WO2017114295A1 - 一种无人机起落控制系统和控制方法 - Google Patents
一种无人机起落控制系统和控制方法 Download PDFInfo
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- WO2017114295A1 WO2017114295A1 PCT/CN2016/111573 CN2016111573W WO2017114295A1 WO 2017114295 A1 WO2017114295 A1 WO 2017114295A1 CN 2016111573 W CN2016111573 W CN 2016111573W WO 2017114295 A1 WO2017114295 A1 WO 2017114295A1
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- drone
- coil
- magnetic field
- apron
- landing
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000013589 supplement Substances 0.000 claims abstract description 7
- 238000004146 energy storage Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 5
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 230000002035 prolonged effect Effects 0.000 abstract 1
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
- B64F1/362—Installations for supplying conditioned air to parked aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/20—Electromagnets; Actuators including electromagnets without armatures
- H01F7/202—Electromagnets for high magnetic field strength
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
Definitions
- the invention relates to the technical field of drones, in particular to a drone landing control system and a control method.
- UAVs have a wide range of applications in applications such as surveillance/monitoring, communication relay, electronic countermeasures, disaster prevention, and emergency search.
- Some people in the prior art have also proposed an idea design to apply the drone to a car, making it a "eye" that the car can move. When the drone is not working, it is parked in the apron of the roof and can be wirelessly charged. At work, people control the drone to detect the traffic conditions in the road ahead, and at the same time can act as a camera for the reversing radar.
- the above design concept can not be achieved.
- One of the most important problems is that the drone is vulnerable to collision or tilting during take-off or landing, making the drone's life short and practicable.
- the wing has to consume a large amount of electric energy to get out of the apron, and the energy consumption is large, which is not conducive to continuous use.
- the invention provides a drone landing control system and a control method, aiming at solving the problem that the drone is easily damaged during take-off and landing.
- the invention provides a drone landing control system, comprising:
- a magnet assembly disposed on the side of the drone and a magnetic field assembly disposed on the side of the apron; wherein the magnetic field assembly is provided with an energized coil;
- a current is applied to the energized coil, and the magnetic field component generates a supporting magnetic field on the apron side to form a thrust acting on the drone; the thrust and the lift of the drone during the takeoff or landing of the drone or The resistance of the drone forms a resultant force to supplement the lift or resistance.
- the method further includes a rotation speed measuring device, a distance measuring device and a controller; the rotation speed measuring device measures a rotation speed of the drone wing, and the distance measuring device measures a distance between the drone and the predetermined parking position; the control The direction and magnitude of the current flowing into the energized coil are varied based on the rotational speed measured by the rotational speed measuring device and/or the distance measured by the distance measuring device.
- the drone receives the takeoff command, the forward current is passed through the energized coil and the forward current is continuously increased, the support magnetic field generates an upward thrust acting on the drone; and the support magnetic field acts on the drone
- the thrust is equal to the gravity of the drone, the forward current flowing into the energizing coil is the largest, and an air gap is formed between the drone and the apron.
- the drone wing begins to rotate; the forward current flowing into the energized coil decreases as the rotational speed of the drone's wing increases; The rotation speed of the drone's wing is equal to the setting At the speed of rotation, the current flowing into the energized coil drops to zero.
- the controller receives the landing command, inputs a forward current in the energized coil and continuously increases the forward current; the drone wing speed is zero and the ranging device detects the drone and stops When the distance between the pings is zero, the controller controls to stop supplying power to the energized coil.
- the controller receives the landing command, and the distance measuring device detects whether the distance between the drone and the apron belongs to a dropable range; if the distance between the drone and the apron belongs to the range that can be dropped, then the The speed of the drone's wing is constant, and a reverse current is applied to the energized coil to pull the drone directly above the preset parking position.
- the method further includes an energy storage device disposed in the drone and a charging coil disposed on the landing gear of the drone, and the energy storage device and the charging coil are electrically connected; when the drone is in a flight state, the energy storage device The device is disconnected from the charging coil; when the drone is parked on the tarmac, a charging current is applied to the energizing coil, the magnetic field component generates a varying charging magnetic field on the apron side, and the energy storage device is connected to the charging coil. Charge the energy storage device.
- the distance measuring device comprises an infrared distance measuring device disposed on the drone and an infrared receiving device disposed on the side of the apron; the width of the infrared receiving device is greater than the width of the infrared distance measuring device.
- the magnet assembly includes a permanent magnet disposed on a corresponding contact surface of the drone landing gear and the apron; the magnetic field assembly includes an iron core disposed at the tarmac, and the energized coil is wound Outside the core.
- the drone landing control system disclosed in the above embodiments of the present invention forms a uniform magnetic field by changing the current of the energized coil during the take-off and landing of the drone, and generates a thrust acting on the drone to balance the drone.
- the force during the landing process improves the safety performance of the drone, reduces the energy consumption of the drone, and prolongs the service life of the drone.
- the invention provides a drone landing control method, which specifically comprises the following steps:
- the controller receives the take-off command, controls the forward current flowing into the energized coil and continuously increases the forward current; and the supporting magnetic field acts on the drone equal to the gravity of the drone, and the positive current is applied to the energizing coil The current is the largest, and an air gap is formed between the drone and the apron;
- the controller controls the maximum forward current flowing into the energizing coil to be unchanged, and the drone wing starts to rotate; the input of the controller inputs the rotation speed detecting device feedback The rotation speed detection signal, and according to the input rotation speed detection signal output control signal, the forward current flowing into the energization coil is decreased as the rotation speed of the UAV wing increases; the rotation speed of the UAV wing is equal to When the rotational speed is set, the controller controls the current flowing into the energized coil to drop to zero;
- the controller receives the landing command, and the ranging device detects whether the distance between the drone and the apron is in a range that can be dropped;
- the controller inputs the control signal to keep the speed of the drone's wing constant, and controls the reverse current flowing into the energized coil to pull the drone. Up to the top of the preset parking position;
- the controller applies a forward current in the energized coil and continuously increases the forward current to form a thrust acting on the drone to supplement the resistance loss caused by the drone speed of the drone;
- the speed of the drone wing is Zero and the distance measuring device detects that the distance between the drone and the apron is zero, the controller input control signal stops supplying power to the energizing coil;
- the energy storage device when the drone is working, the energy storage device is disconnected from the charging coil; when the drone is parked on the tarmac, the controller outputs a control signal, and the charging current is passed through the energizing coil, and the magnetic field component is stopped. A charging magnetic field is generated on the ping side, and the energy storage device is connected to the charging coil to charge the energy storage device.
- the control method disclosed by the invention reduces the energy consumption during the take-off and landing of the drone, improves the safety performance of the drone, and has the advantages of good operability.
- FIG. 1 is a schematic structural view of an embodiment of a drone landing control system according to the present invention.
- FIG. 2 is a schematic block diagram of an embodiment of a drone landing control system according to the present invention.
- FIG. 3 is a flow chart of an embodiment of a drone landing control method according to the present invention.
- the landing control system disclosed herein includes a magnet assembly disposed on the side of the drone 1 and a magnetic field assembly disposed on the side of the apron.
- the magnet assembly is a permanent magnet 5 disposed on the contact surface of the drone landing gear and the apron.
- the permanent magnet 5 is light in weight and has stable magnetic properties.
- the magnetic field assembly includes a core disposed at the tarmac and an energized coil 2 wound around the outside of the core. For magnetic field components placed in special environments such as the roof, the energized coil 2 is placed in the washer to avoid the influence of the bottom magnetic leakage on other items.
- the energized coil 2 When the energized coil 2 is energized, a magnetic field is formed on the side of the drone. Since the magnetic field strength on the apron side is much larger than the magnetic field strength of the magnetic field formed by the permanent magnet 5, the magnetic field generated by the magnetic field component is a uniform magnetic field with respect to the drone, and does not cause the drone to tip over or fall.
- the magnetic field component forms a supporting magnetic field on the apron side to generate a thrust acting on the drone.
- the thrust generated by the supporting magnetic field forms a resultant force with the lift of the aircraft take-off, supplementing the lift generated by the rotation of the wing, thereby reducing the energy consumption during the take-off of the drone.
- the vertical drop occurs when the flight speed is high, and the lift is reduced quickly.
- the supporting magnetic field acts on the unmanned machine to form a resultant force between the thrust and the resistance, so that the drone is evenly stressed.
- the speed measuring device 6 and the infrared distance measuring device 7 are disposed on the side of the drone, and the signal transmitting and receiving module 10 and the controller 9 are disposed on the apron side.
- the rotational speed detecting signal generated by the rotational speed measuring device 6 and the distance signal generated by the infrared ranging device 7 are output to the controller 9 through the signal transmitting and receiving module 10 as two independent control parameters of the controller 9.
- the drone 1 receives the takeoff command and outputs a takeoff signal
- the signal transceiver module 10 receives the takeoff signal and inputs Exit to controller 9.
- the controller 9 controls the forward current to be supplied to the energized coil 2.
- the wing of the drone 1 does not rotate.
- the supporting magnetic field formed by the forward current generates an upward thrust acting on the drone.
- the controller 9 controls the forward current flowing through the energized coil 2 to continuously increase.
- the upward thrust is equal to the gravity of the drone 1, the forward current flowing into the energizing coil 2 is the largest, and an air gap is formed between the drone 1 and the apron, so that the drone 1 assumes a magnetic levitation state.
- the infrared distance measuring device 7 After the air gap is formed between the drone 1 and the apron, the infrared distance measuring device 7 generates a distance detection value of the distance between the drone 1 and the predetermined parking position and feeds back to the input end of the controller 9 through the signal transceiving unit 10. .
- the drone wing After the air gap is formed between the drone 1 and the apron, the drone wing begins to rotate, and the rotational speed measuring device 6 generates a rotational speed detection value and feeds back to the input end of the controller 9 through the signal transceiving unit 10. It is also possible to control the start of rotation of the drone wing when the distance measuring value of the distance between the drone 1 and the predetermined parking position is detected by the infrared distance measuring device 7, preferably 0.5 m, to improve safety. After the drone wing begins to rotate, the controller 9 controls the forward current flowing into the energized coil 2 to decrease as the rotational speed of the drone's wing increases.
- the controller 9 controls the current flowing into the energized coil 2 to drop to zero. At this time, the supporting magnetic field generated on the apron side disappears, and the drone 1 operates in the original control mode.
- the remote controller issues a landing command.
- the drone 1 receives the landing command and outputs a falling signal, and the signal transceiving module 10 receives the falling signal and outputs it to the controller 9.
- the controller 9 determines whether or not the drone 1 falls within the range that can be dropped based on the distance detection value of the distance between the drone 1 and the apron generated by the infrared distance measuring device 7.
- the range that can be landed refers to a specific area on the apron centered on the preset parking position, and the specific distance is defined by the radius.
- the control signal is output to keep the speed of the drone's wing unchanged, and a reverse current is applied to the energized coil 2 to form an attracting magnetic field, and no one is drawn.
- the machine 1 is directly above the preset position.
- the infrared receiving device 8 receives the infrared signal from the infrared ranging unit 7, indicating that the drone 1 is directly above the parking position, and can be dropped, so that it is not easy to see.
- the user of the specific drone 1 position operates.
- the width of the infrared receiving device 8 is slightly larger than the width of the infrared ranging unit 7, allowing a certain amount of downtime error.
- the controller 9 controls the forward current to be supplied to the energized coil 2 and continues to increase the forward current.
- the rotational speed measuring device 6 continues to feed back the wing speed detecting signal of the drone 1 to the controller 9. Since the forward current is logarithmically increased with time. According to the characteristics of the logarithmic function, the strength of the supporting magnetic field increases the fastest, and the thrust acting on the drone 1 increases rapidly to balance the lift loss during the landing; the strength of the supporting magnetic field increases with time, making the unmanned The thrust received when the machine approaches the predetermined parking position is the largest and stable.
- the controller 9 controls to stop supplying power to the energizing coil 2, and the supporting magnetic field disappears and falls smoothly.
- the control system further includes an energy storage device 11 and a charging coil 3 disposed in the drone 1, and the charging coil 3 is disposed on the drone landing gear.
- the energy storage device 11 is disconnected from the charging coil 3.
- the controller 9 controls the charging current to be supplied to the energizing coil 2, and the magnetic field component generates a varying charging magnetic field on the apron side.
- the induced current is generated in the charging coil 3 by the constantly changing magnetic field, and an electromotive force conforming to the power supply specification of the drone 1 is obtained, thereby wirelessly charging the drone 1 .
- the drone landing control system disclosed in the above embodiments of the present invention forms a uniform magnetic field by changing the current of the energized coil during the take-off and landing of the drone, generating a thrust acting on the drone, supplementing the take-off and landing.
- the lift or resistance in the process improves the safety performance of the drone, reduces the energy consumption of the drone, and prolongs the service life of the drone.
- the present invention also provides a control method for controlling the take-off and landing of a drone by using the drone landing control system disclosed in the above embodiment. Specifically, as shown in FIG. 3, the following steps are included:
- the controller receives the take-off command, controls the forward current flowing into the energized coil and continuously increases the forward current; and the supporting magnetic field acts on the drone equal to the gravity of the drone, and the positive current is applied to the energizing coil The current is the largest, and an air gap is formed between the drone and the apron.
- the controller controls the maximum forward current flowing into the energizing coil to be unchanged, and the drone wing starts to rotate; the controller inputs the rotational speed detecting device at one input end
- the feedback rotation speed detection signal controls the forward current flowing into the energization coil according to the input rotation speed detection signal output control signal to decrease as the rotation speed of the UAV wing increases; when the UAV wing rotates
- the controller controls the current flowing into the energized coil to drop to zero.
- the controller receives the landing command, and the ranging device detects whether the distance between the drone and the apron is in a range that can be dropped.
- the controller inputs the control signal to keep the speed of the drone's wing constant, and controls the reverse current flowing into the energized coil to pull the drone. To the top of the preset parking position.
- the controller applies a forward current in the energized coil and continuously increases the forward current to form a thrust acting on the drone to supplement the resistance loss caused by the drone speed of the drone; the speed of the drone wing is Zero and the distance measuring device detects that the distance between the drone and the apron is zero, the controller input control signal stops supplying power to the energized coil.
- the energy storage device when the drone is working, the energy storage device is disconnected from the charging coil; when the drone is parked on the tarmac, the controller outputs a control signal, and the charging current is passed through the energizing coil, and the magnetic field component is stopped. A charging magnetic field is generated on the ping side, and the energy storage device is connected to the charging coil to charge the energy storage device.
- the control method proposed by the invention reduces the energy consumption during the take-off and landing of the drone, improves the safety performance of the drone, and has the advantages of good operability.
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Abstract
Description
Claims (10)
- 一种无人机起落控制系统,其特征在于,包括:设置在无人机侧的磁体组件和设置在停机坪侧的磁场组件;所述磁场组件中设置有通电线圈;所述通电线圈中通入电流,所述磁场组件在停机坪侧产生支撑磁场,形成作用于无人机的推力;所述推力与无人机起飞或降落过程中无人机的升力或作用于无人机的阻力形成合力,以补充所述升力或阻力。
- 根据权利要求1所述的无人机起落控制系统,其特征在于,还包括转速测量装置、测距装置和控制器;所述转速测量装置测量无人机机翼的转速,所述测距装置测量无人机与预定停驻位置的距离;所述控制器根据转速测量装置测得的转速和/或测距装置测得的距离改变通入所述通电线圈中的电流方向和大小。
- 根据权利要求2所述的无人机起落控制系统,其特征在于,无人机接收起飞指令,所述通电线圈中通入正向电流并持续增大正向电流,所述支撑磁场产生作用于无人机的向上推力;支撑磁场作用于无人机的推力等于无人机的重力时,通入所述通电线圈上的正向电流最大,无人机与停机坪之间形成空气间隙。
- 根据权利要求3所述的无人机起落控制系统,其特征在于,无人机与停机坪之间形成空气间隙后,无人机机翼开始转动;通入所述通电线圈中的正向电流随无人机机翼旋转转速的增加而减小;当无人机机翼的旋转转速等于设定转速时,通入所述通电线圈中的电流下降为零。
- 根据权利要求4所述的无人机起落控制系统,其特征在于,所述控制器接收降落指令,在所述通电线圈中通入正向电流并持续增大正向电流;无人机机翼转速为零且所述测距装置检测无人机与停机坪之间的距离为零时,控制器控制停止对所述通电线圈供电。
- 根据权利要求5所述的无人机起落控制系统,其特征在于,所述控制器接收降落指令,测距装置检测无人机与停机坪之间的距离是否属于可降落范围;如果无人机与停机坪之间的距离属于可降落的范围,则保持无人机机翼转速不变,在所述通电线圈中通入反向电流,牵引无人机至预设停驻位置的正上方。
- 根据权利要求6所述的无人机起落控制系统,其特征在于,还包括设置在无人机中的储能装置和设置在所述无人机起落架上的充电线圈,储能装置和充电线圈电连接;当无人机处于飞行状态时,储能装置与充电线圈断开;当无人机停驻在停机坪上时,所述通电线圈中通入充电电流,所述磁场组件在停机坪侧产生变化的充电磁场,储能装置与充电线圈连接为 储能装置充电。
- 根据权利要求7所述的无人机起落控制系统,其特征在于,所述测距装置包括设置在无人机上的红外测距装置和设置在停机坪侧的红外接收装置;所述红外接收装置的宽度大于红外测距装置宽度。
- 根据权利要求8所述的无人机起落控制系统,其特征在于,所述磁体组件包括永磁铁,所述永磁铁设置在无人机起落架与停机坪的对应接触面上;所述磁场组件包括设置在停机坪处的铁芯,所述通电线圈缠绕在所述铁芯外部。
- 一种采用权利要求9所述无人机起落控制系统控制无人机起落的控制方法,其特征在于,包括以下步骤:S1,控制器接收起飞指令,控制通电线圈中通入正向电流并持续增大正向电流;支撑磁场作用于无人机的推力等于无人机的重力时,通入所述通电线圈上的正向电流最大,无人机与停机坪之间形成空气间隙;S2,无人机与停机坪之间形成空气间隙后,控制器控制通入所述通电线圈上的最大正向电流不变,无人机机翼开始旋转;控制器一路输入端输入转速检测装置反馈的转速检测信号,并根据输入的转速检测信号输出控制信号控制通入所述通电线圈中的正向电流随无人机机翼旋转转速的增加而减小;无人机机翼的旋转转速等于设定转速时,控制器控制通入所述通电线圈中的电流下降为零;S3,控制器接收降落指令,测距装置检测无人机与停机坪之间的距离是否处于可降落的范围;S4,如果无人机与停机坪之间的距离属于可降落的范围,控制器输入控制信号保持无人机机翼转速不变,并控制在通电线圈中通入反向电流,牵引无人机至预设停驻位置的正上方;S5,控制器在通电线圈中通入正向电流并持续增大正向电流,形成作用于无人机的推力以补充无人机机翼转速下降而造成的阻力损失;无人机机翼转速为零且所述测距装置检测无人机与停机坪之间的距离为零时,所述控制器输入控制信号停止对所述通电线圈供电;S6,无人机工作时,储能装置与充电线圈断开;无人机停驻在停机坪上时,控制器输出控制信号,所述通电线圈中通入充电电流,所述磁场组件在停机坪侧产生变化的充电磁场,储能装置与充电线圈连接为储能装置充电。
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