CN208576733U - It is a kind of from steady landing platform - Google Patents

It is a kind of from steady landing platform Download PDF

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Publication number
CN208576733U
CN208576733U CN201820380226.2U CN201820380226U CN208576733U CN 208576733 U CN208576733 U CN 208576733U CN 201820380226 U CN201820380226 U CN 201820380226U CN 208576733 U CN208576733 U CN 208576733U
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China
Prior art keywords
support
mechanical arm
landing platform
inertial navigation
navigation components
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CN201820380226.2U
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胡华智
刘畅
姜国军
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GUANGZHOU EHANG INTELLIGENT TECHNOLOGY Co Ltd
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GUANGZHOU EHANG INTELLIGENT TECHNOLOGY Co Ltd
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Abstract

The utility model discloses a kind of from steady landing platform, by being arranged from steady landing platform, automatically control the first mechanical arm, the telescopic that the second mechanical arm and the third mechanical arm stretch as required, so that first support portion is currently constantly corrected relative to the roll pitch value of earth coordinates, so that first support portion is currently equal to roll pitch value of first support portion expectation relative to earth coordinates relative to the roll pitch value of earth coordinates, so that the expectation attitude value of first support portion needed for being reached when unmanned plane lands, the landing plane of unmanned plane remain on the unmanned function stable landing to mobile vehicle of earth coordinates level assurance.

Description

It is a kind of from steady landing platform
Technical field
The utility model relates to air vehicle technique fields more particularly to a kind of from steady landing platform.
Background technique
Current most of Shipborne UAV descents need short distance manual remote control to complete, and are unsuitable for unmanned boat and carry nothing Man-machine ocean working situation, especially how to drop to unmanned plane automatically on unmanned boat hip-based platform there is no precedent.Conventional nothing Man-machine guidance landing method (GPS guidance) works well in land target area, but is difficult to adapt to the carrier-borne system of unmanned boat shaken System, because there are transverse and longitudinal shakes for final stage target area, and has the presence of information error, cannot achieve unmanned plane and precisely drop It falls, and can not accurately be instructed in different height and speed.
And when being all not provided with matched landing-gear as existing unmanned boat On-Board System for landing for unmanned plane, The landing plane and the earth coordinates level that keep unmanned plane to need and caused by unmanned plane land unstable problem.
Utility model content
The main purpose of the utility model is that proposing a kind of from steady landing platform, it is intended to solve of the existing technology ask Topic.
To achieve the above object, the utility model embodiment provides a kind of from steady landing platform, for landing for unmanned plane On mobile vehicle comprising: one first support portion, the first support portion middle part is equipped with display screen, to show feature Image;One second support portion, second support zone is in the lower section of first support portion, the bottom surface of second support portion It is connected and fixed for the table plane with the mobile vehicle;One first mechanical arm, second mechanical arm and third mechanical arm, it is described The upper end of first mechanical arm, the second mechanical arm and the third mechanical arm is all connect with first support portion bottom surface, Top surface of the lower end of the first mechanical arm, the second mechanical arm and the third mechanical arm all with second support portion Connection;One first inertial navigation components, first inertial navigation components are set to the bottom surface of first support portion for measuring described first The posture of support portion;One second inertial navigation components, second inertial navigation components are set to the bottom surface of second support portion for measuring The posture of second support portion.
Further, first support portion is rounded, the upper end of the first mechanical arm and first support portion Fixed point is set as a1, and the fixed point of the upper end of the second mechanical arm and first support portion is set as a2, and the third is mechanical The fixed point of the upper end of arm and first support portion is set as a3, and wherein the angle of a1, a2, a3 between any two is 120 degree.
Further, the first mechanical arm be equipped with electric cylinder and flexural pivot, the upper and lower ends of the electric cylinder respectively with institute State flexural pivot connection.
Further, the bottom surface of first support portion is equipped with holding parts, and the top surface of second support portion also is provided with institute Holding parts are stated, the flexural pivot is connected and fixed with the holding parts.
Further, the holding parts are set there are two fixed arm, and the fixed arm is symmetrical arranged, and two fixed arm upper ends are set There is perforation.
Further, the flexural pivot is connected and fixed with the holding parts, and the flexural pivot is located between two fixed arms, One screw rod passes through the perforation to fix the flexural pivot and the holding parts.
Further, second support portion is rounded, the lower end of the first mechanical arm and second support portion Fixed point is set as b1, and the fixed point of the lower end of the second mechanical arm and second support portion is set as b2, and the third is mechanical The fixed point of the lower end of arm and second support portion is set as b3, and wherein the angle of b1, b2, b3 between any two is 120 degree.
Further, first support portion is metal material, and the display screen is LED, the display screen insertion The middle part of first support portion.
Further, including a control system, the control system are set on second support portion, the control system For connecting with first inertial navigation components, second inertial navigation components, the control system passes through first inertial navigation components First support portion is obtained currently relative to the roll pitch value of earth coordinates, while the control system passes through described the Two inertial navigation components obtain second support portion currently relative to the roll pitch value of earth coordinates.
Further, the control system is by two sets of Kalman Filtering Data Fusion algorithms of operation, so that described first The data that inertial navigation components, second inertial navigation components measure can react the every terms of information current from steady landing platform in real time.
The utility model has the beneficial effects that by being arranged from steady landing platform, the first mechanical arm, second machinery The upper end of arm and the third mechanical arm is all connect with first support portion bottom surface, the first mechanical arm, described second The lower end of mechanical arm and the third mechanical arm is all connect with the top surface of second support portion, then controls first machine The telescopic that tool arm, the second mechanical arm and the third mechanical arm stretch as required, so that described first Support part is currently constantly corrected relative to the roll pitch value of earth coordinates, so that first support portion is currently relative to big The roll pitch value of ground coordinate system is equal to roll pitch value of first support portion expectation relative to earth coordinates, to make Unmanned plane landing when reach needed for first support portion expectation attitude value, the landing plane of unmanned plane remain with On the unmanned function stable landing to mobile vehicle of earth coordinates level assurance.
Detailed description of the invention
Fig. 1 is the perspective view provided by the embodiment of the utility model from steady landing platform;
Fig. 2 is the main view provided by the embodiment of the utility model from steady landing platform;
Fig. 3 is the perspective view at another visual angle provided by the embodiment of the utility model from steady landing platform;
Fig. 4 is the process of the method provided by the embodiment of the utility model that landing plane posture is kept from steady landing platform Figure.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to limit this Utility model.
The each embodiment of the utility model is realized in description with reference to the drawings.In subsequent description, using being used for Indicate the suffix of such as " module ", " component " or " unit " of element only for being conducive to the explanation of the utility model, itself There is no specific meanings.
The description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result, Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not in the guarantor of the requires of the utility model Within the scope of shield.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
Referring to Fig.1, it is a kind of from steady landing platform that Fig. 2 and Fig. 3, Fig. 1 are that an embodiment of the present invention provides, and is applicable in In dropping on mobile vehicle, specific mobile vehicle is other objects of ship, the automobile of movement or high-speed motion.From steady Landing platform includes at least: the first support portion 1, the second support portion 2, first mechanical arm L1, second mechanical arm L2, third mechanical arm L3, the first inertial navigation components 6 and the second inertial navigation components 7.Display screen is equipped in the middle part of first support portion 1, to show spy Levy image.First support portion 1 can be a metal material plane, inlay one piece among the plane of first support portion 1 Led screen to show characteristic image, characteristic image for being cooperated with the visual identity equipment on unmanned plane so that Visual identity equipment on characteristic image and unmanned plane mutually assists unmanned plane stable landing on mobile vehicle.One wherein In embodiment, characteristic image is set as significantly two dimensional code.Visual identity equipment equipment be carried on unmanned plane, such as: camera shooting Device.In some embodiments, the photographic device may include a camera, such as: the unmanned plane week can be shot Image, video for enclosing etc..It is the photosensitive light in various wavelength of the camera, including but not limited to visible light, ultraviolet light, infrared Line or in which any combination.In some embodiments, the visual identity equipment may include other kinds of sensor.? In some embodiments, the visual identity equipment is linked together by the main body of holder and unmanned plane, so that the vision is known Other equipment can be relative to the bulk motion of unmanned plane.Such as: when the visual identity equipment is photographic device, the camera shooting Device can shoot image, video etc. around the unmanned plane relative to the bulk motion of unmanned plane.When unmanned plane is located at When ground, the undercarriage of unmanned plane can support unmanned plane to protect the visual identity equipment.In some embodiments, described Unmanned plane may include two forward sight cameras, photosensitive light (such as visible light, infrared in various wavelength of the forward sight camera Light, ultraviolet light) for shooting image or video around the unmanned plane.The unmanned plane may include two and be placed in unmanned plane Bottom part body lower view camera.
Referring to figs. 1 to Fig. 4, second support portion 2 is located at the lower section of first support portion 1, second support portion 2 Bottom surface be used to be connected and fixed with the table plane of the mobile vehicle, bottom surface needs and shakes target surface such as steamer first when use Plate, top of transport vehicle plane are adjacent to connection.The first mechanical arm L1, the second mechanical arm L2 and the third mechanical arm The upper end of L3 is all connect with 1 bottom surface of the first support portion, the first mechanical arm L1, the second mechanical arm L2 and described The lower end of third mechanical arm L3 is all connect with the top surface of second support portion 2.Specifically, first support portion 1 is in circle The fixed point of shape, the upper end of the first mechanical arm L1 and first support portion 1 is set as a1, and the second mechanical arm L2's is upper End and the fixed point of first support portion 1 are set as a2, the upper end of the third mechanical arm L3 and consolidating for first support portion 1 Fixed point is set as a3, and wherein the angle of a1, a2, a3 between any two is 120 degree, and a1, a2, a3 are third to divide circular described first equally Support part 1, wherein the centre distance of a1, a2, a3 to first support portion 1 is all r.Second support portion 2 is rounded, described The fixed point of the lower end of first mechanical arm L1 and second support portion 2 is set as b1, the lower end of the second mechanical arm L2 and institute The fixed point for stating the second support portion 2 is set as b2, and the lower end of the third mechanical arm L3 and the fixed point of second support portion 2 are set For b3, wherein the angle of b1, b2, b3 between any two is 120 degree, circular second support portion 2 of b1, b2, b3 trisection, Middle b1, b2, b3 to 2 centre distance of the second support portion be all r.
Holding parts 3 are respectively equipped on fixed point a1, a2, a3 of first support portion 1, there are two the holding parts 3 are set Fixed arm (not labeled), the fixed arm are symmetrical arranged, and two fixed arm upper ends are equipped with perforation.Second support portion 2 simultaneously Fixed point b1, b2, b3 on be also provided with the holding parts 3.The first mechanical arm L1 is equipped with electric cylinder 4 and flexural pivot 5, described The upper and lower ends of electric cylinder 4 are connect with the flexural pivot 5 respectively, and the electric cylinder 4 is used for so that the first mechanical arm L1 can be with It is flexible up and down.The flexural pivot 5 is connected and fixed with the holding parts 3, and the flexural pivot 5 is located between two fixed arms, a spiral shell Bar passes through the perforation so that the flexural pivot 5 and the holding parts 3 is fixed.The second mechanical arm L2, the third machine simultaneously Tool arm L3 is equipped with the electric cylinder 4 and the flexural pivot 5.
Referring to figs. 1 to Fig. 3, first inertial navigation components 6 are set to the bottom surface of first support portion 1 for measuring described the The posture of one support portion 1, for measuring roll of first support portion 1 relative to earth coordinates, pitch value, and meanwhile it is described It is equipped with GPS sensor in first support portion 1, to send the GPS geographical location information from steady landing platform to unmanned plane, is matched It closes unmanned plane and carries out GPS navigation.Second inertial navigation components 7 are set to the bottom surface of second support portion 2 for measuring described the The posture of two support portions 2, for measuring roll of second inertial navigation components 7 relative to earth coordinates, pitch value.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, the method for keeping landing plane posture from steady landing platform, for supplying nobody Machine steadily drops on mobile vehicle, and the method following steps include:
S1, first support portion 1 is obtained currently relative to the roll pitch value of earth coordinates, second support portion 2 currently relative to the roll pitch value of earth coordinates.
Specifically, including a control system, the control system is set on second support portion 2, the control system System with first inertial navigation components 6, second inertial navigation components 7 for connecting.The control system passes through first inertial navigation Element 6 obtains first support portion 1 currently relative to the roll pitch value of earth coordinates, while the control system passes through Second inertial navigation components 7 obtain second support portion 2 currently relative to the roll pitch value of earth coordinates.Described first After 6 measurement data of inertial navigation components, the control system is entered data into the main control chip of the control system, operation first The data that first inertial navigation components 6 described in set Kalman Filtering Data Fusion algorithm process measure.Second inertial navigation components 7 are surveyed After measuring data, the control system is entered data into the main control chip of the control system, runs second set of Kalman's filter Wave data anastomosing algorithm handles the data that first inertial navigation components 6 measure.The present embodiment uses two sets of Kalman filtering numbers According to blending algorithm, accelerate data-handling capacity, the data that inertial navigation components are measured are reacted in real time from steady landing platform Current every terms of information.
S2, worked as relative to the roll pitch value of earth coordinates with second support portion 2 according to the expectation of the first support portion 1 The preceding roll pitch value relative to earth coordinates calculates first support portion 1 relative to 2 coordinate of the second support portion The target roll pitch value of system.
Specifically, when the expectation of the first support portion 1 is landed relative to the roll pitch value of earth coordinates for unmanned plane The expectation attitude value of required first support portion 1.In general situation, unmanned plane first support required when landing The expectation attitude value in portion 1 is exactly that first support portion 1 remains horizontal attitude under earth coordinates, so that unmanned function It is enough smoothly to drop in horizontal landing plane.If some undercarriages are special, Yao Teshu posture, then according to nobody The expectation attitude value of machine first support portion 1 required when landing is adjusted.
S3, the target roll pitch value inverse according to first support portion 1 relative to 2 coordinate system of the second support portion The first mechanical arm L1, the second mechanical arm L2 and the third mechanical arm L3 need flexible length out.
Specifically, known a1, a2, a3 are r to 1 central point of the first support portion distance, can obtain a1 in coordinate system, A2, a3 are indicated:
When target shaft isWhen angle is θ ∈ [- 45 °, 45 °], postrotational a1, a2, a3 are calculated with quaternary number Coordinate value, the first step first expand to quaternary number:
Second step rotates quaternary number are as follows:
Quaternary number after third step rotation are as follows: P1'=qP1q-1=(a1', 0), P2'=qP2q-1=(a2', 0), P3=qP3q-1 =(a3, 0);
Known b1, b2, b3 to 2 centre distance of the second support portion be all r, second support portion 2 and described first Initial distance between support portion 1 is h, and h is the first mechanical arm L1, the second mechanical arm L2, the third mechanical arm The initial length of L3;B1, b2, b3 in coordinate system, which can then be obtained, to be indicated:
Then obtain
S4, the control first mechanical arm L1, the second mechanical arm L2 and the third mechanical arm L3 are as required Flexible telescopic, so that first support portion 1 is currently constantly repaired relative to the roll pitch value of earth coordinates Just, so that first support portion 1 is currently equal to 1 phase of the first support portion relative to the roll pitch value of earth coordinates Hope the roll pitch value relative to earth coordinates.According to calculated resultDistribution Value first support portion 1 can be made to remain the horizontal attitude under earth coordinates, enable unmanned plane smoothly It drops in horizontal landing plane.
Controlling the first mechanical arm L1, the second mechanical arm L2 and described the in one of the embodiments, After the telescopic that three-mechanical arm L3 stretches as required further include: the attitude data of monitoring first support portion 1, judgement Whether the attitude data of first support portion 1 reaches the expectation posture of first support portion 1 required when unmanned plane landing Value.One monitoring system is set, and the monitoring system connect with monitoring display plane, passes through monitoring display plane monitoring described the The attitude data of one support portion 1.If the attitude data of first support portion 1 does not reach required described when unmanned plane landing The expectation attitude value of first support portion 1, the monitoring system calculate the attitude data and described first of first support portion 1 After the deviation of the expectation attitude value of support portion 1, feedback fine tuning is carried out to step S4 according to deviation.
It is provided by the embodiment of the utility model from steady landing platform, the first mechanical arm L1, the second mechanical arm L2 And the upper end of the third mechanical arm L3 is all connect with 1 bottom surface of the first support portion, the first mechanical arm L1, described The lower end of two mechanical arm L2 and the third mechanical arm L3 are all connect with the top surface of second support portion 2, then control institute The telescopic that first mechanical arm L1, the second mechanical arm L2 and the third mechanical arm L3 stretch as required is stated, with So that first support portion 1 is currently constantly corrected relative to the roll pitch value of earth coordinates, so that described first Support part 1 is currently equal to first support portion 1 relative to the roll pitch value of earth coordinates and it is expected relative to earth coordinates Roll pitch value so that unmanned plane land when reach needed for first support portion 1 expectation attitude value, unmanned plane Landing plane remain with earth coordinates level, guaranteed on unmanned function stable landing to mobile vehicle with this.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or device.
The above is only the preferred embodiments of the utility model, and therefore it does not limit the scope of the patent of the utility model, all Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is applied directly or indirectly in Other related technical areas are also included in the patent protection scope of the utility model.

Claims (10)

1. it is a kind of from steady landing platform, for dropping to mobile vehicle for unmanned plane characterized by comprising
One first support portion, the first support portion middle part is equipped with display screen, to show characteristic image;
One second support portion, second support zone is in the lower section of first support portion, the bottom surface of second support portion It is connected and fixed for the table plane with the mobile vehicle;
One first mechanical arm, second mechanical arm and third mechanical arm, the first mechanical arm, the second mechanical arm and institute The upper end for stating third mechanical arm is all connect with first support portion bottom surface, the first mechanical arm, the second mechanical arm with And the lower end of the third mechanical arm is all connect with the top surface of second support portion;
One first inertial navigation components, first inertial navigation components are set to the bottom surface of first support portion for measuring described first The posture of support part;
One second inertial navigation components, second inertial navigation components are set to the bottom surface of second support portion for measuring described second The posture of support part.
2. according to claim 1 a kind of from steady landing platform, which is characterized in that first support portion is rounded, institute The fixed point of the upper end of stating first mechanical arm and first support portion is set as a1, the upper end of the second mechanical arm and described the The fixed point of one support portion is set as a2, and the upper end of the third mechanical arm and the fixed point of first support portion are set as a3, The angle of middle a1, a2, a3 between any two is 120 degree.
3. according to claim 1 a kind of from steady landing platform, which is characterized in that the first mechanical arm is equipped with electric cylinder And flexural pivot, the upper and lower ends of the electric cylinder are connect with the flexural pivot respectively.
4. according to claim 3 a kind of from steady landing platform, which is characterized in that the bottom surface of first support portion is equipped with Holding parts, the top surface of second support portion also are provided with the holding parts, and the flexural pivot is connected and fixed with the holding parts.
5. according to claim 4 a kind of from steady landing platform, which is characterized in that the holding parts set that there are two fixed Arm, the fixed arm are symmetrical arranged, and two fixed arm upper ends are equipped with perforation.
6. according to claim 5 a kind of from steady landing platform, which is characterized in that the flexural pivot is located at two fixations Between arm, a screw rod passes through the perforation to fix the flexural pivot and the holding parts.
7. according to claim 1 a kind of from steady landing platform, which is characterized in that second support portion is rounded, institute The fixed point of the lower end of stating first mechanical arm and second support portion is set as b1, the lower end of the second mechanical arm and described the The fixed point of two support portions is set as b2, and the lower end of the third mechanical arm and the fixed point of second support portion are set as b3, The angle of middle b1, b2, b3 between any two is 120 degree.
8. according to claim 1 a kind of from steady landing platform, which is characterized in that first support portion is metal material Material, the display screen are LED, and the display screen is embedded in the middle part of first support portion.
9. according to claim 1 a kind of from steady landing platform, which is characterized in that further comprise a control system, institute Control system is stated on second support portion, the control system is used to be used to first inertial navigation components, described second Guiding element connection, the control system obtain first support portion by first inertial navigation components and currently sit relative to the earth The roll pitch value of system is marked, while the control system obtains the current phase of the second support portion by second inertial navigation components For the roll pitch value of earth coordinates.
10. according to claim 9 a kind of from steady landing platform, which is characterized in that the control system passes through operation two Cover Kalman Filtering Data Fusion algorithm, the data that first inertial navigation components, second inertial navigation components are measured The reaction every terms of information current from steady landing platform in real time.
CN201820380226.2U 2018-03-20 2018-03-20 It is a kind of from steady landing platform Active CN208576733U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110127072A (en) * 2019-05-31 2019-08-16 河北省科学院应用数学研究所 A kind of unmanned plane parallel connection platform based on Pneumatic flexible joint
CN112435531A (en) * 2020-10-29 2021-03-02 燕山大学 Traction simulation platform for ship-based helicopter
CN112706937A (en) * 2020-04-08 2021-04-27 江苏方天电力技术有限公司 Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110127072A (en) * 2019-05-31 2019-08-16 河北省科学院应用数学研究所 A kind of unmanned plane parallel connection platform based on Pneumatic flexible joint
CN110127072B (en) * 2019-05-31 2020-09-04 河北省科学院应用数学研究所 Unmanned aerial vehicle parallel platform based on pneumatic flexible joint
CN112706937A (en) * 2020-04-08 2021-04-27 江苏方天电力技术有限公司 Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method
CN112435531A (en) * 2020-10-29 2021-03-02 燕山大学 Traction simulation platform for ship-based helicopter

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