CN209365992U - A kind of vehicle-mounted unmanned aerial vehicle landing assistance platform - Google Patents
A kind of vehicle-mounted unmanned aerial vehicle landing assistance platform Download PDFInfo
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- CN209365992U CN209365992U CN201822138918.9U CN201822138918U CN209365992U CN 209365992 U CN209365992 U CN 209365992U CN 201822138918 U CN201822138918 U CN 201822138918U CN 209365992 U CN209365992 U CN 209365992U
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Abstract
The utility model relates to unmanned plane field more particularly to a kind of vehicle-mounted unmanned aerial vehicle landing assistance platforms.It includes the ontology that can be fixedly connected with the vehicle body, positioning rail, the two pieces of limited blocks of setting on the body on the body are set, positioning rail is for being clamped foot prop, at least one of two pieces of limited blocks are slidably connected on the body, the first actuator is connected on the limited block being slidably connected on the body, the first actuator driving limited block is slided on the body to adjust the spacing between two pieces of limited blocks so that foot prop is supported fixation.Positioning rail for the clamping of unmanned plane foot prop is set, unmanned plane can be pre-positioned very well, it is provided with the foot prop that limited block grips unmanned plane simultaneously, to which unmanned plane be fixed well, it can guarantee to be securely held after unmanned plane returns on vehicle after execution task terminates well, damage when avoiding vehicle that unmanned plane is transported to next task point.
Description
[technical field]
The utility model relates to unmanned plane field more particularly to a kind of vehicle-mounted unmanned aerial vehicle landing assistance platforms.
[background technique]
UAV, referred to as " unmanned plane ", in recent years, unmanned plane is always a very active research neck
Domain, especially vehicle-mounted type unmanned plane, vehicle-mounted type unmanned plane can exist according to the earth station's operating system and setting being mounted on automobile
Flight control system on unmanned plane combines, and realizes that unmanned plane follows vehicle movement, executes scouting, monitors, tracks, taking photo by plane etc. times
Business, a kind of unmanned plane that takeoff and landing is all completed on automobile.Unmanned plane is executed smoothly to make a return voyage after task is completed and be dropped to
It is a complicated engineering technology on automobile, unmanned plane stops the stability on vehicle under steam and the accuracy of position
It is to be improved.
[utility model content]
The problem of stability difference when stopping for existing unmanned plane, the utility model land auxiliary for a kind of vehicle-mounted unmanned aerial vehicle
Help platform.
In order to solve the above-mentioned technical problem the utility model provides a kind of vehicle-mounted unmanned aerial vehicle landing assistance platform, unmanned plane packet
The foot prop for including fuselage and connecting with fuselage, the vehicle-mounted unmanned aerial vehicle landing assistance platform includes the sheet that can be fixedly connected with the vehicle body
Body is arranged at least two positioning rails on the body, two of ontology on each positioning rail extending direction both ends is arranged in
Block limited block, for the positioning rail for being clamped the foot prop, at least one of described two pieces of limited blocks are slidably connected at ontology
On, the first actuator is connected on the limited block that is slidably connected on the body, first actuator drives the limit
Block is slided on the body to adjust the spacing between two pieces of limited blocks so that foot prop is supported fixation.
Preferably, the ontology includes the top plate and bottom plate being oppositely arranged, and the positioning rail is separate along the top plate
The profile phase of the surface indentation of the bottom plate or the trough body structure convexed to form, the profile of the positioning rail and the foot prop
Match, the foot prop can partially fix in the positioning rail.
Preferably, the bottom of the positioning rail is provided with the magnetic absorption part that can be connect with foot prop magnetism.
Preferably, the positioning rail is three, and three positioning rails are distributed on the top plate in " H " type, therein
Two positioning rails are opposite to be arranged in parallel, and the both ends of another positioning rail are vertical with two positioning rails being oppositely arranged respectively to be connected
It connects, and is interconnected between three positioning rails, the limited block is disposed therein two positioning rails relatively disposed in parallel
Both ends.
Preferably, the foot prop includes the support bar that can be undertaken in positioning rail and the support rod being connected with support bar, institute
It states the support rod other end to connect with fuselage, the limited block includes the holding division that support division is connected with support division, the support division
And holding division carries out supporting to the support rod from both direction limit so that support rod is limited between two pieces of limited blocks.
Preferably, the support division and the L-shaped setting of holding division, the support division are corresponding with the direction that support rod supports
The extending direction of positioning rail, the end face that the holding division connects with the support rod are arc surface.
Preferably, the top plate offers link slot close to the position of positioning rail, and the limited block passes through link slot part
It exposes to top board surface and is slidably connected in link slot, the limited block further includes the interconnecting piece being connected with support division, described
Interconnecting piece is slidably connected with first actuator.
Preferably, first actuator include the sliding rail being arranged on bottom plate, the first telescopic rod and with the first telescopic rod
First power mechanism of connection, the sliding rail are slidably connected with the interconnecting piece, and first telescopic rod and the interconnecting piece are solid
Fixed connection, first power mechanism are fixed on bottom plate and drive the first telescopic rod flexible with respect to the first power mechanism with driving
Limited block opposed bottom is mobile.
Preferably, the vehicle-mounted unmanned aerial vehicle landing assistance platform further includes the slide assemblies that can be fixedly connected with ontology, institute
Stating slide assemblies includes sliding panel and fixed plate, and the fixed plate can be fixed in car body, the sliding panel and the fixed plate
It being slidably connected, the side of the remotely located rail of ontology is fixedly connected with the sliding panel, when sliding the sliding panel, described
Body and the unmanned plane stopped on the body can be slided relative to the fixed plate, and slid into car body or slided out of car body
Out.
Preferably, the slide assemblies further include the pushing plate being fixedly connected with sliding panel, connect with pushing plate second
Power mechanism and the connection rail being arranged in fixed plate, the pushing plate and the connection rail are slidably connected, the second engine
Structure pushes pushing block to slide and then drives the sliding of sliding panel opposing fixed plate.
Compared with prior art, the vehicle-mounted unmanned aerial vehicle landing assistance platform includes the ontology that can be fixedly connected with the vehicle body,
Two pieces of limited blocks that positioning rail on the body is arranged, is arranged on positioning rail extending direction both ends, the positioning rail is for blocking
The foot prop is connect, at least one of described two pieces of limited blocks are slidably connected on the body, are slidably connected on the body
The first actuator is connected on limited block, first actuator drives the limited block to slide on the body to adjust two pieces of limits
The positioning rail being clamped for unmanned plane foot prop is arranged so that foot prop is supported fixation in spacing between the block of position, can be pre- by unmanned plane very well
Positioning, while it being provided with the foot prop that limited block grips unmanned plane, positioning rail and limited block cooperation are solid well by unmanned plane
It is fixed, it can guarantee to be securely held after unmanned plane returns on vehicle after execution task terminates well, avoid vehicle will
Damage when unmanned plane is transported to next task point.
Positioning rail is along the surface indentation of the separate bottom plate of the top plate or the trough body structure convexed to form, institute
The profile of the profile and the foot prop of stating positioning rail matches, and unmanned plane is facilitated quickly to be located on platform when making a return voyage, and reduces drop
Fall the time.
The bottom of the positioning rail is provided with the magnetic absorption part that can be connect with foot prop magnetism, and magnetic absorption part is arranged into one
Step fixes the unmanned plane rested on platform, and further avoiding vehicle, unmanned plane shakes or falls in the process of moving,
And the vibrating effect of unmanned plane 1 can be reduced to a certain extent, improves the service life of unmanned plane 1.
Limited block includes the support division and holding division of L-shaped setting, the support division and holding division from both direction pair
The support rod support limit so that support rod is limited between two pieces of limited blocks, and limited block is from both direction to support
Bar is defined, and further enhances the fastness of unmanned plane.
The end face that the holding division connects with the support rod is arc surface setting, and support rod is mostly cylindric, will fix
The end face that portion connects with support rod is set as arc surface, convenient to be clamped to support rod.
The vehicle-mounted unmanned aerial vehicle landing assistance platform further includes the slide assemblies that can be fixedly connected with ontology, the Slide Group
Part includes sliding panel and fixed plate, and the fixed plate can be fixed in car body, and the sliding panel is slidably connected with the fixed plate,
The bottom plate of the ontology is fixedly connected with the sliding panel, and when sliding the sliding panel, the ontology and stop are on the body
Unmanned plane can be slided relative to the fixed plate, and slide into car body or skidded off out of car body, slide assemblies, side are set
Just it executes again after task finishes and is accommodated in unmanned plane in car body completely, further protect unmanned plane against damages.
[Detailed description of the invention]
Fig. 1 is the schematic perspective view of unmanned plane in the present invention；
Fig. 2 is the overall structure diagram of vehicle-mounted unmanned aerial vehicle landing assistance platform in first embodiment of the invention；
The configuration schematic diagram of vehicle-mounted unmanned aerial vehicle landing assistance platform in Fig. 3 first embodiment of the invention；
Fig. 4 is the overall structure diagram of vehicle-mounted unmanned aerial vehicle landing assistance platform in second embodiment of the invention；
Fig. 5 is the overall structure diagram of slide assemblies in second embodiment of the invention；
Fig. 6 is the connection relationship diagram of sliding panel and fixed plate in second embodiment of the invention；
Fig. 7 is the configuration schematic diagram of slide assemblies in second embodiment of the invention；
Fig. 8 is another structural schematic diagram of unmanned plane in the present invention；
Fig. 9 is the overall structure diagram of unmanned plane automatic charging system in third embodiment of the invention；
Figure 10 is the configuration schematic diagram of unmanned plane automatic charging system in third embodiment of the invention；
Description of symbols:
1, unmanned plane；11, fuselage；111, charge port；12, foot prop；121, support bar；122, support rod；
2, vehicle-mounted unmanned aerial vehicle landing assistance platform；21, ontology；211, top plate；2111, link slot；2112, through-hole；212,
Bottom plate；22, positioning rail；23, limited block；231, support division；232, holding division；233, interconnecting piece；24, the first actuator；241,
First telescopic rod；242, the first power mechanism；243, sliding rail；25, magnetic absorption part；26, slide assemblies；261, sliding panel；
262, fixed plate；2621, sliding slot；263, pushing plate；264, rail is connected；265, the second power mechanism；267, the second telescopic rod；
268, support plate；2a, vehicle-mounted unmanned aerial vehicle landing assistance platform；
3, unmanned plane automatic charging system；31, charging assembly；311, power supply connector；3111, first distance sensor；
312, third actuator；3121, third power mechanism；3122, third telescopic rod；314, inductor；315, information receiving module；
316, judgment module；317, signal transmitting module；318, power supply mould group.
[specific embodiment]
In order to make the purpose of the present invention, technical solution and advantage are more clearly understood, below in conjunction with attached drawing and embodiment,
The present invention will be described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Fig. 1 and Fig. 2 are please referred to, first embodiment of the invention provides a kind of vehicle-mounted unmanned aerial vehicle landing assistance platform 2, for auxiliary
Unmanned plane 1 is helped to land.The vehicle-mounted unmanned aerial vehicle landing assistance platform 2 can be fixed on moveable car body, specifically, can be fixed
In roof, vehicle boot or car body other positions.The present invention is illustrated using being fixed on roof as example.Unmanned plane 1 includes
Fuselage 11 and the foot prop 12 being connect with fuselage 11.Foot prop 12 includes support bar 121 and support rod 122,122 one end of support rod and is held
Pressure pin 121 connects the other end and fuselage 11 connects.
Referring to Fig. 2, vehicle-mounted unmanned aerial vehicle landing assistance platform 2 includes the ontology 21 that can be fixedly connected with roof, setting exists
Two pieces of ontology 21 on each 22 extending direction both ends of positioning rail are arranged at least two positioning rails 22 on ontology 21
Limited block 23, at least one limited block 23 that same positioning rail 22 is slidably connected, the limited block 23 can be along the positioning
The extending direction of rail 22 slides.The positioning rail 22 is for being clamped foot prop 12, and specifically, the positioning rail 22 includes at least partly
The space of the support bar 121 is accommodated, the positioning rail 22 and two limited blocks 23 cooperate, for being clamped support bar 121,
And support bar 121 is positioned.Ontology 21 can connect or be wholely set etc. modes by clamping, screw and roof is consolidated
It is fixed.
Fig. 2 and Fig. 3 are please referred to, ontology 21 includes the top plate 211 and bottom plate 212 being oppositely arranged, and positioning rail 22 is along top
The recessed groove that plate 211 is arranged far from the surface indentation of bottom plate 212, it is preferable that recessed groove is that opening is wide, the dovetail groove of narrow base.
Positioning rail 22 is set as dovetail groove and support bar 121 is facilitated to fix in positioning rail 22, while being conveniently fixed in positioning rail 22
Unmanned plane 1 takes off.In order to enable positioning rail 22 can well position support bar 121, positioning rail 22 is at least partly and institute
State the abutting of support bar 121.Also, in order to enable positioning rail 22 can be fixed well in positioning rail 22, the depth of positioning rail 22
Degree is equal to or more than the diameter dimension of support bar 121.The length dimension of the extending direction of positioning rail 22 it is settable and support
The length dimension of bar 121 is suitable, when support bar 121 is connected in positioning rail 22, the both ends of 22 length direction of positioning rail and
The both ends of support bar 121 offset, so that preferably support bar 121 is limited in positioning rail 22.
In some other embodiments, positioning rail 22 can also protrude from the surface of top plate 211 and the groove that is formed
Type structure.
Referring to Fig. 3, the positioning rail 22 is three, three positioning rails 22 in some specific embodiments
It is distributed on the top plate 211 in " H " type, two positioning rails 22 therein are opposite to be arranged in parallel, another positioning rail 22
Both ends are vertical with two positioning rails 22 relatively disposed in parallel respectively to be connect, and is interconnected between three positioning rails 22.
The limited block 23 is disposed therein the both ends of two positioning rails 22 relatively disposed in parallel.Certainly, different types of unmanned plane 1
The shape of foot prop 12 can not be identical, and the quantity of positioning rail 22 can be two or other quantity；Furthermore the shape of positioning rail 22
It is also possible to other types, as long as matching with the shape of foot prop 12.
Incorporated by reference to Fig. 2 and Fig. 3, the top plate 211 offers link slot 2111, the connection close to the position of positioning rail 22
It is consistent with the moving direction of the limited block 23 that the notch of slot 2111 opens up direction.At least one described limited block 23 is slidably connected
In link slot 2111 and part stretches out the surface of top plate 211 by link slot 2111.Limited block 23 include holding division 232,
Support division 231 and interconnecting piece 233, holding division 232 and interconnecting piece 233 connect, and holding division 232 and support division 231 are from link slot
2111 stretch out, and are exposed at the surface that top plate 211 is provided with positioning rail 22, and interconnecting piece 233 can along link slot 2111 and wherein
Sliding.Holding division 232 and the L-shaped setting of support division 231.
It defines consistent for first direction with the length direction of the positioning rail 22, further defines second direction, first
The angular range of direction and second direction is 45 ° -90 °, it is preferable that first direction and the angle of second direction are 90 °.When holding
After pressure pin 121 is connected in positioning rail 22, support division 231 supports support rod 122, holding division 232 from second from first direction
Support rod 122 is supported on direction.Two pieces of limited blocks 23 are arranged to be slidably matched with positioning rail 22, are further fixed on unmanned plane 1
Vehicle-mounted unmanned aerial vehicle lands on assistance platform 2, it is ensured that in the process of moving, unmanned plane 1 is securely held vehicle, avoids unmanned plane 1
It is broken.
Incorporated by reference to Fig. 1 and Fig. 3, in some specific products, the support rod 122 of unmanned plane 1 is often set as cylindric,
In order to enable holding division 232 is preferably connected and fixed with support rod 122, the support rod of the holding division 232 and the unmanned plane 1
122 end faces to connect are arc surface setting, and holding division 232 is facilitated to be clamped support rod 122.
Please continue to refer to Fig. 3, at least one of two pieces of limited blocks 23 are slidably connected in link slot 2111, are slidably connected
Limited block 23 on link slot 2111 is connected with the first actuator 24, and first actuator 24 drives the limited block 23 to exist
Foot prop 12 is supported fixation to adjust the spacing between two pieces of limited blocks 23 by sliding on ontology 21.
Please continue to refer to Fig. 3, first actuator 24 includes sliding rail 243, the first telescopic rod being arranged on bottom plate 212
241 and the first power mechanism 242 for being connect with the first telescopic rod 241.Interconnecting piece 233 is slidably connected on sliding rail 243, and described
One telescopic rod, 241 one end is fixedly connected with the other end with the interconnecting piece 233 and connect with the first power mechanism 242.Described first is dynamic
Force mechanisms 242 are fixed on bottom plate 212 and drive opposite first power mechanism 242 of the first telescopic rod 241 flexible to drive limit
23 opposed bottom 212 of block is mobile, and the direction of motion of the first telescopic rod 241 is identical with first direction.Determine when support bar 121 is connected to
After in the rail 22 of position, the first power mechanism 242 drives the first telescopic rod 241 to shrink, so that limited block 23 is to close to support bar 121
Side movement, abutted with support rod 122.When unmanned plane 1 needs flight, the first power mechanism 242 drives the first telescopic rod
241 elongations, so that limited block 23 is separated with support rod 122, so that unmanned plane 1 successfully takes off.
In some other embodiments, the bottom of positioning rail 22 is provided with the magnetic absorption part that can be connect with 12 magnetic of foot prop
25, after foot prop 12 is connected in positioning rail 22, magnetic absorption part 25 adsorbs support bar 121, preferably by unmanned plane 1
It is fixed, can be fixed by unmanned plane 1 well vehicle is under rugged road environment, avoid unmanned plane 1 shake or by
It breaks；And the vibrating effect of unmanned plane 1 can be reduced to a certain extent, improves the service life of unmanned plane 1.
Fig. 4 and Fig. 5 are please referred to, the second embodiment of the present invention provides another vehicle-mounted unmanned aerial vehicle landing assistance platform 2a,
It further includes slide assemblies 26 compared with the vehicle-mounted unmanned aerial vehicle that above-mentioned first embodiment provides lands assistance platform 2.Slide assemblies
26 can be fixedly connected with ontology 21.Slide assemblies 26 can be fixed in car body.
Incorporated by reference to Fig. 4, Fig. 5 and Fig. 6, the slide assemblies 26 include sliding panel 261, fixed plate 262 and support plate 268.
The fixed plate 262 can be fixed in car body, and the sliding panel 261 is slidably connected with the fixed plate 262, the ontology 21
Bottom plate 212 is fixedly connected with the sliding panel 261, when sliding the sliding panel 261, the ontology 21 and rests in ontology 21
On unmanned plane 1 can be slided relative to the fixed plate 262, and slide into car body or skid off car body.It specifically, can be solid
Sliding slot 2621 is opened up on fixed board 262, sliding panel 261 is slided along the notch direction of sliding slot 2621.
Incorporated by reference to Fig. 6 and Fig. 7, slide assemblies 26 further include the pushing plate 263 being fixedly connected with sliding panel 261 and push
The second power mechanism 265 that plate 263 connects and the second telescopic rod 267 being connected with the second power mechanism 265.Support plate 268
On offer connection rail 264, the pushing plate 263 and the connection rail 264 are slidably connected.Second power mechanism 265 pushes away
Movable plate 263 is slided along connection rail 264, and the sliding of pushing plate 263 drives the sliding of 261 opposing fixed plate 262 of sliding panel, so that
Sliding panel 261 stretches out in car body or income car body.After unmanned plane landing finishes, the driving of the second power mechanism 265 is pushed
Plate 263 slides, and the movement of pushing plate 263 drives sliding panel 261 to slide, and sliding panel 261 is taken in car body, thus by unmanned plane 1
It takes in car body, protection storage is carried out to it.When needing makes unmanned plane 1 take off and execute task, the second power mechanism 265 is pushed away
Dynamic sliding panel 261 stretches out car body, so that unmanned plane 1 is released flight to execute specific aerial mission.
In some specific embodiments, slide assemblies 26, which can be, to be fixed on vehicle boot, close to vehicle in car body
Other positions on the position of skylight or car body.
Fig. 8, Fig. 9 and Figure 10 are please referred to, stopped in order to facilitate unmanned plane 1 and is conveniently charged to unmanned plane 1, this hair
Bright 3rd embodiment provides a kind of unmanned plane automatic charging system 3 comprising above-mentioned first embodiment and second embodiment provide
Vehicle-mounted unmanned aerial vehicle landing assistance platform and be arranged in vehicle-mounted unmanned aerial vehicle landing assistance platform on charging assembly 31.Unmanned plane 1
Fuselage 11 be provided with power storage module, the fuselage 11 of unmanned plane 1 is towards being provided with charge port in the one side of the support bar 121
111, charge port 111 and power storage module are electrically connected.Through-hole is offered on the top plate 211 of vehicle-mounted unmanned aerial vehicle landing assistance platform
2112.Charging assembly 31 includes the power supply mould group 318 being arranged on ontology 21, the power supply that mould group 318 is electrically connected connects with powering
First 311 and the third actuator 312 that is connect with power supply connector 311.Mould group 318 of powering is solar battery mould group, battery
Or any one of other electric power storage parts.The third actuator 312 drives the through-hole of the stretching of power supply connector 311 ontology 21
2112 are perhaps housed in ontology 21 so that power supply connector 311 is plugged with the charge port 111 of unmanned plane 1 or mutually separated, and are
It is disconnected when the charging of unmanned plane 1 or fully charged unmanned plane 1 with unmanned plane 1.
Referring to Fig. 10, the third actuator 312 include the third power mechanism 3121 that is fixed on bottom plate 212 and with
The connected third telescopic rod 3122 of third power mechanism 3121, third telescopic rod 3122 are fixedly connected with the power supply connector 311,
The third power mechanism 3121 drives the opposite third power mechanism 3121 of the third telescopic rod 3122 flexible, so that power supply
Connector 311 stretches out through-hole 2112 or is contained in ontology 21.When unmanned plane 1 needs to charge, it is back to vehicle-mounted unmanned aerial vehicle drop
It falls on assistance platform, foot prop 12 is fixed on positioning rail 22, and third power mechanism 3121 drives third telescopic rod 3122 to stretch at this time
Out, so that power supply connector 311 and charge port 111 plug, for the charging of unmanned plane 1, after charging terminates, third engine
Structure 3121 drives third telescopic rod 3122 to shrink, so that power supply connector 311 and charge port 111 separate, unmanned plane 1 continues to return empty
Middle execution task.
Please continue to refer to Figure 10, power supply connector 311 is provided with a first distance sensor close to the side of bottom plate 212
3111, first distance sensor 3111 and third power mechanism 3121 are electrically connected.First distance sensor 3111 is for sensing
The distance of 311 opposed bottom 212 of power supply connector.Definition, when the 111 successful grafting of power supply connector 311 and charge port, power supply connector
The distance of 311 bottom opposed bottom 212 is charging distance.After unmanned plane 1 lands, the driving of third power mechanism 3121 is supplied
The side of electric connection 311 to close charge port 111 is mobile, when power supply connector 311 is equal to charging distance at a distance from bottom plate 212
When, first distance sensor 3111 issues stop signal to third power mechanism 3121, and third power mechanism 3121 stops at this time
Movement, power supply connector 311 and 111 grafting of charge port in place, and then are charged for unmanned plane 1.
In some specific embodiments, first distance sensor 3111 can for laser displacement sensor, it is infrared away from
From any one of sensor.
Please continue to refer to Figure 10, charging assembly 31 further includes the inductor 314 being arranged on positioning rail 22, the inductor
314 and the third actuator 312 be electrically connected, when the inductor 314 senses that foot prop 12 is connected on positioning rail 22 it
Afterwards, inductor 314 issues charging signals to third power mechanism 3121, and third power mechanism 3121 is based on charging signals and drives institute
It states third telescopic rod 3122 to stretch out to the side far from ontology 21, so that 311 grafting of power supply connector enters the charge port of unmanned plane 1
111.In some specific embodiments, inductor 314 can be touch sensor, such as: capacitance sensor, magnetic force sense
Answer any one of device.
Referring to Fig. 10, charging assembly 31 further includes the information receiving module interconnected being arranged on bottom plate 212
315, judgment module 316, signal transmitting module 317.The information receiving module 315 is used to monitor the electricity of the unmanned plane 1
Information, the judgment module 316 are described to sentence if be lower than setting value for judging whether the information about power is lower than setting value
Information about power is further transmitted to signal transmitting module 317 by disconnected module 316, and the signal transmitting module 317 issues charging letter
The unmanned plane 1 number is made to make a return voyage charging.
In some other embodiments, the charging assembly 31 further includes indicator light (not shown), and the indicator light is fixed
On the fuselage 11, when the unmanned plane 1 is full electric, the indicator light is lighted.
Compared with prior art, the invention has the following beneficial effects: by the velocity information of vehicle, location information and mode
Renewal time combines the position quantity, speed amount and algorithm update cycle of unmanned plane to obtain control amount, further turns control amount
Posture information is turned to, is matched with controlling unmanned plane during flying information and the vehicle movement information, unmanned plane can be adjusted well
Flight information and the motion information of vehicle match, guarantee that unmanned plane successfully lands.
The unmanned plane and vehicle are calculated according to the physical location and schema update time that calculate the target destination, vehicle that obtain
Target velocity when speeds match, when the difference between target velocity and actual speed is in a threshold value, unmanned plane landing,
Otherwise it needs newly to adjust target velocity, match by adjusting the target velocity and actual speed of unmanned plane, so that unmanned function
Smoothly drop on target position.
Height, which declines and further comprises the steps of: the practical level point obtained on target position before droping to target position, sits
Mark calculates the coordinate position deviation between target level point coordinate and practical level point coordinate, coordinate position deviation is converted into
Velocity error is added in target velocity by velocity error, when velocity error is in a preset threshold range, unmanned plane drop
It falls, otherwise needs for object height and target velocity to be transferred in posture target, readjust target velocity, by calculating target
Grid deviation is converted into velocity error, then by speed by the position deviation between level point coordinate and practical level point coordinate
Error is added in target velocity, can be further improved a possibility that unmanned plane successfully lands, and increases what unmanned plane successfully landed
Chance.
The vehicle-mounted unmanned aerial vehicle tracking landing system includes the earth station system being arranged on vehicle and is arranged in unmanned plane
On flight control system, matched, made by the earth station system that is arranged on vehicle and the flight control system being arranged on unmanned plane
The motion information for obtaining vehicle can be associated with well with the flight information of unmanned plane, be well the motion state and nothing of adjustment vehicle
Man-machine state of flight matches.
Second distance sensor is set, so that unmanned plane, during landing, the sinking speed of unmanned plane is according to target
The height of height goes to adjust, and guarantees unmanned plane when reaching landing point target, and velocity of rotation speed levels off to zero, so that nobody
Machine successfully lands.
The practical level point coordinate that visual pattern locating module is gone on measurement target position is set, and calculates practical level point
Error between coordinate and target level point coordinate, and error is converted into control amount and is transmitted in power device, so that power
Device driving unmanned plane more accurately drops on target position, further increases the probability of unmanned plane landing.
The foregoing is merely present pre-ferred embodiments, are not intended to limit the invention, it is all principle of the present invention it
Any modification made by interior, equivalent replacement and improvement etc. should all be comprising within protection scope of the present invention.
Claims (10)
- The assistance platform 1. a kind of vehicle-mounted unmanned aerial vehicle lands, the unmanned plane include fuselage and the foot prop that connect with fuselage, feature Be: the vehicle-mounted unmanned aerial vehicle landing assistance platform includes the ontology that can be fixedly connected with the vehicle body, and is arranged on the body at least Two piece limited blocks of the ontology on each positioning rail extending direction both ends are arranged in two positioning rails, and the positioning rail is used In being clamped the foot prop, at least one of described two pieces of limited blocks are slidably connected on the body, are slidably connected at the ontology On limited block on be connected with the first actuator, first actuator drives the limited block to be slided on the body to adjust two Spacing between block limited block is to support fixation for foot prop.
- The assistance platform 2. vehicle-mounted unmanned aerial vehicle as described in claim 1 lands, it is characterised in that: the ontology includes being oppositely arranged Top plate and bottom plate, the positioning rail is surface indentation along the top plate far from the bottom plate or the groove body that convexes to form The profile of structure, the profile of the positioning rail and the foot prop matches, and the foot prop can partially fix in the positioning rail.
- The assistance platform 3. vehicle-mounted unmanned aerial vehicle as claimed in claim 2 lands, it is characterised in that: the bottom of the positioning rail is arranged There is the magnetic absorption part that can be connect with foot prop magnetism.
- The assistance platform 4. vehicle-mounted unmanned aerial vehicle as claimed in claim 2 lands, it is characterised in that: the positioning rail is three, three A positioning rail is distributed on the top plate in " H " type, and two positioning rails therein are opposite to be arranged in parallel, another positioning The both ends of rail are vertical with two positioning rails being oppositely arranged respectively to be connect, and is interconnected between three positioning rails, described Limited block is disposed therein the both ends of two positioning rails relatively disposed in parallel.
- The assistance platform 5. vehicle-mounted unmanned aerial vehicle as claimed in claim 4 lands, it is characterised in that: the foot prop includes that can be undertaken on Support bar in positioning rail and the support rod being connected with support bar, the support rod other end are connect with fuselage, the limited block Including the holding division that support division is connected with support division, the support division and holding division support the support rod from both direction Limit is held so that support rod is limited between two pieces of limited blocks.
- The assistance platform 6. vehicle-mounted unmanned aerial vehicle as claimed in claim 5 lands, it is characterised in that: the support division and holding division are in The setting of " L " type, the extending direction of support division positioning rail corresponding with the direction that support rod supports, the holding division and the branch The end face that strut connects is arc surface.
- The assistance platform 7. vehicle-mounted unmanned aerial vehicle as claimed in claim 2 lands, it is characterised in that: the top plate is close to positioning rail Position offers link slot, and the limited block is exceptionally exposed to top board surface and is slidably connected in link slot by connection groove section, The limited block further includes the interconnecting piece being connected with support division, and the interconnecting piece is slidably connected with first actuator.
- The assistance platform 8. vehicle-mounted unmanned aerial vehicle as claimed in claim 7 lands, it is characterised in that: first actuator includes setting Set the sliding rail on bottom plate, the first telescopic rod and the first power mechanism connecting with the first telescopic rod, the sliding rail and the company Socket part is slidably connected, and first telescopic rod is fixedly connected with the interconnecting piece, and first power mechanism is fixed on bottom plate And the first telescopic rod of driving is flexible to drive limited block opposed bottom mobile relative to the first power mechanism.
- 9. such as vehicle-mounted unmanned aerial vehicle of any of claims 1-8 landing assistance platform, it is characterised in that: described vehicle-mounted Unmanned plane landing assistance platform further includes the slide assemblies that can be fixedly connected with ontology, and the slide assemblies include sliding panel and consolidate Fixed board, the fixed plate can be fixed in car body, and the sliding panel is slidably connected with the fixed plate, and the ontology is remotely located The side of rail is fixedly connected with the sliding panel, when sliding the sliding panel, the ontology and stops on the body nobody Machine can be slided relative to the fixed plate, and slid into car body or skidded off out of car body.
- The assistance platform 10. vehicle-mounted unmanned aerial vehicle as claimed in claim 9 lands, it is characterised in that: the slide assemblies further include The pushing plate being fixedly connected with sliding panel, the second power mechanism being connect with pushing plate and the connection being arranged in fixed plate Rail, the pushing plate and the connection rail are slidably connected, and the second power mechanism pushes pushing block to slide and then drives sliding panel phase Fixed plate is slided.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822138918.9U CN209365992U (en) | 2018-12-18 | 2018-12-18 | A kind of vehicle-mounted unmanned aerial vehicle landing assistance platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822138918.9U CN209365992U (en) | 2018-12-18 | 2018-12-18 | A kind of vehicle-mounted unmanned aerial vehicle landing assistance platform |
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| CN209365992U true CN209365992U (en) | 2019-09-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110673642A (en) * | 2019-10-28 | 2020-01-10 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle landing control method and device, computer equipment and storage medium |
| CN110794852A (en) * | 2019-10-28 | 2020-02-14 | 深圳供电局有限公司 | Auxiliary unmanned aerial vehicle landing device and method and unmanned aerial vehicle landing method |
| CN115123058A (en) * | 2022-07-02 | 2022-09-30 | 巢湖市空鹫无人机科技有限责任公司 | Vehicle-mounted unmanned aerial vehicle winding and unwinding device |
-
2018
- 2018-12-18 CN CN201822138918.9U patent/CN209365992U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110673642A (en) * | 2019-10-28 | 2020-01-10 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle landing control method and device, computer equipment and storage medium |
| CN110794852A (en) * | 2019-10-28 | 2020-02-14 | 深圳供电局有限公司 | Auxiliary unmanned aerial vehicle landing device and method and unmanned aerial vehicle landing method |
| CN110673642B (en) * | 2019-10-28 | 2022-10-28 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle landing control method and device, computer equipment and storage medium |
| CN115123058A (en) * | 2022-07-02 | 2022-09-30 | 巢湖市空鹫无人机科技有限责任公司 | Vehicle-mounted unmanned aerial vehicle winding and unwinding device |
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