Unmanned helicopter cable descending winch system and control method thereof

Abstract

The invention provides an unmanned helicopter cable descending capstan system and a control method thereof.The system comprises a capstan body and an electric control throwing device, the capstan body comprises a main shaft, a left axle box, a right axle box, a capstan control system, a driving motor and a cable, and the right end of the main shaft penetrates into the right axle box through a first one-way bearing; a damper is embedded in the right end of the first one-way bearing, a rotary encoder is installed on the outer side of the damper, and the rotary encoder and the first one-way bearing rotate synchronously; the electric control throwing device comprises a throwing module and a detacher; the throwing module comprises a throwing module box and an electric control throwing device control panel in the throwing module box; the unhooking device comprises a steering engine and a hook, the electric control throwing device control panel communicates with the winch control system through wireless signals, and the electric control throwing device control panel is connected with the steering engine so as to control the hook to be opened or closed; and the reliability, the operation precision and the automation level of the system are improved.

Description

Technical Field

[0001] The present application relates to the technical field of rope-dropping devices, and in particular to an unmanned helicopter rope-dropping winch system and a control method thereof. Background Art

[0002] At present, the unmanned helicopter rope-dropping winch system is widely used in the fields of emergency delivery, cargo transportation, express delivery and fire fighting, but its technical implementation has some significant deficiencies. Most traditional unmanned helicopter winch systems use mechanical upper limit switches, millimeter wave radar touchdown stop monitoring and other technologies to control the operation of winches and cables. These traditional technologies have exposed some problems in actual operation, affecting the reliability and operating efficiency of the system. The traditional unmanned helicopter winch system has the following deficiencies: 1) Low operational reliability: Since the traditional contact upper limit switch is easily affected by the swing of the cable, misoperation occurs frequently, resulting in instability during cargo lifting and affecting the smooth operation.

[0003] 2) Fixed servo and resistance wire design: Fixed servo cannot adapt to the dynamic position changes of the cable, and the existing solutions cannot meet practical applications.

[0004] 3) Inaccurate detection of cargo touching the ground: In the unmanned helicopter rope-drop winch system, the cargo packages hoisted are usually relatively large. If the millimeter-wave radar is used to measure the height of the cargo lowering, the difference in cargo will affect the height measurement. Therefore, it is inaccurate to use millimeter-wave radar to judge the touchdown stop, and it is difficult to achieve accurate monitoring of cargo touching the ground. It may happen that the cargo has touched the ground but the cable is still in the state of continuing to release the rope.

[0005] 4) Low degree of automation: Most of the current unmanned helicopter hooks still rely on mechanical operations. There is a lack of effective communication and linkage between the hook and the winch body. The hook cannot be opened automatically after the cargo is placed, resulting in the need for manual intervention in the unloading process, which affects the degree of automation of the operation. Summary of the invention

[0006] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0007] To this end, the first purpose of the present application is to propose an unmanned helicopter rappelling winch system to realize the automatic cable arrangement function, thereby solving the problems in the related art that the cable is prone to entanglement and the cable length cannot be accurately adjusted.

[0008] The second objective of the present application is to provide a control method for an unmanned helicopter rope-dropping winch system.

[0009] To achieve the above-mentioned purpose, the first embodiment of the present application proposes an unmanned helicopter rope-dropping winch system, comprising: A capstan body, the capstan body comprising a main shaft, a left axle box, a right axle box, a capstan control system, a drive motor and a cable, the cable being wound around the main shaft, the right end of the main shaft passing through the right axle box through a first one-way bearing, a damper being embedded in the right end of the first one-way bearing, a rotary encoder being installed on the outer side of the damper, the rotary encoder being synchronously rotated with the first one-way bearing; the left end of the main shaft passing through the left axle box through a second one-way bearing, and being connected to the drive motor through a main gear, the drive motor being installed between the left axle box and the right axle box; the capstan control system being arranged in the right axle box, the capstan control system being connected to the rotary encoder and the control end of the drive motor; An electrically controlled launching device, comprising a launching module and a dehooker, wherein the launching module comprises a launching module box and an electrically controlled throwing device control panel and a battery compartment therein; the top of the launching module box is connected to the cable; the dehooker comprises a servo and a hook, the electrically controlled throwing device control panel communicates with the winch control system via wireless signals, and the electrically controlled throwing device control panel is connected to the servo to control the left hook and the right hook of the hook to open or close.

[0010] In some implementations, the capstan body further includes a wire-out slider, a twisted shaft, a gear transmission structure and a fuse structure, wherein the twisted shaft is parallel to the main shaft and is installed between the left axle box and the right axle box, and the twisted shaft is connected to the main gear through the gear transmission structure; the middle of the wire-out slider passes through the twisted shaft, and both ends of the wire-out slider can slide along a first limiting structure parallel to the twisted shaft, and a second limiting structure for limiting the cable is provided on the wire-out slider; The fuse structure includes an electric cylinder and a resistance wire, the electric cylinder is fixed on the wire outlet slider, the electric cylinder is electrically connected to the winch control system, and the resistance wire is connected to the push rod of the electric cylinder.

[0011] In some implementations, the first limiting structure includes a front fixed aluminum bar and a rear fixed aluminum bar fixed between the left axle box and the right axle box, and the second limiting structure includes two parallel limiting rods located at the central through hole of the wire outlet slider, and the cable passes through the middle of the two limiting rods. One end of the wire outlet slider is connected to a drag chain, and the drag chain is used to accommodate a cable that provides electrical energy to the fuse structure. One end of the cable is connected to the electric cylinder, and the other end of the cable is connected to the power supply compartment of the winch body.

[0012] In some implementations, the winch body also includes an electromagnet, a top limit trigger and a buffer spring, the two ends of the electromagnet are respectively installed on the bottom of the left axle box and the right axle box, the bottom end of the buffer spring is located at the free end of the cable, the top end of the buffer spring is connected to the top limit trigger, and the top limit trigger is fixed on the cable. When the top limit trigger contacts the electromagnet, the first circuit of the winch control system is closed.

[0013] In some implementations, the delivery module also includes a tension sensor, a lifting ring and a navigation light, the electric-controlled thrower control board is electrically connected to the tension sensor and the navigation light, the lifting ring is located at the top of the delivery module box, the upper part of the lifting ring is connected to the cable, the bottom of the lifting ring is connected to one end of the tension sensor, and the other end of the tension sensor is connected to the dehooker through a sensor connecting block; the delivery module box is also provided with a dehooker main switch key and a hook opening and closing key, and the dehooker main switch key and the hook opening and closing key are both electrically connected to the electric-controlled thrower control board.

[0014] In some implementations, the decoupler also includes a hook fixing plate and a drive limiting structure, the hook fixing plate is connected to the sensor connecting block, the hook is installed on the hook fixing plate, the servo is installed on the hook fixing plate or the hook, and the servo drives the left hook and the right hook of the hook to open or close through an elliptical rotating block installed on its output shaft, a through hole is provided under the left hook, and the elliptical rotating block is connected to the drive limiting structure through a connecting rod passing through the through hole.

[0015] In some implementations, the drive motor includes a reducer and a motor, the reducer is connected to the motor by bolts; a first shaft tooth is installed at the left end of the main shaft, the second one-way bearing is installed on the outer side of the first shaft tooth, the main gear is installed on the second one-way bearing, the main gear is meshed with the output shaft of the reducer, and the motor passes through the right axle box.

[0016] In some implementations, the first one-way bearing is a one-way deep groove ball clutch bearing.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a control method for an unmanned helicopter rope-dropping winch system, wherein the unmanned helicopter rope-dropping winch system is the unmanned helicopter rope-dropping winch system described in the first aspect; the method comprises: In response to receiving a cargo release instruction, the winch control system controls the drive motor to operate so as to lower the cable; After the distance between the bottom end of the cable and the ground meets a first preset requirement, reducing the rotation speed of the drive motor; After the rotary encoder detects that the first one-way bearing adjacent to the rotary encoder does not rotate, the winch control system controls the drive motor to stop working; The winch control system controls the hook to open automatically through the electric thrower control panel to release the cargo.

[0018] In some implementations, the method further includes: In response to receiving a high-altitude throwing command, the winch control system controls the hook to automatically open through the electric thrower control panel to release the cargo; In response to receiving a low-altitude casting instruction, the winch control system controls the drive motor to operate so as to lower the cable; After the distance between the bottom end of the cable and the ground meets a second preset requirement, the winch control system controls the drive motor to stop working, and controls the hook to open automatically through the electric thrower control panel to release the cargo.

[0019] The unmanned helicopter rope-dropping winch system and its control method provided by the present application can accurately monitor the cargo touching the ground and prevent the cable from being overly loosened, thereby improving the safety of operation, through the combined design of the first one-way bearing and the rotary encoder. Through the delivery module and the unhooking device, the automated unloading operation without human intervention is realized, and the intelligence level of the system is improved. The integrated follow-up outlet slider and electric cylinder are adopted to make the fuse structure move together with the cable, ensuring that the one-button fuse operation can be performed in any emergency situation without being affected by the position of the cable. The electromagnetic upper limit switch design eliminates the problem of misoperation caused by the swing of the cable, and ensures the stability of the cargo rising and falling process. The present invention not only overcomes the shortcomings of the prior art, but also improves the reliability, operation accuracy and automation level of the system, thereby significantly improving the performance and application effect of the unmanned helicopter rope-dropping winch system, and has broad market application prospects.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the overall structure of an unmanned helicopter rope-dropping winch system provided in one embodiment of the present application; Figure 2 A schematic structural diagram of a winch main body provided in one embodiment of the present application; Figure 3 An internal structural diagram of a winch main body provided in an embodiment of the present application; Figure 4 A schematic structural diagram of a winch main body provided in another embodiment of the present application; Figure 5 A structural diagram of a fuse structure part provided in an embodiment of the present application; Figure 6 A side view of an electrically controlled delivery device provided in one embodiment of the present application; Figure 7 A schematic diagram of the internal structure of an electrically controlled delivery device provided in one embodiment of the present application; Figure 8 A three-dimensional diagram of an electrically controlled delivery device provided in one embodiment of the present application; Fig. 9 A flowchart of a control method for an unmanned helicopter rope-dropping winch system provided in one embodiment of the present application.

[0022] In the figure: 1-winch body, 2-delivery module, 3-unhooking device, 4-spindle, 5-left axle box, 6-right axle box, 7-winch control system, 8-drive motor, 9-second one-way bearing, 10-first one-way bearing, 11-damper, 12-rotary encoder, 13-delivery module box, 14-electric thrower control board, 15-servo, 16-left hook, 17-right hook, 18-outlet slider, 19-twisted shaft, 20-gear transmission structure, 21-electric cylinder, 22-resistance wire, 23- Front fixed aluminum bar, 24-rear fixed aluminum bar, 25-limit rod, 26-drag chain, 27-electromagnet, 28-top limit trigger, 29-buffer spring, 30-tension sensor, 31-lifting ring, 32-navigation light, 33-sensor connecting block, 34-unhooking device main switch key, 35-hook opening and closing key, 36-hook fixing plate, 37-drive limiting structure, 38-elliptical rotating block, 39-spindle baffle, 40-bearing fixing plate, 41-fixed locking ring, 42-delivery module battery. DETAILED DESCRIPTION

[0023] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0024] The unmanned helicopter rope lowering winch system and control method thereof according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0025] Figures 1 to 8The structure diagram of an unmanned helicopter rope-dropping winch system provided in an embodiment of the present application is as follows. The unmanned helicopter rope-dropping winch system comprises a winch body 1 and an electric-controlled delivery device, wherein the electric-controlled delivery device comprises a delivery module 2 and a dehooker 3.

[0026] The winch body 1 includes a main shaft 4, a left axle box 5, a right axle box 6, a winch control system 7, a drive motor 8 and a cable, the cable is wound on the main shaft 4, the right end of the main shaft 4 penetrates the right axle box 6 through a first one-way bearing 10, the right end of the first one-way bearing 10 is embedded with a damper 11, a rotary encoder 12 is installed on the outer side of the damper 11, and the rotary encoder 12 rotates synchronously with the first one-way bearing 10; the left end of the main shaft 4 penetrates the left axle box 5 through a second one-way bearing 9, and is connected to the drive motor 8 through a main gear, and the drive motor 8 is installed between the left axle box 5 and the right axle box 6; the winch control system 7 is arranged in the right axle box 6, and the winch control system 7 is connected to the rotary encoder 12 and the control end of the drive motor 8. Exemplarily, the rotary encoder 12 can select a Hall rotary encoder 12.

[0027] Therefore, by installing a rotary encoder 12 at one end of the first one-way bearing 10, when the cable is lowered or raised, the rotary encoder 12 and the first one-way bearing 10 rotate simultaneously, and the rotation state and rotation direction of the first one-way bearing 10 can be collected. When the cargo touches the ground, the rotary encoder 12 monitors the rotation state and rotation direction of the first one-way bearing 10, and the monitoring of the cargo touching the ground is stopped, and the first one-way bearing 10 itself has an anti-winding function (it can only rotate in a single torque direction). After the cargo touches the ground, the first one-way bearing 10 is not subjected to force, no longer rotates, and the cable is not lowered, so that the cargo touching the ground can be accurately monitored, and the cable is prevented from being excessively loosened, thereby improving the safety of the operation. Among them, since the cable itself has the effect of gravity, the first one-way bearing 10 is also subjected to the effect of downward pulling force. Therefore, the present invention also assembles a damper 11 at the right end of the first one-way bearing 10 to offset the self-gravity of the cable.

[0028] The delivery module 2 includes a delivery module box 13 and an electric-controlled thrower control panel 14 and a battery compartment therein; the top of the delivery module box 13 is connected to the cable; the unhooker 3 includes a servo 15 and a hook, and the electric-controlled thrower control panel 14 is connected to the servo 15 to control the left hook 16 and the right hook 17 of the hook to open or close.

[0029] Thus, the electronically controlled opening and closing hook linkage is realized through the delivery module 2 and the unhooker 3. The hook adopts an electronically controlled design. The hook and the winch body 1 communicate wirelessly. The winch body 1 sends a hook opening command to the delivery module 2. The servo 15 receives the command and suspends the arm. The hook can be opened through the mechanical structure. In addition, based on the function of stopping the rope release when the cargo touches the ground, it can be linked with the automatic opening of the hook. When the hook reaches the bottom, the rotary encoder 12 detects that the first one-way bearing 10 stops rotating and stops releasing the rope. At this time, the hook automatically opens and releases the cargo, realizing the automatic unloading operation without human intervention, and improving the intelligence level of the system.

[0030] In some embodiments, the winch body 1 further includes a wire-out slider 18, a twisted shaft 19, a gear transmission structure 20 and a fuse structure, wherein the twisted shaft 19 is parallel to the main shaft 4 and is installed between the left axle box 5 and the right axle box 6, and the twisted shaft 19 is connected to the main gear through the gear transmission structure 20; the middle of the wire-out slider 18 passes through the twisted shaft 19, and both ends of the wire-out slider 18 can slide along a first limiting structure parallel to the twisted shaft 19, and a second limiting structure for limiting the cable is provided on the wire-out slider 18; The fuse structure includes an electric cylinder 21 and a resistance wire 22 . The electric cylinder 21 is fixed on the wire outlet slider 18 . The electric cylinder 21 is electrically connected to the winch control system 7 . The resistance wire 22 is connected to the push rod of the electric cylinder 21 .

[0031] In some embodiments, the resistance wire 22 is a resistance wire sheet, which is disposed between two non-heat-conducting resistance wire ceramic blocks and fixed by bolts.

[0032] Thus, the automatic cable arrangement function of the cable is realized by combining the twisted shaft 19 and the outlet slider 18. Since the position of the cable is variable in the axial and vertical directions, the traditional fixed servo 15 is not applicable by rotating the resistance wire 22. In this embodiment, the fuse structure is fixed to the outlet slider 18 to realize the slider electric cylinder 21 mechanism that is integrally moved with the outlet slider 18. Driven by the twisted shaft 19, the outlet slider 18 moves with the cable, and the relative position remains unchanged; and the electric cylinder 21 is fixed on the outlet slider 18. During the cable arrangement process, the fuse structure moves with the cable; the resistance wire 22 installed on the electric cylinder 21 realizes the contact between the resistance wire 22 and the cable through the push rod structure of the electric cylinder 21, realizing the one-button breaking function of the cable in an emergency, ensuring that the one-button fuse operation can be performed in any emergency situation, regardless of the position of the cable.

[0033] In some embodiments, the first limiting structure includes a front fixed aluminum rod 23 and a rear fixed aluminum rod 24 fixed between the left axle box 5 and the right axle box 6, and the second limiting structure includes two parallel limiting rods 25 located at the central through hole position of the wire outlet slider 18, and the cable passes through the middle of the two limiting rods 25. One end of the wire outlet slider 18 is connected to a drag chain 26, and the drag chain 26 is used to accommodate a cable that provides electrical energy to the fuse structure. One end of the cable is connected to the electric cylinder 21, and the other end of the cable is connected to the power supply compartment of the winch body 1.

[0034] In some embodiments, the winch body 1 also includes an electromagnet 27, a top limit trigger 28 and a buffer spring 29, the two ends of the electromagnet 27 are respectively installed on the bottom of the left axle box 5 and the right axle box 6, the bottom end of the buffer spring 29 is located at the free end of the cable, the top end of the buffer spring 29 is connected to the top limit trigger 28, and the top limit trigger 28 is fixed on the cable. When the top limit trigger 28 contacts the electromagnet 27, the first circuit of the winch control system 7 is closed.

[0035] Thus, an electromagnetic upper limit switch is realized. In the process of goods rising or falling, the traditional contact upper limit switch may mistakenly contact the upper limit switch due to the swing of the cable, causing the goods to rise or fall temporarily, causing trouble in actual use. This embodiment uses an electromagnetic upper limit switch, that is, replaces the contact switch by closing the first circuit. When the first circuit is connected, the signal is transmitted to the winch control system 7. After the winch control system 7 receives the hook reaching the top signal, it sends a pause command to the motor, the motor stops rotating, and the hook stops rising; when the first circuit is disconnected, the signal is transmitted to the winch control system 7. After the winch control system 7 receives the hook rising or falling instruction, it sends a command to the motor to rotate, and the hook rises or falls; the problem of misoperation caused by the swing of the cable is eliminated, the stability of the goods rising and falling process is ensured, and the operational reliability is improved.

[0036] In some embodiments, the delivery module 2 also includes a tension sensor 30, a lifting ring 31, a navigation light 32 and a delivery module battery 42. The electric-controlled thrower control board 14 is electrically connected to the tension sensor 30 and the navigation light 32. The lifting ring 31 is located at the top of the delivery module box 13. The upper part of the lifting ring 31 is connected to the cable, and the bottom of the lifting ring 31 is connected to one end of the tension sensor 30. The other end of the tension sensor 30 is connected to the dehooker 3 through a sensor connecting block 33. The delivery module box 13 is also provided with a dehooker master switch 34 and a hook opening and closing key 35. The dehooker master switch 34 and the hook opening and closing key 35 are both electrically connected to the electric-controlled thrower control board 14. The delivery module battery 42 supplies power to the electric-controlled thrower control board 14 and the servo 15.

[0037] Thus, the weight of the hoisted cargo can be measured by the tension sensor 30, and in a static state, it can be used as cargo weighing. If the load exceeds the rated load, the system will issue a warning signal; the tension of the cable is also monitored in real time by the tension sensor 30, which is a necessary parameter for the drone to eliminate the swing. Therefore, the electric thrower control board 14 sends this parameter to the drone through the winch control system 7.

[0038] In some embodiments, the decoupler 3 also includes a hook fixing plate 36 and a drive limiting structure 37, the hook fixing plate 36 is connected to the sensor connecting block 33, the hook is installed on the hook fixing plate 36, the servo 15 is installed on the hook fixing plate 36 or the hook, and the servo 15 drives the left hook 16 and the right hook 17 of the hook to open or close through the elliptical rotating block 38 installed on its output shaft, a through hole is provided under the left hook 16, and the elliptical rotating block 38 is connected to the drive limiting structure 37 through a connecting rod passing through the through hole.

[0039] In some embodiments, the drive motor 8 includes a reducer and a motor, and the reducer is connected to the motor by bolts; the left side of the main shaft 4 is fixed by a main shaft baffle 39, a bearing fixing plate 40 and a fixing lock ring 41, and a first shaft tooth is installed at the left end of the main shaft 4, and the second one-way bearing 9 is installed on the outer side of the first shaft tooth, and the main gear is installed on the second one-way bearing 9, and the main gear is meshed with the output shaft of the reducer, and the motor passes through the right axle box 6.

[0040] In some embodiments, the first one-way bearing 10 is a one-way deep groove ball clutch bearing. Exemplarily, the model of the first one-way bearing 10 is CSK30PP.

[0041] The unmanned helicopter rope-dropping winch system of the embodiment of the present application can accurately monitor the situation of the cargo touching the ground, prevent the cable from being overly loosened, and improve the safety of operation through the combined design of the first one-way bearing and the rotary encoder. Through the delivery module and the unhooking device, the automated unloading operation without human intervention is realized, and the intelligence level of the system is improved. The integrated follow-up outlet slider and electric cylinder are adopted to make the fuse structure move together with the cable, ensuring that the one-button fuse operation can be performed in any emergency situation without being affected by the position of the cable. The electromagnetic upper limit switch design eliminates the problem of misoperation caused by the swing of the cable, ensuring the stability of the cargo rising and falling process. The present invention not only overcomes the shortcomings of the prior art, but also significantly improves the performance and application effect of the unmanned helicopter rope-dropping winch system, and has broad market application prospects.

[0042] Based on any of the above embodiments, the present application embodiment also proposes a control method for an unmanned helicopter rope-dropping winch system, such as Fig. 9 As shown, the method comprises the following steps: Step S101, in response to receiving a cargo release instruction, the winch control system controls the drive motor to operate so as to lower the cable.

[0043] Step S102, after the distance between the bottom end of the cable and the ground meets a first preset requirement, reducing the rotation speed of the drive motor.

[0044] It should be noted here that the cable output slider is driven to reciprocate through the twisted shaft transmission, thereby realizing the reciprocating motion and automatic cable arrangement function of the cable. By realizing automatic cable arrangement, the automatic cable arrangement function of the cable can improve the accuracy of cable length adjustment. Through the regular cable winding design, the cable lowering length can be accurately calculated and controlled.

[0045] As an implementation method, based on the correspondence between the encoder value integrated with the drive motor and the length of the lowering rope and the height of the drone from the ground, the first target encoder value when the height of the free end of the cable from the ground meets the first height (i.e., the first preset requirement) can be obtained. The correspondence between the encoder value of the motor and the length of the lowering rope can be expressed by the following formula: (Formula 1) in: Ldown: length of lowering rope; Ldown0: total rope length corresponding to the lowered turns (check the encoder-rope length data table); Lcc: total rope length of the current turn (check encoder-rope length data table); Vccode: The encoder value corresponding to the required lowering rope length (check the encoder-rope length data table); Vucode: the motor encoder value corresponding to the previous turn (check the encoder-rope length data table); m is the encoder value corresponding to the first turn, for example, m It is 16956. It should be noted here that, since the rope lowering winch in the embodiment of the present application realizes the automatic regular cable arrangement function, the cables are regularly arranged on the wire wheel, and thus, there is a corresponding relationship between the encoder value and the length of the lowered rope. The encoder value can be obtained according to the required length of the lowered rope by formula 1, and the lowered rope length can also be calculated by formula 1 according to the collected encoder value.

[0046] Exemplarily, the table of encoder values ​​and corresponding rope length data structures is as follows: Table 1: Motor encoder value-rope length data table

[0047] It can be seen that based on Table 1 combined with Formula 1, the corresponding relationship between the encoder value and the lowering rope length can be obtained, so that the corresponding encoder value can be obtained according to the required lowering rope length, and the lowering rope length that has been lowered can also be obtained according to the current encoder value.

[0048] For example, the first height is 0.5 meters, and the height of the drone from the ground (H radar) is 25 meters. The required length of the lowering rope is H radar - 0.5 meters = 24.5 meters. According to Table 1, 24.5 meters is between seven turns and less than eight turns in Table 1. According to Formula 1, the encoder value corresponding to 24.5 meters is calculated = (2450-2373) 16956 / 407+118692=121899, that is, the first target encoder value is 121899; at this moment, it means that the bottom end of the cable is 0.5 meters from the ground, reducing the speed of the drive motor.

[0049] In some embodiments, the method for reducing the speed of the drive motor includes: reducing the speed of the drive motor according to a first rule, wherein the first rule includes a speed regulation frequency, a speed regulation amplitude, and a speed regulation cutoff condition, and the speed regulation cutoff condition may be a speed regulation number or a speed regulation threshold.

[0050] Exemplarily, the first rule includes reducing the speed once every 200ms, with a reduction of 0.04m / s, for 5 times. For example, the initial descent speed is 0.3m / s, and when it is 0.5m from the ground, it starts to decelerate, and the speed is reduced by 0.04m / s every 200ms, for 5 times, and the final bottoming speed is 0.1m / s.

[0051] Step S103, after the rotary encoder detects that the first one-way bearing adjacent to the rotary encoder does not rotate, the winch control system controls the drive motor to stop working.

[0052] Step S104, the winch control system controls the hook to open automatically through the electric thrower control panel to release the cargo.

[0053] In some embodiments, the method further comprises: In response to receiving a high-altitude throwing instruction, the winch control system controls the hook to open automatically through the electric thrower control panel to release the cargo.

[0054] In some embodiments, the method further comprises: In response to receiving a low-altitude casting instruction, the winch control system controls the drive motor to operate so as to lower the cable; After the distance between the bottom end of the cable and the ground meets a second preset requirement, the winch control system controls the drive motor to stop working, and controls the hook to open automatically through the electric thrower control panel to release the cargo.

[0055] The following is a detailed description of the working process of the unmanned helicopter rope-dropping winch system of the above embodiment, which is also a detailed description of the above control method.

[0056] The working process of the unmanned helicopter rope-dropping winch system of the embodiment of the present application includes: 1) Cargo lifting process: First, a winch top plate is set on the top of the winch body. The winch top plate has installation holes for screws. The winch top plate is installed directly below the unmanned helicopter by screws, as close to the vertical center of gravity as possible, to ensure that the main body of the rope-dropping winch system is firmly connected.

[0057] Pass the cable of the winch body through the top limit trigger and the spring, and connect it to the lifting ring of the delivery module to ensure that the connection is tight and the cable will not loosen or fall off under the action of gravity.

[0058] Power on the winch control system of the rope-dropping winch system and turn on the main switch of the launching module; The aircraft takes off, flies to the set lifting operation altitude, and then hovers; the flight control sends a lowering command to the winch control system, and the winch body lowers the cable to the ground; When the cable is slack, the ground personnel press the hook opening and closing button to open the hook, hang the cargo on the hook, and press the hook opening and closing button again to close the hook; By sending an ascending command to the winch control system, the cargo is lifted to the upper limit position, and the top limit trigger is connected to the electromagnet. The spring under the top limit trigger acts as a buffer. When the passage is connected, the electromagnet connection signal is fed back to the winch control system, so that the winch control system is informed of the cargo reaching the top signal. The winch control system sends a pause signal to the motor reducer, and the cable stops rising.

[0059] 2) One-click intelligent unloading process: After the aircraft reaches the cargo unloading destination, it adjusts its flight altitude to the aircraft hoisting operation altitude and then hovers; The flight control sends a one-button intelligent cargo release command to the winch control system, and the cargo is lowered along the cable. About 0.5m before the cargo touches the ground, the cable will be lowered slowly and intelligently to prevent the cargo from hitting the ground violently. After the cargo touches the ground, on the one hand, the motor is stopped from rotating by judging the current of the circuit; on the other hand, the motor is stopped from rotating based on the structural design of the first one-way bearing and the rotary encoder. The specific triggering process is as follows: when the cargo touches the ground, the first one-way bearing is not subjected to force, no longer rotates, and the cable does not lower. However, due to the gravity of the cable itself, the first one-way bearing is also subjected to the downward pulling force. Therefore, the present invention also assembles a damper at the right end of the first one-way bearing to offset the self-gravity of the cable. After the first one-way bearing stops rotating, the synchronous rotary encoder installed at the right end of the first one-way bearing detects that the first one-way bearing does not rotate, and then sends a cargo bottom instruction to the winch control system, and the winch control system sends a pause instruction to the motor reduction box, and the cable stops lowering. Through the current judgment and the first one-way bearing judgment, the function of stopping the rope release when touching the ground can be realized. However, based on the logic of current judgment, there are uncertain burrs in the current signal, and there will be probabilistic judgment errors. However, based on the structural design of the first one-way bearing and the rotary encoder, this judgment error problem can be solved.

[0060] After the cargo touches the ground and the cable stops lowering, the hook of the unhooker opens automatically and the cargo is released.

[0061] It should be noted that the method of suspending the rotation of the motor by judging the current of the circuit includes: suspending the rotation of the motor when the current value of the motor meets the first current condition. Exemplarily, when the DC bus current of the motor is 0.5A~0.7A, or when the motor phase current is between 0.01A~0.05A, the motor is suspended.

[0062] 3) One-key intelligent air throwing process: After the aircraft reaches the cargo unloading destination, it adjusts its flight altitude to the aircraft hoisting operation altitude and then hovers; One way is to issue a one-button throwing command through the flight control, the hook opens, and the cargo is thrown directly from the upper limit; Another way is to issue a one-key lowering command through the flight control (or issue a preset rope length lowering command), the cable is lowered, and the cargo descends with the cable. After reaching the preset lowering position of the cable, the flight control sends a pause signal, and the cable lowering stops (or after reaching the preset rope length, the cable automatically stops releasing the rope); at this time, a one-key throwing command is issued through the flight control, the hook is opened, and the cargo is thrown with one key.

[0063] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other.

[0064] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0066] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0067] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0068] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0069] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An unmanned helicopter rope-drop winch system, characterized in that: include: A capstan body, the capstan body comprising a main shaft, a left axle box, a right axle box, a capstan control system, a drive motor and a cable, the cable being wound around the main shaft, the right end of the main shaft passing through the right axle box through a first one-way bearing, a damper being embedded in the right end of the first one-way bearing, a rotary encoder being installed on the outer side of the damper, the rotary encoder being synchronously rotated with the first one-way bearing; the left end of the main shaft passing through the left axle box through a second one-way bearing, and being connected to the drive motor through a main gear, the drive motor being installed between the left axle box and the right axle box; the capstan control system being arranged in the right axle box, the capstan control system being connected to the rotary encoder and the control end of the drive motor; An electrically controlled launching device, comprising a launching module and a dehooker, wherein the launching module comprises a launching module box and an electrically controlled throwing device control panel and a battery compartment therein; the top of the launching module box is connected to the cable; the dehooker comprises a servo and a hook, the electrically controlled throwing device control panel communicates with the winch control system via wireless signals, and the electrically controlled throwing device control panel is connected to the servo to control the left hook and the right hook of the hook to open or close.

2. The unmanned helicopter rope-dropping winch system according to claim 1, characterized in that: The capstan body further comprises a wire-out slider, a twisted shaft, a gear transmission structure and a fuse structure. The twisted shaft is parallel to the main shaft and is installed between the left axle box and the right axle box. The twisted shaft is connected to the main gear through the gear transmission structure. The middle of the wire-out slider passes through the twisted shaft. Both ends of the wire-out slider can slide along a first limiting structure parallel to the twisted shaft. A second limiting structure for limiting the cable is provided on the wire-out slider. The fuse structure includes an electric cylinder and a resistance wire, wherein the electric cylinder is fixed on the wire outlet slider, the electric cylinder is electrically connected to the winch control system, and the resistance wire is connected to the push rod of the electric cylinder.

3. The unmanned helicopter rope-dropping winch system according to claim 2, characterized in that: The first limiting structure includes a front fixed aluminum rod and a rear fixed aluminum rod fixed between the left axle box and the right axle box, the second limiting structure includes two parallel limiting rods located at the central through hole of the wire outlet slider, the cable passes through the middle of the two limiting rods, one end of the wire outlet slider is connected to a drag chain, the drag chain is used to accommodate a cable that provides electrical energy to the fuse structure, one end of the cable is connected to the electric cylinder, and the other end of the cable is connected to the power supply compartment of the winch body.

4. The unmanned helicopter rope-dropping winch system according to claim 1, characterized in that: The winch body also includes an electromagnet, a top limit trigger and a buffer spring. The two ends of the electromagnet are respectively installed on the bottom of the left axle box and the right axle box. The bottom end of the buffer spring is located at the free end of the cable. The top end of the buffer spring is connected to the top limit trigger. The top limit trigger is fixed on the cable. When the top limit trigger contacts the electromagnet, the first circuit of the winch control system is closed.

5. The unmanned helicopter rope-dropping winch system according to claim 1, characterized in that: The delivery module also includes a tension sensor, a lifting ring and a navigation light. The electric-controlled thrower control board is electrically connected to the tension sensor and the navigation light. The lifting ring is located at the top of the delivery module box, the upper part of the lifting ring is connected to the cable, the bottom of the lifting ring is connected to one end of the tension sensor, and the other end of the tension sensor is connected to the dehooker through a sensor connecting block. The delivery module box is also provided with a dehooker master switch key and a hook opening and closing key, and the dehooker master switch key and the hook opening and closing key are both electrically connected to the electric-controlled thrower control board.

6. The unmanned helicopter rope-dropping winch system according to claim 5, characterized in that: The decoupler also includes a hook fixing plate and a drive limiting structure, the hook fixing plate is connected to the sensor connecting block, the hook is installed on the hook fixing plate, the servo is installed on the hook fixing plate or the hook, the servo drives the left hook and the right hook of the hook to open or close through an elliptical rotating block installed on its output shaft, a through hole is provided under the left hook, and the elliptical rotating block is connected to the drive limiting structure through a connecting rod passing through the through hole.

7. The unmanned helicopter rope-dropping winch system according to claim 1, characterized in that: The driving motor includes a reducer and a motor, and the reducer is connected to the motor by bolts; a first shaft tooth is installed at the left end of the main shaft, the second one-way bearing is installed on the outer side of the first shaft tooth, the main gear is installed on the second one-way bearing, the main gear is meshed with the output shaft of the reducer, and the motor passes through the right axle box.

8. The unmanned helicopter rope-dropping winch system according to claim 7, characterized in that: The first one-way bearing is a one-way deep groove ball clutch bearing.

9. A control method for an unmanned helicopter rope-drop winch system, characterized in that: The unmanned helicopter rope-dropping winch system is the unmanned helicopter rope-dropping winch system according to any one of claims 1 to 8; the method comprises: In response to receiving a cargo release instruction, the winch control system controls the drive motor to operate so as to lower the cable; After the distance between the bottom end of the cable and the ground meets a first preset requirement, reducing the rotation speed of the drive motor; After the rotary encoder detects that the first one-way bearing adjacent to the rotary encoder does not rotate, the winch control system controls the drive motor to stop working; The winch control system controls the hook to open automatically through the electric thrower control panel to release the cargo.

10. The control method of the unmanned helicopter rope-dropping winch system according to claim 9, characterized in that: The method further comprises: In response to receiving a high-altitude throwing command, the winch control system controls the hook to automatically open through the electric thrower control panel to release the cargo; In response to receiving a low-altitude casting instruction, the winch control system controls the drive motor to operate so as to lower the cable; After the distance between the bottom end of the cable and the ground meets a second preset requirement, the winch control system controls the drive motor to stop working, and controls the hook to open automatically through the electric thrower control panel to release the cargo.

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