Unmanned aerial vehicle deploying and retracting mechanism
By coordinating the display module and controller, the launch and recovery drive motors are controlled, solving the problems of complex and unstable drone launch and recovery mechanisms and achieving automation and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-21
- Publication Date
- 2026-03-20
AI Technical Summary
Existing drone launch and recovery mechanisms are complex in structure, prone to malfunctions, and thus unstable.
The display module sends control commands to the controller, which controls the take-up and take-up control circuit through high-level or low-level signals, drives the take-up and take-up drive motor, and realizes the automated operation of the strand reel. The structure is simple and stable.
The system achieves automation and stability in the drone launch and recovery mechanism, simplifies the structure, and reduces the failure rate.
Smart Images
Figure CN224013889U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV launch and recovery mechanism. Background Technology
[0002] As a special type of unmanned aerial vehicle, tethered drones, like ordinary drones, have components such as in-flight navigation and autopilot systems. However, they have advantages that ordinary drones cannot match. Continuous power supply can not only ensure the long-term flight of tethered drones, but also provide power for other equipment on tethered drones, enabling them to complete more complex payload requirements.
[0003] Tethered drones use a reversible twisted reel to release and retrieve the tether line. However, existing drone release and retrieval mechanisms are complex, use many components, and are prone to failure, leading to instability in the release and retrieval mechanism. Utility Model Content
[0004] This application provides an unmanned aerial vehicle (UAV) launch and recovery mechanism to solve the problem that existing UAV launch and recovery mechanisms are complex in structure, prone to failure, and thus unstable.
[0005] In a first aspect, embodiments of this application provide a launch and retrieve mechanism for an unmanned aerial vehicle (UAV), including a controller, a launch and retrieve device, a power module, and a display module. The launch and retrieve device includes a launch and retrieve control circuit, a launch and retrieve drive motor, and a stranded wire reel connected in sequence. The controller is connected to the launch and retrieve control circuit and the display module. The power module supplies power to the controller, the launch and retrieve device, and the display module. The display module sends a launch command or a retrieve command to the controller. The controller receives the launch command from the display module and then sends a low-level signal to the launch and retrieve control circuit to control the launch and retrieve drive motor to rotate forward. The controller also receives the retrieve command from the display module and then sends a high-level signal to the launch and retrieve control circuit to control the launch and retrieve drive motor to rotate in reverse.
[0006] In some embodiments, the controller includes a control chip, and the retraction control circuit includes a first transistor, a second transistor, a third transistor, a relay, a first resistor, a second resistor, a third resistor, a fourth resistor, and a fifth resistor; a first pin of the control chip is connected to a power module, a second pin is connected to the display module, a third pin is connected to ground, a fourth pin is connected to the second terminal of the second resistor, and a fifth pin is connected to the first terminal of the first resistor; the base of the first transistor is connected to the second terminal of the second resistor, the collector is connected to the first terminal of the relay coil, and the emitter is connected to ground; the base of the second transistor is connected to the second terminal of the first resistor and... The collector of the third resistor is connected to the first terminal of the fourth resistor, and the emitter and the second terminal of the third resistor are connected to the ground terminal. The base of the third transistor is connected to the second terminal of the fourth resistor and the first terminal of the fifth resistor. The emitter and the second terminal of the fifth resistor are connected to the power module. The collector is connected to the normally closed contact of the first moving contact and the normally open contact of the second moving contact of the relay. The first moving contact of the relay is connected to the positive terminal of the retractor drive motor, and the second moving contact is connected to the negative terminal of the retractor drive motor. The normally open contact of the first moving contact and the normally closed contact of the second moving contact are connected to the ground terminal. The second terminal of the relay coil is connected to the power module.
[0007] In some embodiments, the release and retraction control circuit further includes a first capacitor, the first end of which is connected to the fifth pin of the control chip, and the second end of which is connected to the first end of the first resistor.
[0008] In some embodiments, the receiving circuit further includes a first diode connected in parallel with the coil of the relay.
[0009] In some embodiments, the power module includes a battery and a power conversion circuit, wherein the battery is connected to the power conversion circuit.
[0010] In some embodiments, the power conversion circuit includes a power chip, a second capacitor, a third capacitor, and a sixth resistor. The first pin of the power chip is connected to the first terminal of the sixth resistor, the second pin is connected to the ground terminal, the third and fourth pins are connected to the first terminal of the third capacitor and the power output terminal, the second terminal of the sixth resistor is connected to the battery and the first terminal of the second capacitor, and the second terminals of the second capacitor and the second terminals of the third capacitor are connected to the ground terminal.
[0011] In some embodiments, the controller chip is an STM32F301K8U6 chip.
[0012] In some embodiments, the power chip is a PW5100 model chip.
[0013] In some embodiments, both the first transistor and the second transistor are of type 2N3904.
[0014] In some embodiments, the third transistor is an S8050.
[0015] In this embodiment, a display module is used to send control commands to the controller. The controller sends corresponding high-level or low-level signals according to the display module to control the release and retraction control circuit, thereby driving the release and retraction drive motor and realizing the operation of the twisted wire reel. The whole process is automated and the structure is relatively simple, ensuring the stability of the UAV release and retraction mechanism. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the electrical structure of an unmanned aerial vehicle launch and recovery mechanism provided in an embodiment of this application;
[0017] Figure 2 This is a schematic diagram of the controller circuit of an unmanned aerial vehicle launch and recovery mechanism provided in an embodiment of this application;
[0018] Figure 3 This is a schematic diagram of the power module circuit of an unmanned aerial vehicle launch and recovery mechanism provided in an embodiment of this application;
[0019] Among them, 110 is the controller; 120 is the power supply module; 130 is the display module; and 140 is the cable reeling device. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.
[0021] The unmanned aerial vehicle (UAV) launch and recovery mechanism provided in this application avoids the problem that existing UAV launch and recovery mechanisms are relatively complex in structure and prone to failure, thus leading to instability of the launch and recovery mechanism.
[0022] Figure 1This is a schematic diagram of the modular structure of a launch and recovery mechanism for an unmanned aerial vehicle (UAV) provided in an embodiment of this application. (Reference) Figure 1 The unmanned aerial vehicle (UAV) launch and retrieval mechanism includes a controller 110, a launch and retrieval device 140, a power module 120, and a display module 130. The launch and retrieval device 140 includes a launch and retrieval control circuit, a launch and retrieval drive motor, and a stranded wire reel connected in sequence. The controller 110 is connected to the launch and retrieval control circuit and the display module 130. The power module 120 supplies power to the controller 110, the launch and retrieval device 140, and the display module 130. The display module 130 sends a launch command or a retrieval command to the controller 110. The controller 110 sends a low-level signal to the launch and retrieval control circuit after receiving the launch command from the display module 130 to control the launch and retrieval drive motor to rotate forward. The controller 110 also sends a high-level signal to the launch and retrieval control circuit after receiving the retrieval command from the display module 130 to control the launch and retrieval drive motor to rotate in reverse.
[0023] As described above, control commands are sent to the controller 110 via the display module 130. The controller 110 controls the take-up and take-down control circuit based on the corresponding high-level or low-level signals sent by the display module 130, thereby driving the take-up and take-down drive motor and realizing the operation of the twisted wire reel. The whole process is automated and the structure is relatively simple, ensuring the stability of the UAV take-up and take-down mechanism.
[0024] As a preferred embodiment, please refer to Figure 2The controller 110 includes a control chip U1. The transmission and reception control circuit includes a first transistor Q1, a second transistor Q2, a third transistor Q3, a relay K1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, and a first diode D1. The first pin VDD of the control chip U1 is connected to the power module 120, the second pin P1 is connected to the display module 130, the third pin GND is connected to the ground terminal, the fourth pin P2 is connected to the second terminal of the second resistor R2, and the fifth pin P3 is connected to the first terminal of the first capacitor C1. The base of the first transistor Q1 is connected to the second terminal of the second resistor R2, the collector is connected to the first terminal of the coil of the relay K1, and the emitter is connected to the ground terminal. The second terminal of the first capacitor C1 is connected to the first terminal of the first resistor R1. The base of transistor Q2 is connected to the second terminal of the first resistor R1 and the first terminal of the third resistor R3. The collector is connected to the first terminal of the fourth resistor R4. The emitter and the second terminal of the third resistor R3 are connected to the ground terminal. The base of transistor Q3 is connected to the second terminal of the fourth resistor R4 and the first terminal of the fifth resistor R5. The emitter and the second terminal of the fifth resistor R5 are connected to the power module 120. The collector is connected to the normally closed contact of the first moving contact and the normally open contact of the second moving contact of relay K1. The first moving contact of relay K1 is connected to the positive terminal of the drive motor, and the second moving contact is connected to the negative terminal of the drive motor. The normally open contact of the first moving contact and the normally closed contact of the second moving contact are connected to the ground terminal. The second terminal of the coil of relay K1 is connected to the power module 120. The first diode D1 is connected in parallel with the coil of relay K1.
[0025] Specifically, when the control signal output pin 4, P2, of the control chip U1 outputs the forward and reverse control signals for the retractable drive motor, the modulation signal output pin 5, P3, of the control chip U1 outputs a PWM signal. This PWM signal enters the base of the second transistor Q2 through the first capacitor C1 and the first resistor R1. After being amplified by the second transistor Q2, it is output from the collector and sent to the base of the third transistor Q3 through the fourth resistor R4. After being adjusted by the first transistor Q1, it is output from the collector and sent to the retractable drive motor through the relay K1, causing the retractable drive motor to rotate at a constant speed according to the PWM signal setting. When the control signal output pin 4, P2, outputs a low-level signal, the first transistor Q1 is cut off, and the normally closed contacts of the first and second moving contacts of the relay K1 are both closed, connecting the PWM signal to the positive terminal of the retractable drive motor. The negative terminal of the drive motor is grounded, thus enabling the drive motor to rotate forward. When the control signal output pin P2 outputs a high-level signal, the third transistor Q3 is turned on, and the normally open contacts of the first and second moving contacts of relay K1 are both connected. The PWM signal is connected to the negative terminal of the drive motor, and the positive terminal of the drive motor is grounded, thus enabling the drive motor to rotate in reverse. The first resistor R1 and the third resistor R3 are used to ensure that the second transistor Q2 is cut off when the circuit is not working; the second resistor R2 is used to ensure that the first transistor Q1 is cut off when the circuit is not working; the fourth resistor R4 and the fifth resistor R5 are used to ensure that the third transistor Q3 is cut off when the circuit is not working; the first capacitor C1 is used to block DC and pass AC; and the first diode D1 is used to discharge when the circuit is not working.
[0026] As a preferred embodiment, please refer to Figure 3 The power module 120 includes a battery and a power conversion circuit. The battery is connected to the power conversion circuit. The power conversion circuit includes a power chip U2, a second capacitor C2, a third capacitor C3, and a sixth resistor R6. The first pin SW of the power chip U2 is connected to the first end of the sixth resistor R6, the second pin GND is connected to the ground terminal, the third pin VOUT and the fourth pin EN are connected to the first end of the third capacitor C3 and the power output terminal, the second end of the sixth resistor R6 is connected to the battery and the first end of the second capacitor C2, and the second ends of the second capacitor C2 and the third capacitor C3 are connected to the ground terminal. Specifically, the power conversion circuit boosts and regulates the voltage of the battery, and the output voltage supplies power to the controller 110, the display module 130, and the cable rewinding device 140. It can be understood that the specific voltage output value can be set according to requirements.
[0027] As a preferred implementation, the controller 110 chip uses the STM32F301K8U6 model. The STM32F301K8U6 is a 32-bit microcontroller from the STM32F3 series, integrating a high-performance ARM Cortex-M4 RISC core operating at up to 72MHz, and embedding a floating-point unit (FPU), high-speed embedded memory (up to 64kB of flash memory and 16kB of SRAM), and various enhanced I / O and peripheral devices connected to two APB buses. This device provides a fast 12-bit ADC, two comparators, an operational amplifier, up to 18 capacitive sensing channels, a DAC channel, a low-power RTC, a general-purpose 32-bit timer, a dedicated timer for motor control, up to three general-purpose 16-bit timers, and a timer for driving the DAC, as well as standard and advanced communication interfaces—three I²Cs, two SPIs with multiplexed full-duplex I²S, and two USARTs.
[0028] As a preferred implementation, the power supply chip U2 uses the PW5100 model chip. The PW5100 is a high-efficiency, low-power (10uA), low-ripple, high-frequency (1.2MHz) PFM synchronous boost DC / DC converter with an EN shutdown pin.
[0029] In a preferred embodiment, both the first transistor Q1 and the second transistor Q2 are model 2N3904, which features low power and high speed.
[0030] As a preferred implementation, the third transistor Q3 is model S8050, which is low power and high speed.
[0031] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.
Claims
1. A launch and recovery mechanism for an unmanned aerial vehicle, characterized in that, include: The system comprises a controller, a wire release / recruitment device, a power supply module, and a display module. The wire release / recruitment device includes a wire release / recruitment control circuit, a wire release / recruitment drive motor, and a stranded wire reel connected in sequence. The controller is connected to the wire release / recruitment control circuit and the display module. The power supply module supplies power to the controller, the wire release / recruitment device, and the display module. The display module sends wire release or recruitment commands to the controller. Upon receiving a wire release command from the display module, the controller sends a low-level signal to the wire release / recruitment control circuit to control the wire release / recruitment drive motor to rotate forward. Upon receiving a wire recruitment command from the display module, the controller sends a high-level signal to the wire release / recruitment control circuit to control the wire release / recruitment drive motor to rotate in reverse.
2. The unmanned aerial vehicle launch and recovery mechanism according to claim 1, characterized in that, The controller includes a control chip, and the retraction control circuit includes a first transistor, a second transistor, a third transistor, a relay, a first resistor, a second resistor, a third resistor, a fourth resistor, and a fifth resistor. The first pin of the control chip is connected to the power module, the second pin is connected to the display module, the third pin is connected to ground, the fourth pin is connected to the second terminal of the second resistor, and the fifth pin is connected to the first terminal of the first resistor. The base of the first transistor is connected to the second terminal of the second resistor, the collector is connected to the first terminal of the relay coil, and the emitter is connected to ground. The base of the second transistor is connected to the second terminal of the first resistor and the third... The collector of the first end of the resistor is connected to the first end of the fourth resistor, and the emitter and the second end of the third resistor are connected to the ground terminal. The base of the third transistor is connected to the second end of the fourth resistor and the first end of the fifth resistor. The emitter and the second end of the fifth resistor are connected to the power module. The collector is connected to the normally closed contact of the first moving contact and the normally open contact of the second moving contact of the relay. The first moving contact of the relay is connected to the positive terminal of the release / recruitment drive motor, and the second moving contact is connected to the negative terminal of the release / recruitment drive motor. The normally open contact of the first moving contact and the normally closed contact of the second moving contact are connected to the ground terminal. The second end of the coil of the relay is connected to the power module.
3. The unmanned aerial vehicle launch and recovery mechanism according to claim 2, characterized in that, The release and retraction control circuit also includes a first capacitor, the first end of which is connected to the fifth pin of the control chip, and the second end of which is connected to the first end of the first resistor.
4. The unmanned aerial vehicle launch and recovery mechanism according to claim 2, characterized in that, The release and retraction control circuit also includes a first diode, which is connected in parallel with the coil of the relay.
5. The unmanned aerial vehicle launch and recovery mechanism according to claim 1, characterized in that, The power module includes a battery and a power conversion circuit, with the battery connected to the power conversion circuit.
6. The unmanned aerial vehicle launch and recovery mechanism according to claim 5, characterized in that, The power conversion circuit includes a power chip, a second capacitor, a third capacitor, and a sixth resistor. The first pin of the power chip is connected to the first end of the sixth resistor, the second pin is connected to the ground terminal, the third and fourth pins are connected to the first end of the third capacitor and the power output terminal, the second end of the sixth resistor is connected to the battery and the first end of the second capacitor, and the second ends of the second capacitor and the second ends of the third capacitor are connected to the ground terminal.
7. The unmanned aerial vehicle launch and recovery mechanism according to claim 2, characterized in that, The controller chip used is an STM32F301K8U6 chip.
8. The unmanned aerial vehicle launch and recovery mechanism according to claim 6, characterized in that, The power supply chip used is the PW5100 model.
9. The unmanned aerial vehicle launch and recovery mechanism according to claim 2, characterized in that, Both the first transistor and the second transistor are model 2N3904.
10. The unmanned aerial vehicle launch and recovery mechanism according to claim 2, characterized in that, The third transistor is model S8050.