CN110347172A - A kind of ground-angle detection device, ground control unit, the control system for being tethered at unmanned plane - Google Patents
A kind of ground-angle detection device, ground control unit, the control system for being tethered at unmanned plane Download PDFInfo
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- CN110347172A CN110347172A CN201910759691.6A CN201910759691A CN110347172A CN 110347172 A CN110347172 A CN 110347172A CN 201910759691 A CN201910759691 A CN 201910759691A CN 110347172 A CN110347172 A CN 110347172A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention provides a kind of ground-angle detection device, ground control unit, it is tethered at the control system of unmanned plane, including moving assembly, correct component and rocker assembly, moving assembly includes the first transmission arm, second transmission arm, first angle sensor and second angle sensor, first transmission arm is provided with the first arc limit slot, second transmission arm is provided with the second arc limit slot, first angle sensor connect with the first transmission arm and obtains the rotation angle of the first transmission arm, second angle sensor connect with the second transmission arm and obtains the rotation angle of the second transmission arm, rocker assembly includes rocking bar, rocking bar is for connecting mooring line, rocking bar passes through the first arc limit slot and the second arc limit slot, when ground-angle detection device detects it is corresponding mobile when, the acquisition transformation signal of ground-angle detection device is received with unmanned plane is tethered at Control signal is more timely, is conducive to improve the followability for being tethered at unmanned plane.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of ground-angle detection device, is tethered at nothing at ground control unit
Man-machine control system.
Background technique
It is tethered at unmanned plane and is mainly used in continual aerial monitoring and emergency communication for a long time, can carry special visible
Light video camera and infrared thermal imager can also carry special emergency communication trunking, be tethered at unmanned plane now in army
Multiple professional domains such as thing, fire-fighting, petroleum, mapping, traffic and scientific research are widely applied.
Currently, more rotors are tethered at unmanned plane and common unmanned plane all has identical flight control assemblies, flight control
Containing sensors such as chip, navigation device, three-axis gyroscope, three axis accelerometer, barometers in device, the difference is that common nothing
Man-machine is all usually the power supply energy with oneself, such as battery or fuel tank；With wireless data transmission system and it can also lead to
News system can control flight in a big way, but the time flown is short.And the power source of unmanned plane is tethered at from ground
The power supply system in face carries out energy source, communication and data transmission by being tethered at cable.Currently, flight controller passes through GPS
Navigator fix technical controlling unmanned plane is mobile, so that unmanned plane is hovered in required position, is continued working for a long time, still
GPS navigation is positioned, and is easy to be interfered, the phenomenon that position inaccurate occurs, follows effect to cause to be tethered at unmanned plane
It influences.
Summary of the invention
The first object of the present invention is to provide a kind of raising detection accuracy and a kind of wide ground-angle detection of suitability
Device.
The second object of the present invention is to provide a kind of ground control unit for improving unmanned plane followability.
The third object of the present invention is to provide a kind of control system for being tethered at unmanned plane for improving unmanned plane followability.
In order to realize an object of the present disclosure, the present invention provides a kind of ground-angle detection device, including moving assembly, repairs
Positive component and rocker assembly, moving assembly include that the first transmission arm, the second transmission arm, first angle sensor and second angle pass
Sensor, the first transmission arm are provided with the first arc limit slot, and the second transmission arm is provided with the second arc limit slot, and first angle passes
Sensor connect with the first transmission arm and obtains the rotation angle of the first transmission arm, and second angle sensor is connect with the second transmission arm
And the rotation angle of the second transmission arm is obtained, rocker assembly includes rocking bar, and rocking bar passes through the first arc for connecting mooring line, rocking bar
Shape limiting slot and the second arc limit slot, amendment component include electric machine assembly, fixed plate and gyroscope, and electric machine assembly includes first
Motor, the second motor and third motor, first motor connect with moving assembly and drive moving assembly on the first rotational plane
Rotation, the second motor connect with first motor and first motor are driven to rotate on the second rotational plane, third motor and second
Motor connects and the second motor is driven to rotate on third rotational plane, and the first rotational plane is vertical with the second rotational plane, the
Two rotational planes are vertical with third rotational plane, and third motor and gyroscope are arranged in fixed plate.
By above scheme as it can be seen that when mobile vehicle or mobile ground-angle detection device, it is located on mobile vehicle
Mooring line take-up and pay-off device, which synchronizes, to be moved, and mooring line is in one end of ground control unit with ground control unit movement, band
Shake bar to move in the first arc limit slot and the second arc limit slot, so that the first transmission arm and the second transmission arm turn
Dynamic, first angle sensor and second angle sensor receive turn signal, by turn signal after handling accordingly again to
Be tethered at the corresponding control signal of unmanned plane output, when ground-angle detection device detects it is corresponding mobile when, ground-angle inspection
Survey device acquisition transformation signal and be tethered at unmanned plane receive control signal it is more timely, be conducive to improve be tethered at unmanned plane with
It is casual, if ground-angle detection device moves under non-horizontal surface state, corresponding angle is detected by gyroscope and is become
Change, so that the second motor and third motor is made corresponding rotation, so that the first rotational plane is parallel to the horizontal plane, then
Realize that moving assembly still keeps detection work in the horizontal plane under complicated usage scenario, additionally by first motor
Driving moving assembly is rotated in the first rotational plane, so that the first transmission arm, the second transmission arm and being tethered at nobody in moving assembly
The preset direction that machine is consistent, thus improve turn signal, movement signal accuracy, further improve unmanned plane
Accurate followability.
Further scheme is that rocker assembly includes fixing seat, and fixing seat is provided with locating slot, and rocking bar is provided through
First threading hole, the bottom of rocking bar are provided with universal joint, and universal joint is located in locating slot and can rotate in locating slot, fixing seat
It is connect with the driving end of first motor.
Therefore rocker bottom is provided with universal joint, enables rocking bar is multi-faceted to rotate, universal joint setting exists
In locating slot, the stability of rocking bar is improved, the accuracy that two angular transducers receive signal is further increased, to improve
It is tethered at the followability of unmanned plane.
Further scheme is that rocker assembly further includes rocking bar connector, and rocking bar connector passes through first motor, rocking bar
Connector is provided through the second threading hole, and the second threading hole is connected to the first threading hole.
Therefore second threading hole be connected to the first threading hole, enable mooring line pass through two limiting slots, rocking bars
And first motor, mooring line layout is advanced optimized, so that rocking bar avoids unnecessary interference, to improve inspection in rotation
Survey accuracy.
Further scheme is that moving assembly further includes mounting base, and mounting base connect with first motor and can be first
It is rotated on rotational plane, mounting base is provided with the first mounting hole and the second mounting hole, and the first transmission arm is provided with first in end
Mounting post, the second transmission arm are provided with the second mounting post in end, and the first mounting post and the first mounting hole cooperate, the second mounting post
Cooperating with the second mounting hole, the middle part of mounting base is penetratingly provided with installation cavity, and fixing seat and universal joint are respectively positioned in installation cavity,
First threading hole and the second threading hole form cable tray, and cable tray passes through installation cavity.
Therefore mounting base is provided with mounting hole, transmission arm end is provided with mounting post, and mounting post and mounting hole cooperate
It uses, mounting base connect with first motor and rotates on the first rotational plane, and the first threading hole and the second threading hole are formed and
Line passage enables mooring line to pass through mounting base and connects mooring line take-up and pay-off device by cable tray, further excellent
Change mooring line layout, improves detection accuracy.
Further scheme is that amendment component further includes the first linking arm and the second linking arm, the connection of the first linking arm
Between first motor and the second motor, the second linking arm is connected between the second motor and third motor.
Therefore first motor, the second motor and third motor are connected by linking arm, it strengthens amendment component and is transporting
Stability when row.
Further scheme is the first transmission arm and the arc-shaped setting of the second transmission arm, and the first transmission arm can be rotated
Ground is arranged in the second transmission arm, and the first transmission arm and the second transmission arm are arranged on the same side of the first rotating surface.
Therefore transmission arm is arc-shaped and is laid out in inside and outside nesting, optimizes the topology layout of transmission arm, so that rocking bar
Rotation can preferably be transformed into the rotation of transmission arm, then improve detection accuracy.
Further scheme is that first angle sensor uses the first potentiometer, and second angle sensor uses second
Potentiometer, the first mounting post are connect with the first adjusting knob of the first potentiometer, and the second of the second mounting post and the second potentiometer
Adjusting knob connection.
Therefore angular transducer is set as potentiometer, potentiometer has anti abrasive characteristic, and mechanical life is strong, from
And improve the service life of equipment.
In order to realize that the second object of the present invention, the present invention provide a kind of ground control dress for improving unmanned plane followability
It sets, including mobile vehicle, ground-angle detection device and mooring line take-up and pay-off device, ground-angle detection device is arranged in movement
On carrier, mooring line take-up and pay-off device puts mooring line for rolling up, and mooring line connect with rocking bar and rotates with rocking bar.
In order to realize the third object of the present invention, the present invention provides a kind of control system for being tethered at unmanned plane, including is tethered at
Unmanned plane, mooring line and ground control unit, ground control unit include mooring line take-up and pay-off device, mobile vehicle and ground angle
Detection device is spent, ground-angle detection device is arranged on mobile vehicle, and mooring line is on mooring line take-up and pay-off device
Rope is stayed to connect with rocking bar and rotate with rocking bar.
By above scheme as it can be seen that when mobile vehicle or mobile ground-angle detection device, it is located on mobile vehicle
Mooring line take-up and pay-off device, which synchronizes, to be moved, and mooring line is in one end of ground control unit with ground control unit movement, band
Shake bar to move in the first arc limit slot and the second arc limit slot, so that the first transmission arm and the second transmission arm turn
Dynamic, first angle sensor and second angle sensor receive turn signal, by turn signal after handling accordingly again to
Be tethered at the corresponding control signal of unmanned plane output, when ground-angle detection device detects it is corresponding mobile when, ground-angle inspection
Survey device acquisition transformation signal and be tethered at unmanned plane receive control signal it is more timely, be conducive to improve be tethered at unmanned plane with
It is casual, if ground-angle detection device moves under non-horizontal surface state, corresponding angle is detected by gyroscope and is become
Change, so that the second motor and third motor is made corresponding rotation, so that the first rotational plane is parallel to the horizontal plane, then
Realize that moving assembly still keeps detection work in the horizontal plane under complicated usage scenario, additionally by first motor
Driving moving assembly is rotated in the first rotational plane, so that the first transmission arm, the second transmission arm and being tethered at nobody in moving assembly
The preset direction that machine is consistent, thus improve turn signal, movement signal accuracy, further improve unmanned plane
Accurate followability.
Detailed description of the invention
Fig. 1 is the schematic diagram for the control system embodiment that the present invention is tethered at unmanned plane.
Fig. 2 is the three-dimensional position relationship that the present invention is tethered at ground-angle detection device in the control system embodiment of unmanned plane
Figure.
Fig. 3 is the part explosive view that the present invention is tethered at ground-angle detection device in the control system embodiment of unmanned plane.
Fig. 4 is that the part of the invention for being tethered at ground-angle detection device embodiment in the control system embodiment of unmanned plane is cutd open
View.
Fig. 5 is the structure that the present invention is tethered at ground-angle detection device embodiment in the control system embodiment of unmanned plane
Figure.
Fig. 6 is another angle that the present invention is tethered at ground-angle detection device embodiment in the control system embodiment of unmanned plane
The structure chart of degree.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
The present invention is tethered at the control system embodiment of unmanned plane:
Referring to figs. 1 to Fig. 6, the control system for being tethered at unmanned plane includes being tethered at unmanned plane 1, mooring line 2 and ground control dress
Set 3.Ground control unit 3 includes mooring line take-up and pay-off device 5, mobile vehicle 4 and ground-angle detection device 6.Ground-angle
Detection device 6 is arranged on mobile vehicle 4, and mooring line 2 is connected to ground-angle detection device 6 and is tethered between unmanned plane 1, is
Stay rope 2 on the mooring line take-up and pay-off device 5.
Ground-angle detection device 6 includes moving assembly 7, amendment component 8 and rocker assembly 9.
Moving assembly 7 includes the first transmission arm 71, the second transmission arm 72, first angle sensor 73, second angle sensing
Device 74 and mounting base 75, mounting base 75 are arranged in first motor 811, and there are two 751 Hes of the first mounting hole for the setting of mounting base 75
Two the second mounting holes 752, the middle part of mounting base 75 are penetratingly provided with installation cavity 753, and two the first mounting holes 751 are coaxial to be set
It sets, two coaxial settings of the second mounting hole 752, and the axis of the axis of the first mounting hole 751 and the second mounting hole 752 mutually hangs down
Directly.In the circumferential direction in the outside that two the first mounting holes 751 and two the second mounting holes 752 are evenly arranged on installation cavity.First transmission arm
71 and the second arc-shaped setting of transmission arm 72, the first transmission arm 71 is rotatably arranged in 72 inside of the second transmission arm, and first
Transmission arm 71 is respectively arranged with two the first mounting posts 712 two ends, and the second transmission arm 72 is respectively set two ends
There are two the second mounting post 722, two the first mounting posts 712 and two the first mounting holes 751 cooperate, two the second mounting posts
722 and two the second mounting holes 752 cooperate.
First transmission arm 71 and the second transmission arm 72 are arranged on the same side of the first rotating surface 86, the first transmission arm
71 are provided with the first arc limit slot 711, and the second transmission arm 72 is provided with the second arc limit slot 721.
First angle sensor 73 and second angle sensor 74 are arranged in first motor 811, with the first rotation
The rotation on surface 86 and rotate, first angle sensor 73 and second angle sensor 74 are all made of potentiometer, potentiometer setting
There is adjusting knob, the resistance change of potentiometer can be achieved by the rotation of adjusting knob, angle is then detected by resistance value
The variation of degree, first angle sensor 73 connect with the first transmission arm 74 and obtain the rotation angle of the first transmission arm 71, and first
Angular transducer 73 connect with the second transmission arm 72 and obtains the rotation angle of the second transmission arm 72, first mounting post 712
It is connect with the adjusting knob of the first potentiometer, second mounting post 722 is connect with the adjusting knob of the second potentiometer.In this reality
It applies other than example, angular transducer can also detect angle using angular encoder, or be passed using other conventional angles
The acquisition of above-mentioned angle can be realized in sensor.
Rocker assembly 9 includes fixing seat 91, rocking bar 92 and rocking bar connector 93, and in the present embodiment, fixing seat 91 is by the
One fixed block 911 and the second fixed block 912 form, and the first locating slot 913 is provided through in the first fixed block 911, and second is solid
Determine to be provided through the second locating slot 914 in block 912, the first locating slot 913 and the arc-shaped recess of the second locating slot 914 are shaken
Bar 92 is for connecting mooring line, and rocking bar 92 passes through the first arc limit slot 711 and the second arc limit slot 721, rocking bar 92 run through
It is provided with the first threading hole 94, the bottom of rocking bar 92 is provided with universal joint 921,914 structure of the first locating slot 913 and the second locating slot
The locating slot of cost implementation, universal joint 921 are arranged in locating slot, are limited using locating slot, so that universal joint 921 can
It is rotated in locating slot, fixing seat 91 is connect with the driving end of first motor 811, and fixing seat 91 and universal joint 921 are respectively positioned on peace
It behave affectedly in 753.
It corrects component 8 and includes electric machine assembly 81, the first linking arm 82, the second linking arm 83, fixed plate 84 and gyroscope 85,
Electric machine assembly 81 includes that first motor 811, the second motor 812 and third motor 813, first motor 811 are connect with moving assembly 7
And moving assembly 7 is driven to rotate on the first rotational plane 86, specifically, the driving end of first motor 811 is provided with loading end,
Loading end first rotational plane 86 can rotate under the driving effect of first motor 811, moving assembly 7, fixing seat 91, rocking bar 92
It is arranged on loading end and is rotated with loading end, therefore mounting base 75 is flat in the first rotation under 811 driving effect of first motor
It is rotated on face 86.
The top of rocking bar connector 93 is provided with flange arrangement, and rocking bar connector 93 passes through first motor 811, and passes through method
Blue structure is fixedly connected with loading end, therefore rocking bar connector 93 is also rotated with the rotation of loading end, and rocking bar connector 93 runs through
It is provided with the second threading hole 95, the top of the bottom end of the first threading hole 94 and the second threading hole 95 is opposite and close to each other, and first
Threading hole 94 is connected to form cable tray with the second threading hole 95, and cable tray passes through installation cavity 753.
Second motor 812 connect with first motor 811 and first motor 811 is driven to rotate on the second rotational plane 87,
Third motor 813 connect with the second motor 812 and the second motor 812 is driven to rotate on third rotational plane 88, the first rotation
Plane 86 is vertical with the second rotational plane 87, and the second rotational plane 87 is vertical with third rotational plane 88, third motor 813 and top
Spiral shell instrument 85 is arranged in fixed plate 84, and the first linking arm 82 is provided with the first stator hole, and the second linking arm 83 is provided with second
Stator hole is additionally provided with third stator hole in fixed plate 84, and the stator of first motor 811 is arranged in the first stator hole, and second
The stator of motor 812 is arranged in the second stator hole, and the stator of third motor 813 is arranged in third stator hole, the first connection
Arm 82 is connected between first motor 811 and the second motor 812, and the second linking arm 83 is connected to the second motor 812 and third electricity
Between machine 813.By the first linking arm 82 and the second linking arm 83 to first motor 811, the second motor 812 and third motor
813 connections strengthen the stability of amendment component 8 at runtime and improve the adaptation of equipment to adapt to complicated use environment
Property.
Referring to Figures 1 and 2, when ground control unit 3 does homework, 5 curls inward of mooring line take-up and pay-off device, which is placed with, is
Rope 2 is stayed, needs for the outer end connection of mooring line 2 to be tethered at unmanned plane 1, therefore mooring line 2 is sequentially passed through into rocking bar connection from bottom
Second threading hole 95 of part 93 and the first threading hole 94 of rocking bar, i.e. mooring line 2 pass through cable tray and are tethered at the company of unmanned plane 1
It connects.
It is then tethered at unmanned plane 1 to take off, mooring line take-up and pay-off device 5 starts unwrapping wire, makes a reservation for until being tethered at unmanned plane 1 and reaching
Position carries out operation.When needing replacing position, then mobile vehicle 4 starts to move, mooring line 2 close to ground first end with shifting
Dynamic load body 4 is mobile, and the first end of mooring line 2 shifts, and then rocking bar 92 is driven to rotate, and rocking bar 92 drives the first transmission arm
71 and second transmission arm 72 occur to decompose rotation accordingly, the adjusting knob of the first potentiometer 731 and the second potentiometer 741 occurs
Rotation then exports corresponding resistance value, and obtains corresponding decomposition rotational angle signal after treatment, by rotational angle signal
Or the control signal after the conversion of rotational angle signal is sent to and is tethered at unmanned plane 1, it is tethered at unmanned plane 1 and is carried out according to above-mentioned signal
Follow movement.811 control system assembly of first motor is additionally provided in ground control unit 3,811 control system of first motor is total
It is tethered at the information of magnetic compass on unmanned plane 1 at receiving, then realizes and is tethered at the pre- of the preceding extreme direction of unmanned plane 1 and moving assembly 7
If reference direction is in arrangement in the same direction.When mobile vehicle 4 moves to non-horizontal surface, such as goes up a slope or descending, ground-angle detect
Device 6 receives the angle change of mobile vehicle 4, if ground-angle detection device 6 directly sends this angle information
To unmanned plane 1 is tethered at, then setting position can be deviateed by being tethered at unmanned plane 1, therefore gyroscope 85, gyroscope are additionally provided in the present invention
85 be two axis electronic gyroscopes, after two axis electronic gyroscopes 85 sense the angle change of mobile vehicle 4, sends rotation letter
Number, so that the second motor 812 and third motor 813 make corresponding spinning movement, this spinning movement is for offsetting mobile vehicle 4
Angle change caused by tilting is further increased and is tethered at unmanned plane 1 and connects so that the first rotational plane 86 is always maintained at horizontality
The accuracy of the control signal of receipts, to improve the followability for being tethered at unmanned plane 1.
Therefore when mobile vehicle 4 starts mobile, mooring line take-up and pay-off device 5 is moved synchronously with rocking bar 92, ground
Angle detection device 6 can be generated the resultant force for acting on the direction AE and the direction CE by being tethered at line and deviated, and pass through the first transmission arm
71 and second transmission arm 72 obtain the angle b in angle a and the ZY plane of ZX plane respectively, additionally by being tethered on unmanned plane
Barometer obtains the opposite ground level CE of unmanned plane, and according to trigonometric function tangent formula, AF=CE/tanb can learn AF
Distance, similarly AG=CE/tana, can learn the distance of AG, and it is fixed according to the two distance parameters of AF and AG to be tethered at unmanned plane
Position then carries out opposite being moved to target position and follows purpose, and the mode of following distance, this case are obtained compared to other
Using sensor setting in ground control terminal, so that the unmanned plane that is tethered at of this case has more preferably trace performance.
Claims (10)
1. a kind of ground-angle detection device, it is characterised in that: including moving assembly, amendment component and rocker assembly；
The moving assembly includes the first transmission arm, the second transmission arm, first angle sensor and second angle sensor, described
First transmission arm is provided with the first arc limit slot, and second transmission arm is provided with the second arc limit slot, and described first jiao
Degree sensor connect with first transmission arm and obtains the rotation angle of first transmission arm, the second angle sensor
The rotation angle of second transmission arm is connect and obtained with second transmission arm；
The rocker assembly includes rocking bar, and the rocking bar passes through first arc limit slot and second arc limit slot,
The rocking bar is for connecting mooring line；
The amendment component includes electric machine assembly, fixed plate and gyroscope, and the electric machine assembly includes first motor, the second motor
With third motor, the first motor connect with the moving assembly and the moving assembly is driven to turn on the first rotational plane
Dynamic, second motor connect with the first motor and the first motor is driven to rotate on second rotational plane,
The third motor connect with second motor and second motor is driven to rotate on third rotational plane, and described first
Rotational plane is vertical with second rotational plane, and second rotational plane is vertical with the third rotational plane, and described
Three motors and the gyroscope are arranged in the fixed plate.
2. ground-angle detection device according to claim 1, it is characterised in that:
The rocker assembly includes fixing seat, and the fixing seat is provided with locating slot, and the rocking bar is provided through the first threading
Hole, the bottom of the rocking bar are provided with universal joint, and the universal joint is located in the locating slot and can be in the locating slot transfer
Dynamic, the fixing seat is connect with the driving end of the first motor.
3. ground-angle detection device according to claim 2, it is characterised in that:
The rocker assembly further includes rocking bar connector, and the rocking bar connector passes through the first motor, the rocking bar connection
Part is provided through the second threading hole, and second threading hole is connected to first threading hole.
4. ground-angle detection device according to claim 3, it is characterised in that:
The moving assembly further includes mounting base, and the mounting base connect with the first motor and can be flat in first rotation
It is rotated on face, the mounting base is provided with the first mounting hole and the second mounting hole, and first transmission arm is provided in end
One mounting post, second transmission arm are provided with the second mounting post, first mounting post and first mounting hole in end
Cooperation, second mounting post and second mounting hole cooperate；
The middle part of the mounting base is penetratingly provided with installation cavity, and the fixing seat and the universal joint are respectively positioned on the installation cavity
Interior, first threading hole and the second threading hole form cable tray, and the cable tray passes through the installation cavity.
5. ground-angle detection device according to claim 1, it is characterised in that:
The amendment component further includes the first linking arm and the second linking arm, and first linking arm is connected to first motor and
Between two motors, second linking arm is connected between the second motor and third motor.
6. ground-angle detection device according to any one of claims 1 to 5, it is characterised in that:
First transmission arm and the arc-shaped setting of second transmission arm, first transmission arm are rotatably arranged in institute
It states in the second transmission arm, first transmission arm and second transmission arm are arranged at the same side of first rotating surface
On.
7. ground-angle detection device according to claim 4, it is characterised in that:
The first angle sensor uses the first potentiometer, and the second angle sensor uses the second potentiometer, and described the
One mounting post is connect with the first adjusting knob of first potentiometer, and the of second mounting post and second potentiometer
The connection of two adjusting knobs.
8. ground control unit, which is characterized in that including mobile vehicle and the described in any item ground of the claims 1 to 7
Angle detection device, the ground-angle detection device are arranged on the mobile vehicle.
9. ground control unit according to claim 8, it is characterised in that:
The ground control unit further includes mooring line take-up and pay-off device, and the mooring line take-up and pay-off device is tethered at for rolling up to put
Rope, the mooring line connect with the rocking bar and rotate with the rocking bar.
10. being tethered at the control system of unmanned plane, which is characterized in that including being tethered at unmanned plane, mooring line and ground control unit；
The ground control unit includes described in 1 to 7 any one of mooring line take-up and pay-off device, mobile vehicle and the claims
Ground-angle detection device, the ground-angle detection device is arranged on the mobile vehicle；
On the mooring line take-up and pay-off device, the mooring line connect with the rocking bar and shakes with described the mooring line
Bar rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759691.6A CN110347172B (en) | 2019-08-16 | 2019-08-16 | Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759691.6A CN110347172B (en) | 2019-08-16 | 2019-08-16 | Ground angle detection device, ground control device and control system of tethered unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110347172A true CN110347172A (en) | 2019-10-18 |
| CN110347172B CN110347172B (en) | 2024-05-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113060282A (en) * | 2021-03-24 | 2021-07-02 | 安徽中青检验认证服务有限公司 | Atmospheric environment detection device and method based on laser monitoring |
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| CN110347172B (en) | 2024-05-03 |
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