A hovering flight assist mooring device for a rotorcraft

Abstract

The present invention provides a hovering flight auxiliary tethering device for a rotorcraft, which includes a cable with one end connected to the drone to be tested, a first drone connected to the other end of the cable, and two second drones respectively arranged below both sides of the drone to be tested. The second drones are arranged between the first drone and the drone to be tested, and the two second drones are respectively connected to both ends of a canvas. The cable passes through the center of the canvas; a winding and unwinding roller mechanism is arranged on the first drone, and one end of the cable is connected to the winding and unwinding roller mechanism. The hovering flight auxiliary tethering device for a rotorcraft provided by the present invention ensures flight safety during the operation and training of the drone, and maximally avoids the possibility of the aircraft tipping over and crashing due to improper operation, and the possibility of the propeller blades shooting out and injuring people after the crash.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and more specifically relates to a hovering flight auxiliary mooring device for rotorcraft. Background Art

[0002] Currently, most unmanned aerial vehicle operation trainings are conducted in open areas. However, during scientific research flight tests of unmanned aerial vehicles and flight training for unmanned aerial vehicle pilots, there are a large number of potential safety hazards. Firstly, during the scientific research flight test stage of unmanned aerial vehicles, since the unmanned aerial vehicles are not yet finalized and are in the testing phase, they are prone to flight failures. During the flight training of unmanned aerial vehicle pilots, since the pilots are in the learning and training stage and their control techniques are not yet mature, flight failures are also likely to occur. When a flight failure occurs, the unmanned aerial vehicle is likely to fly randomly and out of control, easily causing casualties. Seriously, it may even lead to the plane tipping over and crashing due to improper operation, and there is a possibility of the propeller blades flying out and injuring people after the crash. This solution addresses this technical problem. Summary of the Invention

[0003] The purpose of the present invention is to provide a hovering flight auxiliary mooring device for rotorcraft, which solves the technical problem of how to ensure flight safety during the operation training of unmanned aerial vehicles, and maximally avoids the possibility of the plane tipping over and crashing due to improper operation, as well as the possibility of the propeller blades flying out and injuring people after the crash.

[0004] A hovering flight auxiliary mooring device for rotorcraft includes a cable with one end connected to the unmanned aerial vehicle to be tested, an unmanned aerial vehicle 1 connected to the other end of the cable, and two unmanned aerial vehicles 2 respectively arranged below both sides of the unmanned aerial vehicle to be tested. The unmanned aerial vehicles 2 are arranged between the unmanned aerial vehicle 1 and the unmanned aerial vehicle to be tested, and the two unmanned aerial vehicles 2 are respectively connected to both ends of a canvas. The cable passes through the center of the canvas;

[0005] A cable winding and unwinding roller mechanism is arranged on the unmanned aerial vehicle 1, and one end of the cable is connected to the cable winding and unwinding roller mechanism.

[0006] Protective frames are arranged on the unmanned aerial vehicles 2, and the two protective frames are respectively connected to both ends of a limiting rod. The limiting rod is arranged in contact with the upper end surface of the canvas.

[0007] The cable vertically passes through a limiting plate, and the limiting plate is arranged between the canvas and the unmanned aerial vehicle 1. The limiting plate is detachably in contact with the bottom surface of the canvas.

[0008] A piezoelectric element 1 is arranged on the bottom surface of the limiting rod, and the piezoelectric element 1 is connected to a wireless transmission module 1. The wireless transmission module 1 is arranged on the limiting rod;

[0009] The wireless transmission module 1 controls the buzzer to work through the wireless reception module 1. The wireless reception module 1 and the buzzer are arranged on the unmanned aerial vehicle 1.

[0010] The winding and unwinding roller mechanism includes a roller connected to the cable, fixed seats respectively arranged at both ends of the roller, and a motor 1 connected to the roller. The fixed seats are arranged on a limit cover, the limit cover is hermetically arranged at one end of a fixed ring, and the other end of the fixed ring is arranged on the unmanned aerial vehicle 1.

[0011] A guide post is arranged at the bottom end of the fixed seat. The guide post slidably passes through the limit cover. A stop piece is arranged at the bottom end of the guide post. A piezoelectric sheet 2 is arranged on the bottom surface of the limit cover. The stop piece is detachably in contact with the piezoelectric sheet 2.

[0012] The piezoelectric sheet 2 is connected to the wireless transmission module 2. The wireless transmission module 2 controls the motor 1 to work through the wireless reception module 2.

[0013] A driving mechanism for forming a collection trough with the canvas is arranged on the protective frame. The driving mechanism includes a bending structure and a power mechanism. There are two bending structures which are respectively arranged on both sides of the protective frame. The power mechanism is arranged on the protective frame.

[0014] The bending structure includes an adjusting rod fixedly connected to the canvas, a rotating column vertically connected to one end of the adjusting rod, and positioning seats respectively hinged at both ends of the rotating column. The positioning seats are arranged on the protective frame.

[0015] One end of the rotating column is connected to one end of a rotating rod. The other end of the rotating rod is connected to a pulling column. The rotating rod and the rotating column are arranged at an angle. The two pulling columns are connected to the power mechanism.

[0016] The power mechanism includes a motor 2 and two pulling ropes connected to the motor shaft of the motor 2. The two pulling ropes are respectively connected to the two pulling columns.

[0017] The protective frame includes a support 1 connected to the unmanned aerial vehicle 2 through a leg, support 2 and support 3 respectively arranged on both sides of the support 1, and support 4 respectively arranged on both sides of the support 3. The leg is arranged on the upper end surface of the unmanned aerial vehicle 2.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] (1) In this solution, a canvas is provided, and under the action of the driving mechanism, the canvas can be bent at a certain angle. Under the action of the second motor, the adjusting rod rotates, thereby driving the two sides of the canvas to perform corresponding bending processes. When the UAV to be tested rolls over and explodes, the wreckage of the UAV to be tested can be caught, avoiding the phenomenon of the exploding UAV hurting people.

[0020] In addition, after the flight training is over, the driving mechanism can bend the two sides of the canvas by 90 degrees, that is, retract the canvas, which helps to reduce the floor area of the canvas and is conducive to storage.

[0021] (2) A limiting rod is provided, and the limiting rod is attached to the canvas, which can achieve the following technical effects:

[0022] First, it is connected to the protective frame to jointly and further achieve the protective effect.

[0023] Second, it avoids the drawback of the cable rope strongly tearing the canvas, so that the cable rope between the limiting rod and the canvas is always in a vertical state, that is, the acting force of the cable rope swing acts on the limiting rod, realizing the protection of the canvas.

[0024] Third, it helps the balance effect of the two protective frames and avoids the phenomenon of the left and right brackets being unbalanced.

[0025] Fourth, it helps the synchronous operation of the two UAVs II and avoids the problem that the two UAVs II are out of sync and tear the canvas. In this way, even when the two UAVs II are out of sync, this external tearing effect will act on the limiting rod, indirectly realizing the protection of the canvas.

[0026] (3) A first piezoelectric sheet is provided on the lower end surface of the limiting rod, and a limiting plate is provided on the cable rope. In this way, when the limiting plate contacts the canvas, it can abut against the first piezoelectric sheet more conveniently and quickly. Through the action of the first wireless transmission module and the first wireless reception module, the buzzer is controlled to work. Subsequently, people can adjust the UAV II to rise further so that the limiting plate is separated from the canvas.

[0027] In addition, the limiting plate also has the effect of supporting the canvas.

[0028] (4) A winding and unwinding roller mechanism is provided. When the cable rope is subjected to a large tensile force, the fixed seat drives the guide post to rise, and the guide post drives the baffle to rise, and then contacts the second piezoelectric sheet. Through the action of the second wireless transmission module and the second wireless reception module, the operation of the first motor is adjusted, so that the roller performs a release operation to avoid the contact between the baffle and the second piezoelectric sheet, realizing the control and adjustment of the cable rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural diagram of the auxiliary tethering device in the embodiment of the present invention.

[0030] Figure 2 It is the front view of the auxiliary mooring device in the embodiment of the present invention.

[0031] Figure 3 It is the structural schematic diagram of the winding and unwinding roller mechanism in the embodiment of the present invention.

[0032] Figure 4 It is the structural schematic diagram of the limit plate, canvas and limit rod in the embodiment of the present invention.

[0033] Figure 5 It is the structural schematic diagram of the driving mechanism in the embodiment of the present invention.

[0034] Figure 6 It is the front view of the driving mechanism in the embodiment of the present invention.

[0035] Figure 7 It is the structural schematic diagram of the protective frame in the embodiment of the present invention.

[0036] Figure 8 It is the working principle diagram of the wireless communication transmitting and receiving module in the embodiment of the present invention.

[0037] Among them, in the figure: 1. UAV 1; 2. Fixed ring; 21. Limit cover; 3. Motor 1; 31. Fixed seat; 32. Guide post; 33. Flap; 4. Roller; 5. Cable; 51. Limit plate; 6. Canvas; 7. Adjusting rod; 71. Rotating rod; 72. Positioning seat; 73. Rotating column; 74. Pulling column; 75. Pulling rope; 76. Motor 2; 8. Driving mechanism; 9. UAV 2; 10. Protective frame; 101. Bracket 1; 102. Bracket 2; 103. Leg; 104. Bracket 3; 105. Bracket 4; 11. Limit rod; 12. UAV to be measured. Specific embodiments

[0038] In order to more clearly illustrate the technical features of this solution, the following will elaborate on this solution through specific embodiments.

[0039] See Figure 1 and Figure 2 , a hovering flight auxiliary mooring device for a rotor aircraft, including a cable 5 with one end connected to the UAV to be measured 12, a UAV 1 connected to the other end of the cable 5, and two UAVs 2 9 respectively arranged below both sides of the UAV to be measured 12. The UAV 2 9 is arranged between the UAV 1 and the UAV to be measured 12, and the two UAVs 2 9 are respectively connected to both ends of the canvas 6. The cable 5 passes through the center of the canvas 6;

[0040] A winding and unwinding roller mechanism is arranged on the UAV 1, and one end of the cable 5 is connected to the winding and unwinding roller mechanism.

[0041] SeeFigure 4 On the second drone 9, a protective frame 10 is provided. The two protective frames 10 are respectively connected to both ends of the limiting rod 11, and the limiting rod 11 is arranged in contact with the upper end surface of the canvas 6.

[0042] The cable 5 vertically passes through the limiting plate 51. The limiting plate 51 is arranged between the canvas 6 and the first drone 1, and the limiting plate 51 is detachably in contact with the bottom surface of the canvas 6.

[0043] A first piezoelectric sheet is arranged on the bottom surface of the limiting rod 11. The first piezoelectric sheet is connected to a first wireless transmission module, and the first wireless transmission module is arranged on the limiting rod 11;

[0044] The first wireless transmission module controls the buzzer to work through a first wireless reception module. The first wireless reception module and the buzzer are arranged on the first drone 1.

[0045] See Figure 3 The winding and unwinding roller mechanism includes a rotating roller 4 connected to the cable 5, fixed seats 31 respectively arranged at both ends of the rotating roller 4, and a first motor 3 connected to the rotating roller 4. The fixed seats 31 are arranged on the limiting cover 21. The limiting cover 21 is hermetically arranged at one end of the fixed ring 2, and the other end of the fixed ring 2 is arranged on the first drone 1.

[0046] A guide post 32 is arranged at the bottom end of the fixed seat 31. The guide post 32 slidably passes through the limiting cover 21. A stop piece 33 is arranged at the bottom end of the guide post 32. A second piezoelectric sheet is arranged on the bottom surface of the limiting cover 21, and the stop piece 33 is detachably in contact with the second piezoelectric sheet;

[0047] The second piezoelectric sheet is connected to a second wireless transmission module, and the second wireless transmission module controls the first motor 3 to work through a second wireless reception module.

[0048] See Figure 5 and Figure 6 On the protective frame 10, a driving mechanism for forming a collection groove for the canvas 6 is provided. The driving mechanism includes a bending structure and a power mechanism. There are two bending structures, which are respectively arranged on both sides of the protective frame 10, and the power mechanism is arranged on the protective frame 10.

[0049] The bending structure includes an adjusting rod 7 fixedly connected to the canvas 6, a rotating column 73 vertically connected to one end of the adjusting rod 7, and positioning seats 72 respectively hinged to both ends of the rotating column 73. The positioning seats 72 are arranged on the protective frame 10;

[0050] One end of the rotating column 73 is connected to one end of a rotating rod 71. The other end of the rotating rod 71 is connected to a pulling column 74. The rotating rod 71 and the rotating column 73 are arranged at an angle. The two pulling columns 74 are connected to the power mechanism;

[0051] The power mechanism includes a second motor 76 and two pulling ropes 75 connected to the motor shaft of the second motor 76. The two pulling ropes 75 are respectively connected to two pulling columns 74.

[0052] See Figure 7 , the protective frame 10 includes a first bracket 101 connected to the second drone 9 through a leg 103, a second bracket 102 and a third bracket 104 respectively arranged on both sides of the first bracket 101, and a fourth bracket 105 respectively arranged on both sides of the third bracket 104. The leg 103 is arranged on the upper end surface of the second drone 9.

[0053] Since the drone to be tested 12 is more likely to collide with the second drone 9, therefore, a third bracket 104 and a fourth bracket 105 are arranged on the side of the second drone 9 close to the drone to be tested 12, which can achieve more comprehensive protection, making the weights on both sides of the first bracket 101 different. Thus, the balance can be adjusted through the limit rod 11.

[0054] The specific working process of the present invention:

[0055] See Figure 8 , before starting the flight training, under the action of the driving mechanism, the canvas 6 can be bent at a certain angle. That is, under the action of the second motor 76, the pulling column 74 is driven to move downward through the pulling rope 75. The pulling column 74 drives the rotating rod 71 to rotate, and the rotating rod 71 drives the adjusting rod 7 to rotate, thereby driving the two sides of the canvas 6 to perform corresponding bending processes. When the drone to be tested 12 rolls over and explodes, the wreckage of the drone to be tested 12 can be caught, avoiding the phenomenon of the exploding drone hurting people, and then taking off;

[0056] The beginner operates the drone to be tested 12, and the proficient operator operates the first drone 1 and the second drone 9, coordinates with the beginner's operation, and makes corresponding adjustments according to the beginner's operation;

[0057] In this solution, two protective frames 10 are provided to protect the two second drones 9 and are connected by a limit rod 11, which also produces a multi-functional effect. As mentioned above, it will not be elaborated here;

[0058] A first piezoelectric sheet is arranged on the lower end surface of the limit rod 11, and a limit plate 51 is arranged on the cable 5. In this way, when the limit plate 51 contacts the canvas 6, it can be more conveniently and quickly abutted against the first piezoelectric sheet. Through the action of the first wireless transmission module and the first wireless receiving module, the buzzer is controlled to work. Subsequently, people can adjust the second drone 9 to rise further, so that the limit plate 51 is separated from the canvas 6; The buzzer can be placed anywhere, in principle, where the proficient operator can hear the sound of the buzzer, which is convenient for operating the second drone 9 in a timely manner;

[0059] A winding and unwinding roller mechanism is provided. When the cable 5 is subjected to a large tensile force, the fixed seat 31 drives the guide post 32 to rise, and the guide post 32 drives the baffle 33 to rise, thereby coming into contact with the second piezoelectric sheet. Through the action of the second wireless transmission module and the second wireless reception module, the operation of the first motor 3 is automatically adjusted. Those skilled in the art can also make a pre-adjustment for the release working time of the first motor 3, so that the rotating roller 4 performs a release operation to avoid the contact between the baffle 33 and the second piezoelectric sheet, realizing the control and adjustment of the cable 5.

[0060] Note: Since the piezoelectric sheet and the wireless transmission and reception module are easily realized by existing technologies, they are not further detailedly marked in the drawings. This is hereby explained.

[0061] The technical features not described in the present invention can be realized by or adopted from existing technologies, and will not be elaborated here. Of course, the above description is not a limitation to the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in the technical field within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. A hovering flight auxiliary mooring device for a rotorcraft, characterized in that, it includes a cable (5) with one end connected to the drone to be tested (12), a first drone (1) connected to the other end of the cable (5), and two second drones (9) respectively arranged below both sides of the drone to be tested (12). The second drones (9) are arranged between the first drone (1) and the drone to be tested (12), and the two second drones (9) are respectively connected to both ends of a canvas (6). The cable (5) passes through the center of the canvas (6); a winding and unwinding roller mechanism is arranged on the first drone (1), and one end of the cable (5) is connected to the winding and unwinding roller mechanism; a protective frame (10) is arranged on the second drone (9), and the two protective frames (10) are respectively connected to both ends of a limiting rod (11). The limiting rod (11) is arranged in contact with the upper end surface of the canvas (6); the cable (5) vertically passes through a limiting plate (51). The limiting plate (51) is arranged between the canvas (6) and the first drone (1), and the limiting plate (51) is in separable contact with the bottom surface of the canvas (6); a first piezoelectric sheet is arranged on the bottom surface of the limiting rod (11), and the first piezoelectric sheet is connected to a first wireless transmission module. The first wireless transmission module is arranged on the limiting rod (11); the first wireless transmission module controls a buzzer to work through a first wireless reception module. The first wireless reception module and the buzzer are arranged on the first drone (1).

2. The hovering flight auxiliary mooring device for a rotorcraft according to claim 1, characterized in that, the winding and unwinding roller mechanism includes a rotating roller (4) connected to the cable (5), fixing seats (31) respectively arranged at both ends of the rotating roller (4), and a first motor (3) connected to the rotating roller (4). The fixing seats (31) are arranged on a limiting cover (21). The limiting cover (21) is hermetically arranged at one end of a fixing ring (2), and the other end of the fixing ring (2) is arranged on the first drone (1).

3. The hovering flight auxiliary mooring device for a rotorcraft according to claim 2, characterized in that, a guide post (31) is arranged at the bottom end of the fixing seat (31). The guide post (31) slidably passes through the limiting cover (21). A retaining piece (33) is arranged at the bottom end of the guide post (31). A second piezoelectric sheet is arranged on the bottom surface of the limiting cover (21). The retaining piece (33) is in separable contact with the second piezoelectric sheet; the second piezoelectric sheet is connected to a second wireless transmission module. The second wireless transmission module controls the first motor (3) to work through a second wireless reception module.

4. The hovering flight auxiliary mooring device for a rotorcraft according to claim 1, characterized in that, a driving mechanism (8) for forming a collection groove for the canvas (6) is arranged on the protective frame (10). The driving mechanism (8) includes a bending structure and a power mechanism. There are two bending structures and they are respectively arranged on both sides of the protective frame (10). The power mechanism is arranged on the protective frame (10).

5. The hovering flight auxiliary mooring device for rotorcraft as claimed in claim 4, characterized in that, the bending structure includes an adjusting rod (7) fixedly connected to the canvas (6), a rotating column (73) vertically connected to one end of the adjusting rod (7), and positioning seats (72) respectively hinged to both ends of the rotating column (73), and the positioning seats (72) are arranged on the protective frame (10); one end of the rotating column (73) is connected to one end of a rotating rod (71), the other end of the rotating rod (71) is connected to a pulling column (74), the rotating rod (71) and the rotating column (73) are arranged at an angle, and the two pulling columns (74) are connected to the power mechanism; the power mechanism includes a second motor (76) and two pulling ropes (75) connected to the motor shaft of the second motor (76), and the two pulling ropes (75) are respectively connected to the two pulling columns (74).

6. The hovering flight auxiliary mooring device for rotorcraft as claimed in claim 5, characterized in that, the protective frame (10) includes a first bracket (101) connected to the second drone (9) through a leg (103), second brackets (102) and third brackets (104) respectively arranged on both sides of the first bracket (101), and fourth brackets (105) respectively arranged on both sides of the third bracket (104), and the leg (103) is arranged on the upper end surface of the second drone (9).

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