CN107331239A - The servicing unit and training method of flight training in a kind of agricultural unmanned plane room - Google Patents
The servicing unit and training method of flight training in a kind of agricultural unmanned plane room Download PDFInfo
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- CN107331239A CN107331239A CN201710423971.0A CN201710423971A CN107331239A CN 107331239 A CN107331239 A CN 107331239A CN 201710423971 A CN201710423971 A CN 201710423971A CN 107331239 A CN107331239 A CN 107331239A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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Abstract
The invention discloses a kind of servicing unit of flight training in agricultural unmanned plane room and training method, the servicing unit includes posture tracking mechanism, supporting mechanism and buffer gear；Wherein, the supporting mechanism includes chassis, taken over a business and support component；The buffer gear includes horizontal supporting plate and multigroup Buffer Unit；The posture tracking mechanism includes horizontal cross bar, Slide attitude tracking mechanism and vertical posture tracking mechanism；Wherein, the Slide attitude tracking mechanism includes bearing with universal ball head and base；The vertical tracking mechanism includes linear axes, linear bearing, linear axes bearing and limited block；The servicing unit can not only reduce the careat that unmanned plane practises place; and unmanned plane can be avoided because exercise personnel misoperation and the situation that causes unmanned plane aircraft bombing occur or smash, in addition the servicing unit can also protect the personal safety of exercise personnel.
Description
Technical field
The present invention relates to agricultural aviation technical field, and in particular to a kind of auxiliary dress of flight training in agricultural unmanned plane room
Put and training method.
Background technology
In recent years, the research of agricultural unmanned plane is more and more fiery, enjoys government department to pay attention to.Therefore, each Corporation R ＆ D
All kinds unmanned plane, in produce reality application, agricultural unmanned plane is mainly used in field spray dispenser, remote sensing monitoring, measurement
Mapping, due to agricultural unmanned plane unlike consumer level unmanned plane it is compact, it is necessary to professional winged hand channel crosses Specialized training, be admitted to
Certification on duty could flight on duty, the in recent years hot topic in agricultural aviation field so that more and more crowd wants to be admitted to winged
Row certification, as a qualified winged hand, but among the exercise of new hand, aircraft bombing situation happens occasionally, and most of reason is
Because operating personnel are unfamiliar with to agricultural unmanned plane, because analog platform is that use of the new hand to remote control is familiar with computer,
Real practical operation also needs to the combination of remote control and agricultural unmanned plane, it is therefore desirable to the protection device of an indoor flight,
Agricultural unmanned plane operator is allowed preferably to practise, while can also protect unmanned plane not suffer a loss.
Outdoor unmanned plane during flying needs large area place, while meagrely-populated place and non-no-fly region are also required to, so
For unmanned plane during flying personnel, it is desirable to flight training or different unmanned planes of taking a flight test, it is necessary to fly indoors, but by
Smaller in the interior space, unmanned plane is easy for collide with other objects, it is therefore desirable to a kind of unmanned plane protection device,
The personal safety of indoor in-flight protection unmanned plane safety and operating personnel.But in the prior art, one kind is not on nothing
The protection device of man-machine indoor exercise.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide in a kind of agricultural unmanned plane room flight training it is auxiliary
Device is helped, the servicing unit can not only reduce unmanned plane and practise the careat in place, and can avoid agricultural unmanned plane
Because exercise personnel misoperation and the situation that causes unmanned plane aircraft bombing occur or smash, in addition the servicing unit can also protect
Protect the personal safety of exercise personnel.
The present invention solve above-mentioned technical problem technical scheme be：
The servicing unit of flight training in a kind of agricultural unmanned plane room, including posture tracking mechanism, for support posture with
With the supporting mechanism and the buffer gear that is arranged on supporting mechanism of mechanism；Wherein,
The supporting mechanism include chassis, take over a business and be located at chassis and take over a business between support component, wherein, the top
The center of disk is provided with first through hole；On the buffer gear is taken over a business installed in this, the projected area on the chassis is more than
The projected area of unmanned plane；
The buffer gear include horizontal supporting plate and be arranged on horizontal supporting plate and it is described take over a business between it is multigroup slow
Component is rushed, wherein, the second through hole is provided with the horizontal supporting plate；The Buffer Unit includes being arranged under horizontal supporting plate
The buffer spring abutment sleeve of side, the support column for being arranged on the upper and buffer spring abutment sleeve coaxial line and setting
Taking over a business the buffer spring between the buffer spring abutment sleeve, wherein, the buffer spring upper end and the buffering elastic
Spring abutment sleeve is connected, and lower end is through support column with taking over a business to be connected；
The posture tracking mechanism includes horizontal cross bar, Slide attitude tracking mechanism and vertical posture tracking mechanism, its
In, the agricultural unmanned plane is fixed on horizontal cross bar；The Slide attitude tracking mechanism includes bearing with universal ball head and bottom
Seat, wherein, the bearing with universal ball head includes ball bearing seat and bulb, and ball bearing seat is arranged on base, the bulb
On ball bearing seat, the bulb is connected with the horizontal cross bar；The vertical tracking mechanism includes linear axes, linear axes
Hold, linear axes bearing and limited block, wherein, the linear bearing is arranged in linear axes bearing, and the linear axes bearing is fixed
It is described take over a business on, the linear axes upper end is connected with base, lower end through the second through hole, linear bearing, first through hole and with
Limited block is connected.
The operation principle of the servicing unit of flight training is in the agricultural unmanned plane room of the present invention：
Before exercise, unmanned plane is arranged on horizontal cross bar by exercise personnel, and now unmanned plane is due to self gravitation so that nothing
Man-machine and horizontal cross bar installed in unmanned plane lower end is to falling on horizontal supporting plate and promote horizontal supporting plate to decline
Fall so that the buffer spring on acting on horizontal supporting plate and taking over a business is in compressive state, and now unmanned plane level is parked in water
In flat supporting plate.
When starting exercise, exercise personnel are started unmanned plane and control unmanned plane to be flown with different postures by control system.
During taking a flight test, when unmanned plane is ramped, the unmanned plane drives posture tracking mechanism to move upwards, is in particular in：
With the increase of unmanned plane height, the linear axes of vertical posture tracking mechanism are constantly moved upwards, when the vertical posture is with random
Be arranged in structure the limited block of linear axes lower end with it is described take over a business contact when, the drawing due to the unmanned plane to the servicing unit
Power is less than the gravity of the servicing unit, therefore the unmanned plane can not lift the servicing unit, therefore the flight of the unmanned plane is high
Degree reaches capacity.In this process, due to unmanned plane suffered by buffer gear and the downward distress resolves of horizontal cross bar,
So that buffer spring gradually reverts to nature elongation state.When practising personnel control unmanned plane crabbing, due to lateral appearance
State tracking mechanism is connected with the unmanned plane by bearing with universal ball head so that although unmanned plane can using bearing with universal ball head as
Center carries out the beat in different degrees of and direction, but can not depart from bearing with universal ball head.So by posture tracking mechanism, make
Obtaining unmanned plane can only fly in the specific space in servicing unit upper end, but can not fly away from the space.For
Make the practice effect of exercise personnel more preferably, during flying in side, although unmanned plane can not lift the servicing unit, but nothing
The component in horizontal direction that people's pusher side is produced when flying can drag the servicing unit and slide, so that practice effect is more aobvious
Write.
When causing unmanned plane to fall due to the misoperation or other factors of practising personnel, now, unmanned plane and peace
Horizontal cross bar on unmanned plane does the movement of falling object due to the constraint of linear axes, so as to extrude horizontal supporting plate so that
Buffer spring between acting on horizontal supporting plate and taking over a business gradually is changed from natural elongation state before to compressive state.
During this, the buffer spring has a upward support force to the unmanned plane fallen, so that the unmanned plane fallen
Buffered, final safe falling is on horizontal supporting plate.When unmanned plane drags the servicing unit indoors to be slided, due to
The interior space is smaller, when some objects (wall, desk or other barriers) on unmanned aerial vehicle, due to the projection on the chassis
Area is more than the projected area after the unmanned plane opens, therefore the chassis contacts to avoid nothing prior to unmanned plane with object
It is man-machine to bump against with object.
Multiple Universal lock bearings up pulley for being easy to chassis to move are provided with the preferred scheme of the present invention, the chassis.This
Sample, during the unmanned plane dragging servicing unit is slided, the sliding friction between the servicing unit and ground becomes rolling
Dynamic friction, so as to substantially reduce the frictional force between the servicing unit and ground, had so both reduced the nothing that unmanned plane is done
Hard, make practice effect more preferable again.
Elastic anti-collision bar is provided with the preferred scheme of the present invention, the chassis, the elastic anti-collision bar is wrapped in
The surrounding on the chassis.So, when exercise personnel cause wall on unmanned aerial vehicle because of operational error, due to the throwing on the chassis
Shadow area is more than the projected area of unmanned plane and the chassis surrounding is wrapped in elastic anti-collision bar, therefore chassis first knocks wall,
During knocking wall on chassis, due to the cushioning effect of elastic anti-collision bar, the impact produced is collided by elastic anti-collision bar
Absorb so that the impact suffered by unmanned plane reduces, so that avoid unmanned plane makes unmanned plane inner body because of impacting excessive
Damage.
The present invention a preferred scheme, it is described take over a business upper and lower ends be provided with linear bearing and linear axes bearing,
The linear bearing and the linear axes bearing be in be symmetrically mounted on it is described take over a business end upper and lower ends, the linear axes are from described
The linear bearing of both sides is passed through above and below taking over a business.Its object is to reduce frictional force when unmanned plane rises suffered by linear axes, keep away
Exempt from because the excessive exercise on unmanned plane of frictional force produces influence.In addition, it is described take over a business above and below both sides linear bearing to linear
Axle plays position-limiting action so that linear axes can only vertical motion so that buffer gear is acted, it is ensured that the unmanned plane fallen
Impact suffered on horizontal supporting plate and in this process is dropped to minimum, so as to protect unmanned plane.
The preferred scheme of the present invention, is provided with compression spring in the linear axes, the compression spring upper end with it is described
Take over a business the linear bearing connection of lower end, lower end is connected with limited block.So, during unmanned plane is ramped, unmanned plane
Drive and moved in linear axial, now the upward compression spring of the limited block of linear axes lower end so that the compression spring is produced
Elastic deformation, produces downward pressure so that the limited block moved upwards is buffered to limited block, it is to avoid this is spacing
Take over a business described in block hard hit, so as to produce larger impact and pass to unmanned plane, the part inside unmanned plane is caused to damage
It is bad.
The preferred scheme of the present invention, the horizontal cross bar lower end is being provided with two with horizontal supporting plate corresponding position
Group bearing assembly, every group of bearing assembly includes two in the fulcrum bearing being symmetrically mounted on horizontal cross bar, and the fulcrum bearing passes through spiral shell
Nail is fixed on horizontal cross bar.Its object is to increase the contact area of horizontal cross bar and horizontal supporting plate, when unmanned plane because
During unexpected landing, during unmanned plane and the horizontal cross bar on unmanned plane are pressed down against horizontal supporting plate, due to
The contact area of the horizontal cross bar and the horizontal supporting plate increases, so as to horizontal compression buffer spring, and then ensures
Unmanned plane is buffered when landing and level can be kept to land in buffering course.
The preferred scheme of the present invention, the servicing unit is additionally provided with locating module, and the locating module includes signal
Transmitting terminal and signal receiving end, wherein, the signal transmitting terminal is arranged on unmanned plane, and the signal receiving end is arranged on ground
On the control device of face.During due to practising unmanned plane indoors, gps signal is easily interfered, it is therefore necessary to which unmanned plane is carried out
It can just be flown after positioning, therefore the earthward equipment transmission signal of the signal transmitting terminal on unmanned plane, GCU detection
So as to be positioned to unmanned plane after to signal, practising personnel afterwards could be manipulated by ground installation to unmanned plane,
So make it that error is smaller when exercise personnel manipulate unmanned plane, practice effect is more notable.
The preferred scheme of the present invention, the chassis, takes over a business and support component is constituted by linear beam element；Wherein,
The chassis is vertical in place vertically first in the first level linear beam element of horizontal cross placement and two pairs including a pair
Linear beam element, wherein, the first vertical linear beam element upper end is connected with first level linear beam element, lower end and Universal lock bearing up pulley
Connection, the elastic anti-collision bar is connected in turn between the end of first level linear beam element；It is described take over a business including a pair be in ten
Second horizontal linearity rod member of word horizontal positioned, the support component upper end connects a second horizontal linearity rod member wherein
On, lower end is connected to the point of intersection of two first level linear beam elements.Because linear beam element is to be set on section bar and surface
There is mounting groove, therefore easy to assembly, cheap so that above-mentioned chassis, to take over a business and support component is simple in construction, cost is low
It is honest and clean.
Further, the support component includes being fixed on the second vertical line of two first level linear beam element point of intersection
Property rod member, the 3rd vertical linear beam element that is fixed therein for a pair at the end points of a second horizontal linearity rod member and for even
Connect the 3rd horizontal linearity rod member of the second vertical linear beam element and two the 3rd vertical linear beam elements.Said structure causes support group
More preferably, so that the servicing unit is more firm, stability is more preferable for the support effect of part.
The preferred scheme of the present invention, the supporting mechanism is provided with solid in the junction of linear beam element and linear beam element
Determine block, wherein, the fixed block is " L " shape structure, it is provided with the 3rd on orthogonal two faces of " L " shape fixed block
Through hole, the fixed block passes through the mode connects for screw through third through-hole with the linear beam element.So, phase in the servicing unit
The linear beam element connect is fixed with fixed block, so as to improve the stability of the servicing unit.
Fly in the agricultural unmanned plane room that the servicing unit of flight training in a kind of agricultural unmanned plane room described in application is realized
The training method of row exercise, comprises the following steps：
(1) unmanned plane is fixed on horizontal cross bar by operating personnel；
(2) start unmanned plane, control unmanned plane to take off by control system, now, unmanned plane is ramped and with moving-wire
Property axial direction on move, when linear axes lower end limited block with it is described take over a business be in contact when, unmanned plane arrival ceiling altitude；
(3) exercise personnel control unmanned plane to be flown with different postures by control system, and the unmanned plane is with the multi-directional ball
Carry out also driving the servicing unit to slide indoors during beat, unmanned plane beat centered on head bearing；
(4) after flight terminates, unmanned plane is unloaded, data have been recorded.
The present invention has following beneficial effect compared with prior art：
1st, the vertical posture tracking mechanism in the posture tracking mechanism limits the ceiling altitude of unmanned plane, described
Slide attitude tracking mechanism limits the flight range of unmanned plane so that unmanned plane flies in specific space, so
Just substantially reduce the area that unmanned plane practises place so that unmanned plane during flying exercise more facilitates.
2nd, when unmanned plane flight indoors, if because the operational error for practising personnel causes wall on unmanned aerial vehicle,
Because the projected area on the chassis is more than the projected area of the unmanned plane, therefore the chassis is prior to wall on unmanned aerial vehicle,
Unmanned plane is avoided to bump against with wall, so as to protect unmanned plane.Additionally due to the interior space is smaller, said structure can also be kept away
Exempt from unmanned plane with exercise personnel to bump against, so as to protect the personal safety of exercise personnel.
3rd, when unmanned plane aircraft bombing occurs in flight course, due to the constraint of linear axes so that unmanned plane and installation
Horizontal cross bar in unmanned plane lower end does the movement of falling object and contacted with buffer gear, and the buffer gear plays slow to unmanned plane
Punching is acted on so that unmanned plane dropped on the horizontal supporting plate, it is to avoid unmanned plane is damaged because of severe impact.
4th, the assistant apparatus structure is simple, easy to use, manufacturing cost it is low and go for it is different types of nobody
The exercise of machine.
Brief description of the drawings
Fig. 1 ties for the three-dimensional of first embodiment of the servicing unit of flight training in the agricultural unmanned plane room of the present invention
Structure schematic diagram.
Fig. 2 is Fig. 1 partial view.
Fig. 3 is Fig. 2 front view.
Fig. 4 is the support in second embodiment of the servicing unit of flight training in the agricultural unmanned plane room of the present invention
The dimensional structure diagram of mechanism.
Fig. 5 is the partial enlarged drawing of fixed block in Fig. 4.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment 1
Referring to Fig. 1-Fig. 3, the servicing unit of flight training includes posture tracking mechanism in agricultural unmanned plane room of the invention
2nd, the buffer gear 3 for supporting the supporting mechanism 4 of posture tracking mechanism 2 and being arranged on supporting mechanism 4.
Referring to Fig. 3, the supporting mechanism 4 include chassis, take over a business and be located at chassis and take over a business between support component, its
In, it is described take over a business center be provided with first through hole 4-10；On the buffer gear 3 is taken over a business installed in this, the chassis
Projected area be more than unmanned plane projected area.
Referring to Fig. 2 and Fig. 3, the buffer gear 3 include horizontal supporting plate 3-1 and be arranged on horizontal supporting plate 3-1 with
It is described take over a business between multigroup Buffer Unit, wherein, the second through hole 3-2 is provided with the horizontal supporting plate 3-1；The buffering
Component includes being arranged on the buffer spring abutment sleeve 3-3 below horizontal supporting plate 3-1, is arranged on and the buffering elastic
The support column 3-5 of spring abutment sleeve 3-3 coaxial lines and it is arranged on slow between the buffer spring abutment sleeve 3-3
Spring 3-4 is rushed, wherein, the buffer spring 3-4 upper ends are connected with the buffer spring abutment sleeve 3-3, and lower end passes through support
Post 3-5 is with taking over a business to be connected.
Referring to Fig. 1-Fig. 3, the posture tracking mechanism 2 includes horizontal cross bar 2-1, Slide attitude tracking mechanism and vertical
Posture tracking mechanism, wherein, the agricultural unmanned plane is fixed on horizontal cross bar 2-1；The Slide attitude tracking mechanism includes
Bearing with universal ball head 2-3 and base 2-4, wherein, the bearing with universal ball head 2-3 includes ball bearing seat and bulb, spherical
Bearing block is arranged on base 2-4, and the bulb is arranged on ball bearing seat, and the bulb is connected with the horizontal cross bar 2-1；
The vertical tracking mechanism includes linear axes 2-5, linear bearing 2-6, linear axes bearing 2-7 and limited block 2-9, wherein, institute
Linear bearing 2-6 is stated on the linear axes bearing 2-7, linear axes bearing 2-7 be fixed on it is described take over a business on, the linear axes
2-5 upper ends are connected with base 2-4, lower end through the second through hole 3-2, linear bearing 2-6, first through hole 4-10 and with limited block 2-
9 connections.
Referring to Fig. 1, elastic anti-collision bar 5 is provided with the chassis, the elastic anti-collision bar 5 is wrapped in the four of the chassis
Week.So, when exercise personnel cause wall on unmanned aerial vehicle because of operational error, because the projected area on the chassis is more than
The projected area of the unmanned plane and chassis surrounding is wrapped in elastic anti-collision bar 5, therefore chassis first knocks wall, is knocked on chassis
During wall, due to the cushioning effect of elastic anti-collision bar 5, the impact that collision is produced is absorbed by elastic anti-collision bar 5 so that
Impact suffered by unmanned plane reduces, so that avoid unmanned plane damages unmanned plane inner body because of impacting excessive.
Referring to Fig. 3, it is described take over a business upper and lower ends be provided with linear bearing 2-6 and linear axes bearing 2-7, it is described linear
Bearing 2-6 and the linear axes bearing 2-7 be in be symmetrically mounted on it is described take over a business end upper and lower ends, the linear axes 2-5 is from institute
The linear bearing 2-6 of both sides is passed through above and below stating.Its object is to reduce rubbing suffered by linear axes 2-5 when unmanned plane rises
Wipe power, it is to avoid because the excessive exercise on unmanned plane of frictional force produces influence.In addition, it is described take over a business above and below both sides linear bearing
2-6 plays position-limiting action to linear axes 2-5 so that linear axes 2-5 can only vertical motion so that buffer gear 3 is acted,
Ensure that the unmanned plane fallen drops to impact minimum suffered on horizontal supporting plate 3-1 and in this process, so as to protect nothing
It is man-machine.
Referring to Fig. 1-Fig. 3, compression spring 2-8 is provided with the linear axes 2-5, compression spring 2-8 upper ends with it is described
Take over a business the linear bearing 2-6 connections of lower end, lower end is connected with limited block 2-9.So, during unmanned plane is ramped,
Unmanned plane drives linear axes 2-5 to move upwards, now the upward compression spring 2-8 of the limited block 2-9 of linear axes 2-5 lower ends,
So that compression spring 2-8 produces elastic deformation, a downward pressure is produced to limited block 2-9 so that the limit moved upwards
Position block 2-9 is buffered, it is to avoid taken over a business described in limited block 2-9 hard hits, so as to produce larger impact and pass to
Unmanned plane, causes to damage to the part inside unmanned plane.
Referring to Fig. 1 and Fig. 2, the horizontal cross bar 2-1 lower ends are being provided with two groups with horizontal supporting plate 3-1 corresponding positions
Bearing assembly, every group of bearing assembly includes two in the fulcrum bearing 2-2, fulcrum bearing 2-2 being symmetrically mounted on horizontal cross bar 2-1
It is fixed by screws on horizontal cross bar 2-1.Its object is to increase horizontal cross bar 2-1 and horizontal supporting plate 3-1 contact surface
Product, when unmanned plane because when surprisingly landing, unmanned plane and the horizontal cross bar 2-1 on unmanned plane are pressed down against level branch
During fagging 3-1, because the horizontal cross bar 2-1 and horizontal supporting plate 3-1 contact area increases, so as to
Horizontal compression buffer spring 3-4, and then ensure to be buffered during unmanned plane landing and level can be kept to land in buffering course.
Referring to Fig. 1, the servicing unit is additionally provided with locating module, and the locating module includes signal transmitting terminal 1 and letter
Number receiving terminal, wherein, the signal transmitting terminal 1 is arranged on unmanned plane, and the signal receiving end is arranged on GCU
On.During due to practising unmanned plane indoors, gps signal is easily interfered, it is therefore necessary to just may be used after being positioned to unmanned plane
To fly, therefore signal transmitting terminal 1 on unmanned plane earthward equipment transmission signal, GCU is detected after signal
So as to be positioned to unmanned plane, practising personnel afterwards could be manipulated by ground installation to unmanned plane, so that be practiced
Error is smaller when habit personnel manipulate unmanned plane, and practice effect is more notable.
Referring to Fig. 1 and Fig. 3, the chassis, take over a business and support component is constituted by linear beam element；Wherein, the chassis
Including the first level linear beam element 4-5 placed in horizontal cross for a pair and two couples in the first vertical linear bar for placing vertically
Part 4-6, wherein, the first vertical linear beam element 4-6 upper ends are connected with first level linear beam element 4-5, the elastic anti-collision
Bar 5 is connected in turn between first level linear beam element 4-5 end；It is described take over a business including a pair in the of cross horizontal positioned
Two horizontal linearity rod member 4-1, the support component upper end connection is wherein on a second horizontal linearity rod member 4-1, and lower end connects
It is connected on the point of intersection of two first level linear beam elements 4-5.Because linear beam element is to be provided with installation on section bar and surface
Groove, therefore easy to assembly, it is cheap so that above-mentioned chassis, to take over a business and support component is simple in construction, it is with low cost.
Referring to Fig. 1, the support component includes being fixed on the second vertical of two first level linear beam element 4-5 point of intersection
Linear beam element 4-4, the 3rd vertical linear beam element 4- being fixed therein for a pair at second horizontal linearity rod member 4-1 end points
2 and the 3rd horizontal linearity rod member 4- for connection the second vertical linear beam element 4-4 and two the 3rd vertical linear beam element 4-2
3.Said structure causes the support effect of support component more preferably, so that the servicing unit is more firm, stability is more preferable.
Referring to Fig. 1-Fig. 3, it is agricultural that the servicing unit of flight training in the agricultural unmanned plane room described in a kind of application is realized
The training method of flight training, comprises the following steps in unmanned plane room：
(1) unmanned plane is fixed on horizontal cross bar 2-1 by operating personnel；
(2) start unmanned plane, control unmanned plane to take off by control system, now, unmanned plane is ramped and with moving-wire
Property axle 2-5 move upwards, when linear axes 2-5 lower ends limited block 2-9 with it is described take over a business be in contact when, unmanned plane reaches maximum fly
Row height；
(3) exercise personnel control unmanned plane to be flown with different postures by control system, and the unmanned plane is with the multi-directional ball
Carry out also driving the servicing unit to slide indoors during beat, unmanned plane beat centered on head bearing 2-3；
(4) after flight terminates, unmanned plane is unloaded, data have been recorded.
The operation principle of the servicing unit of flight training is in the agricultural unmanned plane room of the present invention：
Before exercise, unmanned plane is arranged on horizontal cross bar 2-1 by exercise personnel, and now unmanned plane is made due to self gravitation
Unmanned plane and installed in unmanned plane lower end horizontal cross bar 2-1 to falling on horizontal supporting plate 3-1 and promote level branch
Fagging 3-1 falls downwards so that the buffer spring 3-4 on acting on horizontal supporting plate 3-1 and taking over a business is in compressive state, now
Unmanned plane level is parked on horizontal supporting plate 3-1.
When starting exercise, exercise personnel are started unmanned plane and control unmanned plane to be flown with different postures by control system.
During taking a flight test, when unmanned plane is ramped, the unmanned plane drives the motion upwards of posture tracking mechanism 2, is in particular in：
With the increase of unmanned plane height, the linear axes 2-5 of vertical posture tracking mechanism is constantly moved upwards, when the vertical posture is followed
Be arranged in mechanism the limited block 2-9 of linear axes 2-5 lower ends with it is described take over a business contact when, because the unmanned plane is to the auxiliary
The pulling force of device is less than the gravity of the servicing unit, therefore the unmanned plane can not lift the servicing unit, therefore the unmanned plane
Flying height reach capacity.In this process, due to unmanned plane suffered by buffer gear 3 and horizontal cross bar 2-1 to
Under distress resolves so that buffer spring 3-4 gradually reverts to nature elongation state.When exercise personnel control unmanned plane laterally flies
During row, because Slide attitude tracking mechanism is connected with the unmanned plane by bearing with universal ball head 2-3 so that although unmanned plane can
To carry out the beat in different degrees of and direction centered on bearing with universal ball head 2-3, but bearing with universal ball head 2- can not be departed from
3.So pass through posture tracking mechanism 2 so that unmanned plane can only fly in the specific space in servicing unit upper end,
But the space can not be flown away from.In order that the practice effect of exercise personnel is more preferably, during flying in side, although unmanned plane
It can not lift the servicing unit, but the component in the horizontal direction that produces when flying of unmanned pusher side can drag the servicing unit
Slide, so that practice effect is more notable.
When causing unmanned plane to fall due to the misoperation or other factors of practising personnel, now, unmanned plane and peace
Horizontal cross bar 2-1 on unmanned plane does the movement of falling object due to linear axes 2-5 constraint, so as to extrude horizontal supporting plate
3-1 so that buffer spring 3-4 between acting on horizontal supporting plate 3-1 and taking over a business from natural elongation state before gradually to
Compressive state is changed.In this process, the buffer spring 3-4 produces a upward support force to the unmanned plane fallen,
So that the unmanned plane fallen is buffered, final safe falling is on horizontal supporting plate 3-1.When unmanned plane is dragged indoors
When the servicing unit is slided, because the interior space is smaller, when some objects (wall, desk or other obstacles on unmanned aerial vehicle
Thing) when, because the projected area on the chassis is more than the projected area after the unmanned plane opens, therefore the chassis is prior to nobody
Machine is contacted with object to be bumped against so as to avoid unmanned plane with object.
Embodiment 2
Referring to Fig. 4 and Fig. 5, multiple Universal lock bearing up pulley 4-7 for being easy to chassis to move are provided with the chassis, it is described universal
Locking wheel 4-7 enables the servicing unit to be slided on the ground towards any direction.So, in the unmanned plane dragging auxiliary dress
Put during sliding, the sliding friction between the servicing unit and ground becomes rolling friction, so as to substantially reduce described
Frictional force between servicing unit and ground, had so both reduced the idle work that unmanned plane is done, and had made practice effect more preferable again.
Referring to Fig. 4 and Fig. 5, the supporting mechanism 4 also includes the fixed block 4-8 for being arranged on linear beam element junction, wherein,
The fixed block 4-8 is " L " shape structure, and third through-hole 4-9 is provided with orthogonal two faces of " L " shape fixed block,
The fixed block 4-8, by crossing the mode connects for screw through third through-hole 4-9, is realized in the servicing unit with the linear beam element
The fixation of the linear beam element connected, so as to improve the stability of the servicing unit.
The present embodiment other embodiment other than the above is same as Example 1.
It is above-mentioned that but embodiments of the present invention are not limited by the above for the present invention preferably embodiment, its
He it is any without departing from Spirit Essence and the change made under principle of the present invention, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (10)
1. the servicing unit of flight training in a kind of agricultural unmanned plane room, it is characterised in that including posture tracking mechanism, for propping up
The buffer gear for supportting the supporting mechanism of posture tracking mechanism and being arranged on supporting mechanism；Wherein,
The supporting mechanism include chassis, take over a business and be located at chassis and take over a business between support component, wherein, it is described take over a business
Center is provided with first through hole；On the buffer gear is taken over a business installed in this, the projected area on the chassis is more than nobody
The projected area of machine；
The buffer gear include horizontal supporting plate and be arranged on horizontal supporting plate and it is described take over a business between multigroup buffering group
Part, wherein, the second through hole is provided with the horizontal supporting plate；The Buffer Unit includes being arranged on below horizontal supporting plate
Buffer spring abutment sleeve, it is arranged on the upper support column with the buffer spring abutment sleeve coaxial line and is arranged on top
Buffer spring between disk and the buffer spring abutment sleeve, wherein, the buffer spring upper end is determined with the buffer spring
Position sleeve connection, lower end is through support column with taking over a business to be connected；
The posture tracking mechanism includes horizontal cross bar, Slide attitude tracking mechanism and vertical posture tracking mechanism, wherein, institute
Agricultural unmanned plane is stated to be fixed on horizontal cross bar；The Slide attitude tracking mechanism includes bearing with universal ball head and base, its
In, the bearing with universal ball head includes ball bearing seat and bulb, and ball bearing seat is arranged on base, and the bulb is arranged on
On ball bearing seat, the bulb is connected with the horizontal cross bar；The vertical tracking mechanism include linear axes, linear bearing,
Linear axes bearing and limited block, wherein, the linear bearing is arranged in linear axes bearing, and the linear axes bearing is fixed on institute
On stating, the linear axes upper end is connected with base, lower end through the second through hole, linear bearing, first through hole and with it is spacing
Block is connected.
2. the servicing unit of flight training in agricultural unmanned plane room according to claim 1, it is characterised in that the chassis
On be provided with it is multiple be easy to chassis move Universal lock bearings up pulley.
3. the servicing unit of flight training in agricultural unmanned plane room according to claim 2, it is characterised in that the chassis
On be provided with elastic anti-collision bar, the elastic anti-collision bar is wrapped in the surrounding on the chassis.
4. the servicing unit of flight training in agricultural unmanned plane room according to claim 1, it is characterised in that it is described take over a business
Upper and lower ends be provided with linear bearing and linear axes bearing, the linear bearing and the linear axes bearing are in being symmetrically installed
It is described take over a business upper and lower ends, the linear axes from it is described take over a business upper and lower ends linear bearing in pass through.
5. the servicing unit of flight training in agricultural unmanned plane room according to claim 4, it is characterised in that described linear
Compression spring is provided with axle, the compression spring upper end with it is described take over a business lower end linear bearing be connected, lower end and limited block connect
Connect.
6. the servicing unit of flight training in agricultural unmanned plane room according to claim 1, it is characterised in that the level
Cross bar lower end is being provided with two groups of bearing assemblies with horizontal supporting plate corresponding position, and every group of bearing assembly includes two in symmetrical
Fulcrum bearing on horizontal cross bar, the fulcrum bearing is fixed on horizontal cross bar.
7. the servicing unit of flight training in agricultural unmanned plane room according to claim 1, it is characterised in that the auxiliary
Device is additionally provided with locating module, and the locating module includes signal transmitting terminal and signal receiving end, wherein, the signal transmitting
End is arranged on unmanned plane, and the signal receiving end is arranged on GCU.
8. the servicing unit of flight training in agricultural unmanned plane room according to claim 3, it is characterised in that the bottom
Disk, take over a business and support component is constituted by linear beam element；Wherein, the chassis includes a pair in the first of horizontal cross placement
Horizontal linearity rod member and two pairs in the first vertical linear beam element placed vertically, wherein, on the first vertical linear beam element
End is connected with first level linear beam element, and lower end is connected with Universal lock bearing up pulley, and the elastic anti-collision bar is connected to the first water in turn
Between the end of flat linear beam element；It is described take over a business including a pair be in cross horizontal positioned the second horizontal linearity rod member, the branch
The connection of support component upper end is wherein on a second horizontal linearity rod member, and lower end is connected to two first level linear beam elements
Point of intersection.
9. the servicing unit of flight training in agricultural unmanned plane room according to claim 8, it is characterised in that the support
Mechanism is provided with fixed block in the junction of linear beam element and linear beam element, wherein, the fixed block is " L " shape structure, at " L "
Shape fixed block is provided with third through-hole on orthogonal two faces, by wearing between the fixed block and the linear beam element
Cross the mode connects for screw of third through-hole.
What 10. the servicing unit of flight training in the agricultural unmanned plane room described in a kind of application claim any one of 1-9 was realized
The training method of flight training in agricultural unmanned plane room, it is characterised in that comprise the following steps：
(1) unmanned plane is fixed on horizontal cross bar by operating personnel；
(2) start unmanned plane, control unmanned plane to take off by control system, now, unmanned plane ramps and drives linear axes
Upwards motion, when linear axes lower end limited block with it is described take over a business be in contact when, unmanned plane arrival ceiling altitude；
(3) exercise personnel control unmanned plane to be flown with different postures by control system, and the unmanned plane is with the universal ball end axle
Carry out also driving the servicing unit to slide indoors during beat, unmanned plane beat centered on holding；
(4) after flight terminates, unmanned plane is unloaded, data have been recorded.
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| CN201710423971.0A CN107331239B (en) | 2017-06-07 | 2017-06-07 | The auxiliary device and training method of flight training in a kind of agricultural unmanned plane room |
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| CN108364524A (en) * | 2018-03-17 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of the flight training device and exercising method of unmanned plane |
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| CN113306478A (en) * | 2020-02-25 | 2021-08-27 | 北京理工大学 | Aircraft mooring following protection platform and control method thereof |
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