CN105059558A - Take-off and landing system for unmanned ship-borne unmanned aerial vehicle - Google Patents
Take-off and landing system for unmanned ship-borne unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a take-off and landing system for an unmanned ship-borne unmanned aerial vehicle, which exerts good stability and can effectively solve a problem that the unmanned aerial vehicle cannot safely take off and land on a bumpy unmanned ship. The take-off and landing system for the unmanned ship-borne unmanned aerial vehicle, provided by the invention, comprises a take-off and landing fixing device, a take-off and landing hanging device and a take-off and landing control device, wherein the take-off and landing fixing device is arranged on the unmanned ship; the take-off and landing hanging device is arranged on the unmanned aerial vehicle; the unmanned aerial vehicle takes off from and lands on the unmanned ship through use of the take-off and landing control device to control coordination between the take-off and landing fixing device and the take-off and landing hanging device; and the take-off and landing control device comprises a take-off and landing process monitoring camera, a meteorological monitoring module, a ship body posture monitoring module, a wireless communication module and a remote control terminal. The take-off and landing system for the unmanned ship-borne unmanned aerial vehicle, provided by the invention, can be applied to the technical field of safety of water area operation equipment.
Description
Technical field
The present invention relates to a kind of boat-carrying machine lifting gear, particularly relate to a kind of unmanned boat-carrying unmanned plane landing system.
Background technology
In environment prospecting, patrol detecting, in the operations such as emergency handling, unmanned boat and unmanned plane respectively have merits and faults.It is good that unmanned plane has maneuvering performance, and motion response is rapid, large in high-altitude visible angle, and investigation region can from sea to advantages such as land, but the unmanned plane shortcomings such as generally to have load carrying ability little, and the device category of carry is few, and continuous working cruise duration is short; And unmanned boat has load carrying ability greatly, the advantages such as the equipment of energy carry is many, and uninterrupted working time is long, therefore, unmanned plane and unmanned boat work compound can realize both having complementary functions.And both work compounds will be realized, first need to solve unmanned plane and how to take off safely and landing problem on the unmanned boat deck of jolting indefinite.
On unmanned boat, the problem of safe take-off and landing is realized, at present both at home and abroad all without actv. solution for unmanned plane.
Summary of the invention
Technical matters to be solved by this invention overcomes the deficiencies in the prior art, aims to provide a kind of good stability, effectively can solve unmanned plane in the unmanned boat-carrying unmanned plane landing system of safe take-off and landing on indefinite unmanned boat of jolting.
The technical solution adopted in the present invention is: this system comprises the landing anchor fitting be arranged on unmanned boat and the landing carry device be arranged on unmanned plane, it also comprises landing control setup, described unmanned plane by described landing control setup control between described landing anchor fitting with described landing carry device coordinate and landing on described unmanned boat, described landing control setup comprises
For obtaining the landing process monitoring camera of the real-time circumstances in waters residing for unmanned boat;
For monitoring real-time weather situation and real time meteorological data being uploaded to the weather monitoring module of remote control terminal;
For monitoring unmanned boat ship motion inertia situation and by Attitude data upload to the Attitude monitoring modular of remote control terminal;
For between unmanned boat and unmanned plane, between unmanned boat with remote control terminal and carry out the wireless communication module that communicates between unmanned plane with remote control terminal; With for sending to unmanned boat and unmanned plane or the remote control terminal of the information of reception.
Further, described landing control setup also comprises the intellectual analysis control module be arranged on described unmanned boat, the information that described intellectual analysis control module is sent for receiving described landing process monitoring camera, described weather monitoring module and described Attitude monitoring modular, analyze and suitable flies possibility, and control described unmanned plane by described wireless communication module and take off or drop on described unmanned boat.
Further, described landing anchor fitting comprises plate electromagnet and solenoid actuated module, and described solenoid actuated module is connected with described plate electromagnet, and described solenoid actuated module is connected with described remote control terminal signal.
Further, described landing carry device comprises concentrating flux plate, and described concentrating flux plate is arranged on the least significant end of described unmanned plane.
Further, described landing carry device also comprises positioning auxiliary device, and described positioning auxiliary device is arranged on the steady The Cloud Terrace of increasing of the landing process monitoring camera on unmanned plane, and described positioning auxiliary device is highlighted laser beam emitting device, or infrared facility.
Further, the wind direction that described weather monitoring module monitors is current and air speed value, the 3-axis acceleration of described Attitude monitoring module monitors unmanned boat and angular velocity information.
Further, the signalling methods of described wireless communication module comprises number biography radio communication or wifi communication.
Further, described remote control terminal is communication base station or computer or mobile phone or PDA.
The invention has the beneficial effects as follows: the present invention utilizes unmanned boat platform, unmanned boat arranges landing anchor fitting, unmanned plane arranges landing carry device, landing anchor fitting and landing carry device cooperatively interact, unmanned plane can be rested on unmanned boat securely, and can constraint relief power immediately when needs take off, unmanned plane successfully takes off; Utilize the landing control setup of erection, obtain the circumstances in real time such as the meteorology in operation waters, waters, for different circumstances, judge whether suitable landing operation of carrying out; Landing process monitoring camera, weather monitoring module, Attitude monitoring modular, wireless communication module and remote control terminal etc. in described landing control setup can comprehensive descision wind speed and waters situations, if be applicable to, namely carry out unmanned plane take off operation or landing operation complete, if improper, then judge whether to continue wait for or directly cancel job task, thus make unmanned boat and unmanned plane realize seamlessly docking, realize work compound; Structure of the present invention and system, can ensure that unmanned plane landing is reliable and stable, even in the landing operation that also can realize unmanned plane under indefinite environment of jolting, so the present invention can solve the especially many rotor wing unmanned aerial vehicles of unmanned plane effectively in the problem of safe landing on indefinite unmanned boat of jolting.
Because described landing control setup also comprises the intellectual analysis control module be arranged on described unmanned boat, described intellectual analysis control module is for receiving described landing process monitoring camera, the information that described weather monitoring module and described Attitude monitoring modular send, analyze to fit and fly possibility, and control described unmanned plane by described wireless communication module and take off or drop on described unmanned boat, namely described intellectual analysis control module can be used as the analysis and Control part of unmanned boat, the various information that landing control setup gets process without the need to being sent on remote control terminal, but directly analyze by oneself through described intellectual analysis control module and to obtain a result and according to the landing of output control unmanned plane, so, the present invention can realize fully automatic operation.
Accompanying drawing explanation
Fig. 1 is easy structure schematic diagram of the present invention;
Fig. 2 is unmanned boat-carrying unmanned plane landing system chart in the present invention;
Fig. 3 is UAV Intelligent take-off process diagram of circuit in the present invention;
Fig. 4 is UAV Intelligent descent diagram of circuit in the present invention.
Detailed description of the invention
The present invention is further illustrated in a concrete fashion below.
The present invention includes the landing anchor fitting be arranged on unmanned boat 1 and the landing carry device be arranged on unmanned plane 2, also comprise landing control setup, described unmanned plane 2 by described landing control setup control between described landing anchor fitting with described landing carry device coordinate and landing on described unmanned boat 1, described landing control setup comprises the landing process monitoring camera for obtaining the real-time circumstances in waters residing for unmanned boat; For monitoring real-time weather situation and real time meteorological data being uploaded to the weather monitoring module of remote control terminal; For monitoring unmanned boat ship motion inertia situation and by Attitude data upload to the Attitude monitoring modular of remote control terminal; For between unmanned boat and unmanned plane, between unmanned boat with remote control terminal and carry out the wireless communication module that communicates between unmanned plane with remote control terminal; With for sending to unmanned boat and unmanned plane or the remote control terminal of the information of reception.
Described landing control setup also comprises the intellectual analysis control module be arranged on described unmanned boat 1, the information that described intellectual analysis control module is sent for receiving described landing process monitoring camera, described weather monitoring module and described Attitude monitoring modular, analyze and suitable flies possibility, and control described unmanned plane 2 by described wireless communication module and take off or drop on described unmanned boat 1.
Described landing anchor fitting comprises plate electromagnet 3 and solenoid actuated module, and described solenoid actuated module is connected with described plate electromagnet 3, and described solenoid actuated module is connected with described remote control terminal signal.Described landing carry device comprises concentrating flux plate, and described concentrating flux plate is arranged on the least significant end of described unmanned plane.Described landing carry device also comprises positioning auxiliary device, and described positioning auxiliary device is arranged on the steady The Cloud Terrace of increasing of the landing process monitoring camera on unmanned plane, and described positioning auxiliary device is highlighted laser beam emitting device, or infrared facility.The wind direction that described weather monitoring module monitors is current and air speed value, the 3-axis acceleration of described Attitude monitoring module monitors unmanned boat and angular velocity information.The signalling methods of described wireless communication module comprises number and passes radio communication or wifi communication.Described remote control terminal is communication base station or computer or mobile phone or PDA.
In the present invention, the unmanned plane descent that takes off can be fully-automatic intelligent control process also can be manual operation process, and two kinds of processes are as follows.
One, manual operation process
Take-off process: operator is by unmanned boat remote control terminal remote monitor and control unmanned boat, the Contents for Monitoring relevant to unmanned plane landing comprises: the real-time video that landing process monitoring camera returns, the real-time wind speed of weather monitoring module passback on unmanned boat, the real-time sea situation information etc. of Attitude monitoring modular passback.According to current Real-Time Monitoring information, operator judges whether that applicable unmanned plane takes off flight, if be applicable to, then operate unmanned plane and refuel to provide enough to raising force, and according to wind speed and direction control unmanned plane take-off angle, the landing anchor fitting controlled on unmanned boat cancels the electromagnetic attraction to unmanned plane simultaneously, to realize the safe take-off of unmanned plane.
Descent: by a series of monitoring modulars on unmanned boat, first operator judges whether unmanned plane is applicable to landing, as judged wind speed and sea situation, if be applicable to, operator operates unmanned plane near unmanned boat according to the GPS information on unmanned plane and unmanned boat.By the restriction of GPS precision, unmanned plane needs to launch auxiliary positioning laser vertically downward by positioning auxiliary device and realizes the high fix on unmanned boat shutdown deck.Then; operator is by the monitoring camera passback real-time video observation laser positioning mark of unmanned plane carry; and drop on the plate electromagnet on unmanned boat shutdown deck by these information operating unmanned planes; while unmanned plane rests in plate electromagnet; operator opens plate electromagnet master cock; by forceful electric power magnetic action, unmanned function rests on unmanned boat with security and stability.
Two, fully-automatic intelligent control process
Fully-automatic intelligent control process working process is basic identical with manual operation process, and difference is unmanned plane landing process is full-automatic process, without the need to manual intervention.
Take-off process: start to perform fully-automatic intelligent flight monitoring task according to task scheduling unmanned plane, unmanned plane is before intelligence is taken off, according to the wind speed of Attitude monitoring modular and weather station module monitors and sea situation information, first intellectual analysis control module on unmanned boat judges that current whether being applicable to takes off, if current wind speed and sea situation are not suitable for taking off, then whether intelligent decision continues wait for safe take-off opportunity or directly cancel aerial mission; Take off if be applicable to, intellectual analysis control module controls unmanned plane open the throttle wide and safe flight direction by the wireless communication module of unmanned boat and unmanned plane, unmanned plane is when reaching the lift required for safe take-off, and intellectual analysis control module discharges unmanned plane safe take-off after magnetic force plate electromagnet adsorbed on the strong magneto-conductivity thin plate of unmanned plane automatically.
Descent: after unmanned plane executes intellectual monitoring task, intellectual analysis control module controls unmanned plane according to the GPS information of both unmanned plane and unmanned boat and drives towards unmanned boat, after unmanned boat, positioning auxiliary device on unmanned plane will be opened automatically, vertical down Emission Lasers telltale mark, now, intellectual analysis control module on unmanned boat judges according to the wind speed of sampling gained and sea situation information the opportunity that unmanned plane lands, when meeting landing opportunity, intellectual analysis control module positions according to the telltale mark that the monitoring camera on unmanned plane and unmanned boat monitors and revises to realize the high precision landing on the plate electromagnet of unmanned boat deck, when near plate electromagnet, intellectual analysis control module will start electromagnet, by forceful electric power magnetic action, unmanned function rests on unmanned boat with security and stability.
So far, the invention provides the take off landing system of a kind of unmanned plane on unmanned boat platform, to solve many rotor wing unmanned aerial vehicles in safe take-off and the landing problem on indefinite unmanned boat of jolting.
The present invention can be applicable to waters implement security technology area.
Claims (8)
1. a unmanned boat-carrying unmanned plane landing system, it is characterized in that: it comprises the landing anchor fitting be arranged on unmanned boat (1) and the landing carry device be arranged on unmanned plane (2), it also comprises landing control setup, described unmanned plane (2) by described landing control setup control between described landing anchor fitting with described landing carry device coordinate and landing on described unmanned boat (1), described landing control setup comprises
For obtaining the landing process monitoring camera of the real-time circumstances in waters residing for unmanned boat;
For monitoring real-time weather situation and real time meteorological data being uploaded to the weather monitoring module of remote control terminal;
For monitoring unmanned boat ship motion inertia situation and by Attitude data upload to the Attitude monitoring modular of remote control terminal;
For between unmanned boat and unmanned plane, between unmanned boat with remote control terminal and carry out the wireless communication module that communicates between unmanned plane with remote control terminal; With
For the remote control terminal to unmanned boat and unmanned plane transmission or the information of reception.
2. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterized in that: described landing control setup also comprises the intellectual analysis control module be arranged on described unmanned boat (1), the information that described intellectual analysis control module is sent for receiving described landing process monitoring camera, described weather monitoring module and described Attitude monitoring modular, analyze and suitable flies possibility, and control described unmanned plane (2) by described wireless communication module and take off or drop on described unmanned boat (1).
3. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterized in that: described landing anchor fitting comprises plate electromagnet (3) and solenoid actuated module, described solenoid actuated module is connected with described plate electromagnet (3), and described solenoid actuated module is connected with described remote control terminal signal.
4. unmanned boat-carrying unmanned plane landing system according to claim 1, is characterized in that: described landing carry device comprises concentrating flux plate, and described concentrating flux plate is arranged on the least significant end of described unmanned plane.
5. unmanned boat-carrying unmanned plane landing system according to claim 4, it is characterized in that: described landing carry device also comprises positioning auxiliary device, described positioning auxiliary device is arranged on the steady The Cloud Terrace of increasing of the landing process monitoring camera on unmanned plane, described positioning auxiliary device is laser beam emitting device, or infrared facility.
6. unmanned boat-carrying unmanned plane landing system according to claim 1, is characterized in that: the wind direction that described weather monitoring module monitors is current and air speed value, the 3-axis acceleration of described Attitude monitoring module monitors unmanned boat and angular velocity information.
7. unmanned boat-carrying unmanned plane landing system according to claim 1, is characterized in that: the signalling methods of described wireless communication module comprises number and passes radio communication or wifi communication.
8. unmanned boat-carrying unmanned plane landing system according to claim 1, is characterized in that: described remote control terminal is communication base station or computer or mobile phone or PDA.
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