CN107128479A - Unmanned plane undercarriage and its control system - Google Patents
Unmanned plane undercarriage and its control system Download PDFInfo
- Publication number
- CN107128479A CN107128479A CN201710322700.6A CN201710322700A CN107128479A CN 107128479 A CN107128479 A CN 107128479A CN 201710322700 A CN201710322700 A CN 201710322700A CN 107128479 A CN107128479 A CN 107128479A
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- CN
- China
- Prior art keywords
- unmanned plane
- undercarriage
- control
- control system
- motor
- 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
- 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
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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
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/60—Take-off or landing of UAVs from a runway using their own power
Abstract
The present invention relates to unmanned aerial vehicle (UAV) control field, more particularly, to a kind of unmanned plane undercarriage and its control system.Unmanned plane undercarriage includes the gentle punch mechanism of motor, the body frame that rises and falls, the wheel that rises and falls；Motor is connected with the one end for the body frame that rises and falls；The wheel that rises and falls is connected with the other end for the body frame that rises and falls；Buffer gear is arranged on lifting rack.Unmanned plane landing gear control system includes control main frame, undercarriage control module and attitude transducer；Control main frame is used for the signal for receiving attitude transducer, and according to the signal of attitude transducer, control signal is sent to undercarriage control module；The trigger condition of attitude transducer is：When unmanned plane pitching, roll angle are more than 70 °, sinking speed is more than 15m/s, and relative altitude is more than 3 meters.The present invention enters row buffering when unmanned plane land using undercarriage to unmanned plane, it is to avoid the hard landing of unmanned plane, protects the safety of unmanned plane, and then so that the lifting of unmanned plane is more safe.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, more particularly, to a kind of unmanned plane undercarriage and its control system.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus is manipulated.Unmanned plane is actually the general designation of unmanned vehicle, from skill
The definition of art angle can be divided into：Depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, the unmanned umbrella wing
This several major class of machine.Without driving cabin on unmanned plane, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels
Or machine tool remote control station personnel are by equipment such as radars, it is tracked, positioned, remote control, remote measurement and Digital Transmission.
Unmanned plane is in undercarriage control aspect, typically, unmanned plane separately through manually or automatically control system, no matter that
The situation of kind, all can not ideally realize safely the control of undercarriage.
The content of the invention
It is an object of the invention to provide unmanned plane undercarriage and its control system, to solve skill present in prior art
Art problem.
The unmanned plane undercarriage that the present invention is provided, including the gentle punch mechanism of motor, the body frame that rises and falls, the wheel that rises and falls；
The motor is connected with one end of the body frame that rises and falls, and the body frame that rises and falls can be driven to pack up or put down；
The wheel that rises and falls is connected with the other end of the body frame that rises and falls, and can make nothing when the body frame that rises and falls is strutted
It is man-machine to be travelled on the ground using the wheel that rises and falls；
The buffer gear is arranged on the lifting rack, can enter row buffering to unmanned plane when unmanned plane lands.
Further, the buffer gear is buffer spring.
Further, the buffer spring is torsion spring or stage clip.
Further, it is interference fits between the motor and the body frame that rises and falls.
Present invention also offers a kind of unmanned plane landing gear control system, it includes control main frame, undercarriage control module
And attitude transducer；
The control main frame is used for the signal for receiving the attitude transducer, and according to the signal of the attitude transducer,
Control signal is sent to the undercarriage control module；
The trigger condition of the attitude transducer is：When unmanned plane pitching, roll angle are more than 70 °, sinking speed is big
In 15m/s, relative altitude is more than 3 meters.
Further, unmanned plane landing gear control system also includes ground control system, order transmission system and order
Reception system；
The ground control system passes through the order transmission system and the order being arranged in the control main frame
Reception system is connected, and the folding and unfolding of undercarriage can be controlled by the ground control system.
Further, it is wireless by wire communication, 2.4G between the order transmission system and the order reception system
Communication, wifi wireless communication modules, zigbee wireless communication modules and/or Z-WAVE wireless communication modules, 3G, 4G communication module
Or any combination therein is attached.
Further, the ground control system is terminal or remote control terminal.
Further, the control main frame and the trigger condition of the attitude transducer are：Flying speed is less than 5m/s；Fly
Row height is more than 5 meters.
Further, the undercarriage control module includes rotary speed controling unit and rotation time control unit.
Unmanned plane undercarriage and its control system that the present invention is provided, when unmanned plane lands, can utilize undercarriage pair
Unmanned plane enters row buffering, it is to avoid the hard landing of unmanned plane, protects the safety of unmanned plane, also protects and be arranged on unmanned plane
Such as video camera and other items, and then make it that the lifting of unmanned plane is more safe.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
The structural representation of the unmanned plane undercarriage for the expansion link with two-stage that Fig. 1 provides for one embodiment of the invention
Figure；
The structural representation of the unmanned plane undercarriage for the expansion link with Pyatyi that Fig. 2 provides for one embodiment of the invention
Figure；
The exploded perspective view for the unmanned plane undercarriage that Fig. 3 provides for one embodiment of the invention；
The assembling signal of the unmanned plane undercarriage for the expansion link with two-stage that Fig. 4 provides for one embodiment of the invention
Figure；
The assembling signal of the unmanned plane undercarriage for the expansion link with Pyatyi that Fig. 5 provides for one embodiment of the invention
Figure；
Fixed block and neck grafting cooperation schematic diagram that Fig. 6 provides for one embodiment of the invention；
Fixed block and neck exploded perspective view that Fig. 7 provides for one embodiment of the invention；
Fixed seat and the structural representation of support arm that Fig. 8 provides for one embodiment of the invention；
Controller and the circuit connection structure schematic diagram of speed regulator that Fig. 9 provides for one embodiment of the invention；
The wireless connection schematic diagram for the remote control that Figure 10 provides for one embodiment of the invention；
Figure 11 is the flow chart of the automatic control system of unmanned plane undercarriage provided in an embodiment of the present invention；
Figure 12 is the flow chart of the manual control system of this unmanned plane undercarriage provided in an embodiment of the present invention.
Reference：
1- telescopic components；2- fixation kits；3- unmanned planes；4- controllers；5- speed regulators；6- remote controls；11- motors；12-
Expansion link；13- final stage expansion links；21- fixed seats；22- support arms；23- fixed blocks；24- necks.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
In addition, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying phase
To importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The structure of the undercarriage of unmanned plane 3 for the expansion link 12 with two-stage that Fig. 1 provides for one embodiment of the invention is shown
It is intended to；
The exploded perspective view for the undercarriage of unmanned plane 3 that Fig. 3 provides for one embodiment of the invention；
The assembling of the undercarriage of unmanned plane 3 for the expansion link 12 with two-stage that Fig. 4 provides for one embodiment of the invention is shown
It is intended to.
As shown in Figure 1 and Figure 4, the undercarriage of a kind of unmanned plane 3 that the present invention that the present embodiment is provided is provided, including at least one
Individual telescopic component 1 and at least one fixation kit 2；The shown telescopic component 1 connects with the fixation kit 2 in Fig. 1
Connect, the telescopic component 1 is fixed by the fixation kit 2 with unmanned plane 3, is arranged on bottom or side wall of unmanned plane 3 etc.
Position, to play the action that auxiliary unmanned plane 3 rises and falls, realizes it as the effect of undercarriage.
Wherein, the telescopic component 1 includes motor 11 and at least expansion link 12 of two-stage；The expansion link 12 is by described
The driving of motor 11 and axial stretching；With reference to shown in Fig. 1 and Fig. 3, show respectively with two-stage stretch expansion link 12 and
The expansion link 12 stretched with Pyatyi.Certainly, can also be according to the weight, model, knot of unmanned plane 3 among specific manufacture
The particular situations such as structure realize telescopic component 1 and aid in what unmanned plane 3 rose and fell with stretching to set the expansion link 12 of different series
Purpose.
Here, being situated between first by the expansion link 12 with two-stage described in Fig. 1 come the function to telescopic component 1
Continue.
When unmanned plane 3 will land, the motor 11 can drive the gear mechanism in the expansion link 12, by motor 11
Be changed into the action that every grade of expansion link 12 can be driven to stretch along its length, and then make expansion link 12 described in two-stage relative
Elongation, realizes the telescopic effect of expansion link 12.Specifically refer to the operation principle of electric expansion bar 12.
The distance on when landing with unmanned plane 3 and ground reduces, and the expansion link 12 also realizes the effect of elongation, for propping up
Support the unmanned plane 3 and be still in ground.
When unmanned plane 3 will take off, it is (relative that the motor 11 can drive the gear mechanism in the expansion link 12 to invert
For above-described embodiment), and then make every grade of the relative constriction of expansion link 12, make unmanned plane 3 when flight, it is described nobody
The undercarriage of machine 3 results in a less volume, in the hope of reducing the influence degree that the visual field can be shot to camera.
It is described above it is specifically used during embodiment, also only one kind of the undercarriage of unmanned plane 3 is used
Form.
The technical scheme of the undercarriage of unmanned plane 3 is understood by above-described embodiment, is worked as using expansion link 12
The undercarriage of unmanned plane 3 is done, instead of the T-shaped undercarriage of unmanned plane 3 of the prior art, the screening of the undercarriage of unmanned plane 3 can be reduced
Block face is accumulated, and makes unmanned plane 3 when shooting, camera, which can be captured, can more shoot area.
The structure of the undercarriage of unmanned plane 3 for the expansion link 12 with Pyatyi that Fig. 2 provides for one embodiment of the invention is shown
It is intended to；
The assembling of the undercarriage of unmanned plane 3 for the expansion link 12 with Pyatyi that Fig. 5 provides for one embodiment of the invention is shown
It is intended to；
As shown in Figure 2 and Figure 5, it is preferred that the expansion link 12 includes Pyatyi expansion link 12.
When unmanned plane 3 lands, as unmanned plane 3 is more and more nearer apart from ground, the expansion link 12 can be with
The close of distance gradually extends expansion link 12, to adapt to the landing of unmanned plane 3.And expansion link 12 is this with unmanned plane 3
Subaerial distance and progressive lengthening of smart, be also as the flexible series of expansion link 12 gradually increases and determines,
But, if this flexible series setting is too many, although result in higher smart, can but influence whole unmanned plane 3
The volume size of undercarriage after shrinking.
So, the application is preferred to set the expansion link 12 of dilatability of Pyatyi to be used as flexible group of unmanned plane 3 undercarriage
The basic structure of part 1.
Controller 4 and the circuit connection structure schematic diagram of speed regulator 5 that Fig. 9 provides for one embodiment of the invention.
Further, as shown in figure 9, also including controller 4；Wherein, the controller 4 is electrically connected with the motor 11,
User can the pre-designed controllable undercarriage of unmanned plane 3 program, and targetedly fitted with the state of flight of unmanned plane 3
Match somebody with somebody, enable the takeoff and landing process of the good assistance unmanned plane 3 of the undercarriage of unmanned plane 3, so the controller 4 just can be with
The flexible of telescopic component 1 is controlled according to the flight progress of unmanned plane 3, the purpose of support unmanned plane 3 is realized.According to default journey
Sequence realizes that unmanned plane 3 freely rises and falls, and its automaticity is higher.
Specifically, the flight progress of unmanned plane 3 described above should at least include landing and the unmanned plane 3 of unmanned plane 3
Take off, and be not limited to the takeoff and landing state of unmanned plane 3.
For example, unmanned plane 3 is during flight, obstacle is run into, or avoids blocking situations such as camera shoots the visual field,
Should belong to the undercarriage of unmanned plane 3 can foundation flight progress, and then make the structure change of adaptability.
In a specific embodiment, the landing state of unmanned plane 3 is directed to, when unmanned plane 3 lands, control
Device 4 has been known after the current flight state of unmanned plane 3, and the telescopic component 1 can be controlled to extend, and the elongation speed for passing through adaptation
To be adapted to the descent altitude of unmanned plane 3, when unmanned plane 3 will contact ground, expansion link 12 can extend, and followed by unmanned plane 3
Gradual expansion link 12 is elongated to larger or maximum degree when dropping to ground, for adaptation to the ground and supports unmanned plane
3。
Further, with continued reference to Fig. 9, in addition to speed regulator 5；Wherein, the speed regulator 5 and the controller 4 and institute
State motor 11 to electrically connect, user can adjust the rotating speed of motor 11 according to the control command of the controller 4, pass through speed regulator 5
Come after the rotating speed of controlled motor 11 to adapt to the elongation speed of the part of expansion link 12 in the undercarriage of unmanned plane 3.
Such as example, when the situation that unmanned plane 3 lands is abnormal, decrease speed is too fast, motor 11 is normally to set
Constant speed degree can not timely extend expansion link 12, so, such case unmanned plane 3 may not obtain unmanned plane when reaching ground
The support of 3 undercarriages.
But, motor 11 is carried out after speed governing by speed regulator 5, just change targetedly can be made to the rotating speed of motor 11
Change, make unmanned plane 3 during falling extremely, still can enough obtain the stretching speed of expansion link 12 in the undercarriage of unmanned plane 3
Matching, when the unmanned plane 3 is fallen earthward under, the expansion link 12 can extend out, to support unmanned plane 3.
For above-mentioned situation, the speed regulator 5 can be matched with height sensor, to obtain the decrease speed of unmanned plane 3
Abnormal conditions, and feed back to the reaction that speed regulator 5 makes adaptation.
So, the speed regulator 5 realizes the speed governing of motor 11, to adapt to rise and fall state or the drop height that unmanned plane 3 is current
Degree, so as to more smoothly realize the takeoff and landing process of unmanned plane 3.
The wireless connection schematic diagram for the remote control 6 that Figure 10 provides for one embodiment of the invention.
In addition to remote control 6 further, as shown in Figure 10,；The remote control 6 is used for hand-held, the remote control 6 to user
It is connected with the wireless telecommunications of motor 11, user can send control command by remote control 6 to the motor 11, pass through hair
The control command seen off control the telescopic component 1 stretch.
The mode of remote control can taking human as control expansion link 12 telescopic process, so, user can be according to actual feelings
Condition targetedly controls the work of the lifting lever of unmanned plane 3, for the working forms for the automated procedures that compare, this artificial distant
The mode of control is more flexible, the takeoff and landing of unmanned plane 3 is had more reasonability.
Fixed seat 21 and the structural representation of support arm 22 that Fig. 8 provides for one embodiment of the invention.
Further, in structure as shown in Figure 5, four even other numbers may be provided with a unmanned plane 3
The undercarriage of unmanned plane 3, unmanned plane 3 is supported in the form of overall co-ordination.
For above-mentioned situation, the fixation kit 2 can include fixed seat 21 as shown in Figure 8 and be detachably arranged at institute
State the support arm 22 of the side wall of fixed seat 21；When in use, the fixed seat 21 is arranged on unmanned plane 3, is then attached to institute
State and a undercarriage of unmanned plane 3 can be set on other four support arms 22 in fixed seat 21, by multiple undercarriages of unmanned plane 3
Be formed as the supporting construction of an entirety.
After the fixed seat 21 is fixed on unmanned plane 3, it is only necessary to the fixed fixed seat 21, make dismounting and dress
With more convenient.
Fixed block 23 and the grafting cooperation schematic diagram of neck 24 that Fig. 6 provides for one embodiment of the invention；
Fixed block 23 and the exploded perspective view of neck 24 that Fig. 7 provides for one embodiment of the invention.
Further, as shown in Figure 6 and Figure 7, the fixation kit 2 includes being used to be plugged in the neck 24 of unmanned plane 3
Fixed block 23；After the appropriate location on unmanned plane 3 is provided with neck 24, it is only necessary to by the fixation on the undercarriage of unmanned plane 3
Block 23 is plugged in the neck 24；The expansion link 12 is connected with the fixed block 23, the fixed block 23 with it is described
The clamping of neck 24 just can be easily and effectively be connected with unmanned plane 3.
Further, in an embodiment of the present invention, the final stage expansion link 13 of the telescopic component 1 is made using rubber.
Herein it is to be appreciated that the final stage expansion link 13 is also one of expansion link 12 in the telescopic component 1, only institute
State the expression of final stage expansion link 13 is that expansion link 12 in the most termination of telescopic component 1.
Illustrate, when in the descent of unmanned plane 3, when multistage expansion link 12 carries out elongation action, the final stage is stretched
Contracting bar 13 can be contacted with ground first, and this grade of expansion link 12 is represented as final stage expansion link 13, be also multistage expansion link 12
In one of them.Its label in Fig. 1 represents to clash with the expression of expansion link 12.
In the above-mentioned technical solutions, the final stage expansion link 13 employs rubber making, when can make the landing of unmanned plane 3,
The impulsive force formation buffering effect to unmanned plane 3 applied when expansion link 12 touches ground to ground.
Further, in an embodiment of the present invention, it is provided with and subtracts between the fixation kit 2 and the telescopic component 1
Shake pad.
In the above-mentioned technical solutions, there is provided when the beam can make the landing of unmanned plane 3, being touched in expansion link 12
The impulsive force formation buffering effect to unmanned plane 3 applied when ground to ground.
Present invention also offers a kind of unmanned plane landing gear control system, as shown in figure 11, it includes control main frame, risen and fallen
Frame control module and attitude transducer；
The control main frame is used for the signal for receiving the attitude transducer, and according to the signal of the attitude transducer,
Control signal is sent to the undercarriage control module；
The trigger condition of the attitude transducer is：When unmanned plane pitching, roll angle are more than 70 °, sinking speed is big
In 15m/s, relative altitude is more than 3 meters.
In the present embodiment, landing gear control system mainly has control main frame, undercarriage control module and attitude transducer
Composition, it can send a signal to control main frame when attitude transducer senses that unmanned plane meets trigger condition so that control
Signal is passed to undercarriage control module by main frame processed, makes undercarriage control module control undercarriage to open.
In the present embodiment, the trigger condition of attitude transducer is：When unmanned plane pitching, roll angle are more than 70 °, drop
Terminal-velocity degree is more than 15m/s, and relative altitude is more than 3 meters.
That is, when unmanned plane meets above-mentioned condition, unmanned plane is in forced landing state, control main frame can give
Fall frame control module signal, it is quickly opened undercarriage, to ensure the security performance of unmanned plane.
The different data that control main frame can be sent according to attitude transducer, the letter different to undercarriage control module
Number so that undercarriage control module can control the opening speed and opening amplitude of undercarriage, to guarantee to fall in unmanned plane
Undercarriage is opened before ground, row buffering is entered to unmanned plane, the damage of unmanned plane is reduced.
Be preferred embodiment, as shown in figure 12, unmanned plane landing gear control system also include ground control system,
Order transmission system and order reception system；
The ground control system passes through the order transmission system and the order being arranged in the control main frame
Reception system is connected, and the folding and unfolding of undercarriage can be controlled by the ground control system.
In previous embodiment, the undercarriage of unmanned plane is opened and packed up to automatically control, but it can also be by hand
Move what is be controlled.
In the present embodiment, added in unmanned plane landing gear control system ground control system, order transmission system and
Order reception system.
When needing to open the undercarriage of unmanned plane, ground control system is by ordering transmission system to the control on unmanned plane
Main frame processed sends the signal for opening undercarriage, and control main frame by order reception system receive the signal on ground, and will
Signal, which is driven, gives undercarriage control module, and undercarriage can be controlled.Similarly, when needing to pack up undercarriage,
It is as a same reason.
Be preferred embodiment, between the order transmission system and the order reception system by wire communication,
2.4G wireless telecommunications, wifi wireless communication modules, zigbee wireless communication modules and/or Z-WAVE wireless communication modules, 3G, 4G
Communication module or any combination therein are attached.
The transmission of signal can be carried out between order transmission system and order reception system by many modes, it can be with
It is one kind in above-mentioned listed mode or several, as long as it ensure that signal can normally send and receive i.e.
Can.
It is pointed out that above-mentioned listed communication modes are not that order transmission system and order reception system can
The whole modes used, it can also have other communication modes, such as bluetooth, infrared lamp, that is to say, that as long as will can order
The signal of transmission system passes to order reception system.
It is preferred embodiment that the ground control system is terminal or remote control terminal.
In the present embodiment, ground control system is terminal or remote control terminal, that is to say, that ground control can
To be to use computer, or hand-held the mode such as remote control.
It is pointed out that ground control system can be terminal or remote control terminal, but it not only limits to
In above two mode, it can also be other control modes, such as can also be and carries out APP controls etc. by mobile phone, pad
Mode, that is to say, that as long as can be controlled by ground control system to unmanned plane.
It is preferred embodiment that the control main frame and the trigger condition of the attitude transducer are：Flying speed is small
In 5m/s；Flying height is more than 5 meters.
The body frame that rises and falls pack up need meet trigger condition be：Flying speed is less than 5m/s；Flying height is more than 5 meters.
It is preferred embodiment that the undercarriage control module includes rotary speed controling unit and rotation time control is single
Member.
It can be realized by undercarriage control module and the rotating speed and rotation time of motor 11 are accurately controlled, with
Satisfaction can carry out different occupation modes in different situations, to ensure safety in an optimal manner to ensure unmanned plane
Property.
Unmanned plane undercarriage and its control system that the present invention is provided, when unmanned plane lands, can utilize undercarriage pair
Unmanned plane enters row buffering, it is to avoid the hard landing of unmanned plane, protects the safety of unmanned plane, also protects and be arranged on unmanned plane
Such as video camera and other items, and then make it that the lifting of unmanned plane is more safe.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of unmanned plane undercarriage, it is characterised in that including controller (4), remote control (6), at least one telescopic component (1)
And at least one fixation kit (2)；
The telescopic component (1) includes motor (11) and at least expansion link (12) of two-stage；The expansion link (12) is by described
The driving of motor (11) and axial stretching；
The telescopic component (1) is connected with the fixation kit (2), for solid by the fixation kit (2) and unmanned plane (3)
It is fixed；
The controller (4) electrically connects with the motor (11), for controlling telescopic component according to the flight progress of unmanned plane (3)
(1) flexible；
The remote control (6) is connected with the motor (11) wireless telecommunications, is stretched for being sent to the motor (11) described in control
The flexible control command of contracting component (1).
2. unmanned plane undercarriage according to claim 1, it is characterised in that also including speed regulator (5)；
The speed regulator (5) electrically connects with the controller (4) and the motor (11), for according to the controller (4)
Control command adjusts the rotating speed of the motor (11).
3. unmanned plane undercarriage according to claim 1, it is characterised in that the fixation kit (2) includes fixed seat
(21) and it is detachably arranged at the support arm (22) of the fixed seat (21) side wall；
The support arm (22) is used to be connected with the telescopic component (1).
4. unmanned plane undercarriage according to claim 1, it is characterised in that the fixation kit (2) includes being used for grafting
Fixed block (23) in the neck (24) of unmanned plane (3)；
The expansion link (12) is connected with the fixed block (23), and passes through the fixed block (23) and the card of the neck (24)
Tap into and be connected with unmanned plane (3).
5. the control system of the unmanned plane undercarriage described in a kind of any one of claim 1-4, it is characterised in that including control master
Machine, undercarriage control module and attitude transducer；
The control main frame is used for the signal for receiving the attitude transducer, and according to the signal of the attitude transducer, to institute
State undercarriage control module and send control signal；
The trigger condition of the attitude transducer is：When unmanned plane pitching, roll angle are more than 70 °, sinking speed is more than
15m/s, relative altitude is more than 3 meters.
6. unmanned plane landing gear control system according to claim 5, it is characterised in that also including ground control system,
Order transmission system and order reception system；
The ground control system is received by the order transmission system and the order being arranged in the control main frame
System is connected, and the folding and unfolding of undercarriage can be controlled by the ground control system.
7. unmanned plane landing gear control system according to claim 6, it is characterised in that the order sends system and institute
State between order reception system by wire communication, 2.4G wireless telecommunications, wifi wireless communication modules, zigbee radio communication molds
Block and/or Z-WAVE wireless communication modules, the connection of 3G, 4G communication module.
8. unmanned plane landing gear control system according to claim 6, it is characterised in that the ground control system is meter
Calculation machine terminal or remote control terminal.
9. unmanned plane landing gear control system according to claim 6, it is characterised in that the control main frame and the appearance
The trigger condition of state sensor is：Flying speed is less than 5m/s；Flying height is more than 5 meters.
10. unmanned plane landing gear control system according to claim 5, it is characterised in that the undercarriage control module
Including rotary speed controling unit and rotation time control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322700.6A CN107128479A (en) | 2017-05-09 | 2017-05-09 | Unmanned plane undercarriage and its control system |
Applications Claiming Priority (1)
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| CN110588979A (en) * | 2019-10-28 | 2019-12-20 | 云南电网有限责任公司带电作业分公司 | Night emergency repair unmanned aerial vehicle carrying lighting device |
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| CN113353245A (en) * | 2021-06-18 | 2021-09-07 | 浙江水利水电学院 | Self-balancing foot stand of rotor unmanned aerial vehicle, rotor unmanned aerial vehicle and method |
| CN115783325A (en) * | 2023-01-31 | 2023-03-14 | 江苏恒沁科技有限公司 | Unmanned aerial vehicle anti-collision device and using method |
| CN117163342A (en) * | 2023-10-27 | 2023-12-05 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle landing gear control method and device and computer storage medium |
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| WO2019077070A1 (en) * | 2017-10-18 | 2019-04-25 | Haybeesee Ltd | Device or system for remote monitoring and/or activity |
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| CN115783325A (en) * | 2023-01-31 | 2023-03-14 | 江苏恒沁科技有限公司 | Unmanned aerial vehicle anti-collision device and using method |
| CN117163342A (en) * | 2023-10-27 | 2023-12-05 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle landing gear control method and device and computer storage medium |
| CN117163342B (en) * | 2023-10-27 | 2024-01-19 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle landing gear control method and device and computer storage medium |
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