CN108398956A - A kind of unmanned plane balance system and its control method for boat-carrying platform - Google Patents
A kind of unmanned plane balance system and its control method for boat-carrying platform Download PDFInfo
- Publication number
- CN108398956A CN108398956A CN201810247623.7A CN201810247623A CN108398956A CN 108398956 A CN108398956 A CN 108398956A CN 201810247623 A CN201810247623 A CN 201810247623A CN 108398956 A CN108398956 A CN 108398956A
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- Prior art keywords
- unmanned plane
- boat
- carrying platform
- chassis
- rod segment
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to a kind of unmanned plane balance systems and its control method for boat-carrying platform.The unmanned plane balance system includes unmanned plane and balanced component, and wherein unmanned plane includes trunk body, control module, machine station foot, the airbone gyro instrument and airborne communication module；Control module, the airbone gyro instrument and airborne communication module are arranged in trunk body, and machine station foot is at least three, and one end and the bottom of trunk body of machine station foot are fastenedly connected, and the other end of machine station foot is provided with locking mechanism；The balanced component includes chassis, and the hollow pillar canal of corresponding machine station foot quantity is arranged on chassis, and the insertion position that machine station foot is corresponded in hollow pillar canal is provided with limit layer, limits in layer and be provided with location hole, the bottom end of hollow pillar canal is connect with chassis.It is detected by the posture information to unmanned plane, it is to be locked to adjust to equilibrium state, to realize that balance takes off or lands, avoids boat-carrying platform and is rocked with stormy waves, unmanned plane is unable to maintain that steady problem.
Description
【Technical field】
The invention belongs to unmanned plane and its technical field of auxiliary equipment, more particularly, to a kind of for boat-carrying platform
Unmanned plane balance system and its control method and its control method.
【Background technology】
Unmanned plane is that one kind may not need remote control, can be existed according to preset task by precise satellite positioning and self-sensor
The full-automatic machine people of airflight has merged aircraft, communication, automation, robot control, remote monitoring, networking system
The multi-party surface technologies such as system, realize independent navigation, intelligent barrier avoiding, telecommunication, realtime video transmission and networked control etc.
Function all exists in all trades and professions and is widely applied.
In scouting communications industry, especially in specific marine autonomous investigation operation, unmanned plane usually with possess ship
The common coordinating operation of aircraft of carrying platform.In modern technologies, with popularizing for unmanned boat technology, boat-carrying platform no longer only relies on
Ship or aircraft are loaded, and unmanned plane coordinates the unmanned boat equipped with boat-carrying platform, under the control of pre-set programs, shape
At the three-dimensional operating system combined in the air with the water surface, without artificial manipulation, autonomous acquisition is completed to the environmental information in a certain waters,
The method is applied more and more extensive, and the high scheme of automated job degree is applied more and more extensive.
But in actual operating process, boat-carrying platform is always played pendulum with the wave of the water surface, and then influences nothing
It is man-machine to reach equilibrium state when taking off or landing.On the one hand, unmanned plane inclination is when taking off, be easy to knock mast or by
Strong wind is turned over, or even is directly resulted in unmanned plane and hull and collided damage；When unmanned plane shakes stop, occur with boat-carrying platform
Multi-angle is collided, and is caused unmanned plane to be turned on one's side, be can not be successfully landing.On the other hand, unmanned plane stop drop operation mostly by unmanned plane from
The flight control system of body judges whether to complete, and unmanned boat unmanned plane when shaking stops drop and also rocks therewith, and flight control system is caused to judge
Difficulty can not generate shutdown and complete instruction.
In consideration of it, it is the art urgent problem to be solved present in the prior art product to overcome the shortcomings of.
【Invention content】
The technical problem to be solved in the invention is：
In actual operating process, boat-carrying platform is always played pendulum with the wave of the water surface, and then influences unmanned plane
Equilibrium state cannot be reached when taking off or landing.On the one hand, it when unmanned plane inclination is taken off, is easy to knock mast or by strong wind
It is turned over, or even directly results in unmanned plane and hull and collide damage；When unmanned plane shakes stop, occur with boat-carrying platform polygonal
Degree collision, causes unmanned plane to be turned on one's side, can not be successfully landing.On the other hand, unmanned plane stops the operation of drop mostly by unmanned plane itself
Flight control system judges whether to complete, and unmanned boat unmanned plane when shaking stops drop and also rocks therewith, leads to flight control system difficult judgment,
Shutdown can not be generated and complete instruction.
To achieve the above object, according to one aspect of the present invention, it is flat to provide a kind of unmanned plane for boat-carrying platform
Balance system, including unmanned plane and balanced component, wherein：The unmanned plane includes trunk body, control module, machine station foot, airborne
Gyroscope and airborne communication module；Control module, the airbone gyro instrument and airborne communication module are arranged in trunk body, machine station foot
At least three, one end and the bottom of trunk body of machine station foot are fastenedly connected, and the other end of machine station foot is provided with locking mechanism；
The balanced component includes chassis, and the hollow pillar canal of corresponding machine station foot quantity is arranged on chassis, machine station foot is corresponded in hollow pillar canal
Insertion position be provided with limit layer, limit in layer and be provided with location hole, the bottom end of hollow pillar canal is connect with chassis.
Preferably, the locking mechanism includes lock pin and straight drive electric rotating machine, and corresponding locking mechanism is arranged in the foot of machine station
There is rotation rod segment, the straight electric rotating machine that drives is arranged in trunk body, and electric rotating machine, swingle are directly driven in one end connection for rotating rod segment
The other end of section is arranged in location hole, and the apical position of rotation rod segment is provided at least one lock pin, control module
By controlling straight drive electric rotating machine, the locking and unlock of control lock pin are realized.
Preferably, the rotation rod segment includes the first rod segment and the second rod segment, is passed through between the first rod segment and the second rod segment
Universal axis connection, the other end connection of the first rod segment is straight to drive electric rotating machine, and the other end of the second rod segment is arranged in location hole, and
And the apical position of the second rod segment is provided at least one lock pin.
Preferably, on the inner wall of the hollow pillar canal, position sensor is arranged in corresponding position of positioning hole.
Preferably, in the hollow pillar canal, corresponding limit layer lower position is provided with transportable sealing-plug.
Preferably, the chassis is made of the chassis tube body for corresponding to hollow pillar canal quantity, is arranged on the intersection point of chassis tube body
There is a connected ball, the bottom end ball of connected ball and hollow pillar canal connects, and intercommunicating pore is provided in connected ball, and intercommunicating pore is used for chassis tube body
It is connected to the space in hollow pillar canal.
Preferably, the chassis is made of the chassis tube body for corresponding to hollow pillar canal quantity, is set on the intersection point of chassis tube body
Be equipped with connected ball, the bottom end ball of connected ball and hollow pillar canal connects, and is provided with buffer spring on the bottom surface of sealing-plug, buffer spring with
Connected ball connects.
It is another aspect of this invention to provide that providing a kind of controlling party of the unmanned plane balance system for boat-carrying platform
Method, wherein：
When unmanned plane is taken off by boat-carrying platform, control module unlocks locking mechanism, according to the unmanned plane detected
Posture information data, control propeller carry out body self-balancing adjustment；When detecting that the posture information data of unmanned plane reach pre-
If when range, control module locks locking mechanism.
When unmanned plane is when boat-carrying platform lands, control module unlocks locking mechanism, according to the unmanned plane detected
Posture information data, and the boat-carrying platform stance information data that receives, two posture information data are compared, when two
When difference between a posture information data reaches preset range, judge that unmanned plane and boat-carrying platform are in relative balance state, controls
Molding block is with locking locking mechanism.
Preferably, when unmanned plane is when boat-carrying platform lands, the difference between two posture information data reaches preset range
When, and position sensor detects that machine station foot reaches designated position, and control module is with locking locking mechanism.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have following beneficial to effect
Fruit：The present invention is detected the posture information of unmanned plane by the way that the airbone gyro instrument is arranged, and cooperation control module is to balanced component
Real-time control is carried out, when the posture of unmanned plane reaches equilibrium state, controls machine station foot lock of the locking mechanism by unmanned plane in time
It is fixed, it takes off or lands to achieve the purpose that balance, avoid boat-carrying platform and rocked with stormy waves, influencing unmanned plane can not be steady
The problem of taking off or landing.
Description of the drawings
Fig. 1 is a kind of overall structure signal of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of locking mechanism of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention in
Void column pipe combines, and locking state schematic diagram is converted to by unlocked state；
Fig. 3 is the lock pin knot of the two kinds provided in an embodiment of the present invention common unmanned plane balance systems for boat-carrying platform
The schematic top plan view for becoming unlocked state from locking state of structure；
Fig. 4 is that a kind of hollow pillar canal of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention is specific
Composed structure schematic diagram；
Fig. 5 is the chassis and hollow posts of a kind of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention
Pipe composite structure schematic diagram；
Fig. 6 is the chassis concrete structure of the two kinds provided in an embodiment of the present invention unmanned plane balance systems for boat-carrying platform
Schematic diagram；
Fig. 7 is a kind of rising for the control method of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention
Fly control flow schematic diagram；
Fig. 8 is a kind of drop of the control method of unmanned plane balance system for boat-carrying platform provided in an embodiment of the present invention
Fall control flow schematic diagram.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：1, trunk body；
2, control module；3, machine station foot；4, the airbone gyro instrument；5, airborne communication module；6, locking mechanism；61, rod segment is rotated；611,
One rod segment；612, the second rod segment；62, electric rotating machine is directly driven；63, lock pin；64, universal shaft；7, chassis；71, chassis tube body；72、
Connected ball；73, intercommunicating pore；74, buffer spring；8, hollow pillar canal；81, layer is limited；82, location hole；83, position sensor；84、
Sealing-plug.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
Embodiment 1
In conjunction with shown in Fig. 1~Fig. 2, an embodiment of the present invention provides a kind of unmanned plane balance system for boat-carrying platform,
Including unmanned plane and balanced component, wherein：
The unmanned plane includes trunk body 1, control module 2, machine station foot 3, the airbone gyro instrument 4 and airborne communication module 5；
Control module 2, the airbone gyro instrument 4 and airborne communication module 5 are arranged in trunk body 1, and machine station foot 3 is at least three, usually
In the case of be set as three, when unmanned plane build is larger or propeller configuration quantity is more than or equal to four, machine station foot 3 is set as four
A or four or more, one end and the bottom of trunk body 1 of machine station foot 3 are fastenedly connected, and the other end of machine station foot 3 is provided with locking
Mechanism 6, locking mechanism 6 are used to machine station foot 3 connecting locking with hollow pillar canal 8.
The balanced component includes chassis 7, and the hollow pillar canal 8 of 3 quantity of corresponding machine station foot, hollow pillar canal 8 are arranged on chassis 7
The insertion position of interior corresponding machine station foot 3 is provided with limit layer 81, limits and is provided with location hole 82 in layer 81, installation opportunity station foot 3
It is arranged in location hole 82, the bottom end of hollow pillar canal 8 is connect with chassis 7.Under normal conditions, unmanned plane itself is being adjusted in order to prevent
In flat process, machine station foot 3 is extracted out from location hole 82, and the profile of the tip portion of machine station foot 3 is usually arranged as slightly larger than fixed
The aperture size (as shown in Figure 2) in position hole 82.
With reference to Fig. 1~Fig. 3, the specific course of work is described in detail.
When unmanned plane is taken off by shutdown status, unmanned plane is opened, and control module 2 is by the locking mechanism 6 in balanced component
Unlock, unmanned plane carries out 1 leveling of trunk body by controlling each propeller of itself, during leveling, in trunk body 1
Linkage effect under, machine station foot 3 moves up and down in location hole 82, when the airbone gyro instrument 4 detects the posture information of unmanned plane
Data reach preset range, and when keeping regulation duration, and judgement unmanned plane reaches equilibrium state, and control module 2 assigns lock immediately
Machine station foot 3 is connect locking with hollow pillar canal 8 by fixed instruction, locking mechanism 6, and chassis 7 is taken up completion and steadily taken off by unmanned plane.
When unmanned plane is landed by state of flight shuts down, control module 2 sends halt instruction, the locking machine in balanced component
Structure 6 unlocks, and chassis 7 lands under the effect of gravity, and the airbone gyro instrument 4 is by the posture information data Real-time Feedback of unmanned plane to control
Module 2, while control module 2 is by 5 taken-over vessel carrying platform posture information data of airborne communication module, control module 2 by nobody
The posture information data of machine are compared with boat-carrying platform stance information data, when the difference between two posture information data reaches
When preset range, judge that unmanned plane and boat-carrying platform are in relative balance state, control module 2 controls locking mechanism 6 immediately will
Machine station foot 3 locks.
The present invention is detected the posture information of unmanned plane by the way that the airbone gyro instrument 4 is arranged, and cooperation control module 2 is to flat
The component that weighs carries out real-time control, when the posture of unmanned plane reaches equilibrium state, controls locking mechanism 6 in time by the machine of unmanned plane
Foot 3 of standing locks, and takes off or lands to achieve the purpose that balance, avoids boat-carrying platform and rocked with stormy waves, influence unmanned plane
The problem of steadily can not taking off or land.
In conjunction with shown in Fig. 2 and Fig. 3, locking mechanism 6 such as could be provided as shrapnel, pull and push, clamp at a variety of sides under normal conditions
The structure (Fig. 3 is shown as two kinds of different detent configurations, becomes locking state from unlocked state) of formula, in conjunction with the embodiment of the present invention,
For the combination of locking mechanism 6, there are a kind of preferred implementations, wherein the locking mechanism 6 includes 63 He of lock pin
Straight to drive electric rotating machine 62, corresponding locking mechanism 6 is provided with rotation rod segment 61 in machine station foot 3, directly drives the setting of electric rotating machine 62 and exists
In trunk body 1, one end connection of rotation rod segment 61 is straight to drive electric rotating machine 62, and the other end of rotation rod segment 61 is arranged in location hole
In 82, and the apical position of rotation rod segment 61 is provided at least one lock pin 63, is set as a lock pin under normal conditions
63, when the build of unmanned plane is larger or machine station 3 negligible amounts of foot, the quantity of lock pin 63 is usually arranged as two or three,
Control module 2 realizes the locking and unlock of control lock pin 63 by controlling straight drive electric rotating machine 62.Refer to when unmanned plane sends locking
When enabling, the straight electric rotating machine 62 that drives starts, and rotation rod segment 61 rotates therewith, and the lock pin 63 rotated in rod segment 61 is stretched out with rotation, is worn
The shell for going out machine station foot 3, is connected on the inner wall of hollow pillar canal 8, reaches locking state, and the straight electric rotating machine 62 that drives is closed.Work as nothing
When man-machine transmission unlock instruction, the straight electric rotating machine 62 that drives rotates in the opposite direction, and lock pin 63 is received with the rotation of rotation rod segment 61
It is retracted in machine station foot 3, reaches unlocked state, the straight electric rotating machine 62 that drives is closed.
The buffering of more perspective is obtained in order to rotate action of the rod segment 61 in machine station foot 3, in conjunction with shown in Fig. 4, the present invention
Embodiment for rotate rod segment 61 structure there are a kind of preferred implementations, wherein the rotation rod segment 61 include first
Rod segment 611 and the second rod segment 612, are connected between the first rod segment 611 and the second rod segment 612 by universal shaft 64, the first rod segment 611
Other end connection it is straight drive electric rotating machine 62, the other end of the second rod segment 612 is arranged in location hole 82, and in the second rod segment
612 apical position is provided at least one lock pin 63.It, can be by adjusting 611 He of the first rod segment when rotating the rotation of rod segment 61
Angle between second rod segment 612, with certain buffering when machine station foot 3 being supplied to be moved up and down in hollow pillar canal 8.
In order to more accurately be controlled mobile in hollow pillar canal 8 of machine station foot 3, exist in conjunction with the present embodiment a kind of
Preferred implementation, wherein on the inner wall of the hollow pillar canal 8, position sensor 83 is arranged in 82 position of corresponding location hole
(as shown in figure 4, sensor is generally arranged at close to the lower section of limit layer 81).
In specific application, it in conjunction with shown in Fig. 4, when machine station foot 3 moves up and down in hollow pillar canal 8, especially meets
To the 3 entire quick insertion hollow pillar canal 8 of machine station foot that the case where forced landing, will produce unmanned plane and the case where bottom out,
Dynamics such as insertion is larger, and lock pin 63 will produce certain damage, influence locking effect.For this situation, the embodiment of the present invention
There are a kind of preferred implementations, wherein in the hollow pillar canal 8, corresponding limit 81 lower position of layer, being provided with can be with
Mobile sealing-plug 84.It after machine station foot 3 is inserted into location hole 82, falls on sealing-plug 84, sealing-plug 84 is by machine station foot 3 from bottom
It holds, buffering is provided for it.
In conjunction with the embodiment of the present invention, in conjunction with shown in Fig. 5 and Fig. 6, there are a kind of preferred realities for the concrete composition mode of chassis 7
Existing scheme, wherein described in order to move up and down offer buffering to sealing-plug 84 with 84 structure of sealing-plug
Chassis 7 is made of the chassis tube body 71 of corresponding 8 quantity of hollow pillar canal, and connected ball 72 is provided on the intersection point of chassis tube body 71, even
It receives and 72 is connect with the bottom end ball of hollow pillar canal 8, intercommunicating pore 73 is provided in connected ball 72 (as shown in Figure 5 and Figure 6, with right in figure
Shown in case of answering four machine station feet 3), intercommunicating pore 73 is for chassis tube body 71 to be connected to the space in hollow pillar canal 8.
Chassis tube body 71 and the connected space interior sealing of hollow pillar canal 8 have gas or liquid, are sealing-plug 84 when at machine station, foot 3 is inserted into
Certain cushioning effect is provided.
In specific application, corresponding chassis 7, the device that can lock chassis 7 is usually arranged on boat-carrying platform, keeps away
Exempt from after the completion of unmanned plane lands as the shaking of boat-carrying platform is turned on one's side.
In conjunction with the embodiment of the present invention, as shown in fig. 6, there is also a kind of preferred realization sides for the concrete composition mode of chassis 7
Case, wherein with 84 structure of sealing-plug, in order to move up and down offer buffering, the bottom to sealing-plug 84
Frame 7 is made of the chassis tube body 71 of corresponding 8 quantity of hollow pillar canal, and connected ball 72 is provided on the intersection point of chassis tube body 71, is connected
Ball 72 and the bottom end ball of hollow pillar canal 8 connect, and buffer spring 74, buffer spring 74 and connected ball are provided on the bottom surface of sealing-plug 84
72 connect.When machine station foot 3 is inserted into, sealing-plug 84 moves down, and the buffer spring 74 of 84 bottom of sealing-plug is compressed, from
And provide certain cushioning effect
Embodiment 2
Based on same inventive concept, can be realized through but not limited to the structure only passed through in above-described embodiment 1, this hair
Bright embodiment provides a kind of control method of the unmanned plane balance system for boat-carrying platform, wherein：
As shown in fig. 7, when unmanned plane is taken off by boat-carrying platform, instruction of taking off at this time is typically by external command system
It generates, is sent to unmanned plane, execute step 701, the airborne communication module of unmanned plane receives instruction, sends control module to, controls
Molding block assigns the instruction for unlocking locking mechanism.
Step 702 is executed, (a variety of instruments can be used to be detected to the airbone gyro instrument for the attitude data information of unmanned plane, machine
It is usually using the embodiment under environment to carry gyroscope) the attitude data information of detection unmanned plane in real time, and by posture number
It is believed that breath timely feedbacks the posture information data to control module according to the unmanned plane detected, with the posture information data to prestore
It compares, body self-balancing adjustment is carried out by controlling propeller.
Step 703 is executed, when detecting that the posture information data of unmanned plane reach preset range (in actual application
In, the horizontal attitude of the unmanned plane detected does not rest on some numerically, but using horizontal attitude as mediant
There is certain fluctuation up and down in value, preset range be allow in practical application numerically descend fluctuation range), control module is sent out
Go out lock instruction to lock locking mechanism.In specific application, such as detect that the posture of unmanned plane is when tilting, then to tilt to
The corresponding propeller souping up of wing below horizontal plane is by this side airfoil rises, and this corresponding side of control module control simultaneously
The machine station foot unlock (the machine station foot of the corresponding wing being located above horizontal line remains locking at this time) of wing, airfoil rises are straight
To detecting that unmanned plane reaches horizontality, then machine station foot is relocked.Control module judges that unmanned plane reaches from flat at this time
Weighing apparatus state, while machine station foot locks, unmanned plane is gone up to the air with horizontal posture, and boat-carrying platform discharges chassis, and unmanned plane is completed flat
Surely take off.
Further, after step 703, the unmanned plane mostly wing that steadily takes off is horizontal, but the inclined state of chassis,
Such flight attitude is unfavorable to stable landing, and usually, after unmanned plane steadily takes off, control module can be into
Chassis balanced adjustment of row, i.e., by the locking mechanism of organic station foot unlock, chassis glides under gravity, machine station foot
After being stretched to extreme higher position in hollow pillar canal, control module relocks locking mechanism, and chassis reaches horizontality.
In most of unmanned plane self-balancing method of adjustment, unmanned plane is by being first detached from boat-carrying platform, apart from ship
The aerial progress pose adjustment of carrying platform certain distance, but this method of adjustment is in the case where stormy waves is larger or boat-carrying
Still will produce the phenomenon that colliding with the wing of unmanned plane in the case that the angle of platform inclination is larger, the scope of application compared with
Small, the space that posture is adjusted to unmanned plane is smaller, allow unmanned plane again leveling when the error range that generates it is smaller.Of the invention real
Apply the control method of the unmanned plane balance system provided in example take off control when, unmanned plane tilt when higher than horizontal plane machine
The corresponding machine station foot of flank is in locking state with chassis always, forms the connection of unmanned plane machine a station foot and boat-carrying platform
On the one hand point increases nothing only by reaching the posture balancing of unmanned plane to the adjustment of the subhorizontal wing side in angle of inclination
When man-machine self-balancing can the space occupied range provided for unmanned plane and boat-carrying on the other hand also by the machine station foot of locking
A certain distance is protected between platform, increases being applicable in for the control method of unmanned plane balance system provided in an embodiment of the present invention
Range.
Embodiment 3
Based on same inventive concept, can be realized through but not limited to the structure only passed through in above-described embodiment 1, this hair
Bright embodiment provides a kind of control method of the unmanned plane balance system for boat-carrying platform, wherein：
As shown in figure 8, when unmanned plane is when boat-carrying platform lands, landing instruction at this time is typically by external command system
It generates, is sent to unmanned plane, execute step 801, the airborne communication module of unmanned plane receives instruction, sends control module to, controls
Molding block unlocks locking mechanism；With the landing of unmanned plane, chassis steadily drops down onto on boat-carrying platform.Execute step 802, control
The posture information data for the unmanned plane that module is detected according to the airbone gyro instrument, and the ship that is received by airborne communication module
Two posture information data are compared carrying platform posture information data.Step 803 is executed, when two posture information data
Between difference when reaching preset range, control module judges that unmanned plane and boat-carrying platform are in relative balance state, control module
Locking instruction is assigned immediately to lock locking mechanism.
In step 802, the posture information data of unmanned plane clock synchronization, boat-carrying platform compared with boat-carrying platform stance information data
Lateral attitude be that unmanned plane needs to adjust the touch down attitude that becomes, then the posture information data of boat-carrying platform, which are unmanned plane, needs
The posture information data reached to be adjusted.Inner in actual application, rate-determining steps when landing are typically according to first carrying out step
Rapid 801, after chassis falls on boat-carrying platform, then step 802 is executed, the balance tune of finally release institute organic station foot progress unmanned plane
It is whole.Further, when the angle of inclination of boat-carrying platform is larger, all machine station feet discharge simultaneously, and chassis falls on boat-carrying platform
On impact force it is larger, the reaction force for feeding back to unmanned aerial vehicle body is larger, be unfavorable for unmanned plane carry out stable landing.In this feelings
When landing under condition, step 801 is to be carried out at the same time with step 802, specifically, control module is with the posture information data of boat-carrying platform
For foundation, by being compared with UAV Attitude information data, by unmanned plane and its apart from the corresponding machine station foot in wing side farther out
Unlock after being spaced executeaaafunction, the other corresponding locking mechanism of machine station foot is unlocked, then execute step 803.Wherein described
Executeaaafunction, to be compared by UAV Attitude information data and the posture information of boat-carrying platform, by the posture of unmanned plane with
The angle formed between the posture of boat-carrying platform, control module are extrapolated the machine station foot unlock of side, and chassis correspondence is adjusted to
The identical angle required time is formed with the wing of unmanned plane.
When position sensor structure is arranged in hollow pillar canal, control module can also pass through position sensor detection machine
It stands the position of foot, whether unmanned plane and boat-carrying platform in relative balance state further precisely judge.Then correspond to
Control method in, when unmanned plane is when boat-carrying platform lands, unmanned plane that control module is detected according to the airbone gyro instrument
Posture information data, and the boat-carrying platform stance information data that is received by airborne communication module, by two posture informations
Data are compared, i.e., after step 802, step 803 specifically corresponds to：When the difference between two posture information data reaches pre-
If when range, also, control module receives position sensor and detects that machine station foot reaches the information of designated position, obtains nobody
Machine and boat-carrying platform are in the judgement of relative balance state, and control module assigns lock instruction and locks locking mechanism immediately.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane balance system for boat-carrying platform, which is characterized in that including unmanned plane and balanced component, wherein：
The unmanned plane includes trunk body (1), control module (2), machine station foot (3), the airbone gyro instrument (4) and airborne communication mould
Block (5)；Control module (2), the airbone gyro instrument (4) and airborne communication module (5) setting are in trunk body (1), machine station foot (3)
At least three, one end and the bottom of trunk body (1) of machine station foot (3) are fastenedly connected, and the other end of machine station foot (3) is provided with
Locking mechanism (6)；
The balanced component includes chassis (7), and the hollow pillar canal (8) of corresponding machine station foot (3) quantity is arranged on chassis (7), hollow
The insertion position that machine station foot (3) is corresponded in column tube (8) is provided with limit layer (81), and location hole is provided in limit layer (81)
(82), the bottom end of hollow pillar canal (8) is connect with chassis (7).
2. the unmanned plane balance system according to claim 1 for boat-carrying platform, which is characterized in that the locking mechanism
(6) include lock pin (61), corresponding locking mechanism (6) is provided with rotation rod segment (61), corresponding rotation rod segment in machine station foot (3)
(61) setting is straight drives electric rotating machine (62), directly drives electric rotating machine (62) and is arranged in trunk body (1), and the one of rotation rod segment (61)
End connection is straight to drive electric rotating machine (62), and the other end of rotation rod segment (61) is arranged in location hole (82), and in rotation rod segment
(61) apical position is provided at least one lock pin (63), and control module (2) is realized by controlling straight drive electric rotating machine (62)
Control the locking and unlock of lock pin (63).
3. the unmanned plane balance system according to claim 2 for boat-carrying platform, which is characterized in that the rotation rod segment
(61) include the first rod segment (611) and the second rod segment (612), by universal between the first rod segment (611) and the second rod segment (612)
Axis (64) connects, and the other end connection of the first rod segment (611) is straight to drive electric rotating machine (62), and the other end of the second rod segment (612) is set
It sets in location hole (82), and the apical position of the second rod segment (612) is provided at least one lock pin (63).
4. the unmanned plane balance system according to claim 1 for boat-carrying platform, which is characterized in that the hollow pillar canal
(8) on inner wall, corresponding location hole (82) position setting position sensor (83).
5. the unmanned plane balance system according to claim 1 for boat-carrying platform, which is characterized in that the hollow pillar canal
(8) in, corresponding limit layer (81) lower position is provided with transportable sealing-plug (84).
6. the unmanned plane balance system according to claim 5 for boat-carrying platform, which is characterized in that the chassis is by right
It answers the chassis tube body (71) of hollow pillar canal (8) quantity to form, connected ball (72) is provided on the intersection point of chassis tube body (71), connect
Ball (72) and the bottom end ball of hollow pillar canal (8) connect, and intercommunicating pore (73) is provided in connected ball (72), and intercommunicating pore (73) is used for the bottom of
Frame tube body (71) is connected to the space in hollow pillar canal (8).
7. the unmanned plane balance system according to claim 5 for boat-carrying platform, which is characterized in that the chassis
(7) it is made of the chassis tube body (71) of corresponding hollow pillar canal (8) quantity, connected ball is provided on the intersection point of chassis tube body (71)
(72), connected ball (72) and the bottom end ball of hollow pillar canal (8) connect, and buffer spring (74) is provided on the bottom surface of sealing-plug (84),
Buffer spring (74) is connected with connected ball (72).
8. a kind of control method of unmanned plane balance system for boat-carrying platform, which is characterized in that unmanned plane is by boat-carrying platform
When taking off, control module unlocks locking mechanism, and according to the posture information data of the unmanned plane detected, control propeller carries out
Body self-balancing adjusts；When detecting that the posture information data of unmanned plane reach preset range, control module is by locking mechanism
Locking.
9. a kind of control method of unmanned plane balance system for boat-carrying platform, which is characterized in that unmanned plane is in boat-carrying platform
When landing, control module unlocks locking mechanism, according to the posture information data of the unmanned plane detected, and the ship that receives
Two posture information data are compared carrying platform posture information data, when the difference between two posture information data reaches
When preset range, judge that unmanned plane and boat-carrying platform are in relative balance state, control module is with locking locking mechanism.
10. the control method of the unmanned plane balance system according to claim 9 for boat-carrying platform, when two postures are believed
When difference between breath data reaches preset range, and position sensor detects that machine station foot reaches designated position, control module
With locking mechanism locked.
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