CN106516145B - Rotor craft safely captures device and catching method - Google Patents
Rotor craft safely captures device and catching method Download PDFInfo
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- CN106516145B CN106516145B CN201611167761.1A CN201611167761A CN106516145B CN 106516145 B CN106516145 B CN 106516145B CN 201611167761 A CN201611167761 A CN 201611167761A CN 106516145 B CN106516145 B CN 106516145B
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- rotor craft
- electromagnet
- rotor
- landing stage
- electromagnetic adsorption
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Classifications
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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
- B64F1/025—Arresting gear; Liquid barriers using decelerating or arresting beds
Abstract
The invention discloses a kind of rotor crafts to safely capture device, includes at least optical alignment mechanism, automatic hoisting mechanism, electromagnetic adsorption mechanism；Optical alignment mechanism makes the rotor craft into drop zone be in floating state for guiding rotor craft to enter drop zone；Automatic hoisting mechanism is placed on motion carrier, for lifting electromagnetic adsorption mechanism；When rotor craft enters floating state, electromagnetic adsorption mechanism is lifted, electromagnetic adsorption mechanism is made to be contacted with the rotor craft of floating state；After rotor craft and electromagnetic adsorption mechanism are in contact, elevator stops rising；Electromagnetic adsorption mechanism realizes the recycling of rotor craft for capturing locking rotor craft.The present invention also provides a kind of rotor crafts to safely capture method.The present invention is easy to operate, can facilitate recycling rotor craft, improves recycling safety coefficient.
Description
Technical field
The invention belongs to rotor craft safe falling fields, and in particular to a kind of rotor craft safely capture device and
Catching method.
Background technology
In recent years, small-sized rotor craft had been increasingly becoming the hot spot of robot field's research, have control it is easy,
The advantages that of low cost, motor-driven sensitive, is widely used in business supervision, measurement of taking photo by plane, emergency rescue etc..However, rotation
Rotor aircraft independently takes off or lands (recycling), especially on multi-degree-of-freedom motion platform (ship), however it remains this some
Problem.Notification number is that the patent of CN205131676U discloses a kind of vehicle-mounted flight instruments, it includes that can be vertically moved up or down in cabin
Lifter plate, the unmanned plane of remote control camera is loaded on lifter plate by electromagnetic absorption device absorption installation.When not needing nobody
When machine works, control unmanned plane is fallen on lifter plate, and then two on lifter plate block electromagnet is powered, nobody is firmly sucked
Machine, to realize the recycling of unmanned plane.Although the patent can realize the recycling of unmanned plane, its operating difficulties, unmanned plane recycling hardly possible
Degree is big, and safety coefficient is low.
Invention content
The purpose of the present invention is to provide a kind of rotor crafts to safely capture device and catching method, the device and method
It is easy to operate, recycling rotor craft can be facilitated, improve recycling safety coefficient.
Scheme of the present invention is：
A kind of rotor craft safely captures device, includes at least：
Optical alignment mechanism for guiding rotor craft to enter drop zone, and makes the rotor into drop zone fly
Row device is in floating state；
Automatic hoisting mechanism is placed on motion carrier, for lifting electromagnetic adsorption mechanism；When rotor craft enters hovering
When state, electromagnetic adsorption mechanism is lifted, electromagnetic adsorption mechanism is made to be contacted with the rotor craft of floating state；Work as rotor craft
After being in contact with electromagnetic adsorption mechanism, elevator just stops rising；
Electromagnetic adsorption mechanism realizes the recycling of rotor craft for capturing locking rotor craft.
By said program, the optical alignment mechanism includes at least the airborne optical camera being located on rotor craft and position
In the mark reference substance on the landing stage of automatic hoisting mechanism, by identifying reference substance in the magazine imaging features of airborne optical
Judge pose of the rotor craft relative to mark reference substance, guides the rotor craft to enter drop zone with this, and make
Rotor craft into drop zone is in floating state.The coke of Airborne Camera known to optical alignment mechanism Main Basiss
Radius and national forest park in Xiaokeng away from, circle, (by camera as national forest park in Xiaokeng, the special identifier (concentric circles) on landing stage
By the model projection in image plane, the feature (shape, size, position) of presentation can be with the observed bearing of camera (aircraft)
Change and change, shape, that is, radius of curvature decides that the posture of aircraft, size decide that the height of aircraft, position decide
The relative horizontal position of aircraft.And the focal length of camera belongs to the intrinsic parameter of camera, inherently decides imaging model.) right
Rotor craft relative pose is estimated, can be both remotely controlled and completed by operating personnel, can also be automatically complete by image procossing
At.
By said program, the automatic hoisting mechanism includes at least elevator, driving motor, universal lock, landing stage；Institute
It states driving motor to be placed on motion carrier, and is connect with elevator；The elevator is connect by universal lock with landing stage, is dropped
Platform and universal lock live link are fallen, can arbitrarily be rotated；The control of elevator motor driven can free raising and lowering, elevator can
The maximum height reached is set to the capture range of rotor craft；Elevator drives landing stage oscilaltion.Fly and if only if rotor
After row device is in contact with landing stage, elevator stops rising.
By said program, the electromagnetic adsorption mechanism includes at least absorption and control circuit, the gold on rotor craft
Belong to conducting holder, the electromagnet array on landing stage；The absorption and control circuit is connected using contact-making switch, and if only if
When metal conduction holder on rotor craft is in contact with some electromagnet unit in the electromagnet array on landing stage,
The circuit turn-on of the corresponding electromagnet, generates electromagnetic adsorption active force, rotor craft is adsorbed on landing stage.Absorption and control
Circuit is not only responsible for the conducting of electromagnet branch, also takes on the closing of elevator, and the work of the two is consistent, and reduces control
The complexity of system processed.
By said program, the camera of airborne optical camera is fixed on the position of centre of gravity of rotor craft, optical axis direction
It is mutually perpendicular to rotor craft organism level direction and downward, i.e. airborne optical camera reference frame and rotor craft machine
Body coordinate system is consistent；The mark reference substance is attached on landing stage, is a chequered with black and white figure being made of multiple concentric circles,
Wherein each the absolute radius of circle is Given information；Airborne optical camera observes the mark reference substance, foundation using the first visual angle
Its position and occupied area size in the visual field judges height of the current rotor craft with respect to landing stage and horizontal position,
Accurately rotor craft to be guided to enter drop zone.The current height of aircraft is related to the size of target in image,
Posture is related to its shape (elliptical radius of curvature parameter), and specific formula for calculation is：
Wherein, H represents aircraft altitude, fcFor camera focus, ArealRepresent realistic objective size, AimageRepresent figure
The target area size as in, rrealRepresent the radius of realistic objective, r1,imageAnd r2,imageRespectively represent elliptical long axis in image
With the length of short axle, roll and pitch represent roll angle and the inclination angle of aircraft, K1And K2For scale factor.
By said program, the universal lock includes at least pedestal, sphere and support spring；The pedestal connects with elevator
It connects；The sphere is placed in the circular arc type groove of pedestal；The support spring has multiple, and one end is connect with sphere, another
End is fixedly connected with landing stage, and landing stage is buckled in Universal lock and can arbitrarily be rotated, and is moved with environmental levels such as ground or hulls
Separation, keeps the movement between landing stage and other motion carriers interference-free mutually.
By said program, electromagnet array includes the electromagnet being set up in parallel, and each electromagnet is connected one and switched respectively
Control module；Each switch control module works independently, and is independent of each other；Each electromagnet is respectively adopted contact-making switch contact and leads
It is logical；Only when the metallic support of rotor craft and some contact-making switch contact, the electromagnet branch that is connect with the contact-making switch
Road is connected, and electromagnet obtains Electro Sorb rotor craft；Other electromagnet branches are not turned on.
In the present invention, the elevator can also pass through manually implemented oscilaltion.
The side that device carries out rotor craft capture is safely captured using above-mentioned rotor craft the present invention also provides a kind of
Method includes the following steps：
Rotary-wing flight keeps floating state to drop zone；
Landing stage rises under the drive of elevator, until close to the rotor craft in overhead；
When the contact-making switch of some electromagnet branch on rotor craft and landing stage contacts, which leads
Logical, rotor craft is absorbed and fixed on landing platform by electromagnet, completes recycling.
The beneficial effects of the present invention are：
Using the existing equipment of rotor craft, do not increase new load to rotor craft, it is easy to accomplish；Reduce rotor
The Operating Complexity in landing and capture (recycling) stage of aircraft；Operability is strong, both can be full-automatic, can also be artificial
Operation participates in；
Automatic hoisting mechanism has the initiative status, the rotor craft of contact hovering is initiatively removed, to avoid revolving
The accident for controlling state labile when rotor aircraft remote control or Autonomous landing and occurring, it is ensured that the landing of rotor craft is returned
Receive safety；
When rotor craft is in contact with any electromagnet being distributed on landing stage, it will trigger and be connect with the electromagnet
Branch conducting, so that electromagnet is generated certain magnetic force and " locking " carried out to the metal conduction holder of rotor craft, to make rotation
Rotor aircraft is during capture (recycling) without departing from landing stage；It is very convenient, accurate to capture；
Automatic hoisting mechanism actively rises the rotor craft for going contact in floating state, avoids rotation to a certain extent
The action of rotor aircraft itself landing, it is ensured that the recycling safety of rotor craft；
Electromagnet array is uniformly embedded on landing stage, to increase the metal conduction holder and electricity of rotor craft landing
The probability that magnet is in contact, it is ensured that effective capture to rotor craft；
All electromagnet are to be connected in parallel, and the switch of each electromagnet works independently, and is independent of each other, to effectively reduce energy
Consumption；
The metal conduction holder of rotor craft belongs to a part for electromagnet turning circuit, can be by electromagnet branch
Contact-making switch is connected, and keeps electromagnet conductive, reasonable for structure, is easy to implement；
Elevator is connect with landing stage using universal lock, the movement to keep apart landing stage and motion carrier is closed
Connection, belong to it is " soft " connection, landing stage without by force effect keep horizontality, stress can freedom and flexibility rotation, ensure rotor flying
Device safely captures.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the structural schematic diagram that rotor craft of the present invention safely captures device；
Fig. 2 is the floor map of landing stage；
Fig. 3 is the structural schematic diagram of universal lock；
Fig. 4 is the design schematic diagram of electromagnetic adsorption mechanism.
Wherein：1, motion carrier, 2, rotor craft, 3, metal conduction holder, 4, airborne optical camera, 5, landing stage,
6, universal lock, 6-1, pedestal, 6-2, sphere, 6-3, support spring, 6-4, circular arc type groove, 7, elevator, 8, driving motor,
9, reference substance is identified, 10, electromagnet, 11, switch control module, 12, contact-making switch, 13, Switching Power Supply, 14, power supply.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Referring to Fig. 1-Fig. 4, a kind of rotor craft safely captures device, includes at least optical alignment mechanism, automatic lifting
Mechanism, electromagnetic adsorption mechanism.
Optical alignment mechanism makes the rotor into drop zone fly for guiding rotor craft 2 to enter drop zone
Row device 2 is in floating state；It includes at least the airborne optical camera 4 being located on rotor craft 2 and is located at escalator
Mark reference substance 9 on the landing stage 5 of structure judges to revolve by identifying imaging features of the reference substance 9 in airborne optical camera 4
Rotor aircraft 2 relative to mark reference substance 9 pose, with this come guide rotor craft 2 enter drop zone, and make enter drop
The rotor craft 2 in domain of settling in an area is in floating state.In the present invention, airborne optical phase known to optical alignment mechanism Main Basiss
The focal length of machine 4, the radius of circle and national forest park in Xiaokeng estimate 2 relative pose of rotor craft, which both can be by
Operating personnel, which are remotely controlled, to complete, and can also be automatically performed by image procossing.In the preferred embodiment, airborne optical camera 4 is taken the photograph
As head is fixed on the position of centre of gravity of rotor craft 2, optical axis direction be mutually perpendicular to 2 organism level direction of rotor craft and
Downward, i.e. 4 reference frame of airborne optical camera is consistent with 2 body coordinate system of rotor craft, i.e. the position of airborne optical camera
Appearance is consistent with rotor craft 2；Mark reference substance 9 is attached on landing stage 5, is a black and white being made of multiple concentric circles
Interphased graphical, wherein each the absolute radius of circle is Given information, airborne optical camera 4 observes mark ginseng under different viewing angles
Object 9 is examined, the elliptical shape of different ratios is presented in mark reference substance 9, according to it in the position of image and size, thus it is speculated that rotor flying
Device is with respect to the azel of landing stage, and different ellipticities can also reflect the stability state of current rotor craft, with standard
Really guiding rotor craft 2 enters drop zone.
Automatic hoisting mechanism is placed on motion carrier 1, the electromagnet 10 for lifting electromagnetic adsorption mechanism；Work as rotor flying
When device 2 enters floating state, automatic hoisting mechanism lifts the electromagnet 10 of electromagnetic adsorption mechanism, makes the electromagnetism of electromagnetic adsorption mechanism
Iron 10 is contacted with the rotor craft 2 of floating state, because the contact-making switch 12 of electromagnetic adsorption mechanism is placed in by electromagnet 10, so
When electromagnet 10 and rotor craft 2 contact, contact-making switch 12 is also contacted with rotor craft 2.Automatic hoisting mechanism is at least
Including elevator 7, driving motor 8, universal lock 6, landing stage 5；Driving motor 8 is placed on motion carrier 1, is arranged on lifting
Near machine, pass through the raising and lowering of the form control elevator of capstan winch；Elevator 7 is connected by universal lock 6 with landing stage 5
It connects, landing stage 5 and 6 live links of universal lock can be rotated arbitrarily.Universal lock 6 is including at least pedestal 6-1, sphere 6-2 and symmetrically
The support spring 6-3 of setting；Pedestal 6-1 is connect with elevator 7；Sphere 6-2 is placed in the circular arc type groove 6-4 of pedestal 6-1；Branch
Support spring 6-3 has multiple, and one end is connect with sphere 6-2, and the other end is fixedly connected with landing stage 5, and landing stage 5 is in Universal lock
It can arbitrarily be rotated on button 6, keep the movement between landing stage 5 and motion carrier 1 interference-free mutually, always so as to landing stage 5
It can keep near-horizontal state.7 motor 8 driven of elevator control can free raising and lowering, the reachable maximum of elevator 7
Height is the capture range of rotor craft 2；Elevator 7 drives 5 oscilaltion of landing stage.And if only if rotor craft 2 with
After electromagnet 10 (contact-making switch 12) on landing stage 5 is in contact, elevator 7 just stops rising, and which can pass through
It manually controls, can also be realized by electromagnetic adsorption mechanism.
Electromagnetic adsorption mechanism realizes the recycling of rotor craft 1 for capturing locking rotor craft 2；Including at least suction
Attached control circuit, the metal conduction holder 3 on rotor craft 2, the electromagnet array on landing stage 5；Absorption control
Circuit processed is connected using contact-making switch, and if only if the metal conduction holder 3 on rotor craft 2 and the electromagnetism on landing stage 5
When iron array (contact-making switch 12) is in contact, the circuit turn-on with electromagnet display connection, electromagnet array generates electromagnetism and inhales
Rotor craft 2 is adsorbed on landing stage 5 by attached active force.Absorption and control circuit can not only be responsible for the conducting of electromagnet branch,
The closing of elevator 7 is also taken on, the work of the two is consistent, and reduces the complexity of control system.Electromagnet array is
The electromagnet 10 being set up in parallel.Absorption and control circuit includes power supply 14, Switching Power Supply 13, switch control module 11, each
Electromagnet 10 is connected a switch control module 11 respectively, each switch control module 11 respectively with power supply 14, contact out
Close 12 connections；One end of Switching Power Supply 13 is grounded, the other end of Switching Power Supply 13 and the metal conduction holder 3 of rotor craft 2
Connection, when rotor craft contacts one of electromagnet, the metal conduction holder 3 of rotor craft 2 also can be with this at this time
The contact-making switch 12 on 10 side of electromagnet contacts.When the metallic support 3 and some contact-making switch 12 (electromagnet 10) of rotor craft 2
When contact, be connected with the electromagnet branch of the contact-making switch 12 (electromagnet 10) connection, electromagnet 10 obtains Electro Sorb rotor flying
Device 2；Other electromagnet branches are not turned on.In the present invention, absorption and control circuit uses the structure design of separate type, a part (to supply
Power supply, switch control module, electromagnet, contact-making switch etc.) it is installed in landing stage；Another part (Switching Power Supply etc.) is installed in
On rotor craft, by within a safe range Switching Power Supply and metal conduction holder form, metal conduction holder plays
Conducting acts on, and goes being turned on and off for control switch control module with the power supply of small voltage, can effectively reduce the work(of the device
Consumption.
The side that device carries out rotor craft capture is safely captured using above-mentioned rotor craft the present invention also provides a kind of
Method includes the following steps：
Rotary-wing flight keeps floating state to drop zone (capture region)；At this point, image processing system is sent
Driving motor signal, triggering elevator is given to rise automatically and (rise with constant speed)；
Landing stage rises under the drive of elevator, close to the rotor craft in overhead；
When the contact-making switch of some electromagnet branch on rotor craft and landing stage contacts, in elevator stopping
It rises, rotor craft is absorbed and fixed on landing platform by electromagnet branch conducting, electromagnet, completes recycling.
During entirely capture (recycling), the control system of rotor craft is not needed without making complicated order yet
Increase any extra load equipment, it is only necessary to keep floating state.
The present invention, according to photosignal state, can realize aircraft and do not advising in the case of someone or unmanned intervention
(recycling) is safely captured on ground (out-of-flatness or inclined-plane) then or the carrier (ship) in compound movement, ensure that aircraft
Safety and environmental suitability.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of rotor craft safely captures device, it is characterised in that include at least：
Optical alignment mechanism for guiding rotor craft to enter drop zone, and makes the rotor craft into drop zone
In floating state；
Automatic hoisting mechanism is placed on motion carrier, for lifting electromagnetic adsorption mechanism；When rotor craft enters floating state
When, electromagnetic adsorption mechanism is lifted, electromagnetic adsorption mechanism is made to be contacted with the rotor craft of floating state；When rotor craft and electricity
After magnetic suck mechanism is in contact, elevator stops rising；The automatic hoisting mechanism includes at least elevator, driving electricity
Machine, universal lock, landing stage；The driving motor is placed on motion carrier, and is connect with elevator；The elevator passes through ten thousand
It is connect to lock with landing stage, landing stage can be rotated arbitrarily；Driving motor makes elevator achive up and down, to drive landing
Platform oscilaltion；
Electromagnetic adsorption mechanism realizes the recycling of rotor craft for capturing locking rotor craft.
2. rotor craft according to claim 1 safely captures device, it is characterised in that：The optical alignment mechanism is extremely
Less include be located at rotor craft on airborne optical camera and the mark reference substance on the landing stage of automatic hoisting mechanism,
Judge position of the rotor craft relative to mark reference substance by identifying reference substance in the magazine imaging features of airborne optical
Appearance guides rotor craft to enter drop zone with this, and the rotor craft into drop zone is made to be in floating state.
3. rotor craft according to claim 1 safely captures device, it is characterised in that：The electromagnetic adsorption mechanism is extremely
Include absorption and control circuit, the metal conduction holder on rotor craft, the electromagnet array on landing stage less；Institute
It states absorption and control circuit to be connected using contact-making switch, be powered on landing stage and if only if the metal conduction holder on rotor craft
When some electromagnet unit in magnet array is in contact, the circuit turn-on of the corresponding electromagnet generates electromagnetic adsorption effect
Rotor craft is adsorbed on landing stage by power.
4. rotor craft according to claim 2 safely captures device, it is characterised in that：The mark reference substance is by black
White alternate concentric circles composition, airborne optical camera observes the mark reference substance using the first visual angle, according to it in the visual field
Position and occupied area size judge height of the current rotor craft with respect to landing stage and horizontal position, with accurate guiding revolve
Rotor aircraft enters drop zone.
5. rotor craft according to claim 1 safely captures device, it is characterised in that：The universal lock at least wraps
Include pedestal, sphere and support spring；The pedestal is connect with elevator；The sphere is placed in the circular arc type groove of pedestal；Institute
Stating support spring has multiple, and one end is connect with sphere, and the other end is fixedly connected with landing stage, makes landing stage and motion carrier
Between movement it is interference-free mutually.
6. rotor craft according to claim 3 safely captures device, it is characterised in that：Electromagnet array includes arranged side by side
The electromagnet of setting；Each electromagnet is connected a switch control module respectively；Each switch control module works independently, mutually not
It influences；Contact-making switch contact conducting is respectively adopted in each electromagnet；Only when the metallic support of rotor craft connects with some
When touching switch contact, be connected with the electromagnet branch of contact-making switch connection, work of electromagnet generates absorption to rotor craft
Effect；And other electromagnet branches are not turned on.
7. any rotor craft safely captures device and carries out rotor craft capture in a kind of 1-6 using claim
Method, it is characterised in that include the following steps：
Rotary-wing flight keeps floating state to drop zone；
Landing stage rises under the drive of elevator, until close to the rotor craft in overhead；
When the contact-making switch of some electromagnet branch on rotor craft and landing stage contacts, this electromagnet branch is led
Logical, rotor craft is absorbed and fixed on landing platform by electromagnet, completes recycling.
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| CN201611167761.1A CN106516145B (en) | 2016-12-16 | 2016-12-16 | Rotor craft safely captures device and catching method |
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| CN201611167761.1A CN106516145B (en) | 2016-12-16 | 2016-12-16 | Rotor craft safely captures device and catching method |
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| CN205131676U (en) * | 2015-11-26 | 2016-04-06 | 中国人民解放军军事交通学院 | On -vehicle flying device |
| CN105818966A (en) * | 2016-03-25 | 2016-08-03 | 余江 | Landing fixing device for unmanned aerial vehicle and fixing method for landing fixing device |
| CN205801539U (en) * | 2016-06-16 | 2016-12-14 | 张斌 | A kind of electromagnetic type unmanned plane shuts down platform and system |
| CN106081146A (en) * | 2016-07-18 | 2016-11-09 | 厦门大壮深飞科技有限公司 | Unmanned plane based on landing guidance supply platform |
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