CN101746500B - Device for compensating the difference of height by which a helicopter lands on a non-horizontal ground and the method thereof - Google Patents
Device for compensating the difference of height by which a helicopter lands on a non-horizontal ground and the method thereof Download PDFInfo
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- CN101746500B CN101746500B CN200910241239A CN200910241239A CN101746500B CN 101746500 B CN101746500 B CN 101746500B CN 200910241239 A CN200910241239 A CN 200910241239A CN 200910241239 A CN200910241239 A CN 200910241239A CN 101746500 B CN101746500 B CN 101746500B
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Abstract
The invention provides a device for compensating the difference of height by which a helicopter lands on a non-horizontal ground and the method thereof, which aim at addressing the problem that the helicopter lands on the non-horizontal ground. The device comprises three ranging sensors used for testing the pitch angle and spinning angle of the non-horizontal ground, three leg-type landing gears comprising a landing platform fixedly connected with the body of the helicopter and three landing supporting legs fixed on the landing platform and a control device respectively electrically connected with three ranging sensors and three power output devices; power output devices independent of each other are arranged between each landing supporting leg and the landing platform. When the helicopter lands, the measurement results of the ranging sensors are used for calculating the pitch angle and spinning angle of the non-horizontal ground and then controlling the pitch angle and spinning angle of the plane on which three landing ends of three landing supporting legs to be equal to the pitch angle and spinning angle of the non-horizontal ground so that the helicopter can be controlled to land vertically.
Description
Technical field
The present invention relates to a kind of helicopter, also relate to model copter, particularly the supporting leg type alighting gear of helicopter and model copter.
Background technology
Use helicopter to carry out machine and fall and can army be transported to the destination with becoming organizational system, saved the time that airborne troop assemble again, thereby received the attention of various countries army in recent years.The effect of helicopter in the disaster relief also is obvious to all, and after particularly the Wenchuan violent earthquake took place, helicopter had been brought into play huge effect in the disaster relief of mountain area.Especially waterway between mountains is dangerously steep, and highway is ruined, and under the mal-condition of interruption of communication, helicopter is unique instrument of lifesaving.Wenchuan earthquake to make common people shock in 2008 is an example; Rose in the 3rd day after the earthquake, government and army set out 90 helicopters every day, successively hard intensity thousands of sorties that fly; A large amount of wounded are transported to apart only over one hundred kilometer Chengdu, have brought into play irreplaceable effect.
Yet,, temperature, weather, wind direction are had strict demand because the flight of helicopter has strict restriction to environmental conditionss such as meteorological and landform.In addition, especially in the landing process, uneven ground and complicated surface state all affect the safe flight of helicopter, drive careless slightlyly will cause landing accident.Therefore in some region in disaster area, because the influence of landform, climatic factor, helicopter can't land, and causes the victims of the disaster of this area to can not get rescue, makes us feeling very helpless.
In order to guarantee the landing safety of helicopter, particularly important to the selection of landing place point, the requirement of landing site is comprised following three aspects, one of which can not be in the marsh, the mire landing, otherwise can make helicopter wheel, alighting gear fall into into ground and can not extricate oneself; Its two, can not on soft ground, land.Otherwise can cause the helicopter overturning of toppling because of " resonance " takes place.Its three, can not on greater than 5 ° slope, land.Upspring afterwards otherwise can cause 2 in helicopter to hover, cause the accident of air crash.The aviator is also must assurance speed suitable and in whole landing process, will remain steadily (just main rotor keeps level, and all wheels will land simultaneously during landing) in the landing process.This shows that it is not easy that autogyro wants safe landing.
It is thus clear that nowadays helicopter lands in acclive landing site and has very big potential safety hazard.More do not carry rubble ground, hollow ground and ruins.To this situation, existing patent CN 200710165455.9 has proposed a kind of " helicopter uneven ground hydraulic pressure self-adjusting undercart ", and its structure is following:
Shown in Figure 1 referring to above-mentioned patent, the state when stopping on the level land for helicopter assembling uneven ground hydraulic pressure self-adjusting undercart, this state also is its conventional state.Forward and backward hydraulic support leg 1,2 is swung to the front and back that are placed in body, and return cylinder 3 also is arranged on the front portion, adjacent with preceding hydraulic support leg 1 of body, and their rod end links to each other.Preceding hydraulic support leg piston rod 4 is overhanging, receives in the back hydraulic support leg piston rod 5, and their end hinge bearing 6.Oil circuit 7,8 connects each cylinder, and oil circuit 7 is a working connection, with hydraulic cylinder works chamber, front and back---and a side of piston-rodless is connected; Oil circuit 8 is an auxiliary oil circuit, the backhaul chamber of cylinder before and after connecting---a side of piston rod is arranged.Two cover oil circuits are parallel, connect pressure stop valve 9.Shown in Figure 2 like above-mentioned patent is provided with two parallel oil ducts 10,11 in pressure stop valve 9, be provided with cavity 12 at the valve body middle part, and the parallel oil duct 10,11 with two of cavity 12 is connected; Be built-in with piston 13, spring 14 and valve block 15 at cavity 12, they can move back and forth along cavity 12 longitudinal axis.Normality lower disc 15 is in the middle part of secondary oil duct 11, and oil duct communicates.
Helicopter is when stopping state such as it is shown in Figure 1, because of the effect of pressure makes oil duct be in closed condition.When helicopter when mountain region, big protrusion or other complicated ground condition are landed in the open air; Transfer the direction that hoists to fall on the helicopter head earlier, the bearing of chain-drive section supporting leg hinge at first contacts with ground again, along with the continuation of helicopter is fallen; Front leg strut is under the double action of ground reaction force and aircraft gravity; Receive in piston rod 4 beginnings, the hydraulic refrigerant in its epitrochoidal chamber is squeezed, and is compelled to flow to the supporting leg epitrochoidal chamber that other does not land as yet through working connection 7.Be synchronized with the movement with its return cylinder piston rod 16 of settling side by side, the pressure gas in its chamber begins to shrink once more.Along with the continuation of helicopter is fallen, do not stop self-regulated length in its motion, up to other supporting leg all land, with ground rigid contact bear aircraft gravity after; The internal pressure of hydraulic refrigerant improves in working connection and the epitrochoidal chamber, and the piston 13 that is provided with in the pressure stop valve 9 is pressed to a side of secondary oil duct 11, and valve block 15 is closed oil duct; The hydraulic refrigerant of both sides major-minor oil circuit stops to flow; The front and back supporting leg is no longer flexible, and relative fixed is lived, and the decline process of helicopter finishes.
Also there is certain limitation in above-mentioned " helicopter uneven ground hydraulic pressure self-adjusting undercart ", at first though can reach certain effect; This invention has only solved the problem of landing when having the gradient on the helicopter fore-and-aft direction; Landing problem when having the gradient on the left and right directions does not solve, and therefore, must guarantee during helicopter landing that height is consistent on the left and right directions; If the chaufeur error in judgement can cause a serious accident; On the other hand, using and should invent, must be that head falls towards the direction of eminence again, has limited the landing direction; Again on the one hand, use and to invent,, must reduce falling speed as far as possible in the moment that foreleg lands; Make back leg have time enough to stretch out, under the situation of environment abominable (like the wind-force serious interference), operation easier is very big; Careless slightly, will there be accident to take place, disagree with its goal of the invention.
It is thus clear that the existing support that rises and falls can not satisfy the needs that rise and fall in the hillside fields fully, needs those skilled in the art to improve.
Summary of the invention
For this reason, the applicant provides a kind of helicopter non-level ground descent altitude difference compensating device and method, helicopter can be landed in the slope, and can adapt to the landform that all there is the gradient in all around, can also guarantee that the landing process has high safety factor.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts comprises:
The non-level ground descent altitude of a kind of helicopter difference compensating device is characterized in that, comprising:
Three distance measuring sensors are fixedly connected on this helicopter, are used for measuring described non-level ground-surface luffing angle and roll angle;
Three supporting leg type alighting gears comprise the landing platform of captiveing joint with the fuselage of helicopter and are fixed on three landing supporting legs on this landing platform, between each landing supporting leg and this landing platform, are provided with separate power take-off implement; And,
Control setup is electrically connected with described three distance measuring sensors and described three power take-off implements respectively.
In preferable technical scheme: this power take-off implement is a steering wheel, and this landing supporting leg is fold-type leg or straight leg, and an end of this landing supporting leg is to be used for the landing end that contacts with ground, and the other end is captiveed joint with the output shaft of this steering wheel.
In preferable technical scheme: this power take-off implement is the angular transposition output unit; And should the landing supporting leg be the fold-type leg; One end of this fold-type leg is to be used for the landing end that contacts with ground; The other end is captiveed joint with the output shaft of this angular transposition output unit, rotation under this angular transposition output unit drives.
In preferable technical scheme: this angular transposition output unit comprises: motor, worm gearing and position detector; This motor is connected with the input shaft power of this worm gearing; This position detector is arranged on the output shaft place of this worm gearing, and is electrically connected with this motor.
In preferable technical scheme: between the input shaft of this motor and this worm gearing, be provided with a speed-change gear box.
In preferable technical scheme: this landing supporting leg is to lead leg with landing platform articulates, this power take-off implement be connected lead leg and landing platform between hydraulic actuating cylinder.
In preferable technical scheme: level is installed the cross bar that a left-right symmetric is extended on this helicopter foot piece, at the two ends of this cross bar a described distance measuring sensor is installed respectively, and last distance measuring sensor is installed in the head front end of this helicopter.
In preferable technical scheme: install two at the head front end of helicopter and have necessarily the distance measuring sensor of distance between left and right, a distance measuring sensor is installed on the model copter foot piece.
In preferable technical scheme: described three distance measuring sensors all are laser range sensors, and described three laser range sensors are on the landing platform that triangular shape is installed in this three supporting leg types alighting gear.
In preferable technical scheme: described three landing supporting legs are isosceles triangle to be arranged, and a landing supporting leg stretches out towards head the place ahead, and two other landing supporting leg is symmetrical set, and all stretches out to the tail direction; Perhaps,
Two landing supporting legs are symmetrical set, and all stretch out to heading, and another landing supporting leg stretches out towards tail side; Perhaps,
Three landing supporting legs are arranged radially, 120 degree of being separated by between per two adjacent landing supporting legs.
For realizing above-mentioned purpose, the technical scheme that the present invention adopts also comprises:
The compensation method of the non-level ground descent altitude of a kind of helicopter difference is characterized in that, may further comprise the steps:
(1) with this helicopter on even keel hover over non-level ground directly over;
(2) utilize the result of a measurement that is installed in three distance measuring sensors on this helicopter, calculate the luffing angle and the roll angle of this non-level ground;
(3) send the three supporting leg type alighting gears that signal is given the underbelly that is fixedly connected on this helicopter; Make three landing supporting legs on this three supporting leg types alighting gear under the drive of power take-off implement, adjust the position; Hold the luffing angle and the roll angle on plane of living in up to the landing of described three landing supporting legs, luffing angle and the roll angle with this non-level ground is identical respectively;
(4) control this helicopter vertical landing.
Compared with prior art, the beneficial effect that has of the present invention is:
(1) the application's landing support can be done the adjustment on totally two angles of luffing angle and roll angle; Therefore; The landing direction of helicopter can elect on the 360 degree directions in the non-level ground sky; Improve the alerting ability that helicopter landing direction is selected, and reduced the danger coefficient of helicopter generation rollover;
(2) the application does not have oil circuit, but realizes the adjustment of landing supporting leg not only reducing the weight of landing support with electronic control mode, and has avoided at cold snap because oil circuit freezes and can't work;
(3) the application's landing supporting leg is parallel with non-level ground once being adjusted into, and can normally land, and does not need painstakingly to slow down sinking speed, and operation easier is little.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is the structural representation of three supporting leg type alighting gears of the present invention;
Fig. 3 is the scheme drawing that the present invention measures the roll angle of non-level ground;
Fig. 4 is the scheme drawing that the present invention measures the luffing angle of non-level ground;
Fig. 5 is the scheme drawing of the another kind of structure of three supporting leg type alighting gears of the present invention;
Fig. 6 is the composition structure and the logical relation scheme drawing thereof of angular transposition output unit;
Fig. 7 is the scheme drawing of another structure of three supporting leg type alighting gears of the present invention.
The specific embodiment
At first, need clear and definite two notions:
1, " non-level ground descent altitude difference compensating device and the method " that provides among the application both can be applied on the real helicopter, also can be applied to model copter; It all belongs to same inventive concept, and is just under the consideration of concrete size, weight and cost, different on selection, materials, the concrete position of parts; Therefore; In this article, only if lay special stress on, " helicopter " is a general designation.
2, " the non-level ground " described in the application is meant: the gradient is not having the outstanding rubble ground that swells, hollow ground or ruins at slope and every meter span drop of 0 to 25 degree below 0.7 meter.
Next; See also shown in Figure 1; Be that the present invention is applied to the integral structure scheme drawing on the model copter; It provides a kind of non-level ground descent altitude difference compensating device, the three supporting leg type alighting gears 30 and the control setup (not giving diagram) of the underbelly that comprise three distance measuring sensors 21 being fixedly connected on the helicopter 20, is fixedly connected on helicopter 20, wherein:
In the present embodiment; The distance measuring sensor 21 that adopts is ultrasonic ranging sensors 21; The measurement range of considering ultrasonic ranging sensor 21 is a circular regions; Do not cause interference mutually in order to allow between three distance measuring sensors 21, so the relative distance that three ultrasonic ranging sensors 21 are installed is big on model copter 20.As shown in Figure 1; At first a ultrasonic ranging sensor 21 is installed at the head front end (being positioned on the symmetrical plane of helicopter 20) of model copter 20; Level is installed the cross bar 22 that a left-right symmetric is extended the aluminum of (with respect to the symmetrical plane of helicopter 20) on model copter 20 foot pieces then, then at the two ends of this cross bar 22 a ultrasonic ranging sensor 21 is installed respectively.Certainly, measure mistake owing to receiving stopping of head inner member for the ultrasonic ranging sensor 21 that prevents to be installed in the head, be preferably in these ultrasonic ranging sensor 21 downsides around interference protection cover 23 is installed.
This three supporting leg types alighting gear 30 comprises the landing platform 31 of captiveing joint with the fuselage of helicopter 20 and is fixed on three landing supporting legs 32 on this landing platform 31; And between each landing supporting leg 32 and this landing platform 31, be provided with separate power take-off implement, can regulate the relative height between the landing end 321 of each landing supporting leg 32 neatly.In the present embodiment; The fiber aviation laminate of these landing platform 31 preferred 3 millimeters thick is made; This power take-off implement is a steering wheel 331, and this landing supporting leg 32 is the fold-type legs with certain angle, and an end of this fold-type leg is to be used for the landing end 321 that contacts with ground; The other end is captiveed joint with the output shaft of this steering wheel 331, and the output shaft around this steering wheel 331 under steering wheel 331 drives rotates.Specifically, in the present embodiment, in conjunction with Fig. 1, shown in Figure 2, three landing supporting legs 32 are isosceles triangle to be arranged, and a landing supporting leg 32 stretches out towards head the place ahead, and two other landing supporting leg 32 is symmetrical set, and all stretches out to the tail direction; And the steering wheel 331 that uses in the present embodiment big torsion steering wheel 331 that is HG-D751MG Korea S, it mainly is to be made up of shell, circuit card, coreless motor, train of reduction gears and position detector, its principle of work is; Circuit card receives control signal; And via the judgement of the IC on circuit card rotation direction, drive the coreless motor again and begin to rotate, through reducing gear power is reached output shaft; Simultaneously send signal back to, judge whether to arrive the location by position detector; General steering wheel 331 also all has the function of being automatically locked, and under the situation of no signal input, output shaft can deviation post under the effect of high pulling torque yet; And described landing supporting leg 32 is the fold-type legs with certain angle, so can not receive the influence of the hollow of some less degree, guarantees landing supporting leg 32 lowest part kiss the earths all the time, and safety is higher.
This control setup; The preferred MCU treater that adopts is electrically connected with this ultrasonic ranging sensor 21 and steering wheel 331 respectively, receives the signal of this ultrasonic ranging sensor 21; And output signal to this steering wheel 331, the relative height between the landing end 321 of three landing supporting legs 32 of control.In the present embodiment, this control setup can be set to the action of three landing supporting legs 32 of automatic guidance, also can be set to control through remote controller the action of three landing supporting legs 32, to bring the recreational of operation.
It is following in the process that non-level ground lands to use the present invention to control above-mentioned model copter 20:
(1) with model copter 20 on even keels hover over non-level ground directly over;
(2) utilize the result of a measurement that is installed in three distance measuring sensors 21 on this model copter 20, this control setup calculates the luffing angle and the roll angle of this non-level ground;
In this application, the luffing angle on described certain plane is meant the gradient that has on the fore-and-aft direction of this plane with respect to helicopter 20, and the roll angle on certain plane is meant the gradient that has on the left and right directions of this plane with respect to helicopter 20;
Can know by Fig. 3; Because two distance measuring sensors 21 installing on the cross bar 22 of helicopter 20 foot pieces are symmetrically arranged at sustained height; Therefore; Poor (LL-LR) through these two distance measuring sensor 21 data of surveying just can calculate the roll angle K2 of this non-level ground divided by the horizontal throw D2 between these two distance measuring sensors 21; And these two distance measuring sensors 21 the data sum of surveying (LL+LR) be exactly the height LB of helicopter 20 cross bars 22 divided by two.Can know by Fig. 4 again; Has diff-H LFB between cross bar 22 and the head place distance measuring sensor 21; This diff-H LFB adds that distance measuring sensor 21 that the head front end is installed surveys the height LB that LF highly deducts helicopter 20 cross bars 22 then; Divided by the horizontal throw D1 between the front and back distance measuring sensor 21, just can calculate the luffing angle K1 of this non-level ground again;
(3) send the three supporting leg type alighting gears 30 that signal is given the underbelly that is fixedly connected on this helicopter 20; Make three landing supporting legs 32 on this three supporting leg types alighting gear 30 under the drive of power take-off implement, adjust the position; Hold the luffing angle and the roll angle on 321 planes of living in up to the landing of described three landing supporting legs 32, luffing angle K1 and the roll angle K2 with this non-level ground is identical respectively;
Concrete adjustment process; System of selection is a lot; Be difficult to exhaustive; The simplest a kind of method of adjustment that only adopts with present embodiment is that example is explained: at first, adjustment is symmetrical set two landing supporting legs 32 at landing platform 31 rears, makes the angle that has between the landing end 321 of these two landing supporting legs 32 be same as the roll angle of this non-level ground; Then, adjustment is arranged on the landing supporting leg 32 in landing platform 31 the place aheads, and the luffing angle K1 that the angle that itself and the center-line-average of two landing supporting legs 32 at landing platform 31 rears are formed is same as this non-level ground promptly accomplishes and adjusts.
(4) control this model copter 20 vertical landings;
Thus, when landing, the landing end 321 of three landing supporting legs 32 will contact this non-level ground simultaneously, make helicopter 20 can keep standard of fuselage.
Compared with prior art, the application obviously has following progress:
(1) the application's landing support can be done the adjustment on totally two angles of luffing angle and roll angle; Therefore; The landing direction of helicopter 20 can elect on the 360 degree directions in the non-level ground sky; Improve the alerting ability that helicopter 20 landing directions are selected, and reduced the danger coefficient of helicopter 20 generation rollovers;
(2) the application does not have oil circuit, but realizes the adjustment of landing supporting leg 32 not only reducing the weight of landing support with electronic control mode, and has avoided at cold snap because oil circuit freezes and can't work;
(3) the application's landing supporting leg 32 is parallel with non-level ground once being adjusted into, and can normally land, and does not need painstakingly to slow down sinking speed, and operation easier is little.
What need to replenish is, except above-mentioned embodiment, the application can also have multiple substitute mode, can both reach the purpose at non-level ground stable landing, for example:
1) installation site of above-mentioned three ultrasonic ranging sensors 21 can be adjusted; Two of head front end installations that change at model copter 20 have necessarily the ultrasonic ranging sensor 21 of distance between left and right, and a ultrasonic ranging sensor 21 is installed on model copter 20 foot pieces then; Interfere if the distance between left and right of the ultrasonic ranging sensor 21 of head front end is too little, can also described cross bar 22 be installed earlier, at the two ends of this cross bar 22 this ultrasonic ranging sensor 21 is installed respectively again in head front end level.
2) above-mentioned three ultrasonic ranging sensors 21 can also use laser range sensor 21 to substitute.
3) use three laser range sensors 21; Owing to there is not interference problem; The selection of its installation site is more flexible; Except can with aforementioned embodiments in identical, also can adjust as follows: three laser range sensors 21 are on the landing platform 31 that triangular shape is installed in this three supporting leg types alighting gear 30.Like this, not only reduced weight, the also corresponding raising of survey precision, and need not change the fuselage of model copter 20, reequip very convenient.
4) described landing supporting leg 32 also can adopt straight leg, to improve the intensity of landing supporting leg 32.
5) installation site of described landing supporting leg 32 on landing platform 31 can also be:
Two landing supporting legs 32 are symmetrical set, and all stretch out to heading, and another landing supporting leg 32 stretches out towards tail side; Perhaps,
Three landing supporting legs 32 are arranged radially, 120 degree of being separated by between per two adjacent landing supporting legs 32.
Though above embodiment is to be example with model copter 20, and in fact, its structure also can be applied in the real helicopter 20, the application provides a preferred embodiment again at this, specifies the present invention and is applied to the situation on the real helicopter 20.
As shown in Figure 5; A kind of non-level ground descent altitude difference compensating device; The three supporting leg type alighting gears 30 and the control setup (not giving diagram) of the underbelly that comprise three distance measuring sensors 21 being fixedly connected on the helicopter 20, is fixedly connected on helicopter 20, wherein:
Because the weight of helicopter 20 is excessive; Original steering wheel 331 can't provide enough big torsion; Need carry out structural adjustment to three supporting leg type alighting gears 30; As shown in Figure 5: this three supporting leg types alighting gear 30 comprises the landing platform 31 of captiveing joint with the fuselage of helicopter 20 and is fixed on three landing supporting legs 32 on this landing platform 31; And between each landing supporting leg 32 and this landing platform 31, be provided with separate power take-off implement, can regulate the relative height between the landing end 321 of each landing supporting leg 32 neatly.In the present embodiment; This power take-off implement is an angular transposition output unit 332; And should landing supporting leg 32 be fold-type legs; One end of this fold-type leg is to be used for the landing end 321 that contacts with ground, and the other end is captiveed joint with the output shaft of this angular transposition output unit 332, drives down at this angular transposition output unit 332 and rotates.In the present embodiment, three landing supporting legs 32 are isosceles triangle to be arranged, and a landing supporting leg 32 stretches out towards head the place ahead, and two other landing supporting leg 32 is symmetrical set, and all stretches out to the tail direction.And this angular transposition output unit 332; As shown in Figure 6; Comprise: motor 41, worm gearing 43 and position detector 44, this motor 41 is connected with the input shaft power of this worm gearing 43, and this position detector 44 is arranged on output shaft 431 places of this worm gearing 43; And be electrically connected with this motor 41, thereby collect this worm gearing 43 output shaft 431 angular displacement information and feed back to this motor 41.And, preferably between the input shaft of motor 41 and worm gearing 43, increase a speed-change gear box 42 for the rotating speed and motor 41 rotating speeds of the output shaft 431 that makes worm gearing 43 are complementary.The principle of work of this angular transposition output unit 332 is, this motor 41 receives control signals, and the output shaft that drives this worm gearing 43 again begins to rotate, and sends signal back to by position detector 44 simultaneously, judges whether to arrive the location; Because worm gearing 43 has auto-lock function, under the situation of no signal input, the output shaft of this worm gearing 43 is in locking state, and landing supporting leg 32 can not rotate.
And distance measuring sensor 21 (can be ultrasonic ranging sensor 21, also can be laser range sensor 21) is triangular shape and is arranged on this landing platform 31.Wherein, a distance measuring sensor 21 is arranged on the place ahead midway location of this landing platform 31, and other two distance measuring sensor 21 left and right symmetricallies are arranged on the rear position of this landing platform 31.
This control setup; Preferred immobilization and is electrically connected with this distance measuring sensor 21 and power take-off implement respectively on this landing platform 31, receives the signal of this distance measuring sensor 21; And output signal to this power take-off implement, the relative height between the landing end 321 of three landing supporting legs 32 of control.
What need to replenish is, except above-mentioned embodiment, the application can also have multiple substitute mode, can both reach the purpose at non-level ground stable landing, for example:
1) installation site of three distance measuring sensors 21 also can be installed on the fuselage of helicopter 20; For example: install two at the head front end of model copter 20 and have necessarily the distance measuring sensor 21 of distance between left and right, a distance measuring sensor 21 is installed on model copter 20 foot pieces then; Perhaps as shown in Figure 1, at the head front end of helicopter 20 distance measuring sensor 21 is installed, level is installed described cross bar 22 on model copter 20 foot pieces then, then at the two ends of this cross bar 22 distance measuring sensor 21 is installed respectively.
2) installation site of three distance measuring sensors 21 can be adjusted into: a distance measuring sensor 21 is arranged on the rear midway location of this landing platform 31, and other two distance measuring sensor 21 left and right symmetricallies are arranged on the anterior position of this landing platform 31.
3) described landing supporting leg 32 also can adopt straight leg to substitute, to improve the intensity of landing supporting leg 32.
4) installation site of described landing supporting leg 32 on landing platform 31 can also be:
Two landing supporting legs 32 are symmetrical set, and all stretch out to heading, and another landing supporting leg 32 stretches out towards tail side; Perhaps,
Three landing supporting legs 32 are arranged radially, 120 degree of being separated by between per two adjacent landing supporting legs 32.
5) this landing supporting leg 32 is except can being by the fold-type leg of angular transposition output unit 332 driven rotary (or straight leg); Can also be 51 (totally three) that lead leg that articulate with landing platform 31; And each lead leg 51 and landing platform 31 between be connected with hydraulic actuating cylinder 52, with this hydraulic actuating cylinder 52 as described power take-off implement.Through in this hydraulic actuating cylinder 52, importing or derive hydraulic oil, i.e. the height of this landing end of 51 of leading leg of may command is to adapt to the degree of dip of non-level ground.Wherein, the fluid of this hydraulic actuating cylinder can directly link to each other with helicopter 20 in-to-in hydraulic efficiency pressure systems, to obtain power.
No matter which kind of the foregoing description done and change, its landing mission and aforementioned landing mission are basic identical, just will not give unnecessary details at this.
More than explanation is just illustrative for the purpose of the present invention; And nonrestrictive, those of ordinary skills understand, under the situation of spirit that does not break away from claim and limited and scope; Can make many modifications, variation or equivalence, but all will fall within protection scope of the present invention.
Claims (11)
1. the non-level ground descent altitude of a helicopter difference compensating device is characterized in that, comprising:
Three distance measuring sensors are fixedly connected on this helicopter, are used for measuring the luffing angle and the roll angle of described non-level ground;
Three supporting leg type alighting gears comprise the landing platform of captiveing joint with the fuselage of helicopter and are fixed on three landing supporting legs on this landing platform, between each landing supporting leg and this landing platform, are provided with separate power take-off implement; And,
Control setup is electrically connected with described three distance measuring sensors and three described power take-off implements respectively.
2. the non-level ground descent altitude of helicopter according to claim 1 difference compensating device; It is characterized in that: this power take-off implement is a steering wheel; This landing supporting leg is fold-type leg or straight leg; One end of this landing supporting leg is to be used for the landing end that contacts with ground, and the other end is captiveed joint with the output shaft of this steering wheel.
3. the non-level ground descent altitude of helicopter according to claim 1 difference compensating device; It is characterized in that: this power take-off implement is the angular transposition output unit; And should the landing supporting leg be the fold-type leg; One end of this fold-type leg is to be used for the landing end that contacts with ground, and the other end is captiveed joint with the output shaft of this angular transposition output unit, drives down at this angular transposition output unit and rotates.
4. the non-level ground descent altitude of helicopter according to claim 3 difference compensating device; It is characterized in that: this angular transposition output unit comprises: motor, worm gearing and position detector; This motor is connected with the input shaft power of this worm gearing; This position detector is arranged on the output shaft place of this worm gearing, and is electrically connected with this motor.
5. the non-level ground descent altitude of helicopter according to claim 4 difference compensating device is characterized in that: between the input shaft of this motor and this worm gearing, be provided with a speed-change gear box.
6. the non-level ground descent altitude of helicopter according to claim 1 difference compensating device is characterized in that: this landing supporting leg is to lead leg with landing platform articulates, this power take-off implement be connected lead leg and landing platform between hydraulic actuating cylinder.
7. according to claim 2 or the non-level ground descent altitude of 3 or 6 described helicopters difference compensating device; It is characterized in that: level is installed the cross bar that a left-right symmetric is extended on this helicopter foot piece; At the two ends of this cross bar a described distance measuring sensor is installed respectively, last distance measuring sensor is installed in the head front end of this helicopter.
8. according to claim 2 or the non-level ground descent altitude of 3 or 6 described helicopters difference compensating device; It is characterized in that: install two at the head front end of helicopter and have necessarily the distance measuring sensor of distance between left and right, a distance measuring sensor is installed on the model copter foot piece.
9. according to claim 2 or the non-level ground descent altitude of 3 or 6 described helicopters difference compensating device; It is characterized in that: described three distance measuring sensors all are laser range sensors, and three described laser range sensors are on the landing platform that triangular shape is installed in this three supporting leg types alighting gear.
10. according to claim 2 or the non-level ground descent altitude of 3 or 6 described helicopters difference compensating device; It is characterized in that: described three landing supporting legs are isosceles triangle and arrange; A landing supporting leg stretches out towards head the place ahead; Two other landing supporting leg is symmetrical set, and all stretches out to the tail direction; Perhaps,
Two landing supporting legs are symmetrical set, and all stretch out to heading, and another landing supporting leg stretches out towards tail side; Perhaps,
Three landing supporting legs are arranged radially, 120 degree of being separated by between per two adjacent landing supporting legs.
11. the non-level ground descent altitude of helicopter difference compensation method is characterized in that, may further comprise the steps:
(1) with this helicopter on even keel hover over non-level ground directly over;
(2) utilize the result of a measurement that is installed in three distance measuring sensors on this helicopter, calculate the luffing angle and the roll angle of this non-level ground;
(3) send the three supporting leg type alighting gears that signal is given the underbelly that is fixedly connected on this helicopter; Make three landing supporting legs on this three supporting leg types alighting gear under the drive of power take-off implement, adjust the position; Hold the luffing angle and the roll angle on plane of living in up to the landing of described three landing supporting legs, luffing angle and the roll angle with this non-level ground is identical respectively;
(4) control this helicopter vertical landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910241239A CN101746500B (en) | 2009-12-03 | 2009-12-03 | Device for compensating the difference of height by which a helicopter lands on a non-horizontal ground and the method thereof |
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| CN200910241239A CN101746500B (en) | 2009-12-03 | 2009-12-03 | Device for compensating the difference of height by which a helicopter lands on a non-horizontal ground and the method thereof |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541065A (en) * | 2010-12-20 | 2012-07-04 | 西安韦德沃德航空科技有限公司 | High-accuracy low-height control method and system for aircraft |
| CN102381472A (en) * | 2011-08-18 | 2012-03-21 | 河南送变电建设公司 | Power arm spindle drive device and helicopter made from power arm spindle drive device |
| CN104787309B (en) * | 2015-05-12 | 2016-11-09 | 厦门大学 | Rotor wing unmanned aerial vehicle undercarriage |
| CN105966602B (en) * | 2016-05-19 | 2018-01-19 | 盐城海纳传媒有限公司 | A kind of unmanned plane |
| US10099802B2 (en) | 2017-02-14 | 2018-10-16 | Honeywell International Inc. | Methods and systems to detect and alert a dynamic rollover condition for an aircraft |
| CN107215474A (en) * | 2017-05-17 | 2017-09-29 | 李坤煌 | The control method and control system of landing are balanced for aircraft |
| CN107253522A (en) * | 2017-07-25 | 2017-10-17 | 河南师范大学 | Helicopter retractable landing gear |
| CN109866917A (en) * | 2017-12-04 | 2019-06-11 | 中国飞机强度研究所 | A kind of bionic leg undercarriage |
| WO2019227209A1 (en) * | 2018-05-31 | 2019-12-05 | Arns Moritz | Rotorcraft undercarriage assembly |
| CN109901627B (en) * | 2019-04-08 | 2022-02-11 | 吉林大学 | Landing pose adjusting method and system for unmanned aerial vehicle and related components |
| CN112027066A (en) * | 2020-09-15 | 2020-12-04 | 惠州众合航空科技有限公司 | Stable unmanned aerial vehicle landing device |
| CN113879515B (en) * | 2021-10-08 | 2023-06-30 | 哈尔滨工业大学 | Tripod type self-adaptive landing gear and control method thereof |
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| CN101746500A (en) | 2010-06-23 |
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