CN110341943B - Unmanned aerial vehicle capable of moving on inclined plane - Google Patents
Unmanned aerial vehicle capable of moving on inclined plane Download PDFInfo
- Publication number
- CN110341943B CN110341943B CN201910499264.9A CN201910499264A CN110341943B CN 110341943 B CN110341943 B CN 110341943B CN 201910499264 A CN201910499264 A CN 201910499264A CN 110341943 B CN110341943 B CN 110341943B
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- landing
- crawler
- aircraft body
- aircraft
- hydraulic ejector
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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
- B64C25/38—Alighting gear characterised by elements which contact the ground or similar surface endless-track type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Abstract
The invention discloses an unmanned aerial vehicle capable of moving on an inclined plane, which comprises an aircraft body and crawler landing gears, wherein the aircraft body is arranged on the two crawler landing gears through two landing support rods, the tops of the landing support rods are fixedly connected with the aircraft body, the lower parts of the landing support rods are connected with the crawler landing gears through revolute pairs, the crawler landing gears are provided with hydraulic ejector rods hinged with the aircraft body, the hydraulic ejector rods are provided with stoppers capable of locking the extension strokes of the hydraulic ejector rods, and each crawler landing gear comprises a trapezoidal support plate, load wheels arranged at four vertexes of the trapezoidal support plate and a rubber crawler connecting a plurality of load wheels. The invention can adapt to the field inclination by the crawler landing gear to realize the taking-off, landing and traveling of the unmanned aerial vehicle on the inclined plane with a determined angle, and the carried visible light camera and the ultrasonic sensor can assist in landing, thereby improving the taking-off and landing efficiency of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of aircrafts, relates to an unmanned aircraft, and particularly relates to an unmanned aircraft capable of moving on an inclined plane.
Background
In recent years, with the development of advanced manufacturing technology and the integration improvement of flight control systems, the market of unmanned aerial vehicles has been developed vigorously. As a production tool, unmanned aerial vehicles are endowed with more practical functions to enter various industries and have been well developed in the civil field, wherein the unmanned aerial vehicles with multi-rotor vertical take-off and landing are widely concerned and researched with simple and excellent control performance.
In the prior art, the unmanned aerial vehicle with multiple rotors for vertical take-off and landing has strict requirements on the terrain during take-off and landing. For guaranteeing that aircraft lift is stable, the aircraft rotor is installed in the cantilever end, and two adjacent rotor direction of rotation are opposite, need to guarantee simultaneously that each rotor is in same quotation, and the quotation is in the horizontality to this counteracts the moment of torsion. Landing gear is one of the important parts of the aircraft, and it bears the landing impact of the aircraft and provides support for the aircraft when parking, and in the current stage of unmanned aircraft design of multi-rotor vertical take-off and landing, the design scheme that the cantilever is parallel to the landing gear is mostly adopted. Under this kind of design, for guaranteeing that the quotation that each rotor was located is the horizontality when taking off to land, need guarantee that the aircraft place of taking off and land is horizontal ground. When the aircraft takes off and lands on special terrains, particularly planes with certain slopes, the aircraft often has the problems of rollover and the like due to unevenness of the ground, and huge economic losses can be caused in severe cases. The design of the current aircraft landing gear limits the takeoff and landing range of the aircraft, so that the unmanned aircraft cannot take off and land in places such as photovoltaic power stations, hilly lawns, inclined glass curtain walls and the like, and the application and development of the aircraft in the fields are limited. In addition, after the aircraft for performing actual working operation lands on the ground, the aircraft often has a requirement of reaching a working area through movement, and the existing aircraft design cannot realize plane movement of the aircraft, particularly movement on an inclined plane, so that the working range of the aircraft is limited.
In order to solve the problem, an unmanned aerial vehicle which can take off, land and travel on a slope is needed. The prior patent technology is searched and found that the following are relevant to the patent: the invention relates to a plant protection unmanned aircraft complex terrain adaptive landing gear and a control method (application number: CN201811316881.2), which has a complex adaptive device structure and can not advance on an inclined terrain after landing; the utility model discloses a many rotor unmanned aerial vehicle of buffering rise and fall "(application number: CN201621449501.9) it can not satisfy the landing demand in non-planar landing place.
In summary, the existing unmanned aerial vehicle cannot well solve the problems of taking off and landing of the aircraft on the inclined plane and the problem of traveling on the inclined plane after landing, so that the use of the unmanned aerial vehicle on special terrain, particularly on a plane with a certain inclination, is limited.
Disclosure of Invention
The invention provides an unmanned aerial vehicle capable of moving on an inclined plane, which can adapt to the slope of a field through a crawler landing gear so as to realize take-off, landing and traveling of the unmanned aerial vehicle on the inclined plane with a determined angle, and a visible light camera and an ultrasonic sensor carried by the unmanned aerial vehicle can assist in landing so as to improve the take-off and landing efficiency of the unmanned aerial vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an unmanned vehicles that can move on inclined plane, includes aircraft body and crawler-type landing gear, its characterized in that: the aircraft body is installed on two crawler-type landing gears through two supporting rods that rise and fall, the supporting rod top that rises and falls links to each other with the aircraft body is fixed, and the lower part passes through the revolute pair with crawler-type landing gear and links to each other, is equipped with the hydraulic pressure ejector pin that links to each other with the aircraft body on at least one crawler-type landing gear, the hydraulic pressure ejector pin both ends are articulated respectively with crawler-type landing gear, aircraft body and link to each other, and the hydraulic pressure ejector pin forms the triangle-shaped support that supports the aircraft body with the supporting rod that rises and falls.
As the improvement, the aircraft body includes the middle part fixed plate, installs a plurality of cantilevers and installs the rotor at every cantilever end around the fixed plate of middle part.
As an improvement, the crawler-type landing gear comprises a trapezoidal support plate, load wheels arranged at four vertexes of the trapezoidal support plate and a rubber crawler connecting the load wheels, at least one of the load wheels is a power wheel, and a driving motor connected with the power wheel is arranged on the trapezoidal support plate.
As an improvement, the top of the lifting support rod is fixedly connected with the middle part of the middle fixing plate, and the bottom of the lifting support rod is connected with the middle part of the trapezoidal support plate through a rotating shaft.
As an improvement, the inner side of the rubber track is provided with a tooth-shaped structure meshed with the loading wheel, and the outer side of the rubber track is provided with anti-skid folds.
As an improvement, be equipped with position monitoring device on the aircraft body, position monitoring device includes visible light camera, ultrasonic sensor and GPS locator, the visible light camera is installed in middle part fixed plate lower part, can carry out visible light image acquisition to organism the place ahead and below, and ultrasonic sensor installs in the visible light camera rear, can measure the distance on organism and below inclined plane, and the GPS locator is located middle part fixed plate top for acquire the positional information that the aircraft was located in real time.
A method for performing ramp takeoff by using the unmanned aerial vehicle is characterized by comprising the following steps:
and 3, starting the rotor wing on the aircraft body, and finishing the inclined plane takeoff of the unmanned aircraft.
The invention has the beneficial effects that:
the unmanned aerial vehicle adopts a six-rotor vertical take-off and landing aircraft, has simple and excellent control performance, and the crawler landing gear is connected with the aircraft body through the landing support rod, is used as one of important parts of the aircraft, bears landing impact of the aircraft, and provides support for parking the aircraft.
According to the technical scheme, the hydraulic ejector rod is connected with the middle fixing plate and the crawler-type landing gear respectively and can rotate around the two connecting parts, and the support effect of the hydraulic ejector rod on the crawler-type landing gear is adjusted by controlling the telescopic length of the hydraulic ejector rod, so that the inclination degree of the crawler-type landing gear relative to the cantilever is adjusted.
According to above-mentioned technical scheme, change the inclination of crawler-type landing gear for the cantilever through hydraulic ejector pin for its angle is adapted to the place of taking off and land, satisfies each rotor of aircraft and is in the horizontally demand of taking off and land.
According to the technical scheme, the driving motor drives the power wheel to rotate, so that the crawler belt is driven to rotate, and the rotating speed and the rotating direction of the crawler belt are controlled by controlling the driving motor.
According to the technical scheme, when the aircraft works, the front image information of the aircraft is acquired through the visible light camera, the distance information between the aircraft and the inclined plane is acquired through the ultrasonic sensor, the position information of the aircraft is acquired through the GPS, the acquired information can assist an operator in aircraft operation, and the operation efficiency is improved.
Drawings
FIG. 1 is a schematic side view of an embodiment of the present invention;
FIG. 2 is a perspective view of a front side structure of an embodiment of the present invention;
FIG. 3 is a schematic perspective view of an embodiment of the present invention during parking in a slant.
The reference numbers in the figures are: the method comprises the following steps of 1-an aircraft body, 2-a position monitoring device, 3-a crawler landing gear, 4-a cantilever, 5-a middle fixing plate, 6-a landing support rod, 7-a visible light camera, 8-an ultrasonic sensor, 9-a GPS (global positioning system) positioner, 10-a loading wheel, 11-a power wheel, 12-a driving motor, 13-a rubber crawler, 14-a hydraulic ejector rod, 15-a stopper and 16-a trapezoidal support plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, 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.
The utility model provides a can be at unmanned vehicles of inclined plane motion, includes aircraft body 1 and crawler landing gear 3, aircraft body 1 is installed on two crawler landing gear 3 through two bracing pieces 6 that rise and fall, 6 tops of bracing piece that rise and fall link to each other with aircraft body 1 is fixed, and the lower part links to each other through the revolute pair with crawler landing gear 3, is equipped with the hydraulic ram 14 that links to each other with aircraft body 1 on the crawler landing gear 3, hydraulic ram 14 both ends and crawler landing gear 3, aircraft body 1 articulate respectively and link to each other, and hydraulic ram 14 and the bracing piece 6 that rises and falls form the triangle-shaped support that supports the aircraft body, be equipped with on the hydraulic ram 14 and lock its stopper 15 that stretches out the stroke.
In the embodiment of the invention, an aircraft body 1 is a core mechanism of the aircraft, and particularly comprises cantilevers 4, a middle fixing plate 5, a landing support rod 6 and rotors, the aircraft adopts a six-rotor aircraft, six cantilevers 4 are uniformly distributed around the middle fixing plate 5, the tail end of each cantilever 4 is provided with one rotor, the aircraft body 1 provides power for the takeoff and landing of the aircraft, and simultaneously is a bearing mechanism of each device of the aircraft, and a position monitoring device 2 and a crawler landing device 3 are respectively arranged below the aircraft body 1.
In the embodiment of the invention, the crawler landing gear 3 is composed of a load wheel 10, a power wheel 11, a driving motor 12, a rubber crawler 13 and a trapezoidal support plate 16. The crawler landing gear 3 is divided into a left crawler landing gear and a right crawler landing gear, the middle lower part of the trapezoidal support plate 16 of each crawler landing gear 3 is hinged with the lower end of the landing support rod 6, the crawler landing gear 3 can rotate directionally by taking a hinge fulcrum as an original point, and the rotation motion is smooth and stable as far as possible under the requirement of ensuring the connection strength.
In the embodiment of the invention, the trapezoidal support plate 16 is of a trapezoidal thin plate structure with a hollow middle part, the load wheels 10 and the power wheels 11 are respectively fixed at four top points of the trapezoidal support plate 16, the wheels face outwards and can rotate around respective fixed points, wherein each crawler-type landing gear 3 comprises three load wheels 10 and one power wheel 11, and the rotation movement is smooth and stable as much as possible under the requirement of ensuring the connection strength. Meanwhile, the power wheel 11 is connected with the driving motor 12, the driving motor 12 is installed on the inner side of the trapezoidal support plate 16, the trapezoidal support plate 16 is in rigid connection with the driving motor 12 and cannot slide, and the power wheel 11 can be controlled by controlling the rotating speed and the rotating direction of the driving motor 12. Rubber track 13 cladding is in the outside of load wheel 10 with power wheel 11, rubber track 13 surface has the frictional fold structure of increase contact to guarantee the stability when the inclined plane is marchd, the track internal surface has dentate structure to agree with mutually with power wheel 11, it is enough to notice here with load wheel 10, power wheel 11 fully contact when guaranteeing the track installation, with the uniformity of guaranteeing the motion, power wheel 11 is rotatory to drive the track through dentate structure and rotates, thereby the track rotates and realizes that whole unmanned vehicles marchs on the inclined plane. Unmanned vehicles accessible crawler-type landing gear 3 adapts to the place inclination to the realization takes off, lands, advances on the certain angle inclined plane, and the visual light camera 7 and the ultrasonic sensor 8 of its year of carrying can assist the landing, improve aircraft efficiency of taking off and landing.
In this embodiment, be equipped with position monitoring device 2 on aircraft body 1, position monitoring device 2 includes visible light camera 7, ultrasonic sensor 8 and GPS locator 9, visible light camera 7 is installed in 5 lower parts of middle part fixed plate, can carry out visible light image acquisition to organism the place ahead and below, and ultrasonic sensor 8 is installed in 7 rear sides of visible light camera, can measure the organism and the distance on below inclined plane, and GPS locator 9 is located 5 tops of middle part fixed plate, can acquire the positional information that the aircraft located in real time.
In the embodiment of the invention, the hydraulic ejector rod 14 is respectively connected with the middle fixing plate 5 and the crawler landing gear 3, and it is noted that the connection is not rigid connection but hinged connection, so that the hydraulic ejector rod 14 can rotate around two connecting positions, and the support effect of the hydraulic ejector rod 14 on the crawler landing gear 3 is adjusted by controlling the telescopic length of the hydraulic ejector rod 14, thereby adjusting the inclination degree of the crawler landing gear 3 relative to the cantilever 4. The stopper 15 is mounted on the rod wall of the hydraulic ejector rod 14, can slide up and down to change the position, can be fixed and locked at any position where the stopper slides, and can lock the telescopic length of the hydraulic ejector rod 14 by changing the fixed position of the stopper 15.
In the embodiment of the invention, when the aircraft needs to take off on an inclined plane, the inclination angle between the crawler landing gear 3 and the cantilever 4 is changed by adjusting the telescopic length of the hydraulic ejector rod 14, the cantilever 4 is finally adjusted to be in a horizontal state, and the telescopic length of the hydraulic ejector rod 14 at the moment is locked by moving the limiting stopper 15, so that the take-off requirement that the disc surface where each rotor wing of the aircraft is located is in the horizontal state is met, and the aircraft can take off smoothly. The same principle can be used when the aircraft needs to land on a slope with a certain fixed angle.
In the embodiment of the invention, when the aircraft needs to travel on the inclined plane, the driving motor 12 is started to drive the power wheel 11 to rotate, power is transmitted to the crawler through the tooth-shaped structure on the inner surface of the crawler, and the aircraft can be subjected to forward and backward acceleration and deceleration commands and other commands by changing the rotating speed and the rotating direction of the driving motor 12, so that the aircraft can travel on the inclined plane.
In the embodiment of the invention, when the aircraft works, the front image information of the aircraft is acquired through the visible light camera 7, the distance information between the aircraft and the inclined plane is acquired through the ultrasonic sensor 8, the position information of the aircraft is acquired through the GPS (global positioning system) positioner 9, and the acquired information can assist operators in aircraft operation, so that the operation efficiency is improved.
It will be understood that modifications and changes may be made by those skilled in the art in light of the above teachings and all such modifications and changes are intended to fall within the purview of the appended claims.
Claims (5)
1. A ramp take-off method based on an unmanned aerial vehicle, the unmanned aerial vehicle comprises an aircraft body and a crawler landing gear, and is characterized in that: the aircraft body is arranged on two crawler type landing gears through two landing support rods, the tops of the landing support rods are fixedly connected with the aircraft body, the lower portions of the landing support rods are connected with the crawler type landing gears through a rotating pair, at least one crawler type landing gear is provided with a hydraulic ejector rod connected with the aircraft body, two ends of the hydraulic ejector rod are respectively hinged with the crawler type landing gears and the aircraft body, the hydraulic ejector rod and the landing support rods form a triangular support for supporting the aircraft body, and the hydraulic ejector rod is provided with a limiter capable of locking the extending stroke of the hydraulic ejector rod;
the aircraft body comprises a middle fixing plate, a plurality of cantilevers and a rotor wing, wherein the cantilevers are arranged on the periphery of the middle fixing plate, and the rotor wing is arranged at the tail end of each cantilever;
the ramp takeoff method comprises the following steps:
step 1, firstly, driving the whole unmanned aerial vehicle to move on an inclined plane by using a crawler landing gear to reach a take-off designated place;
step 2, manually adjusting the extension length of the hydraulic ejector rod to enable the aircraft body to be in a horizontal state, and then locking the extension length of the hydraulic ejector rod by using a limiter so as to lock the horizontal state of the aircraft body;
and 3, starting the rotor wing on the aircraft body, and finishing the inclined plane takeoff of the unmanned aircraft.
2. A ramp takeoff method as claimed in claim 1, wherein: the crawler-type landing gear comprises a trapezoidal support plate, load wheels arranged on four vertexes of the trapezoidal support plate and a rubber crawler connecting the load wheels, at least one of the load wheels is a power wheel, and a driving motor connected with the power wheel is arranged on the trapezoidal support plate.
3. A ramp takeoff method as claimed in claim 2, wherein: the top of the lifting support rod is fixedly connected with the middle part of the middle fixing plate, and the bottom of the lifting support rod is connected with the middle part of the trapezoidal support plate through a rotating shaft.
4. A ramp takeoff method as claimed in claim 2, wherein: the inner side of the rubber track is provided with a dentate structure meshed with the loading wheel, and the outer side of the rubber track is provided with anti-skid folds.
5. A ramp takeoff method according to any one of claims 1 to 4, characterized in that: the aircraft is characterized in that a position monitoring device is arranged on the aircraft body and comprises a visible light camera, an ultrasonic sensor and a GPS (global positioning system) positioner, the visible light camera is arranged on the lower portion of a middle fixing plate and can be used for collecting visible light images in front of and below the aircraft body, the ultrasonic sensor is arranged at the rear of the visible light camera and can be used for measuring the distance between the aircraft body and an inclined plane below the aircraft body, and the GPS positioner is positioned above the middle fixing plate and is used for acquiring position information of the aircraft in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499264.9A CN110341943B (en) | 2019-06-11 | 2019-06-11 | Unmanned aerial vehicle capable of moving on inclined plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499264.9A CN110341943B (en) | 2019-06-11 | 2019-06-11 | Unmanned aerial vehicle capable of moving on inclined plane |
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| Publication Number | Publication Date |
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| CN110341943A CN110341943A (en) | 2019-10-18 |
| CN110341943B true CN110341943B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910499264.9A Active CN110341943B (en) | 2019-06-11 | 2019-06-11 | Unmanned aerial vehicle capable of moving on inclined plane |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112027066A (en) * | 2020-09-15 | 2020-12-04 | 惠州众合航空科技有限公司 | Stable unmanned aerial vehicle landing device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB523663A (en) * | 1938-12-08 | 1940-07-19 | George Herbert Dowty | Improvements relating to aircraft landing gear |
| GB576847A (en) * | 1943-11-23 | 1946-04-23 | George Herbert Dowty | Improvements in endless track landing elements and means for mounting the same on aircraft |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN109398009A (en) * | 2018-11-07 | 2019-03-01 | 天津职业技术师范大学 | Land sky caterpillar mobile robot |
-
2019
- 2019-06-11 CN CN201910499264.9A patent/CN110341943B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB523663A (en) * | 1938-12-08 | 1940-07-19 | George Herbert Dowty | Improvements relating to aircraft landing gear |
| GB576847A (en) * | 1943-11-23 | 1946-04-23 | George Herbert Dowty | Improvements in endless track landing elements and means for mounting the same on aircraft |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN109398009A (en) * | 2018-11-07 | 2019-03-01 | 天津职业技术师范大学 | Land sky caterpillar mobile robot |
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| CN110341943A (en) | 2019-10-18 |
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