The invention provides an unmanned aerial vehicle mooring cable taking-up and paying-off device, and belongs to the technical field of unmanned aerial vehicles. An ARM processor is adopted in the device and communicates with a ground station through a network interface, unmanned aerial vehicle position information is transmitted to the ground station through optical fiber communication of a mooring cable, the ground station sends the position information of the unmanned aerial vehicle to the ARM processor of the control device; and meanwhile, the ARM processor receives a numerical value of a tension sensor on a wire reel, the ARM processor solves the unmanned aerial vehicle position information and the tension value, eliminates noise through a Kalman filtering algorithm, and outputs a voltage control signal in combination with an adaptive control algorithm to control the engagement and disengagement degree of a clutch and the rotating speed of a gear motor, so that the effect of changing the take-up speed is achieved. Compared with the prior art, the unmanned aerial vehicle mooring cable taking-up and paying-off device can autonomously conduct cable take-up and pay-off actions according to the position and height of the unmanned aerial vehicle, and the manual operation cost is reduced.
本发明提供一种系留无人机线缆收放装置,属于无人机技术领域。该装置内部采用ARM处理器,通过网口与地面站进行通信,无人机位置信息通过系留线缆光纤通信传至地面站,地面站将无人机位置信息发送给控制装置ARM处理器;同时,ARM处理器接收线轮上拉力传感器的数值,ARM处理器通过解算无人机位置信息和拉力值,经过卡尔曼滤波算法消除噪声,结合自适应控制算法,输出控制电压信号,控制离合器离合程度及减速电机转速,达到改变收线速度的效果。与现有技术相比,本发明可以根据无人机的位置及高度自主进行收放缆的动作,减少人力操作成本。
Unmanned aerial vehicle mooring cable taking-up and paying-off device
一种系留无人机线缆收放装置
2021-11-16
Patent
Elektronische Ressource
Chinesisch
IPC: | B65H HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES , Handhaben von dünnem oder fadenförmigem Gut, z.B. Folien, Bahnen, Kabeln / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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