vertical lifting aircraft |
| CN103995538A (en) * | 2014-05-12 | 2014-08-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Air refueling control method based on image identification |
| CN204390045U (en) * | 2015-02-03 | 2015-06-10 | 深圳市华海技术有限公司 | Unmanned plane and unmanned aerial vehicle control system |
| CN104828252A (en) * | 2015-06-02 | 2015-08-12 | 冯圣冰 | Method for implementing aerial continuous voyage for unmanned aerial vehicle |
| CN204945803U (en) * | 2015-08-31 | 2016-01-06 | 深圳市飞研智能科技有限公司 | A kind of two unmanned aerial vehicle control systems promoting flying power |
-
2015
- 2015-08-31 CN CN201510544854.0A patent/CN105068551B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259702A (en) * | 2011-05-24 | 2011-11-30 | 江闻杰 | Low-consumption composite aircraft attack system with unique power combination mode |
| CN203005745U (en) * | 2012-11-22 | 2013-06-19 | 神翼航空器科技（天津）有限公司 | Remotely controlled aircraft with assistant endurance system and control system thereof |
| CN103434642A (en) * | 2013-08-20 | 2013-12-11 | 朱幕松 | Linked double-wing and double-rotor-wing vertical lifting aircraft |
| CN103995538A (en) * | 2014-05-12 | 2014-08-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Air refueling control method based on image identification |
| CN204390045U (en) * | 2015-02-03 | 2015-06-10 | 深圳市华海技术有限公司 | Unmanned plane and unmanned aerial vehicle control system |
| CN104828252A (en) * | 2015-06-02 | 2015-08-12 | 冯圣冰 | Method for implementing aerial continuous voyage for unmanned aerial vehicle |
| CN204945803U (en) * | 2015-08-31 | 2016-01-06 | 深圳市飞研智能科技有限公司 | A kind of two unmanned aerial vehicle control systems promoting flying power |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105068551A (en) | 2015-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105068551B (en) | A kind of double unmanned aerial vehicle control systems for lifting cruising ability | |
| CN105270627B (en) | A kind of aerial charging promotes double UAV system of cruising ability | |
| US11332033B2 (en) | Systems and methods for UAV battery exchange | |
| EP3601042B1 (en) | Multi-architecture modular unmanned aerial system | |
| CN205060016U (en) | Charge in air and promote two unmanned aerial vehicle systems of duration | |
| US20160339789A1 (en) | Systems and methods for uav battery power backup | |
| US10450062B1 (en) | Versatile multirotor aerial vehicles | |
| CN109917767A (en) | A kind of distribution unmanned plane cluster autonomous management system and control method | |
| CN105059550A (en) | Double unmanned aerial vehicle with improved endurance | |
| JP2018100088A (en) | Method of supplying energy to uav, and uav | |
| JP6791561B2 (en) | Methods and devices for supplying energy to UAVs | |
| CN205168905U (en) | Stationary vane aerial survey unmanned aerial vehicle | |
| CN204096090U (en) | A kind of Unmanned Aircraft Systems (UAS) | |
| Nonami | Research and development of drone and roadmap to evolution | |
| CN109774521B (en) | Unmanned aerial vehicle docking system | |
| CN204945803U (en) | A kind of two unmanned aerial vehicle control systems promoting flying power | |
| CN106915452A (en) | A kind of composite aircraft landing system | |
| CN111152919B (en) | Control method of unmanned aerial vehicle capable of taking off and landing vertically | |
| Kotarski et al. | Design considerations for autonomous cargo transportation multirotor UAVs | |
| Zhao et al. | Low cost autonomous battery replacement system for quadrotor small unmanned aerial systems (sUAS) using 3D printing components | |
| CN206331305U (en) | Electricity tune, unmanned plane and its control system | |
| CN205656467U (en) | Unmanned aerial vehicle based on singlechip and GPRS module and gyroscope equipment | |
| CN206345007U (en) | A kind of unmanned plane and air tasking execution system | |
| CN110498042A (en) | Fixed-wing aerial survey unmanned plane | |
| Jantzen | Final Design Package |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |