CN112224437A - Vehicle-mounted cabled rotorcraft system - Google Patents
Vehicle-mounted cabled rotorcraft system Download PDFInfo
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- CN112224437A CN112224437A CN202011107916.9A CN202011107916A CN112224437A CN 112224437 A CN112224437 A CN 112224437A CN 202011107916 A CN202011107916 A CN 202011107916A CN 112224437 A CN112224437 A CN 112224437A
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- 230000009194 climbing Effects 0.000 claims description 7
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- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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Abstract
The invention discloses a vehicle-mounted cabled rotor craft system, which combines a vehicle platform, a power supply device and a craft platform into a system, can realize the take-off and landing of a multi-rotor craft on the roof of a vehicle, is generated by a vehicle generator and is continuously supplied to the craft for use, can realize the automatic coordination between the take-up and pay-off speed of a cable and the height of the craft through the touch screen control of a portable ground control station, and realizes the control of the take-off and pay-off of the multi-rotor craft and the cable take-up and pay. The system adopts a cable power supply mode, the electric energy required by the aircraft is provided by the automobile, the flying time of the aircraft can be effectively improved, the lithium battery with larger weight can be cancelled, and the take-off weight of the whole aircraft can be effectively reduced. The system design has the automatic take-off and landing function of a narrow platform, the functions of one-key take-off/one-key landing/following flight, automatic cable take-up and pay-off and the like can be realized, the operation complexity is effectively simplified, and operators can skillfully operate and use the system without special training.
Description
Technical Field
The invention relates to the field of general design of unmanned aerial vehicles, in particular to a vehicle-mounted cabled rotor craft system.
Background
With the advent of integrated circuits and miniature, cheap and reliable sensors, the microminiature multi-rotor unmanned aerial vehicle is rapidly developed, the multi-rotor unmanned aerial vehicle can take off and land vertically and hover at a fixed point, the maneuverability is good, the operation is simple and convenient, the multi-rotor unmanned aerial vehicle is popular with the public due to the characteristics, and the use of the multi-rotor unmanned aerial vehicle is influenced by the problem of short flight time of the current multi-rotor unmanned aerial vehicle; although the development of high-power density batteries improves the flight time of the multi-rotor unmanned aerial vehicle, the high-power density batteries still cannot meet the higher and higher use requirements of users.
The existing method for prolonging the service time is to carry a standby battery to replace or use a fuel cell; the method for using the standby battery is quick and convenient, and the state of the aircraft cannot be changed; the use of fuel cells, which are the subject of considerable interest in recent years, is effective in improving the flight time of aircraft, but increases the complexity and weight of the system, and, in addition to being heavy, is inconvenient to maintain.
Disclosure of Invention
The invention aims to provide a vehicle-mounted cable-containing rotor craft system, which solves the problem of short flight time in the existing unmanned aerial vehicle power supply mode by adopting a cable power supply mode.
In order to realize the task, the invention adopts the following technical scheme:
the utility model provides a on-vehicle has cable rotor craft system, includes aircraft platform, take off and land and storage device, cable take-up and pay-off device, carries vehicle platform and portable control station, wherein:
the aircraft platform comprises a fuselage, a rotor wing, a brushless motor, an electric controller, an airborne power module, a flight control computer, an inertial navigation sensor, an airborne data transmission radio station, an airborne image transmission radio station and task equipment;
the take-off, landing and storage device comprises a take-off and landing platform, a lifting mechanism and a fixing device, wherein the take-off and landing platform is installed at the upper part of the lifting mechanism, and the fixing device is installed on the take-off and landing platform and used for fixing the aircraft platform;
the cable take-up and pay-off device comprises a take-up and pay-off machine, a high-voltage power supply cable, a winding roll mechanism, a power supply conversion device, a take-up and pay-off controller, a take-up limiter and a wire arranging device;
the vehicle carrying platform comprises an automobile and a containing box positioned on the roof of the automobile, and the take-off and landing platform, the lifting mechanism, the aircraft fixing device and the cable winding and unwinding device are all arranged in the containing box;
the portable control station is a control terminal of the whole system, and controls the power on and off of equipment in the system, the opening and closing of the containing box, the rising and falling of the take-off and landing platform, the take-off/landing of the aircraft platform and the working state of task equipment.
Furthermore, the aircraft body consists of a retractable landing gear, a device board and a support arm, and is a mounting platform of the whole aircraft, the device board is used for mounting task equipment, the landing gear is used for supporting the aircraft body, and the support arm is used for mounting a rotor wing; the rotor wing is made of carbon fiber and is a full aircraft lift system; the brushless motor and the electric speed regulator are power systems and are used for driving the rotor wing to rotate; the airborne power supply module is used for converting high-voltage direct current into low-voltage electricity which can be used by airborne equipment; the flight control computer is used for controlling the flight of the aircraft platform, and the inertial navigation sensor provides attitude data for the flight control computer; the airborne data transmission radio station and the airborne image transmission radio station realize data transmission between ground and airborne equipment and data return of airborne task equipment.
Further, the cable winding and unwinding device is used for paying out and recycling the high-voltage power supply cable; the power supply conversion device is used for boosting the voltage provided by the automobile generator and then transmitting the boosted voltage to the aircraft platform through the high-voltage power supply cable; the winding and unwinding controller is used for controlling the winding roll mechanism to enable the winding roll mechanism to adaptively wind and unwind the wire according to the flying height of the aircraft platform so as to adjust the length of the unwound or recovered high-voltage power supply cable; the winding device arranges the high-voltage power supply cables on the winding roll mechanism in order; the take-up limiter is used for controlling take-up to reserve a preset free length so as to prevent the aircraft from excessively taking up the line after landing.
Further, the 12V direct current generated by the automobile generator is divided into two paths, wherein one path of the two paths of direct current is sent to a power supply conversion device in the cable winding and unwinding device, the 12V direct current is converted into 400V direct current by the power supply conversion device and is sent to an aircraft platform through a high-voltage power supply cable, and an airborne power supply module on the aircraft platform converts the 400V direct current into 24V direct current for airborne equipment to use; the other path of the lifting platform is conveyed to a portable control station and a lifting mechanism and a fixing device in the lifting and storage device, and is used for driving the lifting mechanism to adjust the height position of the lifting platform, so that the aircraft platform can be conveniently stored and released; at the same time, the actuators of the fixing device are supplied with power, so that the fixing device releases the aircraft platform from the fixing or fixes the aircraft platform.
Further, the takeoff process of the aircraft platform comprises the following steps:
an operator in the vehicle starts the portable control station, sends an instruction of opening the containing box through the portable control station, the containing box is automatically opened, sends a control instruction of the lifting platform, the lifting platform is lifted under the action of the lifting mechanism, and then the fixing device is opened, so that the landing gear of the aircraft platform is in a free state; the portable control station is used for controlling the electrification of the aircraft platform, the electrification initialization of the equipment is carried out after the electrification of the aircraft platform, the state information 'take-off allowed' is fed back to the portable control station after the take-off preparation work is finished, at the moment, an operator sends a 'take-off' instruction to the aircraft platform and a take-up and pay-off controller of the cable take-up and pay-off device through a touch screen of the portable control station, and the cable take-up and pay-off device automatically pays off the line when.
Furthermore, when the aircraft platform takes off, the flight control computer sends the height and vertical speed data of the aircraft platform to the take-up and pay-off controller of the cable take-up and pay-off device in real time, and the take-up and pay-off controller automatically adjusts the pay-off speed according to the height and vertical speed data to ensure that the cable is in a loose state, so that the aircraft platform is prevented from being dragged.
Further, the aircraft platform work flow is as follows:
after the aircraft platform takes off, vertically climbs to a preset height at a preset climbing speed and keeps a hovering state, then an operator adjusts the height and the climbing speed of the aircraft through a portable control station touch screen to control the aircraft platform to keep the hovering state or fly along with a ground automobile, and the portable control station touch screen controls the working mode and the working state of the task equipment; the cable winding and unwinding device is properly wound or unwound in real time when the height of the aircraft platform is adjusted or the aircraft platform meets strong wind so as to adapt to the current flight height.
Further, the aircraft platform landing process is as follows:
an operator sends a 'landing' instruction to the flight control computer through the portable control station, the cable take-up and pay-off controller controls the cable take-up and pay-off device to start take-up when the aircraft platform starts to land, and the cable take-up and pay-off device stops taking-up when the aircraft platform lands to a position 1m above the take-up and landing platform; stopping the aircraft platform after the aircraft platform lands on the take-off and landing platform; controlling the aircraft platform to be powered off and controlling the fixing device to work, wherein the fixing device clamps and fixes the landing gear on the take-off and landing platform; and then controlling the take-off and landing platform to land and reset, and controlling the containing box to close until the whole flight flow is finished.
Compared with the prior art, the invention has the following technical characteristics:
1. the invention combines the vehicle platform, the power supply device and the aircraft platform into a set of vehicle-mounted cable-mounted rotor aircraft system, so that the multi-rotor aircraft can take off and land on the roof of the vehicle, the power is generated by the vehicle generator and is continuously supplied to the aircraft for use, the cable take-up and pay-off speed can be automatically coordinated with the height of the aircraft through the touch screen control of the portable ground control station, and the multi-rotor take-off and pay-off control of the cable can be controlled without leaving the vehicle.
2. The invention uses direct current as power electricity, the vehicle-mounted battery can be cancelled to reduce the weight of the basic empty aircraft by providing the power electricity by the vehicle-mounted battery, the vehicle-mounted battery can continuously supply power to the aircraft, the time of flight is greatly improved, and the problem of short time of flight of the multi-rotor aircraft is solved. The whole system is simple to operate, the functions of automatic take-off, follow-up flight, landing and transportation of the aircraft and take-up/pay-off of the cable winding and unwinding device can be realized only by using the touch screen operation of the portable measurement and control station, the system is simple in structure, convenient to maintain and use and high in reliability.
Drawings
FIG. 1 is a schematic system design of a cable-mounted rotorcraft system of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention in an application state;
FIG. 3 is a schematic view of an aircraft platform assembly;
FIG. 4 is a schematic structural diagram of a landing platform;
fig. 5 (a) and (b) are schematic structural views of the cable reel;
FIG. 6 is a schematic structural diagram of a portable measurement and control station;
FIG. 7 is a schematic flow chart of the system of the present invention.
Detailed Description
The invention aims to develop an aircraft system with long endurance, which adopts a cable power supply mode, is supplied with electric energy required by the aircraft by an automobile, and has the characteristics of long endurance, high control precision, high automation degree, convenience in use and maintenance, convenience in transportation and carrying and the like. The vehicle-mounted cable rotor aircraft system uses a high-voltage direct-current power supply mode, so that the flying time of the aircraft can be effectively improved, a lithium battery with larger weight can be eliminated, and the take-off weight of the whole aircraft can be effectively reduced. The system design has the automatic take-off and landing function of a narrow platform, the functions of one-key take-off/one-key landing/following flight, automatic cable take-up and pay-off and the like can be realized, the operation complexity is effectively simplified, and operators can skillfully operate and use the system without special training.
The invention provides a vehicle-mounted cabled rotorcraft system, which comprises an aircraft platform, a take-off, landing and storage device, a cable take-up and pay-off device, a vehicle-mounted platform and a portable control station, as shown in figure 1, wherein:
the aircraft platform comprises a fuselage 1-4, a rotor 1-5-1, an outer rotor direct current brushless motor 1-5-2, an electric speed regulator 1-5-3, an airborne power module 1-1, a flight control computer 1-2, an inertial navigation sensor 1-3, a navigation antenna, an airborne data transmission radio, an airborne image transmission radio and task equipment 1-5; the aircraft body 1-4 consists of a retractable undercarriage 1-4-2, a device board 1-4-3 and a support arm 1-4-1 and is a mounting platform of the whole aircraft, the device board 1-4-1 is used for mounting task equipment 1-5, the undercarriage 1-4-2 is used for supporting the aircraft body 1-4, and the support arm 1-4-1 is used for mounting a rotor wing 1-5-1; the rotor wing 1-5-1 is made of carbon fiber and is a full aircraft lift system; the brushless motor 1-5-2 and the electric speed regulator 1-5-3 are power systems and are used for driving the rotor wing to rotate; the airborne power module 1-1 is used for converting high-voltage direct current into low-voltage electricity which can be used by airborne equipment; the flight control computer 1-2 is used for controlling the flight of the aircraft platform, and the inertial navigation sensor 1-3 provides attitude data for the flight control computer; the airborne data transmission radio station and the airborne image transmission radio station can realize data transmission between the ground and airborne equipment and data return of the airborne task equipment 1-5; the task devices 1-5 can be arranged according to actual needs, such as sensors, electronic devices, and the like.
The take-off, landing and storage device comprises a take-off and landing platform, a lifting mechanism 2-1 and a fixing device 2-2, wherein the take-off and landing platform is installed on the upper portion of the lifting mechanism 2-1, and the fixing device 2-2 is installed on the take-off and landing platform and used for fixing the retractable landing gear 1-4-2 of the aircraft platform, so that the purpose of fixing the aircraft platform is achieved. The main function of the take-off, landing and storage device is as a storage, transport and take-off/landing platform for a cable-carried rotorcraft. The aircraft platform can be locked on the take-off and landing platform through the fixing device 2-2 after landing, and the aircraft cannot impact on the containing box when the road bumps and brakes suddenly. The storage box can be opened and closed under the control of the vehicle-mounted portable measurement and control station.
The cable take-up and pay-off device 3 comprises a take-up and pay-off machine 3-1, a high-voltage power supply cable 3-2, a winding roll mechanism 3-3, a power supply conversion device 3-4, a take-up and pay-off controller, a take-up limiter and a wire arranging device, and is used for paying off and recovering the high-voltage power supply cable 3-2; the high-voltage power supply cable 3-2 is connected with the aircraft platform, the power supply conversion device 3-4 is used for boosting the voltage provided by the automobile generator, the boosted voltage is transmitted to the aircraft platform through the high-voltage power supply cable 3-2, and the airborne power supply module 1-1 on the aircraft platform converts the high voltage into direct current to be used by airborne equipment; the winding and unwinding controller is used for controlling the winding roll mechanism 3-3, so that the winding roll mechanism 3-3 can adaptively wind and unwind wires according to the flight height of the aircraft platform to adjust the length of the unwound or recycled high-voltage power supply cable 3-2; when in paying off, the take-up and pay-off machine is used for paying off wires outwards, and the winding roll mechanisms 3-3 are used for paying off wires in the same direction; when the wire is wound, the wire winding disc mechanism 3-3 rotates reversely, and the wire is wound inwards by the wire winding and unwinding machine; the wire arranging device 3-7 arranges the high-voltage power supply cables 3-2 on the wire winding roll mechanism 3-3 in order. The take-up limiter 3-6 is used for controlling take-up to reserve a preset free length so as to prevent the aircraft from excessively taking up after landing.
The vehicle-carrying platform comprises a vehicle 4 and a containing box 2 positioned on the roof, the taking-off and landing platform, a lifting mechanism 2-1, an aircraft fixing device and a cable winding and unwinding device 3 are all arranged in the containing box 2, an electric control type box cover is arranged on the containing box, and the aircraft platform can be released by opening the box cover. The vehicle-carrying platform integrates storage, transportation, power supply and portable control. The automobile carrying storage box 2 is used for transporting and storing the aircraft, the automobile generator is used as a power supply after being transformed, the automobile engine drags the generator to send sufficient electric energy to be transmitted to an aircraft platform through a power supply cable after being transformed by a power conversion module of the cable winding and unwinding device, a UPS power supply is arranged on the automobile carrying platform and used for providing emergency power for the aircraft when the generator breaks down, and the aircraft can be guaranteed to safely land in the storage cabin of the roof.
The automobile generator divides the 12V direct current into two paths, wherein one path is sent to a power supply conversion device 3-4 in the cable winding and unwinding device, the power supply conversion device 3-4 converts the 12V direct current into 400V direct current and transmits the 400V direct current to an aircraft platform through a high-voltage power supply cable 3-2, and an airborne power supply module 1-1 on the aircraft platform converts the 400V direct current into 24V direct current for airborne equipment to use; the other path of the lifting platform is conveyed to a lifting mechanism 2-1 and a fixing device 2-2 in the portable control station and the lifting and landing storage device, and is used for driving the lifting mechanism 2-1 to adjust the height position of the lifting platform, so that the aircraft platform can be conveniently stored and released; at the same time, the actuators of the fixing device 2-2 are supplied with power, so that the fixing device 2-2 releases the fixing of the aircraft platform or fixes it.
The portable control station 5 is a control terminal of the whole system, and controls the power-on and power-off of the whole system equipment, the opening and closing of a box cover on the containing box, the lifting and falling of the lifting platform through the lifting mechanism 2-1, the take-off/landing of the aircraft platform and the working state of the task equipment through a touch screen.
The invention uses the automobile generator as the power supply of the aircraft, the vehicle can execute the flight task with fuel, and the use is not limited by the time of flight; the vehicle-mounted backup UPS power supply is used as the backup power supply, so that the safety is improved, and the effective load is improved; the speed control strategy of the cable winding and unwinding device takes the flying height and climbing speed of the aircraft as feedback, the winding/unwinding of the cable winding and unwinding device is automatically coordinated with the height change of the aircraft, and the cable winding and unwinding device is automatically coordinated and controlled when the portable control station is used for controlling the height of the aircraft without special control.
The specific working flow of the vehicle-mounted cabled rotorcraft system is shown in fig. 7:
aircraft platform takeoff flow:
after the automobile 4 is stopped stably, an operator in the automobile starts the portable control station 5, and sends an instruction for opening the containing box 2 through a touch screen of the portable control station, so that the containing box 2 is automatically opened; sending a control instruction of the take-off and landing platform through the portable control station 5, lifting the take-off and landing platform under the action of the lifting mechanism 2-1, and then opening the fixing device 2-2 to enable the landing gear of the aircraft platform to be in a free state; the portable control station 5 is used for controlling the electrification of the aircraft platform, the equipment electrification initialization is carried out after the electrification of the aircraft platform, the state information 'allowing taking-off' is fed back to the portable control station 5 after the taking-off preparation work is finished, at the moment, an operator sends a 'taking-off' instruction to the aircraft platform 1 and a take-up and pay-off controller of the cable take-up and pay-off device 3 through a touch screen of the portable control station 5, the cable take-up and pay-off device 3 automatically takes off when the aircraft platform takes off, the flight control computer 1-2 sends the height and vertical speed data of the aircraft platform to the take-up and pay-off controller of the cable take-up and pay-off device 3 in real time, the take-up and pay-off.
Aircraft platform work flow:
after taking off, the aircraft platform 1 vertically climbs to a preset height at a preset climbing speed and keeps a hovering state, and then an operator adjusts the height and climbing speed of the aircraft through a touch screen of a portable control station 5; an operator controls the aircraft platform 1 to keep a hovering state or fly along with a ground automobile through a touch screen of the portable control station 5, and the operator can control the working mode and the working state of the task equipment 1-5 through the touch screen of the portable control station 5; the cable winding and unwinding device is properly wound or unwound in real time to adapt to the current flying height when the height of the aircraft platform 1 is adjusted or in the strong wind.
Aircraft platform landing process:
an operator touches a touch screen through a portable control station 5 to send a 'landing' instruction to a flight control computer 1-2, a cable winding and unwinding device 3 starts to wind up when an aircraft platform 1 starts to land, the cable winding and unwinding device 3 stops winding up when the aircraft platform 1 lands to a position 1m above a take-off and landing platform, and a brushless motor 1-5-2 stops rotating and is locked after the aircraft platform 1 automatically lands to the take-off and landing platform; an operator controls the power-off of the aircraft platform 1 through a touch screen of the portable control station 5 and controls the fixing device to work, and the fixing device clamps and fixes the landing gear on the lifting platform; after the operator touches the screen to control the landing and resetting of the lifting platform through the portable control station 5, the storage box 2 is controlled to be closed, the touch screen controls the power-off of the vehicle-mounted equipment, and the whole flight flow is finished.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equally replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (8)
1. The utility model provides a on-vehicle has cable rotor craft system which characterized in that, includes aircraft platform, take-off and landing and storage device, cable winding and unwinding devices, carries car platform and portable control station, wherein:
the aircraft platform comprises an airframe (1-4), a rotor wing (1-5-1), a brushless motor (1-5-2), an electric speed regulator (1-5-3), an airborne power module (1-1), a flight control computer (1-2), an inertial navigation sensor (1-3), an airborne data transmission station, an airborne chart transmission station and task equipment (1-5);
the take-off, landing and storage device comprises a take-off and landing platform, a lifting mechanism (2-1) and a fixing device (2-2), wherein the take-off and landing platform is installed at the upper part of the lifting mechanism (2-1), and the fixing device (2-2) is installed on the take-off and landing platform and is used for fixing the aircraft platform;
the cable take-up and pay-off device (3) comprises a take-up and pay-off machine (3-1), a high-voltage power supply cable (3-2), a take-up reel mechanism (3-3), a power supply conversion device (3-4), a take-up and pay-off controller, a take-up limiting stopper and a wire arranging device;
the vehicle carrying platform comprises a vehicle (4) and a containing box (2) positioned on the roof of the vehicle, and the lifting platform, the lifting mechanism (2-1), the aircraft fixing device and the cable winding and unwinding device (3) are all arranged in the containing box (2);
the portable control station (5) is a control terminal of the whole system, and controls the power on and off of equipment in the system, the opening and closing of the containing box, the rising and falling of the take-off and landing platform, the take-off/landing of the aircraft platform and the working state of task equipment.
2. A cabled rotorcraft system according to claim 1, characterized in that said fuselage (1-4) is composed of retractable landing gear (1-4-2), equipment plates (1-4-3) and arms (1-4-1), being a mounting platform for the whole aircraft, equipment plates (1-4-1) for the installation of mission equipment (1-5), landing gear (1-4-2) for the support of fuselage (1-4), arms (1-4-1) for the installation of rotors (1-5-1); the rotor wing (1-5-1) is made of carbon fiber and is a full aircraft lift system; the brushless motor (1-5-2) and the electric regulator (1-5-3) are power systems and are used for driving the rotor wing (1-5-1) to rotate; the airborne power module (1-1) is used for converting high-voltage direct current into low-voltage electricity which can be used by airborne equipment; the flight control computer (1-2) is used for controlling the flight of the aircraft platform, and the inertial navigation sensor (1-3) provides attitude data for the flight control computer; the airborne data transmission radio station and the airborne image transmission radio station realize data transmission between ground and airborne equipment and data return of airborne task equipment (1-5).
3. A cabled rotorcraft system according to claim 1, characterized in that said cable retraction device (3) is adapted to perform the unwinding and the retraction of the high-voltage power supply cables (3-2); the high-voltage power supply cable (3-2) is connected with the aircraft platform, the power supply conversion device (3-4) is used for boosting the voltage provided by the automobile generator, and the boosted voltage is transmitted to the aircraft platform through the high-voltage power supply cable (3-2); the take-up and pay-off controller is used for controlling the take-up reel mechanism (3-3) to enable the take-up reel mechanism (3-3) to take up and pay off wires adaptively according to the flight height of the aircraft platform so as to adjust the length of the paid-out or recovered high-voltage power supply cable (3-2); the winding displacement device (3-7) arranges the high-voltage power supply cables (3-2) on the winding roll mechanism (3-3) in order; the take-up limiter (3-6) is used for controlling take-up to reserve a preset free length so as to prevent the aircraft from excessively taking up the line after landing.
4. The vehicle-mounted cabled rotorcraft system according to claim 1, wherein the vehicle generator splits the 12V dc power into two paths, one of which is sent to a power conversion device (3-4) in the cable take-up and pay-off device, the power conversion device (3-4) converts the 12V dc power into 400V dc power and sends the 400V dc power to the aircraft platform through a high-voltage power supply cable (3-2), and an onboard power module (1-1) on the aircraft platform converts the 400V dc power into 24V dc power for use by onboard equipment; the other path of the lifting platform is conveyed to a lifting mechanism (2-1) and a fixing device (2-2) in the portable control station and the lifting and storing device, and the lifting mechanism (2-1) is used for driving the lifting mechanism (2-1) to adjust the height position of the lifting platform, so that the aircraft platform is convenient to fold and unfold; at the same time, the actuators of the fixing device (2-2) are supplied with power, so that the fixing device (2-2) releases the aircraft platform from the fixing or fixes it.
5. A vehicle-mounted cabled rotorcraft system according to claim 1, wherein the aircraft platform takeoff procedure is:
an operator in the vehicle starts the portable control station (5), sends an instruction for opening the containing box (2) through the portable control station, the containing box (2) is automatically opened, sends a control instruction for the lifting platform, the lifting platform is lifted under the action of the lifting mechanism (2-1), and then the fixing device (2-2) is opened, so that the landing gear of the aircraft platform is in a free state; the portable control station (5) is used for controlling the electrification of the aircraft platform, the electrification initialization of the equipment is carried out after the electrification of the aircraft platform, the state information 'take-off allowed' is fed back to the portable control station (5) after the take-off preparation work is finished, at the moment, an operator sends a 'take-off' instruction to the take-up and pay-off controllers of the aircraft platform (1) and the cable take-up and pay-off device (3) through a touch screen of the portable control station (5), and the cable take-up and pay-off device (3) automatically pays off outwards when the aircraft.
6. The vehicle-mounted cabled rotorcraft system according to claim 5, wherein while the aircraft platform takes off, the flight control computer (1-2) sends the height and vertical speed data of the aircraft platform to the take-up and pay-off controller of the cable take-up and pay-off device (3) in real time, and the take-up and pay-off controller automatically adjusts the pay-off speed according to the height and vertical speed data to ensure that the cable is in a slack state and avoid dragging the aircraft platform (1).
7. A vehicle-mounted cabled rotorcraft system according to claim 1, wherein the aircraft platform workflow is:
after taking off, the aircraft platform (1) vertically climbs to a preset height at a preset climbing speed and keeps a hovering state, then an operator touches a screen through a portable control station (5) to adjust the height and climbing speed of the aircraft, controls the aircraft platform (1) to keep the hovering state or fly along with a ground automobile, and touches the screen through the portable control station (5) to control the working mode and the working state of the task equipment (1-5); the height of the aircraft platform (1) is adjusted or the cable winding and unwinding device is properly wound or unwound in real time when the aircraft platform meets strong wind so as to adapt to the current flight height.
8. A vehicle-mounted cabled rotorcraft system according to claim 1, wherein the aircraft platform descent procedure is:
an operator sends a 'landing' instruction to the flight control computer (1-2) through the portable control station (5), the cable take-up and pay-off controller controls the cable take-up and pay-off device (3) to start to take up the cable when the aircraft platform (1) starts to land, and the cable take-up and pay-off device (3) stops taking up the cable when the aircraft platform (1) lands to a position 1m above the take-off and landing platform; the aircraft platform (1) is stopped after landing on the take-off and landing platform; at the moment, the aircraft platform (1) is controlled to be powered off, the fixing device is controlled to work, and the landing gear is clamped and fixed on the take-off and landing platform by the fixing device; and then controlling the take-off and landing platform to land and reset, and controlling the containing box (2) to close until the whole flight flow is finished.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011107916.9A CN112224437A (en) | 2020-10-16 | 2020-10-16 | Vehicle-mounted cabled rotorcraft system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011107916.9A CN112224437A (en) | 2020-10-16 | 2020-10-16 | Vehicle-mounted cabled rotorcraft system |
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| CN112224437A true CN112224437A (en) | 2021-01-15 |
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Application publication date: 20210115 |