阅读说明：本技术 无人机系留线缆收放控制系统和控制方法 (Unmanned aerial vehicle mooring cable winding and unwinding control system and control method ) 是由 邱承跃 白宇军 李森 于 2019-08-30 设计创作，主要内容包括：本发明公开了无人机系留线缆收放结构,属于无人机系留技术领域,地面控制装置通过控制电路控制所述卷缆装置对系留线缆的收放,系留线缆卷绕在所述卷缆装置上,且其头端穿过所述排线装置、缓冲装置以及应急脱揽装置连接无人机；所述缓冲装置带有与地面控制装置通讯的过缓冲信号检测单元,所述地面控制装置根据过缓冲信号检测单元的信号控制所述应急脱揽装置的启动；所述电源管理器用于连接电源并为控制系统供电,是一种适用于系留无人机的自动收放、稳定、且带有一定的缓冲功能的收放系统。(The invention discloses a mooring cable winding and unwinding structure of an unmanned aerial vehicle, and belongs to the technical field of mooring of unmanned aerial vehicles.A ground control device controls winding and unwinding of a mooring cable by a cable winding device through a control circuit, the mooring cable is wound on the cable winding device, and the head end of the mooring cable penetrates through a wire arranging device, a buffer device and an emergency cable releasing device to be connected with the unmanned aerial vehicle; the buffer device is provided with an over-buffer signal detection unit communicated with the ground control device, and the ground control device controls the starting of the emergency cable-removing device according to the signal of the over-buffer signal detection unit; the power supply manager is used for connecting a power supply and supplying power for the control system, and is an automatic winding and unwinding system which is suitable for the tethered unmanned aerial vehicle, stable and has a certain buffering function.)

1. Unmanned aerial vehicle mooring cable receive and releases control system, its characterized in that: comprises a ground control device, a power supply manager, an emergency cable-releasing device and a cable-winding device (4) with a cable-arranging device (3) and a buffer device;

the ground control device controls the cable winding device (4) to wind and unwind the mooring cable through a control circuit, the mooring cable is wound on the cable winding device (4), and the head end of the mooring cable penetrates through the wire arranging device (3), the buffer device and the emergency cable releasing device to be connected with the unmanned aerial vehicle; the buffer device is provided with an over-buffer signal detection unit communicated with the ground control device, and the ground control device controls the starting of the emergency cable-removing device according to the signal of the over-buffer signal detection unit; the power supply manager is used for connecting a power supply and supplying power for the control system.

2. The unmanned aerial vehicle mooring cable pay-off and take-up control system of claim 1, wherein: and the display is connected with the control circuit and used for displaying the working and running state of the system.

3. The unmanned aerial vehicle mooring cable pay-off and take-up control system of claim 1, wherein: the buffering device comprises a fixed pulley block (1) and a movable pulley block (2), and the mooring cable bypasses the fixed pulley block (1) and the movable pulley block (2) of the buffering device through the wire arranging device (3) and then is connected with the unmanned aerial vehicle; and the movable pulley block (2) is suspended below the fixed pulley block (1) through a mooring cable, and a distance measuring device (5) is arranged between the fixed pulley block (1) and the movable pulley block (2).

4. The unmanned aerial vehicle mooring cable pay-off and take-up control system of claim 1, wherein: a linear guide sliding rail (6) is arranged between the fixed pulley block (1) and the movable pulley block (2), the fixed pulley block (1) is arranged at one end of the guide sliding rail (6), and the movable pulley block (2) is arranged on the guide sliding rail (6) in a sliding mode.

5. The control method of the unmanned aerial vehicle mooring cable winding and unwinding control system is characterized in that:

dividing a stroke between a fixed pulley block (1) and a movable pulley block (2) of a buffer device into an upper section area, a middle section area and a lower section area, and monitoring the relative distance between the movable pulley block (2) and the fixed pulley block (1) and the speed of the movable pulley block (2) relative to the fixed pulley block (1) in real time through a distance measuring device (5) arranged between the fixed pulley block (1) and the movable pulley block (2);

when the movable pulley block (2) rises towards the fixed pulley block (1) to move to an upper section area, namely the unmanned aerial vehicle is judged to be in a rising state at the moment, and the cable winding device (4) is controlled by the ground control device to start and release the mooring cable;

when the movable pulley block (2) is located in the middle section area, the stable mooring state of the unmanned aerial vehicle can be judged, and the cable winding device (4) does not release or collect cables;

when the movable pulley block (2) and the fixed pulley block (1) face each other and descend to a lower section area, the unmanned aerial vehicle is judged to be in a descending state at the moment, and the cable winding device (4) is controlled by the ground control device to start winding and winding the mooring cable;

the ground control device controls the cable rolling device (4) to start releasing or rolling the mooring cable, and the releasing or rolling speed of the mooring cable is correspondingly controlled according to the ascending or descending speed of the movable pulley block (2).

6. The method of claim 5, wherein the method comprises: the ascending or descending speed of the movable pulley block (2) is obtained by monitoring the relative distance between the movable pulley block (2) and the fixed pulley block (1) in real time through the distance measuring device (5) and calculating by combining with monitoring time.

7. The method of claim 5, wherein the method comprises: the method comprises the following steps that a mooring cable is connected with an unmanned aerial vehicle through an emergency mooring releasing device, a safe distance value L between a fixed pulley block (1) and a movable pulley block (2) is set, when the unmanned aerial vehicle is judged to be in a rising state, a ground control device monitors the relative distance Li between the movable pulley block (2) and the fixed pulley block (1) and the moving speed Vi of the movable pulley block (2) to the fixed pulley block (1) in real time according to a distance measuring device (5), and when Li is less than or equal to L, the control device controls the emergency mooring releasing device to cut off the mooring cable and close a power supply.

8. The method of claim 5, wherein the method comprises: when the ground control device controls the cable winding device (4) to start the winding mooring cable, the winding device further comprises a step of synchronously adjusting the cable winding device (3) and the cable winding device (4), and according to the direction and the speed of the cable winding device (4) and the winding mooring cable, the steering engine on the cable winding device (3) is moved left and right to drive the mooring cable to be wound in an orderly manner to the cable winding device (4) to align the cables, so that the cables are prevented from being accumulated and falling.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle mooring, and particularly relates to an unmanned aerial vehicle mooring cable winding and unwinding control system and a control method thereof.

Background

Mooring unmanned aerial vehicle system is by many rotor unmanned aerial vehicle, mooring cable, ground take-off and landing platform are constituteed, unmanned aerial vehicle uses the long-time stagnation of ground power supply to hang and stop, simultaneously, data such as the high definition video of airborne equipment collection can be passed back to ground through the built-in optic fibre of mooring cable, have aerial long-time operation, the big advantage of data transmission bandwidth, but entire system stand alone type installation also can on-vehicle installation to can the vehicle movement is followed in automatic synchronization. Market demand for tethered rotorcraft arises from tethered airborne platform systems.

The most key improvement of the mooring multi-rotor unmanned aerial vehicle is that a mooring power supply system is added, and the basic principle is that a ground power supply converts ground 220V alternating current into high voltage, then transmits the high voltage to an airborne power supply through a mooring cable, and then converts the high voltage into a power supply for an aircraft and a mission load. Besides the power supply lead, the mooring cable also comprises two single-mode optical fibers which can be used for broadband signal communication between the airborne mission load and ground equipment.

The mooring rotor wing platform mainly hovers around a fixed point, so that too many complex flying actions can be avoided, the influence of a mooring cable on the flying of the mooring rotor wing needs to be fully considered in the flying control of the mooring rotor wing, particularly, the mooring cable can lose control with the swinging of wind under various wind field conditions, and generally, a civil mooring rotor wing unmanned aerial vehicle at least has practical use significance by meeting the requirement of constant wind 6-level gust 8-level. When the wind field of 6-8 levels is applied, the mooring line has no fixed motion rule, the mooring line needs to be adjusted by the robustness of flight control on the control of the rotor platform, the control difficulty of the mooring line is not lower than that of a fixed wing, and the aerodynamic design of the platform is particularly important for matching the operation scene of the rotor platform of the system in strong wind. The system rotor platform hovers in a wind field, which is actually equivalent to the platform flying in a plane along the incoming wind direction. The 6-8 grade wind speed is 10.8-20.7 m/s, which is equivalent to the capability of the rotor platform of not less than 75 km at the highest speed per hour.

In the prior art, for example, the publication number CN108248888A, the publication number is 7/6/2018, and the invention is entitled "automatic winding and unwinding device for mooring an unmanned aerial vehicle", which discloses an automatic winding and unwinding device for mooring an unmanned aerial vehicle, and the device comprises a rotating arm and a cable tray, wherein one end of the rotating arm is connected with a driving device, the outer end of the rotating arm is provided with a cable routing sleeve, a cable is connected with the aircraft from the cable tray through the cable routing sleeve, the cable routing sleeve comprises a sleeve ring, the sleeve ring is provided with a plurality of ball grooves for mounting balls, the balls are mounted in the ball grooves, and the balls are in a half-exposed state at openings of the ball grooves. According to the cable coiling and uncoiling device, the rotating arm is driven to rotate through the driving device to complete the coiling and uncoiling of cables in the cable coil, the efficiency of the coil rotated by the arm is high, the effect is good, the cables can be in sliding contact with balls in the sleeve rings, the phenomenon that the cables are coiled or clamped is prevented, and the coiling and uncoiling speed of the cables is increased; however, in the technical solution of such a mooring structure, an effective and convenient handling structure for sudden movements such as lifting and shifting in the mooring state is lacking, and the movement of the adjustment structure is always slower than the stroke of the sudden movement.

Disclosure of Invention

The invention aims to provide a cable winding and unwinding control system and a cable winding and unwinding control method which are suitable for a mooring unmanned aerial vehicle, are automatically wound and unwound and are stable and have a certain buffering function.

The purpose of the invention is realized by the following technical scheme:

unmanned aerial vehicle mooring cable receive and releases control system, its characterized in that: the emergency cable releasing device comprises a ground control device, a power supply manager, an emergency cable releasing device and a cable winding device with a cable arranging device and a buffer device;

the ground control device controls the cable winding device to wind and unwind the mooring cable through a control circuit, the mooring cable is wound on the cable winding device, and the head end of the mooring cable penetrates through the wire arranging device, the buffer device and the emergency cable releasing device to be connected with the unmanned aerial vehicle; the buffer device is provided with an over-buffer signal detection unit communicated with the ground control device, and the ground control device controls the starting of the emergency cable-removing device according to the signal of the over-buffer signal detection unit; the power supply manager is used for connecting a power supply and supplying power for the control system, namely the ground control device controls the cable to be wound and unwound, the cable is connected with the unmanned aerial vehicle through the wire arranging device, the buffering device and the emergency cable releasing device, and the buffering signal detection unit can be used for ensuring safety through a cable releasing mechanism under the emergency condition of the unmanned aerial vehicle.

Preferably, the system further comprises a display connected with the control circuit and used for displaying the working and running states of the system.

The buffer device comprises a fixed pulley block and a movable pulley block, and the mooring cable is connected with the unmanned aerial vehicle after bypassing the fixed pulley block and the movable pulley block of the buffer device through the wire arranging device; and the movable pulley block is suspended below the fixed pulley block through a mooring cable, and a distance measuring device is arranged between the fixed pulley block and the movable pulley block. The structure ensures that a certain degree of opposite movement space can be reserved between the fixed pulley block and the movable pulley block.

That is, when the unmanned aerial vehicle ascends, the mooring cable starts to be released from the cable winding device, the cable winding device stops paying off after the mooring cable passes through the wire arranging device, the fixed pulley block and the movable pulley block and rises along with the unmanned aerial vehicle to reach the specified mooring height, when the unmanned aerial vehicle encounters the influence of air flow and the like, the unmanned aerial vehicle deviates or rises, the movable pulley is pulled upwards through the mooring cable, and the opposite movement space between the fixed pulley block and the movable pulley block becomes the buffer stroke.

Furthermore, a linear guide sliding rail is arranged between the fixed pulley block and the movable pulley block, the fixed pulley block is arranged at one end of the guide sliding rail, and the movable pulley block is arranged on the guide sliding rail in a sliding manner; namely, the relative sliding between the fixed pulley block and the movable pulley block is limited on a straight line by the guide slide rail, so that the cable can be prevented from being stirred due to the deviation of the relative sliding, and the change of the buffering degree can be determined only by detecting the change of the straight line distance by the over-buffering signal detection unit.

Furthermore, the invention also discloses a control method of the unmanned aerial vehicle mooring cable pay-off and take-up control system, which is characterized in that:

dividing a stroke between a fixed pulley block and a movable pulley block of a buffer device into an upper section area, a middle section area and a lower section area, and monitoring the relative distance between the movable pulley block and the fixed pulley block and the speed of the movable pulley block relative to the fixed pulley block in real time through a distance measuring device arranged between the fixed pulley block and the movable pulley block;

when the movable pulley block moves to the upper section area towards the fixed pulley block in a rising mode, namely the unmanned aerial vehicle is judged to be in the rising state at the moment, the cable winding device is controlled to start and release the mooring cable through the ground control device;

when the movable pulley block is positioned in the middle section area, the unmanned aerial vehicle can be judged to be in a stable mooring state, and the cable winding device does not release or collect cables;

when the movable pulley block and the fixed pulley block which are opposite to each other descend to the lower section area, the unmanned aerial vehicle is judged to be in a descending state at the moment, and the cable winding device is controlled by the ground control device to start winding and winding the mooring cable;

the ground control device controls the cable rolling device to start to release or roll the mooring cable, and the release or rolling speed of the mooring cable is correspondingly controlled according to the ascending or descending speed of the movable pulley block.

It can be clearly seen that the control method of the invention sets control mechanisms respectively for the three states of ascending, descending and mooring of the unmanned aerial vehicle in the mooring state, can know the states in real time according to the detection of the ground station, and can timely cope with the sudden actions of the unmanned aerial vehicle through rate adjustment.

The whole buffer area can change the buffer length of the buffer pair along with the increase and decrease of the wheel changing group.

The ascending or descending speed of the movable pulley block is obtained by monitoring the relative distance between the movable pulley block and the fixed pulley block in real time through the distance measuring device and calculating by combining with monitoring time. The speed algorithm can be easily implemented, for example, by measuring the distance between the fixed and movable pulley blocks at the first time to be L₁And L for the second time₂The time interval between two measurements is t, N is the number of pulleys, and the speed is V_s=|L₁-L₂L N/t, and (L)₁-L₂) The values of (a) and (b) are positive and negative and can just correspond to the lifting state at that time.

The method is characterized by further comprising an emergency cable releasing step, wherein a mooring cable is connected with the unmanned aerial vehicle through an emergency cable releasing device, a safe distance value L between the fixed pulley block and the movable pulley block is set, when the unmanned aerial vehicle is judged to be in a rising state, the ground control device monitors the relative distance L between the movable pulley block and the fixed pulley block in real time according to the distance measuring device, and when the distance L is L_iAt L, the control device controls the emergency release cable device to cut off the mooring cable and turn off the power supply.

When the ground control device controls the cable rolling device to start the rolling mooring cable, the synchronous adjustment step of the cable rolling device and the cable rolling device is further included, according to the direction and the speed of the cable rolling device and the rolling mooring cable, the steering engine on the cable rolling device moves left and right to drive the mooring cable to be lined up and rolled into the aligned cable of the cable rolling device, and the cable is guaranteed not to be stacked and fall.

Drawings

The foregoing and following detailed description of the invention will be apparent when read in conjunction with the following drawings, in which:

FIG. 1 is a schematic diagram of a preferred embodiment of the system of the present invention;

FIG. 2 is a schematic perspective view of a preferred embodiment of the cable winder of the present invention;

FIG. 3 is a schematic perspective view of a preferred embodiment of the cushioning device of the present invention;

FIG. 4 is a schematic view of the internal structure of a preferred embodiment of the cushioning device of the present invention;

in the figure:

1. a fixed pulley block; 2. a movable pulley block; 3. a wire arranging device; 4. a cable winding device; 5. a distance measuring device; 6. and a guide slide rail.

Detailed Description

The technical solutions for achieving the objects of the present invention are further illustrated by the following specific examples, and it should be noted that the technical solutions claimed in the present invention include, but are not limited to, the following examples.