CN105059558B - Unmanned boat-carrying unmanned plane landing system - Google Patents

Unmanned boat-carrying unmanned plane landing system Download PDF

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Publication number
CN105059558B
CN105059558B CN201510417832.8A CN201510417832A CN105059558B CN 105059558 B CN105059558 B CN 105059558B CN 201510417832 A CN201510417832 A CN 201510417832A CN 105059558 B CN105059558 B CN 105059558B
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CN
China
Prior art keywords
landing
unmanned plane
unmanned
unmanned boat
boat
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CN201510417832.8A
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Chinese (zh)
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CN105059558A (en
Inventor
赵智聪
刘陈利
张云飞
成亮
邹雪松
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珠海云洲智能科技有限公司
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Priority to CN201510417832.8A priority Critical patent/CN105059558B/en
Publication of CN105059558A publication Critical patent/CN105059558A/en
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Abstract

The present invention is intended to provide a kind of stability is good, can effectively solve unmanned plane in safe take-off and the unmanned boat-carrying unmanned plane landing system of landing on indefinite unmanned boat of jolting.The present invention includes the landing fixing device being arranged on unmanned boat, the landing carry device and landing control device that are arranged on unmanned plane, the unmanned plane controls the cooperation between the landing fixing device and the landing carry device and landing on the unmanned boat by the landing control device, and the landing control device includes landing process monitoring camera, weather monitoring module, Attitude monitoring modular, wireless communication module and remote control terminal.Present invention can apply to waters implement security technology area.

Description

Unmanned boat-carrying unmanned plane landing system

Technical field

The present invention relates to a kind of boat-carrying machine lifting gear, more particularly to a kind of unmanned boat-carrying unmanned plane landing system.

Background technology

Reconnoitred in environment, patrol detecting, in the operation such as emergency processing, unmanned boat respectively there are advantage and disadvantage with unmanned plane.Unmanned plane The advantages that good with mobility, motor reaction is rapid, and visible angle is big in high-altitude, and investigation region can be from sea to land, But unmanned plane generally has the shortcomings of loading capacity is small, and the device category of carry is few, and cruising time of working continuously is short;And unmanned gear There is the advantages that loading capacity is big, and the equipment of energy carry is more, and uninterrupted working time is long, therefore, unmanned plane can with unmanned boat integration of operation Realize both have complementary functions.And to realize both integrations of operation, it is necessary first to solve unmanned plane how jolt it is indefinite Safely taken off on unmanned boat deck and landing problem.

The problem of safe take-off is with landing is being realized on unmanned boat for unmanned plane, is being solved both at home and abroad without effective at present Scheme.

The content of the invention

The technical problems to be solved by the invention are overcome the deficiencies in the prior art, it is desirable to provide a kind of stability is good, energy Unmanned plane is effectively solved in safe take-off and the unmanned boat-carrying unmanned plane landing system of landing on indefinite unmanned boat of jolting.

The technical solution adopted in the present invention is:The system includes landing fixing device and the setting being arranged on unmanned boat In the landing carry device on unmanned plane, it also includes landing control device, and the unmanned plane passes through the landing control device Control the cooperation between the landing fixing device and the landing carry device and landing is on the unmanned boat, the landing Control device includes

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 Attitude data being uploaded to the ship of remote control terminal Body attitude monitoring module;

For between unmanned boat and unmanned plane, between unmanned boat and remote control terminal and unmanned plane and remote control The wireless communication module to be communicated between terminal;With for being sent to unmanned boat and unmanned plane or the remote control of receive information Terminal.

Further, the landing control device also includes the intellectual analysis control module being arranged on the unmanned boat, The intellectual analysis control module is used to receive the landing process monitoring camera, the weather monitoring module and the hull The information that attitude monitoring module is sent, suitable winged possibility is analyzed, and the unmanned plane is controlled by the wireless communication module Take off or drop on the unmanned boat.

Further, the landing fixing device includes plate electromagnet and solenoid actuated module, and the electromagnet drives Dynamic model block is connected with the plate electromagnet, and the solenoid actuated module is connected with the remote control terminal signal.

Further, the landing carry device includes magnetic conductive board, and the magnetic conductive board is arranged on the minimum of the unmanned plane End.

Further, the landing carry device also includes positioning auxiliary device, and the positioning auxiliary device is arranged on nothing On the steady head of increasing of landing process monitoring camera on man-machine, the positioning auxiliary device is highlighted laser beam emitting device, or It is infrared facility.

Further, the current wind direction of the weather monitoring module monitors and air speed value, the Attitude monitoring modular Monitor the 3-axis acceleration and angular velocity information of unmanned boat.

Further, the communication mode of the wireless communication module includes number biography radio communication or wifi communications.

Further, the remote control terminal is communication base station or computer or mobile phone or PDA.

The beneficial effects of the invention are as follows:The present invention utilizes unmanned boat platform, and landing fixing device is set on unmanned boat, Landing carry device is set on unmanned plane, and landing fixing device and landing carry device cooperate, can be by unmanned plane securely Rest on unmanned boat, and constraint relief power, unmanned plane can successfully be taken off immediately when needing to take off;Utilize rising for erection Control device is dropped, to obtain the real-time circumstances such as the meteorology in operation waters, waters, for different circumstances, judges whether properly to enter Row landing operation;Landing process monitoring camera, weather monitoring module, Attitude monitoring mould in the landing control device Block, wireless communication module and remote control terminal etc. can comprehensive descision wind speed and waters situation, if be adapted to, that is, carry out nobody Machine take off operation or landing operation complete, if improper, judge whether to continue waiting for or directly cancel job task, so as to Make unmanned boat realize with unmanned plane seamlessly to dock, realize integration of operation;The structure and system design of the present invention, can ensure nothing Man-machine landing is reliable and stable, even can also realize the landing operation of unmanned plane under the indefinite environment that jolts, so, the present invention Unmanned plane especially multi-rotor unmanned aerial vehicle can be efficiently solved jolt safe landing on indefinite unmanned boat the problem of.

Because the landing control device is also including the intellectual analysis control module being arranged on the unmanned boat, the intelligence Energy analysis and Control module is used to receive the landing process monitoring camera, the weather monitoring module and Attitude prison Survey the information that sends of module, analyze suitable winged possibility, and by the wireless communication module control the unmanned plane take off or Drop on the unmanned boat, the intellectual analysis control module can be used as the analysis and Control part of unmanned boat, landing control The various information that device is got, which need not be sent on remote control terminal, to be handled, but is directly over the intellectual analysis control Module self Treatment Analysis is obtained a result and according to output control unmanned plane landing, so, the present invention can realize fully automated Operation.

Brief description of the drawings

Fig. 1 is the easy structure schematic diagram of the present invention;

Fig. 2 is unmanned boat-carrying unmanned plane landing system block diagram in the present invention;

Fig. 3 is UAV Intelligent take-off process flow chart in the present invention;

Fig. 4 is UAV Intelligent descent flow chart in the present invention.

Embodiment

The present invention is further illustrated in a concrete fashion below.

The present invention includes the landing fixing device being arranged on unmanned boat 1 and the landing carry being arranged on unmanned plane 2 dress Put, in addition to landing control device, the unmanned plane 2 control the landing fixing device and institute by the landing control device State the cooperation between landing carry device and landing on the unmanned boat 1, the landing control device includes being used to obtain nothing The landing process monitoring camera of the real-time circumstances in waters residing for people's ship;For monitoring real-time weather situation and by real time meteorological data It is uploaded to the weather monitoring module of remote control terminal;For monitoring unmanned boat ship motion inertia situation and by Attitude number According to the Attitude monitoring modular for being uploaded to remote control terminal;For between unmanned boat and unmanned plane, unmanned boat with it is long-range The wireless communication module to be communicated between control terminal and between unmanned plane and remote control terminal;With for unmanned boat With unmanned plane transmission or the remote control terminal of receive information.

The landing control device also includes the intellectual analysis control module being arranged on the unmanned boat 1, the intelligence Analysis and Control module is used to receive the landing process monitoring camera, the weather monitoring module and Attitude monitoring The information that module is sent, suitable winged possibility is analyzed, and control the unmanned plane 2 to take off or drop by the wireless communication module Fall on the unmanned boat 1.

The landing fixing device includes plate electromagnet 3 and solenoid actuated module, the solenoid actuated module with The plate electromagnet 3 is connected, and the solenoid actuated module is connected with the remote control terminal signal.The landing carry Device includes magnetic conductive board, and the magnetic conductive board is arranged on the least significant end of the unmanned plane.The landing carry device also includes positioning Servicing unit, the positioning auxiliary device is arranged on the steady head of increasing of the landing process monitoring camera on unmanned plane, described Positioning auxiliary device is to highlight laser beam emitting device, or infrared facility.The current wind direction of the weather monitoring module monitors and Air speed value, the 3-axis acceleration and angular velocity information of the Attitude monitoring module monitors unmanned boat.The radio communication mold The communication mode of block includes number and passes radio communication or wifi communications.The remote control terminal is communication base station or computer or hand Machine or PDA.

In the present invention, the unmanned plane descent that takes off can be that fully-automatic intelligent control process can also be manual operation Process, two kinds of processes are as follows.

First, manual operation process

Take-off process:Operator is related to unmanned plane landing by unmanned boat remote control terminal remote monitoring unmanned boat Contents for Monitoring include:The real-time video of landing process monitoring camera passback, the reality of weather monitoring module passback on unmanned boat When wind speed, the real-time sea situation information etc. of Attitude monitoring modular passback.Operator judges according to current real-time monitoring information Taken off flight if appropriate for unmanned plane, if being adapted to, operation unmanned plane refuels to provide enough upward lift, and according to wind speed Wind direction controls unmanned plane take-off angle, while controls the landing fixing device on unmanned boat to cancel the electromagnetic attraction to unmanned plane, To realize the safe take-off of unmanned plane.

Descent:Operator judges unmanned plane if appropriate for drop by a series of monitoring modulars on unmanned boat first Fall, such as judge wind speed and sea situation, if being adapted to, operator operates unmanned plane according to the GPS information on unmanned plane and unmanned boat Close to unmanned boat.Limited by GPS accuracy, unmanned plane needs to launch auxiliary positioning laser vertically downward by positioning auxiliary device Realize and shut down the high accuracy positioning on deck in unmanned boat.Then, operator is returned by the monitoring camera of unmanned plane carry Real-time video observation laser positioning is marked, and the flat board electricity on unmanned boat shutdown deck is drop to by these information operation unmanned plane On magnet, while unmanned plane rests in plate electromagnet, operator opens plate electromagnet controlling switch, by forceful electric power magnetic force Effect, unmanned function are rested on unmanned boat with security and stability.

2nd, fully-automatic intelligent control process

The fully-automatic intelligent control process course of work is substantially identical with manual operation process, is a difference in that unmanned plane landing Process is full-automatic process, without manual intervention.

Take-off process:Started to perform fully-automatic intelligent flight monitoring task according to task scheduling unmanned plane, unmanned plane is in intelligence Before taking off, the intellectual analysis control module on unmanned boat is first according to Attitude monitoring modular and weather station module monitors Wind speed and sea situation information judge currently that if appropriate for taking off, if current wind speed and sea situation are not suitable for taking off, intelligent decision is It is no to continue waiting for safe take-off opportunity or directly cancel aerial mission;If being adapted to take off, intellectual analysis control module passes through nobody The wireless communication module of ship and unmanned plane control unmanned plane is opened the throttle and safe flight direction, unmanned plane are worked as and reach safe take-off During required lift, intellectual analysis control module discharges automatically to be adsorbed on the strong permeability thin plate of unmanned plane on plate electromagnet Unmanned plane safe take-off after magnetic force.

Descent:After unmanned plane has performed intellectual monitoring task, intellectual analysis control module is according to unmanned plane and nothing The GPS information control unmanned plane of both people's ships drives towards unmanned boat, and after unmanned boat, the positioning auxiliary device on unmanned plane will Automatically turn on, vertically down launch laser positioning mark, now, the intellectual analysis control module on unmanned boat is according to sampling gained Wind speed and sea situation information judge unmanned plane landing opportunity, when meeting landing opportunity, intellectual analysis control module is according to nothing The telltale mark that monitoring camera on man-machine and unmanned boat is monitored carries out positioning amendment and put down with realizing in unmanned boat deck High accuracy landing on plate electromagnet, when close to plate electromagnet, intellectual analysis control module will start electromagnet, by forceful electric power Magneticaction, unmanned function are rested on unmanned boat with security and stability.

So far, the landing system that takes off the invention provides a kind of unmanned plane on unmanned boat platform, to solve more rotors Unmanned plane is in safe take-off and the landing problem on indefinite unmanned boat of jolting.

Present invention can apply to waters implement security technology area.

Claims (6)

  1. A kind of 1. unmanned boat-carrying unmanned plane landing system, it is characterised in that:It includes being arranged at unmanned boat(1)On landing fix Device and it is arranged at unmanned plane(2)On landing carry device, it also includes landing control device, the unmanned plane(2)Pass through The landing control device control the cooperation between the landing fixing device and the landing carry device and landing in described Unmanned boat(1)On, the landing control device includes
    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;It is described The current wind direction of weather monitoring module monitors and air speed value;
    For monitoring unmanned boat ship motion inertia situation and Attitude data being uploaded to the hull appearance of remote control terminal State monitoring modular, the 3-axis acceleration and angular velocity information of the Attitude monitoring module monitors unmanned boat;
    For between unmanned boat and unmanned plane, between unmanned boat and remote control terminal and unmanned plane and remote control terminal Between the wireless communication module that is communicated;With
    For being sent to unmanned boat and unmanned plane or the remote control terminal of receive information;
    The landing control device also includes being arranged on the unmanned boat(1)On intellectual analysis control module, the intelligence point Analysis control module is used to receive the landing process monitoring camera, the weather monitoring module and Attitude monitoring mould The information that block is sent, suitable winged possibility is analyzed, and the unmanned plane is controlled by the wireless communication module(2)Take off or drop Fall in the unmanned boat(1)On.
  2. 2. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterised in that:The landing fixing device bag Include plate electromagnet(3)With solenoid actuated module, the solenoid actuated module and the plate electromagnet(3)Connection, institute Solenoid actuated module is stated to be connected with the remote control terminal signal.
  3. 3. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterised in that:The landing carry device bag Magnetic conductive board is included, the magnetic conductive board is arranged on the least significant end of the unmanned plane.
  4. 4. unmanned boat-carrying unmanned plane landing system according to claim 3, it is characterised in that:The landing carry device is also Including positioning auxiliary device, the positioning auxiliary device is arranged on the steady head of increasing of the landing process monitoring camera on unmanned plane On, the positioning auxiliary device is laser beam emitting device, or infrared facility.
  5. 5. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterised in that:The wireless communication module Communication mode includes number and passes radio communication or wifi communications.
  6. 6. unmanned boat-carrying unmanned plane landing system according to claim 1, it is characterised in that:The remote control terminal is Communication base station or computer or mobile phone or PDA.
CN201510417832.8A 2015-07-16 2015-07-16 Unmanned boat-carrying unmanned plane landing system CN105059558B (en)

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Application Number Priority Date Filing Date Title
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CN105216979A (en) * 2015-11-22 2016-01-06 无锡同春新能源科技有限公司 The aquatic unmanned aerial vehicle of the band laser transimitter of lithium electricity power supply shuts down platform
CN105216982A (en) * 2015-11-22 2016-01-06 无锡同春新能源科技有限公司 The aquatic unmanned aerial vehicle of the lithium electricity power supply with catapult-assisted take-off frame shuts down platform
CN105314075A (en) * 2015-11-22 2016-02-10 无锡同春新能源科技有限公司 Water UAV (unmanned aerial vehicle) stopping platform provided with safety devices and powered by lithium electricity
CN105253263A (en) * 2015-11-22 2016-01-20 无锡同春新能源科技有限公司 Water unmanned aerial vehicle landing platform powered by lithium batteries and provided with air purifying device
CN105383648A (en) * 2015-11-22 2016-03-09 无锡同春新能源科技有限公司 Water floating UAV (Unmanned Aerial Vehicle) parking platform produced through buoyancy material
CN105818966B (en) * 2016-03-25 2017-12-29 余江 The landing fixing device and its fixing means of unmanned vehicle
CN105843242B (en) * 2016-04-22 2017-07-07 四方继保(武汉)软件有限公司 The unmanned plane image guiding landing method of unmanned boat hip-based platform
CN108883825A (en) * 2016-04-29 2018-11-23 深圳市大疆创新科技有限公司 System and method for unmanned vehicle transport and data acquisition
CN106143821A (en) * 2016-07-08 2016-11-23 北京四方继保自动化股份有限公司 A kind of unmanned boat boat-carrying hangar system
CN106125765B (en) * 2016-08-03 2019-01-29 中国人民解放军总参谋部第六十研究所 A kind of vehicle-mounted landing simulation system of boat-carrying unmanned helicopter
CN106428538B (en) * 2016-10-27 2018-09-14 济南新吉纳远程测控股份有限公司 A kind of novel gyroplane system and charging method of landing
CN106507050B (en) * 2016-11-15 2019-03-15 哈尔滨工业大学 Unmanned plane boat-carrying landing system
CN106516145B (en) * 2016-12-16 2018-08-07 武汉理工大学 Rotor craft safely captures device and catching method
CN106828956A (en) * 2017-03-21 2017-06-13 广东容祺智能科技有限公司 A kind of unmanned plane wind speed early warning protection system and method
CN107132853B (en) * 2017-04-27 2020-04-03 上海大学 Water plane landing system and method based on cooperation of multiple unmanned boats
CN107140145B (en) * 2017-04-27 2019-04-16 上海大学 A kind of unmanned boat folding and unfolding unmanned plane device
CN107727081A (en) * 2017-09-28 2018-02-23 成都万江港利科技股份有限公司 A kind of intelligence based on He Hu storehouses ditch patrols river system system
CN107885220A (en) * 2017-11-15 2018-04-06 广东容祺智能科技有限公司 Unmanned plane can precisely landing system and its method of work on a kind of naval vessel
CN110001879A (en) * 2019-04-10 2019-07-12 上海大学 A kind of unmanned plane assistance recycling unmanned boat system
CN110077595A (en) * 2019-04-28 2019-08-02 北京理工大学 Unmanned automated spacecraft lands and recovery system automatically under the conditions of complicated dynamic is jolted

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