阅读说明：本技术 一种货运无人机定点抛投系统及货物定点抛投方法 (Freight unmanned aerial vehicle fixed-point throwing system and cargo fixed-point throwing method ) 是由 曾鹏 张肇胜 刘泽峰 聂永斌 蒋坤宏 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种货运无人机定点抛投系统,位于无人机机身上,无人机机身上还具有货仓和自动抛投装置,所述货仓的下方具有加速抛投机构；所述加速抛投机构包括水平设置的高速气流进气腔、扩散室和扩压室,高速气流进气腔通过进气管和扩散室连通,扩散室和扩压室连通；高速气流进气腔的内径大于进气管的内径,扩散室的内径大于高速气流进气腔的内径,扩散室的内径大于扩压室的内径；扩散室的一端包覆在进气管的外围,高速气流进气腔、扩散室和扩压室均同轴设置。本发明应用于双翼无人机,具有投放精度高的优点。通过无人机飞行过程中产生的气流为投放货物提供初速度,货物的初速度和无人机的飞行速度越接近,投放精度越高。(The invention discloses a freight unmanned aerial vehicle fixed-point throwing system which is positioned on an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body is also provided with a cargo bin and an automatic throwing device, and an accelerated throwing mechanism is arranged below the cargo bin; the high-speed airflow air inlet cavity is communicated with the diffusion chamber through an air inlet pipe, and the diffusion chamber is communicated with the diffusion chamber; the inner diameter of the high-speed airflow air inlet cavity is larger than that of the air inlet pipe, the inner diameter of the diffusion chamber is larger than that of the high-speed airflow air inlet cavity, and the inner diameter of the diffusion chamber is larger than that of the diffusion chamber; one end of the diffusion chamber is coated on the periphery of the air inlet pipe, and the high-speed airflow air inlet cavity, the diffusion chamber and the pressure expansion chamber are coaxially arranged. The invention is applied to the double-wing unmanned aerial vehicle and has the advantage of high throwing precision. The air current through unmanned aerial vehicle flight in-process production provides the initial velocity for throwing in the goods, and the initial velocity of goods and unmanned aerial vehicle's flying speed are closer, and the accuracy of throwing in is higher.)

1. A freight transportation unmanned aerial vehicle fixed point jettison system is located on the unmanned aerial vehicle fuselage, still have storehouse (11) and automatic jettison device (10) on the unmanned aerial vehicle fuselage, characterized by that, there is an accelerating jettison mechanism below the said storehouse (11); the accelerated throwing mechanism comprises a high-speed airflow air inlet cavity (6), a diffusion chamber (4) and a diffusion chamber (2), wherein the high-speed airflow air inlet cavity (6) is horizontally arranged, the diffusion chamber (4) is communicated with the high-speed airflow air inlet cavity through an air inlet pipe (5), and the diffusion chamber (4) is communicated with the diffusion chamber (2); the inner diameter of the high-speed airflow inlet cavity (6) is larger than that of the inlet pipe (5), the inner diameter of the diffusion chamber (4) is larger than that of the high-speed airflow inlet cavity (6), and the inner diameter of the diffusion chamber (4) is larger than that of the diffusion chamber (2); one end of the diffusion chamber (4) is covered on the periphery of the air inlet pipe (5), and the high-speed airflow air inlet cavity (6), the diffusion chamber (4) and the pressure expansion chamber (2) are coaxially arranged; the pressure expansion chamber (2) is in a horn shape, and one end with smaller inner diameter of the pressure expansion chamber (2) is communicated with the diffusion chamber (4); the unmanned aerial vehicle body is also provided with an air inlet chamber (7), the air inlet chamber (7) is communicated with the high-speed airflow air inlet cavity (6), the air inlet chamber (7) is positioned at one end, close to the unmanned aerial vehicle body, of the unmanned aerial vehicle body, the air inlet chamber (7) is provided with an air inlet, a sealing plate (8) is arranged at the air inlet through a sliding groove, and the sealing plate (8) is connected with a driving device; a material guide pipe (9) is arranged above the diffusion chamber (4), the lower end of the material guide pipe (9) is communicated with the diffusion chamber (4), and the upper end of the material guide pipe (9) is positioned at the blanking position of the automatic throwing device (10).

2. A cargo unmanned aerial vehicle fixed-point tossing system according to claim 1, wherein the unmanned aerial vehicle body is further provided with an accelerating tube (1), the accelerating tube (1) is a tube with a constant inner diameter, the accelerating tube (1) is communicated with the diffusion chamber (2), and the inner diameter of the accelerating section is equal to the inner diameter of the thicker end of the diffusion chamber (2).

3. The cargo unmanned aerial vehicle fixed-point tossing system according to claim 2, wherein the lower part of the air inlet pipe (5) and the lower part of the end with the thinner inner diameter of the diffuser chamber (2) are provided with uniformly distributed stop rods (3); have wind speed detection device (13) in accelerating tube (1), airspeed tube (14) and GPS positioner (15) have on the unmanned aerial vehicle fuselage, the unloading position of automatic jettison device (10) has weighing device (16), and wind speed detection device (13), airspeed tube (14), GPS positioner (15), weighing device (16) all are connected with controller (12) electricity.

4. A cargo fixed-point throwing method for a cargo unmanned aerial vehicle, which is characterized in that the cargo fixed-point throwing system for the cargo unmanned aerial vehicle of claim 3 is adopted, and the method comprises the following steps: before air drop, firstly, a sealing plate (8) is opened through a driving device, and high-speed airflow sequentially passes through an air inlet chamber (7), an air inlet cavity (6), a diffusion chamber (4), a pressure expansion chamber (2) and an accelerating tube (1); after unmanned aerial vehicle flies to the assigned coordinate, push away goods through automatic jettison device (10) and push into passage (9), goods get into diffusion chamber (4) from passage (9), and the goods takes place relative motion with the unmanned aerial vehicle fuselage under diffusion chamber (4), diffusion chamber (2) and accelerating tube (1) effect, offsets because unmanned aerial vehicle gives the initial velocity of goods, reduces because the air-drop positional deviation that unmanned aerial vehicle brought for the initial velocity of goods.

5. The method of claim 4, wherein the method further comprises the following steps: loading goods into containers with uniform specifications; through the aperture of adjusting shrouding (8), adjust the speed of air current in inlet chamber (7), air intake chamber (6), diffusion room (4), diffusion room (2) and accelerating tube (1), increase or reduce the goods when throwing out unmanned aerial vehicle and unmanned aerial vehicle's relative speed.

6. The cargo fixed-point throwing method for the freight unmanned aerial vehicle according to claim 5, wherein the flying speed of the unmanned aerial vehicle is detected through the airspeed head (14), the weight of the cargo with air drop is weighed through the weighing device (16), the speed of the air flow in the air inlet chamber (7), the air inlet cavity (6), the diffusion chamber (4), the pressure expansion chamber (2) and the accelerating tube (1) is adjusted through adjusting the opening degree of the sealing plate (8), the relative speed of the cargo when the cargo is separated from the accelerating tube (1) and the relative speed of the unmanned aerial vehicle is equal to the flying speed of the unmanned aerial vehicle, and the cargo is thrown when the unmanned aerial vehicle flies to the position above the coordinates of the target position.

Technical Field

The invention relates to a fixed-point throwing system and a fixed-point throwing method for a freight unmanned aerial vehicle, and belongs to the technical field of air-drop equipment for the freight unmanned aerial vehicle.

Background

At present, in some fields similar to logistics, material distribution is carried out. The distribution of materials is generally carried out by adopting the modes of land transportation, air transportation and manual transportation. However, the reason that personnel can not reach under the special environment leads to unable realization above-mentioned delivery mode, and unmanned aerial vehicle delivery takes place at the right moment, and rotor unmanned aerial vehicle delivers the precision higher, but speed is slower, the load is less. Based on the above problems, the improvement of the throwing precision of the double-wing unmanned aerial vehicle becomes a technical problem to be solved urgently.

Disclosure of Invention

The invention aims to provide a fixed-point throwing system of a freight unmanned aerial vehicle, which is applied to a double-wing unmanned aerial vehicle and has the advantage of high throwing precision.

In order to solve the technical problems, the invention adopts the following technical scheme:

a freight transportation unmanned aerial vehicle fixed-point throwing system is positioned on an unmanned aerial vehicle body, the unmanned aerial vehicle body is also provided with a cargo cabin and an automatic throwing device, and an accelerated throwing mechanism is arranged below the cargo cabin; the high-speed airflow air inlet cavity is communicated with the diffusion chamber through an air inlet pipe, and the diffusion chamber is communicated with the diffusion chamber; the inner diameter of the high-speed airflow air inlet cavity is larger than that of the air inlet pipe, the inner diameter of the diffusion chamber is larger than that of the high-speed airflow air inlet cavity, and the inner diameter of the diffusion chamber is larger than that of the diffusion chamber; one end of the diffusion chamber is coated on the periphery of the air inlet pipe, and the high-speed airflow air inlet cavity, the diffusion chamber and the pressure expansion chamber are coaxially arranged; the diffusion chamber is in a horn shape, and one end with smaller inner diameter of the diffusion chamber is communicated with the diffusion chamber; the unmanned aerial vehicle body is also provided with an air inlet chamber, the air inlet chamber is communicated with the high-speed airflow air inlet cavity, the air inlet chamber is positioned at one end, close to the unmanned aerial vehicle body, of the unmanned aerial vehicle body, the air inlet chamber is provided with an air inlet, a sealing plate is arranged at the air inlet through a sliding groove, and the sealing plate is connected with a driving device; a material guide pipe is arranged above the diffusion chamber, the lower end of the material guide pipe is communicated with the diffusion chamber, and the upper end of the material guide pipe is located at the material discharging position of the automatic throwing device.

In the freight transportation unmanned aerial vehicle fixed point tossing system, still have accelerating tube on the unmanned aerial vehicle fuselage, accelerating tube is the pipe of internal diameter such as, and accelerating tube and diffusion room intercommunication, the internal diameter of accelerating section equals the internal diameter of the thicker one end of diffusion room.

In the freight transportation unmanned aerial vehicle fixed-point tossing system, the lower parts of the air inlet pipe and the diffuser chamber are provided with the stop rods which are uniformly distributed; have wind speed detection device in the accelerating tube, airspeed tube and GPS positioner have on the unmanned aerial vehicle fuselage, the unloading position of automatic jettison device has a weighing device, and wind speed detection device, airspeed tube, GPS positioner, weighing device all are connected with the controller electricity.

A cargo fixed-point throwing method for a freight unmanned aerial vehicle comprises the following steps: before air drop, firstly, the sealing plate is opened through the driving device, and high-speed airflow sequentially passes through the air inlet chamber, the air inlet cavity, the diffusion chamber, the pressure expansion chamber and the accelerating tube; after unmanned aerial vehicle flies appointed coordinate, push away the goods through automatic jettison device and push into the passage, the goods gets into the diffusion room from the passage, and the goods takes place relative motion with the unmanned aerial vehicle fuselage under the effect of the inherent high velocity air current of diffusion room, diffusion room and accelerating tube, offsets because unmanned aerial vehicle gives the initial velocity of goods, reduces because the air-drop position deviation that unmanned aerial vehicle brought for the initial velocity of goods.

In the cargo fixed-point throwing method for the freight unmanned aerial vehicle, the method further comprises the following steps: loading goods into containers with uniform specifications; through the aperture of adjusting the shrouding, adjust the speed of air inlet chamber, diffusion chamber and accelerating tube interior air current, increase or reduce the goods when throwing out unmanned aerial vehicle and unmanned aerial vehicle's relative speed.

In the freight transportation unmanned aerial vehicle goods fixed point jettison method, detect unmanned aerial vehicle's flying speed through the airspeed head, weigh the weight of taking the air-drop goods through the weighing device, the speed of air inlet chamber, diffusion chamber, the intraductal air current of diffusion chamber and accelerating tube is adjusted to the aperture through adjusting the shrouding, when making the goods break away from the accelerating tube and unmanned relative speed equals unmanned aerial vehicle's flying speed, throw out the goods when unmanned aerial vehicle flies to the coordinate top of target location.

Compared with the prior art, the invention is applied to the double-wing unmanned aerial vehicle and has the advantage of high throwing precision. The air current through unmanned aerial vehicle flight in-process production provides the initial velocity for throwing in the goods, and the initial velocity of goods and unmanned aerial vehicle's flying speed are closer, and the accuracy of throwing in is higher. The principle of negative pressure generator has been adopted, because unmanned aerial vehicle and air have higher velocity difference, can provide highly-compressed air for negative pressure generator through this velocity difference, for the acceleration of goods provides power to the goods falls in the diffusion room, and the diffusion room is in the negative pressure state, is favorable to the goods to be leading-in smoothly.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic diagram of the connection relationship of a part of the circuit of the present invention.

Reference numerals: the method comprises the following steps of 1-an accelerating tube, 2-a diffusion chamber, 3-a stop lever, 4-a diffusion chamber, 5-an air inlet tube, 6-a high-speed airflow air inlet cavity, 7-an air inlet chamber, 8-a sealing plate, 9-a guide tube, 10-an automatic throwing device, 11-a cargo bin, 12-a controller, 13-a wind speed detection device, 14-an airspeed tube, 15-a GPS positioning device and 16-a weighing device.

The invention is further described with reference to the following figures and detailed description.

Detailed Description

Example 1 of the invention: a freight transportation unmanned aerial vehicle fixed-point throwing system is positioned on an unmanned aerial vehicle body, the unmanned aerial vehicle body is also provided with a cargo cabin 11 and an automatic throwing device 10, and an accelerating throwing mechanism is arranged below the cargo cabin 11; the high-speed air flow inlet cavity 6 is communicated with the diffusion chamber 4 through an air inlet pipe 5, and the diffusion chamber 4 is communicated with the diffusion chamber 2; the inner diameter of the high-speed airflow inlet cavity 6 is larger than that of the inlet pipe 5, the inner diameter of the diffusion chamber 4 is larger than that of the high-speed airflow inlet cavity 6, and the inner diameter of the diffusion chamber 4 is larger than that of the diffusion chamber 2; one end of the diffusion chamber 4 is coated on the periphery of the air inlet pipe 5, and the high-speed airflow air inlet cavity 6, the diffusion chamber 4 and the diffusion chamber 2 are coaxially arranged; the pressure expansion chamber 2 is in a horn shape, and one end with smaller inner diameter of the pressure expansion chamber 2 is communicated with the diffusion chamber 4; the unmanned aerial vehicle body is also provided with an air inlet chamber 7, the air inlet chamber 7 is communicated with the high-speed airflow air inlet cavity 6, the air inlet chamber 7 is positioned at one end, close to the unmanned aerial vehicle body, of the unmanned aerial vehicle body, the air inlet chamber 7 is provided with an air inlet, a sealing plate 8 is arranged at the air inlet through a sliding groove, and the sealing plate 8 is connected with a driving device; a material guide pipe 9 is arranged above the diffusion chamber 4, the lower end of the material guide pipe 9 is communicated with the diffusion chamber 4, and the upper end of the material guide pipe 9 is positioned at the material discharging position of the automatic throwing device 10.

Example 2: a freight transportation unmanned aerial vehicle fixed-point throwing system is positioned on an unmanned aerial vehicle body, the unmanned aerial vehicle body is also provided with a cargo cabin 11 and an automatic throwing device 10, and an accelerating throwing mechanism is arranged below the cargo cabin 11; the high-speed air flow inlet cavity 6 is communicated with the diffusion chamber 4 through an air inlet pipe 5, and the diffusion chamber 4 is communicated with the diffusion chamber 2; the inner diameter of the high-speed airflow inlet cavity 6 is larger than that of the inlet pipe 5, the inner diameter of the diffusion chamber 4 is larger than that of the high-speed airflow inlet cavity 6, and the inner diameter of the diffusion chamber 4 is larger than that of the diffusion chamber 2; one end of the diffusion chamber 4 is coated on the periphery of the air inlet pipe 5, and the high-speed airflow air inlet cavity 6, the diffusion chamber 4 and the diffusion chamber 2 are coaxially arranged; the pressure expansion chamber 2 is in a horn shape, and one end with smaller inner diameter of the pressure expansion chamber 2 is communicated with the diffusion chamber 4; the unmanned aerial vehicle body is also provided with an air inlet chamber 7, the air inlet chamber 7 is communicated with the high-speed airflow air inlet cavity 6, the air inlet chamber 7 is positioned at one end, close to the unmanned aerial vehicle body, of the unmanned aerial vehicle body, the air inlet chamber 7 is provided with an air inlet, a sealing plate 8 is arranged at the air inlet through a sliding groove, and the sealing plate 8 is connected with a driving device; a material guide pipe 9 is arranged above the diffusion chamber 4, the lower end of the material guide pipe 9 is communicated with the diffusion chamber 4, and the upper end of the material guide pipe 9 is positioned at the material discharging position of the automatic throwing device 10.

Still have accelerating tube 1 on the unmanned aerial vehicle fuselage, accelerating tube 1 is the pipe of internal diameter such as waiting, accelerating tube 1 and diffusion room 2 intercommunication, and the internal diameter of accelerating section equals the internal diameter of the thicker one end of diffusion room 2.

Example 3: a freight transportation unmanned aerial vehicle fixed-point throwing system is positioned on an unmanned aerial vehicle body, the unmanned aerial vehicle body is also provided with a cargo cabin 11 and an automatic throwing device 10, and an accelerating throwing mechanism is arranged below the cargo cabin 11; the high-speed air flow inlet cavity 6 is communicated with the diffusion chamber 4 through an air inlet pipe 5, and the diffusion chamber 4 is communicated with the diffusion chamber 2; the inner diameter of the high-speed airflow inlet cavity 6 is larger than that of the inlet pipe 5, the inner diameter of the diffusion chamber 4 is larger than that of the high-speed airflow inlet cavity 6, and the inner diameter of the diffusion chamber 4 is larger than that of the diffusion chamber 2; one end of the diffusion chamber 4 is coated on the periphery of the air inlet pipe 5, and the high-speed airflow air inlet cavity 6, the diffusion chamber 4 and the diffusion chamber 2 are coaxially arranged; the pressure expansion chamber 2 is in a horn shape, and one end with smaller inner diameter of the pressure expansion chamber 2 is communicated with the diffusion chamber 4; the unmanned aerial vehicle body is also provided with an air inlet chamber 7, the air inlet chamber 7 is communicated with the high-speed airflow air inlet cavity 6, the air inlet chamber 7 is positioned at one end, close to the unmanned aerial vehicle body, of the unmanned aerial vehicle body, the air inlet chamber 7 is provided with an air inlet, a sealing plate 8 is arranged at the air inlet through a sliding groove, and the sealing plate 8 is connected with a driving device; a material guide pipe 9 is arranged above the diffusion chamber 4, the lower end of the material guide pipe 9 is communicated with the diffusion chamber 4, and the upper end of the material guide pipe 9 is positioned at the material discharging position of the automatic throwing device 10.

Still have accelerating tube 1 on the unmanned aerial vehicle fuselage, accelerating tube 1 is the pipe of internal diameter such as waiting, accelerating tube 1 and diffusion room 2 intercommunication, and the internal diameter of accelerating section equals the internal diameter of the thicker one end of diffusion room 2.

The lower part of the air inlet pipe 5 and the lower part of one end with a thinner inner diameter of the diffusion chamber 2 are provided with baffle rods 3 which are uniformly distributed; have wind speed detection device 13 in the accelerating tube 1, airspeed tube 14 and GPS positioner 15 have on the unmanned aerial vehicle fuselage, the unloading position of automatic jettison device 10 has weighing device 16, and wind speed detection device 13, airspeed tube 14, GPS positioner 15, weighing device 16 all are connected with controller 12 electricity.

A cargo fixed-point throwing method for a cargo unmanned aerial vehicle, which adopts the cargo unmanned aerial vehicle fixed-point throwing system described in embodiment 3, and comprises the following contents: before air drop, firstly, the sealing plate 8 is opened through the driving device, and high-speed airflow sequentially passes through the air inlet chamber 7, the air inlet cavity 6, the diffusion chamber 4, the pressure expansion chamber 2 and the accelerating tube 1; after unmanned aerial vehicle flies to the appointed coordinate, push away the goods into passage 9 through automatic jettison device 10, the goods gets into diffusion chamber 4 from passage 9, and the goods takes place relative motion with the unmanned aerial vehicle fuselage under the effect of high velocity air current in diffusion chamber 4, diffusion chamber 2 and accelerating tube 1, offsets because unmanned aerial vehicle gives the initial velocity of goods, reduces because the air-drop position deviation that unmanned aerial vehicle brought for the initial velocity of goods.

The method also comprises the following steps: loading goods into containers with uniform specifications, wherein the containers with the same specification are adopted to calculate the resistance received by the containers conveniently and calculate the relative speed of the containers and the unmanned aerial vehicle according to the speed of airflow; through the aperture of adjusting shrouding 8, adjust the speed of air current in inlet chamber 7, air inlet chamber 6, diffusion chamber 4, diffusion chamber 2 and the accelerating tube 1, increase or reduce the goods when throwing out unmanned aerial vehicle and unmanned aerial vehicle's relative speed.

Detect unmanned aerial vehicle's airspeed through airspeed head 14, weigh the weight of taking the air-drop goods through weighing device 16, the speed of air current in air inlet chamber 7, air inlet chamber 6, diffusion chamber 4, diffusion chamber 2 and the accelerating tube 1 is adjusted to the aperture through adjusting shrouding 8, when making the goods break away from accelerating tube 1 and unmanned relative velocity equal unmanned aerial vehicle's airspeed, throw out the goods when unmanned aerial vehicle flies to the coordinate top of target location.