CN110683072A - Rocket-borne rotor unmanned aerial vehicle projection method - Google Patents

Abstract

Translated fromChinese

本发明公开了一种箭载旋翼无人机投射方法，该方法中，首先启动运载设备，使得运载设备飞向预定空域，在到达预定空域后展开运载设备上的整流罩，裸露出其下方的旋翼无人机，再弹出运载设备上禁锢的旋翼无人机，最后旋翼无人机的悬臂回弹至水平位置，旋翼无人机启动工作，无人机经过短距离的飞行后即可达到任务地点并开展相关工作，如拍照、探测、红外定位等，通过这种方式能够使得旋翼无人机可快速地、无能量消耗地抵达本来难以抵达的作业空域，大大提高了旋翼无人机的作业效率，拓展了作业能力，使得旋翼无人机具备执行更多任务的可能性。

The invention discloses a method for projecting an arrow-borne rotary-wing unmanned aerial vehicle. In the method, a carrier device is first started, so that the carrier device flies to a predetermined airspace, and after reaching the predetermined airspace, the fairing on the carrier device is unfolded, exposing the underside of the fairing. The rotor drone is ejected, and the locked rotor drone on the carrier device is ejected. Finally, the cantilever of the rotor drone bounces back to the horizontal position, the rotor drone starts to work, and the drone can achieve the mission after a short distance flight. location and carry out related work, such as photographing, detection, infrared positioning, etc. In this way, the rotary-wing UAV can quickly and without energy consumption reach the operating airspace that is otherwise difficult to reach, which greatly improves the operation of the rotary-wing UAV. Efficiency expands the operational capabilities, making the rotary-wing UAV capable of performing more tasks.

Description

Translated fromChinese

箭载旋翼无人机投射方法Arrow-borne rotor UAV projection method

技术领域technical field

本发明涉及无人机领域，尤其涉及一种箭载旋翼无人机投射方法。The invention relates to the field of unmanned aerial vehicles, in particular to a projection method of an arrow-borne rotor unmanned aerial vehicle.

背景技术Background technique

随着无人机技术的日益完善，越来越多的领域中引入了无人机，人们可以利用无人机方便快捷地完成一些看似比较难以完成的任务；其中，旋翼无人机是无人机中一个较为重要的分支，旋翼无人机能够悬停，体积较小，能够执行定点拍摄等特殊作业，但是受到其自身的结构特性影响，现有的旋翼无人机也具有其特有的缺陷，比如由于采用螺旋桨动力，其飞行速度比翼型无人机慢，其飞行高度也会受到很大限制，不能快速攀升至较高的高度，难以满足特殊的任务要求，另外，由于体积和动力的问题，旋翼无人机所能携带的电池等能源比较有限，其工作半径较小，难以胜任远距离的侦察、观测任务。With the improvement of drone technology, drones have been introduced into more and more fields, and people can use drones to quickly and easily complete some seemingly difficult tasks; among them, rotary-wing drones are unmanned aerial vehicles. One of the more important branches of man-machine, the rotary-wing UAV can hover, is small in size, and can perform special operations such as fixed-point shooting, but affected by its own structural characteristics, the existing rotary-wing UAV also has its own unique characteristics. Defects, for example, due to the use of propeller power, its flight speed is slower than that of airfoil UAV, and its flight height is also greatly limited, and it cannot quickly climb to a higher altitude, which is difficult to meet special mission requirements. In addition, due to the size and power However, the energy such as batteries that can be carried by the rotary-wing UAV is relatively limited, and its working radius is small, which makes it difficult to perform long-distance reconnaissance and observation tasks.

由于上述原因，本发明人对现有的旋翼无人机做了深入研究，通过设置与旋翼无人机相配合的运载设备将旋翼无人机投放至特定空域，并具体创造出箭载旋翼无人机投射方法。Due to the above reasons, the inventors have conducted in-depth research on the existing rotary-wing drones, and by setting the carrier equipment that cooperates with the rotary-wing drones, the rotary-wing drones are launched into a specific airspace, and specifically create an arrow-borne rotorless drone. Man-machine projection method.

发明内容SUMMARY OF THE INVENTION

为了克服上述问题，本发明人进行了锐意研究，设计出一种箭载旋翼无人机投射方法，该方法中，首先启动运载设备，使得运载设备飞向预定空域，在到达预定空域后展开运载设备上的整流罩，裸露出其下方的旋翼无人机，再弹出运载设备上禁锢的旋翼无人机，最后旋翼无人机的悬臂回弹至水平位置，旋翼无人机启动工作，无人机经过短距离的飞行后即可达到任务地点并开展相关工作，如拍照、探测、红外定位等，通过这种方式能够使得旋翼无人机可快速地、无能量消耗地抵达本来难以抵达的作业空域，大大提高了旋翼无人机的作业效率，拓展了作业能力，使得旋翼无人机具备执行更多任务的能力，从而完成本发明。In order to overcome the above-mentioned problems, the inventors have conducted keen research and designed a method for projecting an arrow-borne rotor UAV. In this method, firstly, the carrying equipment is started, so that the carrying equipment flies to the predetermined airspace, and the carrying equipment is launched after reaching the predetermined airspace. The fairing on the equipment exposes the rotor drone below it, and then ejects the locked rotor drone on the carrier device. Finally, the cantilever of the rotor drone bounces back to the horizontal position, the rotor drone starts to work, and no one is unmanned. After a short-distance flight, the drone can reach the mission location and carry out related work, such as photography, detection, infrared positioning, etc. In this way, the rotary-wing UAV can quickly and without energy consumption to reach the original difficult-to-reach operations. The airspace greatly improves the operation efficiency of the rotary-wing UAV, expands the operation capability, and enables the rotary-wing UAV to perform more tasks, thereby completing the present invention.

具体来说，本发明的目的在于提供一种箭载旋翼无人机投射方法，所述箭载旋翼无人机包括运载设备和禁锢在所述运载设备内部的旋翼无人机；该方法中，将旋翼无人机禁锢在运载设备内，到达预定空域后，将旋翼无人机从所述运载设备内部放出；Specifically, the purpose of the present invention is to provide a method for projecting an arrow-borne rotary-wing drone, wherein the arrow-borne rotary-wing drone comprises a carrying device and a rotary-wing drone imprisoned inside the carrying device; in the method, Imprison the rotor drone in the carrying device, and after reaching the predetermined airspace, release the rotor drone from the carrying device;

具体来说，该方法包括如下步骤：Specifically, the method includes the following steps:

步骤1，将旋翼无人机禁锢在运载设备内，启动运载设备，使得运载设备到达预定空域；Step 1, confine the rotor UAV in the carrying equipment, start the carrying equipment, and make the carrying equipment reach the predetermined airspace;

步骤2，展开运载设备上的整流罩7；Step 2, unfold the fairing 7 on the carrier equipment;

步骤3，弹出运载设备上禁锢的旋翼无人机；Step 3, eject the imprisoned rotor drone on the delivery device;

步骤4，旋翼无人机悬臂回弹至水平位置，并启动工作。Step 4: The rotor drone cantilever bounces back to the horizontal position and starts work.

其中，在执行步骤1启动运载设备前，向运载设备中灌装控制模块的设定参数，Among them, before performingstep 1 to start the carrier equipment, set parameters of the filling control module in the carrier equipment,

所述控制模块用于生成并发出控制所述整流罩展开的展开指令。The control module is configured to generate and issue a deployment command for controlling deployment of the fairing.

其中，所述控制模块在运载设备满足预设条件中的一种或多种时生成并发出展开指令；Wherein, the control module generates and issues a deployment instruction when the carrying device satisfies one or more of the preset conditions;

所述预设条件包括：The preset conditions include:

所述运载设备的启动飞行时间达到设定参数中的时间值，The start-up flight time of the carrying device reaches the time value in the set parameter,

所述运载设备飞行至设定参数中的经纬度坐标位置及其容许误差，The carrying device flies to the latitude and longitude coordinate position and its allowable error in the set parameters,

所述运载设备的飞行高度达到设定参数中的高度值，The flying height of the carrying equipment reaches the height value in the set parameter,

所述运载设备的飞行速度达到设定参数中的速度值；The flight speed of the carrying device reaches the speed value in the set parameter;

所述运载设备接收到由地面站发出的立即展开指令。The vehicle receives an immediate deployment command from the ground station.

其中，通过设置所述设定参数，使得整流罩在运载设备达到预定空域时展开。Wherein, by setting the set parameters, the fairing is made to unfold when the carrying equipment reaches a predetermined airspace.

其中，的整流罩7包括至少3个外形尺寸一致的弧形罩片71，各个弧形罩片71都与运载设备外壳铰接，Among them, the fairing 7 includes at least 3 arc-shaped cover sheets 71 with the same external dimensions, and each arc-shaped cover sheet 71 is hinged with the outer casing of the carrying equipment,

步骤2中，所述展开运载设备上的整流罩包括各个弧形罩片71都相对于运载设备外壳旋转。Instep 2, the fairing on the unfolding carrier equipment, including each arc-shaped cover piece 71, rotates relative to the carrier equipment casing.

其中，当所述弧形罩片71都旋转90度以上时执行步骤3。Wherein,step 3 is performed when the arc-shaped cover pieces 71 are rotated by more than 90 degrees.

其中，旋翼无人机包括机架1和可相对于机架1向下弯折的旋臂2；其中，所述旋臂2能够自动从向下弯折状态回弹至水平位置；Wherein, the rotary-wing drone includes aframe 1 and a rotatingarm 2 that can be bent downward relative to theframe 1; wherein, the rotatingarm 2 can automatically rebound from the downward bending state to a horizontal position;

运载设备包括承托座8，The carrying device includes a support base 8,

承托座8包括限位筒81和位于限位筒81内侧的承托板82；The support base 8 includes alimit cylinder 81 and asupport plate 82 located inside thelimit cylinder 81;

在所述旋臂2相对于机架1向下弯折时，将所述旋臂2嵌入到限位筒81内，且所述述旋臂2抵接在所述限位筒81的内壁面上。When the rotatingarm 2 is bent downward relative to theframe 1 , the rotatingarm 2 is embedded into the limitingcylinder 81 , and the rotatingarm 2 abuts on the inner wall surface of the limitingcylinder 81 . superior.

其中，在步骤3中，控制所述承托板82向上移动，将无人机的旋臂2从限位筒81中推出。Wherein, instep 3, the supportingplate 82 is controlled to move upward, and the rotatingarm 2 of the drone is pushed out from the limitingcylinder 81 .

其中，在所述旋臂2的端部设置有驱动电机5和螺旋桨6；Wherein, a drive motor 5 and apropeller 6 are provided at the end of the rotatingarm 2;

当所述旋臂2被从限位筒81中推出后，所述自动回弹至水平位置；When the rotatingarm 2 is pushed out of the limitingcylinder 81, the automatic rebounding to the horizontal position;

其中，当所述旋臂2自动回弹至水平位置后，所述驱动电机5启动工作，带动螺旋桨6旋转。Wherein, after theboom 2 automatically rebounds to the horizontal position, the drive motor 5 starts to work, and drives thepropeller 6 to rotate.

本发明所具有的有益效果包括：The beneficial effects of the present invention include:

(1)根据本发明提供的箭载旋翼无人机投射方法，该方法能够通过运载设备将旋翼无人机运送至指定区域，具备快速抵达远距离作业地点的能力，工作效率高，能够执行对反应速度、开始时间有特殊要求的如火情侦察、目标定位等任务；(1) According to the projection method of the arrow-borne rotor UAV provided by the present invention, the method can transport the rotor UAV to the designated area through the carrying equipment, has the ability to quickly reach the long-distance operation site, has high work efficiency, and can carry out Tasks with special requirements for response speed and start time, such as fire reconnaissance and target positioning;

(2)根据本发明提供的箭载旋翼无人机投射方法，该方法能够通过运载设备快速将旋翼无人机运送至特定的、常规旋翼无人机难以抵达的高度，使得旋翼无人机具备执行特殊任务的能力；(2) According to the projection method of the arrow-borne rotary-wing UAV provided by the present invention, the method can quickly transport the rotary-wing UAV to a specific height that is difficult for conventional rotary-wing UAVs to reach through the carrying equipment, so that the rotary-wing UAV has the the ability to perform special tasks;

(3)根据本发明提供的箭载旋翼无人机投射方法，该方法中的旋翼无人机在抵达作业地点前不消耗无人机上携带的能源，所以旋翼无人机工作持续时间较长，能够执行远距离作业任务。(3) according to the projection method of the arrow-borne rotor unmanned aerial vehicle provided by the present invention, the rotor unmanned aerial vehicle in the method does not consume the energy carried on the unmanned aerial vehicle before arriving at the operation site, so the working duration of the rotor unmanned aerial vehicle is longer, Ability to perform remote work tasks.

附图说明Description of drawings

图1示出根据本发明一种优选实施方式的箭载旋翼无人机投射方法中工作过程流程图；Fig. 1 shows the flow chart of the working process in the projection method of the arrow-borne rotor UAV according to a preferred embodiment of the present invention;

图2示出根据本发明一种优选实施方式的箭载旋翼无人机投射方法中旋翼无人机整体结构示意图；2 shows a schematic diagram of the overall structure of the rotor UAV in the projection method of the arrow-borne rotor UAV according to a preferred embodiment of the present invention;

图3示出根据本发明一种优选实施方式的箭载旋翼无人机投射方法中旋翼无人机禁锢在运载设备内时的结构示意图；3 shows a schematic structural diagram of the rotor UAV when the rotor UAV is imprisoned in the carrying device in the projection method of the arrow-borne rotor UAV according to a preferred embodiment of the present invention;

图4示出根据本发明一种优选实施方式的箭载旋翼无人机投射方法中运载设备上整流罩展开时的结构示意图；4 shows a schematic structural diagram of a fairing on a carrier device in a method for projecting an arrow-borne rotor UAV according to a preferred embodiment of the present invention when the fairing is unfolded;

图5示出根据本发明一种优选实施方式的箭载旋翼无人机投射方法中承托座截面图。FIG. 5 shows a cross-sectional view of a support seat in a method for projecting an arrow-borne rotor UAV according to a preferred embodiment of the present invention.

附图标号说明：Description of reference numbers:

1-机架1 - Rack

2-旋臂2 - Swivel arm

21-光杆段21 - polished rod segment

22-环形套筒22-Annular sleeve

3-连接盘3-connection plate

4-连杆4-Link

5-驱动电机5- Drive motor

6-螺旋桨6-Propeller

7-整流罩7- Fairing

71-弧形罩片71-Arc cover sheet

72-承托杆72-Support rod

8-承托座8-bearing seat

81-限位筒81-Limiting cylinder

82-承托板82-bearing plate

具体实施方式Detailed ways

下面通过附图和实施例对本发明进一步详细说明。通过这些说明，本发明的特点和优点将变得更为清楚明确。The present invention will be further described in detail below through the accompanying drawings and embodiments. The features and advantages of the present invention will become more apparent from these descriptions.

在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

本发明所述的运载设备包括火箭或火箭弹，所述火箭是靠火箭发动机喷射工质产生的反作用力向前推进的飞行器，所述火箭弹是由火箭筒或者火箭炮发射出的弹药，其中弹药的战斗部替换为本发明中的旋翼无人机。The carrying device of the present invention includes a rocket or a rocket, the rocket is an aircraft that is propelled forward by the reaction force generated by the ejection of a working medium by a rocket engine, and the rocket is an ammunition fired by a rocket launcher or a rocket launcher, wherein the ammunition is The warhead is replaced by the rotary-wing UAV in the present invention.

本发明所述的旋翼无人机是指四旋翼无人机、六旋翼无人机或者八旋翼无人机；The rotary-wing unmanned aerial vehicle described in the present invention refers to a quad-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle or an eight-rotor unmanned aerial vehicle;

本发明所述的铰接是指具有足够强度，不易断开的连接关系，这种连接允许彼此连接的两者之间做相对转动；本发明中一般通过转轴或者合页实现所述铰接。The hinge in the present invention refers to a connection relationship with sufficient strength that is not easy to be disconnected, and this connection allows relative rotation between the two connected to each other; in the present invention, the hinge is generally realized by a rotating shaft or a hinge.

根据本发明提供的箭载旋翼无人机机投射方法，所述箭载旋翼无人机包括运载设备和禁锢在所述运载设备内部的旋翼无人机；该方法中，将旋翼无人机禁锢在运载设备内，到达预定空域后，将旋翼无人机从所述运载设备内部放出；具体来说，如图1中所示，该方法包括如下步骤：According to the method for projecting an arrow-borne rotary-wing UAV provided by the present invention, the arrow-borne rotary-wing UAV includes a carrying device and a rotary-wing UAV imprisoned inside the carrying device; in this method, the rotor-wing UAV is imprisoned In the carrying equipment, after reaching the predetermined airspace, the rotor UAV is released from the carrying equipment; specifically, as shown in Figure 1, the method includes the following steps:

步骤1，将旋翼无人机禁锢在运载设备内，启动运载设备，使得运载设备飞向预定空域，最终到达预定空域；Step 1, imprison the rotor UAV in the carrying equipment, start the carrying equipment, make the carrying equipment fly to the predetermined airspace, and finally reach the predetermined airspace;

步骤2，展开运载设备上的整流罩；Step 2, unfold the fairing on the carrier equipment;

步骤3，弹出运载设备上禁锢的旋翼无人机；Step 3, eject the imprisoned rotor drone on the delivery device;

步骤4，旋翼无人机悬臂回弹至水平位置，并启动工作。Step 4: The rotor drone cantilever bounces back to the horizontal position and starts work.

本发明中所述旋翼无人机在其旋臂2相对于机架1向下弯折时被禁锢在运载设备内，优选地，其弯折角度在90度左右时才能够使得无人机被禁锢在运载设备内；本发明中最优选的弯折角度是95度。In the present invention, the rotary-wing drone is imprisoned in the carrying device when itsarm 2 is bent downward relative to theframe 1. Imprisoned within the carrier; the most preferred bend angle in the present invention is 95 degrees.

当所述运载设备放开对所述无人机的禁锢时，所述无人机的旋臂2自动回弹至水平位置，并启动工作；具体来说，当所述旋臂2在弹力作用下自动回弹至水平位置，此时旋臂上的电机启动工作，带动螺旋桨旋转，使得无人机尽快在该空域悬停，与此同时，无人机上的其他相关设备也都启动工作，如导航系统、GPS定位系统等等，以使得无人机尽快确定所处方位，并移动至目标位置，开始执行预定的作业任务。When the carrying device releases the restraint on the drone, thearm 2 of the drone automatically rebounds to the horizontal position and starts to work; At this time, the motor on the boom starts to work, which drives the propeller to rotate, so that the drone can hover in the airspace as soon as possible. At the same time, other related equipment on the drone also starts to work, such as Navigation system, GPS positioning system, etc., so that the UAV can determine its position as soon as possible, move to the target position, and start to perform predetermined tasks.

在一个优选的实施方式中，所述运载设备在到达预定空域时放开对所述无人机的禁锢，此时无人机距离预定的工作区域的距离较小，能够快速抵达；从而使得从接收到任务指令和相关目标信息到无人机就位并开始工作这段准备及航行时间大幅缩短，实现旋翼无人机的快速反应、快速机动，能够用于处置突发的紧急任务。In a preferred embodiment, the carrying device releases the restraint on the UAV when it reaches the predetermined airspace. At this time, the UAV is at a small distance from the predetermined working area and can reach quickly; The preparation and sailing time is greatly shortened from receiving the mission instruction and relevant target information to the time when the drone is in place and starts to work. It realizes the rapid response and rapid maneuvering of the rotary-wing drone, and can be used to deal with sudden emergency tasks.

本发明中所述放开对无人机的禁锢包括两个步骤，其一是整流罩展开，其二是通过承托板82将无人机从运载设备/承托座8中弹出。In the present invention, releasing the restraint of the UAV includes two steps, one is to unfold the fairing, and the other is to eject the UAV from the carrying device/support base 8 through thesupport plate 82 .

在一个优选的实施方式中，如图2和图3中所示，该旋翼无人机还包括设置在机架1正下方的连接盘3，In a preferred embodiment, as shown in FIG. 2 and FIG. 3 , the rotary-wing UAV further comprises a connectingplate 3 arranged directly below theframe 1,

通过所述连接盘3在竖直方向上的往复移动来控制旋臂2向下弯折或者回弹至水平位置。当连接盘3向下移动时，带动旋臂2向下弯折，当连接盘3向上移动时，带动旋臂2回弹至水平位置；同样地，当旋臂2向下弯折时也可以带动连接盘3向下移动，当旋臂2回弹至水平位置时也可以带动连接盘3向上移动。Through the reciprocating movement of the connectingplate 3 in the vertical direction, theswing arm 2 is controlled to bend downward or spring back to a horizontal position. When the connectingplate 3 moves downward, thearm 2 is driven to bend downward, and when the connectingplate 3 moves upward, thearm 2 is driven to spring back to the horizontal position; similarly, when thearm 2 is bent downward, it is also possible to The connectingplate 3 is driven to move downward, and when therotating arm 2 rebounds to the horizontal position, the connectingplate 3 can also be driven to move upward.

具体来说，优选地，在所述连接盘3上设置有连杆4，Specifically, preferably, a connectingrod 4 is provided on the connectingplate 3,

所述连杆4一端与连接盘3铰接，One end of the connectingrod 4 is hinged with the connectingplate 3,

所述连杆4的另一端与旋臂2铰接。连杆4的数量与旋臂2的数量一致，彼此一一对应。The other end of the connectingrod 4 is hinged with therotating arm 2 . The number of the connectingrods 4 is the same as the number of the rotatingarms 2, and they are in one-to-one correspondence with each other.

进一步优选地，所述旋臂2包括光杆段21，Further preferably, thearm 2 includes apolished rod segment 21,

在所述光杆段21上套设有环形套筒22，所述环形套筒22可以沿着光杆段21往复滑动，或者所述环形套筒22固定在所述光杆段21上；Anannular sleeve 22 is sleeved on thepolished rod segment 21, and theannular sleeve 22 can slide back and forth along thepolished rod segment 21, or theannular sleeve 22 is fixed on thepolished rod segment 21;

所述连杆4与所述环形22铰接，即所述连杆4通过环形套筒22与旋臂2连铰。The connectingrod 4 is hinged with thering 22 , that is, the connectingrod 4 is hinged with therotating arm 2 through theannular sleeve 22 .

优选地，在所述连接盘3和机架1上都设置有限位机构，使得旋臂只能在水平方向和向下弯折95度之间往复摆动。Preferably, a limiting mechanism is provided on both the connectingplate 3 and theframe 1, so that the rotatable arm can only swing back and forth between the horizontal direction and the downward bending of 95 degrees.

优选地，在所述连接盘3和机架1之间设置有拉伸机构，Preferably, a stretching mechanism is provided between the connectingplate 3 and theframe 1,

所述拉伸机构用于拉动连接盘3向上靠近机架1，进而带动旋臂2回弹至水平位置。所述拉伸机构包括竖直设置的弹簧，该弹簧一直处于拉伸状态；当旋臂2向下弯折时，该拉伸机构中存储有较大的弹性势能，使得旋臂2上具有回复至水平位置的趋势，当限制、禁锢旋臂2的外力消失时，在该拉伸机构的作用下所述旋臂2可以较大的加速度从静止开始加速旋转，从向下弯折状态回弹至水平位置。The stretching mechanism is used to pull the connectingplate 3 upward to approach theframe 1, thereby driving theswivel arm 2 to spring back to a horizontal position. The stretching mechanism includes a vertically arranged spring, which is always in a stretched state; when thearm 2 is bent downwards, a large elastic potential energy is stored in the stretching mechanism, so that thearm 2 has a restoring force. The trend to the horizontal position, when the external force restricting and imprisoning therotating arm 2 disappears, under the action of the stretching mechanism, therotating arm 2 can accelerate and rotate from a standstill with a large acceleration, and rebound from the downward bending state. to the horizontal position.

进一步优选地，在连杆4一端与连接盘3铰接和连杆4与所述环形套筒22铰接的两个铰接位置设置扭转弹簧，该扭转弹簧也是所述拉伸机构的一部分，通过所述扭转弹簧增加旋臂2从水平位置到弯折状态所需要克服的弹力，进而增加在旋臂22向下弯折时，该拉伸机构中存储的弹性势能；该扭转弹簧还能够使得连杆4及旋臂2上的受到多个方向的作用力，确保连杆4及旋臂2按照设定轨迹移动，进而增强该系统的可靠性，在预定空域中，放开对无人机的禁锢时，无人机的旋臂一定能够回弹至水平位置。Further preferably, a torsion spring is provided at the two hinge positions where one end of the connectingrod 4 is hinged with the connectingplate 3 and the connectingrod 4 is hinged with theannular sleeve 22, and the torsion spring is also a part of the stretching mechanism. The torsion spring increases the elastic force that theswing arm 2 needs to overcome from the horizontal position to the bent state, thereby increasing the elastic potential energy stored in the stretching mechanism when theswing arm 22 is bent downward; the torsion spring can also make the connectingrod 4 And the force on thearm 2 is subjected to multiple directions to ensure that the connectingrod 4 and thearm 2 move according to the set trajectory, thereby enhancing the reliability of the system. In the predetermined airspace, when releasing the restraint of the drone , the UAV's arm must be able to rebound to the horizontal position.

在一个优选的实施方式中，如图2、图3中所示，在所述旋臂2的端部设置有驱动电机5和螺旋桨6，驱动电机5用于控制螺旋桨6旋转，当所述无人机被禁锢到运载设备中时，所述电机5的控制电路处于待机状态；在旋臂与机架连接处设置有感应开关，当旋臂回复至水平位置时触发所述感应开关，当所述感应开关被触发后所述电机5的控制电路接通，电机5启动工作。该感应开关可以是电磁感应开关，也可以是机械触点开关，可以任意设置，只要能够实现上述功能即可。In a preferred embodiment, as shown in FIG. 2 and FIG. 3 , a drive motor 5 and apropeller 6 are provided at the end of therotating arm 2 , and the drive motor 5 is used to control the rotation of thepropeller 6 . When the man-machine is imprisoned in the carrying equipment, the control circuit of the motor 5 is in a standby state; an inductive switch is arranged at the connection between the arm and the frame, and the inductive switch is triggered when the arm returns to the horizontal position. After the induction switch is triggered, the control circuit of the motor 5 is turned on, and the motor 5 starts to work. The induction switch can be an electromagnetic induction switch or a mechanical contact switch, and can be set arbitrarily as long as the above functions can be achieved.

其中，旋臂2与螺旋桨6之间留有预定空隙，所述电机5有一部分埋置在旋臂2中，另一部分裸露在外，在所述裸露在外部分的端部安装螺旋桨6。Wherein, a predetermined gap is left between thearm 2 and thepropeller 6, a part of the motor 5 is embedded in thearm 2, and the other part is exposed, and thepropeller 6 is installed at the end of the exposed part.

优选地，所述旋臂2设置有多个，优选为4-8个，Preferably, there are multiple, preferably 4-8, saidswivel arms 2,

当所述无人机被禁锢在运载设备内时，所述旋臂2对应的多个所述预定空隙呈圆形排布；运载设备通过该空隙禁锢所述无人机，即在该空隙内嵌入阻碍旋臂2回弹至水平位置的挡板，在旋臂上弹力的作用下，无人机整体即被固定、禁锢在运载设备中。所述挡板即为本发明中所述的限位筒。When the UAV is imprisoned in the carrying device, the plurality of predetermined gaps corresponding to therotating arm 2 are arranged in a circle; the carrying device imprisons the UAV through the gap, that is, in the gap The baffle plate that prevents theboom 2 from rebounding to the horizontal position is embedded. Under the action of the elastic force on the boom, the UAV as a whole is fixed and imprisoned in the delivery device. The baffle is the limiting cylinder described in the present invention.

在一个优选的实施方式中，如图2、图3和图4中所示，所述运载设备包括包覆在无人机外部的整流罩7和位于整流罩7内部下方的承托座8。In a preferred embodiment, as shown in FIG. 2 , FIG. 3 and FIG. 4 , the carrying device includes a fairing 7 covering the outside of the drone and a support base 8 located below the inside of the fairing 7 .

优选地，所述整流罩7用于保护其内部的无人机，并在到达预定空域时展开，以便于裸露出其内部的无人机；Preferably, the fairing 7 is used to protect the UAV inside, and is unfolded when reaching a predetermined airspace, so as to expose the UAV inside;

所述承托座8用于通过与所述预定空隙配合来禁锢无人机，并在到达预定空域时将无人机从承托座8中弹出。The support seat 8 is used to restrain the drone by cooperating with the predetermined gap, and to eject the drone from the support seat 8 when it reaches a predetermined airspace.

具体来说，如图5中所示，所述承托座8包括限位筒81和位于限位筒81内侧的承托板82，Specifically, as shown in FIG. 5 , the support base 8 includes alimit cylinder 81 and asupport plate 82 located inside thelimit cylinder 81 ,

所述呈限位筒81尺寸与所述预定空隙围成的圆形尺寸基本一致，使得该限位筒81刚好能够嵌入到所述空隙围成的圆形空间内，进而使得旋臂2的端部抵接在限位筒81的内圈壁面上，限位筒81能够阻碍旋臂2旋转，进而阻碍旋臂2回弹至水平位置，从而实现对无人机的禁锢；所述限位筒81的高度值为30-50mm，即限位筒的最高处与承托板82之间的距离为30-50mm，由于所述承托板82可以在竖直方向上移动，在计算该高度/距离时，所述承托板82处于可能的最低点。The size of the limitingcylinder 81 is basically the same as the size of the circle enclosed by the predetermined clearance, so that the limitingcylinder 81 can just be embedded in the circular space enclosed by the clearance, thereby making the end of thearm 2 Thelimit cylinder 81 can hinder the rotation of thejib 2, thereby preventing thejib 2 from rebounding to a horizontal position, thereby realizing the confinement of the drone; the limit cylinder The height value of 81 is 30-50mm, that is, the distance between the highest point of the limiting cylinder and thesupport plate 82 is 30-50mm. Since thesupport plate 82 can move in the vertical direction, when calculating the height/ Distance, thesupport plate 82 is at the lowest point possible.

当所述运载设备禁锢无人机时，所述承托板82位于旋臂2的下方，承托板82与旋臂之间的距离较小，一般小于10mm，且所述承托板82可以在竖直方向上移动，其移动行程至少为30-50mm，即随着承托板82的移动，承托板82能够将无人机的旋臂从承托座8中推出，由于承托板82的移动速度较高，无人机与承托座8脱离时，无人机具有一定的初始速度，能够继续沿着该方向移动一定距离。When the carrier device imprisons the drone, thesupport plate 82 is located below thearm 2, the distance between thesupport plate 82 and the arm is small, generally less than 10mm, and thesupport plate 82 can be It moves in the vertical direction, and its movement stroke is at least 30-50mm, that is, with the movement of thesupport plate 82, thesupport plate 82 can push the drone's swivel arm out of the support base 8, because the support plate The moving speed of 82 is relatively high. When the drone is detached from the support base 8, the drone has a certain initial speed and can continue to move along this direction for a certain distance.

所述承托板82可以通过电磁铁产生的斥力作为动力，也可以通过压缩弹簧作为动力，可以根据实际情况自行选择，能够实现上述往复移动并推动无人机的功能即可。The supportingplate 82 can be powered by the repulsive force generated by the electromagnet, or by the compression spring, which can be selected according to the actual situation, and can realize the above-mentioned functions of reciprocating movement and pushing the drone.

在一个优选的实施方式中，如图2、图3和图4中所示，所述整流罩7包括至少3个外形尺寸一致的弧形罩片71，各个弧形罩片71都与运载设备外壳铰接，且在彼此紧密贴合能够形成密闭壳体结构；In a preferred embodiment, as shown in FIG. 2 , FIG. 3 and FIG. 4 , the fairing 7 includes at least three arc-shapedcover pieces 71 with the same external dimensions, and each arc-shapedcover piece 71 is connected to the carrying equipment. The shells are hinged and closely fit with each other to form a closed shell structure;

优选地，本发明中运载设备的外部包括有运载设备外壳和整流罩，其中整流罩位于前端/顶部并且与运载设备外壳相连；Preferably, the exterior of the carrier device in the present invention includes a carrier device housing and a fairing, wherein the fairing is located at the front/top and is connected to the carrier device housing;

在所述整流罩7上设置有锁扣机构，当所述各个弧形罩片71彼此紧密贴合时，该锁扣机构锁死各个弧形罩片71，使之彼此不能分离，且该锁扣机构是能够自动放开的，当其收到展开指令时，自动放开对弧形罩片71的锁定，使得多个弧形罩片71可以彼此分离，并旋转，从而裸露出整流罩内部的无人机；所述锁扣机构可以为电磁锁也可以是机械锁，可以设置成任意形式，只需能够满足上述要求即可。A locking mechanism is provided on the fairing 7. When the arc-shapedcover pieces 71 are closely attached to each other, the locking mechanism locks the arc-shapedcover pieces 71 so that they cannot be separated from each other, and the lock The buckle mechanism can be released automatically. When it receives the deployment command, it automatically releases the locking of the arc-shapedcover pieces 71, so that the plurality of arc-shapedcover pieces 71 can be separated from each other and rotated, thereby exposing the inside of the fairing The unmanned aerial vehicle; the locking mechanism can be an electromagnetic lock or a mechanical lock, and can be set in any form, as long as it can meet the above requirements.

优选地，所述运载设备中还设置有控制模块，该控制模块用于向所述锁扣机构发送展开指令；Preferably, a control module is further provided in the carrying device, and the control module is used to send a deployment instruction to the locking mechanism;

优选地，在执行步骤1启动运载设备前，向运载设备中灌装控制模块的设定参数；所述控制模块用于生成并发出控制所述整流罩展开的展开指令。Preferably, before performingstep 1 to start the carrying equipment, the setting parameters of the control module in the carrying equipment are filled; the control module is used to generate and issue a deployment instruction for controlling the unfolding of the fairing.

该控制模块可以基于时间信息生成并发出展开指令，也可以基于探测到的状态信息生成并发出展开指令，还可以基于地面指令生成并发出展开指令；The control module can generate and issue deployment instructions based on time information, can also generate and issue deployment instructions based on detected state information, and can also generate and issue deployment instructions based on ground instructions;

其中，所述时间信息是指预装的在预定时间后生成并发出展开指令，一般在运载设备启动前，灌装该预定时间，如40s后生成并发出展开指令；Wherein, the time information refers to a pre-installed command that is generated and issued after a predetermined time. Generally, before the launch of the carrier equipment, the predetermined time is filled, for example, a deployment command is generated and issued after 40s;

所述探测到的状态信息是指运载设备探测到的其自身的位置信息和速度信息，主要通过GPS接收模块、北斗接收模块等卫星定位模块探测、获知运载设备自身的位置信息和速度信息等相关信息，当探测到的状态信信息满足预设条件时生成并发出展开指令，如到达800m高度时生成并发出展开指令，或者到达东经116.3度，北纬39.95度附近时生成并发出展开指令，或者竖直方向速度值为0时生成并发出展开指令等；The detected status information refers to its own position information and speed information detected by the carrier equipment, mainly through the GPS receiver module, Beidou receiver module and other satellite positioning modules to detect and learn the carrier equipment's own position information and speed information and other related information. When the detected status information meets the preset conditions, a deployment command is generated and issued, such as when reaching a height of 800m, a deployment command is generated and issued, or when it reaches 116.3 degrees east longitude and 39.95 degrees north latitude, an deployment command is generated and issued, or a vertical When the speed value in the vertical direction is 0, an expansion command is generated and issued;

所述地面指令是指运载设备实时接收的由地面控制站发出的控制指令，通过该控制指令可以对运载设备做全方位的控制，包括校准、更改运载设备的飞行目标、飞行速度等，也包括立即展开指令，所述立即展开指令是指命令控制模块立即控制整流罩展开的指令。本发明中所述的地面站优选为运载设备的发射基地，装载有无线传输系统，能够保持与运载设备之间的无线电连接。The ground command refers to the control command issued by the ground control station received by the carrier equipment in real time. Through the control command, the carrier equipment can be controlled in all directions, including calibration, changing the flight target and flight speed of the carrier equipment, etc. The immediate deployment instruction refers to an instruction to command the control module to immediately control the deployment of the fairing. The ground station described in the present invention is preferably a transmitting base of the carrying equipment, loaded with a wireless transmission system, and capable of maintaining a radio connection with the carrying equipment.

所述控制模块在运载设备满足预设条件中的一种或多种时生成并发出展开指令；具体需要满足哪几种预设条件，也可以在启动前灌装在运载设备中；The control module generates and issues a deployment instruction when the carrying device satisfies one or more of the preset conditions; the specific preset conditions that need to be met can also be filled in the carrying device before starting;

所述预设条件包括：The preset conditions include:

所述运载设备的启动飞行时间达到设定参数中的时间值，The start-up flight time of the carrying device reaches the time value in the set parameter,

所述运载设备飞行至设定参数中的经纬度坐标位置及其容许误差，所述容许误差是指距离该经纬度坐标位置200～300米的圆形区域；通过设置该容许误差使得旋翼无人机在投掷过程中，即使火箭未能精确到达指定的经纬度的地点，也可以进入到该地点的容许误差范围内，所以能够确保整流罩顺利展开；另外，本发明中所述的预定空域包括该经纬度坐标位置及其容许误差，也包括该容许误差限定的区域以外的临近区域。The carrier device flies to the latitude and longitude coordinate position and its allowable error in the set parameters, and the allowable error refers to a circular area 200 to 300 meters away from the latitude and longitude coordinate position; During the throwing process, even if the rocket fails to accurately reach the specified latitude and longitude, it can still enter the allowable error range of the location, so the fairing can be ensured to unfold smoothly; in addition, the predetermined airspace described in the present invention includes the coordinates of the latitude and longitude. The position and its tolerance, including the adjacent area outside the area defined by the tolerance.

所述运载设备的飞行高度达到设定参数中的高度值，The flying height of the carrying equipment reaches the height value in the set parameter,

所述运载设备的飞行速度达到设定参数中的速度值；The flight speed of the carrying device reaches the speed value in the set parameter;

所述运载设备接收到由地面站发出的立即展开指令。The vehicle receives an immediate deployment command from the ground station.

即所述设定参数包括时间值、经纬度坐标位置、高度值和速度值等。优选地，通过设置所述设定参数，使得整流罩在运载设备达到预定空域时展开。That is, the setting parameters include time value, latitude and longitude coordinate position, altitude value, speed value, and the like. Preferably, by setting the setting parameters, the fairing is deployed when the carrying device reaches a predetermined airspace.

在一个优选的实施方式中，在各个弧形罩片71与运载设备铰接连接处设置有第二类感应开关，所述第二类感应开关与所述承托板82相连，用于控制承托板82启动工作；In a preferred embodiment, a second type of inductive switch is provided at the hinged connection between each arc-shapedcover sheet 71 and the carrying device, and the second type of inductive switch is connected to thesupport plate 82 for controlling thesupport Board 82 starts work;

其中，当弧形罩片71旋转预定角度后能够触发与其对应的第二类感应开关，优选地，该预定角度值在90度以上；Wherein, when the arc-shapedcover piece 71 is rotated by a predetermined angle, the corresponding second-type induction switch can be triggered, and preferably, the predetermined angle value is more than 90 degrees;

所述第二类感应开关有多个，当所有的第二类感应开关都被触发后控制承托板82启动工作，将无人机从运载设备/承托座8中弹出。There are multiple second-type inductive switches, and when all the second-type inductive switches are triggered, thesupport plate 82 is controlled to start working, and the drone is ejected from the carrier device/support base 8 .

在一个优选的实施方式中，如图3中所示，在所述整流罩7内部还设置有承托杆72，该承托杆72一端固接在弧形罩片71内壁上，另一端与被禁锢在运载设备中的无人机的光杆段21相接触，用以承托/限制无人机，防止无人机在运载设备中振动或者摆动，当所述锁扣机构放开对弧形罩片71的锁定时，所述承托杆72随着弧形罩片71的转动而与所述光杆段21脱离。In a preferred embodiment, as shown in FIG. 3 , a support rod 72 is also provided inside the fairing 7 , one end of the support rod 72 is fixed on the inner wall of the arc-shapedcover sheet 71 , and the other end is connected with Thepolished rod section 21 of the UAV imprisoned in the carrying equipment is in contact with the unmanned aerial vehicle to support/restrict the UAV to prevent the UAV from vibrating or swinging in the carrying equipment. When thecover piece 71 is locked, the support rod 72 is disengaged from thepolished rod segment 21 along with the rotation of thearc cover piece 71 .

以上结合了优选的实施方式对本发明进行了说明，不过这些实施方式仅是范例性的，仅起到说明性的作用。在此基础上，可以对本发明进行多种替换和改进，这些均落入本发明的保护范围内。The present invention has been described above with reference to the preferred embodiments, but these embodiments are merely exemplary and serve only for illustrative purposes. On this basis, various substitutions and improvements can be made to the present invention, which all fall within the protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种箭载旋翼无人机投射方法，其特征在于，将旋翼无人机禁锢在运载设备内，到达预定空域后，将旋翼无人机从所述运载设备内部放出。1. an arrow-borne rotary-wing unmanned aerial vehicle projection method is characterized in that, the rotary-wing unmanned aerial vehicle is imprisoned in the carrying equipment, and after reaching the predetermined airspace, the rotating-wing unmanned aerial vehicle is discharged from the inside of the carrying equipment.2.根据权利要求1所述的方法，其特征在于，该方法包括如下步骤：2. method according to claim 1, is characterized in that, this method comprises the steps:步骤1，将旋翼无人机禁锢在运载设备内，启动运载设备，并使其到达预定空域；Step 1, confine the rotor UAV in the carrying equipment, start the carrying equipment, and make it reach the predetermined airspace;步骤2，展开运载设备上的整流罩(7)；Step 2, unfold the fairing (7) on the carrier equipment;步骤3，弹出运载设备上禁锢的旋翼无人机；Step 3, eject the imprisoned rotor drone on the delivery device;步骤4，旋翼无人机悬臂回弹至水平位置，并启动工作。Step 4: The rotor drone cantilever bounces back to the horizontal position and starts work.3.根据权利要求2所述的方法，其特征在于，3. The method of claim 2, wherein在执行步骤1启动运载设备前，向运载设备中灌装控制模块的设定参数，Before starting the carrier equipment in step 1, set the parameters of the filling control module in the carrier equipment,所述控制模块用于生成并发出控制所述整流罩展开的展开指令。The control module is configured to generate and issue a deployment command for controlling deployment of the fairing.4.根据权利要求3所述的方法，其特征在于，4. The method of claim 3, wherein所述控制模块在运载设备满足预设条件中的一种或多种时生成并发出展开指令；The control module generates and issues a deployment instruction when the carrying device satisfies one or more of the preset conditions;所述预设条件包括：The preset conditions include:所述运载设备的启动飞行时间达到设定参数中的时间值，The start-up flight time of the carrying device reaches the time value in the set parameter,所述运载设备飞行至设定参数中的经纬度坐标位置及其容许误差，The carrying device flies to the latitude and longitude coordinate position and its allowable error in the set parameters,所述运载设备的飞行高度达到设定参数中的高度值，The flying height of the carrying equipment reaches the height value in the set parameter,所述运载设备的飞行速度达到设定参数中的速度值；The flight speed of the carrying device reaches the speed value in the set parameter;所述运载设备接收到由地面站发出的立即展开指令。The vehicle receives an immediate deployment command from the ground station.优选地，Preferably,通过设置所述设定参数，使得整流罩在运载设备达到预定空域时展开。By setting the setting parameters, the fairing is made to unfold when the carrying equipment reaches a predetermined airspace.5.根据权利要求1所述的方法，其特征在于，步骤2中，5. method according to claim 1, is characterized in that, in step 2,整流罩(7)包括至少3个外形尺寸一致的弧形罩片(71)，各个弧形罩片(71)都与运载设备外壳铰接，The fairing (7) includes at least three arc-shaped cover pieces (71) with the same external dimensions, and each of the arc-shaped cover pieces (71) is hinged with the outer casing of the carrying equipment,展开运载设备上的整流罩(7)包括各个弧形罩片(71)都相对于运载设备外壳旋转，优选弧形罩片(71)都旋转90度以上。The fairing (7) on the deployment carrier includes that each arc-shaped cover piece (71) rotates relative to the outer shell of the carrier device, preferably, the arc-shaped cover pieces (71) all rotate more than 90 degrees.6.根据权利要求1至5之一所述的方法，其特征在于，6. The method according to one of claims 1 to 5, characterized in that,旋翼无人机包括机架(1)和可相对于机架(1)向下弯折的旋臂(2)；其中，所述旋臂(2)能够自动从向下弯折状态回弹至水平位置；The rotary-wing UAV comprises a frame (1) and a rotating arm (2) that can be bent downward relative to the frame (1); wherein, the rotating arm (2) can automatically rebound from the downward bending state to horizontal position;运载设备包括承托座(8)，The carrying device includes a support base (8),承托座(8)包括限位筒(81)和位于限位筒(81)内侧的承托板(82)。The support base (8) includes a limit cylinder (81) and a support plate (82) located inside the limit cylinder (81).7.根据权利要求6所述的方法，其特征在于，在所述旋臂(2)相对于机架(1)向下弯折时，将所述旋臂(2)嵌入到限位筒(81)内，且所述述旋臂(2)抵接在所述限位筒(81)的内壁面上。7. The method according to claim 6, characterized in that, when the rotating arm (2) is bent downward relative to the frame (1), the rotating arm (2) is embedded into the limiting cylinder ( 81), and the rotating arm (2) abuts on the inner wall surface of the limiting cylinder (81).8.根据权利要求6或7所述的方法，其特征在于，8. The method according to claim 6 or 7, characterized in that,在步骤3中，控制所述承托板(82)向上移动，将无人机的旋臂(2)从限位筒(81)中推出。In step 3, the supporting plate (82) is controlled to move upward, and the rotating arm (2) of the drone is pushed out from the limiting cylinder (81).9.根据权利要求8所述的方法，其特征在于，9. The method of claim 8, wherein:在所述旋臂(2)的端部设置有驱动电机(5)和螺旋桨(6)；A drive motor (5) and a propeller (6) are provided at the end of the rotating arm (2);当所述旋臂(2)被从限位筒(81)中推出后，所述自动回弹至水平位置。When the rotating arm (2) is pushed out of the limiting cylinder (81), the automatic spring back to the horizontal position.10.根据权利要求9所述的方法，其特征在于，10. The method of claim 9, wherein:当所述旋臂(2)自动回弹至水平位置后，所述驱动电机(5) 启动工作，带动螺旋桨(6)旋转。When the arm (2) automatically rebounds to a horizontal position, the drive motor (5) starts to work, and drives the propeller (6) to rotate.

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