CN112061381A - Rotorcraft with adaptive landing gear for taking off and landing on complex terrain and control method - Google Patents
Rotorcraft with adaptive landing gear for taking off and landing on complex terrain and control method Download PDFInfo
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- CN112061381A CN112061381A CN202010884865.4A CN202010884865A CN112061381A CN 112061381 A CN112061381 A CN 112061381A CN 202010884865 A CN202010884865 A CN 202010884865A CN 112061381 A CN112061381 A CN 112061381A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000003044 adaptive effect Effects 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 16
- 230000036544 posture Effects 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 4
- 230000006872 improvement Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 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
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
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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
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- 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
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- 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
-
- 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
- B64D43/00—Arrangements or adaptations of instruments
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention provides a rotor craft provided with a self-adaptive landing gear and used for taking off and landing in complex terrains and a control method, wherein the top of the craft body is provided with a controller, a gyroscope and a propeller, and the craft body is provided with three landing gears according to a front three-point landing gear layout mode; the first power mechanism of every undercarriage articulates in last connecting rod middle part, goes up the connecting rod upper end and articulates on the aircraft body, and the lower extreme articulates in connecting rod one end down, and second power mechanism articulates in connecting rod middle part down, and the lower connecting rod upper end articulates on the aircraft body, and the buffer is connected to the lower extreme, connects the bearing wheel under the buffer, and the laser range finder extends the connecting rod nearly place of lower connecting rod and outwards hangs on the connecting rod down. The invention solves the problems that the rotor craft can not take off and land the craft on a shaking plane, the practicability and the universality are poor, and the control accuracy is not high.
Description
Technical Field
The invention relates to a rotor craft provided with a self-adaptive landing gear and used for taking off and landing in complex terrains and a control method, and belongs to the technical field of relevant equipment and control of landing of the craft in unknown terrains.
Background
At present, with the expansion of human working space, the working conditions of a series of aircrafts such as unmanned aircrafts and manned aircrafts become very harsh, and the aircrafts are required to be capable of realizing safe and efficient take-off and landing in complex and changeable environments in many cases.
The existing self-adaptive landing gear technology is still not mature enough, the traditional wheel type landing gear and the traditional skid type landing gear cannot efficiently assist the aircraft to independently finish taking off and landing on the rugged ground or on a shaking plane, many self-adaptive landing gears cannot be applied to heavy aircrafts capable of carrying people, and the aircrafts cannot take off and land on the shaking plane, so that the practicability and the universality are poor, the control accuracy is not high, and improvement is required.
Disclosure of Invention
The invention aims to solve the problems that the self-adaptive undercarriage mentioned in the background technology can not be applied to a heavy aircraft capable of carrying people, the aircraft can not be lifted and landed on a shaking plane, the practicability and the universality are poor, and the control accuracy is not high.
The invention provides a rotor craft provided with a self-adaptive landing gear and used for taking off and landing in complex terrains, which comprises a craft body, a controller, a gyroscope and three landing gears, wherein the controller is connected with the three landing gears; the aircraft comprises an aircraft body, a laser range finder, a gyroscope, a propeller, a controller, a front undercarriage and two main undercarriages, wherein the controller, the gyroscope and the propeller are mounted at the top of the aircraft body; each undercarriage all includes first power unit, second power unit, upper junction pole, lower connecting rod, laser range finder, buffer and bearing wheel, first power unit articulates at upper junction pole middle part, and the upper end of upper junction pole articulates on the aircraft body, and the lower extreme articulates in lower connecting rod one end, second power unit articulates at lower connecting rod middle part, the upper end of lower connecting rod articulates on the aircraft body, and the buffer is connected to the lower extreme, connect the bearing wheel under the buffer, the laser range finder prolongs the nearly place of lower connecting rod and outwards hangs on lower connecting rod.
Preferably, the first power mechanism comprises a first servo valve, a first hydraulic cylinder and a first hydraulic rod, the first hydraulic cylinder is controlled to open and close in the movement process of the undercarriage to adjust the telescopic amount of the first hydraulic cylinder driving the first hydraulic rod so as to realize the movement of the first power mechanism, the upper end of the cylinder body of the first hydraulic cylinder is hinged to the aircraft body, and the lower end of the first hydraulic rod is hinged to the middle part of the upper connecting rod.
Preferably, the second power mechanism comprises a second servo valve, a second hydraulic cylinder and a second hydraulic rod, the second servo valve is controlled to open and close in the movement process of the undercarriage, the second hydraulic cylinder is adjusted to drive the second hydraulic rod to stretch, so that the movement of the second power mechanism is realized, the upper end of the second hydraulic cylinder body is hinged to the upper connecting rod, and the lower end of the second hydraulic rod is hinged to the middle part of the lower connecting rod.
Preferably, the rotorcraft equipped with the adaptive landing gear for taking off and landing on complex terrains further comprises a motor pump and an oil tank for supplying hydraulic oil to the hydraulic servo system.
The control method of the rotorcraft with the self-adaptive landing gear for taking off and landing in complex terrains specifically comprises the following steps:
s1, the rotor craft starts to take off on the rugged ground, the craft body takes off, and after all the bearing wheels are judged to be completely off the ground through the laser range finder, the landing gear retracts;
s2, the rotorcraft starts to land over the rugged ground, the aircraft body hovers over the rugged ground, the landing gear is unfolded from a fully retracted state to a maximum mechanical structure unfolding state during flight, all height data measured by the three laser range finders on respective paths in the process of unfolding the landing gear are recorded respectively, the expected spatial positions of the three landing gears are calculated through the controller, the extension postures of the landing gears are controlled, the landing gears are adjusted to the expected spatial positions and start to land, and the landing gears finish the landing after all bearing wheels are judged to touch the ground through the laser range finders;
the control method of the rotorcraft with the self-adaptive landing gear for taking off and landing in complex terrains specifically comprises the following steps:
s1, the rotor craft starts to take off on a shaking plane, the aircraft body controls the extension posture of the landing gear according to the inclination data of the aircraft body measured by the gyroscope, the landing gear is continuously adjusted according to the data measured by the gyroscope, the process is repeated, the aircraft body is enabled to maintain a horizontal state, the aircraft body takes off, and after all the bearing wheels are judged to be completely off the ground by the laser range finder, the landing gear is retracted;
s2, the rotorcraft starts to land above a shaking plane, the aircraft body hovers above the shaking plane, all the landing gears are unfolded to the maximum mechanical structure unfolding state from the full folding state during flying, the expected spatial positions of the three landing gears are calculated through the controller according to real-time data measured by the laser range finder, the extension postures of the landing gears are controlled, the landing gears can be adjusted to the expected spatial positions and start to land, the landing gears are adjusted continuously according to the data measured by the laser range finder, the process is repeated, and after all the bearing wheels are judged to touch the ground through the laser range finder, the landing gears are retracted to finish landing.
The rotor craft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains and the control method have the beneficial effects that:
1. the rotor craft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains has the function of actively adjusting the attitude, so that the stability of the aircraft can be ensured when the aircraft takes off on rough ground or a shaking plane, and the aircraft cannot roll over.
2. The rotor craft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains can ensure that the aircraft keeps stable when landing on a rugged ground or a shaking plane by adopting the front three-point landing gear structure layout and carrying the powered landing gear, greatly reduces the time consumed by an operator for controlling the taking off and landing of the aircraft, and improves the overall operation efficiency and the safety of the taking off and landing process.
3. According to the rotor aircraft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains, the laser range finder is arranged on the robot mounting base, and the gyroscope is arranged on the aircraft, so that the ship surface condition can be accurately detected, and effective information is provided for stable landing of the landing gear.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic representation of a rotorcraft equipped with adaptive landing gear for take-off and landing in complex terrain in accordance with the present invention;
FIG. 2 is a schematic representation of the manner of takeoff from rough terrain in a method of controlling a rotorcraft equipped with adaptive landing gear for take-off and landing over complex terrain in accordance with the present invention;
FIG. 3 is a schematic diagram of the manner in which take-off from a flapping plane is performed in a method of controlling a rotorcraft equipped with adaptive landing gear for take-off and landing over complex terrain in accordance with the present invention;
in the figure, 1 — the aircraft body; 2-an electric motor pump; 3-an oil tank; 4-a controller; 5-a gyroscope; 6-a first servo valve; 7-a first hydraulic cylinder; 8-a first hydraulic lever; 9-upper connecting rod; 10-a lower connecting rod; 11-laser rangefinder; 12-a buffer; 13-a load-bearing wheel; 14-a second hydraulic rod; 15-a second hydraulic cylinder; 16-second servo valve.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first embodiment is as follows: the present embodiment is explained with reference to fig. 1 to 3. The rotor craft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains comprises a craft body 1, a controller 4, a gyroscope 5 and three landing gears;
the top of the aircraft body 1 is provided with a controller 4, a gyroscope 5 and a propeller, the controller 4 is used for receiving data transmitted back by a laser range finder 11 and the gyroscope 5, the gyroscope 5 is used for measuring the self inclination angle of the aircraft body 1, a nose landing gear and two main landing gears are arranged on the aircraft body 1 according to a three-point nose landing gear layout mode,
each undercarriage all includes first power unit, second power unit, upper junction pole 9, lower connecting rod 10, laser range finder 11, buffer 12 and bearing wheel 13, first power unit articulates on upper junction pole 9 mid portion, and the upper end of upper junction pole 9 articulates on aircraft body 1, and the lower extreme articulates in lower connecting rod 10 one end, second power unit articulates in lower connecting rod 10 mid portion, the upper end of lower connecting rod 10 articulates on aircraft body 1, and buffer 12 is connected to the lower extreme, bearing wheel 13 is connected under buffer 12, laser range finder 11 prolongs the nearly place of connecting rod 10 and outwards hangs on lower connecting rod 10.
The aircraft is characterized in that a nose landing gear and two main landing gears are arranged on the aircraft body 1 according to a three-point nose landing gear layout mode, three bearing points horizontally extend out of the aircraft body 1 according to the three-point nose landing gear layout mode, landing gears which work independently but have the same structure are arranged under each bearing point, the landing gears which are in power are arranged on the nose landing gear structure layout carrying device, so that the aircraft can be guaranteed to keep stable when landing on a rugged ground or a swaying plane, time consumed when an operator controls the aircraft to take off and land is greatly reduced, and the overall operation efficiency and the safety of the taking-off and landing process are improved.
The first power mechanism comprises a first servo valve 6, a first hydraulic cylinder 7 and a first hydraulic rod 8, the first hydraulic cylinder 7 is adjusted to drive the telescopic amount of the first hydraulic rod 8 to realize the motion of the first power mechanism by controlling the opening and closing of the first servo valve 6 in the motion process of the undercarriage, the upper end of the cylinder body of the first hydraulic cylinder 7 is hinged on the aircraft body 1, and the lower end of the first hydraulic rod 8 is hinged in the middle of the upper connecting rod 9.
The second power mechanism comprises a second servo valve 16, a second hydraulic cylinder 15 and a second hydraulic rod 14, the second hydraulic cylinder 15 is controlled to open and close in the movement process of the undercarriage to adjust the telescopic amount of the second hydraulic rod 14 driven by the second hydraulic cylinder 15 so as to realize the movement of the second power mechanism, the upper end of the cylinder body of the second hydraulic cylinder 15 is hinged to the upper connecting rod 9, and the lower end of the second hydraulic rod 14 is hinged to the middle part of the lower connecting rod 10.
The rotor craft who is equipped with self-adaptation undercarriage and is used for complicated topography take off and land still includes motor pump 2 and oil tank 3, motor pump 2 and oil tank 3 are used for providing hydraulic oil for hydraulic servo.
First power unit comprises one set of servo hydraulic system by first servo valve 6, first pneumatic cylinder 7 and first hydraulic stem 8, and both ends articulate respectively on rotor craft body 1 and go up connecting rod 9 middle part, second power unit comprises one set of servo hydraulic system by second servo valve 16, second pneumatic cylinder 15 and second hydraulic stem 14, and both ends articulate respectively in last connecting rod 9 end and lower connecting rod 10 middle part, and it is articulated with lower connecting rod 10 with aircraft body 1 articulated other end to go up connecting rod 9 one end, and the buffer is connected to lower connecting rod 10 lower extreme, connects bearing wheel 13 under the buffer 10, and laser range finder 11 prolongs the nearly place of connecting rod 10 and outwards hangs on lower connecting rod 10.
The control method of the rotorcraft with the self-adaptive landing gear for taking off and landing on complex terrain is a mode of taking off from rugged ground, and specifically comprises the following steps:
s1, the rotorcraft starts to take off on the rugged ground, the aircraft body 1 takes off, and after all the bearing wheels 13 are judged to be completely lifted off by the laser range finder 11, the landing gear retracts;
s2, the rotorcraft starts to land over the rugged ground, the aircraft body 1 hovers over the rugged ground, the landing gear is unfolded from a fully retracted state to a maximum mechanical structure unfolding state during flight, all height data measured in the unfolding process of the landing gear with the three laser range finders 11 are recorded respectively, the expected spatial positions of the three landing gears are calculated through the controller 4, the extension postures of the landing gears are controlled, the landing gears are adjusted to the expected spatial positions and start to land, and the landing is finished after the laser range finders 11 judge that all bearing wheels 13 touch the ground.
The control method of the rotorcraft with the self-adaptive landing gear for taking off and landing in complex terrains is a mode of taking off from a swaying plane, and specifically comprises the following steps:
s1, the rotor craft starts to take off on a shaking plane, the aircraft body 1 controls the extension posture of the landing gear according to the inclination data of the aircraft body measured by the gyroscope 5, the landing gear is adjusted continuously according to the data measured by the gyroscope, the process is repeated, the aircraft body 1 is kept in a horizontal state, the aircraft body 1 takes off, and after all the bearing wheels 13 are judged to be completely lifted off by the laser range finder 11, the landing gear is retracted;
s2, the rotorcraft starts to land above a shaking plane, the aircraft body 1 hovers above the shaking plane, the landing gear is unfolded to the maximum mechanical structure unfolding state from the full folding state in flight, the expected spatial positions of the three landing gears are calculated through the controller 4 according to real-time data measured by the laser range finder 11, the extension postures of the landing gears are controlled, the landing gears can be adjusted to the expected spatial positions and start to land, the landing gears are adjusted continuously according to the data measured by the laser range finder, the process is repeated, and after the laser range finder judges that all the bearing wheels 13 touch the ground, the landing gears are retracted to finish the landing.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A rotor craft equipped with self-adaptive landing gear and used for taking off and landing in complex terrains is characterized by comprising a craft body (1), a controller (4), a gyroscope (5), a front landing gear and two main landing gears;
the aircraft comprises an aircraft body (1), and is characterized in that a controller (4), a gyroscope (5) and a propeller are mounted at the top of the aircraft body (1), the controller (4) is used for receiving data transmitted back by a laser range finder (11) and the gyroscope (5), the gyroscope (5) is used for measuring the self inclination angle of the aircraft body (1), and a nose landing gear and two main landing gears are arranged on the aircraft body (1) according to a three-point nose landing gear layout mode;
every undercarriage all includes first power unit, second power unit, goes up connecting rod (9), lower connecting rod (10), laser range finder (11), buffer (12) and bearing wheel (13), first power unit articulates at last connecting rod (9) mid portion, and the upper end of going up connecting rod (9) articulates on aircraft body (1), and the lower extreme articulates in connecting rod (10) one end down, second power unit articulates connecting rod (10) mid portion down, the upper end of connecting rod (10) articulates on aircraft body (1) down, and buffer (12) are connected to the lower extreme, bearing wheel (13) are connected under buffer (12), laser range finder (11) are prolonged connecting rod (10) nearly place and are outwards hung under on connecting rod (10).
2. The rotorcraft with the self-adaptive landing gear for taking off and landing in complex terrains is characterized in that the first power mechanism comprises a first servo valve (6), a first hydraulic cylinder (7) and a first hydraulic rod (8), the first hydraulic cylinder (7) is adjusted to drive the first hydraulic rod (8) to stretch by controlling the opening and closing of the first servo valve (6) in the motion process of the landing gear so as to realize the motion of the first power mechanism, the upper end of the cylinder body of the first hydraulic cylinder (7) is hinged to the aircraft body (1), and the lower end of the first hydraulic rod (8) is hinged to the middle part of the upper connecting rod (9).
3. The rotorcraft with the self-adaptive landing gear for taking off and landing complex terrains is characterized in that the second power mechanism comprises a second servo valve (16), a second hydraulic cylinder (15) and a second hydraulic rod (14), the second hydraulic cylinder (15) is adjusted to drive the second hydraulic rod (14) to stretch and retract by controlling the opening and closing of the second servo valve (16) during the motion of the landing gear, so that the motion of the second power mechanism is realized, the upper end of the cylinder body of the second hydraulic cylinder (15) is hinged to the upper connecting rod (9), and the lower end of the second hydraulic rod (14) is hinged to the middle part of the lower connecting rod (10).
4. A rotorcraft equipped with adaptive landing gear for complex terrain take-off and landing according to claim 3, further comprising a motor pump (2) and a tank (3), the motor pump (2) and the tank (3) being used to provide hydraulic oil to the hydraulic servo system.
5. A method of controlling a rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain, as claimed in any one of claims 1 to 4, comprising in particular the steps of:
s1, the rotorcraft starts to take off on the rugged ground, the aircraft body (1) takes off, and after all the bearing wheels (13) are judged to be completely lifted off by the laser range finder (11), the landing gear is retracted;
s2, the rotorcraft starts to land over the rugged ground, the aircraft body (1) hovers over the rugged ground, all the landing gears are unfolded from a full retracted state to a maximum mechanical structure unfolding state during flight, all height data on respective paths measured in the unfolding process of the landing gears where the three laser range finders (11) are located are recorded respectively, the expected spatial positions of the three landing gears are calculated through the controller (4), the extension postures of the landing gears are controlled, the landing gears are adjusted to the expected spatial positions and start to land, and the landing is finished after all the bearing wheels (13) are judged to be in full contact with the ground through the laser range finders (11).
6. A method of controlling a rotorcraft equipped with adaptive landing gear for taking off and landing on complex terrain, as claimed in any one of claims 1 to 4, comprising in particular the steps of:
s1, the rotor craft starts to take off on a shaking plane, the aircraft body (1) controls the extension posture of the undercarriage according to the inclination data of the aircraft body measured by the gyroscope (5), the undercarriage is continuously adjusted according to the data measured by the gyroscope, the process is repeated, the aircraft body (1) is kept in a horizontal state, the aircraft body (1) takes off, and after all the bearing wheels (13) are judged to be completely lifted off by the laser range finder (11), the undercarriage is retracted;
s2, the rotorcraft starts to land above a shaking plane, the aircraft body (1) hovers above the shaking plane, landing gears are unfolded to be in the maximum mechanical structure unfolding state from the full folding state in flight, the expected spatial positions of the three landing gears are calculated through the controller (4) according to real-time data measured by the laser range finder (11), the extension postures of the landing gears are controlled, the landing gears can be adjusted to be in the expected spatial positions and start to land, the landing gears are adjusted continuously according to the data measured by the laser range finder, the process is repeated, and after all the bearing wheels (13) are judged to be in full contact with the ground through the laser range finder (11), the landing gears are retracted to finish the landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010884865.4A CN112061381B (en) | 2020-08-28 | 2020-08-28 | Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method |
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| CN202010884865.4A CN112061381B (en) | 2020-08-28 | 2020-08-28 | Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method |
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| CN112061381A true CN112061381A (en) | 2020-12-11 |
| CN112061381B CN112061381B (en) | 2023-08-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977806A (en) * | 2021-03-04 | 2021-06-18 | 南京航空航天大学 | Self-adaptive walking undercarriage and control method thereof |
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| US20160052623A1 (en) * | 2014-08-22 | 2016-02-25 | Airbus Operations Limited | Landing gear assembly |
| CN109334956A (en) * | 2018-11-07 | 2019-02-15 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform and control method |
| CN209274889U (en) * | 2018-11-07 | 2019-08-20 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform |
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
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2020
- 2020-08-28 CN CN202010884865.4A patent/CN112061381B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102202968A (en) * | 2008-06-30 | 2011-09-28 | 埃姆普里萨有限公司 | Landing gear mechanism for aircraft |
| US20160052623A1 (en) * | 2014-08-22 | 2016-02-25 | Airbus Operations Limited | Landing gear assembly |
| CN109334956A (en) * | 2018-11-07 | 2019-02-15 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform and control method |
| CN209274889U (en) * | 2018-11-07 | 2019-08-20 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977806A (en) * | 2021-03-04 | 2021-06-18 | 南京航空航天大学 | Self-adaptive walking undercarriage and control method thereof |
| CN112977806B (en) * | 2021-03-04 | 2022-04-22 | 南京航空航天大学 | Self-adaptive walking undercarriage and control method thereof |
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| CN112061381B (en) | 2023-08-01 |
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