CN108398956B - Unmanned aerial vehicle balance system for shipborne platform and control method thereof - Google Patents
Unmanned aerial vehicle balance system for shipborne platform and control method thereof Download PDFInfo
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- CN108398956B CN108398956B CN201810247623.7A CN201810247623A CN108398956B CN 108398956 B CN108398956 B CN 108398956B CN 201810247623 A CN201810247623 A CN 201810247623A CN 108398956 B CN108398956 B CN 108398956B
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- 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
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Abstract
The invention relates to an unmanned aerial vehicle balance system for a shipborne platform and a control method thereof. The unmanned aerial vehicle balancing system comprises an unmanned aerial vehicle and a balancing component, wherein the unmanned aerial vehicle comprises a main body, a control module, a stand foot, an airborne gyroscope and an airborne communication module; the control module, the airborne gyroscope and the airborne communication module are arranged in the main body, at least three machine station legs are provided, one end of each machine station leg is fixedly connected with the bottom of the main body, and the other end of each machine station leg is provided with a locking mechanism; the balance assembly comprises an underframe, hollow column tubes corresponding to the number of the machine standing legs are arranged on the underframe, limiting layers are arranged in the hollow column tubes corresponding to the insertion positions of the machine standing legs, positioning holes are formed in the limiting layers, and the bottom ends of the hollow column tubes are connected with the underframe. Through detecting unmanned aerial vehicle's attitude information, adjust to the balanced state and be about to its locking to realize balanced taking off or descending, avoided the shipborne platform to rock along with the stormy waves, unmanned aerial vehicle can't maintain steady problem.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of unmanned aerial vehicles and auxiliary equipment thereof, and particularly relates to an unmanned aerial vehicle balance system for a shipborne platform, a control method of the unmanned aerial vehicle balance system and a control method of the unmanned aerial vehicle balance system.
[ background of the invention ]
The unmanned aerial vehicle is a full-automatic robot which can fly in the air according to preset tasks without remote control and by means of accurate satellite positioning and self sensing, integrates various technologies such as airplanes, communication, automation, robot control, remote monitoring and networking systems, realizes the functions of autonomous navigation, intelligent obstacle avoidance, remote communication, video real-time transmission, networking monitoring and the like, and has wide application in various industries.
In the reconnaissance communications industry, particularly in specific autonomous offshore reconnaissance operations, unmanned aerial vehicles often work in conjunction with aircraft that own onboard platforms. In the modern technology, along with the popularization of unmanned ship technology, a shipborne platform is not loaded by only ships or aircrafts any more, an unmanned ship carrying the shipborne platform is matched with the unmanned ship, a three-dimensional operation system combining the air and the water surface is formed under the control of a preset program, manual operation and control are not needed, the environment information of a certain water area is automatically collected, the method is more and more widely applied, and the scheme with high automation operation degree is more and more widely applied.
However, in the actual operation process, the shipborne platform always swings indefinitely along with the waves on the water surface, and then the unmanned aerial vehicle is influenced not to reach a balanced state when taking off or landing. On one hand, when the unmanned aerial vehicle takes off obliquely, the unmanned aerial vehicle is easy to hit a mast or be blown over by strong wind, and even the unmanned aerial vehicle and a ship body are directly damaged by collision; when the unmanned aerial vehicle rocks and stops, the unmanned aerial vehicle collides with a ship-borne platform at multiple angles, so that the unmanned aerial vehicle turns on one's side and cannot land smoothly. On the other hand, the unmanned aerial vehicle stopping and landing operation is mostly judged by a flight control system of the unmanned aerial vehicle, and the unmanned aerial vehicle stopping and landing also swings along with the unmanned aerial vehicle when the unmanned ship swings, so that the judgment of the flight control system is difficult, and a stopping completion instruction cannot be generated.
In view of this, overcoming the deficiencies of the prior art products is an urgent problem to be solved in the art.
[ summary of the invention ]
The technical problems to be solved by the invention are as follows:
in the actual operation process, the shipborne platform always swings indefinitely along with the waves on the water surface, and then the unmanned aerial vehicle is influenced not to reach a balanced state when taking off or landing. On one hand, when the unmanned aerial vehicle takes off obliquely, the unmanned aerial vehicle is easy to hit a mast or be blown over by strong wind, and even the unmanned aerial vehicle and a ship body are directly damaged by collision; when the unmanned aerial vehicle rocks and stops, the unmanned aerial vehicle collides with a ship-borne platform at multiple angles, so that the unmanned aerial vehicle turns on one's side and cannot land smoothly. On the other hand, the unmanned aerial vehicle stopping and landing operation is mostly judged by a flight control system of the unmanned aerial vehicle, and the unmanned aerial vehicle stopping and landing also swings along with the unmanned aerial vehicle when the unmanned ship swings, so that the judgment of the flight control system is difficult, and a stopping completion instruction cannot be generated.
To achieve the above object, according to one aspect of the present invention, there is provided a drone balancing system for a shipboard platform, comprising a drone and a balancing assembly, wherein: the unmanned aerial vehicle comprises a main body, a control module, a station foot, an airborne gyroscope and an airborne communication module; the control module, the airborne gyroscope and the airborne communication module are arranged in the main body, at least three machine station legs are provided, one end of each machine station leg is fixedly connected with the bottom of the main body, and the other end of each machine station leg is provided with a locking mechanism; the balance assembly comprises an underframe, hollow column tubes corresponding to the number of the machine standing legs are arranged on the underframe, limiting layers are arranged in the hollow column tubes corresponding to the insertion positions of the machine standing legs, positioning holes are formed in the limiting layers, and the bottom ends of the hollow column tubes are connected with the underframe.
Preferably, the locking mechanism comprises a lock pin and a direct-drive rotating motor, a rotating rod section is arranged in the stand foot corresponding to the locking mechanism, the direct-drive rotating motor is arranged in the main body, one end of the rotating rod section is connected with the direct-drive rotating motor, the other end of the rotating rod section is arranged in the positioning hole, at least one lock pin is arranged at the top end of the rotating rod section, and the control module controls the direct-drive rotating motor to control locking and unlocking of the lock pin.
Preferably, the rotating rod section comprises a first rod section and a second rod section, the first rod section is connected with the second rod section through a universal shaft, the other end of the first rod section is connected with a direct-drive rotating motor, the other end of the second rod section is arranged in the positioning hole, and at least one locking pin is arranged at the top end of the second rod section.
Preferably, a position sensor is arranged on the inner wall of the hollow column tube corresponding to the position of the positioning hole.
Preferably, a movable sealing plug is arranged in the hollow column tube and corresponds to the position below the limiting layer.
Preferably, the underframe is composed of underframe pipes corresponding to the number of the hollow column pipes, a connecting ball is arranged at the intersection point of the underframe pipes and is connected with the bottom end ball of the hollow column pipe, a communicating hole is arranged in the connecting ball and is used for communicating the underframe pipes with the space in the hollow column pipe.
Preferably, the underframe is composed of underframe bodies corresponding to the number of the hollow column tubes, a connecting ball is arranged at the intersection point of the underframe bodies and is in ball joint with the bottom ends of the hollow column tubes, and a buffer spring is arranged on the bottom surface of the sealing plug and is in contact connection with the connecting ball.
According to another aspect of the invention, there is provided a control method for a drone balancing system for a shipboard platform, wherein:
when the unmanned aerial vehicle takes off from the shipborne platform, the control module unlocks the locking mechanism and controls the propeller to perform self-balancing adjustment of the aircraft body according to the detected attitude information data of the unmanned aerial vehicle; when detecting that unmanned aerial vehicle's gesture information data reaches the preset range, control module locks locking mechanical system.
When unmanned aerial vehicle descended at the shipborne platform, control module was with the locking mechanical system unblock, according to the unmanned aerial vehicle's that detects attitude information data to and the shipborne platform attitude information data received, compare two attitude information data, when the difference between two attitude information data reaches the preset range, judge that unmanned aerial vehicle and shipborne platform are in relative balance state, control module is along with being about to locking mechanical system locking.
Preferably, when unmanned aerial vehicle descended at shipborne platform, when the difference between two gesture information data reached preset range to position sensor detected the aircraft footing and arrived the assigned position, and control module is at the time locking mechanism locking soon.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects: according to the invention, the attitude information of the unmanned aerial vehicle is detected by arranging the airborne gyroscope, the balance assembly is controlled in real time by matching with the control module, and when the attitude of the unmanned aerial vehicle reaches a balance state, the locking mechanism is controlled in time to lock the stand foot of the unmanned aerial vehicle, so that the aim of balanced take-off or landing is achieved, and the problem that the unmanned aerial vehicle cannot take off or land stably due to the fact that a shipborne platform shakes along with storms is avoided.
Drawings
Fig. 1 is a schematic overall structure diagram of an unmanned aerial vehicle balancing system for a shipborne platform according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a locking mechanism of an unmanned aerial vehicle balancing system for a shipborne platform, which is combined with a hollow pillar pipe and is converted from an unlocking state to a locking state according to an embodiment of the present invention;
fig. 3 is a schematic top view of a locking pin structure of two common unmanned aerial vehicle balancing systems for shipborne platforms, which are provided by the embodiment of the present invention, and is changed from a locking state to an unlocking state;
fig. 4 is a schematic structural diagram of a specific composition of a hollow pillar of an unmanned aerial vehicle balancing system for a shipborne platform according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a combination of an underframe and a hollow pillar of an unmanned aerial vehicle balancing system for a shipborne platform according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of specific underframe of two types of unmanned aerial vehicle balancing systems for shipborne platforms provided by the embodiment of the invention;
fig. 7 is a schematic takeoff control flow diagram of a control method for an unmanned aerial vehicle balancing system of a shipborne platform according to an embodiment of the present invention;
fig. 8 is a schematic landing control flow diagram of a control method of an unmanned aerial vehicle balancing system for a shipborne platform according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1. a main body; 2. a control module; 3. a machine standing foot; 4. an airborne gyroscope; 5. an airborne communication module; 6. a locking mechanism; 61. rotating the rod section; 611. a first pole segment; 612. a second pole segment; 62. a direct drive rotating electrical machine; 63. a lock pin; 64. a cardan shaft; 7. a chassis; 71. a chassis tube body; 72. a connecting ball; 73. a communicating hole; 74. a buffer spring; 8. a hollow column tube; 81. a limiting layer; 82. positioning holes; 83. a position sensor; 84. and (4) sealing the plug.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
With reference to fig. 1 to 2, an embodiment of the present invention provides an unmanned aerial vehicle balancing system for a shipborne platform, including an unmanned aerial vehicle and a balancing assembly, where:
the unmanned aerial vehicle comprises a main body 1, a control module 2, a station foot 3, an airborne gyroscope 4 and an airborne communication module 5; control module 2, machine carries gyroscope 4 and machine carries communication module 5 and sets up in trunk organism 1, machine station foot 3 is three at least, set up to three under the ordinary circumstances, when the unmanned aerial vehicle size is great or screw configuration quantity more than or equal to four, machine station foot 3 sets up to four or more, the one end of machine station foot 3 and the bottom fastening connection of trunk organism 1, the other end of machine station foot 3 is provided with locking mechanical system 6, locking mechanical system 6 is used for being connected the locking with machine station foot 3 and hollow column pipe 8.
The balance assembly comprises an underframe 7, hollow column tubes 8 corresponding to the number of the machine standing legs 3 are arranged on the underframe 7, a limiting layer 81 is arranged in the hollow column tubes 8 corresponding to the insertion positions of the machine standing legs 3, positioning holes 82 are formed in the limiting layer 81, the machine standing legs 3 are arranged in the positioning holes 82 when the balance assembly is installed, and the bottom ends of the hollow column tubes 8 are connected with the underframe 7. In general, in order to prevent the unmanned aerial vehicle from being pulled out of the positioning hole 82 during self-leveling, the top end part of the stand leg 3 is generally configured to be slightly larger than the aperture size of the positioning hole 82 (as shown in fig. 2).
The detailed operation will be described with reference to fig. 1 to 3.
When unmanned aerial vehicle takes off by the stall state, unmanned aerial vehicle opens, 6 unblocks of locking mechanical system in the balanced subassembly of control module 2, unmanned aerial vehicle carries out trunk organism 1 leveling through each screw of control self, the in-process of leveling, under trunk organism 1's linkage effect, machine station foot 3 reciprocates in locating hole 82, reach preset range when carrying gyroscope 4 to detect unmanned aerial vehicle's gesture information data, and keep when the regulation for a long time, judge that unmanned aerial vehicle reaches the equilibrium state, control module 2 assigns the locking instruction immediately, locking mechanical system 6 is with machine station foot 3 and hollow column pipe 8 connection locking, unmanned aerial vehicle takes up chassis 7 and accomplishes smooth takeoff.
When unmanned aerial vehicle was shut down by the descending of flight condition, control module 2 sends the instruction of shutting down, 6 unblocks of locking mechanical system in the balanced subassembly, chassis 7 descends under the action of gravity, airborne gyroscope 4 feeds back unmanned aerial vehicle's gesture information data to control module 2 in real time, control module 2 receives shipborne platform gesture information data through airborne communication module 5 simultaneously, control module 2 compares unmanned aerial vehicle's gesture information data and shipborne platform gesture information data, when the difference between two gesture information data reaches the preset range, judge that unmanned aerial vehicle and shipborne platform are in relative balance state, control module 2 controls locking mechanical system 6 immediately and locks machine station foot 3.
According to the invention, the attitude information of the unmanned aerial vehicle is detected by arranging the airborne gyroscope 4, the balance assembly is controlled in real time by matching with the control module 2, and when the attitude of the unmanned aerial vehicle reaches a balance state, the locking mechanism 6 is controlled in time to lock the stand foot 3 of the unmanned aerial vehicle, so that the purpose of balanced takeoff or landing is achieved, and the problem that the unmanned aerial vehicle cannot take off or land stably due to the fact that a shipborne platform shakes with stormy waves is avoided.
Referring to fig. 2 and 3, the locking mechanism 6 may be configured to be a plurality of structures (fig. 3 shows two different lock pin structures, and the unlocked state is changed to the locked state) in a manner of spring plate, pull-plug, and clamp, etc. in a general case, in combination with the embodiment of the present invention, there is a preferred implementation scheme for the combination manner of the locking mechanism 6, wherein the locking mechanism 6 includes a lock pin 63 and a direct-drive rotating motor 62, a rotating rod section 61 is provided in the station leg 3 corresponding to the locking mechanism 6, the direct-drive rotating motor 62 is provided in the main body 1, one end of the rotating rod section 61 is connected to the direct-drive rotating motor 62, the other end of the rotating rod section 61 is provided in the positioning hole 82, and at least one lock pin 63 is provided at the top end of the rotating rod section 61, in a general case, when the unmanned aerial vehicle is large in size or the number of the station legs 3, the number of the lock pins 63 is usually set to be two or three, and the control module 2 controls the lock pins 63 to be locked and unlocked by controlling the direct-drive rotating motor 62. When the unmanned aerial vehicle sends the locking instruction, directly drive the rotating electrical machines 62 and start, the rotating rod section 61 rotates along with it, the lockpin 63 on the rotating rod section 61 stretches out along with the rotation, passes through the tube shell of the machine standing foot 3, and abuts on the inner wall of the hollow column tube 8 to reach the locking state, and directly drive the rotating electrical machines 62 and close. When the unmanned aerial vehicle sends an unlocking instruction, the direct-drive rotating motor 62 rotates in the opposite direction, the lock pin 63 retracts along with the rotation of the rotating rod section 61 to enter the machine standing foot 3 to achieve an unlocking state, and the direct-drive rotating motor 62 is turned off.
In order to obtain more angle buffering of the action of the rotating rod section 61 in the stand foot 3, as shown in fig. 4, there is a preferable implementation scheme for the structure of the rotating rod section 61 according to the embodiment of the present invention, wherein the rotating rod section 61 includes a first rod section 611 and a second rod section 612, the first rod section 611 and the second rod section 612 are connected through a cardan shaft 64, the other end of the first rod section 611 is connected with the direct-drive rotating motor 62, the other end of the second rod section 612 is disposed in the positioning hole 82, and at least one locking pin 63 is disposed at the top end position of the second rod section 612. When the rotary rod section 61 rotates, the included angle between the first rod section 611 and the second rod section 612 can be adjusted, so that the stand foot 3 has a certain buffer when moving up and down in the hollow column tube 8.
In order to control the movement of the machine foot 3 in the hollow pillar 8 more precisely, there is a preferred implementation scheme in combination with the present embodiment, wherein a position sensor 83 is disposed on the inner wall of the hollow pillar 8 at a position corresponding to the positioning hole 82 (as shown in fig. 4, the sensor is disposed below the limiting layer 81 in general).
In specific application, as shown in fig. 4, when the station foot 3 moves up and down in the hollow column tube 8, especially when encountering the emergency landing, the whole station foot 3 of the unmanned aerial vehicle can be quickly inserted into the hollow column tube 8 and bottom-contacted, and if the inserted force is large, the lock pin 63 can be damaged to a certain extent, so that the locking effect is affected. In this case, there is a preferable implementation of the embodiment of the present invention, in which a movable sealing plug 84 is provided in the hollow column tube 8 at a position corresponding to the position below the stopper layer 81. After the stand-off legs 3 are inserted into the positioning holes 82, they fall onto the sealing plugs 84, and the sealing plugs 84 hold the stand-off legs 3 from the bottom to provide cushioning for them.
In connection with the embodiment of the present invention, as shown in fig. 5 and 6, there is a preferred implementation of the specific composition mode of the chassis 7, wherein, in the case of having the structure of the sealing plug 84, in order to provide a buffer for the up-and-down movement of the sealing plug 84, the chassis 7 is composed of the chassis tubes 71 corresponding to the number of the hollow column tubes 8, a connection ball 72 is disposed at the intersection of the chassis tubes 71, the connection ball 72 is connected with the bottom end ball of the hollow column tube 8, and a communication hole 73 is disposed in the connection ball 72 (as shown in fig. 5 and 6, the case corresponding to four machine stand pins 3 is taken as an example), and the communication hole 73 is used for communicating the chassis tubes 71 with the space in the hollow column tubes 8. The space for communicating the underframe pipe body 71 and the hollow column pipe 8 is sealed with gas or liquid, and provides a certain buffer effect for the sealing plug 84 when the machine station foot 3 is inserted.
In specific application, correspond chassis 7, set up the device that can lock chassis 7 on the shipborne platform usually, avoid unmanned aerial vehicle to descend and accomplish the back and take place to turn on one's side along with rocking of shipborne platform.
In connection with the embodiment of the present invention, as shown in fig. 6, there is also a preferred implementation of the specific composition mode of the chassis 7, wherein, in the case of having the structure of the sealing plug 84, in order to provide a buffer for the up-and-down movement of the sealing plug 84, the chassis 7 is composed of the chassis tube bodies 71 corresponding to the number of the hollow column tubes 8, the connection ball 72 is disposed at the intersection point of the chassis tube bodies 71, the connection ball 72 is in ball joint with the bottom end of the hollow column tube 8, the buffer spring 74 is disposed on the bottom surface of the sealing plug 84, and the buffer spring 74 is in contact connection with the connection ball 72. When the stand bar 3 is inserted, the sealing plug 84 moves downwards, and the buffer spring 74 at the bottom of the sealing plug 84 is compressed, thereby providing a certain buffer effect
Example 2
Based on the same inventive concept, the present invention can be realized by, but not limited to, only the structure in embodiment 1, and an embodiment of the present invention provides a control method for an unmanned aerial vehicle balancing system for a shipborne platform, wherein:
as shown in fig. 7, when the unmanned aerial vehicle takes off from the shipborne platform, the take-off command at this time is generally generated by an external command system, and is sent to the unmanned aerial vehicle, step 701 is executed, the onboard communication module of the unmanned aerial vehicle receives the command and transmits the command to the control module, and the control module issues a command to unlock the locking mechanism.
And step 702 is executed, an airborne gyroscope (the attitude data information of the unmanned aerial vehicle can be detected by using various instruments, and the airborne gyroscope is an implementation scheme under a common use environment) detects the attitude data information of the unmanned aerial vehicle in real time, feeds the attitude data information back to a control module in time, compares the detected attitude information data of the unmanned aerial vehicle with prestored attitude information data, and performs self-balancing adjustment on the unmanned aerial vehicle by controlling a propeller.
Step 703 is executed, when the attitude information data of the unmanned aerial vehicle is detected to reach a preset range (in actual application, the detected horizontal attitude of the unmanned aerial vehicle does not stay on a certain numerical value, but fluctuates up and down by taking the horizontal attitude as a middle numerical value, and the preset range is an allowable numerical value fluctuation range in actual application), the control module sends a locking instruction to lock the locking mechanism. In a specific application, if the posture of the unmanned aerial vehicle is detected to be inclined, the propeller corresponding to the wing inclined below the horizontal plane increases horsepower to lift the wing on the side, and meanwhile, the control module controls the station foot corresponding to the wing on the side to be unlocked (at the moment, the station foot corresponding to the wing positioned above the horizontal line is always locked), and the wing is lifted until the unmanned aerial vehicle is detected to reach the horizontal state, the station foot is locked again. At this moment, the control module judges that the unmanned aerial vehicle reaches a self-balancing state, when the stand foot is locked, the unmanned aerial vehicle is lifted off in a horizontal posture, the shipborne platform releases the bottom frame, and the unmanned aerial vehicle finishes stable takeoff.
Further, after step 703, unmanned aerial vehicle steadily takes off and mostly is the wing level, but the state of chassis slope, such flight gesture is unfavorable to steady landing, under the usual condition, after unmanned aerial vehicle steadily takes off, control module can carry out chassis balance adjustment once, be about to the locking mechanical system unblock of the foot of standing, the chassis slides down under the effect of gravity, the foot of standing is intraductal after stretching to highest position in the cavity post, control module relocks locking mechanical system, the chassis reaches the horizontality.
In most unmanned aerial vehicle self-balancing adjusting methods, the unmanned aerial vehicle is firstly separated from the shipborne platform, attitude adjustment is carried out in the air at a certain distance from the shipborne platform, but the adjusting method still generates the phenomenon of collision with wings of the unmanned aerial vehicle under the condition of large wind waves or large inclined angle of the shipborne platform, the application range is small, the space for adjusting the attitude of the unmanned aerial vehicle is small, and the error range generated when the unmanned aerial vehicle is allowed to be re-leveled is small. In the takeoff control of the control method of the unmanned aerial vehicle balance system provided by the embodiment of the invention, when the unmanned aerial vehicle inclines, the corresponding station foot on the wing side higher than the horizontal plane is always in a locking state with the underframe to form a connection point between the station foot of the unmanned aerial vehicle and the shipborne platform, and the attitude balance of the unmanned aerial vehicle is achieved only by adjusting the wing side with the inclination angle lower than the horizontal plane, so that the occupied space range of the unmanned aerial vehicle in self-balancing is increased, and on the other hand, the unmanned aerial vehicle is protected by a certain distance from the shipborne platform through the locked station foot, and the application range of the control method of the unmanned aerial vehicle balance system provided by the embodiment of the invention is increased.
Example 3
Based on the same inventive concept, the present invention can be realized by, but not limited to, only the structure in embodiment 1, and an embodiment of the present invention provides a control method for an unmanned aerial vehicle balancing system for a shipborne platform, wherein:
as shown in fig. 8, when the unmanned aerial vehicle lands on the shipborne platform, a landing instruction at this time is generally generated by an external command system, and is sent to the unmanned aerial vehicle, step 801 is executed, an onboard communication module of the unmanned aerial vehicle receives the instruction and transmits the instruction to a control module, and the control module unlocks a locking mechanism; along with unmanned aerial vehicle's descending, the chassis steadily falls to on-board platform. And step 802 is executed, the control module compares the two attitude information data according to the attitude information data of the unmanned aerial vehicle detected by the airborne gyroscope and the attitude information data of the shipborne platform received by the airborne communication module. And step 803 is executed, when the difference value between the two attitude information data reaches a preset range, the control module judges that the unmanned aerial vehicle and the shipborne platform are in a relative balance state, and immediately sends a locking instruction to lock the locking mechanism.
In step 802, when the attitude information data of the unmanned aerial vehicle is compared with the attitude information data of the shipborne platform, the inclined attitude of the shipborne platform is a landing attitude that the unmanned aerial vehicle needs to be adjusted into, and the attitude information data of the shipborne platform is the reached attitude information data that the unmanned aerial vehicle needs to be adjusted. In practical applications, the control step during landing is usually performed by first performing step 801, and then performing step 802 after the undercarriage is dropped onto the shipborne platform, and finally releasing all the legs to perform the balance adjustment of the drone. Further, when the inclination of shipborne platform is great, all machine station feet release simultaneously, and the chassis falls the impact force on the shipborne platform great, and the reaction force of feeding back to the unmanned aerial vehicle fuselage is great, is unfavorable for unmanned aerial vehicle to carry out steady descending. In this case, when landing, step 801 and step 802 are performed simultaneously, specifically, the control module unlocks the unmanned aerial vehicle and the station leg corresponding to the wing side far away from the unmanned aerial vehicle by comparing the attitude information data of the shipborne platform with the attitude information data of the unmanned aerial vehicle, unlocks the locking mechanism corresponding to the other station leg after an experience time interval, and then performs step 803. Experience time, for the attitude information through unmanned aerial vehicle attitude information data and shipborne platform compares, through the contained angle that forms between unmanned aerial vehicle's gesture and the gesture of shipborne platform, control module calculates out the machine stand foot unblock with one side, the chassis corresponds to adjust to the required time of contained angle with unmanned aerial vehicle's wing formation is the same.
When being provided with the position sensor structure in the middle hollow column pipe, control module can also carry out further accurate judgement to unmanned aerial vehicle and shipborne platform whether being in relative balanced state through the position of position sensor detection machine station foot. Then, in the corresponding control method, when the unmanned aerial vehicle lands on the shipborne platform, the control module compares the two attitude information data according to the attitude information data of the unmanned aerial vehicle detected by the airborne gyroscope and the attitude information data of the shipborne platform received by the airborne communication module, that is, after step 802, step 803 specifically corresponds to: when the difference between the two attitude information data reaches the preset range, the control module receives the information that the position sensor detects that the aircraft stand foot reaches the specified position, the judgment that the unmanned aerial vehicle and the shipborne platform are in a relative balance state is obtained, and the control module immediately issues a locking instruction to lock the locking mechanism.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle balanced system for shipborne platform, which is characterized by comprising an unmanned aerial vehicle and a balance assembly, wherein:
the unmanned aerial vehicle comprises a main body (1), a control module (2), a stand foot (3), an airborne gyroscope (4) and an airborne communication module (5); the control module (2), the airborne gyroscope (4) and the airborne communication module (5) are arranged in the main body (1), at least three machine standing legs (3) are arranged, one end of each machine standing leg (3) is fixedly connected with the bottom of the main body (1), and the other end of each machine standing leg (3) is provided with a locking mechanism (6);
the balance assembly comprises an underframe (7), hollow column tubes (8) corresponding to the number of the machine station feet (3) are arranged on the underframe (7), a limiting layer (81) is arranged in the hollow column tubes (8) corresponding to the insertion positions of the machine station feet (3), positioning holes (82) are arranged in the limiting layer (81), and the bottom ends of the hollow column tubes (8) are connected with the underframe (7).
2. The unmanned aerial vehicle balancing system for shipborne platforms as claimed in claim 1, wherein the locking mechanism (6) comprises a lock pin (61), a rotary rod section (61) is provided in the station foot (3) corresponding to the locking mechanism (6), a direct-drive rotating motor (62) is provided corresponding to the rotary rod section (61), the direct-drive rotating motor (62) is provided in the trunk body (1), one end of the rotary rod section (61) is connected with the direct-drive rotating motor (62), the other end of the rotary rod section (61) is provided in the positioning hole (82), and at least one lock pin (63) is provided at the top end position of the rotary rod section (61), and the control module (2) controls the direct-drive rotating motor (62) to control locking and unlocking of the lock pin (63).
3. The unmanned aerial vehicle balancing system for shipborne platforms as claimed in claim 2, wherein the rotating rod section (61) comprises a first rod section (611) and a second rod section (612), the first rod section (611) and the second rod section (612) are connected through a universal shaft (64), the other end of the first rod section (611) is connected with the direct-drive rotating motor (62), the other end of the second rod section (612) is arranged in the positioning hole (82), and at least one locking pin (63) is arranged at the top end position of the second rod section (612).
4. The unmanned aerial vehicle trim system for shipboard platforms of claim 1, wherein a position sensor (83) is provided on the inner wall of the hollow pillar tube (8) corresponding to the position of the positioning hole (82).
5. Unmanned aerial vehicle balancing system for shipborne platforms according to claim 1, characterized in that inside the hollow pillar tube (8), corresponding to the position below the limiting layer (81), a movable sealing plug (84) is provided.
6. The unmanned aerial vehicle balancing system for shipboard platforms according to claim 5, wherein the underframe is composed of an underframe pipe body (71) corresponding to the number of the hollow column pipes (8), a connecting ball (72) is arranged at the intersection of the underframe pipe body (71), the connecting ball (72) is connected with the bottom end ball of the hollow column pipe (8), a communication hole (73) is arranged in the connecting ball (72), and the communication hole (73) is used for communicating the underframe pipe body (71) with the space in the hollow column pipe (8).
7. The unmanned aerial vehicle balancing system for shipborne platforms as claimed in claim 5, wherein the underframe (7) is composed of underframe pipe bodies (71) corresponding to the number of hollow pillar pipes (8), a connecting ball (72) is arranged at the intersection point of the underframe pipe bodies (71), the connecting ball (72) is connected with the bottom end ball of the hollow pillar pipe (8), a buffer spring (74) is arranged on the bottom surface of the sealing plug (84), and the buffer spring (74) is in contact connection with the connecting ball (72).
8. A control method for a drone balance system of a ship-borne platform, characterized in that the drone balance system of the ship-borne platform of any one of claims 1 to 7 is used, and the control method comprises:
when the unmanned aerial vehicle takes off from the shipborne platform, the control module unlocks the locking mechanism, and controls the propeller to perform self-balancing adjustment of the body according to the detected attitude information data of the unmanned aerial vehicle; when detecting that unmanned aerial vehicle's gesture information data reaches the preset range, control module locks locking mechanical system.
9. A control method for a drone balance system of a ship-borne platform, characterized in that the drone balance system of the ship-borne platform of any one of claims 1 to 7 is used, and the control method comprises:
when unmanned aerial vehicle descended at the shipborne platform, control module was with the locking mechanical system unblock, according to the unmanned aerial vehicle's that detects attitude information data to and the shipborne platform attitude information data of receiving, compare two attitude information data, when the difference between two attitude information data reached the preset range, judge that unmanned aerial vehicle and shipborne platform are in relative balanced state, control module is along with being about to locking mechanical system locking.
10. The control method of the unmanned aerial vehicle balancing system for shipboard platforms of claim 9, wherein the control module immediately locks the locking mechanism when the difference between the two attitude information data reaches a preset range and the position sensor detects that the undercarriage foot reaches a specified position.
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| CN112061354A (en) * | 2020-08-24 | 2020-12-11 | 西北工业大学 | Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method |
| CN113934231B (en) * | 2021-10-27 | 2024-02-27 | 浙江科比特科技有限公司 | High-precision four-dimensional navigation device of star-based unmanned aerial vehicle |
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