WO2018205379A1 - 停机坪 - Google Patents

停机坪 Download PDF

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Publication number
WO2018205379A1
WO2018205379A1 PCT/CN2017/090973 CN2017090973W WO2018205379A1 WO 2018205379 A1 WO2018205379 A1 WO 2018205379A1 CN 2017090973 W CN2017090973 W CN 2017090973W WO 2018205379 A1 WO2018205379 A1 WO 2018205379A1
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WIPO (PCT)
Prior art keywords
parking platform
air volume
real
volume value
measuring module
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Ceased
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PCT/CN2017/090973
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English (en)
French (fr)
Inventor
乔夕
孙成芃
陈正兴
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780066296.9A priority Critical patent/CN109891030B/zh
Publication of WO2018205379A1 publication Critical patent/WO2018205379A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/07—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft

Definitions

  • the invention relates to the technical field of unmanned aircraft docking, in particular to an apron.
  • the apron is used for the landing of unmanned aerial vehicles and is of vital importance to unmanned aerial vehicles.
  • the existing apron currently has a relatively simple function, which can be used for the take-off or recognizing of the UAV.
  • the weight detection is usually only included, that is, when no weight is detected on the apron, the aircraft is confirmed to land on the apron.
  • the present invention proposes an apron that can detect whether an unmanned aerial vehicle has reached the airspace of the parking platform or whether it has landed on the parking platform.
  • a tarmac comprising: a base, a parking platform mounted on the base, an air speed measuring module disposed on the parking platform, and the wind speed measurement a processing module electrically connected to the module;
  • the processing module is configured to: acquire a real-time air volume value detected by the wind speed measurement module, and compare the real-time air volume value with a set air volume value; when the real-time air volume value is lower than the setting Determining that the UAV has landed on the parking platform or has not reached the airspace of the parking platform; and when the real-time air volume value is higher than the set air volume value, determining that the UAV is in the The airspace of the parking platform.
  • the apron further includes an edge ring disposed on an outer edge of the parking platform, and the wind speed measuring module is disposed on the outer edge ring.
  • the wind speed measurement module is a plurality of, the plurality of the wind speed measurement modules are disposed on the edge ring; wherein the real-time air volume value is detected by the processing module according to the plurality of the wind speed measurement modules Air volume value, the calculated average air volume value.
  • the height of the edge ring is higher than that of the parking platform, and a plurality of through holes are formed on the edge ring, and the plurality of through holes are arranged in an annular array along the edge ring, and the wind speed measurement module is configured. In the through hole, for detecting an amount of air flowing out of the edge ring through the through hole from the parking platform.
  • the wind speed measurement module includes a fan and an infrared pair tube unit; wherein, when the fan is driven by the airflow, the infrared pair tube unit detects the rotation speed of the fan to determine a real-time air volume value on the apron .
  • the base is provided with a positioning ring hole
  • the bottom of the parking platform is provided with a connecting post that cooperates with the positioning ring hole; wherein the processing module is disposed in the connecting column or is disposed in the Between the connecting post and the positioning ring hole.
  • the apron further includes a load cell module that carries the shutdown platform, and the load cell module is electrically connected to the processing module;
  • the processing module compares the real-time weight value detected by the pressure measuring module with the set weight value, and when the real-time air volume value is lower than the set air volume value, when the real-time weight value is greater than When the weight value is set, it is determined that the UAV has landed on the parking platform; when the real-time weight value is less than the set amount, it is determined that the UAV does not reach the airspace of the parking platform.
  • the processing module is further configured to calculate, between the unmanned aerial vehicle and the shutdown platform, according to the air volume value acquired by the air volume measurement module the distance.
  • the pressure measuring module is one, and the pressure measuring module is disposed at a center position of the parking platform.
  • the load cell module is plural, and the plurality of load cell modules are disposed on the shutdown platform; wherein the real-time weight value is detected by the processing module according to the plurality of the load cell modules Weight value, calculated average weight value.
  • the load cell module includes a strain gauge pressure sensor.
  • the load cell module includes a shoe, a strain pressure block disposed on the shoe, a strain gauge disposed opposite the strain pressure block, and an upper fixing plate disposed on the strain gauge, The upper fixing plate is configured to be fixed to the parking platform; wherein when the UAV is landed on the parking platform, the real-time weight value on the parking platform is determined by the displacement of the strain gauge relative to the strain pressure block .
  • the apron further includes a remote control terminal communicatively coupled to the processing module for acquiring a state of the UAV relative to the shutdown platform.
  • the parking platform is provided with an identification for the unmanned aerial vehicle to recognize
  • the identification mark is disposed at a center position of the parking platform.
  • the apron of the present invention is provided with an air volume measuring module on the parking platform, and the air volume value detected by the air volume measuring module can accurately determine that the unmanned aerial vehicle is in the Landing on the parking platform or in the state of the airspace of the parking platform, determining the above state of the unmanned aerial vehicle in advance, realizing the identification and determination of the state of the unmanned aerial vehicle relative to the apron from different dimensions, and preventing the drone Whether or not the state has landed has caused a misjudgment.
  • FIG. 1 is a schematic axial cross-sectional view of an apron according to an exemplary embodiment of the present invention
  • FIG. 2 is a top plan view of an apron according to an exemplary embodiment of the present invention.
  • FIG. 3 is a schematic structural view of an edge ring on an apron according to an exemplary embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an air speed measuring module according to an exemplary embodiment of the present invention.
  • FIG. 5 is a schematic cross-sectional view showing an air velocity measuring module according to an exemplary embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a pressure measuring module according to an exemplary embodiment of the present invention.
  • pan-tilt arm structure of the present invention and the pan-tilt structure having the pan-tilt arm structure will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
  • the apron 100 of the embodiment of the present invention comprises: a base 1, an immobilization platform 2 mounted on the base 1, an air velocity measuring module 3 disposed on the parking platform 2, and an air velocity measuring module 3 Electrically connected processing module 4.
  • the wind speed measuring module 3 can obtain the air volume value of the airflow formed by the unmanned aerial vehicle on the parking platform 2 in real time, and the processing module 4 is configured to process the obtained air volume value to determine that the unmanned aerial vehicle is in shutdown.
  • the status of the platform 2 airspace can obtain the air volume value of the airflow formed by the unmanned aerial vehicle on the parking platform 2 in real time, and the processing module 4 is configured to process the obtained air volume value to determine that the unmanned aerial vehicle is in shutdown. The status of the platform 2 airspace.
  • the base 1 is provided with a positioning ring hole 11
  • the bottom of the parking platform 2 is provided with a connecting post 22 that cooperates with the positioning ring hole 11 , and is connected through the positioning ring hole 11 .
  • the posts 22 cooperate to secure the parking platform 2 to the base 1.
  • the processing module 4 is disposed in the connecting column or between the connecting post and the positioning ring hole.
  • the base 1 can also be provided with a connecting post.
  • the bottom of the stopping platform 2 is provided with a positioning ring hole, and is engaged with the connecting post through the positioning ring hole, so that the parking platform 2 is fixed on the base 1.
  • the assembly of the base 1 and the parking platform 2 is not limited thereto, and the parking platform 2 may also be fixed to the base 1 by welding, bolting or the like.
  • the parking platform 2 is provided with an identification mark 23 for the identification of the unmanned aerial vehicle.
  • the identification mark 23 is disposed at a central position of the parking platform 2, and the identification mark 23 can be embedded in the parking platform 2 or can be disposed on the parking platform 2 surface. Wherein, when the unmanned aerial vehicle needs to be dropped, the identification mark 23 is locked by the imaging device of the unmanned aerial vehicle, so that the landing position can be determined, and thus the landing can be accurately landed.
  • the apron 100 further includes a remote control terminal (not shown) communicatively coupled to the processing module 4, which obtains the state of the UAV relative to the shutdown platform 2 by acquiring data information of the processing module 4. It is possible to determine whether the UAV is in the area above the parking platform 2, or whether the UAV is landing on the parking platform 2 or whether to land and stop the paddle.
  • the processing module 4 can be configured to: obtain the real-time air volume value detected by the wind speed measuring module 3, and compare the real-time air volume value with the set air volume value; when the real-time air volume value is lower than the set air volume value, determine no The human aircraft has landed on the parking platform 2 or has not reached the airspace of the parking platform 2; when the real-time air volume value is higher than the set air volume value, it is determined that the UAV is in the airspace of the parking platform 2.
  • the set air volume value is the air volume value obtained by the wind speed measuring module 3 when the unmanned aerial vehicle landed on the parking platform 2.
  • the apron 100 further includes an edge ring 21 disposed on the outer edge of the parking platform 2, and the wind speed measuring module 3 is disposed on the outer ring 21.
  • the wind speed measuring module 3 is configured to detect the air volume value flowing to the edge ring 21, wherein the air volume value is caused by the airflow of the unmanned aerial vehicle to the parking platform 2 and then the airflow value of the landing platform 2 toward the edge.
  • the wind speed measuring module 3 can also be disposed on the plane of the parking platform 2 for directly detecting the airflow of the UAV to the parking platform 2.
  • the wind speed measuring module 3 is disposed on the edge ring 21
  • the wind speed measuring module 3 is plural, and the plurality of wind speed measuring modules 3 are disposed on the edge ring 21.
  • the real-time air volume value is an average air volume value calculated by the processing module 4 according to the air volume value detected by the plurality of wind speed measuring modules 3 .
  • a plurality of wind speed measuring modules 3 may be uniformly distributed on the edge ring 21, and when detecting the real-time air volume value, the wind speed measuring module 3 in multiple directions may be selected from the plurality of wind speed measuring modules 3, thereby Real-time air volume values can be made more accurate.
  • a plurality of wind speed measuring modules 3 are provided on the edge ring 21 to ensure the stability of the real-time air volume value detection, for example, one of the wind speed measuring modules 3 can control adjacent redundant wind speed measurements after the fault Module 3 is used instead of detection.
  • the height of the edge ring 21 is higher than that of the parking platform 2, and a plurality of through holes 211 are formed in the edge ring 21, and the plurality of through holes 211 are arranged in an annular array along the edge ring 21, and the wind speed measuring module 3 is disposed in the through hole.
  • the hole 211 is used to detect the amount of wind flowing out of the edge ring 21 from the parking platform 2 through the through hole 211.
  • the wind speed measurement module 3 includes a fan and an infrared pair tube unit. Wherein, when the fan is driven by the airflow, the infrared pair tube unit detects the rotational speed of the fan to determine the real-time air volume value on the apron 100.
  • the wind speed measuring module 3 may also be a device such as an air speed measuring sensor.
  • the apron 100 further includes a pressure measuring module 5 carrying the parking platform 2 , and the pressure measuring module 5 is electrically connected to the processing module 4 to thereby detect the detected pressure data.
  • the processing module 4 is sent to the processing module 4 to determine whether the UAV is landing on the parking platform 2 after the processing module 4 analyzes the processing.
  • the parking platform 2 can include a carrier tray and a table top on the carrier tray, wherein the pressure measuring module 5 can be disposed between the carrier tray and the table top.
  • the processing module 4 compares the real-time weight value detected by the pressure measuring module 5 with the set weight value. When the real-time air volume value is lower than the set air volume value, when the real-time weight value is greater than the set weight value, the determination module 4 determines that there is no The human aircraft has landed on the parking platform 2; when the real-time weight value is less than the set amount, it is determined that the unmanned aerial vehicle has not reached the airspace of the parking platform 2.
  • the set weight value is the weight value of the unmanned aerial vehicle acquired by the maneuvering module 5 when the UAV landed on the parking platform 2.
  • the weight is measured again.
  • the identification and determination of the state of the unmanned aerial vehicle relative to the parking platform 2 from different dimensions not only eliminates the interference caused by the excessive air volume to measure the weight, but also achieves the purpose of accurate detection.
  • the processing module 4 is further configured to calculate the airflow value obtained by the air volume measuring module to calculate the between the unmanned aerial vehicle and the parking platform 2 The distance can provide more specific data about the state of the UAV relative to the platform 2, so that the user can track the flight status in real time for the UAV.
  • the pressure measuring module 5 is one, and the pressure measuring module 5 is set to stop.
  • the load cell module 5 is plural, and the plurality of pressure measuring modules 5 are disposed on the parking platform 2; wherein the real-time weight value is the weight detected by the processing module 4 according to the plurality of pressure measuring modules 5 Value, the calculated average weight value.
  • the plurality of pressure measuring modules 5 can be evenly distributed on the edge of the parking platform 2. During the detection process, several of the opposite pressure measuring modules 5 can be selected for detection, and the remaining pressure measuring modules 5 can be used as redundancy. The spare pressure measuring module 5 is replaced with the failed pressure measuring module 5, so that the accuracy of the detected data can be ensured.
  • the pressure measuring module 5 includes a strain gauge pressure sensor, and the strain gauge pressure sensor detects whether the unmanned aerial vehicle landed on the parking platform 2 by detecting a pressure change of the parking platform 2 .
  • the pressure measuring module 5 is not limited to the strain gauge pressure sensor, and may be any other type of pressure measuring device that can detect the pressure change of the parking platform 2 .
  • the pressure measuring module 5 includes a shoe 51 , a strain pressure block (not shown) disposed on the shoe, and a strain gauge 53 disposed opposite to the strain pressure block. And an upper fixing plate 54 disposed on the strain gauge, and the upper fixing plate 54 is fixed to the parking platform 2.
  • the pressure measuring module 5 is a strain beam type pressure sensor.
  • the pressure measuring module 5 can also be a strain tube strain pressure sensor.
  • the elastic sensing element of the strain tube strain pressure sensor is a thin-walled cylinder closed at one end, and the flange and the other end are flanged at the other end. Test system connection.
  • Two or four strain gauges are attached to the wall of the cylinder, half of which are attached to the solid part as a temperature compensation sheet, and the other half is used as a measurement Variant. When there is no pressure, the four strain gauges form a balanced full-bridge circuit; when the pressure acts on the inner cavity, the cylinder becomes a "waist drum shape", which causes the bridge to lose balance and outputs a voltage in a certain relationship with the pressure.
  • the sensor can also use a piston to convert the measured pressure into a force transmitted to the strain gauge or to transmit the measured pressure through a vertical chain diaphragm.
  • the pressure measuring module 5 can also be a diaphragm strain pressure sensor.
  • the elastic sensitive component of the diaphragm strain pressure sensor is a peripheral fixed circular metal flat diaphragm, and the diaphragm is deformed by pressure.
  • both the radial strain and the tangential strain reach a positive maximum, while the radial strain at the edge reaches a negative maximum and the tangential strain is zero. Therefore, the two strain gauges are often attached to the positive and negative maximum strains, and connected to the half bridge circuit of the adjacent bridge arms to obtain greater sensitivity and temperature compensation.
  • the circular foil strain gauge can maximize the strain effect of the diaphragm, and the nonlinearity of the sensor is remarkable.
  • the pressure measuring module 5 can also be a combined strain pressure sensor, and the elastic sensitive elements in the combined strain pressure sensor can be divided into a sensing element and an elastic straining element.
  • the sensing element converts the pressure into a force that is transmitted to the most sensitive part of the elastic strain element, while the strain gauge is attached to the maximum strain of the elastic strain element.
  • the sensing element comprises a diaphragm, a bellows, a bellows, a Bourdon tube, etc.
  • the elastic strain element comprises a cantilever beam, a fixed beam, Beams, ring beams, thin-walled cylinders, etc. They can be combined into a variety of types according to different needs.
  • strain gauge pressure sensor is not limited to the type of the above embodiment, and other strains or combinations of strain gauge type pressure gauges should also belong to the strain gauge pressure sensor of the present invention.
  • the apron of the invention is provided with an air volume measuring module on the parking platform, and the air volume measurement is adopted.
  • the air volume value detected by the module can accurately determine whether the UAV has landed on the parking platform or is in the airspace of the parking platform.
  • the pressure gauge module is further provided on the tarmac of the present invention, and the pressure value detected by the pressure measuring module can accurately determine whether the unmanned aerial vehicle landed on the parking platform.
  • the invention can realize and determine the state of the unmanned aerial vehicle relative to the apron from different dimensions by the joint detection of the air volume measuring module and the pressure measuring module.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
  • Measuring Fluid Pressure (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

一种停机坪，包括底座（1）、安装于底座（1）上的停机平台（2）、设于停机平台（2）上的风速测量模块（3）以及与风速测量模块（3）电性连接的处理模块（4），处理模块（4）被配置为：获取风速测量模块（3）所检测的实时风量值，并将实时风量值与设定风量值进行比较；当实时风量值低于设定风量值时，确定无人飞行器已降落于停机平台（2）或未到达停机平台（2）的空域；当实时风量值高于设定风量值时，确定无人飞行器处于停机平台（2）的空域。该停机坪通过风速测量模块所检测的风量值与设定风量值进行比较，可以精准地判断出无人飞行器已降落于停机平台或是否处于停机平台的空域。

Description

停机坪 技术领域
本发明涉及无人飞行器停靠技术领域，特别涉及一种停机坪。
背景技术
停机坪用以供无人飞行器起降的场地，对于无人飞行器具有至关重要的作用。现有停机坪目前的作用比较单一，可以供无人飞行器起飞或者识别降落，对于无人飞行器通常只包含重量检测，即无停机坪在检测到重量时，确认飞行器降落于停机坪。
然而，无人飞行器在进入停机坪的空域后，由于无人飞行器的旋翼形成向下的气流而产生作用于停机坪的气压，此时停机坪所检测的重量也会发生变化，如此造成根据停机坪所检测的结果，无法确切地辨识出无人飞行器是否已经降落于停机坪上，容易造成误判事故。
发明内容
本发明提出一种可以检测无人飞行器是否到达停机平台的空域或者是否降落于停机平台的停机坪。
根据本发明的实施例，提供了一种停机坪，其特征在于，包括：底座，安装于所述底座上的停机平台，设于所述停机平台上的风速测量模块，以及与所述风速测量模块电性连接的处理模块；
其中，所述处理模块被配置为：获取所述风速测量模块所检测的实时风量值，并将所述实时风量值与设定风量值进行比较；当所述实时风量值低于所述设定风量值时，确定无人飞行器已降落于所述停机平台或未到达所述停机平台的空域；当所述实时风量值高于所述设定风量值时，确定所述无人飞行器处于所述停机平台的空域。
进一步地，所述停机坪还包括设于所述停机平台外缘的边缘环，所述风速测量模块设于所述外缘环上。
进一步地，所述风速测量模块为多个，多个所述风速测量模块设于所述边缘环上；其中，所述实时风量值为所述处理模块根据多个所述风速测量模块所检测的风量值，计算出的平均风量值。
进一步地，所述边缘环的高度高于所述停机平台，所述边缘环上形成多个通孔，多个所述通孔沿所述边缘环呈环形阵列排布，所述风速测量模块设置于所述通孔中，以用于检测从所述停机平台经所述通孔流出所述边缘环的风量。
进一步地，所述风速测量模块包括风扇和红外对管单元；其中，当所述风扇被气流驱动时，所述红外对管单元检测所述风扇的转速从而确定所述停机坪上的实时风量值。
进一步地，所述底座上设有定位环孔，所述停机平台的底部设有与所述定位环孔配合的连接柱；其中，所述处理模块设于所述连接柱内或者设于所述连接柱与所述定位环孔之间。
进一步地，所述停机坪还包括承载所述停机平台的测压模块，所述测压模块与所述处理模块电性连接；
其中，所述处理模块根据所述测压模块所检测的实时重量值与设定重量值比较，在所述实时风量值低于所述设定风量值的状态下，当所述实时重量值大于所述设定重量值时，确定无人飞行器已降落于所述停机平台；当所述实时重量值小于所述设定量值时，确定所述无人飞行器未到达所述停机平台的空域。
进一步地，当所述实时重量值小于所述设定量值时，所述处理模块还用于根据所述风量测量模块获取的风量值，计算出所述无人飞行器与所述停机平台之间的距离。
进一步地，所述测压模块为一个，所述测压模块设于所述停机平台的中心位置。
进一步地，所述测压模块为多个，多个所述测压模块设于所述停机平台上；其中，所述实时重量值为所述处理模块根据多个所述测压模块所检测的重量值，计算出的平均重量值。
进一步地，所述测压模块包括应变式压力传感器。
进一步地，所述测压模块包括底托、设于所述底托上的应变压力块、与所述应变压力块相对设置的应变片、以及设于所述应变片上的上固定板，所述上固定板用以与停机平台固接；其中，当所述无人飞行器降落于所述停机平台时，通过所述应变片相对所述应变压力块的位移确定所述停机平台上的实时重量值。
进一步地，所述停机坪还包括与所述处理模块通信连接的远程控制终端，用以获取所述无人飞行器相对所述停机平台的状态。
进一步地，所述停机平台上设有以供所述无人飞行器识别的识别 标示，所述识别标示设于所述停机平台的中心位置。
本发明的实施例提供的技术方案可以包括以下有益效果：本发明的停机坪在停机平台上设有风量测量模块，通过风量测量模块所检测的风量值，可以精准地判断出无人飞行器处于已降落于所述停机平台或是否处于所述停机平台的空域的状态，预先对无人飞行器的上述状态进行确定，实现从不同维度识别和判定无人飞行器相对停机坪的状态，防止对无人机是否已经降落的状态造成误判。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一示例性实施例示出的一种停机坪的轴向剖面示意图；
图2是本发明一示例性实施例示出的一种停机坪的俯视图；
图3是本发明一示例性实施例示出的一种停机坪上的边缘环的结构示意图；
图4是本发明一示例性实施例示出的一种风速测量模块的结构示意图；
图5是本发明一示例性实施例示出的一种风速测量模块的截面示意图；
图6是本发明一示例性实施例示出的一种测压模块的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明云台轴臂结构及具有该云台轴臂结构的云台结构作详细说明，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
如图1至图5所示，本发明实施例的停机坪100包括：底座1，安装于底座1上的停机平台2，设于停机平台2上的风速测量模块3，以及与风速测量模块3电性连接的处理模块4。其中，该风速测量模块3可以实时获取无人飞行器所形成的气流作用于停机平台2的风量值，该处理模块4用以根据对所获取的风量值进行处理，以确定该无人飞行器在停机平台2空域的状态。
在一可选实施例中，底座1上设有定位环孔11，停机平台2的底部设有与定位环孔11配合的连接柱22，通过定位环孔11与连接 柱22配合，从而使停机平台2固定于底座1上。其中，处理模块4设于连接柱内或者设于连接柱与定位环孔之间。在又一可选实施例中，底座1上也可以设有连接柱，停机平台2的底部设有定位环孔，通过定位环孔与连接柱配合，从而使停机平台2固定于底座1上。当然，在其他实施例中，底座1与停机平台2的装配并不限于此，该停机平台2也可以通过焊接、螺栓等方式固定在底座1上。
该停机平台2上设有以供无人飞行器识别的识别标示23，识别标示23设于停机平台2的中心位置，该识别标示23可以内嵌于停机平台2上，也可以设于停机平台2表面。其中，在无人飞行器需要降落时，通过无人飞行器的拍摄装置锁定该识别标示23，从而可以确定降落位置，进而可以准确地降落于停机坪100上。
进一步地，停机坪100还包括与处理模块4通信连接的远程控制终端(未图示)，该远程终端通过获取处理模块4的数据信息，从而可以获取无人飞行器相对停机平台2的状态。即可以确定无人飞行器是否在停机平台2上空的区域，或者无人飞行器是否降落于停机平台2或者是否降落并停桨。
其中，该处理模块4可以被配置为：获取风速测量模块3所检测的实时风量值，并将实时风量值与设定风量值进行比较；当实时风量值低于设定风量值时，确定无人飞行器已降落于停机平台2或未到达停机平台2的空域；当实时风量值高于设定风量值时，确定无人飞行器处于停机平台2的空域。该实施例中，设定风量值为无人飞行器降落于停机平台2时，风速测量模块3所获取的风量值。
在一可选的实施例中，该停机坪100还包括设于停机平台2外缘的边缘环21，风速测量模块3设于外缘环21上。该风速测量模块3用以检测流向边缘环21的风量值，其中，该风量值由无人飞行器吹向停机平台2的气流而后沿停机平台2的台面朝向边缘蔓延的风量值。在又一可选实施例中，该风速测量模块3还可以设于停机平台2的平面上，用以直接检测无人飞行器吹向停机平台2的气流。
在风速测量模块3设于边缘环21的实施例中，该风速测量模块3为多个，多个风速测量模块3设于边缘环21上。其中，实时风量值为处理模块4根据多个风速测量模块3所检测的风量值，计算出的平均风量值。在该实施例中，边缘环21上可以均匀地分布有若干个风速测量模块3，在检测实时风量值时，可以从若干个风速测量模块3中选取多个方向上的风速测量模块3，从而可以使实时风量值更加的准确。另外，在边缘环21上设有多个风速测量模块3，还可以保证实时风量值检测的稳定性，例如：其中某一风速测量模块3在故障后，可以通过控制相邻的冗余风速测量模块3来代替检测。
在本实施例中，边缘环21的高度高于停机平台2，边缘环21上形成多个通孔211，多个通孔211沿边缘环21呈环形阵列排布，风速测量模块3设置于通孔211中，以用于检测从停机平台2经通孔211流出边缘环21的风量。可选地，风速测量模块3包括风扇和红外对管单元。其中，当风扇被气流驱动时，红外对管单元检测风扇的转速从而确定停机坪100上的实时风量值。当然，在其他实施例中，风速测量模块3也可以为风速测量传感器等设备。
如图1至图3和图6所示，进一步地，该停机坪100还包括承载停机平台2的测压模块5，测压模块5与处理模块4电性连接，从而将所检测的压力数据发送给处理模块4，以使处理模块4分析处理后判定无人飞行器是否降落于停机平台2上。在一可选实施例中，停机平台2可以包括承托盘以及位于承托盘上的台面，其中，测压模块5可以设于承托盘与台面之间。
其中，处理模块4根据测压模块5所检测的实时重量值与设定重量值比较，在实时风量值低于设定风量值的状态下，当实时重量值大于设定重量值时，确定无人飞行器已降落于停机平台2；当实时重量值小于设定量值时，确定无人飞行器未到达停机平台2的空域。设定重量值为无人飞行器降落于停机平台2，测压模块5所获取的无人飞行器的重量值。该实施例中，通过在停机平台2上设有风速测量模块3的基础在上，再配备有测压模块5，在确定为实时风量低于设定风量值的状态下再通过测定重量，从而实现从不同维度来识别和判定无人飞行器相对停机平台2的状态，不但排除了过大的风量对测定重量时造成的干扰，达到精准检测的目的。
另外，当实时重量值小于设定量值时，无人飞行器处于停机平台2的空域时，处理模块4还用于根据风量测量模块获取的风量值，计算出无人飞行器与停机平台2之间的距离，如此可以提供更加无人飞行器相对停机平台2状态的具体数据，使用户对无人飞行器可以做到实时跟踪飞行状态。
在一可选实施例中，该测压模块5为一个，测压模块5设于停机 平台2的中心位置。在又一可选实施例中，测压模块5为多个，多个测压模块5设于停机平台2上；其中，实时重量值为处理模块4根据多个测压模块5所检测的重量值，计算出的平均重量值。可选地，多个测压模块5可以均匀地分布于停机平台2的边缘，在检测过程中，可以选择其中几个相对的测压模块5进行检测，而且其余的测压模块5可以作为冗余备用的测压模块5，以替换失效地测压模块5，从而可以保证检测数据的准确性。
其中，该测压模块5包括应变式压力传感器，该应变式压力传感器通过检测停机平台2所承受的压力变化来检测无人飞行器是否降落于停机平台2上。当然，在本发明的其他实施例中，该测压模块5并不限于应变式压力传感器，还可以为其他任意类型可以检测停机平台2所承受压力变化的测压装置。
如图6所示，在一可选实施例中，该测压模块5包括底托51、设于底托上的应变压力块(未图示)、与应变压力块相对设置的应变片53、以及设于应变片上的上固定板54，上固定板54用以与停机平台2固接。其中，当无人飞行器降落于停机平台2时，通过应变片53相对应变压力块的位移确定停机平台2上的实时重量值，即该测压模块5为应变梁式压力传感器。
在又一可选实施例中，该测压模块5还可以为应变管式应变压力传感器，该应变管式应变压力传感器的弹性敏感元件为一端封闭的薄壁圆筒，另一端带有法兰与被测系统连接。在筒壁上贴有2片或4片应变片，其中一半贴在实心部分作为温度补偿片，另一半作为测量应 变片。当没有压力时4片应变片组成平衡的全桥式电路；当压力作用于内腔时，圆筒变形成“腰鼓形”，使电桥失去平衡，输出与压力成一定关系的电压。这种传感器还可以利用活塞将被测压力转换为力传递到应变筒上或通过垂链形状的膜片传递被测压力。
在又一可选实施例中，该测压模块5还可以为膜片式应变压力传感器，该膜片式应变压力传感器的弹性敏感元件为周边固定圆形金属平膜片，膜片受压力变形时，中心处径向应变和切向应变均达到正的最大值，而边缘处径向应变达到负的最大值，切向应变为零。因此常把两个应变片分别贴在正负最大应变处，并接成相邻桥臂的半桥电路以获得较大灵敏度和温度补偿作用。其中，采用圆形箔式应变计则能最大限度地利用膜片的应变效果，这种传感器的非线性较显著。
在又一可选实施例中，该测压模块5还可以为组合式应变压力传感器，该组合式应变压力传感器中的弹性敏感元件可分为感受元件和弹性应变元件。感受元件把压力转换为力传递到弹性应变元件应变最敏感的部位，而应变片则贴在弹性应变元件的最大应变处。其中，感受元件包括有膜片、膜盒、波纹管、波登管等，弹性应变元件包括有悬臂梁、固定梁、
Figure PCTCN2017090973-appb-000001
形梁、环形梁、薄壁筒等。它们之间可根据不同需要组合成多种型式。
当然，应变式压力传感器并不限于上述实施例的类型，其他结构或者组合通过应变式的测压方式也应该属于本发明的应变式压力传感器。
本发明的停机坪在停机平台上设有风量测量模块，通过风量测量 模块所检测的风量值，可以精准地判断出无人飞行器已降落于所述停机平台或是否处于所述停机平台的空域。进一步地，本发明的停机坪上还设有测压模块，通过测压模块所检测的压力值，可以精准地判断出无人飞行器是否降落于停机平台。本发明通过风量测量模块和测压模块的共同检测，可以实现从不同维度识别和判定无人飞行器相对停机坪的状态。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由本申请的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (14)

  1. 一种停机坪，其特征在于，包括：底座，安装于所述底座上的停机平台，设于所述停机平台上的风速测量模块，以及与所述风速测量模块电性连接的处理模块；
    其中，所述处理模块被配置为：获取所述风速测量模块所检测的实时风量值，并将所述实时风量值与设定风量值进行比较；当所述实时风量值低于所述设定风量值时，确定无人飞行器已降落于所述停机平台或未到达所述停机平台的空域；当所述实时风量值高于所述设定风量值时，确定所述无人飞行器处于所述停机平台的空域。
  2. 根据权利要求1所述的停机坪，其特征在于，所述停机坪还包括设于所述停机平台外缘的边缘环，所述风速测量模块设于所述外缘环上。
  3. 根据权利要求2所述的停机坪，其特征在于，所述风速测量模块为多个，多个所述风速测量模块设于所述边缘环上；其中，所述实时风量值为所述处理模块根据多个所述风速测量模块所检测的风量值，计算出的平均风量值。
  4. 根据权利要求3所述的停机坪，其特征在于，所述边缘环的高度高于所述停机平台，所述边缘环上形成多个通孔，多个所述通孔沿所述边缘环呈环形阵列排布，所述风速测量模块设置于所述通孔中，以用于检测从所述停机平台经所述通孔流出所述边缘环的风量。
  5. 根据权利要求1所述的停机坪，其特征在于，所述风速测量模块包括风扇和红外对管单元；其中，当所述风扇被气流驱动时，所 述红外对管单元检测所述风扇的转速从而确定所述停机坪上的实时风量值。
  6. 根据权利要求1所述的停机坪，其特征在于，所述底座上设有定位环孔，所述停机平台的底部设有与所述定位环孔配合的连接柱；其中，所述处理模块设于所述连接柱内或者设于所述连接柱与所述定位环孔之间。
  7. 根据权利要求1所述的停机坪，其特征在于，所述停机坪还包括承载所述停机平台的测压模块，所述测压模块与所述处理模块电性连接；
    其中，所述处理模块根据所述测压模块所检测的实时重量值与设定重量值比较，在所述实时风量值低于所述设定风量值的状态下，当所述实时重量值大于所述设定重量值时，确定无人飞行器已降落于所述停机平台；当所述实时重量值小于所述设定量值时，确定所述无人飞行器未到达所述停机平台的空域。
  8. 根据权利要求7所述的停机坪，其特征在于，当所述实时重量值小于所述设定量值时，所述处理模块还用于根据所述风量测量模块获取的风量值，计算出所述无人飞行器与所述停机平台之间的距离。
  9. 根据权利要求7所述的停机坪，其特征在于，所述测压模块为一个，所述测压模块设于所述停机平台的中心位置。
  10. 根据权利要求7所述的停机坪，其特征在于，所述测压模块为多个，多个所述测压模块设于所述停机平台上；其中，所述实时重量值为所述处理模块根据多个所述测压模块所检测的重量值，计算出 的平均重量值。
  11. 根据权利要求7所述的停机坪，其特征在于，所述测压模块包括应变式压力传感器。
  12. 根据权利要求11所述的停机坪，其特征在于，所述测压模块包括底托、设于所述底托上的应变压力块、与所述应变压力块相对设置的应变片、以及设于所述应变片上的上固定板，所述上固定板用以与停机平台固接；其中，当所述无人飞行器降落于所述停机平台时，通过所述应变片相对所述应变压力块的位移确定所述停机平台上的实时重量值。
  13. 根据权利要求1所述的停机坪，其特征在于，所述停机坪还包括与所述处理模块通信连接的远程控制终端，用以获取所述无人飞行器相对所述停机平台的状态。
  14. 根据权利要求1所述的停机坪，其特征在于，所述停机平台上设有以供所述无人飞行器识别的识别标示，所述识别标示设于所述停机平台的中心位置。
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