CN109305337A - Unmanned plane, unmanned plane park platform and rising and dropping control method - Google Patents
Unmanned plane, unmanned plane park platform and rising and dropping control method Download PDFInfo
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- CN109305337A CN109305337A CN201811161304.0A CN201811161304A CN109305337A CN 109305337 A CN109305337 A CN 109305337A CN 201811161304 A CN201811161304 A CN 201811161304A CN 109305337 A CN109305337 A CN 109305337A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000630 rising effect Effects 0.000 title claims abstract description 9
- 230000005291 magnetic effect Effects 0.000 claims description 38
- 230000006698 induction Effects 0.000 claims description 17
- 230000005484 gravity Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008034 disappearance Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- 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
- 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
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/60—Take-off or landing of UAVs from a runway using their own power
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention proposes a kind of unmanned plane, unmanned planes to park platform and rising and dropping control method, wherein unmanned plane includes: drone body；Undercarriage, set on the bottom of drone body；Power supply unit is set on unmanned plane；Electromagnet, is arranged in the bottom of undercarriage, and electromagnet is electrically connected with power supply unit；Switch, is set on power supply unit to the power supply line between electromagnet, switchs the on-off powered for controlling power supply unit to electromagnet.According to the technical solution of the present invention, unmanned plane is fixed using electromagnetic force, fixed device the space occupied and weight are greatly reduced, structure is simplified, reduces costs, it does not need to be accurately positioned when unmanned plane lands, landing difficulty is reduced, the collision of unmanned plane and fixed device is avoided, improves convenience when unmanned plane landing and safety, and various types of unmanned planes can also be stopped on landing platform simultaneously, greatly improve flexibility and convenience that unmanned platform uses.
Description
Technical field
The present invention relates to unmanned platform technology fields, park in particular to a kind of unmanned plane, a kind of unmanned plane flat
Platform, a kind of rising and dropping control method.
Background technique
The unmanned platform for carrying unmanned plane can expand the application field and use scope of unmanned platform, but require unmanned plane
It can be securely fixed on unmanned platform, and can take off or land at any time according to mission requirements；It is currently by flat at nobody
The mechanical structure of a set of complexity of trolley body top design realizes gripping for unmanned plane, but is landed positioning automatically not by unmanned plane
Accurate to influence, there is the problems such as structure is complicated, volume is big, at high cost in fixed device.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, in view of this, it is an object of the present invention to provide a kind of unmanned planes.
It is another object of the present invention to provide a kind of unmanned planes to park platform.
It is another object of the present invention to provide a kind of rising and dropping control methods.
To achieve the goals above, the technical solution of first aspect present invention provides a kind of unmanned plane, comprising: unmanned plane
Ontology；Undercarriage, set on the bottom of drone body, undercarriage is used to support drone body；Power supply unit is set to unmanned plane
On；The bottom of undercarriage is arranged in electromagnet, and electromagnet is electrically connected with power supply unit, and power supply unit is used to power for electromagnet；It opens
It closes, is set on power supply unit to the power supply line between electromagnet, switch the on-off powered for controlling power supply unit to electromagnet.
In the technical scheme, electricity can use when so that unmanned plane landing by the setting of undercarriage bottom electromagnet
Unmanned plane is adsorbed on and is again provided with electromagnet or equipped with being fixed in ferromagnetic landing plane by the magnetic force of magnet, this
Sample, not needing unmanned plane accurate positioning of progress in landing plane can be thus achieved fixation, and fixed form is simple and reliable efficiently,
The volume of fixed device can as low as be ignored, and light-weight, structure is simple, convenient for production, low in cost；In addition, passing through switch
Setting, allows electromagnet to lose magnetic force by switch cutoff power supply when taking off, to discharge unmanned plane, ensure that nothing
Man-machine normally takes off.
In the above-mentioned technical solutions, unmanned plane further include: controller is connected with switch, and controller is for control switch
Opening and closing.
In the technical scheme, by the setting of controller, the automation control for being advantageously implemented unmanned plane landing and taking off
System, promotes the convenience that unmanned platform uses.
In the above-mentioned technical solutions, unmanned plane further include: range sensor is connected with controller, and range sensor is used for
Obtain the distance between unmanned plane and landing plane；Or, pressure sensor is connected set on the bottom of undercarriage with controller, pressure
Force snesor is for obtaining pressure suffered by the bottom of undercarriage；Or photoelectric sensor, it is connected with controller, photoelectric sensor
For emitting photosignal；The pressure or light for distance or the pressure sensor feedback that controller is used to be fed back according to range sensor
The photosignal of electric transducer feedback is sent control signal to switch and is switched with open or close.
In the technical scheme, the distance between unmanned plane and landing plane are obtained by setting range sensor, just
In in the close landing plane of unmanned plane, falling signal is issued to controller；Or it by setting pressure sensor, is dropped in unmanned plane
When falling on landing plane, by gravity, pressure sensor is made to issue falling signal to controller；Or pass through photoelectric sensing
Device issues falling signal to controller when unmanned plane is close to landing plane and photosignal is blocked；Drop is received in controller
After falling signal, according to the photoelectricity of the pressure or photo-sensor feedback of the distance of range sensor feedback or pressure sensor feedback
Signal is sent control signal to switch and is switched with open or close, to realize the automatic switch of power supply unit, and then realizes electromagnetism
The generation and disappearance of the magnetic force of iron improve convenience and the flexibility of unmanned plane landing fixation and release of taking off, also achieve
The intelligentized control method that unmanned plane lands and takes off.
In the above-mentioned technical solutions, switch includes induction part and switch portion, and induction part is set to the bottom of undercarriage, is switched
Portion is set on power supply unit to the power supply line between electromagnet, and induction part connects the power supply of electromagnet for control switch portion.
In the technical scheme, switch includes induction part and switch portion, is conducive to directly by induction part come control switch
Opening and closing, rather than by the opening and closing of controller control switch, such structure is simple, low in cost.
In any of the above-described a technical solution, unmanned plane further includes multiple mounting blocks, set on the bottom of undercarriage；Mounting blocks
It is removably connect with undercarriage, electromagnet is connected by detachable structure with mounting blocks.
In the technical scheme, multiple dismountable mounting blocks are set in undercarriage bottom, electromagnet is by detachably tying
Structure is connected with mounting blocks, convenient for according to specific needs, replacing the quantity of different electromagnet or adjustment electromagnet, and then adjusts
The size of magnetic force, adjustment mode are simple and reliable.
In the above-mentioned technical solutions, the quantity of undercarriage is two, and the both ends of the bottom of each undercarriage are each provided with one
A mounting blocks；Multiple mounting blocks are symmetrical with the plumb line for crossing the center of gravity of unmanned plane；The bottom of each mounting blocks is connected with two
A electromagnet, two electromagnet are symmetrically distributed in the two sides of the bottom of mounting blocks.
In the technical scheme, the setting of two undercarriages and multiple mounting blocks, electromagnet are symmetrical arranged, favorably
Stability when promoting the uniformity and flight of unmanned plane stress.
The technical solution of second aspect of the present invention provides a kind of unmanned plane and parks platform, comprising: platform body, landing
Platform is set to above platform body, and landing platform is for parking unmanned plane；Power supply unit is set on platform body；Electromagnet, if
It sets on landing platform, electromagnet is electrically connected with power supply unit, and power supply unit is used to power for electromagnet；Switch, is set to power supply unit extremely
In power supply line between electromagnet, the on-off powered for controlling power supply unit to electromagnet is switched.
In the technical scheme, electromagnet is set on landing platform, is conducive to when unmanned plane lands, by electromagnet
It powers and generates magnetic force, unmanned plane is adsorbed on landing platform, to not needed accurate to unmanned plane in unmanned plane landing
Fixation can be thus achieved in positioning, and fixed form is simple and reliable efficiently, and the volume of fixed device can as low as be ignored, light-weight, knot
Structure is simple, convenient for production, low in cost；In addition, cutting electromagnet by switch when taking off by the setting of switch
Power-off source and lose magnetic force, to discharge unmanned plane, ensure that normally taking off for unmanned plane.
In the above-mentioned technical solutions, unmanned plane parks platform further include: controller is connected with switch, and controller is for controlling
System switches on-off, and controller connects the power supply of electromagnet for control switch when receiving unmanned plane falling signal；And it is receiving
When taking off signal to unmanned plane, the power supply of electromagnet is disconnected for control switch.
In the technical scheme, by the setting of controller, the automation control for being advantageously implemented unmanned plane landing and taking off
System, promotes the convenience that unmanned platform uses.
The technical solution of third aspect present invention provides a kind of rising and dropping control method, for any in above-mentioned first aspect
The unmanned plane of a technical solution, in unmanned plane landing, control switch connects the power supply of electromagnet；When unmanned plane takes off,
The power supply of control switch disconnection electromagnet.
In the technical scheme, by connecting the power supply of electromagnet when unmanned plane lands, electromagnet is made to generate magnetic force,
So as to which unmanned plane is adsorbed in landing plane；When unmanned plane takes off, the power supply of electromagnet is disconnected, electromagnet is lost
Magnetic force, to enable unmanned plane to be released and smoothly take off.
In the above-mentioned technical solutions, " in unmanned plane landing, control switch connects the power supply of electromagnet ", specifically includes:
In unmanned plane landing, the distance between unmanned plane and landing plane are obtained；When distance is less than or equal to pre-determined distance, drop is issued
Falling signal；According to falling signal, control switch connects the power supply of electromagnet, so that electromagnet is generated magnetic force and unmanned plane is adsorbed on drop
It falls in plane；Or in unmanned plane landing, obtain the pressure that the undercarriage bottom of unmanned plane is subject to；It is more than or equal in pressure default
When pressure, falling signal is issued；According to falling signal, control switch connects the power supply of electromagnet, and so that electromagnet is generated magnetic force will
The unmanned plane of landing is adsorbed in landing plane；Or in unmanned plane landing, emit photosignal downwards；It is hindered in photosignal
When disconnected, falling signal is issued；According to falling signal, control switch connects the power supply of electromagnet, and so that electromagnet is generated magnetic force will drop
The unmanned plane fallen is adsorbed in landing plane.
In the technical scheme, by obtaining the distance between unmanned plane and landing plane, convenient in the close drop of unmanned plane
When falling plane, falling signal is issued to controller；Or the pressure that the undercarriage bottom by obtaining unmanned plane is subject to, convenient in nothing
It is man-machine drop to landing plane on when, by gravity generate pressure get the landing information of unmanned plane, to issue landing
Signal；Or the case where photosignal by obtaining unmanned plane transmitting, landing plane is approached in unmanned plane and photosignal is hindered
When gear, falling signal is issued；In this way, control switch connects the power supply of electromagnet after controller receives falling signal, make electromagnetism
Iron generates magnetic force and the unmanned plane of landing is adsorbed in landing plane, improves the fixed convenience of unmanned plane landing and flexibly
Property, also achieve the fixed intelligentized control method of unmanned plane landing.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the unmanned plane of one embodiment of the present of invention；
Fig. 2 is the overlooking structure diagram of the unmanned plane of one embodiment of the present of invention；
Fig. 3 is the A-A of Fig. 2 to schematic cross-sectional view；
Fig. 4 is the portion the B enlarged structure schematic diagram of Fig. 3；
Fig. 5 is the line construction schematic diagram of the unmanned plane of one embodiment of the present of invention；
Fig. 6 is the control principle schematic diagram of the unmanned plane of one embodiment of the present of invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 6 are as follows:
1 drone body, 10 undercarriages, 12 electromagnet, 120 electromagnet fixing bolts, 14 mounting blocks, 140 mounting blocks are solid
Determine bolt, 15 switches, 16 power supply units, 18 controllers, 19 close switches, 2 landing platforms.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 6 description.
As shown in Figures 1 to 4, the unmanned plane of the one embodiment proposed according to the present invention, comprising: drone body 1；It rises
Frame 10 is fallen, set on the bottom of drone body 1, undercarriage 10 is used to support drone body 1；Power supply unit 16, is set to nobody
On machine；The bottom of undercarriage 10 is arranged in electromagnet 12, and electromagnet 12 is electrically connected with power supply unit 16, and power supply unit 16 is used for as electricity
Magnet 12 is powered；Switch 15 is set on power supply unit 16 to the power supply line between electromagnet 12, and switch 15 is for controlling power supply
The on-off that portion 16 powers to electromagnet 12.
In this embodiment, it can use when so that unmanned plane landing by the setting of 10 bottom electromagnet 12 of undercarriage
Unmanned plane is adsorbed on and is again provided with electromagnet 12 or equipped with being consolidated in ferromagnetic landing plane by the magnetic force of electromagnet 12
Determine, this way it is not necessary to which unmanned plane carries out accurate positioning in landing plane can be thus achieved fixation, stop place is flexible, Gu
It is simple and reliable efficiently to determine mode, the volume for fixing device can as low as be ignored, and light-weight, structure is simple, and it is convenient for production, it is at low cost
It is honest and clean；In addition, passing through the setting of switch 15 and power supply unit 16, electromagnet 12 is cut off the power when taking off by switch 15
And magnetic force is lost, to discharge unmanned plane, it ensure that normally taking off for unmanned plane.
As depicted in figs. 1 and 2, specifically, undercarriage 10 is set to the bottom of drone body 1, when convenient for unmanned plane landing
It is steady to stop, it avoids drone body 1 from directly touching the ground and causes to collide with and damage, stop structure is simple, and it is low in cost, also
Conducive to the shape of flexible design drone body 1；Power supply unit 16 is set on unmanned plane, and switch 15 is set to power supply unit 16 to electromagnet
In power supply line between 12, convenient for supplying that power supply unit 16 to electromagnet 12 by the closure of switch 15 in unmanned plane landing
Electricity, so that electromagnet 12 generates magnetic force and unmanned plane is adsorbed in landing plane；When unmanned plane takes off, the disconnection of switch 15 makes
Power supply unit 16 stops powering to electromagnet 12, so that the magnetic force of electromagnet 12 disappears and discharges unmanned plane, is conducive in this way
The automation control realizing unmanned plane landing and taking off promotes the convenience that unmanned plane uses.
It is to be appreciated that needing to be arranged in correspondence with electromagnet 12 or ferromagnet in landing plane, unmanned plane can be made
It can be attracted by the magnetic force in landing plane.
It should be pointed out that electromagnet 12 is set to the bottom of undercarriage 10, and when being conducive to unmanned plane landing, 10 bottom of undercarriage
The electromagnet 12 in portion can directly be contacted with landing plane, maximized magneticaction, promoted the fixed function of magnetic force, Jin Erti
Rise the stability that unmanned plane is stopped；Using electromagnet 12 rather than common magnet, be conducive to be powered when stopping generate magnetic force and
Fixed unmanned plane, the power-off release unmanned plane when taking off, improves the convenience that unmanned plane uses, and the side that electromagnet 12 is fixed
Formula keeps a plane so that in landing plane not needing that other components are arranged, and structure is simple, stops in unmanned plane
When, it will not generate because positioning the case where being not allowed and unmanned plane and fixed mechanism is made to collide, improve unmanned plane stop
Safety and convenience.
Optionally, set on the electromagnet 12 of 10 bottom of undercarriage, it can be the electromagnet 12 of separate removable, it is advantageous in this way
In the commutativity for improving electromagnet 12, it is conveniently adjusted the size of electromagnetic force, or be used interchangeably between multiple unmanned planes, is promoted
The flexibility that unmanned plane uses；Electromagnet 12 and 10 one of undercarriage can also be produced, in other words by the bottom of undercarriage 10
It is made of electromagnet 12, to simplify the structure of undercarriage 10, reduces the weight of unmanned plane.
In some embodiments, to electromagnet 12 power power supply unit 16, be not individual power supply unit 16, but with nothing
The power supply unit 16 of man-machine flight power supply merges, and has directly used the power supply unit 16 of unmanned plane itself in other words, has had in this way
Conducive to space and resource, simple control structure and route is saved, cost is reduced, promotes the flexibility of unmanned plane integral layout.
In the above-described embodiments, unmanned plane further include: controller 18 is connected with switch 15, and controller 18 is opened for controlling
Close 15 opening and closing.
In this embodiment, by the setting of controller 18, the automation control for being advantageously implemented unmanned plane landing and taking off
System, promotes the convenience that unmanned platform uses.
In the above-described embodiments, unmanned plane further include: range sensor is connected with controller 18, and range sensor is used for
Obtain the distance between unmanned plane and landing plane；Or, pressure sensor, set on the bottom of undercarriage 10, with 18 phase of controller
Even, pressure sensor is for obtaining pressure suffered by the bottom of undercarriage 10；Or photoelectric sensor, it is connected with controller 18,
Photoelectric sensor is for emitting photosignal；The distance or pressure sensor that controller 18 is used to be fed back according to range sensor are anti-
The pressure of feedback or the photosignal of photo-sensor feedback send control signal to switch 15 with open or close switch 15.
As shown in Figure 5 and Figure 6, in this embodiment, unmanned plane and landing plane are obtained by setting range sensor
The distance between, convenient for issuing falling signal to controller 18 in the close landing plane of unmanned plane；Or it is passed by setting pressure
Sensor, by gravity, makes pressure sensor issue landing letter to controller 18 when unmanned plane drops to landing plane
Number；Or by photoelectric sensor, when unmanned plane is close to landing plane and photosignal is blocked, issues and land to controller 18
Signal；After controller 18 receives falling signal, according to the distance of range sensor feedback or the pressure of pressure sensor feedback
Or the photosignal of photo-sensor feedback, control signal is sent with open or close switch 15, to realize electricity to switch 15
The automatic switch 15 in source portion 16, and then realize that the magnetic force of electromagnet 12 is formed and disappeared, it improves unmanned plane landing and fixes and rise
Convenience and the flexibility for flying release, the intelligentized control method for also achieving unmanned plane landing and taking off.
Specifically, the distance between unmanned plane and landing plane are obtained, by setting range sensor convenient in distance
When less than or equal to pre-determined distance, falling signal is issued to controller 18, so that controller 18 controls power supply unit 16 and powers on, from
And electromagnet 12 can be made to be powered in time and generate magnetic force, and then make attracting between unmanned plane and landing plane and obtain unmanned plane
To fixation, unmanned plane is avoided to carry out positioning of spiraling for a long time in the sky, improves the convenience and efficiency of unmanned plane landing.
Optionally, range sensor is used close to switch 19, is preferably mounted on unmanned plane close to switch 19, in this way, only
Want unmanned plane to need to land, and land plane be equipped with ferromagnet when, can pass through on unmanned plane close to switch 19 open
Electromagnet 12 on unmanned plane, convenient for the landing and fixation of unmanned plane, improving unmanned plane can land the flexibility in place.
In some embodiments, the pressure of 10 bottom of undercarriage is determined by using pressure sensor, i.e., in undercarriage 10
After touching landing platform 2, because of gravity generation pressure and when pressure reaches preset value, unmanned plane can be issued to controller 18 and dropped
The signal fallen powers on to control power supply unit 16, so that electromagnet 12 is generated magnetic force and unmanned plane is sucked, realizes unmanned plane
Fixed, fixed form is simple and reliable, realizes unmanned plane i.e. in landing and fixes, fixed efficiency is high.
In other embodiments, the falling signal of unmanned plane is sent by using photoelectric sensor；Due to unmanned plane
Or the volume of landing plane is much bigger relative to photoelectric sensor, is conducive to realize in the case where no accurate positioning to light
The blocking of electric signal to issue the falling signal of unmanned plane, and then is closed by 18 control switch 15 of controller, makes electromagnet
12 are powered and generate magnetic force and unmanned plane is adsorbed fixation, and fixed form is simple and efficient.
In the above-described embodiments, switch 15 includes induction part and switch portion, and induction part is set to the bottom of undercarriage 10, opens
Pass portion is set on power supply unit 16 to the power supply line between electromagnet 12, and induction part connects electromagnet 12 for control switch portion
Power supply.
In this embodiment, switch 15 includes induction part and switch portion, is conducive to directly by induction part come control switch
15 opening and closing, rather than pass through the opening and closing of 18 control switch 15 of controller, such structure is simple, low in cost.
Specifically, the bottom of undercarriage 10 is arranged in induction part, and in unmanned plane landing, it is flat that undercarriage 10 touches landing
While face, induction part can also touch landing plane, at this time induction part can control switch portion closure to making power supply unit
16 power for electromagnet 12, and electromagnet 12 generates magnetic force and unmanned plane is adsorbed in landing plane.
More specifically, induction part may be that a pressure switch 15 opens pressure under the effect of gravity when unmanned plane lands
15 energizations for being closed and realizing power supply unit 16 are closed, so that electromagnet 12 generates magnetic-adsorption unmanned plane.
In any of the above-described a embodiment, unmanned plane further includes multiple mounting blocks 14, set on the bottom of undercarriage 10；Installation
Block 14 is removably connect with undercarriage 10, and electromagnet 12 is connected by detachable structure with mounting blocks 14.
In this embodiment, multiple dismountable mounting blocks 14 are set in 10 bottom of undercarriage, electromagnet 12 passes through removable
It unloads structure to be connected with mounting blocks 14, convenient for according to specific needs, replacing different mounting blocks 14, electromagnet 12 or adjustment electromagnetism
The quantity of iron 12, and then the size of magnetic force is adjusted, adjustment mode is simple and reliable；Or electromagnet is exchanged between multiple unmanned planes
12, promote the flexibility that unmanned plane uses.
As shown in Figure 3, Figure 4, in the above-described embodiments, the quantity of undercarriage 10 is two, the bottom of each undercarriage 10
Both ends be each provided with a mounting blocks 14；Multiple mounting blocks 14 are symmetrical with the plumb line for crossing the center of gravity of unmanned plane；Each
There are two electromagnet 12, two electromagnet 12 are symmetrically distributed in the two sides of the bottom of mounting blocks 14 for the bottom connection of mounting blocks 14.
In this embodiment, the setting of two undercarriages 10 and multiple mounting blocks 14, electromagnet 12 are symmetrical arranged,
Structure is simple, unmanned plane uniform force, and when stop is more steady, is conducive to the uniformity and electromagnet 12 that promote unmanned plane stress
The uniformity of magnetic force everywhere when energization promotes stability and safety when unmanned plane during flying and landing.
The embodiment of second aspect of the present invention provides a kind of unmanned plane and parks platform, comprising: platform body, landing platform 2,
It is set to above platform body, landing platform 2 is for parking unmanned plane；Power supply unit 16, is set on platform body；Electromagnet 12,
It is arranged on landing platform 2, electromagnet 12 is electrically connected with power supply unit 16, and power supply unit 16 is used to power for electromagnet 12；Switch 15, if
It is placed on power supply unit 16 to the power supply line between electromagnet 12, switch 15 is for controlling what power supply unit 16 was powered to electromagnet 12
On-off.
In this embodiment, electromagnet 12 is set on landing platform 2, and power supply unit 16 is set on platform body and is opened
15 are closed, is conducive to generate magnetic force when unmanned plane lands and powering to electromagnet 12, unmanned plane is adsorbed on landing platform 2
On, to not need accurately to position unmanned plane fixation can be thus achieved, fixed form is simple and reliable in unmanned plane landing
Efficiently, the volume of fixed device can as low as be ignored, and light-weight, structure is simple, convenient for production, low in cost；In addition, by opening
The setting for closing 15, allows electromagnet 12 to cut off the power when taking off by switch 15 and loses magnetic force, to discharge nobody
Machine ensure that normally taking off for unmanned plane.
It may also be noted that electromagnet 12 is arranged on landing platform 2, fix unmanned plane by magnetic force, so that landing
Landing platform can be substantially improved to unmanned type in the fixation device that the upper surface of platform 2 is not protruded, but one flat plate in this way
Number adaptability, i.e., various sizes, shape unmanned plane can land and rest in this programme landing platform 2 on, and obtain
It is firmly fixed, or in the area abundance of landing platform 2, can also stop and fix simultaneously multiple UAVs, greatly mention
It has risen unmanned plane and has parked the flexibility that platform uses.
In the above-described embodiments, unmanned plane parks platform further include: controller 18 is connected with switch 15, and controller 18 is used
In the on-off of control switch 15, controller 18 connects electromagnet 12 when receiving unmanned plane falling signal, for control switch 15
Power supply；And receive unmanned plane take off signal when, for control switch 15 disconnect electromagnet 12 power supply.
In this embodiment, by the setting of controller 18, the automation control for being advantageously implemented unmanned plane landing and taking off
System, promotes the convenience that unmanned platform uses.
As shown in Figure 1 and Figure 2, the unmanned plane of a specific embodiment according to the present invention and unmanned plane park platform, nobody
Motor spindle is set there are two symmetrically arranged undercarriage 10, and 10 bottom of undercarriage of unmanned plane is equipped with electromagnet 12, and unmanned plane stops
Platform is laid flat equipped with landing platform 2, the upper surface of landing platform 2 is made of ferromagnet.
As shown in Figure 3, Figure 4, specifically, the both ends of 10 bottom of undercarriage pass through each self-retaining of mounting blocks fixing bolt 140
There are a mounting blocks 14, the bottom electromagnet fixing bolt 120 of each mounting blocks 14 is fixed with one group of electromagnet 12, every group of electricity
Magnet 12 is made of 2 independent electromagnets 12, and 2 independent electromagnets 12 are symmetrically distributed in 10 two sides of undercarriage, it is ensured that when energization
10 uniform force of undercarriage；2 undercarriages 10 of unmanned plane, install 4 groups of electromagnet 12 altogether, as shown in Fig. 2, from the angle of vertical view
See, the center of gravity distribution in a center of symmetry of 4 groups of electromagnet 12 with respect to unmanned plane, it is ensured that after energization unmanned plane undercarriage 10 everywhere by
Electromagnetic force it is consistent.
Different according to the model of unmanned plane, the requirement such as difference of working environment can be replaced single by the disassembly of fixing bolt
A 12 model of electromagnet, realizes the adjustment of electromagnetic force size, and adjustment mode is simple and convenient；It can also be by increasing or decreasing electromagnetism
The quantity that iron 12 is arranged realizes the adjustment of electromagnetic force size.
Fig. 5 shows the line construction of unmanned plane, and Fig. 6 shows the control principle of unmanned plane, as shown in Figure 5 and Figure 6,4
The electric wire for organizing totally 8 electromagnet 12 is connected in parallel, and the electric wire after parallel connection is connected to the power supply unit 16 of unmanned plane by switch 15, and
The closure of the way switch 15 is controlled by the controller 18 of unmanned plane and keeps power supply unit 16 power on/off, realizes 12 electromagnetism of electromagnet
The formation and disappearance of power.
When unmanned plane during flying and when close to landing 2 upper surface of platform for parking platform, be mounted on unmanned plane close to switch
19 sense that unmanned plane close to landing platform 2, issues falling signal to controller 18, controller 18 controls the power supply unit 16 of unmanned plane
So that switch 15 is closed and is connected electromagnet 12, electromagnet 12 it is electric after the electromagnetic attraction that generates be adsorbed on the landing of ferromagnet production
2 upper surface of platform, realizes the fixation of unmanned plane.When unmanned plane standby for takeoff, the controller 18 of unmanned plane controls the electricity of unmanned plane
Source portion 16 disconnects switch 15, the power supply of tripping magnet 12, and 12 suction of electromagnet disappears, and unmanned plane can be risen by setting course line
Fly.
Optionally, it can be substituted close to switch 19 with pressure sensor, photoelectric sensor, drop to landing platform in unmanned plane
, can be using pressure signal or photosignal as detection means when 2, and then control unmanned electromechanical source as controller 18 and be powered
Signal source.
The power supply unit 16 carried using unmanned plane is controlled as the power supply of electromagnet 12 using the controller 18 that unmanned plane carries
The formation and disappearance of electromagnetic force are realized in the energization and power-off for making the power supply, have structure simple using the fixed unmanned plane of the program,
The advantages that small in size, at low cost.
The embodiment of third aspect present invention provides a kind of rising and dropping control method, for any of above-mentioned first aspect
The unmanned plane of embodiment, in unmanned plane landing, control switch 15 connects the power supply of electromagnet 12；When unmanned plane takes off, control
Make the power supply that switch 15 disconnects electromagnet 12.
In this embodiment, by connecting the power supply of electromagnet 12 when unmanned plane lands, electromagnet 12 is made to generate magnetic
Power, so as to which unmanned plane to be adsorbed in landing plane；When unmanned plane takes off, the power supply of electromagnet 12 is disconnected, electromagnetism is made
Iron 12 loses magnetic force, to enable unmanned plane to be released and smoothly take off, does not need in descent to unmanned plane in this way
Position be accurately positioned, greatly improve unmanned plane stop convenience and stop efficiency.
In the above-described embodiments, " in unmanned plane landing, control switch 15 connects the power supply of electromagnet 12 ", it is specific to wrap
It includes: in unmanned plane landing, obtaining the distance between unmanned plane and landing plane；When distance is less than or equal to pre-determined distance, hair
Falling signal out；According to falling signal, control switch 15 connects the power supply of electromagnet 12, make electromagnet 12 generate magnetic force by nobody
Machine is adsorbed in landing plane；Or in unmanned plane landing, obtain the pressure that 10 bottom of undercarriage of unmanned plane is subject to；In pressure
When more than or equal to preset pressure, falling signal is issued；According to falling signal, control switch 15 is connected the power supply of electromagnet 12, is made
Electromagnet 12 generates magnetic force and the unmanned plane of landing is adsorbed in landing plane；Or in unmanned plane landing, emit photoelectricity downwards
Signal；When photosignal is blocked, falling signal is issued；According to falling signal, control switch 15 connects the confession of electromagnet 12
Electricity makes electromagnet 12 generate magnetic force and the unmanned plane of landing is adsorbed in landing plane.
In this embodiment, by obtaining the distance between unmanned plane and landing plane, convenient in the close landing of unmanned plane
Plane and distance be less than or equal to pre-determined distance when, to controller 18 issue falling signal；Or the undercarriage by obtaining unmanned plane
The pressure that 10 bottoms are subject to, convenient for when unmanned plane drops in landing plane, the pressure and pressure generated by gravity is greater than
When equal to preset pressure, the landing information of unmanned plane is got, to issue falling signal；Or by obtaining unmanned plane transmitting
Photosignal the case where, unmanned plane close to landing plane and photosignal be blocked when, issue falling signal；In this way,
After controller 18 receives falling signal, control switch 15 connects the power supply of electromagnet 12, and so that electromagnet 12 is generated magnetic force will land
Unmanned plane be adsorbed in landing plane, improve unmanned plane landing fixed convenience and flexibility, also achieve unmanned plane
Land fixed intelligentized control method.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, in unmanned plane
Upper setting electromagnet, and electromagnetic force is utilized instead of the fixed device of unmanned plane on landing platform surface using ferromagnet or electromagnet
Unmanned plane is fixed, fixed device the space occupied and weight is greatly reduced, simplifies structure, reduce costs, do not need
It is accurately positioned in unmanned plane landing, reduces landing difficulty, avoided the collision of unmanned plane and fixed device, improve
Convenience and safety when unmanned plane lands, and various types of unmanned planes can also be stopped on landing platform simultaneously, greatly
Improve the flexibility and convenience that unmanned platform uses.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane characterized by comprising
Drone body (1)；
Undercarriage (10), is set to the bottom of the drone body (1), and the undercarriage (10) is used to support the unmanned plane sheet
Body (1)；
Power supply unit (16), is set on the unmanned plane；
Electromagnet (12) is arranged in the bottom of the undercarriage (10), and the electromagnet (12) is electrically connected with the power supply unit (16)
It connects, the power supply unit (16) is used to power for the electromagnet (12)；
It switchs (15), is set in the power supply line between the power supply unit (16) to the electromagnet (12), the switch
(15) for controlling the on-off that the power supply unit (16) is powered to the electromagnet (12).
2. unmanned plane according to claim 1, which is characterized in that further include:
Controller (18) is connected with the switch (15), the controller (18) be used for control it is described switch (15) opening and
Closure.
3. unmanned plane according to claim 2, which is characterized in that further include:
Range sensor is connected with the controller (18), and the range sensor is flat for obtaining the unmanned plane and landing
The distance between face；Or,
Pressure sensor is set to the bottom of the undercarriage (10), is connected with the controller, and the pressure sensor is for obtaining
Take pressure suffered by the bottom of the undercarriage (10)；Or
Photoelectric sensor is connected with the controller (18), and the photoelectric sensor is for emitting photosignal；
The pressure or light for distance or pressure sensor (19) feedback that the controller is used to be fed back according to the range sensor
The photosignal of electric transducer feedback sends control signal to the switch (15) to switch (15) described in open or close.
4. unmanned plane according to claim 1, which is characterized in that
The switch (15) includes induction part and switch portion, and the induction part is set to the bottom of the undercarriage (10), described
Switch portion is set in the power supply line between the power supply unit (16) to the electromagnet (12), and the induction part is for controlling
The switch portion connects the power supply of the electromagnet (12).
5. unmanned plane described in any of -4 according to claim 1, which is characterized in that further include
Multiple mounting blocks (14) are set to the bottom of the undercarriage (10)；
The mounting blocks (14) removably connect with the undercarriage (10), the electromagnet (12) by detachable structure with
The mounting blocks (14) are connected.
6. unmanned plane according to claim 5, which is characterized in that
The quantity of the undercarriage (10) is two, and the both ends of the bottom of each undercarriage (10) are each provided with described in one
Mounting blocks (14)；
Multiple mounting blocks (14) are symmetrical with the plumb line of the center of gravity of the excessively described unmanned plane；
There are two the electromagnet (12) for the bottom connection of each mounting blocks (14), and two electromagnet (12) are symmetrically
It is distributed in the two sides of the bottom of the mounting blocks (14).
7. a kind of unmanned plane parks platform characterized by comprising
Platform body,
Landing platform (2) is set to above the platform body, and the landing platform (2) is for parking unmanned plane；
Power supply unit (16), is set on the platform body；
Electromagnet (12) is arranged on the landing platform (2), and the electromagnet (12) is electrically connected with the power supply unit (16), institute
State power supply unit (16) for for the electromagnet (12) power supply；
It switchs (15), is set in the power supply line between the power supply unit (16) to the electromagnet (12), the switch is used
In the on-off that the control power supply unit (16) is powered to the electromagnet (12).
8. unmanned plane according to claim 7 parks platform, which is characterized in that further include:
Controller (18) is connected with the switch (15), and the controller (18) is used to control the on-off of the switch (15), institute
Controller (18) is stated when receiving unmanned plane falling signal, the confession of the electromagnet (12) is connected for controlling the switch (15)
Electricity；And receive unmanned plane take off signal when, the power supply of the electromagnet (12) is disconnected for controlling the switch (15).
9. a kind of rising and dropping control method, for unmanned plane described in any of claim 1-6, which is characterized in that
In unmanned plane landing, the power supply that the switch (15) connects the electromagnet (12) is controlled；
When the unmanned plane takes off, the power supply that the switch (15) disconnects the electromagnet (12) is controlled.
10. rising and dropping control method according to claim 9, which is characterized in that
Described " in unmanned plane landing, controlling the power supply that the switch (15) connects the electromagnet (12) ", it is specific to wrap
It includes:
In unmanned plane landing, the distance between the unmanned plane and the landing plane are obtained；
When the distance is less than or equal to pre-determined distance, falling signal is issued；
According to the falling signal, the power supply that the switch (15) connects the electromagnet (12) is controlled, the electromagnet is made
(12) it generates magnetic force the unmanned plane is adsorbed in landing plane；Or
In unmanned plane landing, the pressure that undercarriage (10) bottom of the unmanned plane is subject to is obtained；
When the pressure is more than or equal to preset pressure, the falling signal is issued；
According to the falling signal, the power supply that the switch (15) connects the electromagnet (12) is controlled, the electromagnet is made
(12) it generates magnetic force the unmanned plane of landing is adsorbed in landing plane；Or,
In unmanned plane landing, emit photosignal downwards；
When the photosignal is blocked, the falling signal is issued；
According to the falling signal, the power supply that the switch (15) connects the electromagnet (12) is controlled, the electromagnet is made
(12) it generates magnetic force the unmanned plane of landing is adsorbed in landing plane.
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| CN201811161304.0A CN109305337A (en) | 2018-09-30 | 2018-09-30 | Unmanned plane, unmanned plane park platform and rising and dropping control method |
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| CN201811161304.0A CN109305337A (en) | 2018-09-30 | 2018-09-30 | Unmanned plane, unmanned plane park platform and rising and dropping control method |
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| CN109847229A (en) * | 2019-02-27 | 2019-06-07 | 三一汽车制造有限公司 | Unmanned hangar system, fire fighting truck and unmanned plane is let fly away or recycling and control method |
| CN110450673A (en) * | 2019-09-05 | 2019-11-15 | 广州极飞科技有限公司 | Charging platform, unmanned plane, automatic recharging method and system |
| CN110510112A (en) * | 2019-09-28 | 2019-11-29 | 重庆市特种设备检测研究院 | Unmanned plane failure detector applied to large pressurized vessel |
| CN110525593A (en) * | 2019-09-27 | 2019-12-03 | 北京理工大学 | The the rising and falling of a kind of boat-carrying unmanned plane is fixed and charging system |
| CN113071673A (en) * | 2021-04-15 | 2021-07-06 | 杜慧 | Start and stop unmanned aerial vehicle fast |
| CN115027691A (en) * | 2022-06-24 | 2022-09-09 | 广东电网有限责任公司 | Unmanned aerial vehicle takes off and land relay baton |
| CN115489725A (en) * | 2022-08-30 | 2022-12-20 | 中国航天空气动力技术研究院 | Formula undercarriage structure can break away |
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