A UAV rope-drop delivery system and control method

Abstract

The present invention discloses a drone rope-drop delivery system and a control method, comprising: a delivery actuation subsystem comprising a winch and a tether, one end of the tether is connected to the winch, a terminal locking and untying subsystem comprising a detachably connected fixed part and a sliding part, the fixed part is arranged on a cargo box, the sliding part is connected to the other end of the tether, an emergency escape subsystem is arranged on one side of the delivery actuation subsystem and is used to cut off the tether, a delivery control subsystem is electrically connected to the delivery actuation subsystem, the terminal locking and untying subsystem and the emergency escape subsystem, the drone rope-drop delivery system meets the drone rope-drop delivery requirements, can realize delivery actions such as cargo delivery, automatic untying and recovery of the tether, and emergency escape, has technical characteristics such as full-automatic, safe, and convenient, is simple and convenient to use, has little impact on the drone by improving the structure and adding mechanisms, does not require manual untying after rope-dropping, and improves transportation efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) rappelling, and more specifically, relates to a UAV rappelling delivery system and a control method. Background Art

[0002] Drones can deliver emergency cargo in complex terrain conditions by methods such as aerial throwing, ground unloading, and aerial rappelling.

[0003] The aerial throwing method is simple and easy to implement. However, in order to prevent the cargo from being damaged by impact, the cargo needs to be wrapped with an outer layer of cushioning and vibration reduction. This not only increases the cost of cargo packaging, but also limits the cargo layout space. It is usually used for emergency delivery by large transport aircraft during wartime.

[0004] The landing unloading method is simple, and the additional system design caused by cargo delivery is almost zero. On the one hand, the drone needs personnel to pick up the cargo when it lands, which brings safety risks to the drone. On the other hand, the drone also poses safety risks to people and objects on the ground when it descends to the ground.

[0005] The aerial rope-drop delivery method does not require the drone to come into close contact with people or objects on the ground. The winch tether suspension is combined with an appropriate descent control strategy, so there is no need to worry about the large impact force of the cargo falling to the ground. However, the cargo needs to be manually untied after it falls to the ground. The untying process delays time and limits the use of the drone. Therefore, a device that is suitable for drone rope-dropping is needed to achieve low-cost and rapid tether and cargo separation. Summary of the invention

[0006] The purpose of the present invention is to provide a drone rope-drop delivery system in view of the shortcomings in the prior art. The drone rope-drop delivery system meets the requirements of drone rope-drop delivery, can realize delivery actions such as cargo delivery, automatic untying and recovery of tethers, and emergency escape, has technical characteristics such as full automatic, safe, and convenient, is simple and convenient to use, has little impact on the drone due to improvements and additions to mechanisms, does not require manual untying after rappelling, and improves transportation efficiency.

[0007] In order to achieve the above-mentioned object, the present invention provides a UAV cable-drop delivery system, wherein the force-carrying mechanism comprises:

[0008] A delivery actuation subsystem, the delivery actuation subsystem comprising a winch and a tether, one end of the tether being connected to the winch;

[0009] An end locking and untying subsystem, the end locking and untying subsystem comprising a detachably connected fixed part and a sliding part, the fixed part being arranged on the cargo box, and the sliding part being connected to the other end of the tether;

[0010] An emergency escape subsystem, which is arranged on one side of the delivery actuation subsystem and is used to cut off the tether;

[0011] A delivery control subsystem, wherein the delivery control subsystem is electrically connected to the delivery actuation subsystem, the end locking and untying subsystem and the emergency escape subsystem.

[0012] Optionally, the delivery control subsystem includes a flight control computer, a winch motor controller electrically connected to the wind control computer, and a tension sensor electrically connected to the wind control computer, wherein the tension sensor is arranged on the tether near the sliding part.

[0013] Optionally, the end locking and untying subsystem includes:

[0014] A connection block and a controller, wherein the connection block is arranged on the top of the cargo box;

[0015] A slide groove, wherein the slide groove is arranged on the top of the connecting block, one end of the slide groove is higher than the other end, and the cross section of the slide groove is in an inverted T shape;

[0016] A slider box, the slider box is slidably connected in the slide slot, a driving mechanism electrically connected to the controller is arranged in the slider box, and a driving end of the driving mechanism can be retracted and exposed outside the slider box;

[0017] A lock catch, the lock catch being rotatably connected to the upper end of the sliding block box, and interfering with the rotation of the lock catch when the driving end is exposed;

[0018] A torque spring is arranged on the slider box and is used to provide a restoring force for the lock. When the driving end contracts, the lock is restored and can pass through the slide groove.

[0019] Optionally, the emergency escape subsystem includes:

[0020] Two mounting platforms, which are respectively located at two ends of the winch;

[0021] Two groups of cable management columns, the two groups of cable management columns are arranged at a gap between the two mounting platforms, the cable management columns include two steel columns arranged at a gap, the two steel columns are respectively provided with a limited position clamp, and the tether passes through the gap between the two steel columns in sequence;

[0022] A pulley, the pulley being slidably connected between the two groups of cable management columns;

[0023] A cutter is disposed on the pulley, and the pulley is capable of driving the cutter to cut the tether.

[0024] Optionally, two slide rails are further included, the two slide rails are arranged between the two mounting platforms, adjacent sides of the two slide rails are provided with guide grooves, and the pulley includes:

[0025] A vehicle frame, wherein two ends of the vehicle frame are respectively provided with a front wheel and a rear wheel, and the front wheel and the rear wheel are movably connected in the guide groove;

[0026] A vehicle motor, wherein the vehicle motor is arranged in the vehicle frame, and an output end of the vehicle motor is connected to the front wheel of the vehicle through a first bevel gear and a second bevel gear that mesh with each other;

[0027] An anti-collision rod, the anti-collision rod is arranged at one end of the frame close to the front wheel of the vehicle;

[0028] It also includes a starting lock and a rear cross beam, wherein the rear cross beam is arranged on the frame, and the starting lock includes:

[0029] A steering gear is arranged on the slide rail, a rocker arm is arranged at the driving end of the steering gear, and a hook matched with the rear cross beam is arranged at one end of the rocker arm away from the steering gear.

[0030] The present invention also provides a control method for a UAV cable-drop delivery system, using the above-mentioned UAV cable-drop delivery system, comprising:

[0031] The cargo box is slid out of the payload compartment of the UAV and is freely suspended under the UAV by a tether;

[0032] Determine whether the cargo box posture is stable;

[0033] If the cargo box is in a stable position, the cargo box is controlled to descend until it touches the ground;

[0034] Control the end locking and untying subsystem to separate the sliding part from the fixed part, thereby releasing the cargo box;

[0035] The recovery tether completes the deployment.

[0036] Optionally, if the terminal locking and untying subsystem fails, the emergency escape subsystem is activated to cut the tether and then recover the tether to complete the release.

[0037] Optionally, determining whether the container posture is stable includes:

[0038] The delivery control subsystem uses a tension sensor to monitor whether the cargo box posture is stable;

[0039] If the standard deviation of the tension signal of the tension sensor is σ∈(0, 0.02M0g), it is stable;

[0040] The calculation formula of σ is as follows:

[0041]

[0042] in:

[0043] The mass of the slider is M h ;

[0044] The mass of the cargo box is M0;

[0045] The acceleration due to gravity is g

[0046] The instantaneous tension value of the sensor is Fi;

[0047] The signal sending period of the tension sensor is ti;

[0048] The system time is T.

[0049] Optionally, it also includes:

[0050] The delivery control subsystem controls the terminal locking and untying subsystem to release the cargo box, and the fixed part is separated from the sliding part;

[0051] The winch reclaims the tether for 4 weeks. i ∈(0.9M h g, 1.2M h g),σ∈(0,0.01M h g) is successful;

[0052] Continue to retract the tether to F imax >2M h g,σ>1.5M h g.

[0053] Optionally, if the end locking and untying subsystem fails, activating the emergency escape subsystem to cut the tether includes:

[0054] The winch reclaims the tether for 4 weeks. then it fails;

[0055] The winch failed to retrieve the tether after 4 cycles of repetition three times;

[0056] Retrieve tether to F i ≥0.92M o g, then start the emergency escape subsystem to cut the tether;

[0057] If F i =0, the cutting is completed.

[0058] The present invention provides a drone rope-drop delivery system, which has the following beneficial effects:

[0059] The drone rope-drop delivery system meets the requirements of drone rope-drop delivery, and can realize delivery actions such as cargo delivery, automatic untying and recovery of tethers, and emergency escape. It has technical characteristics such as full automatic, safe, and convenient. It is simple and easy to use. Improvements and additions to mechanisms have little impact on the drone. No manual untying is required after rope-dropping, which improves transportation efficiency.

[0060] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0062] Figure 1 A schematic structural diagram of a UAV rope-drop delivery system according to an embodiment of the present invention is shown.

[0063] Figure 2 An enlarged view of an end locking and untying subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown.

[0064] Figure 3 An exploded view of a terminal locking and releasing subsystem of a drone rope-dropping delivery system according to an embodiment of the present invention is shown.

[0065] Figure 4 A schematic structural diagram of a driving mechanism of a UAV rope-drop delivery system according to an embodiment of the present invention is shown.

[0066] Figure 5 An exploded view of a slider box of a drone rope-drop delivery system according to an embodiment of the present invention is shown.

[0067] Figure 6 A schematic structural diagram of a box body of a slider box of a driving mechanism of a drone rope-dropping delivery system according to an embodiment of the present invention is shown.

[0068] Figure 7 A schematic structural diagram of an emergency escape subsystem of a UAV rope-drop delivery system according to an embodiment of the present invention is shown.

[0069] Figure 8 A bottom view of an emergency escape subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown.

[0070] Fig. 9 A schematic flow chart of a method for controlling a UAV rope-drop delivery according to an embodiment of the present invention is shown.

[0071] Description of reference numerals:

[0072] 1. Delivery control subsystem; 101. Tension sensor; 2. Delivery actuation subsystem; 3. End locking and untying subsystem; 4. Emergency escape subsystem; 5. Cargo box; 201. Winch; 202. Tether; 30. Slide; 31. Lock; 32. Upper cover; 33. Slider box; 34. Torque spring; 35. Threaded pin; 36. Driving mechanism; 37. Lower cover; 38. Controller; 3101. Card; 3102. Column; 3103. 03, socket one; 3104, limit hole; 3201, cover; 3202, slot; 3203, center hole; 3204, hanging ring; 3205, connecting hole; 3405, boss; 3301, connecting column; 3302, socket two; 3303, socket three; 3304, socket four; 3305, wire hole one; 3306, square frame; 3307, groove; 3308, wire hole two; 3309, wire hole three; 3310, skylight Wire hole; 3401, spiral section; 3402, straight section; 3403, screw; 3404, end ring; 3601, screw rod; 3602, joint hole 1; 3603, output shaft; 3604, joint hole 2; 3605, drive motor; 3606, motor bracket; 41, pulley; 42, tool; 43, starting lock; 44, slide rail; 45, cable management column; 46, limit clamp; 47, cable bundle 1; 48, mounting table; 4101, vehicle frame; 4102, vehicle rear wheel; 4103, rear cross beam; 4104, cable one; 4105, vehicle motor; 4106, vehicle front wheel; 4107, first bevel gear; 4108, first bevel gear; 4109, anti-collision bar; 4201, cable two; 4202, tool holder; 4203, tool motor; 4204, blade; 4301, rocker arm; 4302, servo; 4303, bracket; 4304 cable bundle two. DETAILED DESCRIPTION

[0073] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0074] Figure 1 A schematic structural diagram of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 2 An enlarged view of an end locking and untying subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 3An exploded view of a terminal locking and untying subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 4 A schematic structural diagram of a driving mechanism of a UAV rope-drop delivery system according to an embodiment of the present invention is shown; Figure 5 An exploded view of a slider box of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 6 A schematic structural diagram of a box body of a slider box of a driving mechanism of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 7 A schematic structural diagram of an emergency escape subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown; Figure 8 A bottom view of an emergency escape subsystem of a drone rope-drop delivery system according to an embodiment of the present invention is shown.

[0075] like Figure 1-8 As shown, a UAV rope-drop delivery system comprises:

[0076] The delivery actuation subsystem 2 includes a winch 201 and a tether 202. One end of the tether 202 is connected to the winch 201;

[0077] The end locking and untying subsystem 3 includes a detachably connected fixed part and a sliding part, the fixed part is arranged on the cargo box, and the sliding part is connected to the other end of the tether 202;

[0078] The emergency escape subsystem 4 is arranged on one side of the delivery actuation subsystem 2 and is used to cut off the tether 202;

[0079] The delivery control subsystem 1 is electrically connected to the delivery actuation subsystem 2 , the terminal locking and untying subsystem 3 and the emergency escape subsystem 4 .

[0080] Specifically, the release control subsystem 1 controls the release actuation subsystem 2, the terminal locking and untying subsystem 3 and the emergency escape subsystem 4 to operate.

[0081] In this embodiment, the delivery control subsystem 1 includes a flight control computer, a winch motor controller electrically connected to the wind control computer, and a tension sensor 101 electrically connected to the wind control computer. The tension sensor 101 is arranged on the tether 202 near the sliding part.

[0082] In this embodiment, the end locking and untying subsystem 3 includes:

[0083] A connection block and a controller, wherein the connection block is arranged on the top of the cargo box 5;

[0084] A slide groove 30, which is arranged on the top of the connecting block, and one end of the slide groove 30 is higher than the other end, and the cross section of the slide groove 30 is in an inverted T shape;

[0085] A slider box 33, the slider box 33 is slidably connected in the slide slot 30, a driving mechanism 36 electrically connected to the controller is provided in the slider box 33, and a driving end of the driving mechanism 36 can be retracted and exposed outside the slider box 33;

[0086] The lock buckle 31 is rotatably connected to the upper end of the sliding block box 33, and when the driving end is exposed, it interferes with the rotation of the lock buckle 31;

[0087] The torque spring 34 is disposed on the slider box 33 and is used to provide a restoring force for the lock catch 31 . When the driving end contracts, the lock catch 31 is restored to its original position and can pass through the slide slot 30 .

[0088] Specifically, in the locked state, the lock buckle 31 is rotated to a certain angle to limit the slider box 33 to be connected in the slide groove 30, and the driving mechanism 36 is used to prevent the lock buckle 31 from returning to the original position. In the unbinding state, the lock buckle 31 returns to the original position and resets, and the slider box 33 is removed from the slide groove 30 to implement unbinding and separation.

[0089] Furthermore, there is an appropriate distance between the center of gravity of the slide 33 and the projection point of the center of gravity of the cargo box 5 on the upper surface of the cargo box 5 along the outer ridge line of the cargo box 5, so that the upper surface of the cargo box 5 has a certain inclination relative to the horizontal plane when it is suspended, which facilitates the sliding out of other components.

[0090] In this embodiment, the emergency escape subsystem 4 includes:

[0091] Two mounting platforms 48, the two mounting platforms 48 are respectively located at two ends of the winch;

[0092] Two groups of cable management columns 45, the two groups of cable management columns 45 are arranged at a gap between two mounting platforms 48, the cable management columns 45 include two steel columns arranged at a gap, the two steel columns are respectively provided with a limit clamp 46, and the tether 202 passes through the gap between the two steel columns in sequence;

[0093] A pulley 41, the pulley 41 is slidably connected between two sets of cable management columns 45;

[0094] The cutter 42 is disposed on the pulley 41 , and the pulley 41 can drive the cutter 42 to cut the tether 202 .

[0095] Specifically, the tether 202 is also located between the limit clamps 46, and the wire management column 45 cooperates with the limit clamps 46 to limit the activity area of ​​the tether 202. At the same time, the wire management column 45 plays a role in restraining the direction of the tether 202 and clamping the tension sensor 101 when the tether 202 is retracted, and the pulley 41 drives the tool to cut the tether 202.

[0096] Furthermore, the vertical center of the cable management column 45 and the center of mass of the tool 42 are located in the same horizontal plane.

[0097] In this embodiment, two slide rails 44 are further included. The two slide rails 44 are arranged between two mounting platforms 48. Adjacent sides of the two slide rails 44 are provided with guide grooves. The pulley 41 includes:

[0098] A vehicle frame 4101, with front wheels 4106 and rear wheels 4102 respectively disposed at both ends of the vehicle frame 4101, and the front wheels 4106 and rear wheels 4102 are movably connected in guide grooves;

[0099] The vehicle motor 4105 is arranged in the vehicle frame 4101, and the output end of the vehicle motor 4101 is connected to the vehicle front wheel 4106 through a first bevel gear 4107 and a second bevel gear 4108 that mesh with each other;

[0100] The anti-collision bar 4109 is arranged at one end of the frame 4101 close to the front wheel 4106 of the vehicle.

[0101] Specifically, the moving track of the pulley 41 is guided by the slide rail 44 and the guide groove, and the anti-collision rod 4109 is used to prevent the pulley 41 from being damaged.

[0102] In this embodiment, the tool 42 includes a tool holder 4202, and the tool holder 4205 is arranged on the frame 4101. The tool holder 4205 is provided with a tool motor 4203, and the output end of the tool motor 4203 is provided with a blade 4204, and the cutting direction of the blade 4204 is parallel to the running direction of the pulley 41.

[0103] Specifically, the pulley 41 moves and the blade 4204 is rotated by the knife motor 4203 to cut the tether 202.

[0104] In this embodiment, a starting lock 43 and a rear cross beam 4103 are also included. The rear cross beam 4103 is arranged on the frame 4101. The starting lock 43 includes:

[0105] The servo 4302 is arranged on the slide rail 44. The driving end of the servo 4302 is provided with a rocker arm 4301. The end of the rocker arm 4301 away from the servo is provided with a hook matched with the rear cross beam 4103.

[0106] Specifically, the starting lock 43 is used to prevent the pulley 41 from moving when in standby mode, and the rear steering engine 4302 is started to drive the rocker arm 4301 to lift and release the pulley 41.

[0107] In this embodiment, the torque spring 34 includes a straight section 3402, and both ends of the straight section 3402 are respectively provided with a spiral section 3401, and one end of the spiral section 3401 away from the straight section 3402 is provided with an end ring 3404 and a screw 3403;

[0108] The lock buckle 31 includes a column 3102, both ends of which pass through two spiral sections 3401 and are exposed. The column 3102 is also provided with a limiting hole 3104 that matches the screw 3403, and both ends of the column 3102 are provided with a card 3101.

[0109] The driving mechanism 36 includes two driving motors 36 and two threaded pins 35. The two driving motors 36 and the two threaded pins 31 are symmetrically arranged at both ends of the slider box 33. The output ends of the two driving motors 36 are respectively provided with output shafts 3603 and screws 3601 that cooperate with the threaded pins 35. The driving motor 36 can drive the threaded pins 35 to retract or expose the slider box 33 through the output shafts 3603 and the screws 3601.

[0110] Specifically, two driving motors 36 synchronously drive the spiral pin 35 to stabilize the locking state of the lock buckle 31, and the card 3101 prevents the slider box 33 from sliding out of the slide groove 30 in the locked state. In the unbinding state, the card 3101 can pass through the slide groove 33, and then the slider box 33 slides out of the slide groove 30.

[0111] In this embodiment, the controller 38 includes a slider antenna and an electronic control board, a socket 3103 is provided on the card 3101, and the threaded pin 35 can enter and exit the socket 3103 when exposed, and the slider box 33 includes an upper cover 32 and a box body, the upper cover 32 includes two cover bodies 3201, and the two cover bodies 3201 are connected by four equidistantly arranged bosses 3405 to form a "X"-shaped structure, and the two bosses 3405 located at both ends are provided with hanging rings 3204, and the two bosses 3405 located in the middle are provided with card grooves 3202 matched with the straight section 3402, and the two cover bodies 3201 are provided with fixing holes matched with the box body, and the upper end of the box body is provided with a groove 3307 matched with the four bosses 3405 to form a housing column 3102, and the lower end of the box body is provided with an opening, and the opening is detachable A lower cover 37 is connected, two battery slots are symmetrically arranged on one side of the opening, and two accommodating cavities are symmetrically arranged on the other side of the opening. The accommodating cavity is divided into a first part and a second part by a partition, and a socket three 3303 is arranged on the partition through which the output shaft 3603 can pass. A motor bracket 3606 is arranged in the first part, and a screw rod 3601 is arranged in the second part. One end of the spiral pin 35 is rotatably connected to the partition through a socket four 3304, and the other end of the spiral pin 35 is exposed to the side wall of the second part away from the first part through a socket two 3302. The battery slot is connected to the first part and the second part through a wire hole two 3308. A square frame 3306 for placing an electronic control board is arranged near the battery slot in the two accommodating cavities, and an antenna hole 3310 for placing a slider antenna is arranged on the side wall of the box body.

[0112] Specifically, the groove 3307 and the two bosses 3405 located in the middle form a central hole 3203 for accommodating the column 3102, and the lower cover 37 is connected to the connecting column 3301 set in the opening through the connecting hole 3205.

[0113] When the drone rope-drop delivery system of this embodiment is used,

[0114] The flight control computer in the delivery control subsystem sends a speed and stop command to the winch motor controller according to the real-time received tension signal from the tension sensor 101, and then the winch motor controller drives the winch to complete the specified action;

[0115] The winch 201 included in the delivery actuation subsystem 1 is used to drive the tether 202 to perform the delivery action of the cargo box 55 and the retracting action of the tether 202 after the delivery is completed;

[0116] The winch 201 is driven by an electric motor, and its stopping process is driven by the winch motor controller, which receives the speed and stopping instructions of the flight control computer;

[0117] The terminal locking and untying subsystem 3 includes a slide 30, a lock 31, an upper cover 32, a slider box 33, a torque spring 34, a threaded pin 35, a driving mechanism 36, a lower cover 37, and a controller 38. The slide 30 is arranged on the connecting block to form a hollow rectangular box with two ends open, and its upper part is open to embed other system components and pass the lock 31; the slide 30 is fixed to the upper surface of the cargo box 55; there is an appropriate distance between the center of gravity of the slide 30 and the center of gravity of the cargo box 5 along the outer ridge line of the cargo box 5 and the projection point on the upper surface of the cargo box 5, so that the upper surface of the cargo box 5 has a certain inclination relative to the horizontal plane when it is suspended, which is convenient for other components to slide out; all components of the terminal tightening and untying subsystem except the slide 30 form an integral slider inserted into the slide 30;

[0118] The lock buckle 31 includes a card 3101, a column 3102, a socket 3103, and a spring limiting hole 3104; the card 3101 is fixedly connected to the column 3102 through a fixing hole 3105, and the column is inserted into the central hole 3203 and the torque spring 34; in the untied state, the card 3101 is vertically upward relative to the plane of the upper cover 32, and can pass through the open slot on the upper part of the slide slot 30;

[0119] The upper cover 32 includes a cover body 3201, a slot 3202, a center hole 3203, a hanging ring 3204, a connecting hole 3205, and a boss 3405; the upper cover 32 is connected to the slider box 33 through the connecting hole 3205; the upper cover 32 has the following functions: the center hole 3203 limits the rotation of the column 3102, the slot 3202 on the upper part of the boss 3405 limits the displacement of the straight section 3402, the upper protrusion of the upper cover 32 is embedded in the upper open groove of the slide slot 30, provides a mounting position for the torque spring 34, and provides a suspension point for the tether 202 to the entire slider through the hanging ring 3204;

[0120] The slider box 33 is the equipment cabin frame of the integral slider, including a connecting column 3301, a second socket 3302, a third socket 3303, a fourth socket 3304, a wire hole 1 3305, a square frame 3306, a groove 3307, a second wire hole 3308, a third wire hole 3309, and an antenna hole 3310; the connecting column 3301 is used to fix the lower cover 37; the second socket 3302 cooperates with the first socket 3103 for the threaded pin 35 to be inserted to limit the angular displacement of the lock buckle 31; the third socket 3303 is passed through by the motor output shaft; the fourth socket 3304 is inserted by the rear of the threaded pin 35; the wire hole 1 3305, the second wire hole 3308, and the third wire hole 3309 are used for the equipment connection wires to pass through; the square frame 3306 is the installation position of the electronic control board 3801; the groove 3307 is the placement slot of the column 3102; the antenna hole 3310 is the arrangement position of the slider antenna 3802;

[0121] The torque spring 34 provides a restoring torque for the lock buckle 31 and includes a spiral section 3401, a straight section 3402, a screw 3403, and an end ring 3404;

[0122] The internal functional components of the slider box include a threaded pin 35, a driving mechanism 36, and a controller 38; the driving mechanism 36 includes a screw 3601, a coupling hole 1 3602, a motor output shaft 3603, a coupling hole 2 3604, a driving motor 3605, and a motor bracket 3606; the thread of the threaded pin 35 is meshed with the thread of the screw 3601, so that the threaded pin 35 is directly driven by the screw 3601; the driving motor 3605 is controlled by the controller 38; the controller 38 includes an electronic control board 3801 and a slider antenna 3802, wherein the electronic control board 3801 controls the driving motor 3605 to be on and off, and the slider antenna 3802 receives the control instructions of the drone;

[0123] The lower cover 37 closes the slider box and is fixed by bolts 3701 passing through the connection holes 3205 and inserting into the connection posts 3301;

[0124] The emergency escape subsystem 4 completes the emergency cutting task of the tether 202 when the terminal locking and untying system functions fail and cannot complete the separation and release of the cargo box 55; the emergency escape subsystem 4 includes a pulley 41, a cutter 42, a starting lock 43, a slide rail 44, a cable management column 45, a limit clamp 46, a cable bundle 47, and a mounting platform 48;

[0125] The pulley 41 drives the cutter 42 to move along the slide rail 44. The pulley 41 includes a frame 4101, a rear wheel 4102, a rear crossbeam 4103, a cable 1 4104, a motor 4105, a front wheel 4106, a first bevel gear 4107, a second bevel gear 4108, and an anti-collision bar 4109. The motor 4105 drives the first bevel gear 4107 to rotate, and the first bevel gear 4107 drives the second bevel gear 4108 to rotate, and then the second bevel gear 4108 drives the front wheel 4106 to rotate; the anti-collision bar 4109 plays a role in protecting the rear pulley components;

[0126] The cutter 42 directly completes the cutting operation of the tether 202. The cutter 42 includes a cable 2 4201, a cutter holder 4202, a motor 3 4203, and a blade assembly 4204. The motor 3 4203 is fixed on the cutter holder 4202, and the motor 3 4203 drives the blade assembly 4204. The cable 2 4201 and the cable 1 4104 are merged into the cable bundle 1 47.

[0127] The starting lock 43 includes a rocker arm 4301, a steering gear 4302, a bracket 4303, and a second cable bundle 4304; the steering gear 4302 is fixed on the slide rail 44 through the bracket 4303, and the steering gear 4302 drives the rocker arm 4301 to perform angular displacement, and the end of the rocker arm 4301 is hooked on the rear cross beam 4103 to limit the forward displacement of the pulley 41; the steering gear cable is integrated into the second cable bundle 4304;

[0128] The slide rail 44 and the guide groove are formed into a semi-open hollow cuboid with an opening inwards on each side. The rear wheel 4102 and the front wheel 4106 are embedded in the slide rail 44 for running. Both ends of the slide rail 44 are mounted on the mounting platform 48.

[0129] The cable management column 45 includes two pairs of side-by-side hard cylinders distributed on the left and right sides of the cutter 42, and there is a slit between each pair of cylinders for the tether 202 to pass through. The vertical center of the cable management column 45 and the center of mass of the blade assembly 4204 are located in the same horizontal plane; the cable management column 45 has the function of restraining the direction of the tether 202 and clamping the tension sensor 101 when the tether 202 is retracted; both ends of the cable management column 45 are installed on the mounting platform 48;

[0130] Limiting clamps 46 are nested in the front, back, left and right positions of the cable management column 45 , with a total of four pairs, which play a role in limiting the lateral displacement limit of the tether along the cable management column 45 .

[0131] Fig. 9 A schematic flow chart of a method for controlling a UAV rope-drop delivery according to an embodiment of the present invention is shown.

[0132] like Fig. 9 As shown, a control method for a UAV cable-drop delivery system is provided, which utilizes the above-mentioned UAV cable-drop delivery system; comprising:

[0133] The cargo box is slid out of the payload compartment of the drone and is freely suspended below the drone via the tether 202;

[0134] Determine whether the cargo box posture is stable;

[0135] If the cargo box is in a stable position, the cargo box is controlled to descend until it touches the ground;

[0136] Control the end locking and untying subsystem to separate the sliding part from the fixed part, thereby releasing the cargo box;

[0137] The recovery tether 202 completes the deployment.

[0138] In this embodiment, if the terminal locking and untying subsystem fails, the emergency escape subsystem is activated to cut the tether 202 and then recover the tether 202 to complete the release.

[0139] In this embodiment, judging whether the container posture is stable includes:

[0140] The delivery control subsystem uses the tension sensor 101 to monitor whether the cargo box posture is stable;

[0141] If the standard deviation σ∈0 of the tension signal of the tension sensor 101, 0.02M0g, it is stable;

[0142] The calculation formula of σ is as follows:

[0143]

[0144] in:

[0145] The mass of the slider is M h ;

[0146] The mass of the cargo box is M0;

[0147] The acceleration due to gravity is g

[0148] The instantaneous tension value of the sensor is regarded as an instantaneous value Fi for each signal sending cycle;

[0149] The signal sending period of the tension sensor 101 is ti;

[0150] The system time is T.

[0151] In this embodiment, controlling the cargo box to descend to touch the ground includes a high-speed descent section, a buffer descent section and a low-speed descent section, and the high-speed descent section and the low-speed descent section are linearly transitioned through the buffer descent section.

[0152] Specifically, if the hovering height of the drone is H0, the height of the cargo box from the ground is H, the starting height of the cargo box deceleration is Hm, the angular velocity of the winch is ω1, the winch radius is R, the high-speed uniform descent speed of the high-speed descent section is V1, the time of the high-speed descent section is T1, the low-speed uniform descent speed of the low-speed descent section is V2, and the time of the low-speed descent section is T2, where:

[0153] ω1=V1 / R;

[0154] T1 = Hm / V1;

[0155] The lower low-speed uniform descent speed of the low-speed descent section is V2, and the time taken for the low-speed descent section is T2;

[0156] in:

[0157] ω1=V2 / R;

[0158] T2=Hm / V2

[0159] The mean value F i <0.7M0g, it is judged that the cargo box touches the ground, and ω1=0, where:

[0160]

[0161] The descent speed of the buffer descent section is V.

[0162] V=ω1R=V1-[(V1-V2) / (T2-T1)](T-T1);

[0163] The speed of the winch at this time:

[0164] ω1={V1-[(V1-V2) / (T2-T1)](T-T1)} / R.

[0165] In this embodiment, it also includes:

[0166] The delivery control subsystem controls the terminal locking and untying subsystem to release the cargo box, and the fixed part is separated from the sliding part;

[0167] The winch reclaims the tether for 4 weeks. i ∈0.9M h g, 1.2M h g,σ∈0,0.01M h g is successful;

[0168] Continue to retrieve tether 202 to F imax >2Mh g,σ>1.5M h g.

[0169] Specifically,

[0170]

[0171] In this embodiment, if the end locking and untying subsystem fails, the emergency escape subsystem is activated to cut the tether 202, including:

[0172] The winch reclaims the tether for 4 weeks. 1.2M h g fails;

[0173] The winch failed to retrieve the tether after 4 cycles of repetition three times;

[0174] Recovery tether 202 to F i ≥0.92M o g, then start the emergency escape subsystem to cut off the tether 202;

[0175] If F i =0, the cutting is completed.

[0176] When the drone drop delivery control method of this embodiment is used,

[0177] Phase 1: Cargo Containers Departure

[0178] After the cargo box 5 slides out of the payload compartment, it is freely suspended under the drone through the tether 202. The system waits for the cargo box to stabilize. After the cargo box stability criterion is met, the system starts to start the cargo box 5 to descend.

[0179] Stage 2: Cargo Box Drop

[0180] The descent of the cargo box 5 is divided into a high-speed descent section, a buffer descent section, and a low-speed descent section.

[0181] High-speed descending section: the cargo box descends at a relatively high speed to the buffer short starting height;

[0182] Buffer descending section: the descending speed of the cargo box 5 smoothly transitions from high speed to low speed;

[0183] Low-speed descent section: the cargo box 5 descends at a low speed until the ground contact criterion is met, and it is judged that the cargo box 5 touches the ground, and the winch 201 stops.

[0184] Stage 3: Untying the Cargo Box and Retrieving the Tether

[0185] Unbinding the cargo box:

[0186] The slider antenna 3802 receives the unbinding command signal and starts the two slider motors through the electronic control board 3801. The threaded pin 35 is pulled out from the socket 1 3103, and the lock 31 is reset. The system determines that the unbinding is completed by driving the motor 3605 for a fixed working time. The drone receives the unbinding completion feedback signal, and the winch motor starts to retract the tether 202. As the tension of the tether 202 increases, the upper surface of the cargo box 5 tilts relative to the horizontal plane. If the cargo box 5 is in other non-front-up postures on the ground, which affects the resetting of the lock, the tether 202 will naturally straighten it when it is retracted. After the lock is reset or the slider box 33 slides out first, it will not affect the unbinding system to complete its mission. The slider box 33 then slides out of the slide slot 30 under the action of the tension, and the unbinding completion feedback signal is sent. After the judgment is established, the system starts to start the tether retraction.

[0187] Tether Retraction:

[0188] The tether retraction starts after the UAV flight system receives the untying completion command. First, the winch motor is started to retract the tether 202 at a constant speed. When the tension sensor 101 touches the cable management column 45, the tension of the tether 202 changes. When the tether 202 retraction completion judgment is met, the winch motor stops.

[0189] Phase 4: Emergency escape strategy

[0190] In the event of functional failure of the terminal locking and untying subsystem 3, the emergency escape strategy activates the emergency escape subsystem 4 to forcibly disconnect the tether 202 from the cargo box 5, thereby completing the delivery of the cargo box 5.

[0191] When the unbinding action fails to reach the unbinding completion judgment standard after three iterative operations, the unbinding system is deemed to have failed and the emergency escape subsystem begins to work.

[0192] First, tighten the tether 202 until the tension signal value reaches the standard. Then, the emergency escape subsystem is started, the knife motor 4203 rotates the blade 4204, the rocker arm 4301 is lifted, and the pulley 41 slides at a constant speed over the working section of the slide rail 44. After the tether 202 is cut off, the tension of the tension sensor 101 drops to zero. Finally, the escape is completed and the drone returns.

[0193] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for controlling a drone rope-drop delivery system, characterized in that: include: UAV rope-drop delivery system, the system includes: A delivery actuation subsystem, the delivery actuation subsystem comprising a winch and a tether, one end of the tether being connected to the winch; An end locking and untying subsystem, the end locking and untying subsystem comprising a detachably connected fixed part and a sliding part, the fixed part being arranged on the cargo box, and the sliding part being connected to the other end of the tether; An emergency escape subsystem, which is arranged on one side of the delivery actuation subsystem and is used to cut off the tether; A delivery control subsystem, the delivery control subsystem being electrically connected to the delivery actuation subsystem, the terminal locking and untying subsystem and the emergency escape subsystem; The method includes: The cargo box is slid out of the payload compartment of the UAV and is freely suspended under the UAV by a tether; Determine whether the cargo box posture is stable; If the cargo box is in a stable position, the cargo box is controlled to descend until it touches the ground; Control the end locking and untying subsystem to separate the sliding part from the fixed part, thereby releasing the cargo box; The recovery tether completes the deployment; It also includes activating the emergency escape subsystem to cut the tether and recover the tether to complete the release if the terminal locking and untying subsystem fails; The determining whether the cargo box posture is stable includes: The delivery control subsystem uses a tension sensor to monitor whether the cargo box posture is stable; If the standard deviation of the tension signal of the tension sensor is stable; The calculation formula is as follows: in: The mass of the slider is M h ; The mass of the cargo box is M0; The acceleration due to gravity is g; The instantaneous tension value of the sensor is Fi; The signal sending period of the tension sensor is ti; The system time is T.

2. The method for controlling a drone rope-drop delivery system according to claim 1, characterized in that: The delivery control subsystem includes a flight control computer, a winch motor controller electrically connected to the flight control computer, and a tension sensor electrically connected to the flight control computer, wherein the tension sensor is arranged on the tether near the sliding part.

3. The control method of a UAV rope-drop delivery system according to claim 1, characterized in that: The end locking and untying subsystem includes: A connection block and a controller, wherein the connection block is arranged on the top of the cargo box; A slide groove, wherein the slide groove is arranged on the top of the connecting block, one end of the slide groove is higher than the other end, and the cross section of the slide groove is in an inverted T shape; A slider box, the slider box is slidably connected in the slide slot, a driving mechanism electrically connected to the controller is arranged in the slider box, and a driving end of the driving mechanism can be retracted and exposed outside the slider box; A lock buckle, the lock buckle is rotatably connected to the upper end of the slider box, and when the driving end is exposed, it interferes with the rotation of the lock buckle; A torque spring is arranged on the slider box and is used to provide a restoring force for the lock. When the driving end contracts, the lock is restored and can pass through the slide groove.

4. The control method of a UAV cable-drop delivery system according to claim 1, characterized in that: The emergency escape subsystem comprises: Two mounting platforms, the two mounting platforms are respectively located at two ends of the winch; Two groups of cable management columns, the two groups of cable management columns are arranged at a gap between the two mounting platforms, the cable management columns include two steel columns arranged at a gap, the two steel columns are respectively provided with a limited position clamp, and the tether passes through the gap between the two steel columns in sequence; A pulley, the pulley being slidably connected between the two groups of cable management columns; A cutter is disposed on the pulley, and the pulley is capable of driving the cutter to cut the tether.

5. The control method of a UAV rope-drop delivery system according to claim 4 is characterized in that: It also includes two slide rails, which are arranged between the two mounting platforms, and adjacent sides of the two slide rails are provided with guide grooves, and the pulley includes: A vehicle frame, wherein two ends of the vehicle frame are respectively provided with a front wheel and a rear wheel, and the front wheel and the rear wheel are movably connected in the guide groove; A vehicle motor, wherein the vehicle motor is arranged in the vehicle frame, and an output end of the vehicle motor is connected to the front wheel of the vehicle through a first bevel gear and a second bevel gear that mesh with each other; An anti-collision rod, the anti-collision rod is arranged at one end of the frame close to the front wheel of the vehicle; It also includes a starting lock and a rear cross beam, wherein the rear cross beam is arranged on the frame, and the starting lock includes: A steering gear is arranged on the slide rail, a rocker arm is arranged at the driving end of the steering gear, and a hook matched with the rear cross beam is arranged at one end of the rocker arm away from the steering gear.

6. The control method of a UAV rope-drop delivery system according to claim 1, characterized in that: Also includes: The delivery control subsystem controls the terminal locking and untying subsystem to release the cargo box, and the fixed part is separated from the sliding part; The winch reclaims the tether for 4 weeks. then success; Continue to retrieve the tether to .

7. The method for controlling a drone drop delivery system according to claim 6, characterized in that: If the terminal locking and untying subsystem fails, the emergency escape subsystem is activated to cut the tether, which includes: The winch reclaims the tether for 4 weeks. then it fails; The winch failed to retrieve the tether after 4 cycles of repetition three times; Retrieve tether to Then the emergency escape subsystem is activated to cut the tether; like The cutting is then completed.

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