CN106516090B - Suitable for fixed-wing unmanned plane field crops canopy landing-gear and its method - Google Patents
Suitable for fixed-wing unmanned plane field crops canopy landing-gear and its method Download PDFInfo
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- CN106516090B CN106516090B CN201611128728.8A CN201611128728A CN106516090B CN 106516090 B CN106516090 B CN 106516090B CN 201611128728 A CN201611128728 A CN 201611128728A CN 106516090 B CN106516090 B CN 106516090B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses one kind to be suitable for fixed-wing unmanned plane field crops canopy landing-gear and its method, device includes fixing support rack, load buffer device, take-up and pay-off device, fixing support rack includes chassis and several hangers, landing-gear is installed below unmanned plane by hanger, chassis includes front-end bracket, support side arm, support front bar, bar and support rear bar in support, front-end bracket one end is connect with support side arm head and the tail, front bar is vertical connect with support for the other end, bar is connected with the support side arm front end at both ends respectively in support, support rear bar both ends are connect with the support side arm end of two sides respectively；Load buffer device includes glass fibre gauze and a slide bar, and glass fibre gauze one end is fixed in support on bar, and the other end is fixed on slide bar, and slide bar is parallel with support front bar, and slide bar is moved forward and backward in take-up and pay-off device driving lower edge support side arm.The present invention can guarantee safe falling on field crops canopy in the case where not influencing unmanned plane normal flight.
Description
Technical field
The present invention relates to agricultural equipment technology fields, and in particular to one kind is suitable for fixed-wing unmanned plane field crops canopy and drops
Dropping control device and its method.
Background technique
Unmanned plane is just playing incomparable effect in agricultural production at present, such as widely applied pesticide spray is made
Industry etc..Additionally, due to its light and flexible, it is easy to use the advantages that, can on unmanned plane carry sensors to field crops grow
Information, soil moisture nutrition condition etc. are detected and analyzed, thus realize the accurate control to agricultural production, once discovery is asked
Topic can take counter-measure in time, economize on resources and reduce loss.
Main unmanned plane type to be applied has more rotors, single rotor, fixed wing aircraft in agricultural production.More rotors and Dan Xuan
Wing unmanned plane is limited, it cannot be guaranteed that when long when field carries out operation by own wt and existing battery energy density
Between cruising ability；And it can guarantee that the fixed wing aircraft continued a journey, cannot be flexible in field because of the influence by pad
Using.
Existing undercarriage is mainly made of intrinsic bracket and wheel, additionally include load pillar, damper,
Jack, front-wheel shimmy-damper and wheel steering system etc., effect are sliding with ground in order to adapt to take off, alighting run
Capable needs.Due to the factors limitation such as field topography factor and original landing gear structure are complicated, weight is big, be not suitable for application
In agricultural production operation, therefore a kind of light-weight, simple landing-gear of structure is found, realizes that fixed-wing unmanned plane is made in field
The landing of object canopy is a kind of useful supplement to current agricultural aviation application technology.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency provide a kind of suitable for fixed-wing unmanned plane
Field crops canopy landing-gear, the device is shrinkable with expansion, can in the case where not influencing fixed wing aircraft normal flight,
Guarantee unmanned function safe falling on field crops canopy.
It is another object of the present invention to provide a kind of operational method based on above-mentioned apparatus, this method control is simple,
Packing up and being unfolded for automatic remote control control glass fibre gauze can be achieved, realize the stable landing of unmanned plane.
The purpose of the present invention is realized by the following technical solution: being suitable for fixed-wing unmanned plane field crops canopy landing dress
It sets, including fixing support rack, load buffer device, take-up and pay-off device, the fixing support rack includes chassis and several hangers,
Landing-gear is installed below unmanned plane by hanger, and chassis includes front-end bracket, support side arm, support front bar, bar in support
With support rear bar, front-end bracket one end connect with support side arm head and the tail, the other end with support that front bar is vertical connect, bar divides in support
It is not connected with the support side arm front end at both ends, support rear bar both ends are connect with the support side arm end of two sides respectively；The load
Buffer unit includes glass fibre gauze and a slide bar, and glass fibre gauze one end is fixed in support on bar, the other end
It is fixed on slide bar, the slide bar is parallel with support front bar, and slide bar is moved forward and backward in take-up and pay-off device driving lower edge support side arm.
Preferably, the front-end bracket raises structure using arc close to support front bar one end.It can be to fixed-wing unmanned plane
Landing works as a buffer.
It preferably, include two hangers in the fixing support rack, hanger is placed in the two sides of landing-gear, each hanger
Including front overhang sunpender, rear overhang sunpender and connecting plate, one end of the front overhang sunpender is last with front-end bracket respectively by three-way connection
End is connected with support side arm front end, and the other end is connect with connecting plate；One end of the rear overhang sunpender by three-way connection respectively with
Support side arm rear end is connected with support rear bar one end, and the other end is connect with connecting plate；When in use, the connecting plate and external nothing
It is man-machine to be detachably connected.
Preferably, intert several support rods in parallel in the glass fibre gauze.To prevent glass fiber yarn net from occurring
Winding, rotation etc. are unfavorable for the situation of dragging, play a supportive role to glass fibre gauze.
Further, each rod piece is all made of hollow carbon fiber bar in the landing-gear.Make whole device lighter weight.
Specifically, the take-up and pay-off device includes controller and several retractable cable motors and spool, the end of a thread in spool
It is fixed on slide bar, controller passes through the direction of rotation of retractable cable motor control spool and line length, controller pass through one out
Wireless communication module and external remote carry out wireless data communication.
Further, the first limit of the location of slide bar place setting photoelectric door when the glass fibre gauze is packed up,
The second limit of the location of slide bar place setting photoelectric door, the first limit photoelectric door and the second limit when glass fibre gauze discharges
Photoelectric door is connected with controller respectively；One end of the slide bar is equipped with baffle.To can accurately be controlled by above-mentioned photoelectric door
The position of slide bar processed.
Preferably, the slide bar both ends are equipped with linear bearing, and linear bearing is arranged in supporting side walls by bearing holder,
Slide bar is moved in supporting side walls by linear bearing.Bearing holder can play the role of fixing to clamp to linear bearing, and even
Connect slide bar and supporting side walls.
Further, the front overhang sunpender, rear overhang sunpender pass through a single-pass connector and connect with connecting plate；The single-pass
Connector, three-way connection, bearing holder are all made of nylon material 3D printing and are made.
A method of being suitable for fixed-wing unmanned plane field crops canopy landing-gear based on above-mentioned, includes the following steps:
A. landing-gear and wing are fixed before the standby for takeoff of ground for fixed-wing unmanned plane；When original state, glass
Glass fiber gauze is in unfolded state；
B. signal is packed up to the controller in take-up and pay-off device by the remote controler transmission on ground, controller controls folding and unfolding
Line motor is opened, and the corresponding spool rotation of retractable cable motor driven is moved with dragging slide bar along supporting side walls to support front bar direction
Dynamic, after the first limit photoelectric door is blocked by the baffle of linear bearing, controller control retractable cable motor stops working, and completes glass
Glass fiber gauze is packed up；
C. fixed-wing unmanned plane takes off, and starts operation；
D. when needing in the landing of field crops canopy, release signal is sent to controller by remote controler on ground,
Controller controls retractable cable motor and opens, and the rotation of retractable cable motor driven corresponding spool is to drag slide bar along supporting side walls to branch
It is mobile to support rear bar direction, after the second limit photoelectric door is blocked by the baffle of linear bearing, controller control retractable cable motor stops
It only works, completes the expansion of glass fibre gauze；
After glass fiber yarn net unfolding, unmanned plane lands on field crops canopy.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the present invention is flexible in application, glass fibre gauze it can pack up and be unfolded in remote wireless control described device, when
Fixed-wing unmanned plane can control packing up for described device before taking off；When fixed-wing unmanned plane, which fulfils assignment, to be needed to land, control
Described device is unfolded, it is ensured that the safe falling of unmanned plane is on field crops canopy.
2. the load-carrying members that the present invention is contacted using glass fibre gauze combination carbon fiber pipe as canopy reduce undercarriage
Windage when expansion；It is designed using general connection, this undercarriage, overall structure can be loaded by having no need to change aircraft script structure
The normal flight of fixed wing aircraft is not influenced.
Detailed description of the invention
Fig. 1 is overall structure diagram of the present embodiment when glass fibre gauze is packed up completely before take-off.
Fig. 2 is overall structure diagram of the present embodiment when the front glass fiber gauze that lands is fully deployed.
Fig. 3 is the schematic enlarged-scale view in the present embodiment at the first limit photoelectric door.
Fig. 4 is the control flow chart of take-up and pay-off device in the present embodiment.
In figure, the 1-the first three-way connection, 2-front-end brackets, 3-support side arms, 5-linear bearings, 6-bearing holders,
7-front overhang sunpenders, the 8-the first single-pass connector, 9-connecting plates, the 10-the second single-pass connector, 11-support front bars, 12-supports
Middle bar, 13-support rear bars, the 14-the second three-way connection, 15-rear overhang sunpenders, the 21-the first spool, the 22-the second spool,
25-the first retractable cable motor, the 26-the second retractable cable motor, 27-support rods, 28-slide bars, 29-the first limit photoelectric door,
30-single-chip microcontrollers, the 31-the second limit photoelectric door.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Figure 1, 2, the present embodiment one kind is suitable for fixed-wing unmanned plane field crops canopy landing-gear, including fixation
Support frame, load buffer device, take-up and pay-off device, above-mentioned all parts are connected by corresponding connector.Whole landing-gear
It is fixed below fixed-wing unmanned plane, the folding and unfolding of the glass fibre gauze of load buffer effect has been controlled by ground installation, no
Influence the normal flight of fixed wing aircraft.Its structure is described as follows with reference to the accompanying drawing.
In the present embodiment, the fixing support rack includes chassis and 2 hangers, and two hangers are separately positioned on the two of chassis
Side, chassis include front-end bracket 2, support side arm 3, support front bar 11, support in bar 12 and support rear bar 13, support 11 liang of front bar
End is connect with two 2 one end of front-end bracket of two sides respectively, and front-end bracket 2 raises knot using arc close to support 11 one end of front bar
Structure.The other end of each front-end bracket 2 is connected with corresponding support side arm 3 from beginning to end respectively, bar 12 and side supported on both sides in support
The front end of arm 3 is connected, and support 13 both ends of rear bar are connect with 3 end of support side arm of two sides respectively.
Each hanger includes front overhang sunpender 7, rear overhang sunpender 15 and connecting plate 9, and one end of front overhang sunpender 7 passes through the first threeway
Connector 1 is connect with 2 end of front-end bracket and support 3 front end of side arm respectively, and the other end passes through the first single-pass connector 8 and connecting plate 9
Connection；One end of the rear overhang sunpender 15 by the second three-way connection 14 respectively with support 3 rear end of side arm and support rear bar 13 1
End connection, the second single-pass of other end connector 10 are connect with connecting plate 9, referring to fig. 4.
In the present embodiment, connecting plate 9 together with wing is by Boards wall, is connect with face in this way using oval carbon plate
The mode of touching is attached, and what can be fixed is more firm.
Referring to Fig. 1,2, in the present embodiment, load buffer device includes glass fibre gauze and a slide bar 28, glass fibre
Intert multiple support rods 27 in gauze in parallel, the quantity of support rod can be selected voluntarily according to the actual situation here.When packing up, branch
Strut 27 is located on front-end bracket 2.Glass fibre gauze one end is fixed in support on bar 12, and the other end is fixed on slide bar
On 28.Slide bar 28 is parallel with support front bar 11, and slide bar 28 is moved forward and backward in take-up and pay-off device driving lower edge support side arm 3, realizes
Glass fibre gauze is packed up and is unfolded.Fig. 1 is collapsed state figure, and Fig. 2 is unfolding state figure.
Wherein, referring to Fig. 3, in the present embodiment, device further includes the bearing holder 6 for fixed straight line bearing 5, the holder
It is connected by screw bolts.Linear bearing 5 is fixed on supporting side walls 3 by bearing holder 6, and connect linear bearing 5 with slide bar 28, is protected
Card slide bar 28 moves in supporting side walls 3.
In the present embodiment, control device, the first retractable cable motor that take-up and pay-off device is made of single-chip microcontroller 30 and photoelectric door
25 and the executive device of first spool 21, the second retractable cable motor 26 and the second spool 22 composition form, it is single such as Fig. 1,2,3,4
The lower section of fixed plate is arranged in piece machine 30, and the end of a thread is fixed on slide bar 28 in spool, and photoelectric door includes the first limit in embodiment
Photoelectric door 29, second limits photoelectric door 31, and the first limit photoelectric door 29 is arranged when glass fibre gauze is packed up locating for slide bar 28
Position at, the second limit photoelectric door 31 is arranged when glass fibre gauze is released at 28 location of slide bar.Slide bar
28 one end is equipped with baffle and can trigger corresponding photoelectric door when baffle reaches above-mentioned two photoelectric door and transmit a signal to single-chip microcontroller 30.
Single-chip microcontroller 30 can be carried out wireless communication with external ground installation.Spool is also two.Single-chip microcontroller 30 control retractable cable motor 25 or
26 open and stop, and photoelectric door gives the operation that singlechip feedbsck signal terminates retractable cable motor 25 or 26；First retractable cable electricity
Machine 25 individually controls the first spool 21, passes through the slide bar 28 of the end of a thread other end by 21 rotary wire-reeling of the first spool straight
Spool holds 6 and moves on the support lower arm 3 of device left and right ends, to discharge glass fibre gauze；Second retractable cable motor 26
Second spool 22 is individually controlled, so that the slide bar 28 of the end of a thread other end is passed through linear axis by 22 rotary wire-reeling of the second spool
It holds 6 to move on the support lower arm 3 of device left and right ends, to pack up glass fibre gauze.
In the present embodiment, the single-pass connector, three-way connection, bearing holder 6 be all made of nylon material 3D printing production and
At.Meanwhile in order to reduce the quality of whole device, avoid impacting flight, all rod pieces involved in this embodiment
It is all made of the hollow carbon fiber bar of light quality.
Based on above-mentioned landing-gear, referring to fig. 4, the operational method of the present embodiment includes the following steps:
A. fixed-wing unmanned plane is before the standby for takeoff of ground, by oval connecting plate 9 and wing by Boards wall one
It rises.
B. release signal is sent to single-chip microcontroller 30 by ground installation, single-chip microcontroller 30 controls the second retractable cable motor 26 and opens
It opens, the second spool 22 of driving is rotated clockwise, and slide bar 28 is moved forward along supporting fuselage side arm 3；When the first limit light
After electric switch 29 is blocked by the baffle of slide bar, single-chip microcontroller 30 controls the second retractable cable motor 26 and stops working, and completes glass fiber yarn
Net is packed up；
C. fixed wing aircraft takes off, and starts operation；
D. after the completion of operation, ground installation transmission packs up signal to single-chip microcontroller 30, and single-chip microcontroller 30 controls the first retractable cable electricity
Machine 25 is opened, and the first spool 21 of driving is rotated clockwise, and moves backward slide bar 28 along supporting fuselage side arm 3；When
After two limit photoelectric doors 31 are blocked by the baffle of linear bearing 6, single-chip microcontroller 30 controls the first retractable cable motor 25 and stops working, complete
At the expansion of glass fibre gauze；
E. after the completion of described device, unmanned plane lands on field crops.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. being suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that including fixing support rack, load buffer
Device, take-up and pay-off device, the fixing support rack include chassis and several hangers, and landing-gear is installed on fixation by hanger
Below wing unmanned plane, chassis includes front-end bracket, support side arm, support front bar, bar and support rear bar in support, front-end bracket one
End is connect with support side arm head and the tail, the other end with support that front bar is vertical connect, bar is respectively and before the support side arm at both ends in support
End is connected, and support rear bar both ends are connect with the support side arm end of two sides respectively；The load buffer device includes glass fibre
Gauze and a slide bar, glass fibre gauze one end are fixed in support on bar, and the other end is fixed on slide bar, the slide bar
Parallel with support front bar, slide bar is moved forward and backward in take-up and pay-off device driving lower edge support side arm；
The take-up and pay-off device includes controller and several retractable cable motors and spool, and the end of a thread is fixed on slide bar in spool
On, controller passes through the direction of rotation of retractable cable motor control spool and line length, controller pass through a radio communication mold out
Block and external remote carry out wireless data communication；
The front-end bracket raises structure using arc close to support front bar one end；
After glass fiber yarn net unfolding, fixed-wing unmanned plane lands on field crops canopy.
2. according to claim 1 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
It include two hangers in fixing support rack, hanger is placed in the two sides of landing-gear, and each hanger includes front overhang sunpender, rear suspension
One end of bar and connecting plate, the front overhang sunpender is connected with front-end bracket end and support side arm front end respectively by three-way connection
It connects, the other end is connect with connecting plate；One end of the rear overhang sunpender by three-way connection respectively with support side arm rear end and support
The connection of rear bar one end, the other end are connect with connecting plate；When in use, the connecting plate is detachably connected with external unmanned plane.
3. according to claim 1 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
Intert several support rods in glass fibre gauze in parallel.
4. according to claim 1 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
Each rod piece is all made of hollow carbon fiber bar in landing-gear.
5. according to claim 1 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
The first limit of the location of slide bar place setting photoelectric door, slide bar institute when glass fibre gauze discharges when glass fibre gauze is packed up
At the position at place setting second limit photoelectric door, first limit photoelectric door and second limit photoelectric door respectively with controller phase
Even；One end of the slide bar is equipped with baffle.
6. according to claim 2 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
Slide bar both ends are equipped with linear bearing, and linear bearing is arranged in supporting side walls by bearing holder, and slide bar is existed by linear bearing
It is moved in supporting side walls.
7. according to claim 6 be suitable for fixed-wing unmanned plane field crops canopy landing-gear, which is characterized in that described
Front overhang sunpender, rear overhang sunpender pass through a single-pass connector and connect with connecting plate；The single-pass connector, three-way connection, bearing holder
Nylon material 3D printing is all made of to be made.
8. a kind of based on the described in any item sides suitable for fixed-wing unmanned plane field crops canopy landing-gear claim 1-7
Method, which comprises the steps of:
A. landing-gear and wing are fixed before the standby for takeoff of ground for fixed-wing unmanned plane；When original state, glass fibers
Dimension gauze is in unfolded state；
B. signal is packed up to the controller in take-up and pay-off device by the remote controler transmission on ground, controller controls retractable cable electricity
Machine is opened, and the corresponding spool rotation of retractable cable motor driven is moved with dragging slide bar along supporting side walls to support front bar direction, when
After first limit photoelectric door is blocked by the baffle of linear bearing, controller control retractable cable motor stops working, and completes glass fibers
Dimension gauze is packed up；
C. fixed-wing unmanned plane takes off, and starts operation；
D. when needs are in the landing of field crops canopy, by the remote controler transmission release signal on ground to controller, control
Device controls retractable cable motor and opens, and the rotation of retractable cable motor driven corresponding spool is to drag slide bar along supporting side walls to after support
Bar direction is mobile, and after the second limit photoelectric door is blocked by the baffle of linear bearing, controller controls retractable cable motor and stops work
Make, completes the expansion of glass fibre gauze；
After glass fiber yarn net unfolding, unmanned plane lands on field crops canopy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611128728.8A CN106516090B (en) | 2016-12-09 | 2016-12-09 | Suitable for fixed-wing unmanned plane field crops canopy landing-gear and its method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611128728.8A CN106516090B (en) | 2016-12-09 | 2016-12-09 | Suitable for fixed-wing unmanned plane field crops canopy landing-gear and its method |
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| CN106516090B true CN106516090B (en) | 2019-04-19 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10627386B2 (en) | 2016-10-12 | 2020-04-21 | Aker Technologies, Inc. | System for monitoring crops and soil conditions |
| CN106909162A (en) * | 2017-04-21 | 2017-06-30 | 普宙飞行器科技（深圳）有限公司 | A kind of vehicle-mounted Autonomous landing device of universal unmanned plane |
| CN112414445B (en) * | 2020-10-20 | 2021-09-24 | 华南农业大学 | Calibration device and calibration method based on crop group bearing capacity |
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| CN205076031U (en) * | 2015-09-07 | 2016-03-09 | 天津市天舞科技有限公司 | Helicopter cage undercarriage that adaptive capacity to environment is stronger |
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| CN105667783A (en) * | 2016-02-29 | 2016-06-15 | 南京信息工程大学 | Tiliting fixed-wing water unmanned plane with power structure |
| US9452843B1 (en) * | 2015-05-13 | 2016-09-27 | Bell Helicopter Textron Inc. | Inflating rotorcraft external airbags in stages |
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| US9452843B1 (en) * | 2015-05-13 | 2016-09-27 | Bell Helicopter Textron Inc. | Inflating rotorcraft external airbags in stages |
| CN205076031U (en) * | 2015-09-07 | 2016-03-09 | 天津市天舞科技有限公司 | Helicopter cage undercarriage that adaptive capacity to environment is stronger |
| CN205087139U (en) * | 2015-10-23 | 2016-03-16 | 精功（绍兴）复合材料技术研发有限公司 | Unmanned aerial vehicle organism |
| CN105667783A (en) * | 2016-02-29 | 2016-06-15 | 南京信息工程大学 | Tiliting fixed-wing water unmanned plane with power structure |
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| CN106516090A (en) | 2017-03-22 |
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