CN108928461A - A kind of multi-rotor unmanned aerial vehicle safe landing control method - Google Patents
A kind of multi-rotor unmanned aerial vehicle safe landing control method Download PDFInfo
- Publication number
- CN108928461A CN108928461A CN201710368475.XA CN201710368475A CN108928461A CN 108928461 A CN108928461 A CN 108928461A CN 201710368475 A CN201710368475 A CN 201710368475A CN 108928461 A CN108928461 A CN 108928461A
- Authority
- CN
- China
- Prior art keywords
- range sensor
- aerial vehicle
- unmanned aerial
- telescopic outrigger
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 239000000945 filler Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 210000002421 cell wall Anatomy 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 239000000314 lubricant Substances 0.000 description 4
- 239000004519 grease Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- 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
Landscapes
- 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)
- Toys (AREA)
Abstract
The present invention relates to a kind of multi-rotor unmanned aerial vehicle safe landing control methods,The multi-rotor unmanned aerial vehicle includes body,Power device and Landing Control device,Rotor support arm is provided on body,The projecting end of rotor support arm is provided with rotating vane,Multiple telescopic outriggers are additionally provided on body,Secondary range sensor is respectively arranged on telescopic outrigger,It is directed toward ground in the test side of secondary range sensor,At the test side of secondary range sensor in the same plane,The distance signal that secondary range sensor will test, which is sent in flight controller, to be handled,Flight controller issues control signal to driving unit,Driving unit drives telescopic outrigger flexible,And change the length of telescopic outrigger,The distance signal detected by secondary range sensor,It is analyzed and processed using flight controller,Change the length of telescopic outrigger,To adapt to the landing of the roughness pavement,The intelligence multi-rotor unmanned aerial vehicle can ensure the stationarity that unmanned plane is shut down,Unmanned plane is avoided to damage.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of multi-rotor unmanned aerial vehicle safe landing control method.
Background technique
Multi-rotor unmanned aerial vehicle is a kind of by radio robot or the boat driven by process control autopilot facility
Pocket is also widely used in civil field in recent years.Traditional multi-rotor unmanned aerial vehicle include be arranged on body and body it is more
The driving axis connection for the driving mechanism being respectively arranged on a rotor, each rotor and body, driving mechanism drive rotor in air
High speed rotation, constantly pushes air to lower section, to generate upward lift, unmanned plane is driven to fly upwards.While by
Flight controller adjusts the drive shaft speed of driving mechanism, thus the Indirect method propulsive force of each drive shaft, and then realize
Control to unmanned plane during flying posture.
Multi-rotor unmanned aerial vehicle is typically provided with the supporting leg of landing, when flight controller control multi-rotor unmanned aerial vehicle is landed
When, supporting leg realizes the support to body, and the supporting leg of existing multi-rotor unmanned aerial vehicle is mostly fixed bracket structure, supporting leg
Lower end mostly in the same plane, and generally be arranged 3 to 4, for the road surface multi-rotor unmanned aerial vehicle of general comparison level
More can also smoothly land, but rough road surface is generally forced to land, unmanned plane body is easy to occur
Inclination or rough road surface bump to body, to cause the damage of unmanned plane.
Summary of the invention
The purpose of the present invention is：A kind of multi-rotor unmanned aerial vehicle safe landing control method, can be on rugged road surface
Carry out shutdown landing maneuver, it is ensured that the stationarity that unmanned plane is shut down avoids unmanned plane from damaging.
To achieve the above object, the technical solution adopted by the present invention is that：
A kind of multi-rotor unmanned aerial vehicle safe landing control method, the multi-rotor unmanned aerial vehicle include body, power device and landing
Control device；
Rotor support arm is provided on the body；
The power device includes the rotating vane of the projecting end setting of the rotor support arm；
The Landing Control device includes the multiple telescopic outriggers being arranged on the body, is respectively arranged on telescopic outrigger
Secondary range sensor, it is described pair range sensor test side in the same plane, it is described pair range sensor detection
It is directed toward ground in end；
The distance signal that the pair range sensor will test, which is sent in flight controller, to be handled, flight controller hair
For control signal to driving unit, it is flexible that driving unit drives telescopic outrigger, and changes the length of telescopic outrigger out；
When the multi-rotor unmanned aerial vehicle needs to land, telescopic outrigger is detected at a distance from ground in the test side of secondary range sensor,
And it will test distance signal and be sent in flight controller and carry out judgement processing；
If the difference of the distance signal of secondary range sensor detection is less than first threshold, then illustrate that the drop zone is level land, nothing
The length of telescopic outrigger need to be changed, the multi-rotor unmanned aerial vehicle can stable landing；
If the difference of the distance signal of secondary range sensor detection is greater than first threshold, then illustrate that the drop zone ground is not flat enough
Whole, driving unit changes the length of telescopic outrigger, and the driving unit changes the length of telescopic outrigger and secondary range sensor is examined
The values of disparity of the distance signal of survey is corresponding, and the multi-rotor unmanned aerial vehicle can stable landing.
Further, the outline perimeter that the telescopic outrigger is located at body is evenly spaced on；
Main range sensor is additionally provided on the body, the main range sensor is located at the center of body, the main distance
Ground is directed toward in the test side of sensor, and main range sensor will test distance signal and be sent in flight controller
Reason, flight controller issue control signal to driving unit, and it is flexible that driving unit drives telescopic outrigger, and changes telescopic outrigger
At the test side of length, the test side of main range sensor and secondary range sensor in the same plane；
As the difference of the distance signal of secondary range sensor detection is less than first threshold, the minimum of more secondary range sensor acquisition
The distance values of distance values and the acquisition of main range sensor；
The distance values of such as main range sensor acquisition are less than the distance values of the secondary range sensor acquisition and difference is less than
Second threshold or the distance values of main range sensor acquisition are greater than the minimum range numerical value of the secondary range sensor acquisition, institute
Stating multi-rotor unmanned aerial vehicle can stable landing；
The distance values of such as main range sensor acquisition are less than the minimum range numerical value and difference of the secondary range sensor acquisition
Greater than second threshold, the multi-rotor unmanned aerial vehicle transferring position is landed.
Further, the front and back end of the body is additionally provided with side and pushes away rotor, and the side pushes away the surfaces of revolution and the rotation of rotor
The blade surfaces of revolution is vertical；
The distance values of such as main range sensor acquisition are less than the minimum range numerical value and difference of the secondary range sensor acquisition
Greater than second threshold, the surfaces of revolution rotary side that the side pushes away rotor pushes away the multi-rotor unmanned aerial vehicle transferring position and lands.
When shutting down in lateral wind such as the multi-rotor unmanned aerial vehicle, the surfaces of revolution rotary side that the side pushes away rotor pushes away described more
Rotor wing unmanned aerial vehicle keeps aerial and shuts down.
Further, the telescopic outrigger is located at there are four the spaced sets of body periphery, and driving mechanism drives rotor branch
Arm rotates and pivot center is vertical, and the lower end line of telescopic outrigger constitutes rectangular configuration, and the pair range sensor setting is being stretched
At the upper end position of contracting supporting leg, the main range sensor is arranged in where the rectangular area middle position of telescopic outrigger enclosing
Body on.
Further, the body has extended downwardly support arm, and the telescopic outrigger and support arm constitute the sliding of vertical direction
Guiding cooperation, the length direction of the telescopic outrigger are additionally provided with rack gear, and the rack gear is arranged along telescopic outrigger length direction,
Rack and pinion engagement, motor-driven gear rotation, motor are fixed on the machine body.
Further, the projecting end of the rotor support arm is provided with main shaft, and middle connection structure, the main shaft are provided on main shaft
Upper end be coupled between structure rotary type connection and rotation axis cord horizontal in, rotating vane is coupled structure in and connects, it is described in
The axle body composition for being coupled structure and main shaft is mating, and damping block is provided between middle connection structure and main shaft, is arranged on middle connection structure
There is horizontal axis, one end of horizontal axis is plugged in the groove that one end that paddle presss from both sides opens up, and bearing is provided between horizontal axis and groove, is located at recessed
Plugging block is additionally provided between the notch and horizontal axis of slot, the plugging block and horizontal axis constitute rotary type cooperation, be provided on paddle folder
Oil filler point is connected to the vallecular cavity of groove.
Further, the middle connection structure is mutually fastened by two valve body formula structures and is constituted, and the main shaft is located at two valve body formulas
Between structure, the upper end of main shaft is provided with pin shaft, and the bar length direction of the pin shaft is vertical with main axis length direction and stretches out main shaft
Both ends, the both ends of pin shaft are respectively arranged with rolling bearing, and rolling bearing is constituted with the middle two valve body formula structures for being coupled structure and rotated
Formula cooperation.
Further, the card slot for accommodating damping block, institute are provided between the middle two valve body formula structures for being coupled structure
It states card slot to be located between the middle two valve body formula structures for being coupled structure there are two settings, the notch of card slot is opposite and along the central spindle of main shaft
It is arranged symmetrically, the damping block is made of rubber material, and the flute length direction of the card slot is vertical with the length direction of main shaft, card slot
Cell wall on be provided with mounting hole, installation bolt passes through mounting hole and both ends are connected with the middle two valve body formula structures for being coupled structure.
Further, the shaft end of the horizontal axis is arranged to T-shaped structure, and the bearing is set on the axle body of horizontal axis and outer ring
Vallecular cavity with groove is against the plugging block is cyclic structure, is provided with mounting hole on the paddle folder, peace is provided in mounting hole
Bolt is filled, installation bolt passes through mounting hole and connect with plugging block.
Further, the other end of the paddle folder is provided with opening, and rotating vane is located in the opening, the paddle where being open
Bolt is provided on folder, bolt passes through paddle folder and rotating vane and extension end is provided with nut.
Compared with prior art, the technical effect that the present invention has is：It is arranged on the body of multi-rotor unmanned aerial vehicle multiple
The variable telescopic outrigger of length, and secondary range sensor is respectively set on telescopic outrigger, when unmanned plane needs to land, it is secondary away from
Ground is directed toward in test side from sensor, for detecting telescopic outrigger at a distance from ground, and will test distance signal transmission
Judgement processing is carried out in flight controller, if the distance signal of secondary range sensor detection is consistent, then illustrates the dropping zone
Domain is level land, without changing telescopic outrigger, can stable landing, if range sensor detection distance signal there are larger differences
It is different, then illustrate that the drop zone ground is not smooth enough, by changing the length of telescopic outrigger, to adapt to the drop of the roughness pavement
It falls, which can ensure the stationarity that unmanned plane is shut down, and unmanned plane is avoided to damage.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of multi-rotor unmanned aerial vehicle；
Fig. 2 is the main view of multi-rotor unmanned aerial vehicle；
Fig. 3 is multi-rotor unmanned aerial vehicle control logic schematic diagram；
Fig. 4 is the structural schematic diagram of telescopic outrigger in multi-rotor unmanned aerial vehicle；
Fig. 5 is the structural schematic diagram of rotating vane and rotor support arm junction in multi-rotor unmanned aerial vehicle；
Fig. 6 is the structural front view of rotating vane and rotor support arm junction in multi-rotor unmanned aerial vehicle；
Fig. 7 is the sectional structure chart of rotating vane and rotor support arm junction in multi-rotor unmanned aerial vehicle.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, the specific embodiment of invention is described in further detail：
In conjunction with Fig. 1 to Fig. 7, the present invention is further described
A kind of multi-rotor unmanned aerial vehicle safe landing control method, the multi-rotor unmanned aerial vehicle include body 10, power device and
Land control device；Rotor support arm 20 is provided on the body 10；
The power device includes the rotating vane 30 of the projecting end setting of the rotor support arm 20；
The Landing Control device includes the multiple telescopic outriggers 40 being arranged on the body 10, is located on telescopic outrigger 40 respectively
It is provided with secondary range sensor 50, at the test side of the pair range sensor 50 in the same plane, the secondary distance passes
It is directed toward ground in the test side of sensor 50；
The distance signal that the pair range sensor 50 will test, which is sent in flight controller 60, to be handled, flight control
Device 60 issues control signal to driving unit, and it is flexible that driving unit drives telescopic outrigger 40, and changes the length of telescopic outrigger 40；
When the multi-rotor unmanned aerial vehicle needs to land, the test side of secondary range sensor 50 detection telescopic outrigger and ground away from
From, and will test distance signal and be sent in flight controller and carry out judgement processing；
If the difference of the distance signal of secondary range sensor 50 detection is less than first threshold, then illustrate that the drop zone is level land,
Without changing the length of telescopic outrigger 40, the multi-rotor unmanned aerial vehicle can stable landing；
If the difference of the distance signal of secondary range sensor 50 detection is greater than first threshold, then illustrate that the drop zone ground is inadequate
Smooth, driving unit changes the length of telescopic outrigger 40, and the driving unit changes the length of telescopic outrigger 40 and secondary distance passes
The values of disparity for the distance signal that sensor 50 detects is corresponding, and the multi-rotor unmanned aerial vehicle can stable landing.
Referring to figs. 1 and 2, the variable telescopic outrigger of multiple length is set on the body of multi-rotor unmanned aerial vehicle 10
40, and secondary range sensor 50 is respectively set on telescopic outrigger 40, when unmanned plane needs to land, secondary range sensor 50
Ground is directed toward in test side, for detecting telescopic outrigger 40 at a distance from ground, and will test distance signal and is sent to flight control
Judgement processing is carried out in device 60 processed, if the distance signal that secondary range sensor 50 detects is consistent, then illustrates that the drop zone is
Level land, without changing telescopic outrigger 40, can stable landing, if there are larger for the distance signal that detects of secondary range sensor 50
Difference then illustrates that the drop zone ground is not smooth enough, and secondary range sensor 50 detects the big position of difference in height, then explanation should
The ground of 40 region of telescopic outrigger is excessively high or too low, and flight controller 60 issues control signal and controls driving mechanism, from
And drive telescopic outrigger 40 flexible, so that change the length of telescopic outrigger 40, to adapt to the landing of the roughness pavement, when stretching
When the height of 40 region of contracting supporting leg is lower, so that 40 length of telescopic outrigger, so as to ensure unmanned plane body 10
Always it is in more horizontal posture, when the height of 40 region of telescopic outrigger is higher, so that the length of flexible paper support 40
It shortens, thus to adapt to the landing needs of different terrain；
The intelligence multi-rotor unmanned aerial vehicle can ensure the stationarity that unmanned plane is shut down, and unmanned plane is avoided to damage.
As shown in connection with fig. 3, the outline perimeter that the telescopic outrigger 40 is located at body 10 is evenly spaced on, the machine
Main range sensor 70 is additionally provided on body 10, ground, main range sensor are directed toward in the test side of the main range sensor 70
70, which will test distance signal, is sent in flight controller 60 and is handled, and flight controller 60 issues control signal to driving
Unit, it is flexible that driving unit drives telescopic outrigger 40, and changes the length of telescopic outrigger 40, the test side of main range sensor 70
With at the test side of secondary range sensor 50 in the same plane；
In above-described embodiment, it is provided on body 10 and the main distance at 50 test side of secondary range sensor in a plane
Sensor 70, surrounding low shutdown region high among ground when being directed to, being located at 10 periphery of body setting telescopic outrigger 40 may
During actually detected, difference is not present in the distance that multiple telescopic outriggers 40 detect, but secondary range sensor 50 acquires
The distance values that are acquired with main range sensor 70 of distance values have differences, and the distance that main range sensor 70 acquires
Numerical value is less than the distance values that secondary range sensor 50 acquires, then illustrates that the middle position in UAV Landing region is higher, if
Directly landing, there is the risk of damage body 10, flight controller 60 at this time issues control signal to telescopic outrigger 40, thus
So that 40 length of telescopic outrigger, so that the shutdown height of entire unmanned plane be increased, and then avoids body 10 from damaging；
If the distance values that above-mentioned main range sensor 70 acquires and the distance values difference that secondary range sensor 50 acquires
Less, then illustrate that the shutdown region is more smooth, directly landing, there is no problem；
If the distance values that above-mentioned main range sensor 70 acquires are less than the distance values that secondary range sensor 50 acquires, or
Person's difference is larger, can judge that the shutdown region high both sides of surrounding are low substantially, and flight controller 60 controls the unmanned plane and is transferred to
Next aircraft gate, until the distance values base that the distance values of main range sensor 70 acquisition and secondary range sensor 50 acquire
This coincide or gap is little, can ensure the stability that unmanned plane is shut down, unmanned plane is avoided to damage.
In above-described embodiment, if there are larger differences between the distance values that secondary range sensor 50 acquires, and big
In the threshold range set in flight controller 60, so as to judge that the touchdown area hollow face is larger substantially, be not suitable for nothing
Man-machine landing, flight controller 60 will select other positions to land.
Further, the telescopic outrigger 40 is located at there are four 10 periphery spaced sets of body, under telescopic outrigger 40
Line is held to constitute rectangular configuration, the pair range sensor 50 is arranged at the upper end position of telescopic outrigger 40, the main distance
Sensor 70 be arranged in telescopic outrigger 40 enclosing rectangular area middle position where body 10 on.
Further, for convenience of the upper flight attitude for adjusting unmanned plane, the rotor support arm 20, which is located on body 10, to be set
There are four setting, driving mechanism drives the rotation of rotor support arm 20 and pivot center is vertical, and the front and back end positioned at body 10 is additionally provided with
Side pushes away rotor 12, and the surfaces of revolution that the side pushes away rotor 12 is vertical with 30 surfaces of revolution of rotating vane；
In above-described embodiment, when unmanned plane is shut down in stronger lateral wind, for the accuracy for ensuring stop position, using
The side of 10 front and back end of body setting pushes away rotor 12, to facilitate the control and adjustment realized to 10 flight attitude of body.
Further, as shown in connection with fig. 4, the body 10 has extended downwardly support arm 11, the telescopic outrigger 40 and branch
Arm 11 constitutes the slide-and-guide cooperation of vertical direction, and the length direction of the telescopic outrigger 40 is additionally provided with rack gear 41, the tooth
Item 41 arranges that rack gear 41 is engaged with gear 42 along 40 length direction of telescopic outrigger, and motor 43 drives gear 42 to rotate, motor 43
It is fixed on body 10；
In above-described embodiment, flight controller 60 is according to major and minor range sensor 50,70 collected distance analysis, to control
The positive and negative rotation of motor 43 processed and the turnning circle of motor, so that realizing the adjustment to 40 length of telescopic outrigger.
Further, in conjunction with Fig. 5 to Fig. 7, the projecting end of the rotor support arm 20 is provided with main shaft 21, is arranged on main shaft 21
There is middle connection structure 22, the upper end of the main shaft 21 is coupled rotary type connection and rotation axis cord horizontal, rotation between structure 22 in
Blade 30 is coupled the connection of structure 22 in, the middle axle body for being coupled structure 22 and main shaft 21 constitute it is mating, middle connection structure 22 and
It is provided with damping block 23 between main shaft 21, horizontal axis 24 is provided on middle connection structure 22, one end of horizontal axis 24 is plugged on paddle folder 25
In the groove 251 that one end opens up, bearing 26 is provided between horizontal axis 24 and groove 251, positioned at the notch and horizontal axis 24 of groove 251
Between be additionally provided with plugging block 27, the plugging block 27 constitutes rotary type cooperation with horizontal axis 24, is provided with oil filler point on paddle folder 25
252 are connected to the vallecular cavity of groove 251；
In above-described embodiment, main shaft 21 is coupled the composition rotary type of structure 22 in and connects, and middle connection structure 22 and 21 rotary type of main shaft
Fulcrum of the position as seesaw, the damping block 23 of the lower section of International Liaison Department of the CPC Central Committee's part 22 bear in be coupled the swing impact of structure 22, avoid
The middle lower step for being coupled structure 22 is directly collided with unmanned plane main shaft 21, is effectively extended unmanned plane main shaft 21 and middle is coupled structure 22
Service life, while the buffer function of damping block 223 also reduces the whole mechanical oscillation of unmanned plane rotor head, and paddle is pressed from both sides on 25
Groove 251 is opened up, one end of horizontal axis 25 is plugged in groove 251, bearing 26 is arranged between horizontal axis 25 and groove 251, in groove
Plugging block 27 is arranged in 251 notch, and material is thus formed more closed shoe cream rooms, is provided with oil filler point 252 on paddle folder 25,
Thus facilitate and injects lubricant grease into the vallecular cavity of groove 251, after lubricant grease injects in the vallecular cavity of groove 251, pivoting leaf
For piece 30 during rotation, avoidable lubricant grease throws away paddle folder 25, also assures the lubricant effect of bearing 26.
The middle connection structure 22 is mutually fastened by two valve body formula structures and is constituted, the main shaft 21 be located at two valve body formula structures it
Between, the upper end of main shaft 21 is provided with pin shaft 211, and the bar length direction of the pin shaft 211 is vertical with 21 length direction of main shaft and stretches out
The both ends of main shaft 21, the both ends of pin shaft 211 are respectively arranged with rolling bearing 212, and rolling bearing 211 is coupled the two of structure 22 with middle
Valve body formula structure constitutes rotary type cooperation.Middle connection structure 22 is used into two valve body formula structures, it is convenient in be coupled the installation of structure 22, benefit
The rolling bearing 211 being arranged with pin shaft 211 and its both ends can be further reduced when unmanned plane rotating vane 30 floats and cause main shaft
21 with the middle abrasion for being coupled structure 22, further increase it is middle be coupled structure 22 service life.
Further, it is provided between the middle two valve body formula structures for being coupled structure 22 for accommodating damping block 221
Card slot 222, the card slot 222 are located between the middle two valve body formula structures for being coupled structure 22 there are two settings, the notch phase of card slot 222
Pair and be arranged symmetrically along the central spindle of main shaft 21, the damping block 221 is made of rubber material, the flute length side of the card slot 222
To vertical with the length direction of main shaft 21, mounting hole 2221 is provided on the cell wall of card slot 222, installation bolt passes through mounting hole
2221 and both ends and the middle two valve body formula structures for being coupled structure 22 be connected.
The shaft end of the horizontal axis 24 is arranged to T-shaped structure, the bearing 26 be set on the axle body of horizontal axis 24 and outer ring with
The vallecular cavity of groove 251 is against the plugging block 27 is cyclic structure, is provided with mounting hole on the paddle folder 25, sets in mounting hole
It is equipped with installation bolt 253, installation bolt 253 passes through mounting hole and connect with plugging block 27；
Above-mentioned T shape horizontal axis 24 is that solid forging machine-shaping can bear biggish big paddle rotary centrifugal force, and traditional unmanned plane
Horizontal axis 24 is using cap nut fixing oar folder 25 and bearing 26, because thread contact forced area Limited Phase is revolved to that can bear paddle folder 25
The centrifugal force turned is also than relatively limited.
The other end of the paddle folder 25 is provided with opening 254, and rotating vane 30 is located in the opening 254, where opening 254
Paddle folder 25 on be provided with bolt 255, bolt 255 passes through paddle folder 25 and rotating vane 30 and extension end is provided with nut.
The above is only the preferred embodiment of invention, not makes any restrictions to the technical scope of invention, therefore
All technical spirit any subtle modifications, equivalent variations and modifications to the above embodiments according to invention, still fall within
In the range of the technical solution of invention.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle safe landing control method, it is characterised in that：The multi-rotor unmanned aerial vehicle includes body
（10）, power device and Landing Control device；
The body（10）On be provided with rotor support arm（20）；
The power device includes the rotor support arm（20）Projecting end setting rotating vane（30）；
The Landing Control device includes the body（10）Multiple telescopic outriggers of upper setting（40）, it is located at telescopic outrigger（40）
On be respectively arranged with secondary range sensor（50）, the pair range sensor（50）Test side in the same plane, institute
State secondary range sensor（50）Test side be directed toward ground；
The pair range sensor（50）The distance signal that will test is sent to flight controller（60）It is inside handled, is flown
Controller（60）Control signal is issued to driving unit, driving unit drives telescopic outrigger（40）It is flexible, and change telescopic outrigger
（40）Length；
When the multi-rotor unmanned aerial vehicle needs to land, secondary range sensor（50）Test side detection telescopic outrigger and ground away from
From, and will test distance signal and be sent in flight controller and carry out judgement processing；
If the difference of the distance signal of secondary range sensor (50) detection is less than first threshold, then illustrate that the drop zone is flat
Ground, without changing telescopic outrigger（40）Length, the multi-rotor unmanned aerial vehicle can stable landing；
Such as secondary range sensor（50）The difference of the distance signal of detection is greater than first threshold, then illustrates the drop zone ground not
Enough smooth, driving unit changes telescopic outrigger（40）Length, the driving unit changes telescopic outrigger（40）Length and secondary
Range sensor（50）The values of disparity of the distance signal of detection is corresponding, and the multi-rotor unmanned aerial vehicle can stable landing.
2. multi-rotor unmanned aerial vehicle safe landing control method according to claim 1, it is characterised in that：The telescopic outrigger
（40）It is located at body（10）Outline perimeter be evenly spaced on；
The body（10）On be additionally provided with main range sensor（70）, the main range sensor（70）Positioned at body（10）'s
Center, the main range sensor（70）Test side be directed toward ground, main range sensor（70）It will test distance signal hair
It send to flight controller（60）It is inside handled, flight controller（60）Control signal is issued to driving unit, driving unit drives
Dynamic telescopic outrigger（40）It is flexible, and change telescopic outrigger（40）Length, main range sensor（70）Test side and secondary distance
Sensor（50）Test side in the same plane；
As the difference of the distance signal of secondary range sensor (50) detection is less than first threshold, more secondary range sensor（50）It adopts
The minimum range numerical value and main range sensor of collection（7）The distance values of acquisition；
Such as main range sensor（70）The distance values of acquisition are less than the secondary range sensor（50）The distance values of acquisition and
Difference is less than second threshold or main range sensor（70）The distance values of acquisition are greater than the secondary range sensor（50）Acquisition
Minimum range numerical value, the multi-rotor unmanned aerial vehicle can stable landing；
Such as main range sensor（70）The distance values of acquisition are less than the secondary range sensor（50）The minimum range number of acquisition
Value and difference are greater than second threshold, and the multi-rotor unmanned aerial vehicle transferring position is landed.
3. multi-rotor unmanned aerial vehicle safe landing control method according to claim 2, it is characterised in that：The body（10）
Front and back end be additionally provided with side and push away rotor（12）, the side pushes away rotor（12）The surfaces of revolution and rotating vane（30）The surfaces of revolution hangs down
Directly；
Such as main range sensor（70）The distance values of acquisition are less than the secondary range sensor（50）The minimum range number of acquisition
It is worth and difference is greater than second threshold, the side pushes away rotor（12）Surfaces of revolution rotary side push away the multi-rotor unmanned aerial vehicle transferring position
It lands；
When shutting down in lateral wind such as the multi-rotor unmanned aerial vehicle, the side pushes away rotor（12）Surfaces of revolution rotary side push away it is described more
Rotor wing unmanned aerial vehicle keeps aerial and shuts down.
4. multi-rotor unmanned aerial vehicle safe landing control method according to claim 1 or 2, it is characterised in that：It is described flexible
Supporting leg（40）Positioned at body（10）There are four periphery spaced sets, and driving mechanism drives rotor support arm（20）Rotation and rotation axis
Line is vertical, telescopic outrigger（40）Lower end line constitute rectangular configuration, it is described pair range sensor（50）It is arranged in telescopic outrigger
（40）Upper end position at, the main range sensor（70）It is arranged in telescopic outrigger（40）The rectangular area middle position of enclosing
Place body（10）On.
5. multi-rotor unmanned aerial vehicle safe landing control method according to claim 3, it is characterised in that：The body（10）
Support arm is extended downwardly（11）, the telescopic outrigger（40）With support arm（11）The slide-and-guide cooperation of vertical direction is constituted, it is described
Telescopic outrigger（40）Length direction be additionally provided with rack gear（41）, the rack gear（41）Along telescopic outrigger（40）Length direction cloth
It sets, rack gear（41）With gear（42）Engagement, motor（43）Drive gear（42）Rotation, motor（43）It is fixed on body（10）On.
6. multi-rotor unmanned aerial vehicle safe landing control method according to claim 4, it is characterised in that：The rotor support arm
（20）Projecting end be provided with main shaft（21）, main shaft（21）On be provided with middle connection structure（22）, the main shaft（21）Upper end with
Middle connection structure（22）Between rotary type connection and rotation axis cord horizontal, rotating vane（30）It is coupled structure in（22）Connection, institute
State middle connection structure（22）With main shaft（21）Axle body constitute mating, middle connection structure（22）With main shaft（21）Between be provided with resistance
Buddhist nun's block（221）, middle connection structure（22）On be provided with horizontal axis（24）, horizontal axis（24）One end be plugged on paddle folder（25）One end open up
Groove（251）It is interior, horizontal axis（24）With groove（251）Between be provided with bearing（26）, it is located at groove（251）Notch and horizontal
Axis（24）Between be additionally provided with plugging block（27）, the plugging block（27）With horizontal axis（24）Constitute rotary type cooperation, paddle folder（25）
On be provided with oil filler point（252）With groove（251）Vallecular cavity connection.
7. multi-rotor unmanned aerial vehicle safe landing control method according to claim 6, it is characterised in that：The middle connection structure
（22）It is mutually fastened and is constituted by two valve body formula structures, the main shaft（21）Between two valve body formula structures, main shaft（21）It is upper
End is provided with pin shaft（211）, the pin shaft（211）Bar length direction and main shaft（21）Length direction is vertical and stretches out main shaft（21）
Both ends, pin shaft（211）Both ends be respectively arranged with rolling bearing（212）, rolling bearing（212）It is coupled structure in（22）'s
Two valve body formula structures constitute rotary type cooperation.
8. multi-rotor unmanned aerial vehicle safe landing control method according to claim 6, it is characterised in that：The middle connection structure
（22）Two valve body formula structures between be provided with for accommodating damping block（221）Card slot（222）, the card slot（222）It is located at
Middle connection structure（22）Two valve body formula structures between setting there are two, card slot（222）Notch it is opposite and along main shaft（21）'s
Central spindle is arranged symmetrically, the damping block（221）It is made of rubber material, the card slot（222）Flute length direction and main shaft（21）
Length direction it is vertical, card slot（222）Cell wall on be provided with mounting hole（2221）, installation bolt is across mounting hole（2221）And
Both ends are coupled structure in（22）Two valve body formula structures be connected.
9. multi-rotor unmanned aerial vehicle safe landing control method according to claim 5, it is characterised in that：The horizontal axis（24）
Shaft end be arranged to T-shaped structure, the bearing（26）It is set in horizontal axis（24）Axle body on and outer ring and groove（251）Vallecular cavity
Against the plugging block（27）For cyclic structure, the paddle folder（25）On be provided with mounting hole, installation spiral shell is provided in mounting hole
Bolt（253）, bolt is installed（253）Across mounting hole and plugging block（27）Connection.
10. multi-rotor unmanned aerial vehicle safe landing control method according to claim 8, it is characterised in that：The paddle folder
（25）The other end be provided with opening（254）, rotating vane（30）Positioned at the opening（254）It is interior, opening（254）The paddle at place presss from both sides
（25）On be provided with bolt（255）, bolt（255）It is pressed from both sides across paddle（25）And rotating vane（30）And extension end is provided with nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710368475.XA CN108928461A (en) | 2017-05-22 | 2017-05-22 | A kind of multi-rotor unmanned aerial vehicle safe landing control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710368475.XA CN108928461A (en) | 2017-05-22 | 2017-05-22 | A kind of multi-rotor unmanned aerial vehicle safe landing control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108928461A true CN108928461A (en) | 2018-12-04 |
Family
ID=64451082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710368475.XA Pending CN108928461A (en) | 2017-05-22 | 2017-05-22 | A kind of multi-rotor unmanned aerial vehicle safe landing control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108928461A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190439A (en) * | 2020-01-09 | 2020-05-22 | 上海海洋大学 | Multi-rotor unmanned aerial vehicle takeoff and landing control method |
| CN113086194A (en) * | 2021-04-17 | 2021-07-09 | 合肥市方升信息科技有限公司 | Smart city data set system and method based on echo airborne laser scanning data |
| CN113353245A (en) * | 2021-06-18 | 2021-09-07 | 浙江水利水电学院 | Self-balancing foot stand of rotor unmanned aerial vehicle, rotor unmanned aerial vehicle and method |
| CN115009515A (en) * | 2022-06-20 | 2022-09-06 | 南京航空航天大学 | High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof |
-
2017
- 2017-05-22 CN CN201710368475.XA patent/CN108928461A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190439A (en) * | 2020-01-09 | 2020-05-22 | 上海海洋大学 | Multi-rotor unmanned aerial vehicle takeoff and landing control method |
| CN113086194A (en) * | 2021-04-17 | 2021-07-09 | 合肥市方升信息科技有限公司 | Smart city data set system and method based on echo airborne laser scanning data |
| CN113086194B (en) * | 2021-04-17 | 2024-02-20 | 合肥市方升信息科技有限公司 | Echo-based airborne laser scanning data smart city data collection system and method |
| CN113353245A (en) * | 2021-06-18 | 2021-09-07 | 浙江水利水电学院 | Self-balancing foot stand of rotor unmanned aerial vehicle, rotor unmanned aerial vehicle and method |
| CN115009515A (en) * | 2022-06-20 | 2022-09-06 | 南京航空航天大学 | High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108928460A (en) | A kind of multi-rotor unmanned aerial vehicle applied to mountainous region exploration | |
| CN108928461A (en) | A kind of multi-rotor unmanned aerial vehicle safe landing control method | |
| CN107244391B (en) | A kind of rescue at sea unmanned plane for capableing of remote control | |
| CN105620720B (en) | One kind is taken photo by plane folding wings unmanned plane | |
| CN107140185B (en) | A kind of intelligence multi-rotor unmanned aerial vehicle | |
| CN106275406B (en) | A kind of safe and reliable energy-saving unmanned plane | |
| CN105620719B (en) | A kind of municipal gardens folding wings unmanned plane | |
| CN109612681A (en) | A kind of aerodynamic interference measurement method of the coaxial rigid rotor model of helicopter | |
| CN105923158B (en) | A kind of municipal afforestation folding wings unmanned plane | |
| TW201610295A (en) | Drive mechanisms for use in controlling rotation and twist of a tether | |
| CN205418096U (en) | First structure of unmanned helicopter rotor | |
| CN108909865A (en) | Unmanned plane climbing level robot | |
| CN116639273A (en) | Unmanned aerial vehicle mapping data acquisition device and acquisition method thereof | |
| CN109774507A (en) | A kind of small drone identical tension power supply system | |
| CN104198152B (en) | Bionic flapping-wing flying vehicle rises force test device and method of testing thereof | |
| CN106184728B (en) | A kind of rotary telescopic variable-torque quadrotor | |
| CN108058825A (en) | It is a kind of can front and rear swipe flapping wing aircraft device | |
| CN205345336U (en) | Extreme low -altitude remote control flight plant protection owner rotor | |
| RU177244U1 (en) | PROPELLER-CONTROLLED WING FOR A MULTI-WING AIRCRAFT | |
| CN105667763B (en) | A kind of municipal afforestation folding wings unmanned plane | |
| CN106347657B (en) | A kind of unmanned plane and its working method for geography information exploration | |
| CN104802987B (en) | A kind of rotor driver and the gyroplane of the rotor driver is installed | |
| CN106275407A (en) | A kind of wing of collapsible unmanned plane | |
| CN110775279B (en) | Novel helicopter carries on detecting instrument and hangs | |
| CN105905276B (en) | A kind of architectural engineering folding wings unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181204 |
|
| WD01 | Invention patent application deemed withdrawn after publication |