CN111619805B

CN111619805B - Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform

Info

Publication number: CN111619805B
Application number: CN202010343621.5A
Authority: CN
Inventors: 孙康文; 姬薪哲; 梁浩全
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-11-05
Anticipated expiration: 2040-04-27
Also published as: CN111619805A

Abstract

The invention belongs to the technical field of aerial take-off and landing of unmanned aerial vehicles, and particularly relates to an aerial take-off and landing device and a vehicle suitable for a solar unmanned aerial vehicle. The air take-off and landing device suitable for the solar unmanned aerial vehicle comprises a sliding unit, a driving control unit and a clamping buffer unit, wherein the sliding unit is in sliding connection with an air flight platform used for taking off and landing the solar unmanned aerial vehicle; the driving control unit is connected with the sliding unit and used for controlling the sliding state of the sliding unit; the clamping buffer unit is connected with the sliding unit and used for clamping the solar unmanned aerial vehicle. In this scheme, through the energy of centre gripping buffer unit and drive control unit control slip unit when absorbing solar energy unmanned aerial vehicle descending, the overload when having reduced solar energy unmanned aerial vehicle descending has accomodate solar energy unmanned aerial vehicle in the aerial flight platform, has reduced solar energy unmanned aerial vehicle's the control degree of difficulty, makes it receive the impact little, reaches steady controllable aerial take off and land.

Description

Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform

Technical Field

The invention belongs to the technical field of aerial take-off and landing of unmanned aerial vehicles, and particularly relates to an aerial take-off and landing device suitable for a solar unmanned aerial vehicle.

Background

At present, the solar unmanned aerial vehicle can realize long-time navigation by virtue of abundant solar energy in high altitude, can execute information/monitoring/reconnaissance tasks in military aspect, can be used as a communication relay to carry out work such as environment monitoring, information collection, telecommunication/television service and the like in civil aspect, has the advantages of large flight height range, wide coverage range and the like, is easier to deploy compared with an artificial satellite and a aerostat, has good maneuverability, generally adopts a large-aspect-ratio straight wing and a long and thin body, is paved with a solar cell panel on the upper surface of the wing to convert solar energy into electric energy for day flight, can store redundant electric energy for night flight through an energy storage battery, is influenced by illumination conditions and limited by energy storage technology when flying, and is difficult to maintain ultra-long flight at the height of a stratosphere, the stratospheric aerostat can counteract gravity by means of buoyancy, less energy is needed for maintaining flight, and the stratospheric aerostat is more suitable for flight in ultra-long endurance, but the whole structure is huge, the maneuverability is poor, and the cost is higher compared with the cost for deploying and moving a solar aircraft, so that the whole advantage can be improved by combining the stratospheric aerostat and the solar aircraft, the stratospheric aerostat is used as a master machine, the solar unmanned aerial vehicle is used as a slave machine, the system has the advantages of long endurance and wide coverage range, and the flexibility is better for different flight tasks, the scheme is proposed, but a specific landing scheme is not considered in detail.

Solar energy unmanned aerial vehicle's design wing load is lower, wing area is big, the structure is fragile, current aerial landing scheme is generally all to small-size someone machine and airship, mainly through the fuselage of rigid connection mother's machine such as "skyhook" device and submachine, the butt joint required precision is high, the operation difficulty is big, and there is the junction that needs to bear certain impact among the butt joint process, in addition, solar aircraft easily receives the air current influence, if adopt "skyhook" similar connected mode to make support torque insufficient easily, lead to connecting the back stability also relatively poor.

Disclosure of Invention

The invention aims to at least solve the problems of high difficulty and poor stability of air landing operation in the prior art. The purpose is realized by the following technical scheme:

the invention provides an aerial take-off and landing device suitable for a solar unmanned aerial vehicle, which comprises: the sliding unit is connected with an aerial flight platform used for taking off and landing the solar unmanned aerial vehicle in a sliding manner;

the driving control unit is connected with the sliding unit and used for controlling the sliding state of the sliding unit;

and the clamping buffer unit is connected with the sliding unit and used for clamping the solar unmanned aerial vehicle.

According to the aerial take-off and landing device suitable for the solar unmanned aerial vehicle, the clamping buffer unit and the driving control unit are used for controlling the sliding unit to absorb the energy of the solar unmanned aerial vehicle during landing, so that the overload of the solar unmanned aerial vehicle during landing is reduced, the solar unmanned aerial vehicle is stored in an aerial flight platform (mother aircraft), the control difficulty of the solar unmanned aerial vehicle is reduced, the impact on the solar unmanned aerial vehicle is small, and stable and controllable aerial take-off and landing are achieved.

In addition, the aerial take-off and landing device suitable for the solar unmanned aerial vehicle can also have the following additional technical characteristics:

in some embodiments of the present invention, the sliding unit includes a sliding support and a pulley, the pulley includes an upper pulley and a lower pulley, the upper pulley and the lower pulley are both disposed on the sliding support, and a gap is provided between the upper pulley and the lower pulley, the gap is matched with a sliding rail of the aerial flight platform;

the sliding support is connected with the clamping buffer unit, and a connecting piece connected with the driving control unit is arranged on the sliding support.

In some embodiments of the present invention, the clamping buffer unit includes a driver, an upper clamp, a lower clamp, and a flexible buffer, the driver is disposed on the sliding support and connected to the driver;

the upper gripper and the lower gripper are arranged on the sliding support in a rotating mode and are connected with the driver, and the driver drives the driver to realize the opening and closing of the upper gripper and the lower gripper;

the flexible buffer is connected with the upper clamp holder and the lower clamp holder in a sliding mode and is located between the upper clamp holder and the lower clamp holder.

In some embodiments of the present invention, the clamping buffer unit further comprises a trigger disposed on the sliding bracket and connected to the driver.

In some embodiments of the present invention, the upper holder and the lower holder are both provided with a sliding groove, and the flexible holder is provided with a sliding block matching with the sliding groove.

In some embodiments of the invention, the driver includes a worm mechanism and a gear assembly, the worm mechanism being connected with the driver and the gear assembly, and the gear assembly being connected with the upper clamp and the lower clamp.

In some embodiments of the invention, the drive control unit comprises a hoist and a traction rope, the hoist being connected to the traction rope, the traction rope being connected to the link.

In some embodiments of the invention, the drive control unit further comprises a controller connected to the hoist and the clamping buffer unit.

In some embodiments of the present invention, the aerial taking-off and landing device suitable for a solar unmanned aerial vehicle further includes a speed measurement unit, and the speed measurement unit is used for monitoring the real-time speed of the sliding unit and is connected to the controller.

The invention also provides an aerial flight platform which is provided with the aerial taking-off and landing device suitable for the solar unmanned aerial vehicle in any one of the embodiments.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings.

In the drawings:

fig. 1 schematically shows a structural diagram of an airborne taking-off and landing device suitable for a solar unmanned aerial vehicle according to an embodiment of the invention;

fig. 2 schematically shows a structural diagram of a clamping buffer unit of an airborne take-off and landing device suitable for a solar unmanned aerial vehicle according to an embodiment of the invention;

fig. 3 schematically shows a structural schematic diagram of an actuator of an airborne take-off and landing device suitable for a solar unmanned aerial vehicle according to an embodiment of the invention;

FIG. 4 schematically illustrates a structural schematic of an aerial flight platform according to an embodiment of the invention.

1: an aerial flight platform; 2: a solar unmanned aerial vehicle; 3: a slide rail; 4: a sliding unit; 5: a connecting member; 6: a clamping buffer unit; 7: a sliding support; 8: a driver; 9: a driver; 10: an upper clamp holder; 11: a lower clamp holder; 12: a chute; 13: a flexible cushion; 14: a contact sensor; 15: a worm; 16: a turbine; 17: an upper rotating shaft; 18: a lower rotating shaft; 19: an upper gear; 20: a lower gear.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 4, the aerial take-off and landing device suitable for the solar unmanned aerial vehicle in the embodiment includes a sliding unit 4, a driving control unit and a clamping buffer unit 6, wherein the sliding unit 4 is slidably connected with an aerial flight platform 1 for taking off and landing the solar unmanned aerial vehicle 2; the driving control unit is connected with the sliding unit 4 and is used for controlling the sliding state of the sliding unit 4; the clamping buffer unit 6 is connected with the sliding unit 4 and used for clamping the solar unmanned aerial vehicle 2.

In this embodiment, absorb the energy when solar unmanned aerial vehicle 2 descends through centre gripping buffer unit 6 and drive control unit control slip unit 4, reduced the overload when solar unmanned aerial vehicle 2 descends, accomodate aerial flight platform 1 (mother) with solar unmanned aerial vehicle 2 in, reduced solar unmanned aerial vehicle 2's the control degree of difficulty, make it receive the impact for a short time, reach steady controllable aerial take off and land.

Specifically, when the solar unmanned aerial vehicle 2 is ready to land, the cabin door of the air flight platform 1 (mother aircraft) is opened, the sliding unit 4 is still at one end of the air flight platform 1, the clamping buffer unit 6 is in an open state, when the solar unmanned aerial vehicle 2 approaches, the driving control unit controls the sliding unit 4 to move in the same direction with the solar unmanned aerial vehicle 2, and the speed of the sliding unit 4 is slightly slower than that of the solar unmanned aerial vehicle 2, when the solar unmanned aerial vehicle 2 collides with the clamping buffer unit 6, the impact force of the solar unmanned aerial vehicle 2 is further absorbed, when the clamping buffer unit 6 clamps the solar unmanned aerial vehicle 2, the driving control unit controls the sliding unit 4 to drive the solar unmanned aerial vehicle 2 in a pull force opposite to that of the solar unmanned aerial vehicle, and then make solar energy unmanned aerial vehicle 2 carry out slow motion, finally realize the buffering of descending, and then make it park the preset position of aerial flight platform 1.

In some embodiments of the present invention, as shown in fig. 1 and 2, the sliding unit 4 includes a sliding support 7 and a pulley, the pulley includes an upper pulley and a lower pulley, the upper pulley and the lower pulley are both disposed on the sliding support 7, and a gap is provided between the upper pulley and the lower pulley, and the gap is matched with the sliding rail 3 of the aerial flight platform 1;

the sliding support 7 is connected with the clamping buffer unit 6, and a connecting piece 5 connected with the driving control unit is arranged on the sliding support 7. In this embodiment, the sliding unit 4 may be a structure including a sliding bracket 7 and a pulley, wherein an upper pulley and a lower pulley of the pulley are engaged with the sliding rail 3 of the aerial platform 1, the structure is simple and convenient to slide, and a limiting structure may be provided at both ends of the sliding rail 3 to prevent the sliding unit 4 from coming off.

In some embodiments of the present invention, as shown in fig. 1 and 2, the grip buffer unit 6 includes a driver 8, a driver 9, an upper gripper 10, a lower gripper 11, and a flexible buffer, the driver 8 being disposed on the sliding support 7 and connected to the driver 9; the upper gripper 10 and the lower gripper 11 are rotatably arranged on the sliding support 7 and connected with the actuator 9, and the actuator 8 drives the actuator 9 to realize the opening and closing of the upper gripper 10 and the lower gripper 11; the flexible buffer is connected with the upper clamp 10 and the lower clamp 11 in a sliding way and is positioned between the upper clamp 10 and the lower clamp 11. In this embodiment, the actuator 9 is driven by the control driver 8 to open or close the upper and

lower grippers

10 and 11, and at the same time, the flexible buffer can be selected as a flexible cushion pad 13;

in the above embodiment, further, as shown in fig. 1 and 2, the clamping buffer unit 6 further includes a trigger, which is disposed on the sliding bracket 7 and connected to the driver 8. The trigger can be a contact sensor 14 for monitoring the touch of the solar unmanned aerial vehicle 2 with the flexible cushion pad 13, and controlling the sliding unit 4 to continue sliding until the upper clamp 10 and the lower clamp 11 are closed to clamp the solar unmanned aerial vehicle 2.

In the above embodiment, as shown in fig. 1 and fig. 2, the upper holder 10 and the lower holder 11 are both provided with a sliding groove 12, and the flexible holder is provided with a sliding block which is matched with the sliding groove 12. In this embodiment, the upper holder 10 and the lower holder 11 may be provided with a sliding slot 12, which cooperates with a sliding block on the flexible buffer pad 13 to facilitate the buffer movement and reduce the wear.

In some embodiments of the invention, optionally, as shown in fig. 1 and 3, the driver 9 comprises a worm mechanism and a gear assembly, the worm mechanism being connected with the driver 8 and the gear assembly, and the gear assembly being connected with the upper gripper 10 and the lower gripper 11. In this embodiment, the worm mechanism can select a worm 15 and a worm wheel 16, the driver 8 is connected with the worm 15, the worm 15 is connected with the worm wheel 16, meanwhile, the gear assembly can be an upper gear 19 and a lower gear 20, the upper gear 19 is meshed with the worm wheel 16 and is coaxially arranged with an upper rotating shaft 17 of the upper clamp holder 10, the lower gear 20 is meshed with the upper gear 19, the lower gear 20 is coaxially arranged with a lower rotating shaft 18 of the lower clamp holder 11 and the lower clamp holder 11, the upper clamp holder 10 and the lower clamp holder 11 can be driven by the driver 8 to move, and simultaneously, due to the self-locking characteristic of the worm wheel and the worm 15, the upper clamp holder 10 and the lower clamp holder 11 cannot reversely drive the driver 8 to loosen the clamp. Of course, the actuator 9 may be selected from other actuator mechanisms as long as the actuator 9 is driven by the driver 8 to open and close the upper clamper 10 and the lower clamper 11.

In some embodiments of the invention, the drive control unit comprises a hoist and a traction rope, the hoist being connected to the traction rope, the traction rope being connected to the connecting piece 5. In this embodiment, the driving control unit may be a winch and two sets of pulling ropes, one pulling rope is connected to one side of the sliding bracket 7 through the connecting member 5, and the other pulling rope is connected to the other side of the sliding bracket 7 (opposite to the one side of the sliding bracket 7) through the connecting member 5, that is, the two sliding directions of the sliding unit 4 can be controlled through the above structure, and the structure is simple and convenient to operate.

In some embodiments of the invention, the drive control unit further comprises a controller connected to the hoist and the clamping buffer unit 6. In this embodiment, the controller may select a PLC controller or the like by controlling the opening or closing of the hoist and the driver 8.

In some embodiments of the present invention, the aerial taking-off and landing device suitable for the solar unmanned aerial vehicle 2 further includes a speed measurement unit, and the speed measurement unit is used for monitoring the real-time speed of the sliding unit 4 and is connected to the controller. In this embodiment, the speed measuring unit can select the ultrasonic velometer, also can select speed sensor to install on sliding unit 4, grasps sliding unit 4's speed constantly to the messenger can compare with solar energy unmanned aerial vehicle 2's speed, controls sliding unit 4's slip speed, makes it more intelligent.

As shown in fig. 1 and 4, another aspect of the present invention further provides an aerial flight platform 1, where the aerial flight platform 1 has an aerial take-off and landing device suitable for a solar unmanned aerial vehicle 2 as described in any one of the above embodiments. The aerial flying platform 1 is matched with the sliding unit 4 through the sliding rail 3, and meanwhile, the driving control unit is installed on the aerial flying platform 1, so that the operation is convenient.

The specific operation principle and process of the invention are as follows:

when the solar unmanned aerial vehicle 2 is ready to land, a cabin door of the air flight platform 1 (mother aircraft) is opened, the sliding unit 4 is still at the starting end of the sliding rail 3, and the clamping buffer unit 6 is in an unfolded state; when the solar unmanned aerial vehicle 2 approaches, a winch in the driving control unit pulls a traction rope in the forward direction (the direction is consistent with the flight direction of the solar unmanned aerial vehicle 2), so that the sliding unit 4 moves in an accelerated manner until the speed is slightly slower than the flat flight speed of the solar unmanned aerial vehicle 2; the solar unmanned aerial vehicle 2 collides with the flexible buffer cushions 13 of the clamping buffer units 6, the flexible buffer cushions 13 deform and slide in the upper clamp holder 10 and the lower clamp holder 11, the contact sensor 14 senses that the solar unmanned aerial vehicle 2 contacts with the clamping buffer units 6, and meanwhile the sliding units 4 continue to move; the driver 8 of the clamping buffer unit 6 is started, the worm 15 in the driver 9 drives the worm wheel, the upper clamp 10 and the upper gear 19 which are coaxially fixed with the worm wheel to move, and the lower gear 20 which is meshed with the upper gear 19 drives the lower clamp 11 to move, so that the upper clamp 10 and the lower clamp 11 move and close, the wings of the solar unmanned aerial vehicle 2 are fixed, the flexible buffer cushion 13 deforms, the pressure on the wing structure is reduced, and meanwhile, the sliding unit 4 continues to move; after the upper holder 10 and the lower holder 11 are completely closed, the winch in the driving control unit decelerates to pull the traction rope, so that the rope of the sliding unit 4 along the forward direction of the sliding rail 3 is loosened, the reverse rope is tightened, the movement speed of the sliding unit 4 is slowed down, and the buffering of falling is realized; after the movement speed of the sliding unit 4 is low, the winch can continue to pull the traction rope at a low speed, the position of the solar unmanned aerial vehicle 2 parked in the body of the aerial flight platform 1 (mother aircraft) is controlled, and the parking state can be determined by a capsule state monitoring camera arranged at the aerial take-off and landing flight platform (mother aircraft); after the parking is finished, the cabin door of the air flight platform 1 (the mother aircraft) is closed.

In addition, when the solar unmanned aerial vehicle 2 is ready to take off, a cabin door of the aerial flight platform 1 (mother aircraft) is opened, a winch in the driving control unit pulls a traction rope, so that the sliding unit 4 is static at the starting end of the sliding rail 3, and an upper clamp 10 and a lower clamp 11 in the clamping buffer unit 6 are in a closed state; the winch pulls the traction rope, so that the sliding unit 4 moves in an accelerated manner until the speed is slightly higher than the takeoff speed of the solar unmanned aerial vehicle 2; the driver 8 of the clamping buffer unit 6 moves, a worm wheel which is coaxial with and fixed to the upper clamp holder 10 rotates through a worm wheel-worm 15 structure in the driver 9, meanwhile, a lower gear 20 which is fixed to the lower clamp holder 11 is driven through an upper gear 19, the upper clamp holder 10 and the lower clamp holder 11 are opened, the flexible buffer cushion 13 rebounds, and the solar unmanned aerial vehicle 2 is separated from the clamping buffer unit 6 under the action of air resistance and a small part of rebounding force; the solar unmanned aerial vehicle 2 starts to glide, and the height is lowered; after the height of the solar unmanned aerial vehicle 2 is lowered to be below the whole air taking-off and landing equipment, the propulsion system can be operated to start to execute tasks; the drive control unit controls the homing of the slide unit 4.

In conclusion, the clamping buffer unit and the driving control unit are used for controlling the sliding unit to absorb the energy of the solar unmanned aerial vehicle during landing, so that the overload of the solar unmanned aerial vehicle during landing is reduced, the solar unmanned aerial vehicle is stored in an air flight platform (mother aircraft), the control difficulty of the solar unmanned aerial vehicle is reduced, the solar unmanned aerial vehicle is impacted slightly, and stable and controllable air take-off and landing are achieved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an aerial device of taking off and land suitable for solar energy unmanned aerial vehicle, its characterized in that includes:

the sliding unit is connected with an aerial flight platform used for taking off and landing the solar unmanned aerial vehicle in a sliding manner;

the clamping buffer unit is connected with the sliding unit and used for clamping a wing structure of the solar unmanned aerial vehicle;

the sliding unit comprises a sliding support and pulleys, the pulleys comprise an upper pulley and a lower pulley, the upper pulley and the lower pulley are both arranged on the sliding support, a gap is formed between the upper pulley and the lower pulley, and the gap is matched with a sliding rail of the aerial flight platform;

2. The aerial lifting device suitable for the solar unmanned aerial vehicle as claimed in claim 1, wherein the clamping buffer unit comprises a driver, an upper clamp, a lower clamp and a flexible buffer, the driver is arranged on the sliding support and connected with the driver;

the flexible buffer is connected with the upper clamp and the lower clamp in a sliding mode and is located between the upper clamp and the lower clamp.

3. The aerial lifting device suitable for solar unmanned aerial vehicle of claim 2, wherein the clamping buffer unit further comprises a trigger, the trigger is arranged on the sliding support and connected with the driver, and can be triggered by the flexible buffer through movement deformation.

4. The aerial lifting device suitable for the solar unmanned aerial vehicle of claim 2, wherein the upper clamp holder and the lower clamp holder are both provided with sliding grooves, and the flexible buffer is provided with sliding blocks matched with the sliding grooves.

5. The aerial lifting device suitable for use with a solar-powered drone of claim 2, wherein the transmission includes a worm mechanism and a gear assembly, the worm mechanism being connected with the drive and the gear assembly, and the gear assembly being connected with the upper clamp and the lower clamp.

6. The aerial lifting device suitable for a solar unmanned aerial vehicle of claim 1, wherein the drive control unit comprises a winch and a traction rope, the winch is connected with the traction rope, and the traction rope is connected with the connecting piece.

7. The aerial lifting device suitable for a solar unmanned aerial vehicle of claim 6, wherein the drive control unit further comprises a controller, the controller being connected with the winch and the clamping buffer unit.

8. The aerial lifting device suitable for the solar unmanned aerial vehicle of claim 7, further comprising a speed measurement unit, wherein the speed measurement unit is used for monitoring the real-time speed of the sliding unit and is connected with the controller.

9. An airborne flight platform, characterized in that, has the airborne take-off and landing device suitable for the solar unmanned aerial vehicle of any one of the above claims 1 to 8.