CN113682485B

CN113682485B - Positioning method of precise positioning device of aircraft

Info

Publication number: CN113682485B
Application number: CN202111222467.7A
Authority: CN
Inventors: 张弓
Original assignee: Sichuan Xunlianda Intelligent Technology Co ltd
Current assignee: Sichuan Xunlianda Intelligent Technology Co ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2022-01-25
Anticipated expiration: 2041-10-20
Also published as: CN113682485A

Abstract

The invention discloses a positioning method of an aircraft precise positioning device, which relates to the technical field of unmanned aircraft and comprises a cascade pipe assembly arranged on a master machine and a cascade rod assembly arranged on a slave machine; the cascade pipe assembly comprises a cascade pipe, a first screw rod and an electromagnetic traction column; the cascade rod assembly comprises a cascade rod, one end of the cascade rod is arranged on the submachine, the other end of the cascade rod is provided with a permanent magnet ball head, the cascade rod is provided with a screw rod hole for a first screw rod to spirally extend into along the axis of the cascade rod, and the screw rod hole sequentially penetrates through the cascade rod and the permanent magnet ball head; the end part of the electromagnetic traction column is provided with an end face matched with the permanent magnet ball head, an electromagnetic coil is arranged in the electromagnetic traction column, and the electromagnetic coil changes a magnetic pole and is used for attracting or repelling the permanent magnet ball head. When the scheme is used for cascading, the cascading precision is improved, and the safety of the aircraft is guaranteed.

Description

Positioning method of precise positioning device of aircraft

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a positioning method of an accurate aircraft positioning device.

Background

The positioning technology of the traditional unmanned aerial vehicle in flight mainly comes from satellite positioning guidance, and the technology is widely used in a large number, but when the technology is applied to application scenes such as air cascade, high-precision landing and the like in motion, the technology has the defects of poor precision, easiness in interference and the like, so that the high-precision positioning action of the aircraft is extremely difficult.

Therefore, a device capable of realizing aerial cascade and accurate landing in the motion of an aircraft is urgently needed when aiming at application scenes such as aerial cascade, high-accuracy landing and the like in the motion.

Disclosure of Invention

The invention aims to solve the technical problem that the mutual connection action of the aircrafts to achieve high-precision positioning is extremely difficult, and aims to provide a positioning method of an aircraft precision positioning device, which is used for improving the cascade precision during cascade connection and ensuring the safety of the aircrafts.

The invention is realized by the following technical scheme:

a cascade assembly comprises a cascade pipe assembly arranged on a master machine and a cascade rod assembly arranged on a slave machine;

the cascade pipe assembly comprises a cascade pipe, a first screw rod and an electromagnetic traction column, one end of the cascade pipe is fixedly arranged on the main machine, the other end of the cascade pipe is provided with an opening, the first screw rod is arranged in the cascade pipe and arranged along the length direction of the cascade pipe, the first screw rod and the cascade pipe are coaxial, the electromagnetic traction column is sleeved on the first screw rod, the first screw rod can rotate around the axis of the first screw rod and is used for driving the electromagnetic traction column to move along the length direction of the first screw rod, the cascade pipe is further provided with a first limiting device, and the first limiting device is used for preventing the electromagnetic traction column from rotating;

the cascade rod assembly comprises a cascade rod, one end of the cascade rod is arranged on the submachine, the other end of the cascade rod is provided with a permanent magnet ball head, the cascade rod is provided with a screw rod hole for a first screw rod to spirally extend into along the axis of the cascade rod, and the screw rod hole sequentially penetrates through the cascade rod and the permanent magnet ball head;

the end part of the electromagnetic traction column is provided with an end face matched with the permanent magnet ball head, an electromagnetic coil is arranged in the electromagnetic traction column, and the electromagnetic coil changes a magnetic pole and is used for attracting or repelling the permanent magnet ball head.

Compared with the prior art, the problem that the mutual connection action of high-precision positioning of the aircraft is extremely difficult is solved, the scheme provides a cascade assembly, by adopting the scheme, the butt joint of a master machine and a slave machine can be completed in the air in a mechanical cascade and electromagnetic traction mode, the cascade precision is improved, and the safety of the aircraft is guaranteed; specifically, when the master machine and the slave machine need to be cascaded, the master machine and the slave machine are controlled to be close to each other, so that the electromagnetic traction column and the permanent magnetic ball head are mutually attached, the electromagnetic coil is electrified, an electromagnetic field is formed, the electromagnetic field and the magnetic field of the permanent magnetic ball head are in attraction relationship and mutually attracted, the central controller outputs an instruction to the first server, the first server drives the first screw rod to rotate in the forward direction, the electromagnetic traction column can pull the permanent magnetic ball head to move towards one end of the cascade pipe, the first screw rod is gradually screwed into the screw rod hole of the cascade rod, and finally high-precision butt joint of the master machine and the slave machine is completed; when cascade disassembly is needed, the central controller controls the first server to rotate in the reverse direction, the electromagnetic traction column and the permanent magnet ball head move towards the open end of the cascade tube, when the permanent magnet ball head leaves the first screw rod, the electromagnetic coil is electrified at the moment, the electromagnetic field is formed, the magnetic field and the magnetic field of the permanent magnet ball head are in the same polarity, namely, the repulsion relationship, the cascade rod is pushed out of the cascade tube due to the repulsion of the same level, thrust is generated through the magnetic field, the phenomenon that a mother machine and a son machine interfere with each other when the two machines are separated from each other in the cascade disassembly process can be avoided, and the safety performance is further improved.

The cascade rod assembly further comprises a cascade rod sleeve and a second screw rod, one end of the cascade rod sleeve is fixedly arranged on the submachine, the other end of the cascade rod sleeve is provided with an opening, the second screw rod is arranged in the cascade rod sleeve and arranged along the length direction of the cascade rod sleeve, the second screw rod can spirally extend into one end, away from the permanent magnet ball head, of a screw rod hole of the cascade rod, the cascade rod is connected with the cascade rod sleeve in a sliding manner, the second screw rod can rotate around the axis of the second screw rod and is used for driving the cascade rod to move along the length direction of the second screw rod, the permanent magnet ball head can extend out of the opening end of the cascade rod sleeve, a second limiting device is further arranged on the cascade rod sleeve, and the second limiting device is used for preventing the cascade rod from rotating; the second screw rod and the permanent magnet ball head are protected and can be freely screwed in and out.

Preferably, the second limiting device comprises a stop pin, a stop pin groove is formed in the inner side of the cascade rod sleeve along the length direction of the cascade rod sleeve, one end of the stop pin is connected with the stop pin groove in a sliding mode and can slide along the length direction of the stop pin groove, and the other end of the stop pin is fixedly connected with the cascade rod; the second screw rod is used for preventing the cascade rod from radially rotating and preventing the step connecting rod from being separated from the second screw rod.

Further preferably, an expansion section is arranged at the opening end of the cascade pipe, and the caliber of the expansion section is gradually increased along the direction from one end of the expansion section close to the electromagnetic traction column to the other end; the device is used for improving the cascading precision and guiding the permanent magnet ball head.

An accurate positioning device of an aircraft comprises an acoustic wave focusing plate assembly arranged on a master machine and a photoelectric matrix sensor arranged on a slave machine;

the sound wave focusing plate assembly comprises a focusing plate, a pickup and a laser assembly, the focusing plate is a parabolic sound wave reflection focusing plate, a convex surface of the focusing plate is arranged on the master machine, a plurality of supporting rods are arranged at the outer edge of a notch of the focusing plate and are connected with the pickup, a working surface of the pickup is positioned at the focal point of the focusing plate, the laser assembly is arranged at one end, away from the working surface, of the pickup, and the center of the focusing plate, the laser assembly and the pickup are coaxially arranged;

the laser assembly comprises a laser generator, and laser beams of the laser generator can irradiate on a photosensitive element of the photoelectric matrix sensor and are used for capturing the submachine and controlling the master machine and the submachine to gradually approach to each other so that the cascaded pipe assembly and the cascaded rod assembly are butted.

Compared with the prior art, the positioning technology of the traditional unmanned aerial vehicle in flight mainly comes from satellite positioning guidance, the technology is widely used in a large number, but when the technology is applied to application scenes such as air cascade, high-precision landing and the like in motion, the technology has the problems of poor precision, easy interference and other weaknesses, for example, in severe weather and at a long distance, a laser beam of photoelectric guidance cannot normally hit on a photoelectric matrix plate, so that accurate positioning cannot be realized, and the like, the scheme is provided with the sound wave focusing plate assembly and the photoelectric matrix sensor, because the characteristics of instant noise and audio frequency generated by each aircraft in the flight process of the aircraft are unique, such as sound emitted by a propeller, an engine and internal working equipment, particularly engine exhaust sound and blade sound, by utilizing the characteristics, a submachine can be positioned and guided through the sound wave focusing plate assembly, realize the butt joint, and utilize sound wave focusing board subassembly, make this device even under bad weather, also can fix a position the guide to the submachine on a large scale, make sound wave focusing board subassembly location submachine, get into the audio guidance to make submachine and master machine be close to each other, when getting into the photoelectricity guide scope, the accessible photoelectricity matrix sensor carries out photoelectricity guide, realizes the higher location guide butt joint of precision.

Further preferably, the acoustic wave focusing plate assembly further comprises a universal joint, the middle point of the convex surface of the focusing plate is arranged on the mother machine through the universal joint, the mother machine is further provided with an X-axis server and a Y-axis server, and the X-axis server and the Y-axis server are respectively used for driving the universal joint to enable the focusing plate to rotate towards the X-axis direction or the Y-axis direction; the focusing plate can rotate and scan to position the guiding submachine.

The laser assembly is characterized in that laser generators are arranged at the center and the four corners of the laser assembly, laser beams emitted by the laser generators at the four corners and laser beams emitted by the central laser generator have emission included angles, and the laser generators at the four corners are arranged in a rectangular mode by taking the central laser generator as a midpoint; the photoelectric guide device is used for realizing photoelectric guide and carrying out accurate positioning.

The positioning method of the aircraft precise positioning device comprises the following steps:

the method comprises the following steps: when the aircraft has the cascade requirement, the base confirms the cascade mother machine, establishes the cascade relation between the mother machine and the son machines and establishes a cascade information transmission link;

step two: after the cascade information transmission link is established, the submachine sends the instant audio characteristics to the master machine, the master machine compares the received instant audio characteristics with surrounding sound sources sent by a sound pickup to judge whether the submachine enters an audio guidance range;

step three: when the son machine enters the audio guide range, the mother machine controls the movement of the focusing plate to detect the maximum direction of the audio field intensity of the son machine, captures and fixes the son machine, calculates the distance and the angle between the son machine and the mother machine according to the speed difference between the transmission of radio waves and sound waves after fixation, and enables the mother machine to send an approach instruction until the son machine enters the photoelectric guide range;

step four: after the submachine enters a photoelectric guide range, scanning through the sound wave focusing plate assembly, opening the laser assembly, enabling laser beams of the laser generator to irradiate the surface of the photoelectric matrix sensor, transmitting back surface position information of the photoelectric matrix sensor through the submachine, analyzing and adjusting the distance and the posture between the submachine and the master machine, and enabling the submachine and the master machine to be continuously close until the submachine enters a mechanical guide range;

step five: when the son machine enters a mechanical guide range, the electromagnetic coil is electrified to generate a magnetic field with the polarity opposite to that of the permanent magnetic ball head, the electromagnetic traction column and the permanent magnetic ball head are gradually butted and mutually attracted, the first screw rod is controlled to rotate in the forward direction at the moment, the electromagnetic traction column pulls the permanent magnetic ball head to move towards one end of the cascade pipe, the first screw rod is gradually screwed into the screw rod hole at the moment, and finally the butt joint of the mother machine and the son machine is completed.

Further optimization, the specific steps of the fourth step include: when the submachine enters a photoelectric guide range, firstly opening a central laser generator, enabling a laser beam irradiation point of the central laser generator to enter the surface of a photoelectric matrix sensor through scanning of an acoustic wave focusing plate assembly, operating the central laser generator to lock the submachine by a master machine, enabling the laser irradiation point to be positioned in the center of the photoelectric matrix sensor, then opening laser generators at four corners, enabling the laser generators at the four corners to completely irradiate the four corners of the photoelectric matrix sensor through posture adjustment of the submachine and the master machine, then analyzing and adjusting the distance and the posture between the submachine and the master machine through calculation of laser beam position change values at the four corners, and enabling the submachine and the master machine to be continuously close until the submachine enters a mechanical guide range;

the center and the four corners of laser instrument subassembly all are equipped with laser generator, and the laser beam of the laser generator transmission in four corners and the laser beam of center laser generator transmission have the transmission contained angle, four corners laser generator uses center laser generator to be the rectangle arrangement as the mid point.

Further optimizing, when the aircraft needs to be cascaded and disassembled, the mother aircraft sends out a disassembling instruction to enable the first screw rod to rotate reversely to drive the electromagnetic traction column and the permanent magnet ball head to move towards the opening end of the cascade pipe, after the permanent magnet ball head is separated from the first screw rod, the electromagnetic coil generates a magnetic field with the same polarity as the permanent magnet ball head, the permanent magnet ball head is pushed out, meanwhile, the submachine executes a separation instruction to fly away the mother aircraft to fly autonomously, and the cascading and disassembling are completed; in the scheme, the same magnetic field is generated, so that the permanent magnet ball head is pushed out, and the interference between the master machine and the slave machine is avoided when the master machine and the slave machine are separated from each other in the cascading and dissolving process; in fact, when the electromagnetic coils generate the same magnetic field, the permanent magnet ball head is just pushed to the inner opening of the expansion section, so that the permanent magnet ball head can be better pushed out of the expansion section.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. and the method does not depend on auxiliary positioning means such as satellite positioning and the like, the degree of cascade autonomy is high, and the safety coefficient is greatly improved.

2. The introduction of the audio guidance technology greatly enhances the anti-interference capability of high-precision photoelectric guidance, and the technology has wide application scenes.

3. The improvement of the cascade precision greatly guarantees the safety of the aircraft.

4. The aircraft landing system can be applied to dynamic autonomous landing, so that the precision of the aircraft landing on a dynamic parking apron is higher, and dynamic automatic recovery becomes possible.

5. And the photoelectric guide is only used at the tail end, so that the weather adaptability is strong.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort. In the drawings:

FIG. 1 is a schematic illustration of the position of the cascade tubes and cascade rods provided by the present invention when butted together;

FIG. 2 is a schematic view of a cascade tube structure provided by the present invention;

FIG. 3 is a schematic view of a cascade rod structure provided by the present invention;

FIG. 4 is a partial schematic view a provided by the present invention;

FIG. 5 is a schematic view of the present invention providing for the initiation of the butt joint of a cascade tube and a cascade rod;

FIG. 6 is a schematic view of the permanent magnet ball head and the electromagnetic traction column in the process of butt joint of the cascade tube and the cascade link rod provided by the present invention;

FIG. 7 is a schematic diagram of the movement of a permanent magnet ball head dragged by an electromagnetic traction column in the process of butting the cascade tube and the cascade link rod provided by the invention;

FIG. 8 is a schematic view of the present invention after completion of the butt joint of the cascade tubes and the cascade rods;

FIG. 9 is a side view of the parent machine provided by the present invention;

FIG. 10 is a side view of a handset provided by the present invention;

FIG. 11 is a schematic diagram of the relative positions of an acoustic wave focusing plate assembly and an optoelectronic matrix sensor and their structures according to the present invention;

FIG. 12 is a partial schematic view b provided by the present invention;

FIG. 13 is a schematic view of the present invention providing a mechanical guided docking of a master and slave units;

FIG. 14 is a schematic illustration of the mechanical guided docking of the master and slave machines provided by the present invention;

FIG. 15 is a schematic view of the mother and child machines of the present invention after mechanical guidance for docking is completed;

fig. 16 is a schematic diagram of the identity confirmation and data chain construction stage of the master unit and the slave unit provided by the present invention;

FIG. 17 is a schematic diagram of the audio feature establishment and guidance stage of the master and slave devices according to the present invention;

FIG. 18 is a schematic diagram of the optoelectronic capturing stage of the master unit and the slave unit provided by the present invention;

FIG. 19 is a schematic diagram of the electro-optical guiding stage of the master unit and the slave unit according to the present invention;

fig. 20 is a schematic diagram of the master unit and the slave unit provided by the present invention when they are mated.

Reference numbers and corresponding part names in the drawings:

1-cascade tube assembly, 11-cascade tube, 12-first screw rod, 13-electromagnetic traction column, 14-electromagnetic coil, 15-expansion section, 16-first servo, 2-cascade rod assembly, 21-stage link rod, 22-permanent magnet ball head, 23-cascade rod sleeve, 24-second screw rod, 25-stop pin, 26-stop pin groove, 27-second servo, 3-sound wave focusing plate assembly, 31-focusing plate, 32-pickup, 33-laser assembly, 34-universal joint, 35-X axis servo, 36-Y axis servo, 37-support rod, 4-photoelectric matrix sensor, 41-photosensitive element, 42-matrix grid, 5-mother machine and 6-son machine.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

Example 1

The embodiment provides a cascade assembly, as shown in fig. 1 to 8, comprising a cascade tube assembly 1 arranged on a master machine 5 and a cascade rod assembly 2 arranged on a slave machine 6;

the cascade pipe assembly 1 comprises a cascade pipe 11, a first screw rod 12 and an electromagnetic traction column 13, one end of the cascade pipe 11 is fixedly arranged on the main machine 5, the other end of the cascade pipe is provided with an opening, the first screw rod 12 is arranged in the cascade pipe 11 and arranged along the length direction of the cascade pipe 11, the first screw rod 12 and the cascade pipe 11 are coaxial, the electromagnetic traction column 13 is sleeved on the first screw rod 12, the first screw rod 12 can rotate around the axis of the first screw rod 12 and is used for driving the electromagnetic traction column 13 to move along the length direction of the first screw rod 12, the cascade pipe 11 is also provided with a first limiting device, and the first limiting device is used for preventing the electromagnetic traction column 13 from rotating;

the cascade rod assembly 2 comprises a cascade link rod 21, one end of the cascade link rod 21 is arranged on the submachine 6, the other end of the cascade link rod 21 is provided with a permanent magnet ball head 22, the cascade link rod 21 is provided with a screw rod hole for the first screw rod 12 to spirally extend into along the axis of the cascade link rod 21, and the screw rod hole sequentially penetrates through the cascade link rod 21 and the permanent magnet ball head 22;

the end part of the electromagnetic traction column 13 is provided with an end face matched with the permanent magnet ball head 22, an electromagnetic coil 14 is arranged in the electromagnetic traction column 13, and the electromagnetic coil 14 changes a magnetic pole and is used for attracting or repelling the permanent magnet ball head 22.

Compared with the prior art, the problem that the mutual connection action of high-precision positioning of the aircraft is extremely difficult is solved, the scheme provides a cascade assembly, by adopting the scheme, the female machine 5 and the sub-machine 6 can be butted in the air in a mechanical cascade and electromagnetic traction mode, the cascade precision is improved, and the safety of the aircraft is guaranteed, the female machine 5 and the middle controller in the female machine are used as a central controller in a cascade flying aggregate and can control the posture and the trend of the sub-machine 6, and the sub-machine 6 is equivalent to only a flying system for controlling the flying; specifically, the cascade pipe assembly comprises a cascade pipe assembly 1 and a cascade rod assembly 2, only one of the assemblies can be arranged on a master machine 5 and a slave machine 6, the cascade pipe assembly 1 and the cascade rod assembly 2 can be arranged on the master machine 5 or the slave machine 6, multiple butt joint can be completed, the connection strength and the butt joint precision are improved, the cascade pipe assembly 1 comprises a cascade pipe 11, a first screw rod 12 and an electromagnetic traction column 13, the cascade pipe 11 is of a hollow pipe structure, one end of the cascade pipe is connected to the outer side of the machine body, the other end of the cascade pipe extends outwards and is provided with an opening, a first servo 16 is arranged outside one end of the cascade pipe 11, an output shaft of the first servo 16 is connected with the first screw rod 12, the first screw rod 12 is arranged in the cascade pipe 11, and the first servo 16 can drive the first screw rod 12 to rotate around the axis of the cascade pipe 11; an electromagnetic traction column 13 is sleeved on the first screw rod 12, wherein a through screw rod hole is arranged at the radial center of the electromagnetic traction column 13, threads with the same size as the first screw rod 12 are arranged on the inner wall of the screw rod hole, the through screw rod hole can be freely screwed out and screwed in, the first screw rod 12 penetrates through the screw rod hole at the center of the electromagnetic traction column 13 and is matched with the inner threads of the screw rod hole, the electromagnetic traction column 13 can move along the axis of the cascade tube 11 under the pushing of a first servo 16, a first limiting device for limiting the rotation of the electromagnetic traction column 13 is also arranged, such as a stop pin 25, a sliding groove arranged along the length direction of the cascade tube 11 is arranged on the inner side of the cascade tube 11, one end of the stop pin 25 can slide in the sliding groove, the other end is fixedly connected to the electromagnetic traction column 13, and at the moment, under the rotation of the first screw rod 12, the electromagnetic traction column 13 can only do axial movement and can not do radial rotation, wherein various limiting devices are disclosed in the prior art, are not described in detail herein; the electromagnetic traction column 13 is made of an iron-based material, the middle part of the excircle of the electromagnetic traction column 13 is also provided with an electromagnetic coil 14 groove, and an electromagnetic coil 14 is arranged in the groove; the cascade rod assembly 2 comprises a cascade rod 21, the outer diameter of the cascade rod 21 is a hard material rod (or tube) with a hemispherical head and can slide in the inner diameter of the cascade tube 11, one end of the cascade rod 21 is arranged on the submachine 6, the end part of the other end is hemispherical, the hemispherical front end is provided with a hemispherical permanent magnet, the two permanent magnet heads form a permanent magnet ball head 22, a screw rod hole is further formed in the cascade rod 21 along the length direction of the cascade rod 21 and sequentially penetrates through the radial centers of the cascade rod 21 and the permanent magnet ball head 22, threads with the same size as the first screw rod 12 are formed in the inner wall of the screw rod hole and can be freely screwed out and screwed in, and a recess with the same size as the permanent magnet ball head 22 is formed in the head of the electromagnetic traction column 13.

When the mother machine 5 and the son machine 6 need to be cascaded, the mother machine 5 and the son machine 6 are controlled to be close to each other, so that the electromagnetic traction column 13 and the permanent magnetic ball head 22 are mutually attached, the electromagnetic coil 14 is electrified, an electromagnetic field is formed, the electromagnetic field and the magnetic field of the permanent magnetic ball head 22 are in attraction relation, the electromagnetic field and the permanent magnetic ball head 22 are mutually attracted, the central controller outputs an instruction to the first servo 16, the first servo 16 drives the first screw rod 12 to rotate in the forward direction, the electromagnetic traction column 13 can pull the permanent magnetic ball head 22 to move towards one end of the cascade tube 11, the first screw rod 12 is gradually screwed into a screw rod hole of the cascade rod 21, and finally the high-precision butt joint of the mother machine 5 and the son machine 6 is completed; when cascade disassembly is needed, the central controller controls the first server 16 to rotate in the reverse direction, so that the electromagnetic traction column 13 and the permanent magnet ball head 22 move towards the opening end of the cascade tube 11, when the permanent magnet ball head 22 leaves the first screw rod 12, the electromagnetic coil 14 is electrified at the moment, an electromagnetic field is formed, the electromagnetic field and the magnetic field of the permanent magnet ball head 22 are in the same polarity, namely, a repulsion relationship, the cascade link rod 21 is pushed out of the cascade tube 11 by the repulsion of the same level, thrust is generated through the magnetic field, the phenomenon that the master machine 5 and the slave machine 6 interfere with each other when the two are separated from each other in the cascade disassembly process can be avoided, and the safety performance is further improved.

In this embodiment, the cascade rod assembly 2 further includes a cascade rod sleeve 23 and a second lead screw 24, one end of the cascade rod sleeve 23 is fixedly disposed on the submachine 6, the other end of the cascade rod sleeve 23 is open, the second lead screw 24 is disposed in the cascade rod sleeve 23 and is arranged along the length direction of the cascade rod sleeve 23, the second lead screw 24 can spirally extend into one end of a lead screw hole of the stage link rod 21 away from the permanent magnet ball head 22, the stage link rod 21 and the cascade rod sleeve 23 are slidably connected, the second lead screw 24 can rotate around its axis and is used for driving the stage link rod 21 to move along the length direction of the second lead screw 24, the permanent magnet ball head 22 can extend out of the open end of the cascade rod sleeve 23, the cascade rod sleeve 23 is further provided with a second limiting device, and the second limiting device is used for preventing the stage link rod 21 from rotating; in order to protect the second screw rod 24 and the permanent magnetic ball head 22 and to freely screw in and out, in the present solution, the cascade rod assembly 2 further comprises a cascade rod sleeve 23 and a second screw rod 24, one end of the cascade rod sleeve 23 is fixedly arranged outside the sub-machine 6, the other end is open, the second screw rod 24 is arranged in the cascade rod sleeve 23, a second servo 27 is arranged outside one end of the cascade rod sleeve 23, an output shaft of the second servo 27 is connected with the second screw rod 24 and is used for driving the second screw rod 24 to rotate around the axis of the cascade rod sleeve, the cascade rod sleeve 23 is arranged on the second screw rod 24, the inner wall of a screw rod hole of the cascade rod sleeve is provided with a thread with the same size as the first screw rod 12, under the limitation of a second limiting device, the second screw rod 24 can be driven to move along the length direction of the second screw rod 24 when the aircraft flies singly, the central controller controls the second servo 27 to drive the second screw rod 24 to rotate forward, so that the cascade rod 21 and the permanent magnetic ball head 22 are completely received in the cascade rod sleeve 23, the central controller is used for protecting the second screw rod 24 and the permanent magnet ball head 22, and when the two are connected in cascade, the central controller controls the second servo 27 to drive the second screw rod 24 to rotate in the opposite direction, so that the stage link 21 and the permanent magnet ball head 22 extend out, and cascade connection is realized.

In this embodiment, the second limiting device includes a stop pin 25, a stop pin slot 26 is formed in the inner side of the cascade rod sleeve 23 along the length direction of the cascade rod sleeve 23, one end of the stop pin 25 is slidably connected with the stop pin slot 26 and can slide along the length direction of the stop pin slot 26, and the other end of the stop pin 25 is fixedly connected with the step link 21; in order to prevent the radial rotation of the stage link rod 21 and prevent the stage link rod 21 from separating from the second lead screw 24, in the present scheme, the second limiting device comprises a stop pin 25, one end of the stop pin 25 can slide into a stop pin groove 26 of the cascade rod sleeve 23, and the other end is radially and fixedly connected to the excircle of the stage link rod 21, so that the stage link rod 21 does not rotate around the circle center thereof but can ensure the axial movement thereof, wherein the stop pin groove 26 has a certain length to prevent the stage link rod 21 from sliding out of the second lead screw 24 to cause separation.

In this embodiment, an expansion section 15 is disposed at an opening end of the cascade tube 11, and the aperture of the expansion section 15 gradually increases along a direction from one end of the expansion section 15 close to the electromagnetic traction column 13 to the other end; in order to improve the cascading precision and guide the permanent magnet ball head 22, in the scheme, an expansion section 15 is further arranged at the opening end of the cascading tube 11, the expansion section 15 and the cascading tube 11 are integrally formed, the expansion section 15 is close to the direction from one end of the electromagnetic traction column 13 to the other end, and the caliber of the expansion section 15 is gradually increased and outwards expanded; when the permanent magnet ball head 22 enters the outer opening of the expansion section 15, the permanent magnet ball head 22 is further guided to slide to the cascade tube 11 and finally slide to the electromagnetic traction column 13 due to the structural characteristic that the outer opening of the expansion section 15 is large and gradually becomes small and the combined action of the continuous approach of the two aircrafts; the expansion section 15 is preferably made of metal, such as iron or steel, so that when the permanent magnet ball head 22 enters the outer opening of the expansion section 15, a certain attraction effect can be achieved between the permanent magnet ball head and the expansion section 15, the butt joint stability is further improved, and then the permanent magnet ball head 22 gradually slides to the electromagnetic traction column 13.

Example 2

The present embodiment is further optimized on the basis of embodiment 1, and provides an aircraft precision positioning device, as shown in fig. 9 to 15, including an acoustic wave focusing plate assembly 3 disposed on a master machine 5 and a photoelectric matrix sensor 4 disposed on a slave machine 6;

the sound wave focusing plate component 3 comprises a focusing plate 31, a sound pickup 32 and a laser component 33, the focusing plate 31 is a parabolic sound wave reflection focusing plate 31, the convex surface of the focusing plate 31 is arranged on the mother machine 5, a plurality of supporting rods 37 are arranged at the outer edge of a notch of the focusing plate 31, the supporting rods 37 are connected with the sound pickup 32, the working surface of the sound pickup 32 is positioned at the focal point of the focusing plate 31, the laser component 33 is arranged at one end, far away from the working surface, of the sound pickup 32, and the center of the focusing plate 31, the laser component 33 and the sound pickup 32 are coaxially arranged;

the laser assembly 33 comprises a laser generator, and laser beams of the laser generator can irradiate on a photosensitive element 41 of the photoelectric matrix sensor 4 and are used for capturing the submachine 6 and controlling the master machine 5 and the submachine 6 to gradually approach to each other so that the cascade pipe assembly 1 and the cascade rod assembly 2 are butted.

Compared with the prior art, the positioning technology of the traditional unmanned aerial vehicle in flight mainly comes from satellite positioning guidance, the technology is widely used in a large number, but when the technology is applied to application scenes such as air cascade, high-precision landing and the like in motion, the technology has the problems of poor precision, easy interference and other weaknesses, for example, in severe weather and at a long distance, a laser beam guided by photoelectricity cannot normally hit on a photoelectric matrix plate, so that accurate positioning cannot be realized, and the like, the scheme is provided with the sound wave focusing plate component 3 and the photoelectric matrix sensor 4, because the instant noise and the audio characteristics generated by each aircraft are unique in the flight process of the aircraft, such as the sound emitted by a propeller, an engine and internal working equipment, particularly the exhaust sound of the engine and the sound of blades, by utilizing the characteristics, the submachine 6 can be positioned and guided through the sound wave focusing plate component 3, the butt joint is realized, the sound wave focusing plate component 3 is utilized, so that the device can position and guide the submachine 6 in a large range even in severe weather, the sound wave focusing plate component 3 positions the submachine 6 to enter audio guidance, the submachine 6 and the master machine 5 are close to each other, and when the sound wave focusing plate component enters a photoelectric guidance range, photoelectric guidance can be performed through the photoelectric matrix sensor 4, so that the positioning guidance butt joint with higher precision is realized; specifically, the acoustic wave focusing plate assembly 3 is arranged on the master machine 5, and the photoelectric matrix sensor 4 is arranged on the slave machine 6, but in practice, any aircraft can be used as the slave machine 6 or the master machine 5, so that the acoustic wave focusing plate assembly 3 and the photoelectric matrix sensor 4 can be simultaneously present on the aircraft, as shown in fig. 9, the aircraft can be used as the master machine 5, and when the aircraft is used as the slave machine 6 or the aircraft does not work, the acoustic wave focusing plate assembly 3 can be taken into the slave machine cabin, and the photoelectric matrix sensor 4 can be moved to cover the position of the acoustic wave focusing plate assembly 3, as shown in fig. 10.

Wherein the sound wave focusing plate assembly 3 comprises a focusing plate 31, a sound pick-up 32 and a laser assembly 33, wherein the focusing plate 31 is a parabolic sound wave reflection focusing plate 31, and a parabolic focusing device similar to a satellite receiving antenna in shape and made of a high sound wave reflection material, the focusing plate can be positioned by rotating the position of the focusing plate 31, a plurality of support rods 37 are arranged at the outer edge of a notch of the focusing plate 31, the plurality of support rods 37 are connected and fixed with the sound pick-up 32, the working surface of the sound pick-up 32, namely the front end is positioned at the focus of the sound wave focusing plate 31, the rear end of the sound pick-up 32 is fixedly connected with the laser assembly, the center of the focusing plate 31, the sound pick-up 32 and the laser assembly 33 are axially and concentrically arranged, at the moment, under the driving scanning of the focusing plate 31, the audio characteristics of the sub-machine 6 can be received, the main machine 5 compares the received sound source with the surrounding sound source sent by the sound pick-up 32 to determine whether the sub-machine 6 enters an audio guide range, if the master machine 5 receives and compares the audio characteristics of the slave machine 6, audio guidance information is established; at the moment, the master machine 5 detects the maximum direction of the audio field intensity of the slave machine 6 by manipulating the position of the sound wave focusing plate component 3 and the posture of the master machine, the sound wave focusing plate component 3 captures and fixes the sound wave focusing plate component after the maximum direction of the field intensity is found, and the master machine 5 sends an approaching instruction through signal transmission and position calculation until the slave machine 6 enters a photoelectric guide range; after entering the photoelectric guide range, the laser assembly 33 and the photoelectric matrix sensor 4 realize photoelectric guide, and the laser beam of the laser generator can irradiate on the photosensitive element 41 of the photoelectric matrix sensor 4 to capture the submachine 6 and control the master machine 5 and the submachine 6 to gradually approach each other, so that the cascade pipe assembly 1 and the cascade rod assembly 2 are finally butted.

In this embodiment, the acoustic wave focusing plate assembly 3 further includes a universal joint 34, a midpoint of a convex surface of the focusing plate 31 is disposed on the mother machine 5 through the universal joint 34, the mother machine 5 is further provided with an X-axis servo 35 and a Y-axis servo 36, and the X-axis servo 35 and the Y-axis servo 36 are respectively used for driving the universal joint 34 to rotate the focusing plate 31 in the X-axis or Y-axis direction; in order to enable the focusing plate 31 to rotate and scan so as to position and guide the sub-machine 6, in the scheme, a universal joint 34 is further arranged, the focusing plate 31 is connected with the side face of the machine body through the universal joint 34, at the moment, the universal joint 34 is a spherical universal joint 34, an X-axis server 35 and a Y-axis server 36 are arranged on the machine body, the other end of the universal joint 34 is fixed on a structural member of the machine body, at the moment, the sound wave focusing plate assembly 3 can do two-axis motion under the control of the two servers so as to control the position of other devices carried by the assembly to point to a target area, wherein the rotation in the X-axis direction and the Y-axis direction is defined as the rotation around the center of the spherical end of the universal joint 34; the spherical end of the universal joint 34 is axially and concentrically arranged with the center of the focusing plate 31, the sound pickup 32 and the laser assembly 33; the angular positions of the X-axis server 35 and the Y-axis server 36 are the angles of the acoustic wave focusing plate assembly 3 pointing to the maximum audio field strength of the handset 6, and the angular information pointed by the server of the acoustic wave focusing plate assembly 3 is the angular position relationship between the parent machine 5 and the handset 6 because the X-axis server 35 and the Y-axis server 36 have the function of the angle sensor.

In this embodiment, laser generators are respectively disposed at the center and four corners of the laser assembly 33, laser beams emitted by the laser generators at the four corners and laser beams emitted by the center laser generator have emission included angles, and the laser generators at the four corners are arranged in a rectangular shape with the center laser generator as a midpoint; in order to realize photoelectric guidance and accurate positioning, in the scheme, laser generators are arranged at the center and four corners of a laser assembly 33, wherein a photoelectric matrix sensor 4 is a matrix grating 42, and each grating is uniformly provided with a photosensitive element 41, wherein when a laser beam emitted by the laser generator positioned at the center irradiates the photoelectric matrix sensor 4, the laser beam is received and fed back to the position of the irradiated point by the photosensitive element 41 due to the fact that the laser beam has identity information such as wavelength and the like, and then the position information of the surface of the photoelectric matrix plate is transmitted back by a sub-machine 6 to correct the laser, the laser beam emitted by the laser generator positioned at the center needs to irradiate the center of the photoelectric matrix sensor 4, at the moment, photoelectric capture is completed, and audio guidance is finished; then, the lasers at the four corners are opened, the laser generators at the four corners can completely irradiate the four corners of the photoelectric matrix sensor 4 of the submachine 6 through the posture adjustment of the submachine 6 and the master machine 5 due to the outward included angle, so that the master machine 5 and the submachine 6 reach the states of high parallelism and cascade phase parallelism, the distance and the posture of the submachine 6 and the master machine 5 are more accurately judged under the calculation and analysis of the position change value of the laser beams at the four corners, and an approach signal is sent according to the position information to enable the submachine 6 and the master machine 5 to approach constantly to reach the mechanical guide range.

Example 3

The present embodiment is further optimized based on embodiment 3, and provides a positioning method of an aircraft precision positioning device, as shown in fig. 16 to 20, including the following steps:

the method comprises the following steps: when the aircraft has the cascade requirement, the base confirms the cascade mother machine 5, establishes the cascade relation between the mother machine 5 and the son machine 6 and establishes a cascade information transmission link;

step two: after the cascade information transmission link is established, the submachine 6 sends the instant audio characteristics to the master machine 5, the master machine 5 compares the received instant audio characteristics with the surrounding sound sources sent by the sound pickup 32, and whether the submachine 6 enters an audio guidance range is judged;

step three: when the submachine 6 enters the audio guidance range, the master machine 5 controls the movement of the focusing plate 31 to detect the maximum audio field intensity direction of the submachine 6, captures and fixes the submachine 6, calculates the distance and the angle between the submachine 6 and the master machine 5 according to the speed difference between the transmission of radio waves and sound waves after fixation, and enables the master machine 5 to send an approach instruction until the submachine 6 enters the photoelectric guidance range;

step four: after the submachine 6 enters the photoelectric guide range, the sound wave focusing plate component 3 is scanned, the laser component 33 is opened, laser beams of the laser generator are made to irradiate the surface of the photoelectric matrix sensor 4, surface position information of the photoelectric matrix sensor 4 is transmitted back through the submachine 6, the distance and the posture between the submachine 6 and the master machine 5 are analyzed and adjusted, and the submachine 6 and the master machine 5 are made to approach continuously until the submachine 6 enters the mechanical guide range;

step five: when the submachine 6 enters a mechanical guide range, the electromagnetic coil 14 is electrified to generate a magnetic field with the polarity opposite to that of the permanent magnet ball head 22, the electromagnetic traction column 13 and the permanent magnet ball head 22 are gradually butted and mutually attracted, the first screw rod 12 is controlled to rotate in the positive direction at the moment, the electromagnetic traction column 13 pulls the permanent magnet ball head 22 to move towards one end of the cascade pipe 11, the first screw rod 12 is gradually screwed into the screw rod hole at the moment, and the butt joint of the master machine 5 and the submachine 6 is finally completed.

In this embodiment, the fourth step includes the specific steps of: after the submachine 6 enters the photoelectric guide range, firstly opening a central laser generator, enabling a laser beam irradiation point of the central laser generator to enter the surface of a photoelectric matrix sensor 4 through scanning of an acoustic wave focusing plate component 3, enabling a master machine 5 to operate the central laser generator to lock the submachine 6, enabling the laser beam irradiation point to be located at the center of the photoelectric matrix sensor 4, then opening laser generators at four corners, enabling the laser generators at the four corners to completely irradiate the four corners of the photoelectric matrix sensor 4 through posture adjustment of the submachine 6 and the master machine 5, then analyzing and adjusting the distance and the posture between the submachine 6 and the master machine 5 through calculation of laser beam position change values at the four corners, and enabling the submachine 6 and the master machine 5 to be continuously close until the submachine 6 enters the mechanical guide range; laser generator is all equipped with in the center of laser instrument subassembly 33 and four corners, and the laser beam of the laser generator transmission in four corners and the laser beam of center laser generator transmission have the transmission contained angle, four corners laser generator uses center laser generator to be the rectangle arrangement as the mid point.

In this embodiment, when the aircraft needs to cascade and disintegrate, the mother machine 5 sends out a disintegration instruction to make the first lead screw 12 rotate reversely to drive the electromagnetic coil 14 and the permanent magnet ball head 22 to move towards the opening end of the permanent magnet ball head 22, when the first lead screw 12 is separated from the permanent magnet ball head 22, the electromagnetic coil 14 generates a magnetic field with the same polarity as the permanent magnet ball head 22 at this time to push out the permanent magnet ball head 22, and the sub machine 6 executes a separation instruction to fly away from the mother machine 5 to fly autonomously, so that the cascade and disintegration are completed.

When the aircraft needs to be cascaded and disassembled, the mother machine 5 sends out a disassembling instruction to enable the first screw rod 12 to rotate reversely to drive the electromagnetic traction column 13 and the permanent magnet ball head 22 to move towards the opening end of the cascade tube 11, after the permanent magnet ball head 22 is separated from the first screw rod 12, the electromagnetic coil 14 generates a magnetic field with the same polarity as the permanent magnet ball head 22, the permanent magnet ball head 22 is pushed out, meanwhile, the sub machine 6 executes a separating instruction to fly away from the mother machine 5 to fly independently, and the cascading and disassembling are completed; in the scheme, the same magnetic field is generated to push out the permanent magnetic ball head 22, so that the interference between the master machine 5 and the slave machine 6 is avoided when the master machine and the slave machine are separated from each other in the cascading and dissolving process; in fact, when the electromagnetic coil 14 generates the same magnetic field, the permanent magnet ball 22 is just pushed to the inner opening of the expansion section 15, so that the permanent magnet ball 22 is pushed out of the expansion section 15.

The specific working principle is as follows:

cascading a first stage: identity confirmation;

when the aircraft has the cascade requirement, the base confirms the cascade mother machine 5 and sends the cascade code and the cascade son machine 6 information to the mother machine 5 system; the master machine 5 sends a cascade instruction through the data transmission radio station after being confirmed, the identity code of the submachine 6 preset in the instruction is received by the slave machine 6, the identity of the submachine 6 is confirmed to be the current cascade submachine 6, the submachine 6 sends the identity code to the master machine 5, after verification, the cascade relation is established, a special cascade information transmission link is established, and the identity confirmation is completed, as shown in fig. 16.

And a second stage of cascading: audio guidance;

after the special information transmission link is established, the sub-machine 6 sends the instant audio characteristics to the main machine 5, the main machine 5 compares the received instant audio characteristics with the surrounding sound sources sent by the sound pickup 32 to confirm whether the sub-machine 6 enters an audio guidance range, and if the audio guidance information is established, the audio guidance information is established if the main machine 5 receives and compares the audio characteristics of the sub-machine 6; at the moment, the master machine 5 detects the maximum direction of the audio field intensity of the slave machine 6 by controlling the position and the posture of the sound wave focusing plate component 3, and the sound wave focusing plate component 3 captures and fixes the sound wave focusing plate component after the maximum direction of the field intensity is found; after the fixing, the angle positions of the X-axis server 35 and the Y-axis server 36 are the angles of the acoustic focusing plate assembly 3 pointing to the maximum direction of the audio field intensity of the submachine 6, and because the X-axis server 35 and the Y-axis server 36 have the function of angle sensors, the angle information pointed by the server of the acoustic focusing plate assembly 3 is the angle position relationship between the master machine 5 and the submachine 6, further, the instant audio information sent back by the submachine 6 to the master machine 5 through a data transmission radio station is compared with the audio information of the submachine 6 collected by the sound pickup 32 of the acoustic focusing plate assembly 3 of the master machine 5, the time difference between a wireless data transmission radio station link and an audio air transmission signal is calculated, and further, the distance relationship between the submachine 6 and the master machine 5 is calculated, wherein the wireless transmission time tends to zero, and at this time, the audio capturing process is completed; then the master machine 5 sends a cascade instruction through a data transmission radio link, the master machine 5 sends a proximity instruction after the sub machine 6 and the master machine 5 interact data, and the proper time position of the sub machine 6 is calculated by the angle data of the servo of the acoustic wave focusing plate component 3 and the data transmission radio \ audio delay difference data until the sub machine 6 enters the photoelectric guide range, as shown in fig. 17.

Cascading a third stage: photoelectric guiding;

after the sub-machine 6 enters the photoelectric guide range, the center positioning laser is opened, although the laser component 33 is coaxial with the sound wave focusing plate component 3 and has consistent directivity, the audio guide precision is relatively poor, the laser can not always smoothly irradiate the surface of the photoelectric matrix plate, at the moment, the laser is driven by the sound wave focusing plate component 3 to carry out large-range scanning (within the audio guide error range) until the laser beam irradiation point enters the surface of the photoelectric matrix plate, because the cascade information of the main machine 5 contained in the laser beam emitted by the laser is received by the sub-machine 6, the identity is confirmed by comparison, the confirmation information is sent back to the main machine 5 after the identity is confirmed, the main machine 5 operates the center positioning laser to lock the sub-machine 6, and transmits back the position information of the surface of the photoelectric matrix plate through the sub-machine 6 to correct the laser, so that the laser irradiation point is positioned at the center of the photoelectric matrix plate of the sub-machine 6, at this point the photo capture is complete and the audio guidance is over, as shown in fig. 18; then the master machine 5 opens the lasers at the four corners, the lasers at the four corners are completely irradiated on the four corners of the photoelectric matrix plate of the slave machine 6 through the posture adjustment of the slave machine 6 and the master machine 5, and the slave machine 6 and the master machine 5 enter an accurate butt joint state to achieve a state of high parallelism and cascade phase parallelism; the distance and the posture between the submachine 6 and the mother machine 5 are more accurately judged under the calculation and analysis of the position change values of the laser beams at the four corners, and according to the position information, the submachine 6 and the mother machine 5 are continuously close to each other, the relative position precision of the submachine 6 and the mother machine is already less than the size of the outer opening of the expansion section 15 of the cascade tube 11, and the two aircrafts are continuously close to each other, as shown in fig. 19.

Cascading a fourth stage: mechanical guiding and connecting;

when the two aircrafts extend out of the rear-stage link rod 21 with the precision smaller than the outer opening of the expansion section 15 of the cascade tube 11 and the distance reaching a preset range, the two aircrafts continue to approach; when the permanent magnet ball head 22 of the stage link 21 enters the outer opening of the expansion section 15, the permanent magnet ball head 22 is further guided to slide to the cascade tube 11 under the combined action of the large and gradually-reduced structure characteristic of the outer opening of the expansion section 15 and the continuous approach of the two machines, at this time, the head of the electromagnetic traction column 13 (the concave part with the same size as the ball head of the cascade rod 21) positioned in the cascade tube 11 is positioned at the foremost end of the cascade tube 11, namely the small end of the expansion section 15, the electromagnetic coil 14 is formed by an electrified magnetic field, and the magnetic field and the heteropole of the magnetic field of the permanent magnet ball head 22 at the ball head of the stage link 21 are in attraction relation; the permanent magnetic ball head 22 continues to enter the expansion section 15 until the head of the electromagnetic traction column 13 is sucked; at the moment, the central controller outputs an instruction to the server to drive the first screw rod 12 to rotate, so that the electromagnetic traction column 13 moves inwards, and the lower link rod 21 enters the cascade pipe 11 under the combined action of magnetic attraction and continuous approaching of two flyers; further, the electromagnetic traction column 13 moves inwards, the first screw rod 12 which is positioned in the electromagnetic traction column and rotates penetrates through the electromagnetic traction column 13 and is screwed into the inner screw hole of the cascade rod 21, the cascade rod 21 enters the cascade tube 11 at the moment and is concentric with the first screw rod 12, the cascade rod 21 and the first screw rod 12 are matched to form a pulling force, the cascade rod 21 is further pulled into the cascade tube 11 until the cascade rod 21 reaches a cascade completion position, the first screw rod 12 stops rotating and is locked, the electromagnet is powered off, the two machines are tightly connected together, and cascade completion is realized; the master unit 5 issues a cascade completion instruction, and the slave unit 6 enters the flight control of the master unit 5, as shown in fig. 20.

Cascading and resolving: the master machine 5 sends out a cascading and dissembling instruction, the first servo 16 rotates reversely to push the electromagnetic traction column 13 and the stage link rod 21 to move outwards, the electromagnetic coil 14 supplies power when the first screw rod 12 is separated from a screw hole of the stage link rod 21, the current of the electromagnetic coil 14 is opposite to that in cascading, a magnetic field with the same polarity as that of a permanent magnet head 22 of the stage link rod 21 is generated at the head of the electromagnetic traction column 13, the stage link rod 21 with the same polarity repelling with each other is pushed out of the cascade tube 11, meanwhile, the sub machine 6 executes a separating instruction to fly away from the master machine 5 to fly independently, and cascading and dissembling are completed.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The method for positioning the precise positioning device of the aircraft is characterized by comprising the following steps of:

the method comprises the following steps: when the aircraft has the need of cascade connection, the base confirms the cascade connection master machine (5), establishes the cascade connection relation between the master machine (5) and the slave machine (6), and establishes a cascade information transmission link;

step two: after the cascade information transmission link is established, the sub-machine (6) sends the instant audio characteristics to the master machine (5), the master machine (5) compares the received instant audio characteristics with surrounding sound sources sent by the sound pickup (32) and judges whether the sub-machine (6) enters an audio guidance range or not;

step three: when the submachine (6) enters the audio guidance range, the master machine (5) controls the movement of the focusing plate (31) to detect the maximum direction of the audio field intensity of the submachine (6), captures and fixes the submachine (6), calculates the distance and the angle between the submachine (6) and the master machine (5) according to the speed difference between the transmission of radio waves and sound waves after fixation, and enables the master machine (5) to send an approaching instruction until the submachine (6) enters the photoelectric guidance range;

step four: after the submachine (6) enters a photoelectric guide range, scanning through the sound wave focusing plate component (3), opening the laser component (33), enabling laser beams of a laser generator to irradiate the surface of the photoelectric matrix sensor (4), transmitting back surface position information of the photoelectric matrix sensor (4) through the submachine (6), analyzing and adjusting the distance and the posture between the submachine (6) and the master machine (5), and enabling the submachine (6) and the master machine (5) to be continuously close until the submachine (6) enters a mechanical guide range;

step five: when the submachine (6) enters a mechanical guide range, the electromagnetic coil (14) is electrified to generate a magnetic field with the polarity opposite to that of the permanent magnetic ball head (22), the electromagnetic traction column (13) and the permanent magnetic ball head (22) are gradually butted and mutually attracted, the first screw rod (12) is controlled to rotate in the positive direction at the moment, the electromagnetic traction column (13) pulls the permanent magnetic ball head (22) to move towards one end of the cascade pipe (11), the first screw rod (12) is gradually screwed into the screw rod hole at the moment, and the butt joint of the master machine (5) and the submachine (6) is finally completed;

the cascade assembly comprises a cascade tube assembly (1) arranged on a mother machine (5) and a cascade rod assembly (2) arranged on a son machine (6);

the cascade pipe assembly (1) comprises a cascade pipe (11), a first screw rod (12) and an electromagnetic traction column (13), one end of the cascade pipe (11) is fixedly arranged on the main machine (5), the other end of the cascade pipe is provided with an opening, the first screw rod (12) is arranged in the cascade pipe (11) and is arranged along the length direction of the cascade pipe (11), the first screw rod (12) and the cascade pipe (11) are coaxial, the electromagnetic traction column (13) is sleeved on the first screw rod (12), the first screw rod (12) can rotate around the axis of the first screw rod and is used for driving the electromagnetic traction column (13) to move along the length direction of the first screw rod (12), the cascade pipe (11) is further provided with a first limiting device, and the first limiting device is used for preventing the electromagnetic traction column (13) from rotating;

the cascade rod assembly (2) comprises a cascade link rod (21), one end of the cascade link rod (21) is arranged on the submachine (6), the other end of the cascade link rod is provided with a permanent magnet ball head (22), the cascade link rod (21) is provided with a screw rod hole for the first screw rod (12) to spirally extend into along the axis of the cascade link rod, and the screw rod hole sequentially penetrates through the cascade link rod (21) and the permanent magnet ball head (22);

the end part of the electromagnetic traction column (13) is provided with an end surface matched with the permanent magnet ball head (22), an electromagnetic coil (14) is arranged in the electromagnetic traction column (13), and the electromagnetic coil (14) changes a magnetic pole and is used for attracting or repelling the permanent magnet ball head (22);

the aircraft precise positioning device comprises an acoustic wave focusing plate assembly (3) arranged on a master machine (5) and a photoelectric matrix sensor (4) arranged on a slave machine (6);

the sound wave focusing plate assembly (3) comprises a focusing plate (31), a sound pick-up (32) and a laser assembly (33), the focusing plate (31) is a parabolic sound wave reflection focusing plate, the convex surface of the focusing plate (31) is arranged on a mother machine (5), the outer edge of a notch of the focusing plate (31) is provided with a plurality of supporting rods (37), the supporting rods (37) are connected with the sound pick-up (32), the working surface of the sound pick-up (32) is located at the focal point of the focusing plate (31), one end, away from the working surface, of the sound pick-up (32) is provided with the laser assembly (33), and the center of the focusing plate (31), the laser assembly (33) and the sound pick-up (32) are coaxially arranged;

the laser assembly (33) comprises a laser generator, and laser beams of the laser generator can irradiate on a photosensitive element (41) of the photoelectric matrix sensor (4) and are used for capturing the submachine (6) and controlling the master machine (5) and the submachine (6) to gradually approach to each other so that the cascade pipe assembly (1) and the cascade rod assembly (2) are butted.

2. The method for positioning the aircraft precision positioning device according to claim 1, wherein the cascade rod assembly (2) further comprises a cascade rod sleeve (23) and a second lead screw (24), one end of the cascade rod sleeve (23) is fixedly arranged on the sub-machine (6), the other end of the cascade rod sleeve (23) is open, the second lead screw (24) is arranged in the cascade rod sleeve (23) and is arranged along the length direction of the cascade rod sleeve (23), the second lead screw (24) can spirally extend into one end of a rod hole of the stage link rod (21) far away from the permanent magnet head (22), the stage link rod (21) is connected with the cascade rod sleeve (23) in a sliding manner, the second lead screw (24) can rotate around the axis of the second lead screw and is used for driving the stage link rod (21) to move along the length direction of the second lead screw (24), and the permanent magnet head (22) can extend out of the open end of the cascade rod sleeve (23), the cascade rod sleeve (23) is also provided with a second limiting device which is used for preventing the cascade rod (21) from rotating.

3. The method for positioning the precise positioning device of the aircraft according to claim 2, wherein the second limiting device comprises a stop pin (25), a stop pin groove (26) is formed in the inner side of the cascade rod sleeve (23) along the length direction of the cascade rod sleeve (23), one end of the stop pin (25) is connected with the stop pin groove (26) in a sliding mode and can slide along the length direction of the stop pin groove (26), and the other end of the stop pin (25) is fixedly connected with the secondary link rod (21).

4. The method for positioning the precise aircraft positioning device according to claim 1, characterized in that the open end of the cascade tube (11) is provided with an expansion section (15), and the caliber of the expansion section (15) is gradually increased along the direction from one end of the expansion section (15) close to the electromagnetic traction column (13) to the other end.

5. The method for positioning the aircraft precision positioning device according to claim 1, wherein the acoustic wave focusing plate assembly (3) further comprises a universal joint (34), the middle point of the convex surface of the focusing plate (31) is arranged on the mother machine (5) through the universal joint (34), the mother machine (5) is further provided with an X-axis servo (35) and a Y-axis servo (36), and the X-axis servo (35) and the Y-axis servo (36) are respectively used for driving the universal joint (34) to enable the focusing plate (31) to rotate towards the X-axis direction or the Y-axis direction.

6. The method for positioning an aircraft fine positioning device according to claim 1, wherein laser generators are arranged at the center and at the four corners of the laser assembly (33), laser beams emitted by the laser generators at the four corners and laser beams emitted by the center laser generator have emission included angles, and the laser generators at the four corners are arranged in a rectangular shape with the center laser generator as a midpoint.

7. The method for positioning the precise positioning device of the aircraft according to claim 1, wherein the specific steps of the fourth step include: when the sub-machine (6) enters the photoelectric guide range, the central laser generator is firstly opened, the laser beam irradiation point of the central laser generator enters the surface of the photoelectric matrix sensor (4) through the scanning of the sound wave focusing plate component (3), the main machine (5) controls the central laser generator to lock the sub-machine (6) so that the laser irradiation point is positioned at the center of the photoelectric matrix sensor (4), then the laser generators at the four corners are opened, the laser generators at the four corners are enabled to completely irradiate the four corners of the photoelectric matrix sensor (4) through the posture adjustment of the submachine (6) and the master machine (5), then, the distance and the posture between the submachine (6) and the master machine (5) are analyzed and adjusted through the calculation of the position change values of the laser beams at the four corners, so that the submachine (6) and the master machine (5) are continuously close to each other until the submachine (6) enters a mechanical guide range;

the center and the four corners of laser instrument subassembly (33) all are equipped with laser generator, and the laser beam of the laser generator transmission in four corners and the laser beam of center laser generator transmission have the transmission contained angle, the four corners laser generator uses center laser generator to be the rectangle arrangement as the mid point.

8. The positioning method of the aircraft precise positioning device according to claim 1, wherein when the aircraft needs cascade disassembly, the master (5) sends out a disassembly instruction to enable the first screw rod (12) to rotate reversely to drive the electromagnetic traction column (13) and the permanent magnetic ball head (22) to move towards the open end of the cascade pipe (11), and when the permanent magnetic ball head (22) is separated from the first screw rod (12), the electromagnetic coil generates a magnetic field with the same polarity as the permanent magnetic ball head (22) to enable the permanent magnetic ball head (22) to be pushed out, and meanwhile, the sub-machine (6) executes a separation instruction to fly away from the master (5) to fly independently, so that the cascade disassembly is completed.