CN105818966A - Landing fixing device for unmanned aerial vehicle and fixing method for landing fixing device - Google Patents
Landing fixing device for unmanned aerial vehicle and fixing method for landing fixing device Download PDFInfo
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- CN105818966A CN105818966A CN201610176885.XA CN201610176885A CN105818966A CN 105818966 A CN105818966 A CN 105818966A CN 201610176885 A CN201610176885 A CN 201610176885A CN 105818966 A CN105818966 A CN 105818966A
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- unmanned vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/001—Devices not provided for in the groups B64C25/02 - B64C25/68
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
Abstract
The invention provides a landing fixing device for an unmanned aerial vehicle and a fixing method for the landing fixing device. The landing fixing device for the unmanned aerial vehicle comprises a landing table (1) used for carrying the landing unmanned aerial vehicle and a fixing device body (2) arranged on the unmanned aerial vehicle. The fixing device body (2) comprises a sensor (3), an excitation device (4) and an electromagnet core (5). The sensor (3) detects that the unmanned aerial vehicle is in a landing state and sends a landing signal to the excitation device (4), and the excitation device (4) connected with the sensor (3) conducts excitation on the electromagnet core (5) on the basis of the landing signal, so that the unmanned aerial vehicle is attracted to the landing table (1) through the electromagnet core (5).
Description
Technical field
The invention belongs to unmanned vehicle field, particularly relate to landing fixing device and the fixing means thereof of a kind of unmanned vehicle.
Background technology
Along with the degree of UAV Intelligent is more and more higher, unmanned plane is taking off, navigation, the various flight links such as landing all can realize the manipulation of automatization, human intervention is fewer and feweri, the consumer pattern making unmanned plane control to control all the time a frame unmanned plane from the previous player of mesh changes to business application models such as such as extensive express deliveries, but under this large-scale commercial applications application model, every frame unmanned plane is no longer to be in all the time in manual control, many times needs independently automatically to tackle some scenes.Such as, aircraft may not immediately be reclaimed after landing, it is contemplated that unmanned plane own wt is relatively light, even if intensity little wind in ground is likely to so that unmanned plane is during this period of time moved, and rollover etc., thus fuselage is caused damage.Fixing unmanned plane is assisted in present invention proposition in an electromagnetic manner, arrives the safety of unmanned plane self during reclaiming after improving landing.
One depopulated helicopter Zhe Jian mechanism disclosed in patent documentation CN104443412, including transverse axis, described transverse axis one end connects column, and described transverse axis and column junction are provided with magnetic fixing, described magnetic fixing lower end is provided with oscillating bearing, and described oscillating bearing lower end connects electric magnet；Side, described magnetic fixing top connects lower link, and described lower link top connects upper connecting rod；Described upper connecting rod is connected with the column clip being arranged on column；Described magnetic fixing side connects has revolving bed, described revolving bed to be connected with the transverse axis clip being arranged on transverse axis；Described magnetic fixing top is provided with magnetic clamp part.This patent can be worked as aircraft and pass through to be energized to this device by ground handling operator when autopilot is slow to be dropped to above deck, helicopter can be adsorbed in deck in ship structure by four electromagnetism strong magnets firmly that be positioned at undercarriage after energising, in adsorption process this frame for movement can self regulation height so that more stably warship.Although this patent is fixed by electric magnet absorption deck, but this patent is only used for warship, and range of application is little and structure is complicated；This patent cannot allow unmanned vehicle automatically fix after landing, and needs ground handling operator to be energized；And, this patent cannot tackle the size of different wind-force size and then adjustment absorption affinity neatly to keep suitable absorption affinity and unmanned vehicle to fix and having ensured.
nullThe rotary wind type unmanned plane of a kind of band damping undercarriage disclosed in patent documentation CN203854854，Including rotary wind type unmanned plane main body (1)、Rotor support (2)、Rotor (3)、Secured core (4)、Upper positioning inductor (5)、Electric magnet (6)、Lower positioning inductor (7)、Upper backup pad (8)、Lower supporting plate (9)、Support spring (10) and damping sucker (11)，There is rotor support (2) described rotary wind type unmanned plane main body (1) side，Described rotor support (2) is angularly around rotary wind type unmanned plane main body (1) center one week，Described rotor (3) is fixed on the rotor support (2) of correspondence by rotating shaft，It is characterized in that: secured core (4) and groove are arranged at described rotary wind type unmanned plane main body (1) bottom，The groove of described rotary wind type unmanned plane main body (1) bottom is angularly around secured core (4) weeks，Described upper positioning inductor (5) is fixed in the groove of rotary wind type unmanned plane main body (1) bottom，Electric magnet (6) and groove is had on described upper backup pad (8)，Described electric magnet (6) is in upper backup pad (8) center，Secured core (4) plug-in opening is had in described electric magnet (6)，Groove on described upper backup pad (8) is angularly around electric magnet (6) weeks，Lower positioning inductor (7) is had in groove on described upper backup pad (8)，The corresponding upper positioning inductor (5) of described each lower positioning inductor (7)，Support spring (10) is had between described upper backup pad (8) and lower supporting plate (9)，Damping sucker (11) is arranged at described lower supporting plate (9) bottom.This patent can play the biggest damping effect, and damping undercarriage is that detachable being fixed on bottom rotary wind type unmanned plane is landed together with unmanned plane, it is possible to is placed on canoe or fixed location as pinpoint landing use, uses extremely convenient.But this patent cannot allow unmanned vehicle automatically fix after landing, and needs ground handling operator to be energized；And, this patent cannot tackle the size of different wind-force size and then adjustment absorption affinity neatly to keep suitable absorption affinity and unmanned vehicle to fix and having ensured.
Therefore, this area urgency technical issues that need to address are: provide a kind of unmanned vehicle fixing device can applied after the landing of multiple occasion, and this fixing device can allow unmanned vehicle automatically fix after landing, it is not necessary to human users；This fixing device automatically can release fixing before unmanned vehicle standby for takeoff；And, this patent can tackle different wind-force size and then the size that adjusts absorption affinity neatly to keep suitable absorption affinity and making that unmanned vehicle is fixing have been ensured, further, the opportunity of magnetic-adsorption can be able to start the when that unmanned vehicle droping to close to platform judging, one is better able to help unmanned vehicle accurately to drop to place undetermined, and be conducive to, avoid present little miniature unmanned vehicle in descent, owing to mechanical stress causes, dipping and heaving in level point, the concussion of this fuselage has injury for the stability of body, directly grab the mode got off now, although being slightly increased landing impulse force, but avoid shaking back and forth, it is favourable in general.Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to comprises and is not formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
It is an object of the invention to be achieved by the following technical programs.
According to the first aspect of the invention, the landing stage that the landing fixing device of a kind of unmanned vehicle disclosed by the invention includes the described unmanned vehicle for carrying landing and the fixing device being located on unmanned vehicle, described fixing device includes sensor, energizing apparatus and electromagnet core, described sensor detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus, described electromagnet core excitation is made unmanned vehicle adsorb on described landing stage via described electromagnet core based on described approaching signal by the energizing apparatus connecting described sensor.Described landing stage is the load bearing component via electromagnetic adsorption, and such as, it can be to be made up of metals such as the ferrum of electromagnetic adsorption, cobalt, nickel.
Preferably, described landing stage is iron loading end, it is highly preferred that described landing stage is iron load plane.
Preferably, described electromagnet core is described unmanned vehicle undercarriage or described electromagnet core is located on described unmanned vehicle undercarriage.
Preferably, described sensor detects that described unmanned vehicle is in starting state and transmission enables signals to described energizing apparatus, connects the energizing apparatus of described sensor and based on the described electromagnet core demagnetization to excitation of the described enabling signal, unmanned vehicle is desorbed on described landing stage.
Preferably, described sensor is the current sensor being located in unmanned vehicle circuit, when described current sensor is not detected by electric current, then sends approaching signal to described energizing apparatus, when described current sensor detects electric current, then send and enable signals to described energizing apparatus.
According to the second aspect of the invention, the landing stage that the landing fixing device of a kind of unmanned vehicle includes the described unmanned vehicle for carrying landing and the electromagnetism fixture being located on unmanned vehicle, described landing stage is provided with sensor and energizing apparatus, described sensor detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus, and described landing stage excitation is made unmanned vehicle adsorb on described landing stage via described electromagnetism fixture based on described approaching signal by the energizing apparatus connecting described sensor.Owing to sensor and energizing apparatus are located on loading end, alleviate the weight of unmanned vehicle.Described electromagnetism fixture is the fixture being made up of metals such as the ferrum of electromagnetic adsorption, cobalt, nickel.Preferably, described electromagnetism fixture is iron fixture.
Preferably, described sensor is to be located at the touch sensor on described unmanned vehicle undercarriage or range sensor.
Preferably, described energizing apparatus includes the DC coil being wound around described electromagnet core.
Preferably, described sensor is range sensor, when sensor detects that unmanned vehicle is in preset distance from described landing stage, described sensor sends approaching signal and based on described approaching signal excitation, unmanned vehicle is adsorbed on described landing stage to described energizing apparatus, the energizing apparatus connecting described sensor.
Preferably, described landing stage farther includes to monitor the wind sensor of wind-force, and described energizing apparatus includes processor, and described processor adjusts the intensity of excitation based on wind-force size.
Preferably, described energizing apparatus is provided with power supply and/or switch.
Preferably, described energizing apparatus is provided with wireless communication module, and user controls described energizing apparatus via radio communication.
According to the third aspect of the invention we, the fixing means of a kind of landing fixing device using described unmanned vehicle, it comprises the following steps.
In first step, described sensor detects described unmanned vehicle state.
In second step, when unmanned vehicle is in landing state, described sensor sends approaching signal and to described energizing apparatus, the energizing apparatus excitation connecting described sensor, unmanned vehicle is adsorbed on described landing stage.
In third step, when described sensor detects that described unmanned vehicle is in starting state, and described sensor sends and enables signals to described energizing apparatus, and the energizing apparatus demagnetization connecting described sensor makes unmanned vehicle desorb on described landing stage.
The scheme that the present invention proposes is by the state of sensor detection unmanned vehicle, electromagnet core is made to adsorb or desorb on landing stage by energizing apparatus excitation or demagnetization, this landing fixing device is a kind of unmanned vehicle fixing device can applied after the landing of multiple occasion, this fixing device can allow unmanned vehicle automatically fix after landing, it is not necessary to human users；This fixing device automatically can release fixing before unmanned vehicle standby for takeoff；And, this patent can tackle different wind-force size and then the size that adjusts absorption affinity neatly to keep suitable absorption affinity and making that unmanned vehicle is fixing have been ensured, in addition, the opportunity of magnetic-adsorption can be able to start the when that unmanned vehicle droping to close to platform judging, preferably helps unmanned vehicle accurately drop to place undetermined and avoid the concussion back and forth of landing.
Accompanying drawing explanation
Fig. 1 is the structural representation of the landing fixing device of unmanned vehicle according to an embodiment of the invention.
Fig. 2 is the structural representation of the landing fixing device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 3 is the structural representation of the landing fixing device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 4 is the step schematic diagram of the fixing means of the landing fixing device using unmanned vehicle according to an embodiment of the invention.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
Described in detail below be the most only exemplary and be not intended to limit application and use.Additionally, be not intended to by above technical field, background, brief overview or described in detail below in present any clearly or the theory of hint retrains.
Present embodiments describe the landing fixing device of a kind of unmanned vehicle, the schematic diagram of the landing fixing device of unmanned vehicle according to an embodiment of the invention as shown in Figure 1, the landing fixing device of unmanned vehicle includes the landing stage 1 of the described unmanned vehicle for carrying landing and the fixing device 2 being located on unmanned vehicle, described fixing device 2 includes sensor 3, energizing apparatus 4 and electromagnet core 5, described sensor 3 detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus 4, described electromagnet core 5 excitation is made unmanned vehicle adsorb on described landing stage 1 via described electromagnet core 5 based on described approaching signal by the energizing apparatus 4 connecting described sensor 3.
In one embodiment, landing stage 1 can be to lie in a horizontal plane in ground individually, it is also possible to is flatly to be combined on other equipment, such as roof etc..In some cases, landing stage 1 can also be to tilt.Landing stage 1 is made up of steel plate, and it can also be combined other materials by steel plate and make.
In one embodiment, described electromagnet core 5 is located on described unmanned vehicle undercarriage for described unmanned vehicle undercarriage or described electromagnet core 5.Further, fixing device 2 can arrange multiple electromagnet core 5 and strengthens adsorption.
In the art, unmanned vehicle is preferably many rotary wind types unmanned vehicle.
In one embodiment, described sensor 3 detects that described unmanned vehicle is in starting state and transmission enables signals to described energizing apparatus 4, connects the energizing apparatus 4 of described sensor 3 and based on described electromagnet core 5 demagnetization to excitation of the described enabling signal, unmanned vehicle is desorbed on described landing stage 1.
Therefore, when unmanned vehicle drops on landing stage 1, landing state can be in by the state of sensor detection unmanned vehicle, trigger energizing apparatus 4, so that electromagnet core produces magnetic, unmanned vehicle is made to rely on magnetic absorption landing stage 1, then, sensor 3 detects that described unmanned vehicle is in starting state and transmission enables signals to described energizing apparatus 4, connects the energizing apparatus 4 of described sensor 3 and based on described electromagnet core 5 demagnetization to excitation of the described enabling signal, unmanned vehicle is desorbed on described landing stage 1.It will be clear to someone skilled in the art that subsequently when reclaiming, user can also rely on the switch connecting energizing apparatus 4 of unmanned vehicle or the flight controller Non-follow control of control energizing apparatus 4 to stop energizing apparatus 4 and run, and magnetic disappears.Such as, after user receives instruction of taking off, the flight controller of unmanned vehicle controls to stop energizing apparatus 4 and runs, and magnetic disappears, and unmanned vehicle performs to take off instruction subsequently.
In one embodiment, the sensor of the state of detection unmanned vehicle can be the current sensor being located in unmanned vehicle circuit, when described current sensor is not detected by electric current, then send approaching signal to described energizing apparatus 4, when described current sensor detects electric current, then send and enable signals to described energizing apparatus 4.
In one embodiment, the sensor of the state of detection unmanned vehicle can be the touch sensor being located on described unmanned vehicle undercarriage, when touch sensor detects that described electromagnet core 5 excitation is made unmanned vehicle adsorb on described landing stage 1 via described electromagnet core 5 to described energizing apparatus 4, the energizing apparatus 4 connecting described sensor 3 based on described approaching signal by contact landing stage 1 and transmission approaching signal.
In one embodiment, the sensor of the state of detection unmanned vehicle can be the range sensor being located on described unmanned vehicle undercarriage, unmanned vehicle via described electromagnet core 5 adsorbed on described landing stage 1 described electromagnet core 5 excitation to described energizing apparatus 4, the energizing apparatus 4 connecting described sensor 3 based on described approaching signal when range sensor detects highly to be in the height of landing stage 1 and send approaching signal.
In one embodiment, described energizing apparatus 4 includes the DC coil being wound around described electromagnet core 5.
nullThe schematic diagram of the landing fixing device of unmanned vehicle according to an embodiment of the invention as shown in Figure 2，The landing fixing device of unmanned vehicle includes the landing stage 1 of the described unmanned vehicle for carrying landing and the fixing device 2 being located on unmanned vehicle，Described fixing device 2 includes sensor 3、Energizing apparatus 4 and electromagnet core 5，Described sensor 3 detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus 4，Described electromagnet core 5 excitation is made unmanned vehicle adsorb on described landing stage 1 via described electromagnet core 5 based on described approaching signal by the energizing apparatus 4 connecting described sensor 3，Described sensor 3 farther includes to monitor the wind sensor of wind-force，Described energizing apparatus 4 includes processor 6，Described processor 6 adjusts the intensity of excitation based on wind-force size.
In another embodiment, described wind sensor may be provided on landing stage 1, the size of this wind sensor 1 induced environment wind-force, owing to ambient wind is possible to the main factor that causes unmanned vehicle to be subjected to displacement, therefore, ambient wind is bigger when, then processor 6 is corresponding strengthens output power, strengthen the effect of magnetic adsorptive power, thus realize more firm fixed effect.And less at ambient wind, even without when, then have only to keep magnetic adsorptive power more than a default threshold value, it is possible to keep necessary adsorption to unmanned vehicle.Such as, this necessity absorption affinity can obtain by the way of specimen sample or test, when removing to drive energizing apparatus absorption unmanned vehicle with the electric energy supplying energy intensity of level X, only when horizontal ambient wind reaches Y level, this unmanned vehicle departs from the critical state of magnetic-adsorption stationary state by processing, now on the basis of the electric energy supply intensity of this level X, increasing an intensity is X1 energy supply intensity, guarantee under Y level wind-force, unmanned vehicle can be firmly fixed, so it is assured that the corresponding relation between wind-force Y energy grade X+X1 corresponding with magnetic adsorbability F, in a similar way the wind conditions of different situations is measured, i.e. can obtain the data synopsis for driving wind sensor, and according to this data synopsis, set up dynamic absorption affinity to adjust.
The schematic diagram of the landing fixing device of unmanned vehicle according to another embodiment of the invention as shown in Figure 3, the landing fixing device of a kind of unmanned vehicle includes the landing stage 1 of the described unmanned vehicle for carrying landing and the electromagnetism fixture being located on unmanned vehicle, described landing stage 1 is provided with sensor 3 and energizing apparatus 4, described sensor 3 detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus 4, described landing stage 1 excitation is made unmanned vehicle adsorb on described landing stage 1 via described electromagnetism fixture based on described approaching signal by the energizing apparatus 4 connecting described sensor 3.
In one embodiment, described sensor 3 is range sensor, when sensor 3 detects that unmanned vehicle is in preset distance from described landing stage 1, described sensor 3 sends approaching signal and based on described approaching signal excitation, unmanned vehicle is adsorbed on described landing stage 1 to described energizing apparatus 4, the energizing apparatus 4 connecting described sensor 3.The opportunity of magnetic-adsorption can be able to start the when that unmanned vehicle droping to close to platform judging, in other words, unmanned vehicle such as also has the such distance of 10cm from loading end when, by magnetic-adsorption, unmanned vehicle is grabbed, benefit is mainly two, one is better able to help unmanned vehicle accurately to drop to place undetermined, another is to avoid present little miniature unmanned vehicle in descent, owing to mechanical stress causes, dipping and heaving in level point, the concussion of this fuselage has injury for the stability of body, directly grab the mode got off now, although being slightly increased landing impulse force, but avoid shaking back and forth, it is favourable in general.
In one embodiment, described energizing apparatus 4 is provided with power supply and/or switch.User can carry out excitation and demagnetization by switch or electric power starting or Guan Bi.
In one embodiment, when user's remotely pilotless aircraft, described energizing apparatus 4 is provided with wireless communication module 7, and user controls described energizing apparatus 4 via radio communication.Therefore, the invention provides multiple control model to be applied to different use patterns.
In one embodiment, processor 6 can include general purpose processing device, digital signal processing appts, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof or the processing equipment of other known or later exploitations.
In one embodiment, processor 6 can include memory element, and it can store the corresponding data of multiple wind-force and magnetic field intensity, and memory element can be volatile memory or nonvolatile memory.Memory element can include one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or other type of memorizer, described processor 6 can be provided with wireless communication module 7, and the break-make instruction of user is sent to energizing apparatus 4 via described wireless communication module 7.
In one embodiment, described wireless communication module 7 one or more is formed by selected from have in the group that the wireless LAN communication equipment of different priority, mobile communication network device, the Stratosphere Communication network equipment and satellite network communications equipment form.
In one embodiment, mobile communication network device is mainly made up of 2G/3G/4G wireless communication chips group, is responsible for setting up flight control assemblies and unmanned vehicle radio communication each other by mobile communications network.Wireless LAN communication equipment can be in bluetooth, ZigBee or Wi-Fi device, wireless local equipment can set up short haul connection by 2.4GHz communication frequency, and the outdoor environment moved at indoor or low speed can communication connection that preferably this equipment is set up between unmanned vehicle and flight control assemblies.Stratosphere Communication equipment typically uses helium-airship, balloon as the platform disposing repeater station, podium level is away from ground 17km～22km, unmanned vehicle is when field flight on a large scale, it may be preferred to Stratosphere Communication sets up the communication connection between unmanned vehicle and flight control assemblies.Satellite communication equipment utilizes satellite communication channel to set up the communication connection between unmanned vehicle and flight control assemblies, is usually in the case of without other available wireless communication networks, can use satellite communicator, as emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, selecting wireless-transmission network, the application designs following for precedence scheme, Wi-Fi network: priority is 0；4G wireless network: priority is 1；3G wireless network: priority is 2；Stratosphere Communication network: priority is 3；Satellite communication network: priority is 4；Priority level 0-4, selected wireless network priority is from high to low, if there is multiple wireless signal the most simultaneously, and when signal intensity is effective, first flight control assemblies and unmanned vehicle radio communication each other can select Wi-Fi network as Radio Access Network；When Wi-Fi signal strength is invalid, radio communication meeting the second choice of opimization 4G network is as Radio Access Network；The like.
See Fig. 4, use the fixing means of the landing fixing device of described unmanned vehicle to comprise the following steps according to an embodiment of the invention.
In first step S1, described sensor 3 detects described unmanned vehicle state.
In second step S2, when unmanned vehicle is in landing state, described sensor 3 sends approaching signal and to described energizing apparatus 4, energizing apparatus 4 excitation connecting described sensor 3, unmanned vehicle is adsorbed on described landing stage 1.
In third step S3, when described sensor 3 detects that described unmanned vehicle is in starting state, described sensor 3 sends and enables signals to described energizing apparatus 4, and energizing apparatus 4 demagnetization connecting described sensor 3 makes unmanned vehicle desorb on described landing stage 1.
In this method, whether user can land with sensor detection unmanned vehicle and/or prepare to start, energizing apparatus excitation or demagnetization make electromagnet core absorption or desorb on landing stage, to realize automatically fixing unmanned vehicle to landing stage, further, this method can be automatically adjusted magnetic field intensity and make absorption affinity be in suitable scope and the fixing of unmanned vehicle is ensured according to wind-force size with the size controlling absorption affinity.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited in above-mentioned specific embodiments and applications field, above-mentioned specific embodiments the most schematic, guiding rather than restrictive.Those of ordinary skill in the art is under the enlightenment of this specification and in the case of the scope protected without departing from the claims in the present invention, it is also possible to make a variety of forms, and these belong to the row of present invention protection.
Claims (10)
1. a landing fixing device for unmanned vehicle, it landing stage (1) including described unmanned vehicle for carrying landing and the fixing device (2) being located on unmanned vehicle, it is characterised in that:
Described fixing device (2) includes sensor (3), energizing apparatus (4) and electromagnet core (5), described sensor (3) detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus (4), and described electromagnet core (5) excitation is made unmanned vehicle adsorb on described landing stage (1) via described electromagnet core (5) based on described approaching signal by the energizing apparatus (4) connecting described sensor (3).
The landing fixing device of unmanned vehicle the most according to claim 1, it is characterised in that: described electromagnet core (5) is described unmanned vehicle undercarriage or is individually located on described unmanned vehicle undercarriage.
The landing fixing device of unmanned vehicle the most according to claim 1, it is characterised in that: described energizing apparatus (4) is the DC coil being wound around described unmanned vehicle undercarriage.
The landing fixing device of unmanned vehicle the most according to claim 1, it is characterised in that: described energizing apparatus (4) is provided with wireless communication module (7), and user controls described energizing apparatus (4) via radio communication.
5. a landing fixing device for unmanned vehicle, it landing stage (1) including described unmanned vehicle for carrying landing and the electromagnetism fixture being located on unmanned vehicle, it is characterised in that:
Described landing stage (1) is provided with sensor (3) and energizing apparatus (4), described sensor (3) detects that described unmanned vehicle is in landing state and sends approaching signal to described energizing apparatus (4), and described landing stage (1) excitation is made unmanned vehicle adsorb on described landing stage (1) via described electromagnetism fixture based on described approaching signal by the energizing apparatus (4) connecting described sensor (3).
The landing fixing device of unmanned vehicle the most according to claim 5, it is characterised in that: described sensor (3) is touch sensor.
The landing fixing device of unmanned vehicle the most according to claim 5, it is characterized in that: described landing stage (1) farther includes to monitor the wind sensor of wind-force, described energizing apparatus (4) includes processor (6), and described processor (6) adjusts the intensity of excitation based on wind-force size.
The landing fixing device of unmanned vehicle the most according to claim 1 or 5, it is characterized in that: described sensor (3) is range sensor, when sensor (3) detects that unmanned vehicle is in preset distance from described landing stage (1), described sensor (3) sends approaching signal and based on described approaching signal excitation, unmanned vehicle is adsorbed on described landing stage (1) to described energizing apparatus (4), the energizing apparatus (4) connecting described sensor (3).
The landing fixing device of unmanned vehicle the most according to claim 1 or 5, it is characterized in that: described sensor (3) detects that described unmanned vehicle is in starting state and transmission enables signals to described energizing apparatus (4), connect the energizing apparatus (4) of described sensor (3) and based on described electromagnet core (5) demagnetization to excitation of the described enabling signal, unmanned vehicle is desorbed on described landing stage (1).
10. using a fixing means for the landing fixing device according to the unmanned vehicle according to any one of claim 1-9, it comprises the following steps:
In first step (S1), described sensor (3) detects described unmanned vehicle state；
In second step (S2), when unmanned vehicle is in landing state, described sensor (3) sends approaching signal and to described energizing apparatus (4), energizing apparatus (4) excitation connecting described sensor (3), unmanned vehicle is adsorbed on described landing stage (1)；
In third step (S3), when described sensor (3) detects that described unmanned vehicle is in starting state, described sensor (3) sends and enables signals to described energizing apparatus (4), and energizing apparatus (4) demagnetization connecting described sensor (3) makes unmanned vehicle desorb on described landing stage (1).
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| CN109872620B (en) * | 2018-12-20 | 2023-09-19 | 江苏航空职业技术学院 | Fixed supporting structure of nose landing gear of airplane and mounting method thereof |
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