A novel unmanned aerial vehicle launching device based on gear and rack and a launching control method thereof

Abstract

The application relates to a novel unmanned aerial vehicle launching device based on a gear and a rack and a launching control method thereof. The launching device comprises a mounting seat, a steering engine, a driving gear, a rack, a baffle, a camera and a single-chip microcomputer. A central shaft is arranged at the top center of the mounting seat. The steering engine is arranged on the mounting seat below the central shaft. The driving gear is arranged on the output shaft of the steering engine. The rack is arranged between the central shaft and the steering engine and is engaged with the driving gear. A plurality of baffles are arranged on the bases on both sides of the central shaft along the length direction of the rack. The two baffles adjacent to the central shaft are symmetrical about the central shaft. The rack passes through all the baffles. An installation position is formed between two adjacent baffles. The installation position is arranged on the rack. The camera is arranged on the mounting seat directly below the central shaft. The single-chip microcomputer is arranged on the mounting seat. The steering engine and the camera are electrically connected with the single-chip microcomputer. The application has the advantages that at least two different kinds of materials can be hung, and the materials can be launched according to different application scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a novel unmanned aerial vehicle delivery device based on a gear and rack and a delivery control method thereof. BACKGROUND

[0002] An unmanned aerial vehicle is a kind of unmanned aircraft or is completely or intermittently autonomously operated by a vehicle-mounted computer using radio remote control equipment and self-provided program control device. Compared with manned aircraft, unmanned aerial vehicles are more suitable for some "dangerous, simple or low-cost" work. In particular, the application in the fields of express delivery and disaster relief cannot be separated from the application of unmanned aerial vehicle delivery devices.

[0003] The on-board delivery device of the unmanned aerial vehicle has a box delivery type, a rope delivery type and a pin shaft delivery type. For a complex scenario of one-time continuous delivery, the unmanned aerial vehicle needs to be continuously delivered and cannot deliver all objects at one time. After one-time delivery by most current delivery devices, the unmanned aerial vehicle needs to return to reload objects, which has the problems of low delivery efficiency and low space utilization rate, and does not make the best use of the flight efficiency of the unmanned aerial vehicle, especially in some disaster relief scenarios, the flight delivery efficiency is particularly urgent. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide a novel unmanned aerial vehicle delivery device based on a gear and rack and a delivery control method thereof. The device can realize the hanging of at least two different kinds of objects and can be used for different application scenarios.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A novel unmanned aerial vehicle delivery device based on a gear and rack, comprising a mounting seat, a rudder, a driving gear, a rack, a baffle, a camera and a single-chip microcomputer, a center shaft is arranged at the top center of the mounting seat, the rudder is arranged on the mounting seat below the center shaft, the driving gear is arranged on the output shaft of the rudder, the rack is arranged between the center shaft and the rudder and is engaged with the driving gear, the rack is symmetrical about the center shaft at both ends, a plurality of baffles arranged at equal intervals are arranged on the bottom seat on both sides of the center shaft along the length direction of the rack, the two baffles adjacent to the center shaft are symmetrical about the center shaft, an opening is arranged on the baffle, the rack passes through all the baffles through the opening, an installation position is formed between two adjacent baffles, the hanging object is installed on the rack at the installation position, and the camera is arranged on the mounting seat directly below the center shaft.

[0007] Further, the mounting seat comprises a top plate, a side plate and a bottom plate, the side plate is arranged at the bottom of the top plate, the bottom plate is arranged at the bottom of the side plate, the center shaft is arranged at the top center of the side plate, the rudder and the single-chip microcomputer are arranged on the side plate, the baffle is arranged at the bottom of the top plate, and the camera is arranged at the bottom of the bottom plate.

[0008] Further, the side plate is provided with a driven gear, the driven gear is located on both sides of the central shaft respectively, the rack is engaged with the driven gear and is in sliding connection with the central shaft.

[0009] Based on the above-mentioned gear and rack type unmanned aerial vehicle launching device, the application further provides a corresponding launching control method, which comprises the following control calculation:

[0010] The control time input required for the driving gear to rotate when the installation position farthest from the central shaft on both sides of the central shaft in the initial state is launched is calculated respectively;

[0011] The control time input required for the driving gear to rotate when the installation positions on both sides of the central shaft in the initial state are sequentially switched from far to near for launching is calculated respectively with the central shaft as the reference;

[0012] The control time input required for the driving gear to rotate when a certain installation position on one side of the central shaft in the initial state is switched to the installation position farthest from the central shaft on the other side of the central shaft for launching is calculated;

[0013] The launching bias compensation amount corresponding to each installation position in the initial state is calculated.

[0014] Further, the symmetry of the two ends of the rack about the central shaft is taken as the initial state, the installation positions on both sides of the central shaft are sequentially sorted from far to near with the central shaft as the reference, and the installation position numbers on both sides of the central shaft are respectively m and m', m = 1, 2, 3…z, m' = 1, 2, 3…z.

[0015] Further, when the m = 1th installation position is launched, the control time input required for the driving gear to rotate is t m = 1, then In the formula, l out is the end length of the rack, d1 is the distance between two adjacent baffles, d2 is the pitch circle diameter of the driving gear, and n is the rotational speed of the driving gear; similarly, when the m' = 1th installation position is launched, the control time input required for the driving gear to rotate is t

[0016] Further, when the mth installation position is switched to the m+1th installation position for launching, the control time input required for the driving gear to rotate is t then In the formula, d1 is the distance between two adjacent baffles, d2 is the pitch circle diameter of the driving gear, and n is the rotational speed of the driving gear; similarly, when the m' installation position is switched to the m'+1th installation position for launching, the control time input required for the driving gear to rotate is t

[0017] Further, when the installation position is switched from the mth installation position to the m' = 1th installation position, the control time input for the rotation of the driving gear is Then In the formula, l out is the length of the end of the rack, d1 is the distance between two adjacent baffles, d2 is the diameter of the index circle of the driving gear, and n is the rotation speed of the driving gear; similarly, when the installation position is switched from the m'th installation position to the m = 1th installation position, the control time input for the rotation of the driving gear is

[0018] Further, the offset compensation amount of the mth installation position is ΔP m Then In the formula, s is the distance between the center shaft and its adjacent baffle, and d1 is the distance between two adjacent baffles; similarly, the offset compensation amount of the m'th installation position is -ΔP m′ Then -ΔP m′ The "-" in the formula indicates that the direction of the offset compensation amount of the m'th installation position is opposite to that of the mth installation position.

[0019] The present application has the following advantages:

[0020] 1. By arranging the rudder, the driving gear, the rack and the baffles, the rudder drives the rack to move horizontally left and right through the driving gear, and when the end of the rack is away from a certain installation position, the hanging object at the installation position can fall down, so that at least two different kinds of objects can be hung at the two ends of the rack, and according to different delivery requirements, the control of the movement of the rack is realized by calculating the control time input for the rotation of the corresponding driving gear, so as to realize differentiated delivery and improve work efficiency.

[0021] 2. By cooperating the driven gear and the center shaft, the rack can be assisted and supported, so as to ensure that the rudder drives the rack to move stably through the driving gear.

[0022] 3. By calculating the offset compensation amount, the offset amount of the center of the unmanned aerial vehicle body relative to the direction of the nose or tail can be determined when delivering at different installation positions, and then the offset compensation amount is input into the flight control position control loop of the unmanned aerial vehicle to realize accurate position delivery. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0024] In the figure: 1, rudder; 2, driving gear; 3, rack; 4, baffle; 5, camera; 6, center shaft; 7, top plate; 8, side plate; 9, bottom plate; 10, driven gear. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0026] like Figure 1 As shown, a novel UAV delivery device based on gear and rack includes a mounting base, a servo motor 1, a drive gear 2, a rack 3, a baffle 4, a camera 5, and a microcontroller. The mounting base includes a top plate 7, a side plate 8, and a bottom plate 9. The side plate 8 is fixed to the bottom of the top plate 7, and the bottom plate 9 is fixed to the bottom of the side plate 8.

[0027] A central shaft 6 is fixed at the top center of the side plate 8. The servo motor 1 is mounted on the side plate 8 and located below the central shaft 6. The output shaft of the servo motor 1 of the drive gear 2 is connected and meshes with the rack 3, so that the servo motor 1 can drive the rack 3 to move horizontally through the drive gear 2.

[0028] The rack 3 is located between the central shaft 6 and the driving gear 2, and its two ends are symmetrical about the central shaft 6. Multiple equally spaced baffles 4 are provided at the bottom of the top plates 7 on both sides of the central shaft 6 along the length of the rack 3, and the two baffles 4 adjacent to the central shaft 6 are symmetrical about the central shaft 6. Openings are provided on the baffles 4, through which the rack 3 passes. To facilitate the smooth movement of the rack 3 driven by the servo motor 1, a driven gear 10 is also installed on the side plate 8. The driven gear 10 and the servo motor 1 are located on opposite sides of the central shaft 6. The rack 3 meshes with the driven gear 10 and slides with the central shaft 6. Thus, the driven gear 10 provides auxiliary support for the rack 3 and, in conjunction with the driving gear 2 and the central shaft 6, prevents the rack 3 from wobbling, enabling the rack 3 to move smoothly.

[0029] With the above structure, the area between two adjacent baffles 4 is used as a mounting position. The load is hung on the rack 3 at the mounting position. When the servo motor 1 drives the rack 3 to move back and forth, when the end of the rack 3 leaves a certain mounting position, the load at that mounting position will fall off, thus achieving deployment. (Microcontroller) Figure 1 (Not shown in the diagram) Mounted on side plate 8, camera 5 is mounted on the bottom of base plate 9 and directly below central axis 6. Both servo motor 1 and camera 5 are electrically connected to a microcontroller. The operation of servo motor 1 is controlled by the microcontroller, and camera 5 collects information about the position corresponding to central axis 6 by taking pictures. During deployment, the mounting base is fixed to the UAV, so that the two ends of rack 6 correspond to the nose and tail of the UAV respectively, and then the deployment device is installed.

[0030] When using the aforementioned novel UAV delivery device based on gear and rack, taking the symmetrical arrangement of both ends of rack 3 about the central axis 6 as the initial state, the following three delivery methods are available when loading and delivering the device in the initial state:

[0031] 1. The installation position farthest from the center shaft 6 on both sides of the center shaft 6 is put in.

[0032] 2. The installation positions on both sides of the center shaft 6 are sequentially put in from far to near with the center shaft 6 as the reference.

[0033] 3. After the installation position on one side of the center shaft 6 is put in, the installation position farthest from the center shaft 6 on the other side of the center shaft 6 is switched to and put in.

[0034] According to the above three putting-in modes, the installation positions on both sides of the center shaft 6 are sequentially sorted from far to near with the center shaft 6 as the reference, and the installation position numbers on both sides of the center shaft 6 are respectively m and m', m = 1, 2, 3…z, m' = 1, 2, 3…z. The three putting-in modes correspond to different control time inputs of the driving gear 2 to be rotated, and the following putting-in control calculation is included:

[0035] For the first putting-in mode, when the m = 1th installation position is put in, the control time input of the driving gear 2 to be rotated is t m = 1, then In the formula, l out is the end length of the rack 3, that is, the distance between the end of the rack 3 and the adjacent baffle 4, d1 is the distance between two adjacent baffles 4, d2 is the pitch circle diameter of the driving gear 2, and n is the rotation speed of the driving gear 2; similarly, when the m' = 1th installation position is put in, the control time input of the driving gear 2 to be rotated is t

[0036] For the second putting-in mode, when the mth installation position is switched to the m + 1th installation position for putting in, the control time input of the driving gear 2 to be rotated is t then In the formula, d1 is the distance between two adjacent baffles 4, d2 is the pitch circle diameter of the driving gear 2, and n is the rotation speed of the driving gear 2; similarly, when the m' installation position is switched to the m' + 1th installation position for putting in, the control time input of the driving gear 2 to be rotated is t

[0037] For the third putting-in mode, when the mth installation position is switched to the m' = 1th installation position for putting in, the control time input of the driving gear 2 to be rotated is t then In the formula, l out is the end length of the rack 3, d1 is the distance between two adjacent baffles 4, d2 is the pitch circle diameter of the driving gear 2, and n is the rotation speed of the driving gear 2; similarly, when the m' installation position is switched to the m = 1th installation position for putting in, the control time input of the driving gear 2 to be rotated is t

[0038] Here, taking z = 3 as an example, when switching from the m = 1st mounting position to the m' = 1st mounting position for delivery, when switching from the m = 2nd mounting position to the m' = 1st mounting position for delivery, when switching from the m = 3rd mounting position to the m' = 1st mounting position for delivery,

[0039] Similarly, taking z = 3 as an example, when switching from the m' = 1st mounting position to the m = 1st mounting position for delivery, when switching from the m' = 2nd mounting position to the m = 1st mounting position for delivery, when switching from the m' = 3rd mounting position to the m = 1st mounting position for delivery,

[0040] In addition, since the camera 5 aims at the position corresponding to the central axis 6, and the mounting object is located at each mounting position, when delivering at different mounting positions, the offset of the center of the unmanned aerial vehicle body relative to the nose or tail direction needs to be calculated, and then the offset corresponding to each mounting position is input to the flight control position control loop of the unmanned aerial vehicle to realize accurate position delivery.

[0041] To this end, the offset of the center of the unmanned aerial vehicle body relative to the nose or tail direction is set as the delivery bias compensation, and the mounting position number of one end of the rack corresponding to the nose is set as m, and the mounting position number of one end of the rack corresponding to the tail is set as m'. The delivery bias compensation of the mth mounting position is set as ΔP m , then In the formula, s is the distance between the central axis (6) and its adjacent baffle (4); similarly, the delivery bias compensation of the m'th mounting position is set as -ΔP m′ , then -ΔP m′ The "-" in -ΔP indicates that the direction of the delivery bias compensation of the m'th mounting position is opposite to that of the mth mounting position, that is, ΔP m is the delivery bias compensation in the nose direction, and -ΔP m′ is the delivery bias compensation in the tail direction.

[0042] Here, taking z = 3 as an example, the delivery bias compensations of the mounting positions when the mounting position number is m are ΔP1, ΔP2 and ΔP3 respectively, then Similarly, the delivery bias compensations of the mounting positions when the mounting position number is m' are -ΔP1, -ΔP2 and -ΔP3 respectively, then

[0043] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous changes, modifications, substitutions and variations can be made thereto without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A novel gear and rack based unmanned aerial vehicle launching device launching control method, characterized in that: The novel unmanned aerial vehicle launching device based on gear and rack comprises a mounting seat, a steering engine (1), a driving gear (2), a rack (3), a baffle (4), a camera (5) and a single-chip microcomputer, a central shaft (6) is arranged at the top center of the mounting seat, the steering engine (1) is arranged on the mounting seat below the central shaft (6), the driving gear (2) is arranged on the output shaft of the steering engine (1), the rack (3) is arranged between the central shaft (6) and the steering engine (1) and is engaged with the driving gear (2), the rack (3) is symmetrical about the central shaft (6) at both ends, the rack (3) corresponds to the nose and tail of the unmanned aerial vehicle at both ends, a plurality of baffles (4) are arranged on the bases on both sides of the central shaft (6) along the length direction of the rack (3) at equal intervals, the two baffles (4) adjacent to the central shaft (6) are symmetrical about the central shaft (6), the baffles (4) are provided with openings, the rack (3) passes through all the baffles (4) through the openings, each installation position is formed between two adjacent baffles (4), and the mounting object is mounted on the rack (3) at the installation position, the camera (5) is arranged on the mounting seat directly below the central shaft (6), the single-chip microcomputer is arranged on the mounting seat, and the steering engine (1) and the camera (5) are electrically connected with the single-chip microcomputer. The launching control method of the novel unmanned aerial vehicle launching device based on gear and rack comprises the following steps: control time inputs required for the driving gear (2) to rotate when the installation position farthest from the central shaft (6) on the side of the central shaft (6) is used for launching in the initial state are calculated respectively; control time inputs required for the driving gear (2) to rotate when the installation positions on the side of the central shaft (6) are sequentially switched from far to near for launching in the initial state are calculated respectively with the central shaft (6) as a reference; control time inputs required for the driving gear (2) to rotate when the installation position on the side of the central shaft (6) is switched to the installation position farthest from the central shaft (6) on the other side of the central shaft (6) for launching in the initial state are calculated; launching bias compensation amounts corresponding to the installation positions in the initial state are calculated; The rack (3) is symmetrical about the center shaft (6) at both ends as an initial state, the installation positions on both sides of the center shaft (6) are sequentially numbered from far to near with the center shaft (6) as a reference, and the installation position numbers on both sides of the center shaft (6) are respectively denoted as m and , m = 1, 2, 3…z, =1, 2, 3…z; Let the placement offset compensation amount for installation position m be... ,but In the formula, s is the distance between the central axis (6) and its adjacent baffle (4). Let be the distance between two adjacent baffles (4); similarly, let the first baffle be the distance between two adjacent baffles (4). The offset compensation for the placement of the installation position is: ,but , The "-" in the middle indicates the first The direction of the offset compensation for the placement of the first installation position is opposite to the direction of the offset compensation for the placement of the mth installation position.

2. The novel rack and pinion based UAV launching device launching control method according to claim 1, characterized in that: the mounting seat comprises a top plate (7), a side plate (8) and a bottom plate (9), the side plate (8) is arranged at the bottom of the top plate (7), the bottom plate (9) is arranged at the bottom of the side plate (8), the central shaft (6) is arranged at the top center of the side plate (8), the steering engine (1) and the single-chip microcomputer are arranged on the side plate (8), the baffles (4) are arranged at the bottom of the top plate (7), and the camera (5) is arranged at the bottom of the bottom plate (9).

3. The novel rack and pinion based UAV launching device launching control method according to claim 2, characterized in that: a driven gear (10) is arranged on the side plate (8), the driven gear (10) is located on the side of the central shaft (6) and is electrically connected with the steering engine (1), the rack (3) is engaged with the driven gear (10) and is slidably connected with the central shaft (6).

4. The novel rack and pinion based UAV launching device launching control method according to claim 1, characterized in that: Let the control time input for the drive gear (2) to rotate when the m=1 installation position is deployed be... ,but In the formula The length of the end of the rack (3) is given. The distance between two adjacent baffles (4) Let n be the pitch circle diameter of the driving gear (2), and n be the rotational speed of the driving gear (2); similarly, the nth... =When the device is installed at position 1, the control time input for the rotation of the drive gear (2) is as follows: .

5. The novel rack and pinion based UAV launching device launching control method according to claim 1, characterized in that: Suppose that when switching from installation position m to installation position (m+1) for delivery, the control time input for the rotation of the drive gear (2) is: ,but In the formula The distance between two adjacent baffles (4) Let n be the pitch circle diameter of the driving gear (2), and n be the rotational speed of the driving gear (2); similarly, from the first... Switch the installation position to the first one. When placing the device at installation position +1, the control time input for the rotation of the drive gear (2) is required. .

6. The novel rack and pinion based UAV launching device launching control method according to claim 1, characterized in that: Suppose the switch is from the m-th installation position to the m-th installation position. =When the device is installed at position 1, the control time input for the rotation of the drive gear (2) is as follows: ,but In the formula The length of the end of the rack (3) is given. The distance between two adjacent baffles (4) Let n be the pitch circle diameter of the driving gear (2), and n be the rotational speed of the driving gear (2); similarly, from the first... When switching from installation position m=1 to installation position for deployment, the control time input for the rotation of the drive gear (2) is required. .

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