CN109080817B - Landing method using unmanned aerial vehicle - Google Patents
Landing method using unmanned aerial vehicle Download PDFInfo
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- CN109080817B CN109080817B CN201810989249.8A CN201810989249A CN109080817B CN 109080817 B CN109080817 B CN 109080817B CN 201810989249 A CN201810989249 A CN 201810989249A CN 109080817 B CN109080817 B CN 109080817B
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- 241000252254 Catostomidae Species 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 5
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- 238000011161 development Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
Abstract
The invention relates to a landing method using an unmanned aerial vehicle, which solves the technical problem that the existing multi-rotor unmanned aerial vehicle cannot smoothly land on a small and medium-sized parking apron on the sea, and comprises the following steps: (1) when the unmanned aerial vehicle lands on the parking apron and the flexible antenna moves downwards to contact with the inclined parking apron, the tail end of the flexible antenna bends to enable the sucker to be sucked on the parking apron, and the attitude sensor is fixed on the parking apron; (2) the unmanned aerial vehicle flight control acquires parking apron motion attitude data sent by an attitude sensor; (3) the unmanned aerial vehicle flight control adjusts the flight inclination angle of the unmanned aerial vehicle main body, so that the unmanned aerial vehicle main body and the parking apron keep the same motion attitude, and the unmanned aerial vehicle main body and the parking apron keep a parallel state; (4) along with unmanned aerial vehicle's continuation descending, have more and more parts to fix under the sucking disc effect on four flexible antennas and at the air park, the unsettled part of flexible antenna also can be more and more short, because the unmanned aerial vehicle main part keeps parallel with the air park, and four non-flexible bracing pieces contact the air park simultaneously, accomplish the descending. The invention is widely applied to the technical field of aircrafts such as unmanned planes and the like.
Description
Technical Field
The invention relates to the technical field of aircrafts such as unmanned planes, in particular to a landing method applying the unmanned planes.
Background
In recent years, the application of unmanned aerial vehicles is more and more extensive, and along with the diversification of function, the application environment is complicated, also more and more high to the requirement of each item index and function of unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle is widely applied due to the characteristics of vertical take-off and landing, hovering in the air and flexible flying. With the development of the marine technical field, the application of the marine unmanned aerial vehicle is more and more, but new problems are brought about due to the particularity of the marine environment. One of the biggest problems is that because the fluctuation of sea wave is undulant for the slope of rocking about the marine small-size air park influences many rotor unmanned aerial vehicle's smooth descending, also brings very big potential safety hazard for many rotor unmanned aerial vehicle's descending.
Disclosure of Invention
The invention provides a landing method of an unmanned aerial vehicle, which can enable the unmanned aerial vehicle to smoothly land on an offshore air park, and aims to solve the technical problem that the existing multi-rotor unmanned aerial vehicle cannot smoothly land on a small and medium-sized air park on the sea.
The technical scheme includes that the landing method applying the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, the unmanned aerial vehicle main body is provided with unmanned aerial vehicle flight control, the unmanned aerial vehicle main body is connected with an adaptive foot rest, the adaptive foot rest comprises four non-flexible supporting rods, each of the four non-flexible supporting rods is connected with a flexible antenna, and the four flexible antennas are totally four; the flexible antenna is connected with a plurality of suckers; the tail end of one of the four flexible antennae is connected with an attitude sensor; the signal output end of the attitude sensor is connected with the unmanned aerial vehicle flight control through a wire;
the landing method comprises the following steps:
(1) when the unmanned aerial vehicle lands on the parking apron and the flexible antenna moves downwards to contact with the inclined parking apron, the tail end of the flexible antenna bends to enable the sucker to be sucked on the parking apron, and the attitude sensor is fixed on the parking apron;
(2) the unmanned aerial vehicle flight control acquires parking apron motion attitude data sent by an attitude sensor;
(3) the unmanned aerial vehicle flight control adjusts the flight inclination angle of the unmanned aerial vehicle main body, so that the unmanned aerial vehicle main body and the parking apron keep the same motion attitude, and the unmanned aerial vehicle main body and the parking apron keep a parallel state;
(4) along with unmanned aerial vehicle's continuation descending, have more and more parts to fix under the sucking disc effect on four flexible antennas, the unsettled part of flexible antenna also can be more and more short, because the unmanned aerial vehicle main part keeps parallel with the air park, and four non-flexible bracing pieces contact the air park simultaneously, accomplish the descending, and the unmanned aerial vehicle main part is static relatively with the air park.
Preferably, the non-flexible supporting rod is connected with a ranging module, and the ranging module is connected with the unmanned aerial vehicle through a signal line;
the distance measurement module detects the height of the non-flexible supporting rod from the parking apron, compares the measured height value with the height threshold value set by the unmanned aerial vehicle flight control, and stops the power system of the unmanned aerial vehicle when the measured height value is smaller than the threshold value.
Preferably, in the step (3), the flight inclination angle of the unmanned aerial vehicle main body is adjusted through a PID control algorithm.
Preferably, four non-flexible support rods of the unmanned aerial vehicle are distributed in a rectangular shape.
Preferably, the wire passes flexible antenna or distributes along flexible antenna surface, and unmanned aerial vehicle flies to control to be connected with the remote controller through wireless communication mode.
The invention has the beneficial effects that: the invention enables the unmanned aerial vehicle to overcome complex parking environments, not only dynamic fluctuation of an offshore parking apron caused by waves, but also can cope with inclined parking environments under static conditions, so that the unmanned aerial vehicle is always kept relatively parallel to a parking platform, foot rests are ensured to land basically simultaneously, the unmanned aerial vehicle is enabled to land on the parking apron more easily and stably, and the safety problem of the unmanned aerial vehicle caused by the landing environment problem is avoided. Whole device low cost does not need additional control mechanical structure moreover, and the quality is little, and is little to unmanned aerial vehicle's load influence.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an adaptive tripod for an unmanned aerial vehicle;
fig. 2 is a schematic distribution diagram of four non-flexible support rods mounted on the main body of the drone;
fig. 3 is a schematic diagram of the initial moment of landing of the drone on the apron on the sea;
FIG. 4 is a functional block diagram of an unmanned aerial vehicle control process;
fig. 5 is a flow chart of a drone control process;
fig. 6 is a schematic view of the main body of the drone being parallel to the apron;
FIG. 7 is a schematic diagram of a PID control algorithm.
The symbols in the drawings illustrate that:
1. the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, 1-1 unmanned aerial vehicle flight control, 2 non-flexible supporting rods, 3 flexible antennae, 3-1 suckers, 4 attitude sensors, 5 parking apron and 6 remote controllers.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the self-adaptive foot stool of the unmanned aerial vehicle comprises a non-flexible support rod 2, a flexible antenna 3 and an attitude sensor 4; the upper end of the flexible antenna 3 is connected with the non-flexible supporting rod 2, and the attitude sensor 4 is connected with the tail end of the flexible antenna 3. The flexible antenna 3 is connected with a plurality of suckers 3-1, the suckers 3-1 are distributed along the length direction of the flexible antenna 3, and the suckers 3-1 are distributed on the whole flexible antenna 3.
The flexible antenna 3 is strip-shaped and can be made of softer colloid materials.
The inflexible bracing piece 2 is installed on unmanned aerial vehicle main part 1. One flexible antenna 3 corresponds to one inflexible supporting rod 2, and there are four inflexible supporting rods 2 in total (as shown in fig. 2, the four inflexible supporting rods are distributed in a rectangular shape), and accordingly, the number of the flexible antennas 3 is four.
It should be noted that, the four inflexible support rods 2 may also be connected perpendicularly to the main body 1 of the unmanned aerial vehicle, and are not limited to the connection mode of the outward opening in this embodiment.
The structure of unmanned aerial vehicle main part 1 is common general knowledge, and it includes modules such as frame, driving system, cloud platform camera, remote control signal receiver, unmanned aerial vehicle flight control.
Normally, one attitude sensor 4 is provided.
As shown in fig. 4, the remote controller 6 is in wireless connection communication with the unmanned aerial vehicle flight control 1-1; the signal output end of the attitude sensor 4 is connected with the unmanned aerial vehicle flight control 1-1 through a wire, and an attitude signal detected by the attitude sensor 4 is firstly sent to the unmanned aerial vehicle flight control 1-1. The thinner the wire connected to the signal output terminal of the attitude sensor 4, the better, the wire may be routed through the flexible antenna or along the outer surface of the flexible antenna.
Under the control of the remote controller 6, the unmanned aerial vehicle main body 1, the non-flexible supporting rod 2 and the flexible antenna 3 land on the air level, the air level 5 is in an inclined state due to fluctuation of the air level, as shown in fig. 3, when the flexible antenna 3 moves downwards and just contacts the inclined air level 5, the tail end of the flexible antenna 3 bends to enable the sucker 3-1 to be sucked on the air level 5, and the attitude sensor 4 is stably fixed on the air level 5. The motion attitude of the apron 5 can be monitored in real time, and the motion attitude data is sent to the unmanned aerial vehicle flight control 1-1.
Sometimes, the wave fluctuation is large, and in order to fix the attitude sensor 4 on the apron 5 more stably, the attitude sensor is fixed on the apron more stably through an attitude calculation process of calculating the attitude of the apron based on the attitude sensor to obtain data such as an inclination angle and a speed.
As shown in fig. 5, the process of controlling the unmanned aerial vehicle to land by the unmanned aerial vehicle flight control 1-1 is as follows:
And 2, carrying out deep learning on the attitude data by the unmanned aerial vehicle flight control 1-1 by adopting a convolutional neural network.
And 3, predicting the motion attitude of the parking apron.
Unmanned aerial vehicle main part 1 is keeping under the state unanimous with the air park inclination, and the component force rightward that the screw on the unmanned aerial vehicle main part 1 produced can make unmanned aerial vehicle fly to the right, thereby the flexible antenna on the left side provides the pulling force this moment and maintains the relative position of unmanned aerial vehicle main part 1 and change in certain extent. At the in-process of whole developments descending, along with the slope about air park 5, flight about unmanned aerial vehicle main part 1 can relapse, flexible antenna provides the pulling force in order to maintain unmanned aerial vehicle at the small range flight.
And 6, after the unmanned aerial vehicle main body 1 is fixed on the parking apron, controlling a power system on the unmanned aerial vehicle main body 1 to stop working by the unmanned aerial vehicle flight control 1-1. Can detect the height of non-flexible bracing piece distance air park through range finding module, the height value of measurement compares with the altitude threshold value that unmanned aerial vehicle flight control set for, when the height value of measurement is less than the threshold value, makes driving system stop work.
For improved accuracy and reliability, four attitude sensors 4 may be provided, one mounted at the end of each flexible antenna. Two attitude sensors may be provided at each diagonal position.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.
Claims (5)
1. The landing method using the unmanned aerial vehicle is characterized in that the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, the unmanned aerial vehicle main body is provided with unmanned aerial vehicle flight control, the unmanned aerial vehicle main body is connected with an adaptive foot rest, the adaptive foot rest comprises four non-flexible supporting rods, each of the four non-flexible supporting rods is connected with a flexible antenna, and the total number of the four flexible antennas is four; the flexible antenna is connected with a plurality of suckers; the tail end of one of the four flexible antennae is connected with an attitude sensor; the signal output end of the attitude sensor is connected with the unmanned aerial vehicle flight control through a wire;
the landing method comprises the following steps:
(1) when the unmanned aerial vehicle lands on the parking apron and the flexible antenna moves downwards to contact with the inclined parking apron, the tail end of the flexible antenna bends to enable the sucker to be sucked on the parking apron, and the attitude sensor is fixed on the parking apron;
(2) the unmanned aerial vehicle flight control acquires parking apron motion attitude data sent by an attitude sensor;
(3) the unmanned aerial vehicle flight control adjusts the flight inclination angle of the unmanned aerial vehicle main body, so that the unmanned aerial vehicle main body and the parking apron keep the same motion attitude, and the unmanned aerial vehicle main body and the parking apron keep a parallel state;
(4) along with unmanned aerial vehicle's continuation descending, have more and more parts to fix under the sucking disc effect on four flexible antennas, the unsettled part of flexible antenna also can be more and more short, because the unmanned aerial vehicle main part keeps parallel with the air park, and four non-flexible bracing pieces contact the air park simultaneously, accomplish the descending, and the unmanned aerial vehicle main part is static relatively with the air park.
2. A landing method according to claim 1, wherein the inflexible support bar is connected to a ranging module, the ranging module being connected to the unmanned aerial vehicle flight control via a signal line;
the distance measurement module detects the height of the non-flexible supporting rod from the parking apron, compares the measured height value with the height threshold value set by the unmanned aerial vehicle flight control, and stops the power system of the unmanned aerial vehicle when the measured height value is smaller than the threshold value.
3. A landing method according to claim 2, wherein in step (3), the adjustment of the flight inclination of the drone body is achieved by a PID control algorithm.
4. A method of landing according to claim 1, wherein the four non-flexible support bars of the drone are rectangular.
5. A landing method according to claim 4, wherein the conductors pass through or are distributed along the outer surface of the flexible antenna, and the unmanned aerial vehicle flight control is connected with a remote controller in a wireless communication manner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810989249.8A CN109080817B (en) | 2018-08-28 | 2018-08-28 | Landing method using unmanned aerial vehicle |
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| CN201810989249.8A CN109080817B (en) | 2018-08-28 | 2018-08-28 | Landing method using unmanned aerial vehicle |
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| CN109080817B true CN109080817B (en) | 2020-08-04 |
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| CN112455661B (en) * | 2020-11-10 | 2022-06-10 | 南京航空航天大学 | Unmanned aerial vehicle who possesses flexible configuration of modularization and perch contact |
| CN113277027B (en) * | 2021-06-23 | 2022-02-22 | 哈尔滨工业大学（威海） | Ship real-time attitude measurement method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009094603A2 (en) * | 2008-01-24 | 2009-07-30 | Harold Rosen | Spin-stabilized lander |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| CN106628126A (en) * | 2016-12-15 | 2017-05-10 | 南京理工大学 | Unmanned aerial vehicle capable of taking off and landing on slope |
| CN107697274A (en) * | 2017-09-25 | 2018-02-16 | 南京律智诚专利技术开发有限公司 | A kind of unmanned plane with arc landing gear |
| CN107957728A (en) * | 2017-12-15 | 2018-04-24 | 哈尔滨工业大学（威海） | Unmanned plane landing method, unmanned plane and marine floating platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9994307B2 (en) * | 2016-03-25 | 2018-06-12 | The United States Of America As Represented By Secretary Of The Navy | Vertical take-off-and-landing unmanned aerial vehicle system capable of landing on uneven or sloped terrain |
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- 2018-08-28 CN CN201810989249.8A patent/CN109080817B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009094603A2 (en) * | 2008-01-24 | 2009-07-30 | Harold Rosen | Spin-stabilized lander |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| CN106628126A (en) * | 2016-12-15 | 2017-05-10 | 南京理工大学 | Unmanned aerial vehicle capable of taking off and landing on slope |
| CN107697274A (en) * | 2017-09-25 | 2018-02-16 | 南京律智诚专利技术开发有限公司 | A kind of unmanned plane with arc landing gear |
| CN107957728A (en) * | 2017-12-15 | 2018-04-24 | 哈尔滨工业大学（威海） | Unmanned plane landing method, unmanned plane and marine floating platform |
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Effective date of registration: 20230801 Address after: 264299 No. 2, Wenhua West Road, Weihai City, Shandong Province Patentee after: Weihai Harvey Asset Management Co.,Ltd. Patentee after: Zhou Zhiquan Patentee after: Wang Xinsheng Address before: 264200 No. 2 Cultural West Road, Huancui District, Weihai City, Shandong Province Patentee before: HARBIN INSTITUTE OF TECHNOLOGY (WEIHAI) |
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Effective date of registration: 20231110 Address after: Room 715, Building 1, Research Institute, No. 2 Wenhua West Road, Torch High tech Industrial Development Zone, Weihai City, Shandong Province, 264299 Patentee after: Weihai Tiancai Intelligent Technology Co.,Ltd. Address before: 264299 No. 2, Wenhua West Road, Weihai City, Shandong Province Patentee before: Weihai Harvey Asset Management Co.,Ltd. Patentee before: Zhou Zhiquan Patentee before: Wang Xinsheng |