Unmanned aerial vehicle suspension control holder

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle suspension control cradle head, which is characterized in that a binocular camera is arranged to obtain the state information of a rope and the spatial position of a load in real time, a tension sensor is arranged to monitor the change of the gravity of the load in real time, and an airborne computer receives the parameter information in real time. The first rotating part, the second rotating part and the rope releasing part are controlled to timely adjust the length of the rope and the postures of the first rotating part and the second rotating part according to the weight fluctuation of the load and the spatial position posture of the load; by constructing a multi-dimensional dynamic adjustment mechanism, the inclination or swing amplitude of the load in the hanging transportation process is inhibited, the stability of the load in the plane direction is ensured, and the operation stability of the unmanned aerial vehicle transportation system is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a kind of unmanned plane suspension control holder. BACKGROUND

[0002] In the field of unmanned aerial vehicle hanging system, hoisting equipment and industrial automation, suspension device is widely used in transportation, handling and operating objects;Traditional suspension device is usually composed of fixed length rope, simple motor winch mechanism and single sensor, mainly relies on mechanical manual control or preset length operation.

[0003] During the flight of unmanned aerial vehicle, the load installed below the hanging will swing when encountering wind disturbance, causing the suspension rope to wind together, affecting the stability of the equipment, and the current hanging equipment cannot dynamically adjust according to the position and posture of the rope and load, resulting in reduced stability of unmanned aerial vehicle during flight transportation, causing certain safety hazards. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of unmanned plane suspension control holder, to solve the problem that unmanned aerial vehicle hanging equipment cannot be dynamically adjusted in real time according to the state of load and rope in prior art.

[0005] In order to achieve the above purpose, the present application provides a kind of unmanned plane suspension control holder, with x direction, y direction and z direction intersecting each other, characterized by comprising:

[0006] Frame body, for connecting with unmanned aerial vehicle, double glaucoma camera, airborne computer are equipped on the frame body, and the double glaucoma camera and the airborne computer are electrically connected;

[0007] First rotating part, rotatingly arranged at the bottom of the frame body, the rotation axis of the first rotating part extends along the z direction, the first rotating part has a first accommodating space;

[0008] Second rotating part, rotatingly arranged in the first accommodating space, the rotation axis of the second rotating part extends along the y direction, the second rotating part has a second accommodating space;

[0009] Rope release part, rotatingly arranged in the second accommodating space, the rotation axis of the rope release part extends along the y direction, and the rope release part is used for releasing or retracting rope;

[0010] The first rotating part, the second rotating part, the rope release part are all electrically connected with the airborne computer.

[0011] In some embodiments of the present application, the unmanned aerial vehicle suspension control holder further comprises a weighing part, one end of the weighing part is connected with the frame body in the z direction, and the first rotating part is rotatably installed at the other end of the weighing part.

[0012] The weighing part is electrically connected with the onboard computer.

[0013] In some embodiments of the present application, the weighing part comprises a tension sensor and a connecting rod, one end of the tension sensor is fixedly connected with the frame body in the z direction, the other end of the tension sensor is fixedly connected with the connecting rod, and the first rotating part is rotatably installed at one end of the connecting rod away from the tension sensor.

[0014] In some embodiments of the present application, the first rotating part comprises a first motor, a rotating disc and two cantilevers.

[0015] The first motor is fixedly installed in the connecting rod, the output shaft of the first motor is coaxially connected with the rotating disc, and the first motor is electrically connected with the onboard computer.

[0016] In the y direction, the two cantilevers are symmetrically connected to the two sides of the axial direction of the rotating disc, and the space surrounded by the rotating disc and the two cantilevers constitutes the first containing space.

[0017] In some embodiments of the present application, the second rotating part comprises a second motor, a connecting part extending in the y direction and two suspension parts.

[0018] The two suspension parts are respectively arranged at the two ends of the connecting part in the y direction, the two suspension parts extend in the z direction and are correspondingly connected to the two ends of the connecting part, the two suspension parts are correspondingly rotatably installed on the cantilevers, the second motor is arranged in one of the cantilevers, the output shaft of the second motor is connected with the suspension part, and the second motor is electrically connected with the onboard computer.

[0019] The area surrounded by the connecting part and the two suspension parts constitutes the second containing space.

[0020] In some embodiments of the present application, two second motors are arranged in the two cantilevers.

[0021] In some embodiments of the present application, the rope releasing part comprises a winding disc and a third motor, the winding disc is used for winding a rope.

[0022] The winding disc is rotatably installed between the two suspension parts, and the rotation axis of the winding disc extends in the y direction; the third motor is arranged in one of the suspension parts, and the output shaft of the third motor is coaxially connected with the winding disc.

[0023] The third motor is electrically connected with the airborne computer.

[0024] In some embodiments of the present application, two third motors are provided, and the two third motors are arranged in the two suspension parts correspondingly.

[0025] In some embodiments of the present application, the tension sensor is a double-screw tension sensor.

[0026] In some embodiments of the present application, the frame body comprises a first plate member and a second plate member which are arranged at intervals along the z direction, and the first plate member and the second plate member are connected through a screw rod;

[0027] The airborne computer is arranged on the second plate member, and the tension sensor is fixedly installed at the bottom of the second plate member.

[0028] Compared with the prior art, the unmanned aerial vehicle suspension control holder has the beneficial effects that: the binocular camera is arranged to acquire the state information of the rope and the spatial position of the load in real time, the airborne computer receives the state information in real time, and controls the first rotating part, the second rotating part and the rope release part to adjust according to the state information of the rope and the spatial position of the load, so as to inhibit the inclination or swing of the load in the hanging transportation process, and ensure the stability of the load in the plane direction. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a whole structure schematic view of the utility model;

[0030] Figure 2 It is a whole structure side view schematic view of the utility model;

[0031] Figure 3 It is a whole structure front view schematic view of the utility model;

[0032] Figure 4 It is a whole structure top view schematic view of the utility model;

[0033] Figure 5 It is a connection relationship schematic view of the weighing part and the first rotating part of the utility model;

[0034] Figure 6 It is a tension sensor and connecting rod separation state schematic view of the utility model;

[0035] Figure 7 It is a schematic view of the setting relationship of each part of the utility model.

[0036] In the figure, 1, frame body; 11, first plate; 12, second plate; 13, screw rod; 2, binocular camera; 3, on-board computer; 4, first rotating part; 41, rotating disc; 42, cantilever; 43, first containing space; 5, second rotating part; 51, connecting part; 52, hanging part; 53, second containing space; 6, rope releasing part; 61, winding disc; 62, rope; 7, weighing part; 71, tension sensor; 72, connecting rod. DETAILED DESCRIPTION

[0037] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0038] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. It should be understood that the terms "first", "second" and the like are used to describe various information in the present application, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the "first" information can also be referred to as "second" information, and similarly, the "second" information can also be referred to as "first" information.

[0039] As Figures 1-7 shown, the present application embodiment proposes a unmanned aerial vehicle suspension control holder, with x direction, y direction and z direction intersecting with each other, comprising frame body 1, first rotating part 4, second rotating part 5, rope releasing part 6; the frame body 1 is used for fixed connection with the unmanned aerial vehicle (the two can be connected by bolt fastening or other ways), as Figure 1 , Figure 3 shown, the binocular camera 2 (the working principle of the binocular camera 2 is to simulate human binocular vision, capture images from different angles through two cameras, and estimate the distance and depth of objects in the scene by calculating the difference of corresponding points in the image, so as to realize the acquisition of three-dimensional information) and on-board computer 3 are arranged on the frame body 1.

[0040] The binocular camera 2 is arranged at the edge of one side of the frame body 1, and is used to acquire the state information of the rope 62 and the spatial position and posture of the load in real time. The binocular camera 2 is electrically connected with the airborne computer 3. The first rotating part 4 is rotatably arranged at the bottom of the frame body 1. The rotating axis of the first rotating part 4 extends along the z direction. The first rotating part 4 has a first accommodating space 43. The second rotating part 5 is rotatably arranged in the first accommodating space 43. The rotating axis of the second rotating part 5 extends along the y direction. The second rotating part 5 has a second accommodating space 53. The rope releasing part 6 is rotatably arranged in the second accommodating space 53. The rotating axis of the rope releasing part 6 extends along the y direction. The rope releasing part 6 is used to release or retract the rope 62. The first rotating part 4, the second rotating part 5 and the rope releasing part 6 are electrically connected with the airborne computer 3.

[0041] In the scheme, the rotating axis of the first rotating part 4 extends along the z direction, and is used to drive the load to rotate in the horizontal plane. The rotating axis of the second rotating part 5 extends along the y direction, and is used to drive the load to swing in the y direction or the x direction. In the scheme, the binocular camera 2 is used to acquire the state information of the rope 62 (whether the rope 62 is wound together) and the swing of the load in real time. The airborne computer 3 receives the above-mentioned parameter information in real time, and controls the first rotating part 4 and the second rotating part 5 to perform corresponding actions. For example, when the binocular camera 2 monitors that the rope 62 is wound together, the airborne computer 3 controls the first rotating part 4 to rotate, so as to relieve the torsion degree of the rope 62, so that the rope 62 returns to the natural state. If the binocular camera 2 monitors that the swing amplitude of the load in the x direction or the y direction is too large, the airborne computer 3 controls the second rotating part 5 to rotate, so that the second rotating part 5 rotates in the direction opposite to the swing of the load, so as to offset the swing amplitude of the load, and ensure the stability of the load in the plane direction. Meanwhile, according to the swing amplitude of the load, the airborne computer 3 controls the rope releasing part 6 to adjust the length of the rope 62 (the shorter the length of the rope 62 is, the more conducive to inhibiting the swing of the load). In the scheme, the length adjustment of the rope 62 and the rotation of the second rotating part 5 are cooperated, so as to inhibit the swing amplitude of the load, and improve the stability of the load in the transportation process.

[0042] In some embodiments of the application, the unmanned aerial vehicle suspension control holder further comprises a weighing part 7. One end of the weighing part 7 is connected with the frame body 1 along the z direction, and the first rotating part 4 is rotatably arranged at the other end of the weighing part 7. The weighing part 7 is electrically connected with the airborne computer 3. The weighing part 7 is used to monitor the weight of the load in real time, and transmit the acquired weight information to the airborne computer 3 in real time.

[0043] The embodiment is characterized in that the weighing part 7 is arranged between the frame body 1 and the first rotating part 4, and is used for monitoring the weight of the load in real time and feeding back the gravity data to the airborne computer 3, and the airborne computer 3 fuses the gravity information obtained by the binocular camera 2 and the weighing part 7, so as to realize dynamic detection of the spatial position, swing state and weight fluctuation of the load; according to the gravity and spatial position information of the load, the airborne computer 3 calculates the optimal length of the current rope 62 and the posture adjustment angle of the first rotating part 4 and the second rotating part 5, and ensures the stability and safety of the load.

[0044] As shown in Figure 5 , Figure 6 , the weighing part 7 comprises a tension sensor 71 and a connecting rod 72; in the z direction, one end of the tension sensor 71 is fixedly connected with the frame body 1, and the other end of the tension sensor 71 is fixedly connected with the connecting rod 72; the first rotating part 4 is rotatably installed at one end of the connecting rod 72 away from the tension sensor 71; the tension sensor 71 is used for acquiring the gravity data of the load in real time, and feeding back the acquired gravity data information to the airborne computer 3; the airborne computer 3 dynamically perceives the fluctuation of the load gravity according to the acquired load gravity data information, and timely adjusts the length of the rope 62 and the posture angle of the first rotating part 4 and the second rotating part 5, so as to ensure the stability and safety of the load in the transportation process.

[0045] As shown in Figure 1 , Figure 2 , Figure 3 , the first rotating part 4 comprises a first motor (not shown in the figure), a rotating disc 41 and two cantilevers 42; the first motor is fixedly installed in the connecting rod 72, the output shaft of the first motor is coaxially connected with the rotating disc 41, and the first motor is electrically connected with the airborne computer 3; in the y direction, the two cantilevers 42 are symmetrically connected to the two sides of the axial direction of the rotating disc 41, and the space surrounded by the rotating disc 41 and the two cantilevers 42 constitutes a first containing space 43.

[0046] The airborne computer 3 controls the first motor to start and drive the rotating disc 41 to rotate in the horizontal plane according to the data information acquired by the binocular camera 2 and the weighing part 7, so as to realize adjustment of the ropes 62 wound together, so that the ropes 62 return to the natural state; the first rotating part 4 in the scheme is used for driving the load to rotate in the horizontal plane, and adjusting the angle of the load in the horizontal plane.

[0047] As shown in Figure 3As shown, the second rotating part 5 comprises a second motor, a connecting part 51 extending along the y direction, and two hanging parts 52; the two hanging parts 52 are respectively arranged at the two ends of the connecting part 51 along the y direction, and both extend along the z direction and are correspondingly connected to the two ends of the connecting plate along the y direction; the two hanging parts 52 are correspondingly rotatably installed on the two cantilever arms 42, the second motor is arranged in one of the cantilever arms 42, and the output shaft of the second motor is connected to the corresponding hanging part 52 for driving the second rotating part 5 composed of the connecting part 51 and the two hanging parts 52 to rotate; the area surrounded by the two hanging parts 52 and the connecting part 51 forms a second containing space 53; the second motor is electrically connected to the onboard computer 3, and the onboard computer 3 controls the second motor to start and drive the load to swing along the y direction or the x direction according to the obtained load space position information, so as to offset the swing of the load itself, thereby reducing the swing amplitude of the load along the y direction or the x direction.

[0048] In some embodiments of the present application, two second motors can be arranged in the two cantilever arms 42; compared with only one second motor, the two second motors can provide more sufficient driving force to drive the load to swing in the direction opposite to its own swing along the y direction or the x direction, so as to suppress the swing amplitude of the load.

[0049] In some embodiments of the present application, as shown, Figure 3 The rope release 6 comprises a winding disc 61 for winding the rope 62, and a third motor (which is an encoder motor, specifically a motor with an encoder, which can real-time feedback motor position, speed and direction information, and then realize high-precision positioning and control); the winding disc 61 is rotatably installed between the two hanging parts 52, and the rotation axis of the winding disc 61 extends along the y direction; the third motor is arranged in one of the hanging parts 52, and the output shaft of the third motor is coaxially connected with the winding disc 61 for driving the winding disc 61 to rotate to release or retract the rope 62; the third motor is electrically connected to the onboard computer 3.

[0050] The onboard computer 3 controls the rotation of the third motor according to the gravity change of the load, thereby driving the winding disc 61 to rotate, releasing or retracting the rope 62, and maintaining the rope 62 at the optimal length position, so as to ensure the stability and safety of the load. In the present scheme, the onboard computer 3 adjusts the length of the rope 62 through the third motor, and combines the posture adjustment capability of the first rotating part 4 and the second rotating part 5, effectively suppresses the swing of the load, and ensures the smooth operation of the load. During transportation, the load is dynamically and real-timely adjusted according to the swing trend and position drift of the load.

[0051] In some embodiments of this application, two third motors may be provided, with each motor corresponding to one of the two suspension portions 52. Compared to having only one third motor, two third motors can provide more sufficient driving force and drive the winding reel 61 to rotate, thereby achieving more sensitive release or retraction of the rope 62.

[0052] In some embodiments of this application, the tension sensor 71 in this solution is a twin-screw 13 tension sensor 71, specifically model: Bengchuan BCLM-1 (it can also be other models of sensors, as long as they can achieve the weighing effect; this solution does not limit the type of tension sensor 71); such as Figure 6 The diagram shows the specific structure of the twin-screw tension sensor 71, which includes a main body and screws 13 located at the upper and lower ends of the main body. When a certain pressure is applied to the upper screw 13 or a certain pushing force is applied to the lower screw 13, the magnitude of the applied force can be measured through the main body. (Since the tension sensor 71 in this solution uses a relatively mature device in the existing technology, its working principle will not be described in detail here.) In this solution, the tension sensor 71 is fixedly connected to the frame 1 (threaded connection) through the upper screw 13 and fixedly connected to the connecting rod 72 (threaded connection) through the lower screw 13. The gravity of the load acts on the lower screw 13 through the rope release part 6, the second rotating part 5, the first rotating part 4, and the connecting rod 72, thereby enabling the real-time acquisition of the load's gravity data.

[0053] In some embodiments of this application, such as Figure 1 As shown, the frame 1 includes a first plate 11 and a second plate 12 spaced apart along the z-direction, and the first plate 11 and the second plate 12 are connected by a screw 13; the airborne computer 3 is mounted on the second plate 12 (the airborne computer 3 is located between the first plate 11 and the second plate 12, which can provide a certain degree of protection for the airborne computer 3); the binocular camera 2 is fixedly installed at the edge of the second plate 12; the screw 13 at the upper end of the tension sensor 71 is threadedly connected to the second plate 12.

[0054] In conclusion, the unmanned aerial vehicle suspension control holder provided by the embodiments of the present application, the binocular camera 2 is used to acquire the state information of the rope 62 and the spatial position of the load in real time, the tension sensor 71 is used to monitor the change of the load gravity in real time, the airborne computer 3 receives the above parameter information in real time, and controls the first rotating part 4, the second rotating part 5 and the rope release part 6 to timely adjust the length of the rope 62 and the posture of the first rotating part 4 and the second rotating part 5 according to the weight fluctuation of the load and the spatial position posture of the load; by constructing a multi-dimensional dynamic adjustment mechanism, the amplitude of the inclination or swing of the load in the hanging transportation process is inhibited, the stability of the load in the plane direction is ensured, and the operation stability of the unmanned aerial vehicle transportation system is improved. The binocular camera 2 in the scheme provides high-precision three-dimensional position information of the load, the weighing part 7 monitors the load gravity and dynamic change in real time, and forms a complete multi-source information link.

[0055] The above only describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and replacements can be made, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A UAV suspension control gimbal, having x, y and z directions intersecting with each other in pairs, characterized in that, The utility model relates to a kind of unmanned aerial vehicle suspension control holder, including: Frame body (1) for being connected with unmanned aerial vehicle, binocular camera (2) is equipped on the frame body (1), onboard computer (3), the binocular camera (2) and the onboard computer (3) are electrically connected; First rotating part (4) is rotationally arranged in the bottom of the frame body (1), the rotation axis of the first rotating part (4) extends along the z direction, the first rotating part (4) has first accommodating space (43); Second rotating part (5) is rotationally arranged in the first accommodating space (43), the rotation axis of the second rotating part (5) extends along the y direction, the second rotating part (5) has second accommodating space (53); Rope release (6) is rotationally arranged in the second accommodating space (53), the rotation axis of the rope release (6) extends along the y direction, and the rope release (6) is used to release or retract rope (62); The first rotating part (4), the second rotating part (5), the rope release (6) are electrically connected with the onboard computer (3).

2. The unmanned aerial vehicle suspension control gimbal of claim 1, wherein, The unmanned aerial vehicle suspension control holder further includes a weighing portion (7) that is connected to the frame body (1) at one end in the z direction and has the first rotating portion (4) rotationally mounted at the other end. The weighing portion (7) is electrically connected with the onboard computer (3).

3. The unmanned aerial vehicle suspension control gimbal of claim 2, wherein, The weighing portion (7) includes a tension sensor (71) and a connecting rod (72). In the z direction, one end of the tension sensor (71) is fixedly connected to the frame body (1), and the other end of the tension sensor (71) is fixedly connected to the connecting rod (72). The first rotating portion (4) is rotationally mounted at an end of the connecting rod (72) that is away from the tension sensor (71).

4. The unmanned aerial vehicle suspension control gimbal of claim 3, wherein, The first rotating portion (4) includes a first motor, a rotating disc (41), and two cantilevers (42). The first motor is fixedly mounted in the connecting rod (72), the output shaft of the first motor is coaxially connected to the rotating disc (41), and the first motor is electrically connected to the onboard computer (3). In the y direction, the two cantilevers (42) are symmetrically connected to the two sides of the axial direction of the rotating disc (41), and the space surrounded by the rotating disc (41) and the two cantilevers (42) constitutes the first accommodating space (43).

5. The unmanned aerial vehicle suspension control gimbal of claim 4, wherein, The second rotating portion (5) includes a second motor, a connecting portion (51) extending along the y direction, and two suspension portions (52). The two suspension portions (52) are respectively arranged at the two ends of the connecting portion (51) along the y direction, both of the two suspension portions (52) extend along the z direction and are correspondingly connected to the two ends of the connecting portion (51), the two suspension portions (52) are correspondingly rotationally mounted on the cantilevers (42), the second motor is arranged in one of the cantilevers (42), the output shaft of the second motor is connected to the suspension portion (52), and the second motor is electrically connected to the onboard computer (3). The connecting portion (51) and the two suspension portions (52) constitute the second accommodating space (53).

6. The unmanned aerial vehicle suspension control gimbal of claim 5, wherein, The second motor is provided with two, and the two second motors are correspondingly arranged in the two cantilever arms (42).

7. The unmanned aerial vehicle suspension control gimbal of claim 5, wherein, The rope release (6) comprises a winding reel (61) for winding a rope (62), and a third motor; The winding reel (61) is rotatably installed between the two suspension parts (52), and the rotation axis of the winding reel (61) extends along the y direction; the third motor is arranged in one of the suspension parts (52), and the output shaft of the third motor is coaxially connected with the winding reel (61); The third motor is electrically connected with the on-board computer (3).

8. The unmanned aerial vehicle suspension control gimbal of claim 7, wherein, The third motor is provided with two, and the two third motors are correspondingly arranged in the two suspension parts (52).

9. The gimbal of any one of claims 3-8, wherein, The tension sensor (71) is a double-screw (13) tension sensor (71).

10. The unmanned aerial vehicle suspension control gimbal of claim 3, wherein, The frame body (1) comprises a first plate (11) and a second plate (12) which are spaced apart along the z direction, and the first plate (11) and the second plate (12) are connected through a screw (13); The on-board computer (3) is arranged on the second plate (12), and the tension sensor (71) is fixedly installed at the bottom of the second plate (12).

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