CN110422330A - A kind of control method of unmanned plane capture recyclable device - Google Patents
A kind of control method of unmanned plane capture recyclable device Download PDFInfo
- Publication number
- CN110422330A CN110422330A CN201910557585.XA CN201910557585A CN110422330A CN 110422330 A CN110422330 A CN 110422330A CN 201910557585 A CN201910557585 A CN 201910557585A CN 110422330 A CN110422330 A CN 110422330A
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- Prior art keywords
- host
- wing plane
- capture
- sensor
- plane
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The present invention relates to a kind of control methods of the capture recyclable device of unmanned plane, the device being applicable in includes the host for being provided with master controller, wing plane and capture three parts of net, wherein, annular arrangements frame is fixed on the periphery of host, in the multiple ultrasonic distance-measuring sensors of the periphery of annular arrangements frame arrangement, the distance measuring signal of each ultrasonic distance-measuring sensor sends master controller to；It is connected between host and wing plane by hawser, the motor to draw capture net unfolding is fixed on wing plane；Master controller realizes that the capture to UAV targets controls to obtain the location information of unmanned plane to be captured according to the distance measuring signal of each ultrasonic distance-measuring sensor, and by control propeller motor and wing plane.The present invention has the advantages that acquisition accuracy is high, it is high to be captured as power, can will be caught that unmanned plane is lossless to take back ground after capture.
Description
Technical field
The present invention relates to a kind of unmanned plane during flying device technical field more particularly to a kind of capture of unmanned plane and recyclable devices.
Background technique
In recent years, with the exploitation of unmanned plane during flying device and the reduction of manufacturing cost, small and medium size unmanned aerial vehicles are gradually popularized, extensively
It is applied to the fields such as logistics, news, search and rescue, meteorological observation, remote sensing mapping generally.At the same time, unmanned vehicle it is unordered very
Great security risk is all brought to society and individual to illegal flight, unmanned plane is black to fly also to become the spine that international community discusses warmly
The social concern of hand.Due to unmanned plane small volume, flexibility ratio it is higher and in low-latitude flying, simply shoot down may be to for physics
Potential harm is brought at scene, if UAV targets carry dangerous goods, can generate more serious consequence.And it grinds both at home and abroad at present
The path multiplicity of unmanned vehicle acquirer is sent out, but there has been no one kind, and the marketization may be implemented.
Therefore, need it is a kind of it is reliable efficiently, and unmanned plane can steadily be taken back safely to capture and the recovery scheme on ground.
Summary of the invention
In view of the above-mentioned problems, in conjunction with the flight characteristic of unmanned plane, being mentioned the purpose of the present invention is overcome the deficiencies in the prior art
It is high for a kind of acquisition accuracy, be captured as power is high, after capture can by the lossless unmanned plane capture for taking back ground of unmanned plane of being caught with
Recyclable device and its control method.Technical scheme is as follows:
A kind of control method of the capture recyclable device of unmanned plane, the device being applicable in includes the master for being provided with master controller
Machine, wing plane and capture three parts of net, wherein
It is fixed with annular arrangements frame on the periphery of host, the multiple ultrasonic distance measurements sensings of arrangement on the periphery of annular arrangements frame
Device, the distance measuring signal of each ultrasonic distance-measuring sensor send master controller, one of ultrasonic distance-measuring sensor conduct to
Fixed sensor, communicates always with being fixed between the signal receiver on wing plane, to keep wing plane and host synchronization to fly；
It is connected between host and wing plane by hawser, one end of hawser and one end of capture net are fixed on host, In
The motor to draw capture net unfolding is fixed on wing plane；
Master controller, to obtain the position of unmanned plane to be captured according to the distance measuring signal of each ultrasonic distance-measuring sensor
Information, and realize that the capture to UAV targets controls by control propeller motor and wing plane, used control method is such as
Under:
It 1) is each ultrasonic distance-measuring sensor serial number, root with the fixation sensor of face wing plane for No. 0 sensor
X-axis is determined according to the position of fixed sensor, is enabled other sensors and the sensor at different angle θ i (i=0,1,2,3 ...), is read
The numerical value got is stored as ρ, establishes polar coordinate system on this basis；
2) multiple ultrasonic distance-measuring sensors that annular surrounds realize the detection to UAV targets, and ranging information is transmitted
Position analysis and control propeller motor are carried out to the master controller of host；
3) when UAV targets enter measured zone, master controller, which obtains operative sensor, stable return value；Analysis
Compare and choose highest at least two sensor of stability, records sensor direction, be sent to host propeller motor, make
Host is advanced to the direction；
4) changed according to the fluctuation of different directions sensor values and sensor number, control the movement of propeller motor, it is real
Existing host and UAV targets' relative synchronization；
5) in host flight course, wing plane is opposite with sensor is fixed on host always, to remain and host
Synchronous flight, when host implementation is rotated and ordered, wing plane takes orders, using host as axis, to keep at a distance constant, be pivoted
Corner identical as host；
6) when above-mentioned multiple ultrasonic distance-measuring sensor return values reach relatively stable, then judge host wing plane complete with to
The relative synchronization for capturing UAV targets sends to wing plane with aft engine and orders, and wing plane is close to host, the electricity that is fixed on wing plane
Motivation pulls out capture net, and capture net is unfolded in the sky；
7) after completing to capture net opening work, start recording UAV targets to be captured are in polar coordinate system as described above
In real-time coordinates (ρ j, θ j)；According to real-time coordinates (ρ j, θ j) and host and wing plane distance d, the rotation angle of host is calculated
Signal is transmitted to control host propeller motor, host rotation, so that UAV targets capture between host and wing plane by degree
The face direction of net；
8) host is run subsynchronous again with wing plane, twists UAV targets' propeller in capture net, completes capture；
9) after capturing, UAV targets are towed to specified safety zone by the synchronous operation of host wing plane.
The invention adopts the above technical scheme, which has the following advantages:
1. the present invention breaks through the method that traditional acquisition equipment lives unmanned plane with the capture string bag, the flight in conjunction with unmanned plane is special
Point, using capture twine line perpendicular to ground by the way of, make unmanned plane propeller be easy to twist in the silk thread of capture net, in turn
Realize capture purpose.Compared to the method that the tradition capture string bag lives unmanned plane, scheme provided by the invention improves acquisition success
Rate reduces the requirement to acquisition equipment location accuracy.
2. the present invention is centered around annular arrangements frame outer circumference using multiple ultrasonic distance-measuring sensor uniform closes, compare
In traditional acquisition equipment only one or two distance measuring sensors, advantage of the invention is that realize the ranging simultaneously of multiple orientation,
Ranging localization range can judge unmanned plane by comparing the stabilization registration of adjacent ultrasonic wave distance measuring sensor without dead angle
Orientation.
3. the present invention forms unmanned plane acquisition equipment using two frame unmanned planes, the single unmanned plane acquisition equipment of tradition exists pair
There is the defect compared with big limitation in the quality upper limit of captured unmanned plane, the advantage of the invention is that unmanned plane can be captured by improving
The quality upper limit.
Operation of the present invention simplicity, strong antijamming capability, security and stability are excellent, can accurately determine unmanned plane position
Position, to realize precisely capture.After acquisition success, net will be captured by host wing plane system and captured object security is steadily taken back
Ground designated position realizes effective capture on the basis of not destroying unmanned plane mechanism.Prevent captured unmanned plane aerial
The person and property loss that free falling may cause, two-shipper capture systems further breach traditional acquisition equipment and can carry
The limitation in the quality of object is captured, safety coefficient is higher, reduces capture risk.
Detailed description of the invention
Fig. 1 is the core process figure of unmanned plane capture and recovery scheme of the present invention.
Fig. 2 is the overall structure figure of unmanned plane capture and recyclable device of the present invention.
Fig. 3 is unmanned plane positioning link establishment of coordinate system method schematic diagram of the present invention.
Figure label explanation: 1 host；2 wing planes；3 annular arrangements framves；4 ultrasonic distance-measuring sensors；6 motor；7 captures
Net；1. host region；2. wing plane region；3. be caught UAV targets.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments:
The capture recyclable device of unmanned plane of the present invention, including host, wing plane and capture three major parts of net device, and
The supersonic sensing positioning being separately mounted between host and wing plane receives system with signal.
It is connected between the host and wing plane with a hawser；
The host is equipped with ultrasonic ranging system, for receiving signal and controlling the ardruino of propeller control
Plate, lower section are equipped with the capture net storage box for storing capture net；
The wing plane is equipped with the receiver that signal is issued for receiving host, and lower section is equipped with for drawing capture net exhibition
The motor opened.
The capture net device includes capturing net, the capture net storage box being fixed below host, being fixed below wing plane
For draw capture net motor；
Further technical solution are as follows:
It includes annular arrangements frame below host and uniformly and tight that supersonic sensing positioning and signal, which receive system,
Solid matter is listed in multiple ultrasonic distance-measuring sensors of annular arrangements frame outer circumference, the signal receiver on wing plane, and receives
The host arduino plate of sensor signal；
The naming method of the multiple ultrasonic distance-measuring sensor are as follows: be with host and the sensor on wing plane face direction
No. 0 sensor, is hereafter respectively designated as 1,2,3 ... for sensor with sequence counterclockwise
The capture net be nylon rope braiding made of reticular structure, after expansion in relaxed state and with net where plane with
Ground is vertical, thus be easy to propeller twist into.
It is illustrated in figure 2 the device overall structure figure of the preferred embodiment of the present invention, unmanned plane capture of the present invention and recycling side
Case, in 3 outer circumference of annular arrangements frame of host 1 uniformly and be closely arranged with multiple ultrasonic distance-measuring sensors 4, pass through ring
Multiple ultrasonic distance-measuring sensors that shape surrounds realize 360 ° of without dead angle detections to UAV targets, can be by ranging information
The master controller for passing to host ardruino plate carries out position analysis and control propeller motor.
It is convenient for record, to the single-chip microcontroller pin numbering of above-mentioned multiple ultrasonic distance-measuring sensors and its connection, such as Fig. 3 institute
Show, it is No. 0 that the sensor of face wing plane, which is compiled, and choosing the sensor orientation is x-axis, enables other sensors and the sensor at difference
Angle, θ i (i=0,1,2,3 ...), the numerical value read is stored as ρ, establishes polar coordinate system on this basis.
The host is first by artificially controlling flight, when being generally in same plane with target aircraft, Suo Youchuan
Sensor starts with certain frequency ranging, and the data moment is transferred back on master controller.Ultrasonic sensor ranging Shi Youwen
Surely the scope limitation measured is limited labeled as r.Tampered host is equivalent to forms the sense that radius is limited to r around it
Range is answered, when capturing catches into the region, operative sensor, which can be obtained, in controller stable return value.Choosing is compared in analysis
Take highest 2 sensors of stability, record sensor direction (or sensor number, it is sent to host propeller motor,
Host is set to advance to the direction.
When 3. host sufficiently closes to UAV targets to be captured, i.e., reach can engagement range for host and UAV targets' distance
L0When, above-mentioned selected sensor values are recorded, are become according to the fluctuation of different directions sensor values and sensor number (coordinate)
Change, increase as i pin returns, i+1 pin return value reduces, then sends signal to the motor of control propeller, increases host and exists
The speed of i+1 sensor corresponding direction.Realize host 1 and the relative synchronization of UAV targets 3..
In 1 flight course of host, wing plane 2 is opposite with sensor is fixed on host always, thus remain with
Host synchronization flight.When host implementation is rotated and ordered, wing plane takes orders, using host as axis, to keep at a distance constant, around axis
Rotate corner identical as host.
When above-mentioned multiple ultrasonic distance-measuring sensor return values reach relatively stable, then judge host wing plane complete with wait catch
The relative synchronization for obtaining UAV targets sends to wing plane with aft engine and orders, and wing plane is close to host, the electricity being installed on wing plane 2
Motivation 6 pulls out capture net 7.Be connected with a cable between host 1 and wing plane 2, one end connection capture net 7, the other end by
Motor 6 controls.After host 1 receives the echo signal that sensor detects, sends and order to wing plane 2, the electricity on wing plane 2
Motivation 6 draws cable, will capture one end that net 7 is connected with cable and be pulled at wing plane 2, capture net 7 is unfolded in the sky.
The capture net 7 be nylon rope braiding made of reticular structure, after expansion in relaxed state and with net where plane
It is perpendicular to the ground, thus the propeller for being easy to captured target aircraft twist into.
After completing the capture opening work of net 7, start recording UAV targets to be captured are in polar coordinate system as described above
In coordinate (ρ j, θ j).According to catches real-time coordinates (ρ j, θ j) and host wing plane distance d is captured, the rotation angle of host is calculated
Signal is transmitted to the motor of control host propeller by degree.Gained corner, which meets host rotated to n-th of sensor just to treat, catches
UAV targets are obtained, i.e., UAV targets to be captured capture the face direction of net between host 1 and wing plane 2.
Receiver on the wing plane 2 will receive the signal from host and be transferred to propeller motor.
After completing above-mentioned path, UAV targets to be captured is made to be in capture net front.Host and wing plane are run again
It is synchronous, accelerate to advance to positive direction of the y-axis together, twist UAV targets' propeller in capture web frame, completes capture.
After capture, unmanned plane of being caught is towed to specified safety zone by the synchronous operation of host wing plane.
What has been described above is only a preferred embodiment of the present invention, and present invention is not limited to the above embodiments.
Claims (1)
1. a kind of control method of the capture recyclable device of unmanned plane, the device being applicable in includes the master for being provided with master controller
Machine, wing plane and capture three parts of net, wherein
It is fixed with annular arrangements frame on the periphery of host, is arranged multiple ultrasonic distance-measuring sensors on the periphery of annular arrangements frame,
The distance measuring signal of each ultrasonic distance-measuring sensor sends master controller to, and one of ultrasonic distance-measuring sensor is as fixation
Sensor communicates always with being fixed between the signal receiver on wing plane, to keep wing plane and host synchronization to fly；
It is connected between host and wing plane by hawser, one end of hawser and one end of capture net are fixed on host, in wing plane
On be fixed with to draw capture net unfolding motor；
Master controller, the position to obtain unmanned plane to be captured according to the distance measuring signal of each ultrasonic distance-measuring sensor are believed
Breath, and realize that the capture to UAV targets controls by control propeller motor and wing plane, used control method is as follows:
It 1) is each ultrasonic distance-measuring sensor serial number, according to solid with the fixation sensor of face wing plane for No. 0 sensor
The position for determining sensor determines x-axis, enables other sensors and the sensor at different angle θ i (i=0,1,2,3 ...), reads
Numerical value be stored as ρ, establish polar coordinate system on this basis；
2) multiple ultrasonic distance-measuring sensors that annular surrounds realize the detection to UAV targets, and ranging information is passed to master
The master controller of machine carries out position analysis and control propeller motor；
3) when UAV targets enter measured zone, master controller, which obtains operative sensor, stable return value；Analysis is compared
Highest at least two sensor of stability is chosen, sensor direction is recorded, is sent to host propeller motor, makes host
It advances to the direction；
4) changed according to the fluctuation of different directions sensor values and sensor number, control the movement of propeller motor, realize master
Machine and UAV targets' relative synchronization；
5) in host flight course, wing plane is opposite with sensor is fixed on host always, to remain and host synchronization
Flight, when host implementation is rotated and ordered, wing plane takes orders, using host as axis, to keep at a distance constant, is pivoted and master
The identical corner of machine；
6) when above-mentioned multiple ultrasonic distance-measuring sensor return values reach relatively stable, then judge host wing plane complete with it is to be captured
The relative synchronization of UAV targets sends to wing plane with aft engine and orders, and wing plane is close to host, the motor that is fixed on wing plane
Capture net is pulled out, capture net is unfolded in the sky；
7) after completing to capture net opening work, start recording UAV targets to be captured are in polar coordinate system as described above
Real-time coordinates (ρ j, θ j)；According to real-time coordinates (ρ j, θ j) and host and wing plane distance d, the rotation angle of host is calculated, it will
Signal is transmitted to control host propeller motor, host rotation, so that UAV targets capture net between host and wing plane
Face direction；
8) host is run subsynchronous again with wing plane, twists UAV targets' propeller in capture net, completes capture；
9) after capturing, UAV targets are towed to specified safety zone by the synchronous operation of host wing plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910557585.XA CN110422330A (en) | 2019-06-25 | 2019-06-25 | A kind of control method of unmanned plane capture recyclable device |
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| CN201910557585.XA CN110422330A (en) | 2019-06-25 | 2019-06-25 | A kind of control method of unmanned plane capture recyclable device |
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| CN110422330A true CN110422330A (en) | 2019-11-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113137892A (en) * | 2020-12-25 | 2021-07-20 | 北京理工大学 | Low-slow small target cluster countercheck device based on flexible network capture and countercheck method thereof |
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Application publication date: 20191108 |