CN106586012A - Unmanned plane capable of adapting to landing field environment automatically - Google Patents
Unmanned plane capable of adapting to landing field environment automatically Download PDFInfo
- Publication number
- CN106586012A CN106586012A CN201611138470.XA CN201611138470A CN106586012A CN 106586012 A CN106586012 A CN 106586012A CN 201611138470 A CN201611138470 A CN 201611138470A CN 106586012 A CN106586012 A CN 106586012A
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- CN
- China
- Prior art keywords
- unmanned plane
- distance measuring
- landing
- loading plate
- ultrasonic distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- 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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention relates to an unmanned plane capable of adapting to a landing field environment automatically, and the unmanned plane comprises a plane body, undercarriages, and a field recognition system. The undercarriages and the field recognition system are respectively disposed on the lower surface of the plane body, wherein the number of undercarriages is not less than two, and the undercarriages are uniformly arranged around the axis of the plane body. The field recognition system is arranged to be coaxial with the lower surface of the plane body. Each undercarriage comprises a positioning block, a telescoping bearing rod, a driving mechanism, and a bearing plate. The field recognition system comprises a bearing housing, a substrate, an ultrasonic ranging radar, a monitoring camera, a laser marking device, and a control circuit. According to the invention, good positioning supporting is provided for the landing and taking-off of the unmanned plane, and the alignment of the landing position can be effectively carried out according to the actual conditions of a landing field of the unmanned plane. Meanwhile, the undercarriages can be flexibly adjusted according to the roughness of the surface of the landing field, so as to guarantee that the plane body remains parallel to the horizontal plane to maximum degree after the unmanned plane lands.
Description
Technical field
The present invention relates to a kind of unmanned plane structure, is exactly a kind of unmanned plane of self adaptation landing space enrironment.
Background technology
At present unmanned plane taking photo by plane, geological exploration, extremely wide application has been obtained in the field such as daily amusement, but with
And unmanned plane application is goed deep into, find in use, when being risen and fallen, especially operation in the wild is simultaneously for current unmanned plane
When being landed, current unmanned plane cannot effectively according to the practical situation in landing place, the distribution of flexible undercarriage
Structure, easily occurs inclining even rollover phenomenon, so as to be unfavorable for unmanned plane Portable device so as to cause unmanned plane after landing
And the safety and stability of unmanned plane self-operating, adaptability of the unmanned plane to field work environment is seriously limited, and
It is currently mostly to be equipped with and carry the dedicated platform for meeting unmanned plane landing, although can effectively meet for this problem
It is steady when unmanned plane lands, but platform carrying difficulty is relatively large, and using motility wretched insufficiency, it is impossible to according to nobody
Machine operation needs flexible arrangement, while also significantly limit the range of operation of unmanned plane, therefore for this present situation, compels to be essential
A kind of unmanned plane structure of invention is developed, with not enough more than overcoming current unmanned plane to exist in use.
The content of the invention
For a kind of not enough present on prior art, unmanned plane of self adaptation landing space enrironment of present invention offer, should
Inventive structure is constituted simply, flexible and convenient to use, on the one hand can provide good positioning enabling capabilities for unmanned plane landing, another
Aspect effectively can carry out alignment operation, while can be according to place according to unmanned plane landing place practical situation to landing place
Surface relief situation is adjusted flexibly landing gear structure, it is ensured that unmanned plane to land and at utmost keep level between rear body and horizontal plane
State, improves the stability and reliability of the landing of unmanned plane.
To achieve these goals, the present invention is by the following technical solutions realizing：
A kind of unmanned plane of self adaptation landing space enrironment, including body, undercarriage and place identifying system, described undercarriage
Body lower surface, wherein undercarriage at least two are installed in place identifying system, and it is uniform around body axis, and place is known
Other system is coaxially distributed with body lower surface, and undercarriage includes locating piece, flexible carrier bar, drive mechanism and loading plate, stretches
Carrier bar two ends are hinged respectively by governor motion with locating piece and loading plate, drive mechanism be arranged on locating piece on and respectively with
Flexible carrier bar and governor motion connect, and locating piece is connected with body lower surface, and described loading plate is horizontal by 0 ° -90 °
Angle, place identifying system includes carrying shell, pedestal, ultrasonic distance measuring radar, monitoring camera, laser marking device and control
Circuit, carries shell and is arranged on body lower surface by pedestal, and laser marking device and monitoring camera are embedded in carrying shell appearance
Face, and described laser marking device with carry shell be coaxially distributed, and with horizontal plane distribution, monitoring camera by adjust
Mechanism is hinged with shell outer surface is carried, and ultrasonic distance measuring radar is some, and is separately mounted on the loading plate of undercarriage, and ultrasound
Ripple range radar axis and horizontal plane are distributed, and control circuit is embedded in carrying shell, and respectively with drive mechanism, adjust machine
The control circuit electrical connection of structure, ultrasonic distance measuring radar, monitoring camera, laser marking device and body.
Further, described flexible carrier bar is at least two-stage Telescopic rod structure.
Further, described loading plate effective length for body effective length 1/3-2/3, and loading plate two ends with
Body center line is symmetrical.
Further, when the ultrasonic distance measuring radar on described loading plate is one, then the ultrasonic distance measuring radar position
At loading plate point midway, when the ultrasonic distance measuring radar on loading plate is two or more, then each ultrasonic ranging
Radar is symmetrical with loading plate midpoint.
Present configuration is constituted simply, flexible and convenient to use, on the one hand can provide good positioning for unmanned plane landing
Support ability, on the other hand effectively can carry out alignment operation according to unmanned plane landing place practical situation to landing place, while
Landing gear structure can be adjusted flexibly according to place surface relief situation, it is ensured that maximum journey between unmanned plane landing rear body and horizontal plane
Degree keeps horizontality, improves the stability and reliability of the landing of unmanned plane.
Description of the drawings
With reference to the accompanying drawings and detailed description describing the present invention in detail；
Fig. 1 is schematic structural view of the invention；
Specific embodiment
Technological means, creation characteristic, reached purpose and effect to make present invention realization is easy to understand, with reference to concrete
Embodiment, is expanded on further the present invention.
A kind of unmanned plane of self adaptation landing space enrironment as described in Figure 1, including the identification of body 1, undercarriage 2 and place
System 3, undercarriage 2 and place identifying system 3 are installed in the lower surface of body 1, wherein undercarriage 2 at least two, and around machine
The axis of body 1 is uniform, and place identifying system 3 is coaxially distributed with the lower surface of body 1, and undercarriage 2 includes locating piece 21, flexible carrier bar
22nd, drive mechanism 23 and loading plate 24, stretch the two ends of carrier bar 22 by governor motion respectively with locating piece 21 and loading plate 24
Be hinged, drive mechanism 23 is arranged on locating piece 21 and is connected with flexible carrier bar 22 and governor motion respectively, locating piece 21 and
The lower surface of body 1 connects, and horizontal by 0 ° of -90 ° of angle, place identifying system 3 includes carrying shell 36, pedestal loading plate 24
31st, ultrasonic distance measuring radar 32, monitoring camera 33, laser marking device 34 and control circuit 35, carry shell 36 and pass through pedestal
31 are arranged on the lower surface of body 1, and laser marking device 34 and monitoring camera 33 are embedded in the carrying outer surface of shell 36, and laser mark
Note device 34 and the coaxial distribution of carrying shell 36, and be distributed with horizontal plane, monitoring camera 33 is by governor motion and carries
The outer surface of shell 36 is hinged, and ultrasonic distance measuring radar 32 is some, and is separately mounted on the loading plate 24 of undercarriage 2, and ultrasound wave
The axis of range radar 32 and horizontal plane are distributed, and control circuit 35 is embedded in carrying shell 36, and respectively with drive mechanism 23, adjust
The control circuit electrical connection of section mechanism, ultrasonic distance measuring radar 32, monitoring camera 33, laser marking device 34 and body 1.
In the present embodiment, described flexible carrier bar 22 is at least two-stage Telescopic rod structure.
In the present embodiment, the described effective length of loading plate 24 is 1/3-the 2/3 of the effective length of body 1, and loading plate 24
Two ends are symmetrical with the center line of body 1.
In the present embodiment, when the ultrasonic distance measuring radar 32 on described loading plate 24 is one, then the ultrasonic ranging
Radar 32 be located at the point midway of loading plate 24 at, the ultrasonic ranging thunder 32 on loading plate 24 up to for two or more when,
Then each ultrasonic distance measuring radar 32 is symmetrical with the midpoint of loading plate 24.
The present invention in the specific implementation, when unmanned plane need landed when, first by laser marking device to nobody
Machine landing site location is positioned, it is to avoid unmanned plane deviates landing place in descent, while passing through monitoring camera pair
Ground situation in landing field carries out video information collection and feedback, is easy to operator to understand field conditions of landing, and in time to drop
Dropping place is put and is adjusted optimization, simultaneously, by ultrasonic distance measuring radar to position place corresponding to each undercarriage during landing
Surface relief situation is measured, and after the data operation that control circuit is detected to each ultrasonic distance measuring radar, respectively
Effective length, orientation angle and the loading plate and horizontal plane angle for driving the flexible carrier bar of each undercarriage is adjusted, so as to
Realize that the difference in height between the loading plate of each undercarriage matches with surface relief difference in height, so as to realize unmanned plane landing after machine
Body keeps the purpose of horizontality with horizontal plane.
Present configuration is constituted simply, flexible and convenient to use, on the one hand can provide good positioning for unmanned plane landing
Support ability, on the other hand effectively can carry out alignment operation according to unmanned plane landing place practical situation to landing place, while
Landing gear structure can be adjusted flexibly according to place surface relief situation, it is ensured that maximum journey between unmanned plane landing rear body and horizontal plane
Degree keeps horizontality, improves the stability and reliability of the landing of unmanned plane.
The ultimate principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description this
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (5)
1. a kind of self adaptation is landed the unmanned plane of space enrironment, it is characterised in that：Self adaptation landing space enrironment nobody
Machine includes body, undercarriage and place identifying system, and described undercarriage and place identifying system is installed in body lower surface,
Wherein described undercarriage at least two, and it is uniform around body axis, and described place identifying system is same with body lower surface
Axle is distributed, and described undercarriage includes locating piece, flexible carrier bar, drive mechanism and loading plate, described flexible carrier bar two
End is hinged respectively by governor motion with locating piece and loading plate, described drive mechanism on locating piece and respectively with stretch
Contracting carrier bar and governor motion connect, and described locating piece is connected with body lower surface, and described place identifying system includes holding
Shell, pedestal, ultrasonic distance measuring radar, monitoring camera, laser marking device and control circuit are carried, described carrying shell passes through base
Seat is arranged on body lower surface, and described laser marking device and monitoring camera is embedded in carrying shell outer surface, and described
Laser marking device is coaxially distributed with shell is carried, and is distributed with horizontal plane, and described monitoring camera passes through governor motion
It is hinged with shell outer surface is carried, described ultrasonic distance measuring radar is some, and is separately mounted on the loading plate of undercarriage, and institute
The ultrasonic distance measuring radar axis stated is distributed with horizontal plane, and described control circuit is embedded in carrying shell, and respectively with drive
The control circuit of motivation structure, governor motion, ultrasonic distance measuring radar, monitoring camera, laser marking device and body electrically connects
Connect.
2. a kind of self adaptation according to claim 1 is landed the unmanned plane of space enrironment, it is characterised in that described is flexible
Carrier bar is at least two-stage Telescopic rod structure.
3. a kind of self adaptation according to claim 1 is landed the unmanned plane of space enrironment, it is characterised in that described carrying
Plate effective length is 1/3-the 2/3 of body effective length, and loading plate two ends are symmetrical with body center line.
4. a kind of self adaptation according to claim 1 is landed the unmanned plane of space enrironment, it is characterised in that described carrying
When ultrasonic distance measuring radar on plate is one, then the ultrasonic distance measuring radar is located at loading plate point midway, on loading plate
Ultrasonic distance measuring radar be two or more when, then each ultrasonic distance measuring radar is symmetrical with loading plate midpoint.
5. a kind of self adaptation according to claim 1 is landed the unmanned plane of space enrironment, it is characterised in that described carrying
Plate is horizontal by 0 ° of -90 ° of angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138470.XA CN106586012A (en) | 2016-12-12 | 2016-12-12 | Unmanned plane capable of adapting to landing field environment automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138470.XA CN106586012A (en) | 2016-12-12 | 2016-12-12 | Unmanned plane capable of adapting to landing field environment automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106586012A true CN106586012A (en) | 2017-04-26 |
Family
ID=58598383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611138470.XA Pending CN106586012A (en) | 2016-12-12 | 2016-12-12 | Unmanned plane capable of adapting to landing field environment automatically |
Country Status (1)
| Country | Link |
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| CN (1) | CN106586012A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867393A (en) * | 2017-12-06 | 2018-04-03 | 南京航空航天大学 | The adaptive deformation alighting carriage of locking valve and its control method |
| CN108341059A (en) * | 2018-03-21 | 2018-07-31 | 安徽云翼航空技术有限公司 | A kind of battlefield is scouted and defence unmanned plane |
| CN108922390A (en) * | 2018-06-22 | 2018-11-30 | 芜湖汉科信息技术有限公司 | A kind of electronic information display board |
| CN109204785A (en) * | 2018-09-07 | 2019-01-15 | 佛山皖和新能源科技有限公司 | A kind of full terrain self-adaptive unmanned plane VTOL undercarriage |
| CN112731442A (en) * | 2021-01-12 | 2021-04-30 | 桂林航天工业学院 | Surveying instrument with adjustable unmanned aerial vehicle survey and drawing is used |
| CN113110536A (en) * | 2021-03-24 | 2021-07-13 | 南京晓庄学院 | Unmanned aerial vehicle auxiliary landing platform based on machine vision and landing method thereof |
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| CN105109674A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Intelligent landing bracket of multi-rotor aircraft as well as control system and method of intelligent landing bracket |
| CN205168876U (en) * | 2015-11-28 | 2016-04-20 | 郑州大学 | Lift vertically formula unmanned aerial vehicle undercarriage suitable for many topography |
| CN205293068U (en) * | 2016-01-08 | 2016-06-08 | 浙江天马行空创新科技有限公司 | Undercarriage device that can receive and release automatically |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867393A (en) * | 2017-12-06 | 2018-04-03 | 南京航空航天大学 | The adaptive deformation alighting carriage of locking valve and its control method |
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| CN108341059A (en) * | 2018-03-21 | 2018-07-31 | 安徽云翼航空技术有限公司 | A kind of battlefield is scouted and defence unmanned plane |
| CN108922390A (en) * | 2018-06-22 | 2018-11-30 | 芜湖汉科信息技术有限公司 | A kind of electronic information display board |
| CN109204785A (en) * | 2018-09-07 | 2019-01-15 | 佛山皖和新能源科技有限公司 | A kind of full terrain self-adaptive unmanned plane VTOL undercarriage |
| CN112731442A (en) * | 2021-01-12 | 2021-04-30 | 桂林航天工业学院 | Surveying instrument with adjustable unmanned aerial vehicle survey and drawing is used |
| CN112731442B (en) * | 2021-01-12 | 2023-10-27 | 桂林航天工业学院 | Unmanned aerial vehicle survey and drawing is with adjustable surveying instrument |
| CN113110536A (en) * | 2021-03-24 | 2021-07-13 | 南京晓庄学院 | Unmanned aerial vehicle auxiliary landing platform based on machine vision and landing method thereof |
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Application publication date: 20170426 |