CN206537499U - Unmanned plane - Google Patents
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- CN206537499U CN206537499U CN201720191568.5U CN201720191568U CN206537499U CN 206537499 U CN206537499 U CN 206537499U CN 201720191568 U CN201720191568 U CN 201720191568U CN 206537499 U CN206537499 U CN 206537499U
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- 230000001939 inductive effect Effects 0.000 claims abstract description 135
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Abstract
The utility model proposes a kind of unmanned plane, including control device and one or more inductive switches, one or more of inductive switches are connected with the control device, one or more positions of the unmanned plane are respectively arranged at, status information of the control device based on the inductive switch controls the operating condition of the power set of the unmanned plane.The utility model can realize that the landing state automatically according to unmanned plane controls the operating of power set, and shorten the response time that power set shut down after landing.
Description
Technical field
The utility model is related to unmanned air vehicle technique field, more particularly to a kind of unmanned plane.
Background technology
The landing of current multi-rotor unmanned aerial vehicle, it is necessary to artificially confirm safe falling condition, then it is artificial start manually or from
Dynamic landing procedure.The reason for if as maloperation or external force, unmanned plane fall out-of-flatness or it is other be unsatisfactory for land bar
The place of part, it is possible to unmanned plane can be caused to be turned on one's side because of disequilibrium, causes generation aircraft accident.
In addition, during manual control lands, unmanned plane is stalled from landing to motor, it is necessary to remote controller, hair
Go out specific motor stalling instruction, this usually requires even complete for more time for several seconds.During this, motor is still located
In the state of running at high speed, once unmanned plane is turned on one's side because of disequilibrium, it is possible to the crowd of unmanned plane and surrounding can be made
Into very big infringement.
Utility model content
In view of above-mentioned condition, the purpose of this utility model is to provide a kind of unmanned plane, realizes and dropped automatically according to unmanned plane
Fall state and control the operating of power set, and shorten the response time that power set shut down after landing.
The utility model embodiment provides a kind of unmanned plane, including control device and one or more inductive switches, institute
State one or more inductive switches to be connected with the control device, be respectively arranged at one or more positions of the unmanned plane
Put, status information of the control device based on the inductive switch controls the operating condition of the power set of the unmanned plane.
Further, in described unmanned plane, in one or more of inductive switches in the UAV Landing energy
It is enough to be triggered by landing platform.
Further, the unmanned plane includes a fuselage and at least one is installed on the foot stool of the fuselage, described one
Individual or multiple inductive switches are respectively arranged at least one in the fuselage and at least one described foot stool.
Further, in described unmanned plane, one or more of inductive switches are arranged on the fuselage.
Further, in described unmanned plane, one or more of inductive switches are arranged at least one described foot stool
On.
Further, in described unmanned plane, multiple inductive switches be respectively arranged at the fuselage and it is described at least
On one foot stool.
Further, in described unmanned plane, one or more inductive switches are when user holds the unmanned plane
And be triggered.
Further, in described unmanned plane, the inductive switch be proximity switch, the proximity switch it is described nobody
It is triggered when machine is close to landing platform.
Further, in described unmanned plane, one or more of inductive switches are vision sensor, supersonic sensing
At least one of device or pressure sensor.
The accessible beneficial effect of the utility model includes：Realize automatically according to whether unmanned plane lands to control unmanned plane
The operating condition of power set, without manual operation；Whether the landing state of automatic detection unmanned plane is normal, and automatic control according to this
The operating of Unmanned Aerial Vehicle Powerplants processed；Greatly shorten from unmanned plane and drop to the time that power set shut down, it is to avoid be special
In the case of unmanned plane is damaged in itself or to user.
Brief description of the drawings
Fig. 1 is a kind of system diagram of the utility model embodiment general principle；
Fig. 2 is a kind of schematic diagram for unmanned plane landing control device that the utility model embodiment is provided；
Fig. 3 is the schematic diagram for another unmanned plane landing control device that the utility model embodiment is provided；
Fig. 4 is the monitoring flow chart that is related in a kind of unmanned plane landing control device that the utility model embodiment is provided；
Fig. 5 is a kind of schematic diagram for unmanned plane that the utility model embodiment is provided；
Fig. 6 is the schematic diagram for another unmanned plane that the utility model embodiment is provided.
Description of reference numerals：
Control device -10
Monitoring modular -11
Judge module -12
Control module -13
Trigger module -14
Inductive switch -20
Power set -30
Unmanned plane -50
Another unmanned plane -110
Vision sensor -21
Ultrasonic sensor -22
Proximity switch -23
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole realities
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of the utility model protection.
It should be noted that when a component is considered as " connection " another component, it can be directly to separately
One component may be simultaneously present the component being centrally located.When a component is considered as " being arranged on " another component,
It can be set directly on another component or may be simultaneously present the component being centrally located.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is herein to be in term used in the description of the present utility model
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
The arbitrary and all combination of one or more related Listed Items.Term as used herein " upper and lower, left and right " etc.
Specific position relationship is not intended to limit, is mainly used in making a distinction the title of element.
Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case where not conflicting, under
Feature in the embodiment and embodiment stated can be mutually combined.
The utility model proposes a kind of unmanned plane landing control device and unmanned plane.Unmanned plane is that one kind can carry phase
Machine, sensor, communication equipment or other payload, can controlled, follow-on mission, and generally provide power by engine
Remote driving or self-driving aircraft, it can the flight plan autonomous flight based on pre-programmed.Unmanned plane is increasingly being used for
Complete various manned vehicles be unsuitable for complete task, military aspect include as monitoring, scouting, Target Acquisition, data acquisition,
Communication relay, bait, harassing and wrecking etc., civilian aspect include as fire-fighting, natural calamity scout, police observation civil strike or scene of a crime with
And scientific research etc..
Fig. 1 is a kind of system diagram of the utility model embodiment general principle, wherein, control device 10 connects power respectively
Device 30 and inductive switch 20, the status information for the inductive switch 20 that its basis is monitored, to control the operating of power set 30
State.
Referring in addition to Fig. 2, the utility model embodiment provides a kind of unmanned plane landing control device 10., should in the present embodiment
Device is arranged on unmanned plane, that is, is realized and automatically controlled by unmanned plane, it is to be understood that, realize that the device is arranged at remote control
In device, base station or other devices, it can also realize and unmanned plane landing is automatically controlled.The utility model embodiment provide nobody
Machine lands control device, can automatic detection unmanned plane landing state, and Unmanned Aerial Vehicle Powerplants are controlled according to landing state
Operating.Specifically, can be achieved whether automatic detection unmanned plane has landed and whether landing state is normal, state of landing
When normal, Unmanned Aerial Vehicle Powerplants being automatically controlled immediately and being shut down, the process is without manual operation, and response is rapid, greatly
To reduce the time dropped to from unmanned plane between power set stalling, descent is more safe and reliable.
In the present embodiment, control device 10 includes：Monitoring modular 11, the state for receiving the unmanned plane inductive switch
Information；Judge module 12, for judging whether that the power set for meeting the control unmanned plane stop according to the status information
The condition of operating；Control module 13, the operating for controlling the power set according to the conclusion of the judgement.
Wherein, the inductive switch include it is one or more, be arranged on unmanned plane, when including it is multiple when, can set respectively
It is placed in the diverse location of unmanned plane.The a certain position of unmanned aerial vehicle body can be such as arranged at, unmanned plane foot stool can be arranged at
A certain position, a certain position for the other structures played a supporting role during UAV Landing can also be arranged at.Inductive switch
Can be some sensing switch, such as key switch, pressure touch switch, highly sensitive by compressing switch.
It is physically contacted it should be noted that the triggering of inductive switch is not necessarily to inductive switch, some can be near
Distance perspective answers the sensor of foreign object, such as proximity switch, ultrasonic sensor, vision sensor etc. are also used as this practicality
Inductive switch in new offer method.In one embodiment, the inductive switch includes proximity switch；The status information
Including the proximity switch whether the information being triggered close to landing platform by the unmanned plane.Such as, proximity switch is set
Below the unmanned plane, when in unmanned plane descent, when being less than certain value with the distance between landing platform, proximity switch quilt
Triggering, it is possible to illustrate that unmanned plane is positioned proximate to the position of switch and reached above landing platform, unmanned plane is judged so as to be used as
The foundation of overall landing state.
Inductive switch is used to detect whether unmanned plane touchs or proximates to foreign object, can include closing and two kinds of shapes of conducting
State, such as close when not being triggered, is turned on when being triggered.As described below, controlling what unmanned plane landed using the utility model
Occasion, the open and-shut mode of inductive switch, the landing state that can judge unmanned plane with thinking provides reference.
For judge module 12, first, its deterministic process being related to can be a kind of simple judgement, such as work as unmanned plane
On inductive switch only one of which or negligible amounts, and be arranged on unmanned plane landing when contacted with foreign object position when, the step
Only whether can be triggered only in accordance with inductive switch, to judge whether unmanned plane lands or land, and judge according to the information be
It is no to meet the condition that shuts down of control Unmanned Aerial Vehicle Powerplants, when detecting unmanned plane and having landed or has landed, judge to expire
The condition that sufficient power set shut down.
Therefore, referring to Figures 1 and 2, optionally, the unmanned plane landing control device that the utility model embodiment is provided, control
Molding block 13 be used for when judging that at least one described inductive switch is triggered according to the status information, control it is described nobody
The power set of machine shut down.The function is applicable to unmanned plane drop conditions well, causes danger unexpected possibility not
Big occasion, by the triggering of inductive switch, as the condition that control Unmanned Aerial Vehicle Powerplants shut down immediately, without artificial behaviour
Make, and shorten dramatically unmanned plane from the time interval dropped between power set stalling.
In the present embodiment, the deterministic process that judge module 12 is performed is a kind of comprehensive descision.Multiple inductive switches are set respectively
The diverse location of unmanned plane is placed in, the status information had both included the information whether each inductive switch is triggered, also including this
Positional information of multiple inductive switches on unmanned plane, such as inductive switch is located on fuselage or on foot stool, is to be located at nothing
Can man-machine top or lower section, be in contact when unmanned plane is in landing state with landing platform.Judge module 12 is performed
Deterministic process, be exactly by the status information, and to combine the specific configuration of unmanned plane, to judge whether to meet control unmanned plane
The condition that power set shut down.In one embodiment, unmanned plane has foot stool, and foot stool contacts landing platform during landing, then sentences
Just whether triggered when disconnected according to the inductive switch at foot stool by landing platform, to judge unmanned plane, whether stable landing is flat in landing
On platform, then judge whether to meet the condition for stopping power set operating.In one embodiment, unmanned plane has suspension arrangement,
Unmanned plane hangs on landing platform by suspension arrangement during land, then when judging just according to the inductive switch at suspension arrangement whether by
Landing platform is triggered, to judge whether unmanned plane is steadily safely dropped on landing platform, then judges whether to meet stopping
The condition of power set operating.
When the deterministic process that the step is related to is a kind of comprehensive descision, the influence of different inductive switches is on unmanned plane
It is different, than if any inductive switch be used to detect whether unmanned plane is captured by user, some inductive switches are used to detect nobody
Whether machine lands；In addition, different inductive switches can also have different weights, to the more significant position of monitoring purpose
Inductive switch, its weight is bigger.
When the deterministic process that the step is related to is a kind of comprehensive descision, judge whether to meet the dynamic of the control unmanned plane
The foundation for the condition that power apparatus shuts down, in addition to the status information of inductive switch, can be combined with IMU or other sensings
Device judges.In one embodiment, only when the information by IMU judges that unmanned plane is in poised state, the shape of inductive switch
State information is just meaningful to the judgement.
Optionally, one or more of described inductive switch the unmanned plane be in landing state when and landing platform
It is in contact；The status information include the inductive switch whether the information being in contact with the landing platform.Unmanned plane is in drop
When falling on platform in landing state, some position or certain several position below unmanned plane are in contact with landing platform, will
The position being in contact when inductive switch is arranged at UAV Landing state with landing platform, once then UAV Landing, the sensing
Switch will be triggered, and then can just judge to meet the condition that control Unmanned Aerial Vehicle Powerplants shut down according to this.
Further alternative, the landing platform is mobile landing platform；The status information includes the inductive switch
Whether the information being in contact with the mobile landing platform., can be by judging nobody i.e. when unmanned plane drops to mobile platform
Whether the strong point below machine is in contact in mobile platform, to judge whether to meet what control Unmanned Aerial Vehicle Powerplants shut down
Condition.
It should be appreciated that in some other embodiment, the way of contact of unmanned plane and landing platform can be support
Contact or suspension contact, or other ways of contact, i.e. landing platform can support unmanned plane from below, also may be used
It is first-class to be that unmanned plane by certain structure hangs on landing platform.
In the present embodiment, the foundation status information performed by judge module 12 judge whether meet control it is described nobody
The condition that the power set of machine shut down, includes again：When the sensing positioned at preset number position below the unmanned plane
Switch is triggered within a certain period of time simultaneously when, judge to meet the condition that the power set of the control unmanned plane shut down.
Unmanned plane in the present embodiment, lower section is in contact with landing platform during landing, and three or more than three are included below unmanned plane
Position is provided with inductive switch.Because the position that unmanned plane is in contact with landing platform is more, its landing state is more stable, because
This also more conforms to control the condition that shuts down of power set, so in the present embodiment, when three or more than three positions
Inductive switch is triggered within a certain period of time, and judge module 12 is judged as unmanned plane safe landing, so as to control power to fill
Put stalling.In general, for the little unmanned plane of build, if the sense of three or more than three non-colinear positions
Inductive switch is triggered, you can judge that unmanned plane has obtained the gentle support of landing platform." in the certain time " should be very
Short a period of time, such as 0.01 second, 0.1 second, 1 second, the time of 10 seconds or longer, that is, ensure that multiple contact positions remain
Land state (is for example almost landed) simultaneously, if it exceeds this time, is judged as unmanned plane not grease it in, should " a timing
Between " can be default, can also dynamically it adjust.When Unmanned Aerial Vehicle Powerplants are more or during larger build, in order to ensure peace
Entirely, it also may be set to, when the inductive switch of (such as 5 etc.) on more multiposition is triggered within a certain period of time simultaneously, just sentence
The condition that the disconnected power set for meeting control unmanned plane shut down.
It should be appreciated that in this application scenarios of the present embodiment, inductive switch is arranged at into unmanned plane contact drop
Fall the position of platform, also and not exclusive embodiment, such as the proximity switch as inductive switch can be arranged under unmanned plane
Side, though not contacting landing platform, can be triggered, it is also possible to judge whether unmanned plane steadily drops when landing by landing platform
Fall, and then the foundation for controlling Unmanned Aerial Vehicle Powerplants to stall condition as judging whether to meet.
In the present embodiment, the deterministic process that judge module 12 is performed is a kind of comprehensive descision, be can also be embodied as, the sensing is opened
One or more of pass can be triggered because user holds the unmanned plane；The status information includes the inductive switch
The no information being triggered because user holds the unmanned plane.The implementation of the function is, according to the configuration of unmanned plane, suitable
The position for capturing unmanned plane in user sets multiple inductive switches, and inductive switch can be because user captures the action of unmanned plane and is touched
Hair.In the present embodiment, this kind of inductive switch is arranged on unmanned plane foot stool.In order to ensure, by the reliable grasping movement of user, to make
To judge the condition of controllable power set stalling, when can set that only two or more this kind of inductive switches are triggered,
Just judge to meet the condition that control power set are stalled.
Such as, the seamless connection of take photo by plane camera lens and ground camera lens occurs in increasing film scene, is commonly called as the world one
Body is photographed.Want to realize linking of the unmanned plane from sky to ground of taking photo by plane, except there is stable head, in addition it is also necessary to fly hand and photography
Coordinate tacitly between teacher, winged hand is responsible for control unmanned plane of taking photo by plane and flown in the air, ground photography teacher is responsible for ground shooting.Ground
The unmanned plane that photographer is gone in crawl landing, if unmanned plane can not stall power set immediately, just can be very dangerous, therefore,
Using the unmanned plane of the control device proposed with the present embodiment, ground photography Shi Yidan catches unmanned plane foot stool, inductive switch
Just it is triggered, then judge module 12 judges to meet power set stalling condition, and control power set stalling immediately according to this, keeps away
Exempt to cause personal injury to ground photographer.
Referring to Figures 1 and 2, in the present embodiment, the unmanned plane landing control device 10 that the utility model embodiment is provided
In, control module 13 is additionally operable to：When according to the status information judge be unsatisfactory for controlling the power set of the unmanned plane to stop
During the condition of operating, the unmanned plane hovering is controlled." hover " in certain embodiments and refer to that control unmanned plane rises to necessarily
Height, and keep unmanned plane position constant, wait further instruction.When the status information by inductive switch judges discontented
During the condition of foot control power set stalling, to avoid damaging unmanned plane or user, descent should be stopped immediately, and
Unmanned Aerial Vehicle Powerplants are controlled to accelerate.It should be appreciated that in the present embodiment, nobody is controlled when being unsatisfactory for power set stalling condition
Machine hovers, and simply unmanned plane is when being unsatisfactory for drop conditions, one of action that can be taken, in addition to this it is possible to control nothing
It is man-machine to make lifting height, change position, reattempt to other reactions such as landing.
With continued reference to Fig. 1 and Fig. 2, in the present embodiment, the unmanned plane landing control dress that the utility model embodiment is provided
Put in 10, control module 13 is additionally operable to：The power set of the unmanned plane are controlled to stop when judging to meet according to the status information
During the condition only operated, the unmanned plane shutdown is controlled.In certain embodiments, " shutdown " specifically include control system close,
Power-off etc..After unmanned plane stable landing, control power set shut down simply first step, in most cases, nothing
Man-machine landing just meets cut-off condition, therefore automatically controls unmanned plane shutdown, can save the energy, can save again and artificially go behaviour
The trouble of work., also can the shutdown of manual control unmanned plane after unmanned plane stable landing in the embodiment that indirect labor is landed.Should
Work as understanding, unmanned plane, which shuts down, does not necessarily imply that the shutdown of its device carried, than the field of such as above-mentioned Incorporate photography
Close, after control unmanned plane shutdown, its picture pick-up device carried continues to work.
In reference picture 1 and Fig. 3, the present embodiment, the unmanned plane landing control device 10 that the utility model embodiment is provided,
Also include trigger module 14, for receiving triggering command.Accordingly, the step performed by monitoring modular 11 is included in the triggering
The status information of the unmanned plane inductive switch is received under the control of instruction.
Wherein, triggering command includes the instruction that control startup is monitored to the state of inductive switch.Therefore, monitoring modular
The step of 11 reception unmanned plane inductive switch status information, opened under the control of triggering command.As shown in figure 4, not having
In the embodiment for having trigger module 14, persistently inductive switch can be monitored during unmanned plane during flying, and the monitoring is only
Have just has meaning when controlling unmanned plane landing, so not being maximally effective scheme.If in-flight continuing to monitor inductive switch
State, when unmanned plane encounters foreign matter in the air, it is also possible to can cause erroneous judgement, cause unmanned plane because power set stall and
Fall.
In addition, even if monitoring modular 11 continues to monitor the information of inductive switch in flight course, the instruction that will can also take off is made
For the triggering command, i.e., when control unmanned plane takes off, trigger module 14 receives the triggering command, control triggering monitoring modular simultaneously
The state of 11 pairs of inductive switches is monitored, otherwise, if without triggering, continue to monitor, then UAV Landing and start
Under state, when the hand-held unmanned plane of user leaves ground, it is possible to be mistaken for not meeting drop conditions, start power set fortune
Turn, damaged to user.It should be understood that, although the unmanned plane landing control device 10 in the present embodiment includes reception triggering and referred to
The trigger module 14 of order, to reach the effect above, but the utility model is not limited this, can also be omitted in some other occasion
In the module, such as an embodiment, the single flight time is shorter in unmanned plane operation process, and in operation process manual intervention compared with
Less, the frequent landing of unmanned plane is needed, then starts to monitor the status information of inductive switch without triggering command, makes aircraft in flight
During continue to monitor status information whether inductive switch is triggered etc..
In the present embodiment, optionally, the inductive switch is arranged at one or more positions of the unmanned plane, and each
Position includes two or more described inductive switches；The status information includes two or more institutes of each position
Inductive switch is stated whether within a certain period of time while the information being triggered.The purpose of the function is, in application scenarios to nobody
The security requirement of machine landing is high, it is necessary to be to be controlled used in unmanned plane landing control device 10 when strictly controlling accident rate
Method adds redundancy scheme, i.e., install two or more inductive switches in same position, only all of same position open
Close all enter triggering state, can judge whether as judge module 12 meet control power set stalling condition according to
According to.In the other embodiments relatively low to safety requirements, unmanned plane same position also can only set an inductive switch, this
Utility model is not especially limited to this.
The utility model embodiment also provides a kind of unmanned plane, including the unmanned plane landing control that the utility model is proposed
Device.Its specific implementation can refer to the implementation of unmanned plane landing control device in an embodiment.
Reference picture 5, the utility model embodiment provides a kind of unmanned plane 50, including control device (not shown), in addition to
One or more inductive switches 20, one or more of inductive switches 20 are connected with the control device, are respectively arranged at
One or more positions of the unmanned plane, the status information of the inductive switch is used to control the unmanned plane landing to provide
Foundation, i.e., status information of the described control device based on the inductive switch controls the operating shape of the power set of the unmanned plane
State.
As illustrated, in the present embodiment, on unmanned plane 50 respectively on multiple positions, being provided with multiple inductive switches 20.
It can judge whether unmanned plane 50 lands according to this, can judge whether its landing state is normal again, as judging whether to control
The condition of power set stalling, when judging that landing state is normal, control power set shut down.
In the present embodiment, control device is arranged on unmanned plane 50, that is, is realized and automatically controlled by unmanned plane, but it should
Understand, control device is arranged in remote control, base station or other devices, and passes through radio connection and the phase of inductive switch 20
Even, also can be to automatically controlling that unmanned plane 50 lands, so as to realize technique effect of the present utility model.
The unmanned plane 50 that the utility model embodiment is provided, can automatic detection unmanned plane landing state, and according to landing
State controls the operating of Unmanned Aerial Vehicle Powerplants.Specifically, the moment that each inductive switch 20 can land in unmanned plane 50
It is triggered, therefore can realizes whether automatic detection unmanned plane 50 has landed by inductive switch 20, and passes through inductive switch
20 quantity being triggered, in the position of unmanned plane 50, judge whether landing state is normal with it.Such as, in the sensing of diverse location
Switch 20 is triggered simultaneously within a certain period of time, then illustrates that landing state is normal.When landing state is normal, it can automatically control immediately
The power set of unmanned plane 50 shut down, and the process is without manual operation, and response is rapid, greatly reduces and is dropped from unmanned plane 50
The time fallen between power set stalling, descent is more safe and reliable.
Wherein, the inductive switch 20 include it is one or more, be arranged on unmanned plane 50, when including it is multiple when, can divide
The diverse location of unmanned plane is not arranged at.Inductive switch 20 can be some sensing switch, such as key switch, pressure touch
Switch, it is highly sensitive by compressing switch, range sensor etc..
It should be noted that the triggering of inductive switch 20 is not necessarily to inductive switch 20 by physical contact (as pressed
Force snesor), some can closely sense the sensor of foreign object, such as proximity switch, ultrasonic sensor, vision sensor
Deng being also used as the inductive switch 20 in the unmanned plane 50 that the utility model embodiment is provided.
Inductive switch 20 can include closing and conducting two states, such as close, turned on when being triggered when not being triggered,
For detecting whether unmanned plane 50 touchs or proximates to foreign object.As described below, dropped using the utility model control unmanned plane 50
The occasion fallen, the open and-shut mode of inductive switch 20, the landing state that can judge unmanned plane with thinking provides reference.
In reference picture 5, the present embodiment, one or more of inductive switch 20 is in the unmanned plane 50 on unmanned plane 50
Lu Shi, can be triggered by landing platform.In the application of current unmanned plane, the landing of the unmanned plane of general configuration mostly passes through unmanned plane
Lower contact landing platform is realized, therefore, sets inductive switch 20 very meaningful below unmanned plane 50.
Further, in the present embodiment, the unmanned plane 50 includes a fuselage 1 and at least one is installed on the machine
The foot stool 2 of body 1, one or more of inductive switches 20 are respectively arranged in the fuselage 1 and at least one described foot stool 2
At least one.Specifically, inductive switch 20 can be arranged on fuselage 1, can also be arranged on foot stool 2, can also
Multiple inductive switches 20 are respectively arranged on the fuselage 1 and foot stool 2 of unmanned plane 50.
In addition in some other embodiment, triggered when the unmanned plane 50 is in landing state by the landing platform
The inductive switch 50 be separately positioned on below unmanned plane on non-colinear present count destination locations.In use, landing
Whether Cheng Zhong, the inductive switch 20 that detection is located at below unmanned plane 50 respectively is triggered.When some or certain several inductive switches 20
When being triggered, that is, judge that unmanned plane 50 reaches above landing platform or is close or contacts with landing platform.It is located at when several
The inductive switch 20 of the diverse location of unmanned plane 50, the especially inductive switch positioned at non-colinear three or more than three positions
20, it is triggered simultaneously within a period of time, you can judge that unmanned plane 50 has obtained gentle support, therefore nobody can be controlled immediately
Power plants shut down, without manual operation, and reduce from the time for dropping to power set stalling.
In the present embodiment, one or more of inductive switch 20 can be triggered because user holds the unmanned plane 50.
As shown in figure 5, on the cross bar of each foot stool 2 of unmanned plane 50, on middle same position, circumferentially set two or
More than two inductive switches 20.When user catches the unmanned plane 50 in landing, when grasping 2 cross bar of foot stool, above-mentioned position
Inductive switch 20 be triggered, so as to judge that unmanned plane 50 is caught by user according to this, thus immediately control power set stop
Only operate, it is to avoid power set continue to run at high speed to be damaged to user.
Such as, during film shooting, want to realize and take photo by plane linking of the unmanned plane from sky to ground, it is necessary to fly hand with taking the photograph
Coordinate tacitly between shadow teacher, winged hand is responsible for control unmanned plane of taking photo by plane and flown in the air, ground photography teacher is responsible for ground shooting.Ground
The unmanned plane that face photographer is gone in crawl landing, if unmanned plane can not stall power set immediately, just can be very dangerous, because
This, the unmanned plane 50 proposed using the present embodiment, ground photography Shi Yidan catches foot stool 2, and inductive switch 20 is just triggered, then
Judge to meet power set stalling condition, and control power set stalling immediately according to this, it is to avoid to ground, photographer causes the person
Injury.
In the present embodiment, optionally, the inductive switch 20 is arranged at multiple positions of the unmanned plane 50, and at least one
Individual position includes two or more described inductive switches 20.It is using the purpose of the structure, in application scenarios to nobody
The security requirement of machine landing is high, it is necessary to be that unmanned plane landing control adds redundancy scheme, i.e., same when strictly controlling accident rate
Two or more inductive switches 20 are installed in one position, and only all switches of at least one position all enter triggering shape
State, can be used as the foundation for judging whether the condition that satisfaction control power set are stalled.Relatively low to safety requirements
In other embodiments, the same position of unmanned plane 50 also can only set an inductive switch 20, and the utility model is not made specifically to this
Limit.
It for particular location of the inductive switch 20 on unmanned plane 50, can both be arranged on foot stool 2, can also be arranged on
On the fuselage 1 of unmanned plane 50 or other positions.Specifically, when there is inductive switch 20 to be arranged on foot stool 2, can simultaneously or
It is arranged separately in position, position of user's crawl unmanned plane of the contact landing platform of foot stool 2 etc.；When inductive switch 20 is arranged on
When on fuselage 1, it can be arranged as required in diverse location；When the configuration according to unmanned plane, unmanned plane is not leaned under landing state
Foot stool 2 is supported, but during by other structures support, inductive switch 20 can also be arranged in other supporting constructions.Such as Fig. 5 institutes
Show, in the present embodiment, a part of inductive switch 20 can be arranged on the foot stool 2 of unmanned plane 50.
In the present embodiment, the inductive switch 20 on unmanned plane 50 can include pressure sensor, when unmanned plane 50 lands
It is triggered because contacting foreign object.
Reference picture 6, in one embodiment, the inductive switch on unmanned plane 110 include proximity switch 23.Proximity switch 23 is set
The lower section of the fuselage 1 of unmanned plane 110 is placed in, when in the descent of unmanned plane 110, is less than with the distance between landing platform certain
During value, proximity switch 23 is triggered, it is possible to illustrate unmanned plane 110 be positioned proximate to switch 23 position reached on landing platform
Side, so that as judging that unmanned plane integrally lands the foundation of state.When proximity switch 23 is triggered, in conjunction with other conditions, sentence
The landing state of disconnected unmanned plane 110 is normal, then controls the power set of unmanned plane 110 to shut down immediately.With it is other types of
Switch is the same, lower section of the proximity switch 23 except being arranged at unmanned plane, can also be arranged as required in the other positions of unmanned plane.
In certain embodiments, one or more of inductive switch may include some sensors.As shown in fig. 6, this
The inductive switch of the lower section of the fuselage 1 of unmanned plane 110 also includes vision sensor 21 and ultrasonic sensor 22 in embodiment.Should
Understand, pressure sensor, proximity switch 23, vision sensor 21 and ultrasonic sensor 22 in the present embodiment, and upper one
Inductive switch in embodiment, belongs to the inductive switch 20 on unmanned plane provided by the utility model.
Vision sensor 21 in this embodiment included by inductive switch is mainly made up of image sensor, can also be matched somebody with somebody
With light projector and other auxiliary equipments, for obtaining the image in the landing of unmanned plane 110 place, nothing is then judged according to the image
Man-machine 110 with the position relationship in landing place, then judge the landing state of unmanned plane 80, and in this, as judging whether satisfaction
Control the condition of power set stalling.
Ultrasonic sensor 22 in this embodiment included by inductive switch is main to sense unmanned plane 110 and landing
The distance between platform, when distance is less than certain value, inductive switch is triggered, and power dress is controlled as judging whether to meet
Put the condition of stalling.
In other embodiments, different sensors can also be used separately as inductive switch, be not necessarily applied in combination,
The type and quantity of inductive switch can be specifically determined according to configuration and application scenarios of unmanned plane etc..
In addition, those skilled in the art can also do other changes in the utility model spirit, certainly, these are according to this reality
The change made of new spirit, should all be included in the claimed scope of the utility model.
Claims (9)
1. a kind of unmanned plane, it is characterised in that including control device and one or more inductive switches, one or more of senses
Inductive switch is connected with the control device, is respectively arranged at one or more positions of the unmanned plane, the control device
Status information based on the inductive switch controls the operating condition of the power set of the unmanned plane.
2. unmanned plane as claimed in claim 1, it is characterised in that in the unmanned plane in one or more of inductive switches
It can be triggered during landing by landing platform.
3. unmanned plane as claimed in claim 2, it is characterised in that the unmanned plane includes a fuselage and at least one peace
Foot stool loaded on the fuselage, one or more of inductive switches are respectively arranged at the fuselage and at least one described foot stool
In at least one.
4. unmanned plane as claimed in claim 3, it is characterised in that one or more of inductive switches are arranged at the fuselage
On.
5. unmanned plane as claimed in claim 3, it is characterised in that one or more of inductive switches be arranged at it is described at least
On one foot stool.
6. unmanned plane as claimed in claim 3, it is characterised in that multiple inductive switches be respectively arranged at the fuselage and
On at least one described foot stool.
7. unmanned plane as claimed in claim 3, it is characterised in that one or more inductive switches are held described in user
It is triggered during unmanned plane.
8. unmanned plane as claimed in claim 3, it is characterised in that the inductive switch is proximity switch, the proximity switch
It is triggered when the unmanned plane is close to landing platform.
9. unmanned plane as claimed in claim 1, it is characterised in that one or more of inductive switches be vision sensor,
At least one of ultrasonic sensor or pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720191568.5U CN206537499U (en) | 2017-02-28 | 2017-02-28 | Unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720191568.5U CN206537499U (en) | 2017-02-28 | 2017-02-28 | Unmanned plane |
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| CN206537499U true CN206537499U (en) | 2017-10-03 |
Family
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094800A (en) * | 2018-10-18 | 2018-12-28 | 北京清航紫荆装备科技有限公司 | A kind of intersection DCB Specimen unmanned helicopter and its fender bracket |
| CN109421923A (en) * | 2017-08-29 | 2019-03-05 | 财团法人工业技术研究院 | Unmanned aerial vehicle, and system and method for judging landing condition of unmanned aerial vehicle |
| CN110108341A (en) * | 2018-02-01 | 2019-08-09 | 北京京东尚科信息技术有限公司 | The automatic weighing method and system of unmanned plane |
-
2017
- 2017-02-28 CN CN201720191568.5U patent/CN206537499U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109421923A (en) * | 2017-08-29 | 2019-03-05 | 财团法人工业技术研究院 | Unmanned aerial vehicle, and system and method for judging landing condition of unmanned aerial vehicle |
| US10703477B2 (en) | 2017-08-29 | 2020-07-07 | Industrial Technology Research Institute | UAV, system and method for determining landing status of UAV |
| CN110108341A (en) * | 2018-02-01 | 2019-08-09 | 北京京东尚科信息技术有限公司 | The automatic weighing method and system of unmanned plane |
| CN109094800A (en) * | 2018-10-18 | 2018-12-28 | 北京清航紫荆装备科技有限公司 | A kind of intersection DCB Specimen unmanned helicopter and its fender bracket |
| CN109094800B (en) * | 2018-10-18 | 2024-01-30 | 北京清航紫荆装备科技有限公司 | Cross double-rotor unmanned helicopter and protection frame thereof |
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