Agricultural unmanned aerial vehicle hoisting device based on multi-mode stable suspension

Abstract

The utility model relates to the technical field of unmanned aerial vehicle devices, in particular to an agricultural unmanned aerial vehicle hoisting device based on multi-mode stable suspension, which comprises a multi-mode suspension structure arranged at the bottom of an unmanned aerial vehicle main body, and is characterized in that the multi-mode suspension structure comprises an electromagnetic lock hook, and a main sling and an auxiliary sling which are arranged on the unmanned aerial vehicle main body; the electromagnetic lock hook is controlled by a circular power source, the main sling is driven by a main sling motor, the auxiliary sling is driven by an auxiliary sling micro motor, and the movable ends of the main sling and the auxiliary sling are jointly connected with the electromagnetic lock hook. Through cooperative control of the main sling and the auxiliary sling, the material swing amplitude can be reduced, the materials are prevented from impacting an unmanned aerial vehicle body or surrounding obstacles, and the flight safety in a complex farmland environment is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural drones, specifically relating to an agricultural drone hoisting device based on multimodal stable suspension. Background Technology

[0002] Traditional agricultural drones are mainly used for spraying operations. Their hoisting function is simply designed, and the suspension mechanism lacks stability, which can easily cause materials to swing and hit the fuselage. The hoisting rope / hook lacks a quick release mechanism, resulting in low material delivery accuracy. They require secondary manual operation and lack the ability to dynamically balance and adjust during the hoisting process, which affects flight safety.

[0003] For example, patent CN222845479U discloses "A Plant Protection Drone Lifting Equipment". This equipment uses the drone itself as a power source and can only lift items by suspending them below the drone through a fixed device. For some special scenarios, such as when items need to be lifted vertically from the ground and moved horizontally, or when the angle of the items needs to be adjusted during the lifting process, this single lifting method cannot meet the needs. In addition, the shape and size of the transport basket are fixed. If it is necessary to lift items with irregular shapes or large sizes, it may be limited by the transport basket and cannot flexibly adjust the lifting method, making it difficult to lift some special items. Utility Model Content

[0004] This invention provides an agricultural drone hoisting device based on multimodal stable suspension to solve the problems of poor material stability, inaccurate delivery, and low adaptability of existing drone hoisting devices in agricultural hoisting.

[0005] The technical solution adopted by this utility model to achieve the above objectives is as follows:

[0006] An agricultural drone hoisting device based on multimodal stabilization suspension includes a multimodal suspension structure set at the bottom of the drone body. The multimodal suspension structure includes an electromagnetic hook and a main sling and a secondary sling set on the drone body. The electromagnetic hook is controlled by a circular power source, the main sling is driven by a main sling motor, and the secondary sling is driven by a secondary sling micro motor. The movable ends of the main sling and the secondary sling are connected to the electromagnetic hook.

[0007] As a preferred embodiment of this utility model, a main sling catcher is installed at the movable end of the main sling, a secondary stabilizing sling hook is provided on the circular power supply, a secondary sling catcher is installed at the movable end of the secondary sling, and the movable end of the secondary sling is connected to the secondary stabilizing sling hook.

[0008] As a preferred embodiment of this utility model, a pressure sensor is installed above the circular power supply.

[0009] As a preferred embodiment of this utility model, the bottom of the UAV body is provided with a main sling positioning frame and a secondary sling positioning frame. The main sling motor is mounted on the main sling positioning frame, and the secondary sling micro motor is mounted on the secondary sling positioning frame. A main sling protective cover is provided connecting the main sling positioning frame, and a secondary sling protective cover is provided connecting the secondary sling positioning frame.

[0010] As a preferred embodiment of this utility model, a main sling camera and a gyroscope are fixed on the main sling protective cover.

[0011] As a preferred embodiment of this utility model, the main sling is made of steel, the auxiliary sling is made of nylon, and the main sling positioning frame, the main sling protective cover, the auxiliary sling positioning frame, and the auxiliary sling protective cover are all made of carbon fiber.

[0012] As a preferred embodiment of this utility model, the circular power supply is provided with a counterweight.

[0013] The beneficial effects of this utility model are:

[0014] The agricultural drone hoisting device of this invention uses the main hoisting cable and the auxiliary hoisting cable for coordinated control, which can reduce the swing amplitude of materials, avoid materials from colliding with the drone body or surrounding obstacles, and ensure flight safety in complex farmland environments. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a schematic diagram of the planar structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the planar structure of the hoisting device of this utility model;

[0018] Figure 4 This is a schematic diagram of the planar structure of the hoisting device of this utility model.

[0019] In the diagram: 1. UAV body; 2. Multimodal suspension structure; 21. Main sling positioning frame; 22. Main sling; 23. Main sling protective cover; 24. Main sling motor; 25. Main sling absorber; 26. Pressure sensor; 27. Circular power supply; 28. Electromagnetic lock hook; 29. ​​Main and auxiliary sling connecting ring; 210. Auxiliary stabilizing cable lock hook; 211. Auxiliary sling absorber; 212. Auxiliary sling; 213. Auxiliary sling micro motor; 214. Auxiliary sling protective cover; 215. Auxiliary sling positioning frame; 216. Main sling camera; 217. Gyroscope. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. The singular forms "a" and "the" as used in the embodiments of this application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0022] This utility model provides an embodiment of an agricultural drone hoisting device based on multimodal stable suspension:

[0023] Please refer to Figure 1 and Figure 2 The hoisting device in this embodiment includes a multi-modal suspension structure 2 installed on the main body 1 of the drone. The main body 1 of the drone adopts a quadcopter structure, and the multi-modal suspension structure 2 is installed at the middle of the bottom of the main body 1 of the drone.

[0024] Please see Figure 3 and Figure 4 The hoisting device includes an electromagnetic hook 28 and a main sling 22 and an auxiliary sling 212 mounted on the main body 1 of the UAV. The electromagnetic hook 28 is controlled by a circular power supply 27. A pressure sensor 26 is mounted above the circular power supply 27. A counterweight (not shown in the figure) is mounted on the circular power supply 27. The main sling 22 is driven by a main sling motor 24, and the auxiliary sling 212 is driven by an auxiliary sling micro motor 213. The movable ends of the main sling 22 and the auxiliary sling 212 are connected to the electromagnetic hook 28.

[0025] Specifically, a main sling catcher 25 is installed at the movable end of the main sling 22, a secondary stabilizing sling hook 210 is provided on the circular power supply 27, a secondary sling catcher 211 is installed at the movable end of the secondary sling 212, and the movable end of the secondary sling 212 is connected to the secondary stabilizing sling hook 210.

[0026] At the bottom of the main body 1 of the drone, there is a main sling positioning frame 21 and a secondary sling positioning frame 215. The main sling motor 24 is mounted on the main sling positioning frame 21, and the secondary sling micro motor 213 is mounted on the secondary sling positioning frame 215. The main sling positioning frame 21 is connected to the main sling positioning frame 21 and the secondary sling positioning frame 215 is connected to the secondary sling positioning frame 214. The main sling camera 216 and the gyroscope 217 are fixed on the main sling protective cover 23.

[0027] In this embodiment, the main sling 22 is made of steel, the auxiliary sling 212 is made of high-strength nylon, and the main sling positioning frame 21, the main sling protective cover 23, the auxiliary sling positioning frame 215, and the auxiliary sling protective cover 214 are all made of carbon fiber, which has excellent high strength and low density.

[0028] In the specific installation setup, the main sling 22 is installed inside the main sling protective cover 23, the main sling protective cover 23 is fixedly connected to the main sling positioning frame 21, the main sling motor 24 is installed on the outer side of the main sling protective cover 23, the inner side of the main sling motor 24 is fixedly connected to the main sling protective cover 23, the main sling camera 216 and gyroscope 217 are fixedly connected to the main sling protective cover 23, the main sling receiver 25 is connected to the circular power supply 27, the electromagnetic lock hook 28 is installed at the bottom of the circular power supply 27, the main and auxiliary sling connecting ring 29 is also installed above the circular power supply 27, and the auxiliary sling receiver 211 is connected to the auxiliary stabilizing cable lock hook 210.

[0029] When using the hoisting device in this embodiment:

[0030] Lifting initialization:

[0031] After the electromagnetic hook 28 hooks the goods, the pressure sensor 26 detects the weight of the goods in real time. If the detected value is ≤10kg, the electromagnetic hook maintains the default suction force; if the detected value is >10kg, the current is automatically increased to increase the locking force. The gyroscope 217 synchronously establishes the initial attitude reference of the goods.

[0032] Dynamic balance adjustment during flight:

[0033] Status monitoring: The main sling camera 216 continuously tracks the position of the cargo; the gyroscope 217 detects the swing angle and angular velocity of the cargo.

[0034] When the cargo sways laterally (e.g., due to wind): the micro motor 213 of the auxiliary sling drives the auxiliary sling 212 on the corresponding side to retract, applying a reverse tension (e.g., if the cargo sways to the right, the auxiliary sling on the left will retract); the auxiliary sling damper 211 provides damping to suppress the swaying inertia.

[0035] When the cargo sways longitudinally (such as during acceleration / sudden stop): the main sling motor 24 dynamically adjusts the length of the main sling 22, and works with the auxiliary sling to fine-tune the tension to counteract the vertical oscillation.

[0036] Targeted delivery:

[0037] Press and hold the "Release" button on the remote control → the electromagnetic lock hook 28 is de-energized and releases its adsorption; the auxiliary sling lock hook 210 disengages simultaneously, and the goods land smoothly.

[0038] The hoisting device in this embodiment can reduce the swing amplitude of materials, prevent materials from colliding with the drone fuselage or surrounding obstacles, and ensure flight safety in complex farmland environments.

[0039] It should be noted that the parts not described in detail herein are prior art. The above embodiments are only used to illustrate the present utility model, but the present utility model is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. An agricultural drone lifting device based on multimodal stabilization suspension, comprising a multimodal suspension structure (2) disposed at the bottom of the drone body (1), characterized in that, The multimodal suspension structure (2) includes an electromagnetic hook (28) and a main sling (22) and a secondary sling (212) mounted on the main body (1) of the UAV. The electromagnetic hook (28) is controlled by a circular power supply (27), the main sling (22) is driven by a main sling motor (24), and the secondary sling (212) is driven by a secondary sling micro motor (213). The movable ends of the main sling (22) and the secondary sling (212) are connected to the electromagnetic hook (28).

2. The agricultural drone hoisting device based on multimodal stable suspension according to claim 1, characterized in that, The main sling (22) is equipped with a main sling catcher (25) at the end of its movable end. The circular power supply (27) is equipped with a secondary stabilizing sling hook (210). The secondary sling (212) is equipped with a secondary sling catcher (211) at the end of its movable end. The movable end of the secondary sling (212) is connected to the secondary stabilizing sling hook (210).

3. The agricultural drone hoisting device based on multimodal stable suspension according to claim 2, characterized in that, A pressure sensor (26) is mounted above the circular power supply (27).

4. The agricultural drone hoisting device based on multimodal stable suspension according to claim 2, characterized in that, The main body (1) of the UAV is provided with a main sling positioning frame (21) and a secondary sling positioning frame (215) at the bottom. The main sling motor (24) is installed on the main sling positioning frame (21), and the secondary sling micro motor (213) is installed on the secondary sling positioning frame (215). The main sling protective cover (23) is provided on the main sling positioning frame (21), and the secondary sling protective cover (214) is provided on the secondary sling positioning frame (215).

5. The agricultural drone hoisting device based on multimodal stable suspension according to claim 4, characterized in that, The main sling protective cover (23) is fixed with a main sling camera (216) and a gyroscope (217).

6. The agricultural drone hoisting device based on multimodal stable suspension according to claim 1, characterized in that, The main sling (22) is made of steel, the auxiliary sling (212) is made of nylon, and the main sling positioning frame (21), the main sling protective cover (23), the auxiliary sling positioning frame (215) and the auxiliary sling protective cover (214) are all made of carbon fiber.

7. The agricultural drone hoisting device based on multimodal stable suspension according to claim 1, characterized in that, The circular power source (27) is equipped with a counterweight.

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