阅读说明：本技术 一种直升机无人值守自动抓取吊挂运输装置及方法 (Unmanned automatic grabbing, hanging and transporting device and method for helicopter ) 是由 雍利鹏 白新玉 李永亮 薛美萍 薛振华 常飞 张学程 于 2020-07-29 设计创作，主要内容包括：本发明公开了一种直升机无人值守自动抓取吊挂运输装置及方法,所述方法包括：标靶放置方法、识别定位方法、自动抓取方法、吊挂监控方法和投放卸载方法。有人直升机或无人直升机在地面无人值守的情况下,借助标靶识别定位系统,实现对与货物连接的标靶进行抓取吊挂,进而完成货物吊挂运输,具有人工参与度低,安全性高等特点。(The invention discloses an unattended automatic grabbing, hanging and transporting device and method for a helicopter, wherein the method comprises the following steps: the target placement method, the identification positioning method, the automatic grabbing method, the hanging monitoring method and the throwing unloading method. Someone helicopter or unmanned helicopter are under the unmanned on duty's on ground condition, with the help of mark target identification positioning system, realize snatching the target of being connected with the goods and hang, and then accomplish the goods and hang the transportation, have artifical participation degree low, characteristics such as security height.)

1. An unmanned automatic grabbing, hanging and transporting device for a helicopter is characterized by comprising an automatic grabbing device (3) and a target (5); the automatic grabbing device (3) is connected to the bottom of the helicopter (1), and the transmitter (2) is installed at the top of the automatic grabbing device (3); the electronic tag (4) is mounted at the top of the target (5), a rigging (6) is fixed at the lower part of the target (5), the rigging (6) is connected with a lifting hook (7), and the lifting hook (7) is used for connecting a cargo (8);

the helicopter (1) is provided with a target identification and positioning system, and the target identification and positioning system comprises a receiver (9).

2. An unmanned automatic grabbing, hanging and transporting method for a helicopter is based on the unmanned automatic grabbing, hanging and transporting device for the helicopter of claim 1, and is characterized by comprising the following steps:

1) after a target identification and positioning system on the helicopter (1) searches for the cargo information sent by an electronic tag (4) on a target (5) corresponding to the cargo (8) to be hung, locking the target (5);

2) the method comprises the steps of obtaining the relative position between an automatic grabbing device (3) and a target (5) by utilizing information sent by a transmitter (2) on the automatic grabbing device (3) and information sent by an electronic tag (4) on the target (5), guiding a helicopter (1) to adjust the position posture according to the relative position, driving the automatic grabbing device (3) to enter the grabbing range of the target (5) by the helicopter (1), descending the helicopter (1), enabling the target (5) to enter the automatic grabbing device (3), and achieving automatic grabbing of the target (5).

3. The unmanned automatic grabbing, hanging and transporting method for the helicopter according to claim 2, further comprising a step 3) of lifting the helicopter (1) to drive the automatic grabbing device (3) to ascend after the target (5) is automatically grabbed, and then hoisting the cargo (8) to be transported to a destination.

4. The helicopter unattended automatic grabbing, hanging and transporting method according to claim 2, characterized in that in step 1), before a hanging and transporting task is started, ground personnel connect the cargo (8) and the lifting hook (7) in advance, open the switch of the electronic tag (4), and input information of the cargo (8).

5. The method for unmanned automatic grabbing, hanging and transporting by helicopter according to claim 4 is characterized in that if there are lots of or different cargos, the cargos (8) are respectively connected with the targets corresponding to the cargos, information of the corresponding cargos is inputted, and the targets are supported and placed on the ground.

6. The helicopter unmanned on duty automatic grabbing hanging transportation method of claim 5, characterized in that before the hanging transportation task is started, the support legs of the target (5) are separated and the target (5) is placed on a flat ground.

7. The method for unmanned automatic grabbing and hanging transportation by helicopter according to claim 2, characterized in that in step 3), if the helicopter (1) cannot continue hanging flight during hanging flight, the automatic grabbing device (3) is opened to throw target (5) and cargo (8).

8. The unmanned helicopter automatic grabbing, hanging and transporting method according to claim 3, characterized in that in step 3), if the hanging flight is normal, after the helicopter (1) transports the cargo (8) to the destination, the helicopter descends to the height, after the cargo (8) touches the ground, the automatic grabbing device (3) is opened, the target (5) is thrown, the helicopter (1) flies away, and the ground personnel separate the cargo (8) from the hook (7) to obtain the required materials.

9. The helicopter unmanned on duty automatic grabbing, hanging and transporting method of claim 3, characterized in that in step 3), the swinging attitude of the cargo (8) is obtained by monitoring the swinging position information of the transmitter (2) during the hanging, transporting and flying process.

10. The method for unmanned automatic grabbing, hanging and transporting by helicopter according to claim 9 is characterized in that if the cargo (8) swings out of the allowable range, the attitude of the helicopter (1) is adjusted in time to ensure the safety of hanging and flying.

Technical Field

The invention belongs to the field of external hanging transportation of helicopters, and particularly relates to an unattended automatic grabbing hanging transportation device and method for a helicopter.

Background

Before the helicopter carries out the external hanging transportation of the goods, a rigging connected with the goods needs to be hung on a hook of the goods hook device. The existing suspension methods have two types: the helicopter is set on the ground, cargo is set on the side of the helicopter, and the rigging is hung manually on the hook of the cargo hook device for taking off and flying. This method has the following problems: 1. the distance between the goods and the helicopter needs to be adjusted, so that the collision between the rotor wing and the goods does not occur, and the rigging needs to be hung manually and smoothly; 2. the landing gear of the helicopter is generally low, the operation space is narrow, and manual mounting is inconvenient; 3. when the helicopter takes off, if the posture is not adjusted timely, the helicopter is easy to be laterally pulled by a rigging, so that safety accidents are caused.

The other suspension method is that the helicopter flies above the goods and hovers, the rigging is manually suspended on the hook of the goods hook device, the helicopter ascends and hangs the goods for transportation and flying. This method has the following problems: 1. the height of the helicopter needs to be reduced as much as possible so that an operator can hang a rigging, and at the moment, once the helicopter is influenced by the environment such as crosswind and the like, the helicopter is difficult to control, so that safety accidents are caused; 2. the maximum voltage of 300kV can be generated in the flying process of the helicopter, so that people are easily injured by electric shock; 3. the wind generated by the rotation of the helicopter rotor is large and may cause injury to persons hanging the rigging.

Disclosure of Invention

The invention aims to provide an unattended automatic grabbing, hanging and transporting device and method for a helicopter, and particularly realizes unattended automatic grabbing, hanging and transporting of the helicopter through a target placing method, an identification and positioning method, an automatic grabbing method, a hanging monitoring method and a throwing and unloading method, and is low in manual participation degree and high in safety.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned automatic grabbing, hanging and transporting device for a helicopter comprises an automatic grabbing device and a target; the automatic grabbing device is connected to the bottom of the helicopter, and the transmitter is installed at the top of the automatic grabbing device; the electronic tag is mounted at the top of the target, a rigging is fixed at the lower part of the target, the rigging is connected with a lifting hook, and the lifting hook is used for connecting goods;

the helicopter is provided with a target identification and positioning system, and the target identification and positioning system comprises a receiver.

The other technical scheme of the invention is as follows:

the unmanned automatic grabbing, hanging and transporting method for the helicopter comprises the following steps of:

1) after a target identification and positioning system on the helicopter searches for the cargo information sent by an electronic tag on a target corresponding to the cargo to be hung, locking the target;

2) the relative position between the automatic grabbing device and the target is obtained by utilizing information sent by a transmitter on the automatic grabbing device and information sent by an electronic tag on the target, the helicopter is guided to adjust the position and posture according to the relative position, the helicopter drives the automatic grabbing device to enter the grabbing range of the target, the helicopter descends, and the target enters the automatic grabbing device to realize the automatic grabbing of the target.

Further, the method also comprises a step 3) of automatically grabbing the target, then lifting the helicopter to drive the automatic grabbing device to ascend, and then hoisting the goods to be transported to a destination.

Further, in the step 1), before the hanging transportation task is started, ground personnel connect the goods and the lifting hook well in advance, open the switch of the electronic tag and input the information of the goods.

Furthermore, if a plurality of batches of or different cargos exist, the cargos are respectively connected with the targets corresponding to the cargos, corresponding cargos are input to obtain information, and the targets are supported and placed on the ground.

Further, before the hanging transportation task is started, the supporting legs of the target are separated, and the target is placed on the flat ground.

Further, in the step 3), in the hanging flight process of the helicopter, if the situation that the hanging flight cannot be continued occurs, the automatic grabbing device is opened, and the target and the goods are thrown in.

Further, in the step 3), if the hanging flight is normal, after the helicopter transports the goods to the destination, the height is lowered, after the goods touch the ground, the automatic grabbing device is opened, the target is thrown in, the helicopter flies away, and ground personnel separate the goods from the lifting hook to obtain the required materials.

Further, in the step 3), in the process of hanging, transporting and flying, the swinging attitude of the cargo is obtained by monitoring the swinging position information of the transmitter.

Furthermore, if the cargo swing exceeds the allowable range, the attitude of the helicopter is adjusted in time, and the safety of hanging flight is ensured.

Compared with the prior art, the invention has the following beneficial technical effects:

the unmanned automatic grabbing, hanging and transporting method for the helicopter provided by the embodiment of the invention comprises the following steps: the target placement method, the identification positioning method, the automatic grabbing method, the hanging monitoring method and the throwing unloading method. Someone helicopter or unmanned helicopter are under the unmanned on duty's on ground condition, with the help of mark target identification positioning system, realize snatching the target of being connected with the goods and hang, and then accomplish the goods and hang the transportation, have artifical participation degree low, characteristics such as security height.

Furthermore, ground personnel connect the lifting hook of rigging on goods and the mark target in advance, open the switch of electronic tags on the mark target, input goods information, the supporting leg of separately marking target places in comparatively flat ground. If there are multiple batches or different cargos, after being respectively connected with each target, the corresponding cargo information is input and is placed on the ground, and then ground personnel are not needed for the mounting process.

Furthermore, the helicopter flies to the upper space near the target, and according to a pre-received hanging transportation instruction, after the target identification and positioning system searches the cargo information sent by the electronic tag on the target corresponding to the cargo to be hung, the information is confirmed and the target is locked, so that the identification and positioning of the target are realized.

Furthermore, the relative position between the automatic grabbing device and the target is calculated by utilizing information sent by a transmitter on the automatic grabbing device and information sent by an electronic tag on the target, the helicopter is guided to adjust the position and posture according to the relative position, the helicopter drives the automatic grabbing device to enter the grabbing range of the target, the helicopter descends, and the target head enters the automatic grabbing device to realize the automatic grabbing of the target.

Further, the helicopter rises to drive the automatic gripping device to rise, so that the goods are lifted and transported to a destination. In the process of hanging, transporting and flying, the swinging position information of the transmitter on the automatic grabbing device is monitored, the swinging attitude of the cargo is calculated reversely, and if the cargo swings beyond the allowable range, the attitude of the helicopter is adjusted in time, so that the safety of hanging and flying is ensured.

Furthermore, in the process of hanging flight of the helicopter, if the condition that the helicopter cannot continuously hang flight occurs, the automatic grabbing device is opened to throw in the target and the goods. If the hanging flight is normal, after the helicopter transports the goods to the destination, the height is lowered, after the goods touch the ground, the automatic grabbing device is opened to throw the target, the helicopter flies away, and ground personnel separate the goods from the lifting hooks of the riggings on the target to obtain the required materials.

Therefore, the unmanned automatic grabbing, hanging and transporting method of the helicopter is adopted, only the target connected with the goods needs to be manually supported on the ground in advance, the target is grabbed and hung by the helicopter, manual participation is not needed in the hanging process, and the problems of the two existing methods can be avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of an unattended automatic grabbing, hanging and transporting device for a helicopter according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating target identification and positioning in the unmanned automatic grabbing, hanging and transporting method for the helicopter provided by the embodiment of the invention;

FIG. 3 is a schematic view of monitoring the swing amplitude of the cargo in the unmanned automatic grabbing, hanging and transporting method of the helicopter according to the embodiment of the present invention;

wherein: the system comprises a helicopter 1, a transmitter 2, an automatic grabbing device 3, an electronic tag 4, a target 5, a rigging 6, a lifting hook 7, a cargo 8 and a receiver 9.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.

The embodiment of the invention provides an unattended automatic grabbing, hanging and transporting device and method for a helicopter.

An unattended automatic grabbing, hanging and transporting method for a helicopter comprises a target placing method, an identification and positioning method, an automatic grabbing method, a hanging monitoring method and a throwing and unloading method, the unattended automatic grabbing, hanging and transporting method for the helicopter is achieved, the schematic diagram is shown in figure 1, and the unmanned automatic grabbing, hanging and transporting method for the helicopter has the advantages of being low in manual participation degree, high in safety and the like.

Before the hanging transportation task begins, ground personnel connect goods 8 with lifting hook 7 of rigging 6 on the mark target 5 in advance, open the switch of electronic tags 4 on the mark target 5, input goods information, separate the supporting leg of mark target 5, place in comparatively flat ground. If there are many batches or different cargos, then respectively with each target 5 after being connected, input corresponding goods information, all target 5 are supported respectively and are placed on ground, later the mount process need not ground personnel and participates in.

After the hanging transportation task starts, the helicopter 1 flies to the upper space near the target 5, and according to the hanging transportation instruction received in advance, the target identification and positioning system confirms the information and locks the target 5 after searching the cargo information sent by the electronic tag 4 on the target corresponding to the cargo to be hung, so that the identification and positioning of the target 5 are realized.

As shown in fig. 2, after the target is identified and positioned, four receivers 9(d1, d2, d3, d4) in the target identification and positioning system receive coordinate information sent by the transmitter 2 on the automatic grabbing device 3 and coordinate information sent by the electronic tag 4 on the target 5 to obtain the relative position between the automatic grabbing device 3 and the target 5, according to the relative position, the position and posture of the helicopter 1 are adjusted, the automatic grabbing device 3 enters the grabbing range of the target 5, the helicopter 1 descends, and the target enters the automatic grabbing device 3 to realize automatic grabbing of the target 5.

After the target is automatically grabbed, the helicopter 1 ascends to drive the automatic grabbing device 3 to ascend, so that the goods 8 are hoisted and transported to a destination. In the process of hanging, transporting and flying, as shown in fig. 3, the swinging attitude of the cargo 8 is obtained by monitoring the swinging position information of the transmitter 2 on the automatic gripping device 3 relative to the helicopter, and if the swinging of the cargo 8 exceeds the allowable range, the attitude of the helicopter 1 is timely adjusted to ensure the safety of hanging and flying.

In the process of hanging flight, if the situation that the helicopter 1 cannot continue hanging flight occurs, the automatic grabbing device 3 is opened to throw in the target 5 and the goods 8. If the hanging flight is normal, after the helicopter 1 transports the goods 8 to the destination, the height is lowered, after the goods 8 touch the ground, the automatic grabbing device 3 is opened to throw the target 5, the helicopter 1 flies away, and ground personnel separate the goods 8 from the lifting hook 7 of the rigging 6 on the target 5 to obtain the required goods and materials.

The other technical scheme of the invention is as follows: an unattended automatic grabbing, hanging and transporting device for a helicopter is used for the unattended automatic grabbing, hanging and transporting method for the helicopter, and comprises an automatic grabbing device 3 and a target 5; the automatic gripping device 3 is connected to the bottom of the helicopter 1, and the transmitter 2 is installed at the top of the automatic gripping device 3; the electronic tag 4 is mounted at the top of the target 5, a rigging 6 is fixed at the lower part of the target 5, the rigging 6 is connected with a lifting hook 7, and the lifting hook 7 is used for connecting a cargo 8; the helicopter 1 is provided with a target identification and positioning system, and the target identification and positioning system comprises a receiver 9.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.