CN105973152B - A kind of unmanned plane landing ground run distance measuring device and the unmanned plane with it - Google Patents
A kind of unmanned plane landing ground run distance measuring device and the unmanned plane with it Download PDFInfo
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- CN105973152B CN105973152B CN201610312000.4A CN201610312000A CN105973152B CN 105973152 B CN105973152 B CN 105973152B CN 201610312000 A CN201610312000 A CN 201610312000A CN 105973152 B CN105973152 B CN 105973152B
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- unmanned plane
- rocking arm
- wheel
- ground run
- accommodating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of unmanned plane landing ground run distance measuring device and with its unmanned plane.The unmanned plane landing ground run distance measuring device includes link, accommodating wheel, rocking arm, distance measurement sensor and wheel load switch；Wherein, the flight control system for taking turns load switch and unmanned plane connects, and wheel load switch is arranged on link, and wheel load switch has first state and the second state；One end of link is connect with unmanned plane main body, and the other end of link and the accommodating wheel are hinged by rocking arm；Rocking arm can be rotated relative to link, to make rocking arm have open position and on-position；Accommodating wheel is hollow and can be rotated relative to rocking arm；Distance measurement sensor is connect with flight control system；Distance measurement sensor setting is in accommodating wheel.It is unmanned plane landing ground run distance measuring device light structure in the present invention, easy to operate, it can be integrated at small drone main landing gear, during unmanned plane take-off and landing, be automatically performed the measurement of landing ground run distance.
Description
Technical field
The present invention relates to technical field of aerospace, more particularly to a kind of unmanned plane landing ground run distance measuring device and have
Its unmanned plane.
Background technology
Take-off and landing ground run distance is two important indicators for weighing takeoff and landing performance.In real aircraft flying quality
During taking a flight test, the key that ground run distance measures is to determine that aircraft slides the starting point and end point of race process first, followed by smart
Really measure at the distance between 2 points.It is exactly sliding run away initial point and the liftoff point of aircraft for take-off process, and for landing
Cheng Ze is ground contact point and sliding race halt.
Wherein, the cunning when taking off runs away initial point and sliding when landing runs halt, and aircraft is in stationary state, above-mentioned
2 points of position is easier to determine.But departing for aircraft is a little dynamic point with landing point, aircraft is in height
In fast motion process, it is larger difficulty to be accurately positioned.Large aircraft generally passes through wheel load monitoring and video ratio in Performance Flight Test
To determining departing a little and landing point for aircraft.For aircraft especially unmanned plane, inner space is limited,
Flying weight is small, simple system, use cost are limited by larger.Currently, unmanned plane landing ground run distance generally use with
Lower method is measured：
During unmanned plane take-off and landing, traced and monitored by range estimation or video image equipment, by runway
Opposite object of reference determination is departed a little or landing point.Then, by the tools such as tape measure determination take off/alighting run away from
From.
The disadvantage is that during artificial range estimation, test personnel take the motion state for carving monitoring unmanned plane, differentiate aircraft from
Mark is made in liftoff point in time behind ground or the position of ground connection, labor intensity is larger, and precision is relatively low；And utilize video image equipment
Tracking, then need post-processing image data to judge, operating process is complex, and image definition can also be tied to measuring in addition
Fruit produces bigger effect.
Thus, it is desirable to have a kind of technical solution overcomes or at least mitigates at least one drawbacks described above of the prior art.
Invention content
It is existing to overcome or at least mitigate that the purpose of the present invention is to provide a kind of unmanned plane landing ground run distance measuring devices
There is at least one drawbacks described above of technology.
To achieve the above object, the present invention provides a kind of unmanned plane landing ground run distance measuring device.The unmanned plane rises
Drop ground run distance measuring device includes link, accommodating wheel, rocking arm, distance measurement sensor and wheel load switch；Wherein, wheel load
Switch connect with the flight control system of unmanned plane, and wheel load switch setting is on the link, and the wheel load switch is with the
One state and the second state, in the first state, the flight control system receives the first signal；In second state, institute
It states flight control system and receives second signal；One end of the link is connect with unmanned plane main body, the other end of the link with
The accommodating wheel is hinged by rocking arm；The rocking arm can be rotated relative to the link, to make rocking arm have open position
And on-position；In the open position, the rocking arm can make the wheel load switch be in first state；In the connection
Position, the rocking arm can make the wheel load switch be in the second state；The accommodating wheel is hollow and being capable of the relatively described rocking arm
The load torque to be administered is passed to the rocking arm, to make the rocking arm by rotation when the accommodating wheel is loaded
It is converted from the on-position to the open position；The distance measurement sensor is connect with the flight control system；It is described away from
From measurement sensor be arranged in the accommodating wheel, at least partly structure of the distance measurement sensor with it is described it is accommodating wheel with
It is dynamic；The distance measurement sensor can measure the movement travel of the accommodating wheel in the accommodating wheel rotation, and will be described
Movement travel passes to the flight control system by way of signal.
Preferably, the rocking arm is connect with the link by axis pin；Torsional spring, the torsional spring are provided on the axis pin
For providing elastic force for the rocking arm, the elasticity force direction is that the rocking arm is made to be located at open position.
Preferably, it is provided with limited block on the rocking arm, in the on-position, the limited block makes the wheel load switch
In the second state.
Preferably, the distance measurement sensor includes grating encoder, optical coupled switch；Wherein, the grating encoder is located at
In the accommodating wheel, and it is servo-actuated with the accommodating wheel；The optical coupled switch is mounted on the rocking arm or the accommodating wheel, described
There is measuring flume, the grating encoder to be located on optical coupled switch in the measuring flume.
Preferably, the grating encoder and the accommodating wheel are concentric.
Preferably, the accommodating wheel outer ring is enclosed with solid rubber.
The present invention also provides a kind of unmanned plane, the unmanned plane includes that unmanned plane landing ground run distance as described above is surveyed
Measure device.
It is unmanned plane landing ground run distance measuring device light structure in the present invention, easy to operate, small-sized nothing can be integrated in
At man-machine main landing gear, during unmanned plane take-off and landing, it is automatically performed the measurement of landing ground run distance.It can effectively improve
The measurement accuracy and measurement efficiency of small drone landing ground run distance, and reduce the labor intensity of survey crew.
Description of the drawings
Fig. 1 is the structural schematic diagram of unmanned plane landing ground run distance measuring device according to an embodiment of the invention, wherein
The rocking arm is located at on-position.
Another structural schematic diagram of Fig. 2 unmanned plane landing ground run distance measuring devices shown in FIG. 1, wherein the rocking arm
Positioned at on-position.
Fig. 3 is another structural schematic diagram of unmanned plane landing ground run distance measuring device shown in FIG. 1, wherein described to shake
Arm is located at open position.
Reference numeral
| 1 | Link | 7 | Torsional spring |
| 2 | Accommodating wheel | 8 | Limited block |
| 3 | Rocking arm | 41 | Grating encoder |
| 4 | Distance measurement sensor | 42 | Optical coupled switch |
| 5 | Take turns load switch | 43 | Measuring flume |
| 6 | Axis pin |
Specific implementation mode
To keep the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as protecting the present invention
The limitation of range.
Fig. 1 is the structural schematic diagram of unmanned plane landing ground run distance measuring device according to an embodiment of the invention, wherein
The rocking arm is located at on-position.Another structural schematic diagram of Fig. 2 unmanned plane landing ground run distance measuring devices shown in FIG. 1,
Wherein, the rocking arm is located at on-position.Fig. 3 is another structure of unmanned plane landing ground run distance measuring device shown in FIG. 1
Schematic diagram, wherein the rocking arm is located at open position.
Unmanned plane landing ground run distance measuring device as shown in Figure 1 to Figure 3 include link 1, accommodating wheel 2, rocking arm 3,
Distance measurement sensor 4 and wheel load switch 5；Wherein, wheel load switch 5 is connect with the flight control system of unmanned plane, and wheel load switch 5 is set
It sets on link 1, wheel load switch 5 has first state and the second state, and in first state, flight control system receives the first letter
Number；In the second state, flight control system receives second signal.In the present embodiment, the first signal flies control with second signal for making
System obtains wheel load switch location at this time.
Referring to Fig. 1 to Fig. 3, in the present embodiment, one end of link 1 is connect with unmanned plane main body, link 1 it is another
End is hinged by rocking arm 3 with accommodating wheel 2.Rocking arm 3 can be rotated relative to link 1, to make rocking arm 3 have open position and
On-position；In open position, rocking arm 3 can make wheel load switch 5 be in first state.In on-position, rocking arm 3 can make wheel
Load switch 5 is in the second state.
Specifically, in the present embodiment, rocking arm 3 is connect with link 1 by axis pin 6；It is provided with torsional spring 7 on axis pin 6, turns round
Spring 7 is used to provide elastic force for rocking arm, and elastic force direction is that rocking arm 3 is made to be located at open position.In this way, in the dry of other no power
When relating to, rocking arm is in on-position under normal conditions due to the effect of torsional spring.
Accommodating wheel 2 is hollow and can be rotated relative to rocking arm 3, and accommodating wheel 2 will load torque to be administered when being loaded and pass
Rocking arm 3 is passed, to make 3 self-closing position of rocking arm convert to open position.
In the present embodiment, wheel is housed in flight course due to will not be contacted with ground, and the dead weight of unmanned plane is by nobody
The lift of machine is offset, at this point, not loaded on accommodating wheel.And in unmanned plane when ground landing is slided and run, the dead weight of unmanned plane is given
Accommodating wheel is given, accommodating wheel support reaction is given on ground simultaneously, at this point, since axis pin can rotate, houses wheel and passes the torque of load
Rocking arm is passed, rocking arm stress overcomes the elastic force of torsional spring, to be converted from on-position to open position.
And since the conversion of the position of rocking arm can affect the state conversion of wheel load switch, at this point, wheel load switch is also from first
State is converted to the second state, and flight control system is changed to receive second signal.
Referring to Fig. 1 to Fig. 3, in the present embodiment, distance measurement sensor 4 is connect with flight control system；Range measurement senses
For the setting of device 4 in accommodating wheel 2, at least partly structure of distance measurement sensor 4 and accommodating wheel 2 are servo-actuated；Distance measurement sensor
The movement travel of accommodating wheel 2 can be measured in accommodating 2 rotation of wheel, and movement travel is passed to winged control by way of signal
System.
In the present embodiment, for unmanned plane when landing is slided and run, rocking arm is necessarily in open position, once and unmanned plane rises
Fly, rocking arm is in communicating position again, is converted by rocking arm ear location to make wheel load switch in first state and the second state
Between convert, judge that unmanned plane slides race process in landing and flies away from ground to make flight control system pass through the first signal and second signal
The exact time in face.
It is unmanned plane landing ground run distance measuring device light structure in the present invention, easy to operate, small-sized nothing can be integrated in
At man-machine main landing gear, during unmanned plane take-off and landing, it is automatically performed the measurement of landing ground run distance.It can effectively improve
The measurement accuracy and measurement efficiency of small drone landing ground run distance, and reduce the labor intensity of survey crew.
Compared with prior art, the present invention has following advantages and good effect：
It is automatically performed the measurement of landing ground run distance, measurement efficiency can be effectively improved, reduce the labor intensity of survey crew；
The device volume is small, light-weight, is suitable for unmanned plane, and sensor interface can be integrated with unmanned plane autopilot；
Ripe goods shelf products can be selected in the components such as contact-making switch, optical coupled switch needed for the device, of low cost；
In device design, accommodating wheel (keeping the accommodating wheel unrelated with the wheel of undercarriage) is separately provided, can effectively avoid
Wheel stand under load deforms the adverse effect generated to measurement result；
In device design, measurement wheel automatic impaction can effectively be tracked, simultaneously by the fluctuating on ground in ground using torsional spring
Accommodating wheel is wrapped up solid rubber, can be effectively reduced measurement wheel and deform and prevent from skidding using the preferable wheel hub of rigidity, outer ring；
Can automatic discrimination wheel load, it is accurate given at the time of take off liftoff or touchdown, avoid after taking off, house wheel
It is rotated further by effect of inertia, causes ground run distance measurement result bigger than normal.
Referring to Fig. 2, in the present embodiment, limited block 8 is provided on rocking arm 6, in on-position, limited block 8 makes wheel load open
It closes 5 and is in the second state.
Referring to Fig. 2, in the present embodiment, distance measurement sensor 4 includes grating encoder 41, optical coupled switch 42；Wherein, light
Grid code-disc 41 is located in accommodating wheel 2, and servo-actuated with accommodating wheel 2；Optical coupled switch 42 is mounted on rocking arm 3 or accommodating wheel 2, and optocoupler is opened
Closing, there is measuring flume 43, grating encoder 41 to be located on 42 in measuring flume 43.
In the present embodiment, grating encoder 41 and accommodating wheel 2 are concentric.Using this structure, grating encoder 41 can be prevented
There is error.
The present invention also provides a kind of unmanned plane, the unmanned plane includes that the unmanned plane landing ground run distance as described in quotient is surveyed
Measure device.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：It is still
Can be with technical scheme described in the above embodiments is modified, or which part technical characteristic is equally replaced
It changes；And these modifications or replacements, the essence for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
God and range.
Claims (7)
1. a kind of unmanned plane landing ground run distance measuring device, which is characterized in that the unmanned plane landing ground run distance measures dress
It sets including link (1), accommodating wheel (2), rocking arm (3), distance measurement sensor (4) and wheel load switch (5)；Wherein,
The wheel load switch (5) connect with the flight control system of unmanned plane, and the wheel load switch (5) is arranged in the link (1)
On, the wheel load switch (5) has first state and the second state, and in the first state, the flight control system receives the
One signal；In second state, the flight control system receives second signal；
One end of the link (1) is connect with unmanned plane main body, the other end of the link (1) and the accommodating wheel (2)
It is hinged by rocking arm (3)；
The rocking arm (3) can rotate relative to the link (1), to make rocking arm (3) have open position and connect position
It sets；In the open position, the rocking arm (3) can make the wheel load switch (5) be in first state；In the connection position
It sets, the rocking arm (3) can make the wheel load switch (5) be in the second state；
The accommodating wheel (2) is hollow and can be rotated relative to the rocking arm (3), will be described when the accommodating wheel (2) is loaded
It loads torque to be administered and passes to the rocking arm (3), to make the rocking arm (3) be converted from the on-position to described disconnected
Open position；
The distance measurement sensor (4) connect with the flight control system；
The distance measurement sensor (4) is arranged in the accommodating wheel (2), at least portion of the distance measurement sensor (4)
Separation structure is servo-actuated with the accommodating wheel (2)；
The distance measurement sensor can measure the movement travel of the accommodating wheel (2) when the accommodating wheel (2) rotates, and
The movement travel is passed into the flight control system by way of signal.
2. unmanned plane landing ground run distance measuring device as described in claim 1, which is characterized in that the rocking arm (3) and institute
Link (1) is stated to connect by axis pin (6)；
Torsional spring (7) is provided on the axis pin (6), the torsional spring (7) is used to provide elastic force, the elastic force for the rocking arm
Direction is that the rocking arm (3) is made to be located at open position.
3. unmanned plane landing ground run distance measuring device as claimed in claim 2, which is characterized in that set on the rocking arm (6)
It is equipped with limited block (8), in the on-position, the limited block (8) makes the wheel load switch (5) be in the second state.
4. unmanned plane landing ground run distance measuring device as claimed in claim 3, which is characterized in that the range measurement sensing
Device (4) includes grating encoder (41), optical coupled switch (42)；Wherein,
The grating encoder (41) is located in the accommodating wheel (2), and servo-actuated with the accommodating wheel (2)；
The optical coupled switch (42) is mounted on the rocking arm (3) or the accommodating wheel (2), has on the optical coupled switch (42)
Measuring flume (43), the grating encoder (41) are located in the measuring flume (43).
5. unmanned plane landing ground run distance measuring device as claimed in claim 4, which is characterized in that the grating encoder (41)
It is concentric with the accommodating wheel (2).
6. unmanned plane landing ground run distance measuring device as claimed in claim 5, which is characterized in that the accommodating wheel outer ring packet
It is wrapped with solid rubber.
7. a kind of unmanned plane, which is characterized in that the unmanned plane includes nobody as described in any one of claim 1 to 6
Machine landing ground run distance measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312000.4A CN105973152B (en) | 2016-05-12 | 2016-05-12 | A kind of unmanned plane landing ground run distance measuring device and the unmanned plane with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312000.4A CN105973152B (en) | 2016-05-12 | 2016-05-12 | A kind of unmanned plane landing ground run distance measuring device and the unmanned plane with it |
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| Publication Number | Publication Date |
|---|---|
| CN105973152A CN105973152A (en) | 2016-09-28 |
| CN105973152B true CN105973152B (en) | 2018-11-13 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112148027B (en) * | 2020-08-28 | 2021-11-30 | 成都飞机工业（集团）有限责任公司 | Carrier-based unmanned aerial vehicle arresting carrier landing and escape missed-flight integrated control design method |
| CN117104528B (en) * | 2023-10-19 | 2024-01-23 | 四川腾盾科技有限公司 | Front three-point unmanned aerial vehicle flying off-ground positioning device and test flight calculation method thereof |
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|---|---|---|---|---|
| GB580158A (en) * | 1944-06-13 | 1946-08-28 | Gustav Victor Lachmann | Improved tricycle undercarriage for aircraft |
| GB813912A (en) * | 1955-12-22 | 1959-05-27 | Dowty Equipment Ltd | Improvements relating to aircraft nosewheel steering devices |
| US4634082A (en) * | 1983-05-10 | 1987-01-06 | Menasco Inc. | Extendable shock strut |
| CN2775601Y (en) * | 2005-01-20 | 2006-04-26 | 上海市机械施工有限公司 | Rollingw heel type photoelectric travel sensor |
| CN103234500A (en) * | 2013-03-29 | 2013-08-07 | 中国科学院自动化研究所 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
| CN104822590A (en) * | 2012-12-03 | 2015-08-05 | 米其林集团总公司 | Wheel motorizing system, especially for aircraft wheel |
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2016
- 2016-05-12 CN CN201610312000.4A patent/CN105973152B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB580158A (en) * | 1944-06-13 | 1946-08-28 | Gustav Victor Lachmann | Improved tricycle undercarriage for aircraft |
| GB813912A (en) * | 1955-12-22 | 1959-05-27 | Dowty Equipment Ltd | Improvements relating to aircraft nosewheel steering devices |
| US4634082A (en) * | 1983-05-10 | 1987-01-06 | Menasco Inc. | Extendable shock strut |
| CN2775601Y (en) * | 2005-01-20 | 2006-04-26 | 上海市机械施工有限公司 | Rollingw heel type photoelectric travel sensor |
| CN104822590A (en) * | 2012-12-03 | 2015-08-05 | 米其林集团总公司 | Wheel motorizing system, especially for aircraft wheel |
| CN103234500A (en) * | 2013-03-29 | 2013-08-07 | 中国科学院自动化研究所 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
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| Publication number | Publication date |
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| CN105973152A (en) | 2016-09-28 |
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