A rotor unmanned aerial vehicle for multi-machine cooperative carrying operation

Abstract

The present application relates to the technical field of rotor unmanned aerial vehicle, and particularly relates to a rotor unmanned aerial vehicle for multi-robot cooperative carrying operation. The rotor unmanned aerial vehicle comprises two-side separated rotor unmanned aerial vehicles, a multi-degree-of-freedom load connecting arm and an electromagnetic displacement measuring system. The two-side separated rotor unmanned aerial vehicles comprise two bodies symmetrically arranged and connected through a middle connecting rod. The multi-degree-of-freedom load connecting arm is connected with the middle connecting rod at a first end, and a terminal end is used for mounting an end effector required for a carrying task. The electromagnetic displacement measuring system is arranged in the multi-degree-of-freedom load connecting arm and used for measuring the extension and contraction amount of the terminal end of the multi-degree-of-freedom load connecting arm. The two-side separated rotor unmanned aerial vehicle architecture and the counterweight module make the connected load more firmly fixed at the gravity center position of the unmanned aerial vehicle, and the stability of carrying large objects is improved.

Description

Technical Field

[0001] This invention relates to the field of rotary-wing unmanned aerial vehicle (UAV) technology, and in particular to a rotary-wing UAV for multi-unit collaborative transport operations. Background Technology

[0002] With the rapid development of industrialization and modernization, the use of various equipment and gear in field environments is increasing. These environments are often difficult to access by ground transportation methods due to their complex and varied terrain, posing a significant challenge to equipment handling. In recent years, the rapid development of drone technology has provided new solutions. In particular, rotary-wing drones, with their advantages of vertical take-off and landing, strong hovering ability, and flexible operation, have become the ideal choice for performing transportation tasks in complex environments, leading to the development of transport drones for field transportation operations, such as DJI's DJI IF lyCart 30. However, their limitations in load capacity and loading space cannot meet the needs of transporting large and complex equipment. Moreover, the adaptability and scalability of such transport drones are currently poor; when the weight of the equipment being transported exceeds their load capacity, the transportation task often cannot be completed. Therefore, developing a flexible deployment swarm collaborative rotary-wing drone system to build an innovative transportation system that can be expanded as needed according to the weight and size of the equipment being transported to adapt to the transportation needs of various equipment in complex field environments has become particularly crucial. Summary of the Invention

[0003] To address the above problems and overcome the shortcomings of existing technologies, the present invention aims to provide a rotary-wing unmanned aerial vehicle (UAV) for multi-unit collaborative transport operations. This UAV system features mobile deployment capabilities, allowing any number to be deployed on the target object to be transported, completing the transport task through mutual cooperation among the individual units. It enables the deployment of a sufficient number of swarming rotary-wing robots based on the weight and size of the target object, assisting heavy facilities / equipment in traversing rugged terrain.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A rotary-wing unmanned aerial vehicle (UAV) for multi-machine collaborative handling operations includes:

[0006] A two-sided detachable rotary-wing UAV, consisting of two symmetrically arranged fuselages connected by a central connecting rod;

[0007] A multi-degree-of-freedom load connecting arm, with its head end connected to the middle connecting rod and its tail end used to install the end effector required for the handling task;

[0008] An electromagnetic displacement measurement system is installed inside a multi-degree-of-freedom load connecting arm to measure the extension and retraction at the end of the multi-degree-of-freedom load connecting arm.

[0009] The fuselage includes a carbon fiber plate, a counterweight module, rotors, and arms. One side of the carbon fiber plate is connected to the intermediate connecting rod, and the other side of the carbon fiber plate is connected to two arms, with an acute angle between the two arms. Each arm has a rotor at its end. The counterweight module is mounted on the carbon fiber plate to ensure that the center of gravity of the rotorcraft UAV falls on the center of the intermediate connecting rod.

[0010] The counterweight module is connected to the upper and lower parts of the carbon fiber plate by studs, and the installation position of the counterweight module can be adjusted by adjusting the length of the studs.

[0011] The two robotic arms are mounted on the carbon fiber plate via pipe clamps, and the central connecting rod and the axes of the two robotic arms intersect at a single point.

[0012] The multi-degree-of-freedom load connecting arm includes a cross bushing, a drive shaft fork, a third rotary joint, a hollow rod, a damped square sliding joint, and a flange. One end of the damped square sliding joint is connected to the flange, and the other end is connected to one end of the hollow rod. The other end of the hollow rod is connected to the drive shaft fork via the third rotary joint, which has a degree of freedom of rotation about the Z-axis. The cross bushing is mounted on the drive shaft fork, and the intermediate connecting rod passes through the cross bushing. The cross bushing has degrees of freedom of rotation about the X and Y axes. The electromagnetic displacement measurement system is housed inside the hollow rod.

[0013] The damped square sliding joint includes a spring, a square sliding block, and a square fixed shell. One end of the square fixed shell and the square sliding block are inserted together and can slide relative to each other. The other end of the square fixed shell is connected to the hollow rod, and the other end of the square sliding block is connected to the flange. The spring is housed in the square fixed shell, and its two ends abut against the square fixed shell and the square sliding block, respectively.

[0014] The electromagnetic displacement measurement system includes a primary coil, a secondary coil, an iron core, and a non-metallic measuring rod. The primary and secondary coils are coaxially arranged inside the hollow rod. There are two sets of secondary coils, which are respectively arranged on both sides of the primary coil. The iron core is located inside the primary coil and can move axially. One end of the non-metallic measuring rod is connected to the iron core, and the other end passes through the spring and is connected to the square moving block. The side wall of the hollow rod is provided with a power through hole through which the input power and signal lines of the electromagnetic displacement measurement system pass.

[0015] The primary coil receives a stable sinusoidal excitation signal. When the square moving block is displaced, it causes the spring to compress or stretch, and moves the iron core, causing a change in the mutual inductance between the primary and secondary coils. The secondary coil outputs a sinusoidal signal with varying amplitude. The displacement of the square moving block can be measured by analyzing the output signal.

[0016] The intermediate connecting rod is provided with sleeves at both ends of the cross bushing, and the cross bushing is limited by the two sleeves.

[0017] Multiple rotary-wing UAVs are deployed on the target object to be transported and work together to complete the transport of the target object.

[0018] The advantages and beneficial effects of this invention are:

[0019] 1. This invention provides a mobile deployment cluster of rotary-wing flying robots. This unmanned aerial vehicle system has the characteristic of mobile deployment and can be deployed in any number on the target object to be transported. The target object is transported through mutual cooperation among the individuals.

[0020] 2. This invention improves the stability of transporting large objects by using a two-sided split rotor drone architecture and a counterweight module to more firmly fix the connected load at the drone's center of gravity.

[0021] 3. This invention uses a multi-degree-of-freedom load connecting arm, which allows the connecting arm to rotate in three degrees of freedom. This deployment connection structure, which decouples the rotational dynamics between individuals, can reduce the coupling degree of dynamics between individuals during collaborative handling operations and improve the collaborative operation capability of the system cluster.

[0022] 4. This invention uses an electromagnetic displacement measurement system to measure the elongation and contraction of the connecting arm end during object handling, thereby obtaining the tensile force acting on the connecting arm. By monitoring the force feedback of each individual drone, the stability of the handling task is improved.

[0023] 5. By connecting the flange at the end of the arm, the present invention allows for the installation of suitable end effectors according to different handling task requirements, thereby further expanding the handling capacity.

[0024] 6. This invention features a simple structural design, making it easy to maintain, inexpensive, and portable. Attached Figure Description

[0025] Figure 1 This is an isometric view of a rotary-wing unmanned aerial vehicle (UAV) for multi-machine collaborative handling operations according to the present invention.

[0026] Figure 2 This is a schematic diagram of the internal structure of the two-sided detachable rotor drone in this invention;

[0027] Figure 3 This is a three-dimensional structural diagram of the two-sided detachable rotary-wing UAV in this invention;

[0028] Figure 4 This is a schematic diagram of the structure of the multi-degree-of-freedom load connecting arm in this invention;

[0029] Figure 5 This is a diagram showing the internal structure of the electromagnetic displacement measurement system in this invention.

[0030] Figure 6 This is a schematic diagram of a rotary-wing drone used for multi-machine collaborative handling operations.

[0031] In the diagram: 1. Two-sided detachable rotary-wing UAV, 2. Multi-degree-of-freedom load connecting arm, 3. Electromagnetic displacement measurement system, 4. First arm, 5. Second arm, 6. Third arm, 7. Fourth arm, 8. Pipe clamp, 9. Carbon fiber plate, 10. Intermediate connecting rod, 11. Sleeve, 12. Counterweight module, 13. Rotor, 14. Stud, 15. Cross bushing, 16. Drive shaft fork, 17. Power through hole, 18. Third rotary joint, 19. Hollow rod, 20. Damped square moving joint, 21. Flange, 22. Primary coil, 23. Secondary coil, 24. Iron core, 25. Non-metallic measuring rod, 26. Spring, 27. Square moving block, 28. Square fixed shell, 29. Target object. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1 As shown, the present invention provides a rotary-wing unmanned aerial vehicle (UAV) for multi-machine collaborative handling operations, including a two-sided detachable rotary-wing UAV 1, a multi-degree-of-freedom load connecting arm 2, and an electromagnetic displacement measurement system 3. The two-sided detachable rotary-wing UAV 1 includes two bodies symmetrically arranged and connected by a middle connecting rod 10. The head end of the multi-degree-of-freedom load connecting arm 2 is connected to the middle connecting rod 10, and the end end is used to install the end effector required for the handling task. The electromagnetic displacement measurement system 3 is set inside the multi-degree-of-freedom load connecting arm 2 and is used to measure the extension and retraction of the end of the multi-degree-of-freedom load connecting arm 2.

[0034] like Figure 2 As shown, in an embodiment of the present invention, the body includes a carbon fiber plate 9, a counterweight module 12, a rotor 13, and arms. One side of the carbon fiber plate 9 is connected to the intermediate connecting rod 10, and the other side of the carbon fiber plate 9 is connected to two arms. The included angle between the two arms is an acute angle. A rotor 13 is provided at the end of each arm. The counterweight module 12 is provided on the carbon fiber plate 9 to ensure that the center of gravity of the rotor drone falls on the center of the intermediate connecting rod 10.

[0035] Specifically, the two arms are mounted on the carbon fiber plate 9 via pipe clamps 8, and the central connecting rod 10 and the axes of the two arms intersect at a single point.

[0036] Furthermore, such as Figure 3As shown, the counterweight module 12 is connected to the upper and lower parts of the carbon fiber plate 9 by studs 14. The installation position of the counterweight module 12 is adjusted by adjusting the length of the studs 14 to ensure that the center of gravity of the rotor drone is at the center of the intermediate connecting rod 10.

[0037] like Figure 4 As shown, in an embodiment of the present invention, the multi-degree-of-freedom load connecting arm 2 includes a cross bushing 15, a drive shaft fork 16, a third rotary joint 18, a hollow rod 19, a damped square sliding joint 20, and a flange 21. One end of the damped square sliding joint 20 is connected to the flange 21, and the other end is connected to one end of the hollow rod 19. The other end of the hollow rod 19 is connected to the drive shaft fork 16 via the third rotary joint 18, which has a degree of freedom of rotation around the Z-axis. The cross bushing 15 is mounted on the drive shaft fork 16. The middle part of the cross bushing 15 is a hollow bushing, and the two sides are solid cylindrical shafts. The hollow part is connected to the middle connecting rod 10, and the two solid shafts are connected to the drive shaft fork 16, resulting in two rotary joints. This allows the multi-degree-of-freedom load connecting arm 2 to rotate in the X and Y degrees of freedom. Because the bottom of the drive shaft fork 16 is connected to the third rotary joint 18, the multi-degree-of-freedom load connecting arm 2 is allowed to rotate axially in the vertical direction. The electromagnetic displacement measurement system 3 is disposed inside the hollow rod 19. Flange 21 is used to install end effectors required for various handling tasks.

[0038] Furthermore, such as Figure 1-2 , Figure 4 As shown, the intermediate connecting rod 10 is provided with sleeves 11 located at both ends of the cross bushing 15, and the cross bushing 15 is limited by the two sleeves 11.

[0039] like Figure 4 , Figure 5 As shown in the embodiment of the present invention, the damped square movable joint 20 includes a spring 26, a square movable block 27, and a square fixed shell 28. One end of the square fixed shell 28 and the square movable block 27 are inserted into each other and can slide relative to each other. The other end of the square fixed shell 28 is connected to the hollow rod 19, and the other end of the square movable block 27 is connected to the flange 21. The spring 26 is housed within the square fixed shell 28, and both ends abut against the square fixed shell 28 and the square movable block 27, respectively. The damped square movable joint 20 is square to prevent the rotation of the end of the multi-degree-of-freedom load connecting arm 2 during transportation from affecting the spring's extension and contraction.

[0040] like Figure 5As shown, in an embodiment of the present invention, the electromagnetic displacement measurement system 3 includes a primary coil 22, a secondary coil 23, an iron core 24, and a non-metallic measuring rod 25. The primary coil 22 and the secondary coil 23 are coaxially arranged within a hollow rod 19. Two sets of secondary coils 23 are respectively located on either side of the primary coil 22. The iron core 24 is located inside the primary coil 22 and is axially movable. One end of the non-metallic measuring rod 25 is connected to the iron core 24, and the other end passes through a spring 26 and is connected to a square moving block 27. A power through-hole 17 is provided on the side wall of the hollow rod 19, through which the input power supply and signal lines of the electromagnetic displacement measurement system 3 pass. Specifically, the primary coil 22 is connected to the input power supply line, providing it with a stable signal; the secondary coil 23 is connected to the output signal line, outputting an induced signal.

[0041] Specifically, the primary coil 22 receives a stable sinusoidal excitation signal. When the square moving block 27 moves, it compresses the spring 26 and drives the iron core 24, causing a change in the mutual inductance between the primary coil 22 and the secondary coil 23. The secondary coil 23 outputs a sinusoidal signal with varying amplitude. By analyzing the output signal, the displacement of the square moving block 27 can be measured, and the load weight can be calculated.

[0042] like Figure 6 As shown, in an embodiment of the present invention, multiple rotary-wing drones are deployed on the target object 29 to be transported, and work together to complete the transport of the target object 29.

[0043] In an embodiment of the present invention, the two-sided split-rotor UAV 1 is divided into two body parts. One body part includes a first arm 4 and a second arm 5, and the other body part includes a third arm 6 and a fourth arm 7. The two body parts are interconnected by a central connecting rod 10 and are symmetrically distributed on both sides, ensuring that all four rotors 13 are at the same horizontal height. Sleeves 11 are fixed to the center of the central connecting rod 10 with bolts and nuts to determine the specific installation points of the multi-degree-of-freedom load connecting arm 2. That is, the multi-degree-of-freedom load connecting arm 2 is fixed in position by the sleeves 11 to ensure that it is connected to the midpoint of the central connecting rod 10. The other end of the multi-degree-of-freedom load connecting arm 2 is equipped with a flange 21 for installing end effectors required for various handling tasks. In order to further adapt to handling tasks of objects of various shapes and materials and improve the stability of the connection during handling, the flange 21 can be equipped with various end effectors such as electrically controlled grippers and ropes.

[0044] The present invention provides a rotary-wing unmanned aerial vehicle (UAV) for multi-machine collaborative handling operations, the working principle of which is as follows:

[0045] like Figure 6As shown, a suitable handling force point is determined based on the shape of the target object 29 to be transported. Multiple rotary-wing UAVs of this invention are deployed according to the force point requirements, and the flange 21 at the end of the multi-degree-of-freedom load connecting arm 2 is securely connected to the target object 29 to be transported based on the surface structure characteristics. After the UAV cluster deployment is completed, the centralized control command of the UAVs is initiated to lift the target object 29 to be transported. Through the three rotary joints in the multi-degree-of-freedom load connecting arm 2, the dynamic coupling degree between individuals during collaborative transport operations can be reduced, greatly reducing the impact of the reaction force of the target object 29 on the individual UAVs' flight and improving the stability of the transport process. At the same time, the damped square moving joint 20, through the spring 26, can weaken the impact of sudden acceleration changes caused by sudden changes in tension at the end of the connecting arm, further ensuring flight stability. A stable sinusoidal excitation signal is input to the primary coil 22. When the square moving block 27 is displaced, it causes the spring 26 to compress or stretch, which in turn moves the iron core 24, changing the mutual inductance between the primary coil 22 and the secondary coil 23. The secondary coil 23 outputs a sinusoidal signal with varying amplitude. By analyzing the output signal, the displacement of the square moving block 27 can be measured, and the weight of the load can be calculated accordingly. Once the load pulling force of each individual drone in the drone swarm is determined, centralized control can be used to better coordinate the drones. This invention can complete the task of transporting large targets in the field through the mutual cooperation of individual drones in a swarm, which is low-cost, mobile, and easy to carry.

[0046] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A rotary-wing unmanned aerial vehicle (UAV) for multi-machine collaborative handling operations, characterized in that, include: The two-sided detachable rotary-wing UAV (1) includes two bodies arranged symmetrically and connected by a middle connecting rod (10); The multi-degree-of-freedom load connecting arm (2) is connected at the head end to the intermediate connecting rod (10), and at the end end is used to install the end effector required for the handling task; An electromagnetic displacement measurement system (3) is installed inside the multi-degree-of-freedom load connecting arm (2) to measure the extension and retraction of the end of the multi-degree-of-freedom load connecting arm (2); The multi-degree-of-freedom load connecting arm (2) includes a cross bushing (15), a drive shaft fork (16), a third rotary joint (18), a hollow rod (19), a damped square moving joint (20), and a flange (21). One end of the damped square moving joint (20) is connected to the flange (21), and the other end is connected to one end of the hollow rod (19). The other end of the hollow rod (19) is connected to the drive shaft fork (16) through the third rotary joint (18). The third rotary joint (18) has a degree of freedom to rotate around the Z-axis. The cross bushing (15) is mounted on the drive shaft fork (16). The intermediate connecting rod (10) passes through the cross bushing (15). The cross bushing (15) has a degree of freedom to rotate around the X and Y axes. The electromagnetic displacement measuring system (3) is set inside the hollow rod (19). The damped square sliding joint (20) includes a spring (26), a square sliding block (27), and a square fixed shell (28). One end of the square fixed shell (28) and the square sliding block (27) are inserted together and can slide relative to each other. The other end of the square fixed shell (28) is connected to the hollow rod (19), and the other end of the square sliding block (27) is connected to the flange (21). The spring (26) is housed in the square fixed shell (28), and both ends abut against the square fixed shell (28) and the square sliding block (27) respectively.

2. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 1, characterized in that, The body includes a carbon fiber plate (9), a counterweight module (12), a rotor (13), and arms. One side of the carbon fiber plate (9) is connected to the intermediate connecting rod (10), and the other side of the carbon fiber plate (9) is connected to two arms. The included angle between the two arms is an acute angle. A rotor (13) is provided at the end of each arm. The counterweight module (12) is set on the carbon fiber plate (9) to ensure that the center of gravity of the rotor drone falls on the center of the intermediate connecting rod (10).

3. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 2, characterized in that, The counterweight module (12) is connected to the upper and lower parts of the carbon fiber plate (9) by studs (14). The installation position of the counterweight module (12) can be adjusted by adjusting the length of the studs (14).

4. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 2, characterized in that, The two arms are mounted on the carbon fiber plate (9) by pipe clamps (8), and the axis of the intermediate connecting rod (10) and the axis of the two arms intersect at one point.

5. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 1, characterized in that, The electromagnetic displacement measurement system (3) includes a primary coil (22), a secondary coil (23), an iron core (24), and a non-metallic measuring rod (25). The primary coil (22) and the secondary coil (23) are coaxially arranged inside the hollow rod (19). There are two sets of secondary coils (23) respectively arranged on both sides of the primary coil (22). The iron core (24) is located inside the primary coil (22) and can move along the axial direction. One end of the non-metallic measuring rod (25) is connected to the iron core (24), and the other end passes through the spring (26) and is connected to the square moving block (27). The side wall of the hollow rod (19) is provided with a power through hole (17) through which the input power and signal line of the electromagnetic displacement measurement system (3) pass.

6. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 5, characterized in that, The primary coil (22) receives a stable sinusoidal excitation signal. When the square moving block (27) is displaced, it causes the spring (26) to compress or stretch and moves the iron core (24), causing a change in the mutual inductance between the primary coil (22) and the secondary coil (23). The secondary coil (23) outputs a sinusoidal signal with varying amplitude. The displacement of the square moving block (27) can be measured by analyzing the output signal.

7. The rotary-wing UAV for multi-machine collaborative handling operations according to claim 1, characterized in that, The intermediate connecting rod (10) is provided with sleeves (11) located at both ends of the cross bushing (15), and the cross bushing (15) is limited by the two sleeves (11).

8. The rotary-wing unmanned aerial vehicle (UAV) for multi-machine cooperative handling operations according to any one of claims 1-7, characterized in that, Multiple rotorcraft are deployed on the target object (29) to be transported and work together to transport the target object (29).

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