CN117022719A - Autonomous docking large unmanned aerial vehicle landing gear and application method thereof - Google Patents
Autonomous docking large unmanned aerial vehicle landing gear and application method thereof Download PDFInfo
- Publication number
- CN117022719A CN117022719A CN202311025806.1A CN202311025806A CN117022719A CN 117022719 A CN117022719 A CN 117022719A CN 202311025806 A CN202311025806 A CN 202311025806A CN 117022719 A CN117022719 A CN 117022719A
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- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- landing gear
- docking
- landing
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 14
- 210000001503 joint Anatomy 0.000 description 3
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/30—Undercarriages detachable from the body
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses an autonomous docking large unmanned aerial vehicle landing gear and a use method thereof, wherein the landing gear is provided with an autonomous docking device, a docking port (6) is arranged above the docking device, and one or more electromagnets (2) are arranged on the contact surface of the docking port (6) and a machine body; two cameras (1) are arranged on the top surface of the docking device, and the image information of the cameras (1) is input into a communication and control module (4); an indicator lamp (3) is arranged on the landing gear. The landing gear solves the safety problem in the process of taking off and landing of the unmanned aerial vehicle with light weight and large volume, and the landing gear can carry the unmanned aerial vehicle to run to take off speed and then fall off from the unmanned aerial vehicle; the unmanned aerial vehicle can independently travel to the unmanned aerial vehicle landing point to dock in the unmanned aerial vehicle return landing process, and the weight of the unmanned aerial vehicle body is supported.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an autonomous docking large unmanned aerial vehicle landing gear and a use method thereof.
Background
At present, a plurality of companies develop long-endurance solar unmanned aerial vehicles, in order to save energy, the solar unmanned aerial vehicle cancels landing gear design for reducing self weight of the solar unmanned aerial vehicle, and takes off and lands by using external equipment. The landing gear is a device for supporting the gravity of the aircraft and bearing corresponding loads when the aircraft parks on the ground, slides, takes off and lands and slides. The solar unmanned aerial vehicle needs the landing gear to provide an initial navigational speed to ensure the lift force during take-off; when the long-endurance monitoring task is finished and the unmanned aerial vehicle is returned to the home after landing, the landing gear is required to have autonomous butt joint capability, the unmanned aerial vehicle landing point is found to support the unmanned aerial vehicle body, and the unmanned aerial vehicle is prevented from crashing.
Patent number CN107554807a discloses a docking system and docking method of an unmanned aerial vehicle and a base station, but the unmanned aerial vehicle used is a multi-rotor unmanned aerial vehicle, and the rotor unmanned aerial vehicle needs to be carried with a capturing mechanism, and has a complex structure; patent number CN114348281a discloses a docking system for unmanned aerial vehicle, and the docking mode mainly relies on acting as go-between and tension regulator to adjust unmanned aerial vehicle's speed and gesture, and the pulling force that the acting as go-between provided is limited, especially when there is the environmental disturbance, is not applicable to bulky unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an autonomous docking large unmanned aerial vehicle landing gear and a using method thereof, so as to solve the problem that the existing landing gear is not suitable for taking off and landing of a light-weight and large-volume unmanned aerial vehicle.
In order to achieve the above purpose, the specific technical scheme of the autonomous docking large unmanned aerial vehicle landing gear and the using method thereof are as follows:
an autonomous docking large unmanned aerial vehicle landing gear is carried with an autonomous docking device, a docking port 6 is arranged above the docking device, and one or more electromagnets 2 are arranged on the contact surface of the docking port 6 and a machine body; two cameras 1 are arranged on the top surface of the docking device, and the image information of the cameras 1 is input into a communication and control module 4; the landing gear is provided with an indicator lamp 3.
Wherein, the size of the interface 6 is matched with the size of the unmanned aerial vehicle body.
The communication and control module 4 tracks the current position of the unmanned aerial vehicle by using a KCF target tracking algorithm, calculates the position coordinates and attitude angles to be adjusted by the landing gear according to the position of the camera 1 and the current position of the landing gear, and then drives the landing gear to drive to the actual landing point of the unmanned aerial vehicle by using a tracking method.
Preferably, the power supply system 5 is included, and the power supply system 5 provides power for all electronic components on the landing gear.
The invention also provides a use method of the autonomous docking large unmanned aerial vehicle landing gear, which is based on the autonomous docking large unmanned aerial vehicle landing gear and comprises the following steps:
step one, fixing an electromagnet 2 for an unmanned aerial vehicle on a landing gear, and pushing the landing gear and a large unmanned aerial vehicle together to a take-off speed required by the unmanned aerial vehicle by using a motor vehicle;
step two, when the unmanned aerial vehicle and the landing gear successfully take off to the position of 2m, the landing gear is separated from the unmanned aerial vehicle in a mode that the electromagnet 2 is powered off;
thirdly, a communication and control module 4 carried on the landing gear after the unmanned aerial vehicle is homing receives the expected landing point of the unmanned aerial vehicle, the landing gear is pushed to the expected landing point 10m by using the motor vehicle, and at the moment, the indicator lamp 3 on the landing gear is changed from red to yellow;
and step four, controlling the driving wheels at the bottom of the landing gear to automatically run through the communication and control module 4, tracking the unmanned aerial vehicle to an actual landing point, and automatically docking the unmanned aerial vehicle body.
The autonomous docking large unmanned aerial vehicle landing gear and the use method thereof have the following advantages: the landing gear solves the safety problem in the process of taking off and landing of a light-weight and large-volume unmanned aerial vehicle, and can carry the unmanned aerial vehicle to run to take off speed and then drop off from the unmanned aerial vehicle; the unmanned aerial vehicle can independently travel to the unmanned aerial vehicle landing point to dock in the unmanned aerial vehicle return landing process, and the weight of the unmanned aerial vehicle body is supported.
Drawings
FIG. 1 is a front view of an autonomous docking large unmanned aerial vehicle landing gear of the present invention;
fig. 2 is a left side view of fig. 1.
Detailed Description
For better understanding of the purpose, structure and function of the present invention, an autonomous docking unmanned aerial vehicle landing gear and a method of using the same, will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-2, the autonomous docking unmanned aerial vehicle landing gear of the present embodiment includes a camera 1, an electromagnet 2, an indicator light 3, a communication and control module 4, a power supply system 5, and a docking port 6.
The landing gear is carried with the autonomous docking device, so that the relative movement generated between the landing gear and the unmanned aerial vehicle during working is reduced; the system has a positioning indication function and a small-range autonomous driving function.
The upper part of the docking device is provided with a docking port 6 according to the size of the unmanned aerial vehicle body, and one or more electromagnets 2 are arranged on the body contact surface of the docking port 6. And two cameras 1 are installed on the top surface of the docking device, image information is input into a communication and control module 4, the current position of the unmanned aerial vehicle is tracked by using a KCF target tracking algorithm, the position coordinates and the attitude angles to which the landing gear needs to be adjusted are obtained according to the position of the camera 1 and the current position of the landing gear, then the communication and control module 4 drives the landing gear to drive the landing gear to the actual landing point of the unmanned aerial vehicle by using a tracking method, and the indicator lamp 3 on the landing gear changes from yellow to green after the unmanned aerial vehicle is landed on the landing gear and is autonomously docked successfully. The power supply system 5 provides power to all electronic components on the landing gear.
The embodiment also provides a use method of the autonomous docking large unmanned aerial vehicle landing gear, which comprises the following steps:
step one, fixing an electromagnet 2 for an unmanned aerial vehicle on a landing gear, and pushing the landing gear and a large unmanned aerial vehicle together to a take-off speed required by the unmanned aerial vehicle by using a motor vehicle;
step two, when the unmanned aerial vehicle and the landing gear successfully take off to the position of 2m, the landing gear is separated from the unmanned aerial vehicle in a mode that the electromagnet 2 is powered off;
thirdly, a communication and control module 4 carried on the landing gear after the unmanned aerial vehicle is homing receives the expected landing point of the unmanned aerial vehicle, the landing gear is pushed to the expected landing point 10m by using the motor vehicle, and at the moment, the indicator lamp 3 on the landing gear is changed from red to yellow;
and fourthly, the landing gear controls the driving wheel to run autonomously through the communication and control module 4, tracks the unmanned aerial vehicle to an actual falling point, and is in autonomous butt joint with the unmanned aerial vehicle body, and after the autonomous butt joint is successful, the indicator light on the landing gear is changed from yellow to green.
Although embodiments of the present invention have been described in conjunction with the accompanying drawings, it will be apparent to those skilled in the art that several variations and modifications may be made without departing from the principles of the invention, which are also considered to be within the scope of the invention.
Claims (5)
1. The landing gear of the autonomous docking large unmanned aerial vehicle is characterized in that the landing gear is provided with an autonomous docking device, a docking port (6) is arranged above the docking device, and one or more electromagnets (2) are arranged on the contact surface of the docking port (6) and a machine body; two cameras (1) are arranged on the top surface of the docking device, and the image information of the cameras (1) is input into a communication and control module (4); an indicator lamp (3) is arranged on the landing gear.
2. Autonomous docking large unmanned aerial vehicle landing gear according to claim 1, characterized in that the size of the docking port (6) matches the unmanned aerial vehicle body size.
3. The autonomous docking large unmanned aerial vehicle landing gear according to claim 2, wherein the communication and control module (4) tracks the current position of the unmanned aerial vehicle by using a KCF target tracking algorithm, calculates the position coordinates and attitude angles to which the landing gear needs to be adjusted according to the position of the camera (1) and the current position of the landing gear, and then drives the landing gear to the actual landing point of the unmanned aerial vehicle by using a tracking method.
4. An autonomously docking unmanned aerial vehicle landing gear according to claim 3, characterised in that it comprises a power supply system (5), the power supply system (5) providing power to all electronic components on the landing gear.
5. A method of using an autonomous docking macropilot landing gear, characterized in that the method is based on the autonomous docking macropilot landing gear of claim 4, comprising the steps of:
step one, an electromagnet (2) for the unmanned aerial vehicle is fixed on a landing gear, and the landing gear and a large unmanned aerial vehicle are pushed together to the take-off speed required by the unmanned aerial vehicle by using a motor vehicle;
step two, when the unmanned aerial vehicle and the landing gear successfully take off to the position of 2m, the landing gear is separated from the unmanned aerial vehicle in a power-off mode of the electromagnet (2);
thirdly, a communication and control module (4) carried on the landing gear after the unmanned aerial vehicle is homing receives the expected landing point of the unmanned aerial vehicle, the landing gear is pushed to the expected landing point by using a motor vehicle, and at the moment, an indicator lamp (3) on the landing gear changes from red to yellow;
and step four, controlling the driving wheels at the bottom of the landing gear to automatically run through the communication and control module (4), tracking the unmanned aerial vehicle to an actual landing point, and automatically docking the unmanned aerial vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025806.1A CN117022719A (en) | 2023-08-15 | 2023-08-15 | Autonomous docking large unmanned aerial vehicle landing gear and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025806.1A CN117022719A (en) | 2023-08-15 | 2023-08-15 | Autonomous docking large unmanned aerial vehicle landing gear and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117022719A true CN117022719A (en) | 2023-11-10 |
Family
ID=88627696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311025806.1A Pending CN117022719A (en) | 2023-08-15 | 2023-08-15 | Autonomous docking large unmanned aerial vehicle landing gear and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117022719A (en) |
-
2023
- 2023-08-15 CN CN202311025806.1A patent/CN117022719A/en active Pending
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