CN112706937A - Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method - Google Patents
Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method Download PDFInfo
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- CN112706937A CN112706937A CN202010270874.4A CN202010270874A CN112706937A CN 112706937 A CN112706937 A CN 112706937A CN 202010270874 A CN202010270874 A CN 202010270874A CN 112706937 A CN112706937 A CN 112706937A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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Abstract
The invention relates to a flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle and a control method, wherein a left support assembly and a right support assembly are respectively arranged on two sides of the bottom of an adjusting plate of the device, two groups of support assemblies can adjust the height, the inclination angle direction and the inclination angle value of the adjusting plate under the control of a driving device, and a centering device arranged on the upper surface of the adjusting plate comprises a left clamping arm and a right clamping arm which can move oppositely or oppositely; and a front gripper and a rear gripper which can move relatively or oppositely are fixedly arranged on the left clamping arm and the right clamping arm. Left arm lock and right arm lock relative motion, preceding tongs and back tongs relative motion can promote unmanned aerial vehicle and realize the centering in two directions of X axle and Y axle. Simultaneously can the cycle shoot the image of descending platform when unmanned aerial vehicle descends, carry out analysis, revise unmanned aerial vehicle descending route to the descending sign of shooting in the image, auxiliary device and the accurate descending of vision combine together, park the gesture of platform to unmanned aerial vehicle and adjust when unmanned aerial vehicle retrieves, improved speed, precision and the stability that unmanned aerial vehicle retrieved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle fixing systems, in particular to a flexible and accurate autonomous take-off and landing device and a control method for an unmanned aerial vehicle.
Background
In recent years, unmanned aerial vehicle inspection becomes an important inspection means of power transmission lines, and inspection benefit and quality are remarkably improved compared with traditional manual inspection. But current unmanned aerial vehicle patrols and examines and need install unmanned aerial vehicle platform of taking off, with guarantee unmanned aerial vehicle normal flight, but often can receive the terrain condition when unmanned aerial vehicle takes off the platform installation, the influence of environmental factor, it is difficult to carry out to lead to unmanned aerial vehicle to patrol and examine, especially in on-vehicle equipment of patrolling and examining, provide unmanned aerial vehicle place the platform in the car, however unmanned aerial vehicle's the lift platform of taking off receives the influence of road conditions especially, when especially unmanned aerial vehicle retrieves, the platform is probably the slope, lead to unmanned aerial vehicle unable quick landing, there is very probably to lead to unmanned aerial vehicle to damage even. Therefore, there is a need for a device and a method for conveniently recovering an unmanned aerial vehicle and simultaneously adjusting the posture of the recovered unmanned aerial vehicle, so as to improve the releasing and recovering efficiency of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to solve the technical problem of providing a flexible accurate autonomous take-off and landing device and a control method for an unmanned aerial vehicle, which can adjust the posture of a parking platform of the unmanned aerial vehicle when the unmanned aerial vehicle is recovered, ensure that the unmanned aerial vehicle can land in a horizontal state, and simultaneously can perform centering correction on the posture and the position of the unmanned aerial vehicle placed on the parking platform.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
flexible accurate autonomic take off and land device of unmanned aerial vehicle, its characterized in that: the device comprises an adjusting plate, wherein a left support assembly and a right support assembly are respectively and fixedly installed on two sides of the bottom of the adjusting plate, the left support assembly and the right support assembly are respectively and independently in transmission connection with an inclination angle driving device, two groups of inclination angle driving devices are used for controlling the inclination angle direction and the inclination angle value of the adjusting plate through the left support assembly and the right support assembly, an inclination angle sensor is fixedly installed on the adjusting plate, and the inclination angle sensor is used for collecting the inclination angle direction and the inclination angle data of the adjusting plate;
the upper surface of the adjusting plate is provided with a centering device, the centering device comprises a left clamping arm and a right clamping arm, the left clamping arm and the right clamping arm are in transmission connection with a centering motor through a centering driving device, the centering motor is used for driving the left clamping arm and the right clamping arm to move oppositely or oppositely, a front gripper and a rear gripper are fixedly mounted on the left clamping arm and the right clamping arm, and the front gripper and the rear gripper can move oppositely or oppositely under the driving of a gripper driving device;
unmanned aerial vehicle places on the adjusting plate upper surface and is located between left arm lock and the right arm lock, adjusting plate upper surface left arm lock and right arm lock relative motion and two sets of preceding tongs and back tongs relative motion can promote unmanned aerial vehicle and realize the centering in two directions of X axle and Y axle.
The centering device is in transmission connection with the telescopic transmission device, the telescopic transmission device is fixedly installed on the upper surface of the adjusting plate, and the telescopic transmission device is used for driving the centering device and the adjusting plate to realize relative telescopic motion.
The telescopic transmission device comprises a left mounting bracket and a right mounting bracket which are arranged on two sides of the adjusting plate, lead screws are arranged in the left mounting bracket and the right mounting bracket, each lead screw is connected with a group of lead screw nuts in a threaded manner, two groups of lead screw nuts are respectively fixedly connected with two ends of the moving frame, two lead screws in the left mounting bracket and the right mounting bracket are parallel to each other, the two lead screws synchronously rotate under the driving of the motor, and the centering device is fixedly connected with the moving frame.
The centering driving device in the centering device comprises a centering motor, an output shaft of the centering motor is in transmission connection with a central gear, a first rack and a second rack are respectively arranged on the upper side and the lower side of the central gear and are parallel to each other, and the first rack and the second rack are in meshing transmission with the central gear; the first rack is fixedly connected with the first movable sliding block, the first movable sliding block is connected with the first sliding rail in a sliding manner, the second rack is fixedly connected with the second movable sliding block, the second movable sliding block is connected with the second sliding rail in a sliding manner, and the first sliding rail and the second sliding rail are both fixedly connected with the movable frame;
the tail end of the left clamping arm is fixedly connected with one end of the second rack, and the tail end of the right clamping arm is fixedly connected with one end of the first rack.
The gripper driving device comprises two groups of rollers, the two groups of rollers are connected through transmission of a conveying belt, any roller in the two groups of rollers is connected with a gripper driving motor in a transmission mode, the conveying belt is annular and is tensioned by the two groups of rollers, the plane where the axes of rotating shafts of the two rollers are located is divided into an upper conveying section and a lower conveying section, the front gripper is fixedly connected with the lower conveying section through a pressing block, the rear gripper is fixedly connected with the upper conveying section through a connecting frame, and the front gripper and the rear gripper are arranged oppositely.
The right clamping arm comprises a first connecting rod, the tail end of the first connecting rod is fixedly connected with one end of the first rack through a fixing block, and two ends of the first conveying belt are arranged on the upper surface of the first connecting rod through a fixing frame; the left clamping arm comprises a second connecting rod, and two ends of the second conveying belt are mounted on the upper surface of the second connecting rod through a fixing frame.
The inclination angle driving device comprises a left lifting device and a right lifting device, the left support assembly comprises a left support frame, the top end of the left support frame is connected with a connecting block through a first hinge shaft, the top end of the connecting block is fixedly connected with the bottom surface of the adjusting plate, the left support frame is in transmission connection with the left lifting device, and the left lifting device is used for driving the left support frame to move in the vertical direction; the right branch strut assembly include the right branch strut, the right branch strut top be connected with the rotating fixed plate through the second hinge, rotating fixed plate top surface and right slider fixed connection, right slider and linear guide sliding connection, linear guide and adjusting plate bottom surface fixed connection, the extending direction of linear guide perpendicular with second hinge axle center place straight line, second hinge axle center perpendicular with first hinge axle center, the right branch strut be connected with right side elevating gear transmission, right side elevating gear be used for driving the motion of right branch strut in the vertical direction.
The unmanned aerial vehicle landing flight path which is adjusted by the unmanned aerial vehicle through the original size and the direction of the landing mark recognized by the shooting device controls the unmanned aerial vehicle to land at the point where the landing mark is located.
The landing mark is divided into a plurality of grades according to the sequence of the area from large to small, the landing mark at least comprises two grades, each grade of landing mark is nested in the previous grade of landing mark, the highest grade of landing mark is positioned in the center of the upper surface of the adjusting plate, and the directions of the landing marks of each grade are consistent.
The attitude adjusting method of the take-off and landing platform is characterized by comprising the following steps: preceding tongs and back tongs and unmanned aerial vehicle's contact surface on all install pressure sensor, adjusting plate upper surface central point put and be provided with the centering sign, the adjusting plate be used for parking the unmanned aerial vehicle of retrieving the state to it is fixed with the unmanned aerial vehicle centering, concrete step is as follows:
step 1, enabling a flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle to be in a static state and receiving an unmanned aerial vehicle recovery instruction, and enabling a left lifting device and a right lifting device to synchronously lift and drive an adjusting plate to move to a preset height;
step 2, acquiring the inclination angle between the adjusting plate and the horizontal plane by an inclination angle sensor fixedly installed on the adjusting plate, driving the right support assembly to move upwards or downwards through the right lifting device, and adjusting the adjusting plate to be in a state parallel to the horizontal plane;
step 3, the unmanned aerial vehicle takes the centering mark as a target point and lands on the upper surface of the adjusting plate;
step 4, the unmanned aerial vehicle falls into the upper surface of the adjusting plate and then is positioned between the left clamping arm and the right clamping arm, the central gear is driven by the centering motor to rotate, and the first rack and the second rack are driven to respectively drive the left clamping arm and the right clamping arm to move oppositely;
step 5, after the left clamping arm and the right clamping arm are both contacted with the unmanned aerial vehicle frame, centering of the unmanned aerial vehicle in the X-axis direction is completed, and a centering motor is stopped;
step 6, the front gripper and the rear gripper of the left clamping arm move relatively under the driving of a second conveyor belt, the front gripper and the rear gripper of the left clamping arm move relatively under the driving of a first conveyor belt, the two groups of front grippers and the rear gripper move synchronously under the driving of a motor, and when pressure sensors arranged on contact surfaces of the two groups of front grippers and the rear gripper acquire pressure signals, the centering of the unmanned aerial vehicle in the Y-axis direction is completed;
and 7, stopping the gripper driving motor for driving the first conveying belt and the second conveying belt, completing the centering of the unmanned aerial vehicle on the upper surface of the adjusting plate, and locking the unmanned aerial vehicle.
The flexible accurate autonomous take-off and landing device of the unmanned aerial vehicle and the control method have the following beneficial effects: firstly, when the unmanned aerial vehicle takes off or lands, an adjusting plate for parking the unmanned aerial vehicle is required to be ensured to be in a horizontal state, so that the probability of damage of the unmanned aerial vehicle during landing can be reduced, and the efficiency of releasing the unmanned aerial vehicle can be improved; the device is provided with the liftable support assembly on two sides of the bottom of the adjusting plate, so that the inclination angle and the inclination direction of the adjusting plate can be controlled more accurately.
Secondly, after the unmanned aerial vehicle lands on the upper surface of the adjusting plate, the unmanned aerial vehicle is positioned between the left clamping arm and the right clamping arm, the unmanned aerial vehicle is driven to realize centering motion in the X-axis direction through the relative motion of the left clamping arm and the right clamping arm, and then the two groups of grippers are controlled to drive the unmanned aerial vehicle to realize centering motion in the Y-axis direction; left arm lock and right arm lock and two sets of tongs all are in the biggest state of relative distance before centering motion, guarantee that unmanned aerial vehicle is located between two arm locks and two sets of backs of grabbing when on the adjusting plate.
Thirdly, the centering device can extend out of one side to the outer side of the edge of the adjusting plate under the driving of the telescopic transmission device, so that the function interconnection between the autonomous lifting device and other external devices is facilitated, the telescopic transmission device can drive the centering device to extend into a hangar, and the unmanned aerial vehicle is placed into the adjusting plate through the clamping arms and the grippers to be used for flying the unmanned aerial vehicle; and after the recovered unmanned aerial vehicle is adjusted to be centered, the unmanned aerial vehicle is placed in a hangar through the clamping arms and the grippers.
Drawings
Fig. 1 is a schematic structural diagram of the flexible accurate autonomous take-off and landing device for the unmanned aerial vehicle.
Fig. 2 is a schematic inclination adjustment diagram of the flexible precise autonomous take-off and landing device for the unmanned aerial vehicle.
Fig. 3 is a schematic structural diagram of a connecting rod in the flexible accurate autonomous take-off and landing device for the unmanned aerial vehicle.
Fig. 4 is a schematic structural diagram of a right support assembly in the flexible precise autonomous take-off and landing device for the unmanned aerial vehicle.
Fig. 5 is a schematic structural diagram of a left support assembly in the flexible precise autonomous take-off and landing device for the unmanned aerial vehicle.
Fig. 6 is a schematic diagram of a landing mark on the upper surface of an adjusting plate in the flexible accurate autonomous take-off and landing device for the unmanned aerial vehicle.
The specification reference numbers: 1. a sun gear; 2. a motor mounting plate; 3. a first rack; 4. a second rack; 5. a first slide rail; 6. a fixed block; 7. a second slide rail; 8. a feed screw nut; 9. a screw rod; 10. a first hinge shaft; 11. connecting blocks; 12. a left support assembly; 13. an adjustment plate; 14. a first moving slider; 15. a first connecting rod; 16. a second connecting rod; 17. a rear hand grip; 18. a second movable slider; 19. a connecting frame; 20. a first conveyor belt; 21. a second conveyor belt; 22. a front hand grip; 23. a compression block; 24. a linear guide rail; 25. a right slider; 26. rotating the fixed plate; 27. a second hinge shaft; 28. and a right support assembly.
Detailed Description
Because unmanned aerial vehicle's used repeatedly attribute, in unmanned aerial vehicle's use, unmanned aerial vehicle retrieves the gesture because the atress in the twinkling of an eye of outage is different, and the gesture when falling into the air park is also all inequality, and the degree of difficulty that follow-up unmanned aerial vehicle automation was retrieved has been increaseed to the different gesture of retrieving of unmanned aerial vehicle. The flexible precise autonomous take-off and landing device and the control method of the unmanned aerial vehicle are further described in the following by combining the drawings in the specification and specific preferred embodiments.
As shown in fig. 1, the flexible accurate autonomous take-off and landing device for the unmanned aerial vehicle comprises an adjusting plate 13, wherein a left support assembly 12 and a right support assembly 28 are respectively and fixedly installed on two sides of the bottom of the adjusting plate 13, the left support assembly 12 and the right support assembly 28 are respectively and independently in transmission connection with an inclination angle driving device, two groups of inclination angle driving devices are used for controlling the inclination angle direction and the inclination angle value of the adjusting plate 13 through the left support assembly 12 and the right support assembly 28, an inclination angle sensor is fixedly installed on the adjusting plate 13, and the inclination angle sensor is used for acquiring the inclination angle direction and the inclination angle data of the adjusting plate 13;
the upper surface of the adjusting plate 13 is provided with a centering device, the centering device comprises a left clamping arm and a right clamping arm, the left clamping arm and the right clamping arm are in transmission connection with a centering motor through a centering driving device, the centering motor is used for driving the left clamping arm and the right clamping arm to move oppositely or oppositely, the left clamping arm and the right clamping arm are fixedly provided with a front gripper 22 and a rear gripper 17, and the front gripper 22 and the rear gripper 17 can move oppositely or oppositely under the driving of a gripper driving device;
unmanned aerial vehicle places at adjusting plate 13 upper surface and is located between left arm lock and the right arm lock, adjusting plate 13 upper surface left arm lock and right arm lock relative motion and two sets of preceding tongs 22 and back tongs 17 relative motion can promote unmanned aerial vehicle and realize the centering in two directions of X axle and Y axle.
Furthermore, the centering device is in transmission connection with a telescopic transmission device, the telescopic transmission device is fixedly installed on the upper surface of the adjusting plate 13, and the telescopic transmission device is used for driving the centering device and the adjusting plate 13 to realize relative telescopic motion. The telescopic transmission device comprises a left mounting bracket and a right mounting bracket which are arranged on two sides of an adjusting plate 13, lead screws 9 are installed in the left mounting bracket and the right mounting bracket, each lead screw 9 is connected with a group of lead screw nuts 8 in a threaded manner, two groups of lead screw nuts 8 are respectively fixedly connected with two ends of a moving frame, the two lead screws 9 in the left mounting bracket and the right mounting bracket are parallel to each other, the two lead screws 9 are driven by a motor to synchronously rotate, and the centering device is fixedly connected with the moving frame.
The drive ends of the two groups of screw rods 9 are connected through a transmission belt in a transmission manner, the transmission belt is driven by a motor, the two screw rods 9 can synchronously rotate under the driving of the motor in the transmission manner, and then the accurate telescopic motion of the centering device can be driven.
In the embodiment, the centering driving device in the centering device comprises a centering motor, the centering motor is fixedly installed in the middle of the movable frame through a motor installation plate 2, an output shaft of the centering motor is in transmission connection with a central gear 1, a first rack 3 and a second rack 4 are respectively arranged on the upper side and the lower side of the central gear 1 and are parallel to each other, and the first rack 3 and the second rack 4 are in meshing transmission with the central gear 1; the first rack 3 is fixedly connected with a first movable sliding block 14, the first movable sliding block 14 is slidably connected with a first sliding rail 5, the second rack 4 is fixedly connected with a second movable sliding block 18, the second movable sliding block 18 is slidably connected with a second sliding rail 7, and the first sliding rail 5 and the second sliding rail 7 are both fixedly connected with a movable frame; the tail end of the left clamping arm is fixedly connected with one end of a second rack 4, and the tail end of the right clamping arm is fixedly connected with one end of a first rack 3.
The first rack 3 and the second rack 4 are both parallel to the adjusting plate 13, and in a similar way, the first sliding rail 5 and the second sliding rail 7 are also parallel to the adjusting plate 13, the first sliding rail 5 and the second sliding rail 7 are respectively used for limiting and guiding the first rack 3 and the second rack 4, the first rack 3 is located below the central gear 1, the lower surface of the first rack 3 is slidably connected with the first sliding rail 5 through two first movable sliders 14, the two first movable sliders 14 are respectively fixed at two ends of the lower surface of the first rack 3, in a similar way, the second rack 4 is located above the central gear 1, the upper surface of the second rack 4 is slidably connected with the second sliding rail 7 through two second movable sliders 18, and the two second movable sliders 18 are respectively fixed at two ends of the upper surface of the second rack 4. When the central gear 1 rotates forwards under the driving of the centering motor, the first rack 3 and the second rack 4 move relatively, and at the moment, the left clamping arm and the right clamping arm move relatively to perform clamping action, so that the centering of the unmanned aerial vehicle in the X-axis direction is realized; when the central gear 1 is driven by the centering motor to rotate reversely, the first rack 3 and the second rack 4 move oppositely, and at the moment, the left clamping arm and the right clamping arm move oppositely to perform resetting action, so that the left clamping arm and the right clamping arm are reset.
In this embodiment, as shown in fig. 3, the left arm lock and the right arm lock are symmetrical in structure, the gripper driving devices are installed on the left arm lock and the right arm lock, each gripper driving device includes two sets of rollers, the two sets of rollers are connected by transmission of a conveyor belt, any roller of the two sets of rollers is connected with a gripper driving motor in a transmission manner, the conveyor belt is annular and is tensioned by the two sets of rollers, the plane where the axes of the two roller shafts are located is divided into an upper conveying section and a lower conveying section, the front gripper 22 is fixedly connected with the lower conveying section through a pressing block 23, the rear gripper 17 is fixedly connected with the upper conveying section through a connecting frame 19, and the front gripper 22 and the rear gripper 17 are arranged oppositely. The right clamping arm comprises a first connecting rod 15, the tail end of the first connecting rod 15 is fixedly connected with one end of the first rack 3 through a fixing block 6, and two ends of the first conveying belt 20 are installed on the upper surface of the first connecting rod 15 through a fixing frame; the left clamping arm comprises a second connecting rod 16, and two ends of the second conveyor belt 21 are mounted on the upper surface of the second connecting rod 16 through a fixing frame. All be equipped with the sensor on left arm lock and the right arm lock, be used for controlling the stroke of arm lock respectively and judge unmanned aerial vehicle's contact.
The lower surfaces of the first connecting rod 15 and the second connecting rod 16 are in contact connection with the adjusting plate 13 or are provided with small gaps, so that the first connecting rod 15 and the second connecting rod 16 are respectively connected with the corresponding racks through the fixing blocks 6 with the appropriate lengths. The first connecting rod 15 and the second connecting rod 16 are both provided with a front gripper 22 and a rear gripper 17, the front gripper 22 and the rear gripper 17 are both of an L-shaped folded plate structure, openings are oppositely arranged, and the bottom end faces of the front gripper 22 and the rear gripper 17 are both in contact connection with the adjusting plate 13 or are provided with small gaps, so that the front gripper 22 and the rear gripper 17 need to be fixedly connected with an upper conveying section and a lower conveying section which are different in height by adopting pressing blocks 23 and connecting frames 19 which are different in height.
In this embodiment, as shown in fig. 2, 4, and 5, the inclination driving device includes a left lifting device and a right lifting device, the left support assembly 12 includes a left support frame, a top end of the left support frame is connected to a connection block 11 through a first hinge shaft 10, a top end of the connection block 11 is fixedly connected to a bottom surface of an adjustment plate 13, the left support frame is in transmission connection with the left lifting device, and the left lifting device is configured to drive the left support frame to move in a vertical direction; right side support assembly 28 include the right branch frame, the right branch frame top be connected with rotation fixed plate 26 through second hinge 27, rotation fixed plate 26 top surface and right slider 25 fixed connection, right slider 25 and linear guide rail 24 sliding connection, linear guide rail 24 and adjusting plate 13 bottom surface fixed connection, linear guide rail 24 extend direction and second hinge 27 axle center place straight line perpendicular, second hinge 27 axle center perpendicular with first hinge 10 axle center, the right branch frame be connected with the transmission of right side elevating gear, right side elevating gear be used for driving the motion of right branch frame in the vertical direction.
When the left lifting device and the right lifting device synchronously lift, the adjusting plate 13 can be driven to keep an original state and only do reciprocating motion in the vertical direction of the Z axis, and when the adjusting plate 13 needs to be inclined, the height difference of two sides of the adjusting plate 13 is changed by adjusting the lifting device on one side, at the moment, the adjusting plate 13 rotates around the first hinge shaft 10 relative to the left support frame, and the adjusting plate 13 rotates around the second hinge shaft 27 relative to the right support frame. The inclination angle of the adjusting plate 13 can be accurately controlled under the monitoring of the inclination angle sensor, and the inclination angle sensor and the lifting device controller on one side form closed-loop control. Since the positions of the contact points between the left support assembly 12 and the right support assembly 28 and the adjusting plate 13 are changed when the adjusting plate 13 tilts, the right slider 25 and the linear guide 24 slide when the adjusting plate 13 tilts, and the structural stability is ensured.
Further, the central position of the upper surface of the adjusting plate 13 is provided with a landing identifier, and the unmanned aerial vehicle landing flight path adjusted by the original size and the direction of the landing identifier recognized by the shooting device controls the unmanned aerial vehicle to land at the point where the landing identifier is located. The landing marks are divided into a plurality of grades according to the sequence from large to small in area, the landing marks at least comprise two grades, each grade of landing marks are nested in the previous grade of landing marks, the highest grade of landing marks are located in the center of the upper surface of the adjusting plate 13, and the directions of the landing marks of each grade are consistent.
When the unmanned aerial vehicle requests to land, fly to landing platform top, shoot the image of landing platform in real time, unmanned aerial vehicle carries out the analysis to the image, if discern the landing sign, adopt image analysis software to carry out the analysis to the landing sign, because the calibration parameter of shooting device, the relative position who discerns landing sign and landing point all are fixed known value, combine size, the angular position etc. of landing sign in the image to calculate the position coordinate of unmanned aerial vehicle for the landing point. The current RTK coordinate value of the unmanned aerial vehicle is obtained through the RTK positioning navigation module, and the RTK coordinate value of the landing point, and the angle deviation between the head direction of the unmanned aerial vehicle and the direction of the landing mark are calculated. In the landing process, images of the landing platform are shot periodically, the images are analyzed until lower landing identifications are identified, the current landing stage is finished, the landing stage corresponding to the identified new landing identifications is entered, new landing measures are adopted, and the unmanned aerial vehicle is controlled to continue to approach the landing point. When the height of the unmanned aerial vehicle relative to the landing point is smaller than the set height threshold value, finishing the adjustment of the flight route, and controlling the unmanned aerial vehicle to directly land to the landing point.
The attitude adjusting method of the take-off and landing platform is characterized by comprising the following steps: preceding tongs 22 and back tongs 17 and unmanned aerial vehicle's contact surface on all install pressure sensor, adjusting plate 13 upper surface central point put and be provided with the centering sign, adjusting plate 13 be used for parking the unmanned aerial vehicle of retrieving the state to it is fixed with the unmanned aerial vehicle centering, concrete step is as follows:
step 1, the flexible accurate autonomous take-off and landing device of the unmanned aerial vehicle is in a static state and receives an instruction for recovering the unmanned aerial vehicle, and the left lifting device and the right lifting device synchronously lift and drive the adjusting plate 13 to move to a preset height;
step 2, acquiring the inclination angle between the adjusting plate 13 and the horizontal plane by an inclination angle sensor fixedly installed on the adjusting plate 13, driving the right support assembly 28 to move upwards or downwards through the right lifting device, and adjusting the adjusting plate 13 to be in a state parallel to the horizontal plane;
step 3, the unmanned aerial vehicle takes the centering mark as a target point and lands on the upper surface of the adjusting plate 13;
step 4, the unmanned aerial vehicle falls into the upper surface of the adjusting plate 13 and then is positioned between the left clamping arm and the right clamping arm, the central gear 1 is driven by the centering motor to rotate, and the first rack 3 and the second rack 4 are driven to respectively drive the left clamping arm and the right clamping arm to move oppositely;
step 5, after the left clamping arm and the right clamping arm are both contacted with the unmanned aerial vehicle frame, centering of the unmanned aerial vehicle in the X-axis direction is completed, and a centering motor is stopped;
step 6, the front gripper 22 and the rear gripper 17 of the left clamping arm move relatively under the drive of the second conveyor belt 21, the front gripper 22 and the rear gripper 17 of the left clamping arm move relatively under the drive of the first conveyor belt 20, the two groups of front grippers 22 and the rear gripper 17 move synchronously under the drive of the motor, and when pressure sensors arranged on the contact surfaces of the two groups of front grippers 22 and the rear gripper 17 acquire pressure signals, the centering of the unmanned aerial vehicle in the Y-axis direction is completed;
and 7, stopping the gripper driving motors for driving the first conveyor belt 20 and the second conveyor belt 21 to complete the centering of the unmanned aerial vehicle on the upper surface of the adjusting plate 13 and lock the unmanned aerial vehicle.
Above-mentioned flow has realized the attitude adjustment process among the unmanned aerial vehicle recovery process. Carry out gesture centering adjustment after can retrieving unmanned aerial vehicle, can see off unmanned aerial vehicle by adjusting plate 13 upper surface by telescopic transmission at last, get into follow-up flow.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. Flexible accurate autonomic take off and land device of unmanned aerial vehicle, its characterized in that: the device comprises an adjusting plate (13), wherein a left support assembly (12) and a right support assembly (28) are respectively and fixedly installed on two sides of the bottom of the adjusting plate (13), the left support assembly (12) and the right support assembly (28) are respectively and independently in transmission connection with an inclination angle driving device, two groups of inclination angle driving devices are used for controlling the inclination angle direction and the inclination angle value of the adjusting plate (13) through the left support assembly (12) and the right support assembly (28), an inclination angle sensor is fixedly installed on the adjusting plate (13), and the inclination angle sensor is used for acquiring the inclination angle direction and the inclination angle data of the adjusting plate (13);
the upper surface of the adjusting plate (13) is provided with a centering device, the centering device comprises a left clamping arm and a right clamping arm, the left clamping arm and the right clamping arm are in transmission connection with a centering motor through a centering driving device, the centering motor is used for driving the left clamping arm and the right clamping arm to move oppositely or oppositely, the left clamping arm and the right clamping arm are fixedly provided with a front gripper (22) and a rear gripper (17), and the front gripper (22) and the rear gripper (17) can move oppositely or oppositely under the driving of the gripper driving device;
unmanned aerial vehicle places at adjusting plate (13) upper surface and is located between left arm lock and the right arm lock, adjusting plate (13) upper surface left arm lock and right arm lock relative motion and two sets of preceding tongs (22) and back tongs (17) relative motion can promote unmanned aerial vehicle and realize the centering in two directions of X axle and Y axle.
2. The flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle of claim 1, wherein: the centering device is in transmission connection with the telescopic transmission device, the telescopic transmission device is fixedly installed on the upper surface of the adjusting plate (13), and the telescopic transmission device is used for driving the centering device and the adjusting plate (13) to realize relative telescopic motion.
3. The flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle of claim 2, wherein: the telescopic transmission device comprises a left mounting bracket and a right mounting bracket which are arranged on two sides of an adjusting plate (13), wherein lead screws (9) are installed in the left mounting bracket and the right mounting bracket, each lead screw (9) is connected with a set of lead screw nuts (8) in a threaded manner, two sets of lead screw nuts (8) are respectively fixedly connected with two ends of a moving frame, the two lead screws (9) in the left mounting bracket and the right mounting bracket are parallel to each other, the two lead screws (9) synchronously rotate under the driving of a motor, and the centering device is fixedly connected with the moving frame.
4. The flexible accurate autonomous take-off and landing device of unmanned aerial vehicle of claim 3, characterized in that: the centering driving device in the centering device comprises a centering motor, an output shaft of the centering motor is in transmission connection with a central gear (1), a first rack (3) and a second rack (4) are respectively arranged on the upper side and the lower side of the central gear (1) and are parallel to each other, and the first rack (3) and the second rack (4) are in meshing transmission with the central gear (1); the first rack (3) is fixedly connected with a first movable sliding block (14), the first movable sliding block (14) is slidably connected with a first sliding rail (5), the second rack (4) is fixedly connected with a second movable sliding block (18), the second movable sliding block (18) is slidably connected with a second sliding rail (7), and the first sliding rail (5) and the second sliding rail (7) are both fixedly connected with a movable frame;
the tail end of the left clamping arm is fixedly connected with one end of a second rack (4), and the tail end of the right clamping arm is fixedly connected with one end of a first rack (3).
5. The flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle of claim 4, wherein: left arm lock and right arm lock structural symmetry, all install tongs drive arrangement on left arm lock and the right arm lock, tongs drive arrangement include two sets of gyro wheels, two sets of gyro wheels between adopt the conveyer belt transmission to connect, arbitrary gyro wheel in two sets of gyro wheels is connected with tongs driving motor transmission, the conveyer belt be the annular and by two sets of gyro wheels take-up, the conveyer belt divide into on two gyro wheel pivot axle centers planes and convey section down, preceding tongs (22) pass through compact heap (23) and convey section fixed connection down, back tongs (17) pass through link (19) and last conveying section fixed connection, preceding tongs (22) and back tongs (17) set up relatively.
6. The flexible accurate autonomous take-off and landing device of unmanned aerial vehicle of claim 5, wherein: the right clamping arm comprises a first connecting rod (15), the tail end of the first connecting rod (15) is fixedly connected with one end of a first rack (3) through a fixing block (6), and two ends of a first conveying belt (20) are installed on the upper surface of the first connecting rod (15) through a fixing frame; the left clamping arm comprises a second connecting rod (16), and two ends of the second conveyor belt (21) are mounted on the upper surface of the second connecting rod (16) through a fixing frame.
7. The flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle of claim 1, wherein: the inclination angle driving device comprises a left lifting device and a right lifting device, the left support assembly (12) comprises a left support frame, the top end of the left support frame is connected with a connecting block (11) through a first hinge shaft (10), the top end of the connecting block (11) is fixedly connected with the bottom surface of an adjusting plate (13), the left support frame is in transmission connection with the left lifting device, and the left lifting device is used for driving the left support frame to move in the vertical direction; right branch brace assembly (28) include the right branch frame, right branch frame top be connected with rotation fixed plate (26) through second hinge (27), rotation fixed plate (26) top surface and right slider (25) fixed connection, right slider (25) and linear guide (24) sliding connection, linear guide (24) and adjusting plate (13) bottom surface fixed connection, the extending direction of linear guide (24) be perpendicular with second hinge (27) axle center place straight line, second hinge (27) axle center be perpendicular with first hinge (10) axle center, the right branch frame be connected with right side elevating gear transmission, right side elevating gear be used for driving the motion of right branch frame in the vertical direction.
8. The flexible accurate autonomous take-off and landing device of an unmanned aerial vehicle of claim 1, wherein: the unmanned aerial vehicle landing flight path that unmanned aerial vehicle was adjusted through the original size of the landing sign that the shooting device discerned and direction thereof is provided with the landing sign in adjusting plate (13) upper surface central point, the unmanned aerial vehicle landing is controlled at the landing sign point of being located to the landing.
9. The flexible accurate autonomous take-off and landing device of unmanned aerial vehicle of claim 8, wherein: the landing mark is divided into a plurality of grades according to the sequence of the areas from large to small, the landing mark at least comprises two grades, each grade of landing mark is nested in the previous grade of landing mark, the highest grade of landing mark is positioned at the center of the upper surface of the adjusting plate (13), and the directions of the landing marks of each grade are consistent.
10. The method for adjusting the attitude of the take-off and landing platform by using the flexible precise autonomous take-off and landing device of the unmanned aerial vehicle as claimed in claim 5, wherein: preceding tongs (22) and back tongs (17) and unmanned aerial vehicle's contact surface on all install pressure sensor, adjusting plate (13) upper surface central point put and be provided with the centering sign, adjusting plate (13) be used for parking the unmanned aerial vehicle of retrieving the state to it is fixed with the unmanned aerial vehicle centering, concrete step is as follows:
step 1, the flexible accurate autonomous take-off and landing device of the unmanned aerial vehicle is in a static state and receives an instruction for recovering the unmanned aerial vehicle, and the left lifting device and the right lifting device synchronously lift and drive an adjusting plate (13) to move to a preset height;
step 2, acquiring an inclination angle between the adjusting plate (13) and a horizontal plane by an inclination angle sensor fixedly installed on the adjusting plate (13), driving a right support assembly (28) to move upwards or downwards through a right lifting device, and adjusting the adjusting plate (13) to be in a state parallel to the horizontal plane;
step 3, the unmanned aerial vehicle takes the centering mark as a target point and lands on the upper surface of the adjusting plate (13);
step 4, the unmanned aerial vehicle falls into the upper surface of the adjusting plate (13) and then is positioned between the left clamping arm and the right clamping arm, the central gear (1) is driven by the centering motor to rotate, and the first rack (3) and the second rack (4) are driven to respectively drive the left clamping arm and the right clamping arm to move oppositely;
step 5, after the left clamping arm and the right clamping arm are both contacted with the unmanned aerial vehicle frame, centering of the unmanned aerial vehicle in the X-axis direction is completed, and a centering motor is stopped;
step 6, a front gripper (22) and a rear gripper (17) of the left gripper arm move relatively under the drive of a second conveyor belt (21), the front gripper (22) and the rear gripper (17) of the left gripper arm move relatively under the drive of a first conveyor belt (20), two groups of front grippers (22) and rear grippers (17) move synchronously under the drive of a motor, and when pressure sensors arranged on contact surfaces of the two groups of front grippers (22) and the rear gripper (17) acquire pressure signals, centering of the unmanned aerial vehicle in the Y-axis direction is completed;
and 7, stopping a gripper driving motor for driving the first conveyor belt (20) and the second conveyor belt (21), centering the unmanned aerial vehicle on the upper surface of the adjusting plate (13), and locking the unmanned aerial vehicle.
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