CN207697997U - A kind of more rotors of measurement type are tethered at unmanned vehicle system - Google Patents
A kind of more rotors of measurement type are tethered at unmanned vehicle system Download PDFInfo
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- CN207697997U CN207697997U CN201820009770.6U CN201820009770U CN207697997U CN 207697997 U CN207697997 U CN 207697997U CN 201820009770 U CN201820009770 U CN 201820009770U CN 207697997 U CN207697997 U CN 207697997U
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Abstract
The utility model provides a kind of more rotors of measurement type and is tethered at unmanned vehicle system, including more rotor unmanned aircrafts, is tethered at cable and ground station, and more rotor unmanned aircrafts are connected with ground station by being tethered at cable；More rotor unmanned aircrafts include flying control module, navigation module, power plant module, airborne power supply, airborne battery backup, on-board data processing module, airborne task device, rack and Intelligent parachute；The cable that is tethered at is light-duty tension optoelectronic composite cable, including high-voltage power transmission cable, single mode optical fiber and tension aramid fiber；The ground station includes ground or on-board high-voltage power supply, cable hoist and earth station.
Description
Technical field
The utility model is related to a kind of more rotors of measurement type to be tethered at unmanned vehicle system.
Background technology
In current civil and military field, multiple-task can be completed by carrying mission payload by the platform that goes up to the air.It is existing
Lift-off platform have Fixed Wing AirVehicle, helicopter, dirigible, captive balloon etc..Although these lift-off platforms expand task load
The detection of lotus or fighting range, but there is also some apparent defects.Fixed Wing AirVehicle needs to carry fuel offer flight institute
The power needed, airborne period do not grow, and cannot spot hover in the air；Although helicopter can be entrained with hovering
Fuel it is limited, airborne period is short；Dirigible and captive balloon are bulky, are easily found and smash when executing military mission, together
When lifting process it is complicated, the inflation/deflation time is long, less efficient.
Based on problem above, recent domestic, which mostly uses more rotor unmanned aircrafts and substitutes current air platform and carry, appoints
Load of being engaged in completes various tasks.More rotor unmanned aircrafts have spot hover, hovering precision height, simple operation, it is cost-effective,
Advantages such as small, but it is limited to the capacity of supplying cell and weight, still have that airborne period is short, and load-carrying is limited asks
Topic.Therefore, gradually there are more rotors and be tethered at unmanned vehicle.More rotors are tethered at the work that unmanned vehicle uses for reference captive balloon
Pattern is powered with surface power supply subsystem for aircraft by being tethered at cable, which compensates for more rotors and fly well
Row device cruise duration short defect, but due to being tethered at the limitation of cable and airborne power supply technology and intelligent level, city at present
Most of more rotors are tethered at the lifting capacity of unmanned vehicle on face and hovering precision cannot be satisfied the high-precision such as radar, photoelectricity and appoint
The demand for equipment of being engaged in.
Utility model content
Insufficient existing for unmanned vehicle to overcome current more rotors to be tethered at, the utility model provides a kind of measurement type mostly rotation
The wing is tethered at unmanned vehicle system, including more rotor unmanned aircrafts, is tethered at cable and ground station, more rotor unmanned flights
Device is connected with ground station by being tethered at cable；The cable that is tethered at is used for ground station to more rotor unmanned aircrafts
Power supply and communication between the two；More rotor unmanned aircrafts include flying control module, sensor, navigation module, power mould
Block, airborne power supply, airborne battery backup, on-board data processing module, airborne task device, rack and Intelligent parachute,
In, the input of the airborne power supply is connect with cable is tethered at, the output of airborne power supply respectively with winged control module, navigation module, dynamic
Power module, on-board data processing module, airborne task device and Intelligent parachute connect and are that they power；
The navigation module is connect with control module is flown, and the posture information of more rotor unmanned aircrafts is sent to and flies control mould
Block；
The power plant module is connect with control module is flown, and receives the control signal for flying control module；
The airborne battery backup and winged control module, navigation module, power plant module, on-board data processing module and intelligence
Parachute connects, and powers for them in conventional electron link, that is, airborne power supply failure；
The on-board data processing module respectively with winged control module, airborne power supply, airborne task device and be tethered at cable connect
It connects, on-board data processing module is for carrying out communication data conversion and mutually passing；
The Intelligent parachute is connect with control module is flown, and receives to fly control module control instruction；
The rack provides carrying platform for all airborne equipments, and is connect with cable is tethered at；
The cable that is tethered at is light-duty tension optoelectronic composite cable, including high-voltage power transmission cable, single mode optical fiber and tension aramid fiber；
The ground station includes ground or on-board high-voltage power supply, cable hoist and earth station, wherein the ground or
On-board high-voltage power supply is connect with cable hoist and earth station respectively, and is powered for them；The ground or on-board high-voltage power supply with
It is tethered at cable connection, electric energy transmission is carried out by being tethered at cable；The cable hoist is connect with earth station, satellite receiver control
Instruction；The earth station connect with cable is tethered at, and is carried out data transmission by being tethered at cable；At the earth station and on-board data
Manage module wireless communication, the backup as wired communications links.
The winged control module is generated according to the aircraft pose and status information of navigation module and the offer of its internal sensor
Control signal is sent to power plant module, and real-time Pose Control is carried out to aircraft.
The navigation module includes satellite navigation unit and inertia combined navigation unit；The GPS that satellite navigation unit receives
Or the real time positioning data of Beidou satellite navigation system and the collected angle of inertia combined navigation unit and acceleration information phase
Fusion, the posture information for obtaining more rotor unmanned aircrafts are sent to winged control module.
The power plant module includes brshless DC motor, motor driver and blade, and for more rotors, nobody flies power plant module
Row device provides flying power；The motor driver is connect with control module is flown, and receives the control signal for flying control module；The motor
The input of driver is connect with airborne power supply and airborne battery backup, and output and the brshless DC motor of motor driver connect
It connects, driving brshless DC motor rotation, and adjusts its rotating speed；The blade is connected with brushless DC motor rotor, and rotation generates
Different lift is to adjust the pose of aircraft.
The airborne power supply includes high-power DC-DC buck converters, accessory power supply and Power Management Unit；Its
In, the input of the high-power DC-DC buck converters is connect with cable is tethered at, high-power DC-DC decompression transformations
The output of device is connect with accessory power supply and power plant module respectively, and the high pressure that ground or on-board high-voltage power supply export is converted to low pressure
It powers for accessory power supply and power plant module；
The accessory power supply respectively with Power Management Unit, fly control module, navigation module, on-board data processing module, machine
Task device and Intelligent parachute connection are carried, the low tension that high-power DC-DC buck converters export is converted to airborne
The input voltage of each electrical equipment is held, and is powered for them；
The Power Management Unit respectively with high-power DC-DC buck converters, accessory power supply, fly control module and machine
Data processing module connection is carried, is responsible for the operating status of monitoring airborne power supply, and keep logical with winged control module and earth station in real time
Letter.
Urgent telegram is answered when the airborne battery backup breaks down as more rotor unmanned aircraft conventional electron links
Source lands in an emergency for aircraft and provides electric energy, and airborne battery backup has intelligent recharge and discharge control unit, can realize autonomous
Balance charge and discharge.
The on-board data processing module includes cable data processing module and wireless data processing module, is responsible for airborne end
With the conversion and data processing of Ground communication interface.
The airborne task device is one or more kinds of different mission payloads, according to different mission requirements, task
Hanging equipment is loaded in more rotor unmanned aircrafts and rises in the air, the data of acquisition is sent to on-board data processing module, by having
Line communication link is to earth station；
The rack provides mounting structure for each airborne equipment and holds as more rotor unmanned aircraft structural load-bearing portions
Carrying platform；
The Intelligent parachute is that aircraft when catastrophe failure occurs for multi-rotor aerocraft falls buffer unit.
The alternating current that fuel electric generator or power taking motor are sent out is converted to high straightening by the ground or on-board high-voltage power supply
Galvanic electricity has cable voltage-drop compensation, mistake by being tethered at cable transmission to more rotor unmanned aircrafts, ground or on-board high-voltage power supply
Carry current limliting, the function of overvoltage protection, short-circuit protection；
The cable hoist can realize that intelligent synchronization folding and unfolding is tethered at the function of cable according to the state of flight of unmanned plane,
During more rotor unmanned aircrafts take off, land and hover, dynamic control is tethered at the tension on cable, adaptively follows winged
The active movement of row device and the variation of aerial wind speed, at the same time, cable hoist can be tethered at cable strain by control and become
Change, assisting in flying device is precisely landed.
The earth station includes comprehensive controlling equipment, display and control terminal and ground data processing module, passes through ground station software
More rotor unmanned aircraft movement instructions are sent, monitor simultaneously record-setting flight device state of flight and power plant module, airborne electricity in real time
Source, cable hoist operating status.
Advantageous effect：The utility model has following advantage：
A) Platform Structure Design is simple, has gradually moved towards practical, long-time spot hover may be implemented；
B) control mode is relatively easy, and hovering precision is high, and effect is good；
C) own vol is relatively small, simple operation, and mobility is good, and stealth is good；
D) intelligence degree is high, is tethered at cable intelligent synchronization folding and unfolding, and expansion removes debit just；
E) manufacture and maintenance cost are relatively low, cost-effective.
Description of the drawings
The utility model is done with reference to the accompanying drawings and detailed description and is further illustrated, the utility model
Above-mentioned or otherwise advantage will become apparent.
Fig. 1 is each component part connection diagram of the utility model；
Fig. 2 is the utility model power supply link schematic diagram；
Fig. 3 is the utility model wired communications links schematic diagram.
Specific implementation mode
It elaborates to the utility model below in conjunction with attached drawing.
As shown in Figure 1, Figure 2 and Figure 3, a kind of more rotors of measurement type of the utility model are tethered at unmanned vehicle system by more
Rotor unmanned aircraft is tethered at cable and ground station composition, and more rotor unmanned aircrafts and ground station are by being tethered at
Cable is connected.Separately below in specific implementation more rotor unmanned aircrafts, be tethered at cable and ground station is said
It is bright.
More rotor unmanned aircrafts by fly control module, navigation module, power plant module, airborne power supply, airborne battery backup,
The compositions such as on-board data processing module, airborne task device, rack, Intelligent parachute.
Brain of the control module as more rotor unmanned aircrafts, the aircraft provided according to navigation module and each sensor are provided
Pose and status information are sent to power plant module by flying control algorithm generation control signal, real-time pose are carried out to aircraft
Control, and ensure its stable operation.
Navigation module is divided into satellite navigation unit and inertia combined navigation unit two parts.What satellite navigation unit received
The real time positioning data of GPS/ Beidou satellite navigation systems and the collected angle of high-precision inertia combination unit and the acceleration number of degrees
According to blending, the posture information for obtaining more rotor unmanned aircrafts is sent to winged control module.
Power plant module is made of brshless DC motor, motor driver and blade, is provided for more rotor unmanned aircrafts winged
Action edge is the executing agency of aircraft.Motor driver receive fly control module control signal, driving brshless DC motor with
Blade rotates, and adjusts different rotating speeds and rotor is made to generate different lift to adjust the pose of aircraft.
Airborne power supply is divided into high-power DC-DC buck converters, accessory power supply and Power Management Unit three parts.It is high
The high pressure of ground/on-board high-voltage power supply output is converted to low pressure and powered for power plant module by pressure high power D C-DC buck converters.
The low tension that high-power DC-DC buck converters export is converted to the input electricity of each electrical equipment in airborne end by accessory power supply
Pressure, and power for it.Power Management Unit be responsible for monitor airborne power supply operating status, and in real time with winged control module and earth station
Keep communication.
Emergency power supply when airborne battery backup breaks down as more rotor unmanned aircraft conventional electron links, can
It lands in an emergency for aircraft and electric energy is provided.Battery backup has intelligent recharge and discharge control unit, it can be achieved that autonomic balance charge and discharge
Electricity.
Data processing module include cable data processing module and wireless data processing module two parts, be responsible for airborne end and
The conversion and data processing of Ground communication interface.Wire communication is conventional communication mode, channel radio in the utility model embodiment
Believe that the backup as wire communication provides emergency communication channel when wired communications links break down.
Airborne task device can be one or more kinds of different mission payloads, such as O-E Payload, radar, trunking traffic
Equipment etc..According to different mission requirements, task device carry rises in the air in more rotor unmanned aircrafts, by the data of acquisition
It is sent to on-board data processing module, earth station is transmitted to by wired communications links.
Rack provides mounting structure for each airborne equipment and carrying is flat as more rotor unmanned aircraft structural load-bearing portions
Platform.Rack has satisfactory texture intensity, has been carried out at the same time the design of equipment compartment ventilation rainproof, has flexible task device installation and connects
Mouthful, there is very strong versatility.
Aircraft when as multi-rotor aerocraft catastrophe failure occurs for Intelligent parachute falls buffer unit, can protect machine
Task device is carried, ground staff and property safety is protected, is to greatest extent preferably minimized loss.
It is tethered at cable and uses a kind of light-duty tension optoelectronic composite cable, include high-voltage power transmission cable, single mode optical fiber and tension virtue
Synthetic fibre has the function of transmission of electricity, communication and provides to draw that more rotor unmanned aircrafts is assisted precisely to land.
Ground station is made of ground/on-board high-voltage power supply, cable hoist and earth station etc..
The alternating current that fuel electric generator or power taking motor are sent out is converted to high voltage direct current by ground/on-board high-voltage power supply,
By being tethered at cable transmission to more rotor unmanned aircrafts, and with cable voltage-drop compensation, overload current limliting, overvoltage protection, short circuit
The functions such as protection.
Cable hoist can realize that intelligent synchronization folding and unfolding is tethered at the function of cable according to the state of flight of unmanned plane, in more rotors
During unmanned vehicle takes off, lands and hovers, dynamic control is tethered at the tension on cable, adaptively follows aircraft
Active movement and the variation of aerial wind speed.At the same time, cable hoist can be tethered at cable strain variation by control, and auxiliary flies
Row device is precisely landed.
Earth station is formed by integrating controlling equipment, display and control terminal and ground data processing module, is sent out by ground station software
Send more rotor unmanned aircraft movement instructions, monitor in real time and record-setting flight device state of flight and power plant module, airborne power supply,
The operating status of the key equipments such as cable hoist.
The utility model embodiment uses the narrow platform proprietary technology of more rotor unmanned aircrafts, intelligent synchronization retractable cable
The advanced key technologies such as cable technology, airborne power supply high power D C-DC converter techniques are a kind of high-precision, heavy－duty, high intelligence
The lift-off platform of change meets demand of the high-precision task device to its measuring table.
The utility model be it is a kind of by more rotor unmanned aircrafts, be tethered at built-up aerial of cable, ground station
Hover plateform system, which is securable to ground, can also be loaded into vehicle or naval vessel.More rotor unmanned aircrafts can carry not
Same task device, ground station can carry out information exchange by being tethered at cable with unmanned vehicle, and be continuously its power supply, from
And realize the purpose for executing task for a long time.
Using eight rotor structure of close coupled type, aircraft can carry respectively more rotor unmanned aircrafts in the utility model
Kind task device, several work pattern is flexibly selected according to environmental situation, with endurance is long, load-carrying is big, stealth is good, expansion is removed
The advantages that receiving convenient, mobility strong, strong applicability is all widely used at many aspects.
Cable is tethered at using a kind of light-duty tension optoelectronic composite cable, it can be achieved that DC high-voltage in the utility model
The transmission of energy, while realizing that more rotor unmanned aircrafts are communicated with the data of ground station as wired communications links, have
The advantages that line footpath is small, light-weight, internal resistance is small, tensile capacity is strong.
Ground station in the utility model mainly by fuel electric generator/power taking motor, ground/on-board high-voltage power supply,
The compositions such as cable hoist, earth station are continuously more rotor unmanned aircrafts and provide electric energy, and carry out data interaction and processing,
Control is tethered at cable and synchronizes folding and unfolding simultaneously.
The utility model is on the basis of retaining more rotor unmanned aircraft intrinsic advantages, by being tethered at cable and ground work
Make station and be connected to more rotor unmanned aircraft power supplies, save big weight on-board batteries, which compensates for more rotations well
Wing unmanned vehicle airborne period is short, the limited defect of load-carrying.
The utility model embodiment main performance index：
A) payload capacity weight：25kg；
B) maximum lift-off height：200m；
C) wind resistance grade：6 grades (protecting precision)；
D) maximum is taken off height above sea level：4570m；
E) it continuously hovers the time：24h；
F) hovering precision is as shown in table 1：
Table 1
| Horizontal direction | 0.3m(RMS) |
| Vertical direction | 0.1m(RMS) |
| Rolling, pitch angle | 3°(RMS) |
| Orientation angles | 1°(RMS) |
The utility model provides a kind of more rotors of measurement type and is tethered at unmanned vehicle system, implements the technical solution
Method and approach it is very much, the above is only the preferred embodiment of the utility model, it is noted that for the art
Those of ordinary skill for, without departing from the principle of this utility model, several improvements and modifications can also be made, this
A little improvements and modifications also should be regarded as the scope of protection of the utility model.Each component part being not known in the present embodiment is available existing
There is technology to be realized.
Claims (10)
1. a kind of more rotors of measurement type are tethered at unmanned vehicle system, including more rotor unmanned aircrafts, it is tethered at cable and ground
Work station, which is characterized in that more rotor unmanned aircrafts are connected with ground station by being tethered at cable；It is described to be tethered at
Cable is powered to more rotor unmanned aircrafts for ground station and communication between the two；More rotor unmanned aircrafts
Including flying control module, navigation module, power plant module, airborne power supply, airborne battery backup, on-board data processing module, airborne
Task device, rack and Intelligent parachute, wherein the input of the airborne power supply is connect with cable is tethered at, airborne power supply it is defeated
Go out respectively with winged control module, navigation module, power plant module, on-board data processing module, airborne task device and Intelligent parachute
It connects and is that they power；
The navigation module is connect with control module is flown, and the posture information of more rotor unmanned aircrafts is sent to and flies control module；
The power plant module is connect with control module is flown, and receives the control signal for flying control module；
The airborne battery backup is landed with control module, navigation module, power plant module, on-board data processing module and intelligence is flown
Umbrella connects, and powers for them in conventional electron link, that is, airborne power supply failure；
The on-board data processing module respectively with winged control module, airborne power supply, airborne task device and be tethered at cable and connect, machine
Data processing module is carried for carrying out communication data conversion and mutually passing；
The Intelligent parachute is connect with control module is flown, and receives to fly control module control instruction；
The rack provides carrying platform for all airborne equipments, and is connect with cable is tethered at；
The cable that is tethered at is light-duty tension optoelectronic composite cable, including high-voltage power transmission cable, single mode optical fiber and tension aramid fiber；
The ground station includes ground or on-board high-voltage power supply, cable hoist and earth station, wherein the ground is vehicle-mounted
High voltage power supply connect and powers with cable hoist and earth station respectively；The ground or on-board high-voltage power supply connect with cable is tethered at
It connects, electric energy transmission is carried out by being tethered at cable；The cable hoist is connect with earth station, satellite receiver control instruction；It is described
Earth station connect with cable is tethered at, and is carried out data transmission by being tethered at cable；The earth station and on-board data processing module without
Line communicates, the backup as wired communications links.
2. a kind of more rotors of measurement type according to claim 1 are tethered at unmanned vehicle system, which is characterized in that described to fly
Aircraft pose and status information of the module according to navigation module and the offer of its internal sensor are controlled, control signal is generated and is sent to
Power plant module carries out real-time Pose Control to aircraft.
3. a kind of more rotors of measurement type according to claim 1 are tethered at unmanned vehicle system, which is characterized in that described to lead
Model plane block includes satellite navigation unit and inertia combined navigation unit；The GPS or Beidou satellite navigation that satellite navigation unit receives
The real time positioning data of system is blended with the collected angle of inertia combined navigation unit and acceleration information, obtains more rotors
The posture information of unmanned vehicle, which is sent to, flies control module.
4. a kind of more rotors of measurement type according to any one of claims 1 to 3 are tethered at unmanned vehicle system, feature exists
In the power plant module includes brshless DC motor, motor driver and blade, and power plant module is that more rotor unmanned aircrafts carry
For flying power；The motor driver is connect with control module is flown, and receives the control signal for flying control module；The motor driver
Input connect with airborne power supply and airborne battery backup, the output of motor driver is connect with brshless DC motor, driving
Brshless DC motor rotates, and adjusts its rotating speed；The blade is connected with brushless DC motor rotor, and rotation generates different liters
Power is to adjust the pose of aircraft.
5. a kind of more rotors of measurement type according to claim 4 are tethered at unmanned vehicle system, which is characterized in that the machine
It includes high-power DC-DC buck converters, accessory power supply and Power Management Unit to carry power supply；Wherein, the big work(of the high pressure
The input of rate DC-DC buck converters is connect with cable is tethered at, the output of high-power DC-DC buck converters respectively with it is auxiliary
Power supply and power plant module is helped to connect, it is accessory power supply and power that the high pressure that ground or on-board high-voltage power supply export, which is converted to low pressure,
Module for power supply；
The accessory power supply respectively with Power Management Unit, fly control module, navigation module, on-board data processing module, airborne
It is each to be converted to airborne end by equipment of being engaged in and Intelligent parachute connection for the low tension that high-power DC-DC buck converters export
The input voltage of electrical equipment, and power for them；
The Power Management Unit respectively with high-power DC-DC buck converters, accessory power supply, fly control module and airborne number
It is connected according to processing module, is responsible for the operating status of monitoring airborne power supply, and keep communicating with winged control module and earth station in real time.
6. a kind of more rotors of measurement type according to claim 5 are tethered at unmanned vehicle system, which is characterized in that the machine
Emergency power supply when battery backup breaks down as more rotor unmanned aircraft conventional electron links is carried, is that aircraft is urgent
It lands and electric energy is provided, airborne battery backup has intelligent recharge and discharge control unit, can realize autonomic balance charge and discharge.
7. a kind of more rotors of measurement type according to claim 6 are tethered at unmanned vehicle system, which is characterized in that the machine
It includes cable data processing module and wireless data processing module to carry data processing module, is responsible for airborne end and Ground communication interface
Conversion and data processing.
8. a kind of more rotors of measurement type according to claim 7 are tethered at unmanned vehicle system, which is characterized in that describedly
The alternating current that fuel electric generator or power taking motor are sent out is converted to high voltage direct current by face or on-board high-voltage power supply, by being tethered at line
Cable is transferred to more rotor unmanned aircrafts, and there is cable voltage-drop compensation, overload current limliting, overvoltage to protect for ground or on-board high-voltage power supply
Shield, the function of short-circuit protection；
9. a kind of more rotors of measurement type according to claim 8 are tethered at unmanned vehicle system, which is characterized in that
The cable hoist can realize that intelligent synchronization folding and unfolding is tethered at the function of cable according to the state of flight of unmanned plane, revolving more
During wing unmanned vehicle takes off, lands and hovers, dynamic control is tethered at the tension on cable, adaptively follows aircraft
Active movement and aerial wind speed variation, at the same time, cable hoist can by control be tethered at cable strain variation, it is auxiliary
Aircraft is helped precisely to be landed.
10. a kind of more rotors of measurement type according to claim 9 are tethered at unmanned vehicle system, which is characterized in that described
Earth station includes comprehensive controlling equipment, display and control terminal and ground data processing module, ground data processing module respectively with synthesis
Controlling equipment, display and control terminal and be tethered at cable connection, carry out communication data format conversion and mutually pass；Display and control terminal passes through earth station
Software sends more rotor unmanned aircraft movement instructions, monitors simultaneously record-setting flight device state of flight and power plant module, machine in real time
Carry the operating status of power supply, cable hoist；Comprehensive controlling equipment is used as auxiliary control appliance, assist display and control terminal to more rotors without
People's aircraft controls.
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