CN108357688A - A kind of unmanned plane take-off and landing device and control method of landing - Google Patents
A kind of unmanned plane take-off and landing device and control method of landing Download PDFInfo
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- CN108357688A CN108357688A CN201711329864.8A CN201711329864A CN108357688A CN 108357688 A CN108357688 A CN 108357688A CN 201711329864 A CN201711329864 A CN 201711329864A CN 108357688 A CN108357688 A CN 108357688A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000003463 adsorbent Substances 0.000 claims abstract description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 claims 1
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention designs a kind of unmanned plane take-off and landing device and control method of landing, annular hole is provided in the middle part of unmanned plane, surrounding has fixed-wing, annular hole periphery bottom to have unmanned plane sensing device, unmanned machine positioning device, UAV Flight Control device, unmanned plane image collecting device.Take-off and landing device is a regular conical control tower, and there is top sensing device in control tower upper end, has electromagnet adsorbent equipment, the bottom of control tower to have steady clump weight on the circumference of control tower lower part；Control tower is used to adsorb unmanned plane across unmanned plane annular hole and by electromagnet adsorbent equipment.Control tower lower tapered surface diameter is slightly smaller than annular hole diameter.Landing control method includes the method that unmanned plane finds that the method for control tower, unmanned plane are mobile and is fixed on after dropping to the interaction control method on control tower and unmanned plane landing on control tower.It is simple in structure, can successfully land without being accurately positioned alignment when landing, in descent the time required to it is shorter and be hardly damaged unmanned plane.
Description
Technical field
The present invention relates to a kind of unmanned plane take-off and landing device and landing control methods, belong to air vehicle technique field.
Background technology
Unmanned plane industry development in recent years is rapid, is widely used to city management, agricultural, geology, meteorology, electric power, robs
The industries such as the dangerous disaster relief, video capture.Wherein gyroplane has the specific functions such as VTOL and hovering, and has and take off conveniently,
Inexpensive, high efficiency-cost ratio, existence is adaptable, configures the features such as flexible, task is polynary.But small-sized rotor type unmanned plane is steady
Qualitative and wind resistance is weaker, is not easily recycled, cannot accurate stable landing, constrain such unmanned plane at vehicle, carrier-borne aspect
Development.
With the application in rotor wing unmanned aerial vehicle of the development of wireless communication technique, machine vision and navigation accuracy, automatic
Tracking technique and automatic obstacle-avoiding step up, and rotor wing unmanned aerial vehicle has had the flight of automated execution complexity and appointed substantially in fact
It is engaged in function, as long as can solve to recycle, the problems such as accurate stable landing, so that it may to widen the application field of rotor wing unmanned aerial vehicle, moreover it is possible to
Manpower is saved, is lost caused by reducing unstable landing, saves the time spent by manual intervention.
Chinese invention patent " it is a kind of auxiliary unmanned plane landing be accurately positioned and fixing device "（201710157866.7）
Include the limiting slot for being limited to unmanned plane horn, limiting slot includes supporting for bottom setting, supports side and landing
Face connects, and landing face is plane or curved surface, and landing face is obliquely installed with supporting, and unmanned plane horn support leg connects with landing face
After touch, it is dropped into along landing face and supports upper realization and be accurately positioned, the deficiency of the device is difficult to adapt to different length unmanned plane
Arm equally exists contraposition difficult problem using multiple landing face modes；Patent of invention " a kind of method of unmanned plane pinpoint landing "
（201510485633.0）Need combine GPS and computer vision technique, by calculate unmanned plane make a return voyage hovering height, upload return
Boat hovering point GPS coordinate and instruction of making a return voyage make unmanned plane start to make a return voyage, accurately adjust unmanned plane level using intelligent algorithm
Orientation, assigns vertical landing again after so that unmanned plane is located at right over target level point, this method wind sheltering energy force difference, required equipment and
Software resource is more, need to occupy the long period when landing in actual use, can not be accurately positioned well；Patent of invention " nothing
It is man-machine "（201610962576.5）It is a kind of undercarriage and body separable structure, shortcoming must when being unmanned plane landing
Need be accurately aligned with undercarriage could decline, and long period problem need to be occupied when otherwise equally existing landing.
Invention content
The purpose of the present invention is being directed to the problem of background technology proposes, a kind of unmanned plane take-off and landing device and control of landing are designed
Method is a kind of landing control method for the unmanned plane take-off and landing device and the unmanned plane being provided with fixed-wing for surrounding.
The technical scheme is that：A kind of unmanned plane take-off and landing device, the unmanned plane are that surrounding is provided with fixed-wing
Unmanned plane is provided with annular hole in the middle part of unmanned plane, and the bottom of annular hole periphery is respectively arranged with：Unmanned plane sensing device,
Unmanned machine positioning device, UAV Flight Control device, unmanned plane image collecting device；It is characterized in that：
The unmanned plane take-off and landing device is a regular conical control tower, and the top of the control tower is provided with top sensing device,
The provided circumferentially about of control tower lower part has electromagnet adsorbent equipment, the bottom of control tower to be provided with steady clump weight；The control tower is used for
Unmanned plane is adsorbed across unmanned plane annular hole and by the electromagnet adsorbent equipment.
A kind of unmanned plane take-off and landing device as described above, it is characterised in that：The control tower lower part is provided with electromagnet absorption dress
Diameter≤unmanned plane annular the hole diameter at place is set, the taper of conical control tower is set as 1:4 ~ 6, the conical surface of conical control tower is high
Degree is set as 300 ~ 500mm.
A kind of landing control method of unmanned plane take-off and landing device, it is characterised in that：The unmanned plane drops to unmanned plane and rises
The control method of dropping control device includes：Step 1: the method that unmanned plane finds control tower, Step 2: unmanned plane is mobile and drops to tower
Interaction control method on platform, Step 3: being fixed on the method on control tower after unmanned plane landing；It is as follows respectively：
Step 1：The method that unmanned plane finds control tower, including following sub-step：
A1：Unmanned plane is manipulated by user close to control tower；
A2：Tower head atop sensing device sends out signal to surrounding；
A3：Unmanned plane enters control tower and sends out in signal control range；
A4：Unmanned plane sensing device, which receives control tower and sends out signal, calculates control tower position；
Step 2: unmanned plane is mobile and drops to the interaction control method on control tower, including following sub-step：
B1：Unmanned plane sensing device receives tower head atop sensing device and sends out signal, opens automatic landing mode；
B2：Tower head atop sensing device sends out position signal in real time to unmanned plane；
B3：Unmanned plane adjustment height is close to control tower, flight to control tower position directly above；
B4：Fuselage positions are adjusted by UAV Flight Control device, unmanned machine positioning device above unmanned plane during flying to control tower,
Ensure tower head atop under vertical view state in unmanned plane ring-type perforated；
Step 3: being fixed on the method on control tower, including following sub-step after unmanned plane landing：
C1：Unmanned plane hovers over above control tower, and starting slow vertical landing makes unmanned plane ring-type hole be sleeved on control tower positive round cone
On；
C2：After unmanned plane drops on control tower, unmanned plane power-off stops flight, closes all electronic equipments；
C3：After tower head atop sensing device senses that unmanned plane is stopped, electromagnet adsorbent equipment is automatically turned on, nobody is adsorbed
Machine metal fuselage makes unmanned plane be stabilized on control tower.
The beneficial effects of the invention are as follows：
1, a kind of unmanned plane take-off and landing device of the present invention and landing control method, since control tower positive round cone top is less than unmanned plane machine
Circular hole with it, therefore can successfully land without being accurately positioned alignment when unmanned plane landing, it is taken in descent
Between it is shorter, overcome similar unmanned plane there are problems that landing when need to occupy the long period.
2, unmanned plane can recycle unmanned plane in landing in the case of no manual intervention, save manually, not by environment
Factor influences accurate stable landing, is hardly damaged unmanned plane.
Description of the drawings
Attached drawing 1 is " a kind of unmanned plane take-off and landing device " structural schematic diagram in the embodiment of the present invention；
Attached drawing 2 is unmanned plane bottom surface and each high-level schematic functional block diagram；
Attached drawing 3 is the three-dimensional signal that unmanned plane drops on control tower in the embodiment of the present invention.
Description of symbols in attached drawing：1- control towers, 2- unmanned planes, 3- electromagnet adsorbent equipment, 4- uav bottoms, the tops 5-
Sensing device, 41- unmanned planes sensing device, the unmanned machine positioning devices of 42-, 43- UAV Flight Controls device, 44- unmanned planes
Image collecting device.
Specific implementation mode
Below in conjunction with attached drawing, embodiments of the present invention is further illustrated, and examples of the embodiments are shown in the accompanying drawings,
In which the same or similar labels are throughly indicated same or similar element or elements with the same or similar functions.Under
Face is exemplary by reference to the embodiment that attached drawing describes, it is intended to for explaining the present invention, and should not be understood as to the present invention
Limitation, any modification, equivalent replacement or improvement for being made all within the spirits and principles of the present invention etc. should be included in this
It within the right of invention, is not addressed in detail in the technical program, is known technology.
As shown in attached drawing 1~3, a kind of unmanned plane take-off and landing device of the present invention, the unmanned plane is that surrounding is provided with fixed-wing
Unmanned plane 2, the middle part of unmanned plane 2 is provided with annular hole, and the bottom of annular hole periphery is respectively arranged with：Unmanned plane induction dress
Set 41, unmanned machine positioning device 42, UAV Flight Control device 43, unmanned plane image collecting device 44.
The unmanned plane take-off and landing device is a regular conical control tower 1, and the top of the control tower 1 is provided with top induction dress
5 are set, the provided circumferentially about of 1 lower part of control tower has electromagnet adsorbent equipment 3, the bottom of control tower 1 to be provided with steady clump weight；The tower
Platform 1 is used to adsorb unmanned plane 2 across unmanned plane annular hole and by the electromagnet adsorbent equipment 3.
As shown in Figure 1, in the embodiment of the present invention, 1 lower part of the control tower is provided with the summary of the diameter at electromagnet adsorbent equipment 3
Less than unmanned plane annular hole diameter, the taper of conical control tower is set as 1:5, the height of conical surface of conical control tower is set as
400mm。
The unmanned plane sensing device 41 is for receiving the signal that control tower 1 is sent out.At range finder module and evacuation information
Module is managed, the range finder module can measure the relative distance of unmanned plane and control tower 1, and the evacuation message processing module is used for root
Unmanned plane during flying strategy is adjusted according to the relative distance, unmanned plane is made to avoid barrier.Further, in the embodiment of the present invention,
The range finder module includes laser range finder, and the laser range finder is used to measure the relative distance of unmanned plane 2 and control tower 1.
The unmanned machine positioning device 42 is used to determine the position of control tower 1.The UAV Flight Control device 43 is in nothing
Man-machine sensing device 41 receives the signal that unmanned plane control tower 1 is sent out, and calculates the position of control tower 1, the flight of unmanned plane 2 to tower
Behind 1 top of platform, fuselage positions are adjusted with unmanned machine positioning device 42, ensure the coniform control tower 1 of perpendicular alignmnet.The unmanned plane
Image collecting device 44 is for acquiring image information.Power-off is stopped after the unmanned plane 2 drops on control tower 1, the electricity
Magnetic iron absorption device 3 automatically turns on electromagnet apparatus 3, unmanned plane 2 is fixed on control tower 1 after unmanned plane is stopped.
In the embodiment of the present invention, the control method that the unmanned plane drops to unmanned plane take-off and landing device includes：Step 1: nothing
The method of man-machine discovery control tower, Step 2: unmanned plane 2 moves and drops to the interaction control method on control tower 1, Step 3: nothing
The method being fixed on after man-machine landing on control tower；It is as follows respectively：
Step 1：The method that unmanned plane finds control tower, including following sub-step：
A1：Unmanned plane 2 is manipulated by user close to control tower 1；
A2：Tower head atop sensing device 5 sends out signal to surrounding；
A3：Unmanned plane 2 is sent out into control tower 1 in signal control range；
A4：Unmanned plane sensing device 41, which receives control tower 1 and sends out signal, calculates 1 position of control tower；
Step 2: unmanned plane 2 moves and drops to the interaction control method on control tower 1, including following sub-step：
B1：Unmanned plane sensing device 41 receives tower head atop sensing device 5 and sends out signal, opens automatic landing mode；
B2：Tower head atop sensing device 5 sends out position signal in real time to unmanned plane 2；
B3：The adjustment height of unmanned plane 2 is close to control tower 1, flight to 1 position directly above of control tower；
B4：For unmanned plane during flying to 1 top of control tower by UAV Flight Control device 43, unmanned machine positioning device 42 adjusts fuselage
Position ensures 1 top of control tower under vertical view state in unmanned plane ring-type perforated；
Step 3: being fixed on the method on control tower, including following sub-step after unmanned plane landing：
C1：Unmanned plane 2 hovers over 1 top of control tower, and starting slow vertical landing makes unmanned plane ring-type hole be sleeved on 1 normal cone of control tower
On body；
C2：After unmanned plane 2 drops on control tower 1, unmanned plane power-off stops flight, closes all electronic equipments；
C3：After 1 top sensing device 5 of control tower induction unmanned plane is stopped, electromagnet adsorbent equipment 3 is automatically turned on, nothing is adsorbed
Man-machine 2 metal fuselage makes unmanned plane be stabilized on control tower 1.
A kind of unmanned plane take-off and landing device of the present invention and landing control method, since control tower positive round cone top is less than unmanned plane
Circular hole on fuselage, therefore can successfully land without being accurately positioned alignment when unmanned plane landing, it is required in descent
Time is shorter, overcomes similar unmanned plane and there are problems that when landing the long period need to be occupied.Unmanned plane can not have in landing
Unmanned plane is recycled in the case of manual intervention, is saved manually, not by the accurate stable landing of such environmental effects, is hardly damaged nobody
Machine.
Claims (3)
1. a kind of unmanned plane take-off and landing device, the unmanned plane is the unmanned plane that surrounding is provided with fixed-wing, is opened in the middle part of unmanned plane
There are annular hole, the bottom of annular hole periphery to be respectively arranged with：Unmanned plane sensing device, unmanned machine positioning device, unmanned plane
Flight control assemblies, unmanned plane image collecting device；It is characterized in that：
The unmanned plane take-off and landing device is a regular conical control tower, and the top of the control tower is provided with top sensing device,
The provided circumferentially about of control tower lower part has electromagnet adsorbent equipment, the bottom of control tower to be provided with steady clump weight；The control tower is used for
Unmanned plane is adsorbed across unmanned plane annular hole and by the electromagnet adsorbent equipment.
2. a kind of unmanned plane take-off and landing device as described in claim 1, it is characterised in that：The control tower lower part is provided with electromagnet suction
Diameter≤unmanned plane annular hole diameter at adsorption device, the taper of conical control tower are set as 1:4 ~ 6, the cone of conical control tower
Face height is set as 300 ~ 500mm.
3. a kind of landing control method of unmanned plane take-off and landing device, it is characterised in that：The unmanned plane drops to unmanned plane and rises and falls
The control method of device includes：Step 1: the method that unmanned plane finds control tower, Step 2: unmanned plane is mobile and drops to control tower
On interaction control method, Step 3: being fixed on method on control tower after unmanned plane landing；It is as follows respectively：
Step 1：The method that unmanned plane finds control tower, including following sub-step：
A1：Unmanned plane is manipulated by user close to control tower；
A2：Tower head atop sensing device sends out signal to surrounding；
A3：Unmanned plane enters control tower and sends out in signal control range；
A4：Unmanned plane sensing device, which receives control tower and sends out signal, calculates control tower position；
Step 2: unmanned plane is mobile and drops to the interaction control method on control tower, including following sub-step：
B1：Unmanned plane sensing device receives tower head atop sensing device and sends out signal, opens automatic landing mode；
B2：Tower head atop sensing device sends out position signal in real time to unmanned plane；
B3：Unmanned plane adjustment height is close to control tower, flight to control tower position directly above；
B4：Fuselage positions are adjusted by UAV Flight Control device, unmanned machine positioning device above unmanned plane during flying to control tower,
Ensure tower head atop under vertical view state in unmanned plane ring-type perforated；
Step 3: being fixed on the method on control tower, including following sub-step after unmanned plane landing：
C1：Unmanned plane hovers over above control tower, and starting slow vertical landing makes unmanned plane ring-type hole be sleeved on control tower positive round cone
On；
C2：After unmanned plane drops on control tower, unmanned plane power-off stops flight, closes all electronic equipments；
C3：After tower head atop sensing device senses that unmanned plane is stopped, electromagnet adsorbent equipment is automatically turned on, nobody is adsorbed
Machine metal fuselage makes unmanned plane be stabilized on control tower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711329864.8A CN108357688A (en) | 2017-12-13 | 2017-12-13 | A kind of unmanned plane take-off and landing device and control method of landing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711329864.8A CN108357688A (en) | 2017-12-13 | 2017-12-13 | A kind of unmanned plane take-off and landing device and control method of landing |
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| Publication Number | Publication Date |
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| CN108357688A true CN108357688A (en) | 2018-08-03 |
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ID=63009978
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| CN201711329864.8A Pending CN108357688A (en) | 2017-12-13 | 2017-12-13 | A kind of unmanned plane take-off and landing device and control method of landing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109896035A (en) * | 2019-02-02 | 2019-06-18 | 南京航空航天大学 | Auxiliary system for multi-rotor unmanned aerial vehicle landing and carrying on a mobile platform |
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| CN205440852U (en) * | 2016-03-16 | 2016-08-10 | 安徽钰龙信息科技有限公司 | A unmanned aerial vehicle descending base for command car |
| US9499265B2 (en) * | 2014-07-02 | 2016-11-22 | Skycatch, Inc. | Unmanned aerial vehicle landing interface |
| WO2017006738A1 (en) * | 2015-07-03 | 2017-01-12 | 三菱重工業株式会社 | Positioning device and positioning method |
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2017
- 2017-12-13 CN CN201711329864.8A patent/CN108357688A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9499265B2 (en) * | 2014-07-02 | 2016-11-22 | Skycatch, Inc. | Unmanned aerial vehicle landing interface |
| CN104670516A (en) * | 2015-02-15 | 2015-06-03 | 南京理工大学 | Rapid taking-off and landing device of air vehicle |
| WO2017006738A1 (en) * | 2015-07-03 | 2017-01-12 | 三菱重工業株式会社 | Positioning device and positioning method |
| CN205212489U (en) * | 2015-12-02 | 2016-05-04 | 北京科罗菲特科技有限公司 | Unmanned aerial vehicle portable charging device |
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| CN109896035A (en) * | 2019-02-02 | 2019-06-18 | 南京航空航天大学 | Auxiliary system for multi-rotor unmanned aerial vehicle landing and carrying on a mobile platform |
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