CN106564610B - A kind of rotor wing unmanned aerial vehicle auxiliary landing system - Google Patents
A kind of rotor wing unmanned aerial vehicle auxiliary landing system Download PDFInfo
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- CN106564610B CN106564610B CN201610946093.6A CN201610946093A CN106564610B CN 106564610 B CN106564610 B CN 106564610B CN 201610946093 A CN201610946093 A CN 201610946093A CN 106564610 B CN106564610 B CN 106564610B
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- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004807 localization Effects 0.000 claims description 8
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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
- B64F1/007—Helicopter portable landing pads
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses a kind of rotor wing unmanned aerial vehicles to assist landing system, including pedestal and landing platform, the landing stage+module is on the pedestal, detection components for detecting rotor wing unmanned aerial vehicle flight parameter and flight attitude are installed on the landing platform, the lifting assembly for being gone up and down to landing platform and the tilt component for adjusting landing platform inclination state are provided between the pedestal and the landing platform；The height and heeling condition that the lifting assembly and tilt component mutual cooperation adjust the landing platform are to match with the flight attitude of the rotor wing unmanned aerial vehicle and convenient for landing.Rotor wing unmanned aerial vehicle auxiliary landing system of the invention has many advantages, such as to improve unmanned plane landing reliability.
Description
Technical field
The invention mainly relates to aerospace craft technical fields, refer in particular to a kind of rotor wing unmanned aerial vehicle auxiliary landing system.
Background technique
With the fast development of rotor wing unmanned aerial vehicle application technology in world wide, rotor wing unmanned aerial vehicle obtains more and more extensive
Using the application especially in terms of logistics is already close to practical.But the flight and landing due to rotor wing unmanned aerial vehicle are by weather
Very big with the influence of small range sinuous flow, how the application under urban area complexity flow conditions is even more a great problem.It is existing
Flight performance of the rotor wing unmanned aerial vehicle under complicated weather and sinuous flow environment has had certain promotion, and in complicated weather and unrest
The landing flowed under environment then never has effective solution scheme.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
The rotor wing unmanned aerial vehicle that kind improves landing reliability assists landing system.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of rotor wing unmanned aerial vehicle auxiliary landing system, including pedestal and landing platform, the landing stage+module is in described
On pedestal, the detection components for detecting rotor wing unmanned aerial vehicle flight parameter and flight attitude, institute are installed on the landing platform
It states the lifting assembly being provided between pedestal and the landing platform for being gone up and down to landing platform and is used to adjust
The tilt component of platform inclination state drops；The lifting assembly and tilt component, which cooperate, adjusts the height of the landing platform
And heeling condition is convenient for landing to match with the flight attitude of the rotor wing unmanned aerial vehicle.
As a further improvement of the above technical scheme:
Fixation kit for rotor wing unmanned aerial vehicle to be fixed is installed on the landing platform.
The fixation kit includes driving motor, transmission mechanism and two pieces of fixture blocks, and described rise is stretched out in the upper end of the fixture block
Platform drops, two pieces of fixture blocks are connected by transmission mechanism with the driving motor, and under the driving of driving motor movement with
Clamp the undercarriage of the rotor wing unmanned aerial vehicle.
Three-dimensional localization component is provided on the pedestal, for realizing landing platform movement in the horizontal plane and vertical
Rotary motion on direction.
The three-dimensional localization component includes X-axis moving cell, Y-axis moving cell and Z axis rotary unit, the X-axis movement
Unit and Y-axis moving cell realize the movement of landing platform in the horizontal plane for cooperating, and the Z axis rotary unit is used
In the rotation of the realization landing platform in the vertical direction.
The lifting assembly includes elevator, one end of the elevator and phase in the middle part of the lower surface of the landing platform
Even, the other end is connected with the pedestal.
It is connected between the elevator and the landing platform by universal joint.
The tilt component includes the multiple line wheels for being installed on landing platform side, and the line wheel and the landing are flat
It is connected between platform by line, the line wheel realizes the flexible of line by servo motor driving rotation.
The detection components include multiple ultrasonic sensors and multiple radar sensors, multiple ultrasonic sensors
It is installed on the side of the landing platform, for monitoring flight attitude when rotor wing unmanned aerial vehicle landing；Multiple radar sensings
Device is annularly uniformly installed on the landing platform, detects for the flight parameter to rotor wing unmanned aerial vehicle.
Be provided with display component on the landing platform, for show the landing platform state and realize warning and
Guiding function.
Compared with the prior art, the advantages of the present invention are as follows:
Rotor wing unmanned aerial vehicle of the invention assists landing system, detects flying for the rotor wing unmanned aerial vehicle to landing by detection components
Row parameter and flight attitude are adjusted the height of landing platform with heeling condition by lifting assembly and tilt component, with
So that landing platform is matched with the flying height of unmanned plane, flight attitude, to facilitate the landing operation of unmanned plane, improves nobody
Machine landing reliability under complicated weather and sinuous flow environment.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention.
Fig. 2 is landing platform overlooking structure diagram of the invention.
Fig. 3 is the structural schematic diagram of fixation kit of the invention.
Fig. 4 is the structural schematic diagram of three-dimensional localization component of the invention.
Fig. 5 is the structural schematic diagram of tilt component of the invention.
Fig. 6 is operation schematic diagram one of of the present invention in concrete application embodiment.
Fig. 7 is the two of operation schematic diagram of the present invention in concrete application embodiment.
Fig. 8 is the three of operation schematic diagram of the present invention in concrete application embodiment.
Fig. 9 is the four of operation schematic diagram of the present invention in concrete application embodiment.
Figure 10 is the five of operation schematic diagram of the present invention in concrete application embodiment.
Figure 11 is the six of operation schematic diagram of the present invention in concrete application embodiment.
Figure label indicates: 1, landing platform；2, tilt component；21, line；22, directive wheel；23, line wheel；24, servo electricity
Machine；3, three-dimensional localization component；31, X-axis moving cell；32, Y-axis moving cell；33, Z axis rotary unit；4, fixation kit；41,
Fixture block；42, connecting rod；43, camshaft；44, shaft coupling；45, mounting plate；46, support rod；47, driving motor；5, display component；
6, detection components；61, radar sensor；62, ultrasonic sensor；7, lifting assembly；71, elevator；8, unmanned plane；81, it rises
Fall frame.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1 to 11, the rotor wing unmanned aerial vehicle of the present embodiment assists landing system, including pedestal and landing platform 1,
Landing platform 1 is mounted on the base, and is equipped on landing platform 1 for detecting 8 flight parameter of rotor wing unmanned aerial vehicle and flight attitude
Detection components 6, be provided between pedestal and landing platform 1 lifting assembly 7 for being gone up and down to landing platform 1 and
For adjusting the tilt component 2 of 1 heeling condition of landing platform；Lifting assembly 7 and tilt component 2, which cooperate, adjusts landing platform
1 height and heeling condition is convenient for landing to match with the flight attitude of rotor wing unmanned aerial vehicle 8.Rotor of the invention nobody
Machine assists landing system, and the flight parameter and flight attitude by the detection of detection components 6 to the rotor wing unmanned aerial vehicle 8 of landing pass through
Lifting assembly 7 is adjusted with height of the tilt component 2 to landing platform 1 with heeling condition, so that landing platform 1 and unmanned plane
8 flying height, flight attitude match, to facilitate the landing operation of unmanned plane 8, improve unmanned plane 8 in complicated weather and
Landing reliability under sinuous flow environment.
As shown in Fig. 3, Fig. 6 to Fig. 8, in the present embodiment, it is equipped on landing platform 1 for being carried out to rotor wing unmanned aerial vehicle 8
Fixed fixation kit 4.Fixation kit 4 includes that driving motor 47, transmission mechanism and two pieces of fixture blocks 41, transmission mechanism include connecting rod
42, camshaft 43 and shaft coupling 44, wherein the lower section two sides of landing platform 1 are provided with support plate, and peace is provided between support plate
Loading board 45, mounting plate 45 are supported in support plate by support rod 46, and driving motor 47 is then installed on mounting plate 45, driving electricity
The shaft of machine 47 is connected by shaft coupling 44 with camshaft 43, and camshaft 43 passes through the bottom end phase of connecting rod 42 and two fixture blocks 41
Even, the top of two fixture blocks 41 then protrudes landing platform 1.When fastening to unmanned plane 8, driving motor 47 is rotated, and is driven
Camshaft 43 rotates, and drives two 41 left and right directions of fixture block mobile by connecting rod 42, two fixture blocks 41 is made to clamp unmanned plane 8 respectively
Sledge type undercarriage 81, realize unmanned plane 8 in the fixation of landing platform 1, wherein the front end of fixture block 41 is contacted with undercarriage 81
The arc-shaped shape in position, when two fixture blocks 41 are clamped undercarriage 81 and moved outward, 8 undercarriage 81 of unmanned plane can in arc
It is run down under the action of shape fixture block 41, so that it is fastened after contacting with landing platform 1, guarantees the reliability of fastening.
Wherein fixation kit 4 can be set to multiple groups, be respectively arranged in the front-end and back-end of landing platform 1, to guarantee that unmanned plane 8 can
It can be also reliably fixed in heeling condition.
As shown in Fig. 2, detection components 6 include four ultrasonic sensors 62 and four radar sensors in the present embodiment
61, four ultrasonic sensors 62 are installed on the four corners of landing platform 1, for monitoring flight when 8 landing of rotor wing unmanned aerial vehicle
Posture；Four radar sensors 61 are annularly uniformly installed on four side centers of landing platform 1 and away from side certain distances,
It arranges between ultrasonic sensor 62 in 45 degree angles, for rotor wing unmanned aerial vehicle 8 flight parameter (including quantity, position,
Heading, flying height, flying speed etc.) it is detected.62 collective effect phase of radar sensor 61 and ultrasonic sensor
Mutually supplement, it is ensured that flight attitude of the rotor wing unmanned aerial vehicle 8 during landing can real-time and accurately be monitored to and feed back control
In system processed.In addition it is provided with display component 5 on landing platform 1, using LED light group and H-shaped arrangement, there is small in size, consumption
Can less, brightness is high and the feature of color multiplicity, the shape of different color and luminance combined to show landing platform 1 can be utilized
State and realization warning and guiding function.
As shown in Figure 1 and Figure 4, three-dimensional localization component 3 is provided in the present embodiment, on pedestal, for realizing landing platform 1
Rotary motion in movement in the horizontal plane and vertical direction, functions simultaneously as pedestal and plays a supporting role.It is wherein three-dimensional fixed
Hyte part 3 includes X-axis moving cell 31, Y-axis moving cell 32 and Z axis rotary unit 33, and X-axis moving cell 31 and Y-axis move
Unit 32 realizes the movement of landing platform 1 in the horizontal plane for cooperating, and Z axis rotary unit 33 is flat for realizing landing
The rotation of platform 1 in the vertical direction.Wherein X-axis moving cell 31 includes X-axis slide rail and sliding sleeve, and X-axis slide rail is along as shown in Figure 4
X-direction arrangement, sliding sleeve are then slidedly arranged on the movement that X-direction is realized in X-axis slide rail；Y-axis moving cell 32 is then installed on X-axis fortune
On moving cell 31, for structure with X-axis moving cell 31, glide direction is Y direction；X-axis rotary unit is then installed on Y-axis fortune
On moving cell 32, including rotary shaft, rotary shaft drive the rotation of landing platform 1 in rotation, to be further ensured that landing is flat
The state of platform 1 matches with the landing posture of unmanned plane 8.
As shown in Figure 1 and Figure 5, in the present embodiment, lifting assembly 7 includes elevator 71, one end of elevator 71 and landing
It is connected in the middle part of the lower surface of platform 1, the other end is connected with pedestal, wherein passes through Universal connector between elevator 71 and landing platform 1
Head is connected, and can guarantee the smooth inclination of landing platform 1.
As shown in figure 5, tilt component 2 includes the multiple line wheels 23 for being installed on 1 side of landing platform, line in the present embodiment
Pass through the superpower tension clue of line 21(between wheel 23 and landing platform 1) connection, wherein one end of superpower tension clue has been fixed on
It drops on 1 bottom corner location of platform, the other end is then connect through bypassing the directive wheel 22 in support plate with line wheel 23, wherein line wheel 23
The contraction for rotating and realizing line 21 is then driven by servo motor 24, can guarantee to be precisely controlled using servo motor 24.By right
The length of line 21 is controlled, so as to realize the inclination control of landing platform 1.When detection components 6 detect rotor nobody
Rotor wing unmanned aerial vehicle 8 is assisted landing system first close to landing platform 1 and when can not voluntarily land because of weather or air-flow reason by machine 8
The control system of system, which then issues instruction, allows the movement of three-dimensional localization component 3 that landing platform 1 is made to be located at the lower section of unmanned plane 8, then leads to
It crosses elevator 71 to rise to landing platform 1 at 8 position of unmanned plane, while driving landing platform 1 and coupled device one
Rise promoted, and using tilt component 2 realize on 360 ° of directions of surrounding quick slant different angle, with reach with rotor nobody
The identical purpose of 8 landing angle of machine, enables rotor wing unmanned aerial vehicle 8 to drop on the designated position on 1 top of landing platform, convenient for solid
Determine component 4 undercarriage 81 of rotor wing unmanned aerial vehicle 8 is fixed.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of rotor wing unmanned aerial vehicle assists landing system, which is characterized in that including pedestal and landing platform (1), the landing is flat
Platform (1) is installed on the pedestal, be equipped on the landing platform (1) for detect rotor wing unmanned aerial vehicle (8) flight parameter and
The detection components (6) of flight attitude, be provided between the pedestal and the landing platform (1) for landing platform (1) into
The lifting assembly (7) that row is gone up and down and the tilt component (2) for adjusting landing platform (1) heeling condition；The lifting assembly
(7) and tilt component (2) cooperate adjust height and the heeling condition of the landing platform (1) with the rotor nobody
The flight attitude of machine (8) matches and is convenient for landing.
2. rotor wing unmanned aerial vehicle according to claim 1 assists landing system, which is characterized in that on the landing platform (1)
Fixation kit (4) for rotor wing unmanned aerial vehicle (8) to be fixed is installed.
3. rotor wing unmanned aerial vehicle according to claim 2 assists landing system, which is characterized in that fixation kit (4) packet
Driving motor (47), transmission mechanism and two pieces of fixture blocks (41) are included, the landing platform (1) is stretched out in the upper end of the fixture block (41),
Two pieces of fixture blocks (41) are connected by transmission mechanism with the driving motor (47), and are transported under the driving of driving motor (47)
The dynamic undercarriage (81) to clamp the rotor wing unmanned aerial vehicle (8).
4. rotor wing unmanned aerial vehicle as claimed in any of claims 1 to 3 assists landing system, which is characterized in that described
Three-dimensional localization component (3) are provided on pedestal, for realizing on landing platform (1) movement in the horizontal plane and vertical direction
Rotary motion.
5. rotor wing unmanned aerial vehicle according to claim 4 assists landing system, which is characterized in that the three-dimensional localization component
(3) include X-axis moving cell (31), Y-axis moving cell (32) and Z axis rotary unit (33), the X-axis moving cell (31) and
Y-axis moving cell (32) is for cooperating to realize the movement of landing platform (1) in the horizontal plane, the Z axis rotary unit
(33) rotation for realizing the landing platform (1) in the vertical direction.
6. rotor wing unmanned aerial vehicle as claimed in any of claims 1 to 3 assists landing system, which is characterized in that described
Lifting assembly (7) includes elevator (71), one end of the elevator (71) and phase in the middle part of the lower surface of the landing platform (1)
Even, the other end is connected with the pedestal.
7. rotor wing unmanned aerial vehicle according to claim 6 assists landing system, which is characterized in that the elevator (71) and institute
It states and is connected between landing platform (1) by universal joint.
8. rotor wing unmanned aerial vehicle according to claim 7 assists landing system, which is characterized in that tilt component (2) packet
The multiple line wheels (23) for being installed on landing platform (1) side are included, are led between the line wheel (23) and the landing platform (1)
Line (21) connection is crossed, the line wheel (23) realizes the flexible of line (21) by servo motor (24) driving rotation.
9. rotor wing unmanned aerial vehicle as claimed in any of claims 1 to 3 assists landing system, which is characterized in that described
Detection components (6) include multiple ultrasonic sensors (62) and multiple radar sensors (61), multiple ultrasonic sensors
(62) it is installed on the side of the landing platform (1), for monitoring flight attitude when rotor wing unmanned aerial vehicle (8) landing；Multiple institutes
Radar sensor (61) is stated annularly uniformly to be installed on the landing platform (1), join for the flight to rotor wing unmanned aerial vehicle (8)
Number is detected.
10. rotor wing unmanned aerial vehicle as claimed in any of claims 1 to 3 assists landing system, which is characterized in that described
It is provided with display component (5) on landing platform (1), warns and draws for showing the state of the landing platform (1) and realizing
Lead effect.
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| CN201610946093.6A CN106564610B (en) | 2016-10-26 | 2016-10-26 | A kind of rotor wing unmanned aerial vehicle auxiliary landing system |
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| CN201610946093.6A CN106564610B (en) | 2016-10-26 | 2016-10-26 | A kind of rotor wing unmanned aerial vehicle auxiliary landing system |
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| CN106564610B true CN106564610B (en) | 2019-02-15 |
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| CN207466993U (en) * | 2017-10-30 | 2018-06-08 | 深圳市大疆创新科技有限公司 | Clamping device and the base station with clamping device and UAV system |
| CN109153458B (en) * | 2017-10-31 | 2022-04-26 | 深圳市大疆创新科技有限公司 | Positioning mechanism, unmanned aerial vehicle basic station and unmanned aerial vehicle system |
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| WO2021210136A1 (en) * | 2020-04-16 | 2021-10-21 | 日本電気株式会社 | Landing facility, aircraft system, and landing control method |
| CN111552304B (en) * | 2020-06-03 | 2024-03-05 | 中国人民解放军96901部队25分队 | Unmanned aerial vehicle recycling system and recycling method |
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| CN113247287B (en) * | 2021-05-17 | 2022-04-29 | 武汉理工大学 | Many rotor unmanned aerial vehicle take off and land platform |
| CN114486149B (en) * | 2022-01-19 | 2023-11-24 | 山东交通学院 | A wind field simulation generation device and method based on drone testing |
| CN117550126B (en) * | 2024-01-11 | 2024-04-02 | 华慧科技(长春)有限公司 | Unmanned aerial vehicle is with platform that takes off and land |
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