CN115556957A - Auxiliary landing recovery system and auxiliary landing recovery method for multi-axis unmanned aerial vehicle - Google Patents
Auxiliary landing recovery system and auxiliary landing recovery method for multi-axis unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a multi-axis unmanned aerial vehicle auxiliary landing recovery system. Comprises an airborne recovery device and a grabbing recovery device; the airborne recycling device comprises a shell with a suction iron sheet at the bottom, and a controller module, a battery module, a Bluetooth module, a geomagnetic angle sensor and a gravity sensor are arranged in the shell; the grabbing and recycling device comprises an operating rod with a platform switching base, a rotary platform is mounted on the platform switching base, a swing angle platform is mounted on the rotary platform, an electromagnet is mounted in the middle of the swing angle platform, and the grabbing and recycling device further comprises a controller module, a battery module, a Bluetooth module, a geomagnetic angle sensor and a gravity sensor; airborne recovery unit sends multiaxis unmanned aerial vehicle's gesture data to grabbing recovery unit through the bluetooth connection. The invention also relates to an auxiliary landing recovery method based on the auxiliary landing recovery system. The invention realizes a grabbing type safe and passive landing mode for the multi-axis unmanned aerial vehicle, and solves the problem of landing and recovery of the unmanned aerial vehicle under special conditions.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multi-axis unmanned aerial vehicle auxiliary landing recovery system and an auxiliary landing recovery method.
Background
With the development of the unmanned aerial vehicle technology and the increasing popularization of the application of the unmanned aerial vehicle technology, a multi-axis unmanned aerial vehicle (such as a four-axis unmanned aerial vehicle) plays more and more remarkable roles in various industries, and particularly, the unmanned aerial vehicle is more widely applied in the field of aerial photography. The unmanned aerial vehicle needs to land and recover after finishing flight operation, the existing landing mode generally comprises remote control landing and autonomous landing, and the unmanned aerial vehicle finally lands on the ground or other landing surfaces. Through analyzing the landing state of the multi-axis unmanned aerial vehicle, the unmanned aerial vehicle needs to hover for vertical landing during landing, and the propeller is closed after landing on a horizontal landing surface.
When the environment that multiaxis unmanned aerial vehicle needs to descend is not flat ground or other planes, for example under descending conditions such as trees grove, personnel's intensive place, the vehicle that goes, the ground of slope, unmanned aerial vehicle can not steadily land, and the equilibrium when leading to descending is poor for unmanned aerial vehicle can produce when descending and empty the problem, can break unmanned aerial vehicle when serious, leads to unmanned aerial vehicle impaired, then can cause the screw to injure people's accident in personnel's intensive place. Specifically, the following three special touchdown recovery conditions can be given: one is to have a horizontal landing site, but the landing site is in a mobile state such as a sports vehicle like a car, a boat, etc.; the second is no horizontal field, such as woods, shrub grass, people, etc.; the third is that there is stable horizontal landing place, but the aircraft can not keep the horizontal landing state under the special weather condition such as strong wind. Under the special conditions, the existing multi-axis aircrafts cannot land safely and stably.
Therefore, a system and a method for assisting landing and recovery of a multi-axis unmanned aerial vehicle are required to be developed and designed, so that the unmanned aerial vehicle can normally land and recover under the condition of abnormal landing.
Disclosure of Invention
The invention provides a multi-axis unmanned aerial vehicle auxiliary landing recovery system for solving the technical problems in the known technology, the multi-axis unmanned aerial vehicle is subjected to grabbing type safe and passive landing, the problem of landing recovery of the unmanned aerial vehicle under special conditions is solved, and the safety of the unmanned aerial vehicle and surrounding personnel in the landing recovery process is improved.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: a multi-axis unmanned aerial vehicle auxiliary landing recovery system comprises an airborne recovery device arranged at the bottom of the multi-axis unmanned aerial vehicle and a grabbing recovery device held by an operator; the airborne recycling device comprises a shell, wherein the bottom of the shell is provided with an attraction iron sheet, a controller module, a battery module and a Bluetooth module are arranged in the shell, the battery module and the Bluetooth module are connected with the controller module, and the airborne recycling device also comprises a geomagnetic angle sensor and a gravity sensor, wherein the geomagnetic angle sensor and the gravity sensor are connected with the controller module; the grabbing and recycling device comprises an operating rod, a platform switching base is installed at the upper end of the operating rod, a rotary platform is installed on the platform switching base, a swing angle platform is installed on the rotary platform, an electromagnet is installed in the middle of the swing angle platform, the grabbing and recycling device further comprises a controller module, a battery module and a Bluetooth module, the battery module and the Bluetooth module are connected with the controller module, the electromagnet, a rotary motor of the rotary platform, a swing angle motor of the swing angle platform are connected with the controller module, the grabbing and recycling device further comprises a geomagnetic angle sensor and a gravity sensor, and the geomagnetic angle sensor and the gravity sensor are connected with the controller module; airborne recovery unit sends multiaxis unmanned aerial vehicle's gesture data to grabbing recovery unit through the bluetooth connection.
Preferably: machine carries recovery unit adopts detachable mode or fixed mode to be connected with multiaxis unmanned aerial vehicle, when adopting detachable mode to connect, machine carries recovery unit's shell adopts fixing bandage to be connected with multiaxis unmanned aerial vehicle's shell bottom, when adopting fixed mode to connect, machine carries recovery unit's shell and multiaxis unmanned aerial vehicle's shell bottom to fuse as an organic whole or adopts the screw connection.
Preferably: the grabbing and recycling device further comprises a first locking motor and a second locking motor, the first locking motor is used for locking a motor shaft of the rotary motor, the second locking motor is used for locking a motor shaft of the swing angle motor, and the first locking motor and the second locking motor are connected with a controller module of the grabbing and recycling device.
Preferably: snatch recovery unit's controller module, battery module, bluetooth module, rotating electrical machines and first locking motor, pivot angle motor and second locking motor, earth magnetism angle sensor and gravity sensor all install in rotating platform's shell, and rotating electrical machines's motor shaft stretches out and with platform switching base fixed connection from rotating platform's shell bottom.
Preferably: the middle part of the platform switching base is provided with a threaded hole, the upper end of the operating rod is provided with an external threaded part, and the upper end of the operating rod is in threaded connection with the platform switching base.
The invention has the advantages and positive effects that:
the invention provides a multi-axis unmanned aerial vehicle auxiliary landing recovery system, which realizes the technical effects of continuously acquiring flight attitude data of a multi-axis unmanned aerial vehicle and transmitting the flight attitude data by Bluetooth by arranging an airborne recovery device on the multi-axis unmanned aerial vehicle, and realizes the technical effects of receiving the flight attitude data of the multi-axis unmanned aerial vehicle by Bluetooth and automatically adjusting the attitude of an electromagnet to be parallel to an attraction iron sheet of the airborne recovery device according to the received attitude data by arranging a grabbing recovery device held by an operator. Through the in-process of recovering descending make the gesture of electro-magnet and the gesture of actuation iron sheet last adaptability adjustment, realized the passive descending recovery mode based on electro-magnet and actuation iron sheet absorption fixed mode, consequently multiaxis unmanned aerial vehicle need not to land on current landing surface under the special condition, but snatchs by the operator and descend the recovery, therefore solved the descending unstability that exists of current unmanned aerial vehicle when descending under the special condition, collision damage and security problem.
The invention further aims to provide an auxiliary landing recovery method based on the multi-axis unmanned aerial vehicle auxiliary landing recovery system.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: comprises the following steps of (a) preparing a solution,
s1, a multi-axis unmanned aerial vehicle flies and moves above a landing recovery place and hovers for flying; s2, detecting flight attitude data of the multi-axis unmanned aerial vehicle in real time by the airborne recovery device and sending the flight attitude data in a Bluetooth mode; s3, an operator holds the grabbing and recovering device in a hand and lifts the grabbing and recovering device, so that the top of the grabbing and recovering device is positioned below the airborne recovering device; s4, the grabbing and recycling device receives flight attitude data of the multi-axis unmanned aerial vehicle in a Bluetooth mode, detects the attitude data of the grabbing and recycling device, and then adaptively adjusts the attitude of the electromagnet until the attitude of the electromagnet is parallel to an attraction iron sheet at the bottom of the airborne recycling device; s5, the operator continues to lift the grabbing and recovering device, the electromagnet is made to contact with the attraction iron sheet, and the electromagnet and the attraction iron sheet are fixed in an adsorption mode; s6, the propeller is closed by the multi-axis unmanned aerial vehicle, and the auxiliary landing recovery process is completed.
Preferably: in the step S1, the multi-axis unmanned aerial vehicle moves above the recovery place in an autonomous flight or remote control flight mode and hovers.
Preferably: in the step S4, after the grabbing and recycling device receives the flight attitude data of the multi-axis unmanned aerial vehicle, the terminal position and the attitude of the electromagnet are calculated according to the flight attitude data and the detected self attitude data, then the slewing motor is instructed to act to drive the slewing platform to rotate at the adaptive angle in a slewing mode, and meanwhile the swing angle motor is instructed to act to drive the swing angle platform to swing at the adaptive angle until the electromagnet is parallel to the suction iron sheet.
Preferably: and step S5 and step S6 are also included to lock the grabbing and recovering device, and motor shafts of the rotary motor and the swing angle motor are locked after the electromagnet of the grabbing and recovering device and the attraction iron sheet of the airborne recovering device are judged to be adsorbed and fixed.
Drawings
FIG. 1 is a hardware block diagram of the auxiliary drop recovery system of the present invention;
FIG. 2 is a schematic view of the combination of the onboard recovery device and the grabber recovery device shown in FIG. 1;
FIG. 3 is a block diagram of the auxiliary fall recovery system of the present invention;
fig. 4 is a schematic view of the operating state of the present invention.
In the figure:
1. a multi-axis drone; 2. fixing a binding band; 3. a swing angle platform; 4. a rotating platform; 5. a platform switching base; 6. an operating lever.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are described in detail.
Referring to fig. 1 and 2, the auxiliary landing recovery system for a multi-axis unmanned aerial vehicle of the present invention includes an onboard recovery device mounted at the bottom of the multi-axis unmanned aerial vehicle 1 and a catch recovery device held by an operator.
The working principle of the system is as follows: snatch formula descending to multiaxis unmanned aerial vehicle 1 and retrieve, in multiaxis unmanned aerial vehicle 1's descending stage, machine carries recovery unit and continuously detects multiaxis unmanned aerial vehicle 1's flight gesture and outwards sends flight attitude data, it receives multiaxis unmanned aerial vehicle 1's flight attitude data and combines the self attitude data that detects to snatch recovery unit, adaptation adjustment self gesture is until the gesture looks adaptation with multiaxis unmanned aerial vehicle 1, and accomplish and keep aforementioned adaptation operating mode before snatching the action dynamically, later snatch the operation, therefore multiaxis unmanned aerial vehicle 1 has realized the safe descending of passive form (relative with initiative landing mode) and has retrieved, like this under the all kinds of special descending conditions that the background art part mentioned, can avoid unmanned aerial vehicle multiaxis 1 to appear descending, collision damage and security problem.
Referring to fig. 1 and 3, it can be seen that:
the airborne recycling device comprises a shell, wherein the bottom of the shell is provided with an attraction iron sheet, and a controller module, a battery module and a Bluetooth module are arranged in the shell and connected with the controller module. The device also comprises a geomagnetic angle sensor and a gravity sensor, wherein the geomagnetic angle sensor and the gravity sensor are connected with the controller module. Wherein, the actuation iron sheet be used for and snatch produce between the recovery unit and adsorb the fixed action, the actuation iron sheet is fixed in the bottom of shell, in order to guarantee reliable absorption fixed effect, the lower surface of actuation iron sheet should level and smooth, because machine carries recovery unit to install and fixes in multiaxis unmanned aerial vehicle 1's bottom, consequently machine carries recovery unit and the gesture of actuation iron sheet and multiaxis unmanned aerial vehicle 1 is unanimous.
The controller module is constructed based on the PLC chip and is used for controlling accessories of the airborne recovery device and calculating data; the battery module is used for providing a power supply for the airborne recovery device, a rechargeable battery is selected, a charging interface is arranged on a shell of the device, and charging is carried out when the power is insufficient; the Bluetooth module is used for communication in a Bluetooth mode, and comprises communication with the multi-axis unmanned aerial vehicle 1 and communication with the grabbing and recovering device; geomagnetic angle sensor and gravity sensor are used for perception multiaxis unmanned aerial vehicle 1's gesture, wherein geomagnetic angle sensor is used for measuring geomagnetic angle data, this data reflection multiaxis unmanned aerial vehicle 1 and the actuation iron sheet and the angle between the earth magnetism line, reflect multiaxis unmanned aerial vehicle 1 and the actuation iron sheet in the geomagnetic field environment and the relative position relation between the earth magnetism line, gravity sensor is used for measuring multiaxis unmanned aerial vehicle 1 and the actuation iron sheet and the contained angle data between the horizontal direction, this data reflection multiaxis unmanned aerial vehicle 1's gesture.
The geomagnetic angle sensor and the gravity sensor are currently existing components, and are widely used in products such as mobile phones through purchasing, wherein the geomagnetic angle sensor is also called a magnetic sensor in the mobile phones, and the gravity sensor is also called a motion sensor. Wherein, magnetic sensor is used for detecting the magnetic field, and most of smart mobile phones have all been equipped with magnetic sensor, and application such as compass of cell-phone uses magnetic sensor to instruct north pole, the map navigation of earth, and some application use magnetic sensor to detect metal material, and gravity sensor's principle is: the sensor is realized through a piezoelectric effect, a heavy object and a piezoelectric sheet in the sensor are integrated, and the horizontal direction is calculated through the voltage generated in two orthogonal directions. In this embodiment, the model of the geomagnetic angle sensor is QMC5883L, and the model of the gravity sensor is DA228.
Airborne recovery unit adopts detachable mode or fixed mode to be connected with multiaxis unmanned aerial vehicle 1: when the detachable connection is adopted, the shell of the airborne recovery device is connected with the bottom of the shell of the multi-axis unmanned aerial vehicle 1 through the fixing bandage 2, specifically, the shell of the airborne recovery device is stacked at the bottom of the shell of the multi-axis unmanned aerial vehicle 1 and is fixed through the left fixing bandage 2 and the right fixing bandage 2, the fixing reliability is guaranteed, the relative displacement between the airborne recovery device and the unmanned aerial vehicle is avoided, and the consistency between the suction iron sheet and the posture of the unmanned aerial vehicle is guaranteed; when adopting fixed mode to connect, the shell of machine carries recovery unit and multiaxis unmanned aerial vehicle's shell bottom fuses as an organic whole or adopts screw connection, and in this kind of connected mode promptly, machine carries recovery unit can not take off from multiaxis unmanned aerial vehicle 1 wantonly.
Compare say, the airborne recovery unit of detachable mode can be as required to the multiaxis unmanned aerial vehicle 1 of difference on the installation use, therefore the commonality is better, and the airborne recovery unit of fixed mode carries out the one-to-one with multiaxis unmanned aerial vehicle 1 and matches the use, can guarantee with the combination reliability between the multiaxis unmanned aerial vehicle 1. The specific structural form of the onboard recovery device is selected according to the requirement.
Referring to fig. 2 and 3, it can be seen that:
snatch recovery unit includes action bars 6, installs platform switching base 5 in the upper end of action bars 6, installs rotary platform 4 on platform switching base 5, installs pivot angle platform 3 on rotary platform 4, has the electro-magnet at the mid-mounting of pivot angle platform 3. The operating rod 6 is used for an operator to hold and lift the upper end assembly, the platform transfer base 5 serves as a base of the upper rotary platform 4 and the swing angle platform 3, the swing angle platform 3 uses the base of the rotary platform 4, and the electromagnet uses the swing angle platform 3 as a base. The rotary platform 4 can perform a rotating action, and the swing angle platform 3 can perform a swinging action towards two sides, so that the position and the posture of the electromagnet are changed when the two actions occur.
The electro-magnet is used for producing magnetism and inhales suction, when the execution snatchs the action, and the electro-magnet adsorbs the actuation paster that carries recovery unit, and both adsorb fixedly steadily after, multiaxis unmanned aerial vehicle 1, machine carry recovery unit and snatch the recovery unit three and combine into an organic whole, realize descending the recovery to unmanned aerial vehicle's supplementary. Initially the electromagnet should be in a neutral position, i.e. directly above the middle of the rotating platform 4.
In this embodiment, a threaded hole is formed in the middle of the platform adapter base 5, an external threaded portion is formed in the upper end of the operating rod 6, and the upper end of the operating rod 6 is in threaded connection with the platform adapter base 5, so that the operating rods 6 with different lengths can be selectively installed as required.
The rotary platform 4 is provided with a shell, the swing angle platform 3 is in an inverted U shape, shaft seats are arranged on two sides of the shell of the rotary platform 4, rotating shafts are arranged in the two shaft seats, the outer ends of the two rotating shafts are fixedly connected with two ends of the swing angle platform 3 respectively, one of the rotating shafts is driven, and then the swing angle platform 3 executes the swinging motion towards two sides.
The device also comprises a controller module, a battery module and a Bluetooth module which are connected with the controller module, wherein the electromagnet, the rotary motor of the rotary platform 4 and the swing motor of the swing platform 3 are connected with the controller module.
The controller module is constructed based on the PLC chip and is used for controlling accessories of the grabbing and recycling device and calculating data; the battery module is used for providing a power supply for the grabbing and recycling device, a rechargeable battery is selected, a charging interface is arranged on the shell of the rotary platform 4, and charging is carried out when the power is insufficient; the Bluetooth module is used for communication in a Bluetooth mode, and comprises communication with the multi-axis unmanned aerial vehicle 1 and communication with the airborne recovery device; the geomagnetic angle sensor and the gravity sensor are used for sensing the postures (namely the positions and the postures of the electromagnets) of the grabbing and recycling device, wherein the geomagnetic angle sensor is used for measuring geomagnetic angle data, the data reflects the angle between the electromagnets and the geomagnetic lines and the relative position relation between the electromagnets and the geomagnetic lines in the geomagnetic field environment, and the gravity sensor is used for containing angle data between the electromagnets and the horizontal direction, and the data reflects the postures of the electromagnets.
The geomagnetic angle sensor and the gravity sensor of the grabbing and recycling device are completely consistent with those of the airborne recycling device, and are not repeated here.
In this embodiment, the grabbing and retrieving device further includes a first locking motor for locking a motor shaft of the rotary motor and a second locking motor for locking a motor shaft of the swing angle motor, and the first locking motor and the second locking motor are connected to the controller module of the grabbing and retrieving device. The first locking motor and the second locking motor are arranged to function as follows: after the completion adsorbs fixedly, the motor shaft of locking rotating electrical machines makes it no longer act at will, the motor shaft of locking pendulum angle motor makes it no longer act at will, after the locking was accomplished to two positions, each subassembly in top of snatching recovery unit formed rigid assembly, guarantee after accomplishing snatch with the unmanned aerial vehicle further descend the in-process of retrieving (reduce unmanned aerial vehicle's height and follow the process of snatching recovery unit and take off) unmanned aerial vehicle can not take place random rocking, avoid unmanned aerial vehicle to drop.
Specifically, the first locking motor is installed in the side position of rotary motor, sets up screw thread portion and install the lockpin on screw thread portion on its motor shaft, correspondingly at rotary motor's motor shaft mid-mounting locking piece, and when first locking motor's motor shaft rotated, the lockpin stretched out forward and with the locking piece cooperation, with rotary motor locking at present state, when first locking motor reverses, the lockpin retreated. Similarly, the second locking motor is installed in the side position of pivot angle motor, sets up screw thread portion and install the lockpin on screw thread portion on its motor shaft, correspondingly at the motor shaft mid-mounting lock piece of pivot angle motor, when the motor shaft of second locking motor rotated, the lockpin stretched out forward and with the lock piece cooperation, with the pivot angle motor locking at current state, when the reversal of second locking motor, the lockpin was retreated.
In this embodiment, snatch recovery unit's controller module, battery module, bluetooth module, rotating electrical machines and first locking motor, pivot angle motor and second locking motor, earth magnetism angle sensor and gravity sensor all install in rotating platform 4's shell, and rotating electrical machines's motor shaft stretches out and with platform switching base 5 fixed connection from rotating platform 4's shell bottom, the motor shaft of pivot angle motor and the inner fixed connection of one of them pivot of pivot angle platform 3. And a reset key is also arranged on the shell of the rotary platform 4 of the grabbing and recycling device and is connected with the controller module, and after the reset key is triggered, the grabbing and recycling device is reset to an initial state.
The auxiliary landing recovery method based on the auxiliary landing recovery system of the multi-axis unmanned aerial vehicle comprises the following steps:
s1, the multi-axis unmanned aerial vehicle 1 flies and moves to a position above a landing recovery place and hovers;
in this step, the multi-axis drone 1 moves above the recovery site and hovers in an autonomous flight or remote control flight manner. Specifically, for an unmanned aerial vehicle with an autonomous landing function, when executing a landing procedure, the unmanned aerial vehicle firstly moves to a position above a selected landing position in an autonomous flying manner, then descends to a set height and hovers at the height position for flying, and for the unmanned aerial vehicle operated in a remote control manner, an operator controls the unmanned aerial vehicle to move to the position above the selected landing position in a flying manner through a remote control manner, and controls the unmanned aerial vehicle to descend to a proper height in a remote control manner and hover for flying at the height position. Generally, before the unmanned aerial vehicle performs the specific operation of landing and recovering, the height of hovering flight should be greater than the height of an ordinary person, for example, the hovering height may be set to 2m for the unmanned aerial vehicle with an autonomous landing function, and for the remote control type unmanned aerial vehicle, the height is selected to be about 2m through the remote control controller.
It is noted that the term "hover flight" in this step is a broad hover, and includes two specific scenarios: 1) When the ground or a fixed plane is taken as a landing surface, because the landing surface is static, hovering flight in the scene means that the unmanned aerial vehicle is positioned at a certain height position above the landing surface and keeps a relative approximate static state, and the attitude of the unmanned aerial vehicle is approximate to a vertical attitude, namely the central line of the unmanned aerial vehicle is approximate to a vertical direction; 2) When a moving vehicle such as a vehicle, a ship and the like in a moving state is taken as a landing platform, because the landing surface is moved, hovering flight in the situation means that the unmanned aerial vehicle is positioned above the landing surface at a certain height and moves synchronously with the moving vehicle, and keeps a relative approximate static state, and the posture of the unmanned aerial vehicle is in an inclined state, namely, a certain included angle is formed between the central line of the unmanned aerial vehicle and the vertical direction.
S2, detecting flight attitude data of the multi-axis unmanned aerial vehicle in real time by an airborne recovery device and sending the flight attitude data in a Bluetooth mode;
the airborne recycling device receives current state information of hovering flight above a landing position and executing a landing program from the unmanned aerial vehicle in a Bluetooth communication mode, and then the controller module of the airborne recycling device acquires unmanned aerial vehicle flight attitude data acquired by the geomagnetic angle sensor and the gravity sensor.
The airborne recovery device finishes the judgment of the flight attitude of the unmanned aerial vehicle, and sends the flight attitude data in a Bluetooth communication mode, and the operations of detecting the attitude and sending the attitude data are continuously carried out before the completion of grabbing.
S3, an operator holds the grabbing and recovering device in a hand and lifts the grabbing and recovering device, so that the top of the grabbing and recovering device is positioned below the airborne recovering device;
as shown in fig. 4, the operator holds the lower end of the operating lever 6, lifts the upper end assembly and moves the top portion below the onboard recovery device, at which time the position and attitude of both the electromagnet of the grab recovery device and the attracting iron plate of the onboard recovery device are not adapted due to the operator's inability to vertically lift the grab recovery device (and often inability to stably lift).
S4, the grabbing and recycling device receives flight attitude data of the multi-axis unmanned aerial vehicle in a Bluetooth mode, detects the attitude data of the grabbing and recycling device, then adaptively adjusts the attitude of the electromagnet until the attitude of the electromagnet is parallel to an attraction iron sheet at the bottom of the airborne recycling device, and then the electromagnet is electrified;
the grabbing and recycling device receives flight attitude data from the onboard recycling device in a Bluetooth communication mode, a controller module of the grabbing and recycling device obtains self attitude data obtained by a geomagnetic angle sensor and a gravity sensor, then the controller module of the grabbing and recycling device calculates two groups of attitude data, firstly, a difference value of the attitude data is obtained, and then, an angle which the rotary platform 4 should rotate and an angle value which the swing angle platform 3 should swing are obtained through calculation.
After the calculation is completed, the controller module instructs the rotary motor and the swing angle motor to respectively execute corresponding driving actions, so that the rotary platform 4 rotates by a corresponding angle and the swing angle platform 3 swings by a corresponding angle, and after the self-adaptive adjustment, the electromagnet at the top is subjected to position deviation and posture change until the electromagnet is parallel to the suction patch. It is worth noting that before the grabbing action is completed, the aforesaid adaptation adjustment is continuously carried out, namely the unmanned aerial vehicle hovers in the air for a certain extent and shakes, the grabbing recovery device also shakes in a certain extent due to unstable lifting of the operator, the airborne recovery device continuously acquires attitude data and sends the attitude data, and the grabbing recovery device continuously acquires the attitude data and carries out adaptation adjustment on the position and the attitude of the electromagnet.
The specific actions performed in this step are: snatch recovery unit and receive multiaxis unmanned aerial vehicle 1's flight attitude data after, according to this flight attitude data and self attitude data calculation electro-magnet's that detect terminal position and gesture, later instruct the angle of swing motor action drive swing platform 4 gyration rotation adaptation, instruct the angle of swing motor action drive swing platform 3 swing adaptation simultaneously, parallel until electro-magnet and actuation iron sheet.
S5, the operator continues to lift the grabbing and recycling device, the electromagnet is made to contact with the attraction iron sheet, the electromagnet and the attraction iron sheet are fixedly adsorbed, and the unmanned aerial vehicle with the airborne recycling device is combined with the grabbing and recycling device below the unmanned aerial vehicle into a whole;
still include the locking and snatch recovery unit's step, judge that the electro-magnet of snatching recovery unit and machine carry the actuation iron sheet of recovery unit and accomplish to adsorb after fixed, motor shaft between locking rotary motor and the pivot angle motor, specifically as before: the controller module instructs the first locking motor and the second locking motor to act, the rotating motor and the swing angle motor are locked at the same time, and the unmanned aerial vehicle caused by random action of the grabbing and recovering device is prevented from falling off.
S6, the propeller of the multi-axis unmanned aerial vehicle 1 is closed, and the auxiliary landing recovery process is completed; later the operator will snatch recovery unit and transfer together with unmanned aerial vehicle, trigger and snatch the button that resets on the recovery unit, receive the recovery unit and reset (the electro-magnet falls the electricity, and pivot angle platform 3 resets to the intermediate position swing), and finally unmanned aerial vehicle drops from the top of snatching recovery unit.
Claims (9)
1. The utility model provides a supplementary descending recovery system of multiaxis unmanned aerial vehicle, characterized by: the unmanned aerial vehicle comprises an airborne recovery device arranged at the bottom of a multi-axis unmanned aerial vehicle (1) and a grabbing recovery device held by an operator; the airborne recycling device comprises a shell, wherein the bottom of the shell is provided with an attraction iron sheet, a controller module, a battery module and a Bluetooth module are arranged in the shell, the battery module and the Bluetooth module are connected with the controller module, and the airborne recycling device also comprises a geomagnetic angle sensor and a gravity sensor, wherein the geomagnetic angle sensor and the gravity sensor are connected with the controller module; the grabbing and recycling device comprises an operating rod (6), a platform switching base (5) is installed at the upper end of the operating rod (6), a rotary platform (4) is installed on the platform switching base (5), a swing angle platform (3) is installed on the rotary platform (4), an electromagnet is installed in the middle of the swing angle platform (3), the grabbing and recycling device further comprises a controller module, a battery module and a Bluetooth module, wherein the battery module and the Bluetooth module are connected with the controller module; the airborne recovery device sends attitude data of the multi-axis unmanned aerial vehicle (1) to the grabbing recovery device through Bluetooth connection.
2. The multi-axis unmanned aerial vehicle assisted landing recovery system of claim 1, wherein: the machine carries recovery unit adopts detachable mode or fixed mode to be connected with multiaxis unmanned aerial vehicle (1), and when adopting detachable mode to connect, machine carries recovery unit's shell adopts fixing bandage (2) to be connected with multiaxis unmanned aerial vehicle's (1) shell bottom, and when adopting fixed mode to connect, machine carries recovery unit's shell and multiaxis unmanned aerial vehicle's (1) shell bottom fusion and as an organic whole or adopts the screw connection.
3. The multi-axis unmanned aerial vehicle assisted landing recovery system of claim 2, wherein: the grabbing and recycling device further comprises a first locking motor used for locking a motor shaft of the rotary motor and a second locking motor used for locking a motor shaft of the swing angle motor, and the first locking motor and the second locking motor are connected with a controller module of the grabbing and recycling device.
4. The multi-axis unmanned aerial vehicle assisted landing recovery system of claim 3, wherein: snatch recovery unit's controller module, battery module, bluetooth module, rotating electrical machines and first locking motor, pivot angle motor and second locking motor, earth magnetism angle sensor and gravity sensor all install in the shell of rotary platform (4), and rotating electrical machines's motor shaft stretches out and with platform switching base (5) fixed connection from the shell bottom of rotary platform (4).
5. The multi-axis unmanned aerial vehicle assisted landing recovery system of claim 4, wherein: a threaded hole is formed in the middle of the platform switching base (5), an external threaded part is arranged at the upper end of the operating rod (6), and the upper end of the operating rod (6) is in threaded connection with the platform switching base (5).
6. The auxiliary landing recovery method of the multi-axis unmanned aerial vehicle auxiliary landing recovery system based on any one of claims 1 to 5, characterized in that: comprises the following steps of (a) carrying out,
s1, a multi-axis unmanned aerial vehicle flies and moves above a landing recovery place and hovers for flying;
s2, detecting flight attitude data of the multi-axis unmanned aerial vehicle in real time by the airborne recovery device and sending the flight attitude data in a Bluetooth mode;
s3, an operator holds the grabbing and recovering device in a hand and lifts the grabbing and recovering device, so that the top of the grabbing and recovering device is positioned below the airborne recovering device;
s4, the grabbing and recycling device receives flight attitude data of the multi-axis unmanned aerial vehicle in a Bluetooth mode, detects the attitude data of the grabbing and recycling device, and then adaptively adjusts the attitude of the electromagnet until the attitude of the electromagnet is parallel to an attraction iron sheet at the bottom of the airborne recycling device;
s5, the operator continues to lift the grabbing and recycling device to enable the electromagnet to be in contact with the attraction iron sheet, and the electromagnet and the attraction iron sheet are fixed in an adsorption mode;
s6, the propeller is closed by the multi-axis unmanned aerial vehicle, and the auxiliary landing recovery process is completed.
7. An assisted fall recovery method according to claim 6, further comprising: in the step S1, the multi-axis unmanned aerial vehicle moves above the recovery place in an autonomous flight or remote control flight mode and hovers.
8. An assisted fall recovery method according to claim 7, further comprising: in the step S4, after the grabbing and recovering device receives the flight attitude data of the multi-axis unmanned aerial vehicle, the terminal position and the attitude of the electromagnet are calculated according to the flight attitude data and the detected self attitude data, then the swing motor is instructed to act to drive the swing platform to rotate for a matched angle, and meanwhile, the swing motor is instructed to act to drive the swing platform to swing for a matched angle until the electromagnet is parallel to the attraction iron sheet.
9. An assisted fall recovery method according to claim 8, further comprising: and step S5 and step S6 are also included to lock the grabbing and recovering device, and motor shafts of the rotary motor and the swing angle motor are locked after the electromagnet of the grabbing and recovering device and the attraction iron sheet of the airborne recovering device are judged to be adsorbed and fixed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211218344.0A CN115556957A (en) | 2022-10-03 | 2022-10-03 | Auxiliary landing recovery system and auxiliary landing recovery method for multi-axis unmanned aerial vehicle |
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| CN202211218344.0A CN115556957A (en) | 2022-10-03 | 2022-10-03 | Auxiliary landing recovery system and auxiliary landing recovery method for multi-axis unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116605406A (en) * | 2023-07-18 | 2023-08-18 | 深圳市慧明捷科技有限公司 | Throwing system, control method thereof and flying equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116605406A (en) * | 2023-07-18 | 2023-08-18 | 深圳市慧明捷科技有限公司 | Throwing system, control method thereof and flying equipment |
| CN116605406B (en) * | 2023-07-18 | 2023-10-13 | 深圳市慧明捷科技有限公司 | Throwing system, control method thereof and flying equipment |
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