An autonomous flying control unmanned aerial vehicle for high altitude launching
Patent Information
- Application Number
- CN202522031694.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-22
- Publication Date
- 2026-09-25
- Estimated Expiration
- 2035-09-22
AI Technical Summary
[0003]在需要对较小的物体进行远距离投掷或运送任务时，通过人力进行投掷或运送需要考虑路线、目标地危险程度、人力资源浪费等问题，而通过无人机进行高空投掷，可以解决人工难以到达、目标地存在危险、环境在地面难以分辨等问题，但在手动控制无人机进行高空投掷的情况下，易出现视觉信号传输距离不足、驾驶员精力消耗大等问题
[0013]1、本实用新型中，投掷装置挂载目标物时，目标物通过悬挂绳索挂载于拉杆上；投放目标物时，伺服舵机控制第二止回棘爪动作，使第二棘轮转动，进而通过连杆带动四个拉杆同时收回；通过拨动拉杆控制装置的第二棘轮可调节拉杆的伸出与收缩状态，通过拨动拉杆力度调节装置的第一棘轮可调节第二棘轮的初始力度，打开第一止回棘爪可使第一棘轮迅速回转。
Smart Images
Figure CN224797211U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to an autonomous flight control UAV for high-altitude dropping. Background Technology
[0002] A drone is an unmanned aerial vehicle that can be controlled by radio remote control equipment or its own program control device. With the development of the times, drones have made great progress in scientific research, industrial platform development and other fields. They have a wide range of uses and can perform a variety of tasks. Common small aircraft include fixed-wing aircraft, single-rotor helicopters and multi-rotor aircraft. Among them, multi-rotor aircraft have simple structure and have the advantages of simple operation, high reliability and low maintenance cost. The type of drone involved in this utility model is a quadcopter drone, which is common among multi-rotor aircraft.
[0003] When it is necessary to throw or transport small objects over long distances, manual throwing or transport requires consideration of issues such as route, the degree of danger of the target location, and waste of human resources. However, using drones for high-altitude throwing can solve problems such as difficulty in reaching the target location by humans, danger of the target location, and difficulty in distinguishing the environment from the ground. However, when manually controlling drones for high-altitude throwing, problems such as insufficient visual signal transmission distance and high energy consumption of the pilot are likely to occur. Utility Model Content
[0004] In order to overcome the shortcomings of the existing technology, this utility model provides an autonomous flight control drone for high-altitude dropping.
[0005] To achieve the above objectives, this utility model provides the following technical solution: an autonomous flight control drone for high-altitude throwing, comprising a drone frame, including the drone body equipment, a microcomputer, a data transmission system, a camera, and a drone frame incorporating a throwing device. The drone frame is a quadcopter drone frame, with a propeller, motor, positioning module, flight control, remote control module, and data transmission system mounted on top. The output shaft of the motor is fixedly connected to the propeller. A third partition and a fourth partition are provided from top to bottom on the top of the drone frame. The fourth partition is fixedly connected to the second partition. The third partition and the fourth partition... An electronic speed controller (ESC) is installed between the plates. A fifth partition is located below the drone frame. There are two fifth partitions. Hexagonal copper pillars are fixedly connected to the top four corners of both the fifth and fourth partitions. The fourth partition is fixedly connected to the third partition via hexagonal copper pillars. Adjacent fifth partitions are fixedly connected via hexagonal copper pillars. The upper fifth partition is fixedly connected to the drone frame via hexagonal copper pillars. A power supply battery for the drone body and a power supply battery for the microcomputer are installed between the two fifth partitions. A microcomputer and a camera are installed at the bottom of the lower fifth partition.
[0006] As a preferred embodiment of this utility model, the positioning module is fixed to the top of the flight controller with double-sided tape, the flight controller and the remote control module are fixed to the top of the third partition with double-sided tape, and the flight controller is connected to the signal lines of the remote control module, the positioning module and the ESC respectively.
[0007] As a preferred technical solution of this utility model, the flight controller is an embedded computer module with core flight control functions. The flight controller includes an accelerometer, a gyroscope and a compass, and is physically connected to a microcomputer through a standard data cable. It uses the MAVLink communication protocol to realize bidirectional data transmission. The flight controller is equipped with PX4 or ArduPilot autopilot firmware, which is connected to the positioning module, the remote control module and the ESC signal line respectively. Data viewing, parameter configuration, adjustment and firmware burning and updating operations can be performed through ground station software.
[0008] As a preferred technical solution of this utility model, the microcomputer is any single-board computer among Jetson Nano, Jetson Xavier NX or Raspberry Pi, which is bound and installed at the bottom of a fifth partition located below by nylon hook and loop fasteners; the power supply battery for the UAV body and the power supply battery for the microcomputer are both bound and installed on the lower surface of a fifth partition located above by nylon hook and loop fasteners, and respectively power the UAV body equipment and the microcomputer, and are respectively connected to the flight controller, data transmission and camera through data cables.
[0009] As a preferred embodiment of this utility model, the throwing device comprises a load-bearing device, a lever force adjustment device, and a lever control device; the load-bearing device includes four arms and a lever, the lever being mounted on the arms, and holes for lever movement are pre-drilled on the arms; a second partition is provided inside the drone frame, the second partition having grooves and pivot holes for restricting lever movement; a first partition is provided below the second partition, the first partition having pivot holes; the lever force adjustment device comprises a first ratchet, a spring, and a first check pawl; the top of the second partition is fixed... A column is fixedly connected to the first ratchet wheel. A first check pawl is provided on one side of the column, and the first check pawl is rotatably connected to a second partition. A spring is fixedly connected between the column and the first check pawl. The first check pawl, the column, and the spring cooperate to restrict the rotation of the first ratchet wheel. The lever control device consists of a second ratchet wheel, a servo motor, and a connecting rod. The output shaft of the servo motor is fixedly connected to the second check pawl. A rotating shaft is fixedly connected to the top of the second ratchet wheel. The rotating shaft is connected to the first ratchet wheel of the lever force adjustment device. One end of the connecting rod is hinged to the second ratchet wheel, and the other end of the connecting rod is hinged to the lever.
[0010] As a preferred embodiment of this utility model, the spring is installed inside the first ratchet, with one end connected to the edge of the first ratchet and the other end installed on the shaft of the second ratchet in the lever control device.
[0011] As a preferred technical solution of this utility model, the microcomputer implements control functions through a program written in the operating system: it communicates with the flight controller via Mavlink messages to control the flight status of the UAV, controls the servo motor of the throwing device by controlling the output signals of the GPIO pin, receives messages and control commands from the ground station or other devices via data transmission, and acquires and processes visual information through the camera.
[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0013] 1. In this utility model, when the throwing device is carrying a target object, the target object is suspended on the pull rod by a suspension rope; when the target object is thrown, the servo motor controls the second check pawl to rotate, thereby driving the four pull rods to retract simultaneously through the connecting rod; the extension and retraction state of the pull rod can be adjusted by moving the second ratchet of the pull rod control device, the initial force of the second ratchet can be adjusted by moving the first ratchet of the pull rod force adjustment device, and the first check pawl can be opened to make the first ratchet rotate quickly.
[0014] 2. In this utility model, the autonomous flight control drone for high-altitude throwing includes the drone body, microcomputer, data transmission, camera, and drone frame with throwing device integrated. It can easily perform tasks such as high-altitude flight, target throwing, autonomous flight control, visual processing, and data transmission communication. The onboard equipment is installed around the frame, making the entire body an open structure, which can be easily replaced and repaired. The entire body and throwing device have a simple structure, are easy to modify, and have good expandability. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of this utility model;
[0016] Figure 2 This is a three-dimensional schematic diagram of the bottom structure of this utility model;
[0017] Figure 3 This is a three-dimensional schematic diagram of the overall structure of the throwing device of this utility model;
[0018] Figure 4 This is a three-dimensional schematic diagram of the bottom structure of the throwing device of this utility model;
[0019] Figure 5 This is an exploded view of the throwing device of this utility model;
[0020] Figure 6This is a three-dimensional schematic diagram of the single-arm lever control device of the throwing device of this utility model;
[0021] Figure 7 This is a three-dimensional schematic diagram of the lever force adjustment device of the throwing device of this utility model;
[0022] Figure 8 This is a schematic diagram of the control system of this utility model.
[0023] In the diagram: 1. UAV frame; 2. Propeller; 3. Motor; 4. Positioning module; 5. Flight controller; 6. Remote control module; 7. UAV power supply battery; 8. Microcomputer; 9. Microcomputer power supply battery; 10. Camera; 11. Data transmission; 12. First ratchet; 13. First check pawl; 14. Servo motor; 15. Rod; 16. Arm; 17. Second ratchet; 18. Spring; 19. First partition; 20. Second partition; 21. Link; 22. Shaft; 23. Groove; 24. Spring; 25. Column; 26. Third partition; 27. Fourth partition; 28. Fifth partition; 29. Second check pawl. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] like Figures 1 to 8As shown, this utility model provides an autonomous flight control drone for high-altitude throwing, including a drone frame 1, a drone body, a microcomputer 8, a data transmission module 11, a camera 10, and a drone frame 1 incorporating a throwing device. The drone frame 1 is a quadcopter drone frame, with a propeller 2, a motor 3, a positioning module 4, a flight controller 5, a remote control module 6, and the data transmission module 11 mounted on top of it. The output shaft of the motor 3 is fixedly connected to the propeller 2. From top to bottom, the drone frame 1 has a third partition 26 and a fourth partition 27. The fourth partition 27 is fixedly connected to the second partition 20, and the space between the third partition 26 and the fourth partition 27 is... ESC is installed. There are two fifth partitions 28 below the drone frame 1. Hexagonal copper pillars are fixedly connected to the top four corners of the fifth partition 28 and the fourth partition 27. The fourth partition 27 is fixedly connected to the third partition 26 through the hexagonal copper pillars. The two adjacent fifth partitions 28 are fixedly connected to each other through the hexagonal copper pillars. The upper fifth partition 28 is fixedly connected to the drone frame 1 through the hexagonal copper pillars. The drone body power supply battery 7 and the microcomputer power supply battery 9 are installed between the two fifth partitions 28. The microcomputer 8 and the camera 10 are installed at the bottom of the lower fifth partition 28.
[0026] The positioning module 4 is fixed to the top of the flight controller 5 with double-sided tape. The flight controller 5 and the remote control module 6 are fixed to the top of the third partition 26 with double-sided tape. The flight controller 5 is connected to the signal lines of the remote control module 6, the positioning module 4 and the ESC respectively.
[0027] Among them, Flight Controller 5 is an embedded computer module with core flight control functions. Flight Controller 5 contains an accelerometer, gyroscope and compass, and is physically connected to microcomputer 8 through a standard data cable. It uses the MAVLink communication protocol to realize bidirectional data transmission. Flight Controller 5 is equipped with PX4 or ArduPilot autopilot firmware, which is connected to positioning module 4, remote control module 6 and ESC signal line respectively. Data viewing, parameter configuration, adjustment and firmware burning and updating operations can be performed through ground station software QGroundControl or MissionPlanner.
[0028] Among them, the microcomputer 8 is any single-board computer of Jetson Nano, Jetson Xavier NX or Raspberry Pi, which is bound and installed at the bottom of a fifth partition 28 located below by nylon hook and loop fasteners; the UAV body power supply battery 7 and the microcomputer power supply battery 9 are both bound and installed on the lower surface of a fifth partition 28 located above by nylon hook and loop fasteners, and provide power to the UAV body equipment and the microcomputer 8 respectively. The microcomputer 8 is connected to the power supply line and signal line of the servo motor 14 in the throwing device through pins, and is connected to the flight controller 5, data transmission 11 and camera 10 through data lines respectively.
[0029] The throwing device consists of a load-bearing device, a lever force adjustment device, and a lever control device. The load-bearing device includes four arms 16 and levers 15. The levers 15 are mounted on the arms 16, and holes are provided on the arms 16 for the levers 15 to move. A second partition 20 is provided inside the UAV frame 1. The second partition 20 has grooves 23 and pivot holes for restricting the movement of the levers 15. A first partition 19 is provided below the second partition 20. The first partition 19 has pivot holes. The lever force adjustment device consists of a first ratchet 12, a spring 18, and a first check pawl 13. A column 25 is fixedly connected to the top of the second partition 20. One side of the column 25... A first check pawl 13 is provided, and the first check pawl 13 is rotatably connected to the second partition 20. A spring 24 is fixedly connected between the column 25 and the first check pawl 13. The first check pawl 13, the column 25, and the spring 24 cooperate to restrict the rotation of the first ratchet 12. The lever control device consists of a second ratchet 17, a servo motor 14, and a connecting rod 21. The output shaft of the servo motor 14 is fixedly connected to the second check pawl 29. The top of the second ratchet 17 is fixedly connected to a rotating shaft 22. The rotating shaft 22 is connected to the first ratchet 12 of the lever force adjustment device. One end of the connecting rod 21 is hinged to the second ratchet 17, and the other end of the connecting rod 21 is hinged to the lever 15.
[0030] The spring 18 is installed inside the first ratchet 12, with one end connected to the edge of the first ratchet 12 and the other end installed on the shaft 22 of the second ratchet 17 in the lever control device.
[0031] Among them, the microcomputer 8 implements control functions by writing programs through the operating system: it communicates with the flight controller 5 through Mavlink messages to control the flight status of the UAV, controls the servo motor 14 of the throwing device by controlling the output signals of the GPIO pin, receives messages and control commands from the ground station or other devices through the data transmission 11, and acquires and processes visual information through the camera 10.
[0032] Working principle and usage process of this utility model:
[0033] When the throwing device is carrying a target, the target is suspended on the lever 15 via a suspension rope. When the target is released, the servo motor 14 controls the second check pawl 29 to rotate, causing the second ratchet 17 to rotate, which in turn drives the four levers 15 to retract simultaneously via the connecting rod 21. The extension and retraction states of the levers 15 can be adjusted by moving the second ratchet 17 of the lever control device, and the initial force of the second ratchet 17 can be adjusted by moving the first ratchet 12 of the lever force adjustment device. Opening the first check pawl 13 allows the first ratchet 12 to rotate rapidly.
[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An autonomous flight control unmanned aerial vehicle (UAV) for high-altitude dropping, comprising a UAV frame (1), characterized in that: The device includes the drone body, a microcomputer (8), a data transmission unit (11), a camera (10), and a drone frame (1) incorporating a throwing device. The drone frame (1) is a quadcopter drone frame, on which a propeller (2), a motor (3), a positioning module (4), a flight controller (5), a remote control module (6), and a data transmission unit (11) are mounted. The output shaft of the motor (3) is fixedly connected to the propeller (2). A third partition (26) and a fourth partition (27) are provided on the top of the drone frame (1) from top to bottom. The fourth partition (27) is fixedly connected to the second partition (20). An electric speed controller is installed between the third partition (26) and the fourth partition (27). The drone frame (1) has... There are two fifth partitions (28) at the bottom. The top four corners of the fifth partition (28) and the fourth partition (27) are fixedly connected with hexagonal copper pillars. The fourth partition (27) is fixedly connected to the third partition (26) through hexagonal copper pillars. The two adjacent fifth partitions (28) are fixedly connected with hexagonal copper pillars. The upper fifth partition (28) is fixedly connected to the drone frame (1) through hexagonal copper pillars. The drone body power supply battery (7) and the microcomputer power supply battery (9) are installed between the two fifth partitions (28). The bottom of the lower fifth partition (28) is equipped with a microcomputer (8) and a camera (10). The throwing device consists of a load-bearing device, a lever force adjustment device, and a lever control device. The load-bearing device includes four arms (16) and a lever (15). The lever (15) is mounted on the arms (16). Holes are reserved on the arms (16) for the lever (15) to move. A second partition (20) is provided inside the UAV frame (1). The second partition (20) has grooves (23) and pivot holes reserved to restrict the movement of the lever (15). A first partition (19) is provided below the second partition (20). A pivot hole is reserved on the first partition (19). The lever force adjustment device consists of a first ratchet (12), a spring (18), and a first check pawl (13). A column (25) is fixedly connected to the top of the second partition (20). A side of the column (25) is provided with... There is a first check pawl (13), and the first check pawl (13) is rotatably connected to the second partition (20). A spring (24) is fixedly connected between the column (25) and the first check pawl (13). The first check pawl (13), the column (25), and the spring (24) cooperate to restrict the rotation of the first ratchet (12). The lever control device consists of a second ratchet (17), a servo motor (14), and a connecting rod (21). The output shaft of the servo motor (14) is fixedly connected to the second check pawl (29). The top of the second ratchet (17) is fixedly connected to a rotating shaft (22). The rotating shaft (22) is connected to the first ratchet (12) of the lever force adjustment device. One end of the connecting rod (21) is hinged to the second ratchet (17), and the other end of the connecting rod (21) is hinged to the lever (15).
2. The autonomous flight control UAV for high-altitude dropping according to claim 1, characterized in that: The positioning module (4) is fixed to the top of the flight controller (5) with double-sided tape. The flight controller (5) and the remote control module (6) are fixed to the top of the third partition (26) with double-sided tape. The flight controller (5) is connected to the signal lines of the remote control module (6), the positioning module (4) and the ESC respectively.
3. The autonomous flight control UAV for high-altitude dropping according to claim 1, characterized in that: The flight controller (5) is an embedded computer module with core flight control functions. The flight controller (5) contains an accelerometer, a gyroscope and a compass, and is physically connected to a microcomputer (8) through a standard data cable. It uses the MAVLink communication protocol to realize bidirectional data transmission. The flight controller (5) is connected to the positioning module (4), the remote control module (6) and the ESC signal line respectively. Data viewing, parameter configuration, adjustment and firmware burning and updating operations can be performed through ground station software.
4. The autonomous flight control UAV for high-altitude dropping according to claim 1, characterized in that: The microcomputer (8) is a single-board computer, which is installed at the bottom of a fifth partition (28) located below by nylon hook and loop fasteners; the UAV body power supply battery (7) and the microcomputer power supply battery (9) are both installed on the lower surface of a fifth partition (28) located above by nylon hook and loop fasteners, and respectively power the UAV body equipment and the microcomputer (8), and are connected to the flight controller (5), data transmission (11) and camera (10) respectively by data cables.
5. An autonomous flight control UAV for high-altitude dropping according to claim 1, characterized in that: The spring (18) is installed inside the first ratchet (12), with one end connected to the edge of the first ratchet (12) and the other end installed on the shaft (22) of the second ratchet (17) in the lever control device.
6. The autonomous flight control drone for high-altitude dropping according to claim 1, characterized in that: The microcomputer (8) implements control functions by writing programs through the operating system: it communicates with the flight controller (5) through Mavlink messages to control the flight status of the UAV, controls the servo motor (14) of the throwing device by controlling the output signals of the GPIO pin, receives messages and control commands from the ground station through the data transmission (11), and acquires and processes visual information through the camera (10).