CN115167522A - Landing system, landing method and storage medium for unmanned aerial vehicle - Google Patents
Landing system, landing method and storage medium for unmanned aerial vehicle Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The embodiment of the application discloses unmanned aerial vehicle's landing system, landing method and storage medium for unmanned aerial vehicle technical field includes: the magnetic suction gripping device and the magnetic metal block retracting device; the magnetic metal block retracting device comprises a driving motor, a magnetic metal block and a traction rope; the magnetic suction gripping device comprises a magnetic suction platform and a locking device; the locking device is arranged on the magnetic attraction platform and used for locking the magnetic metal block to the magnetic attraction platform when the magnetic metal block is contacted with the magnetic attraction platform; one end of the traction rope is arranged at the driving end of the driving motor, and the other end of the traction rope is connected with the magnetic metal block; driving motor for when unmanned aerial vehicle need descend, release the haulage rope, so that the magnetism metal block descends to being close to magnetism and inhale the platform under the action of gravity, and after magnetism metal block locks to magnetism and inhale the platform, the shrink haulage rope, so that unmanned aerial vehicle descends to magnetism and inhale the platform under the traction of haulage rope, can effectually make unmanned aerial vehicle descend to descending platform accurately.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to a landing system, a landing method and a storage medium of an unmanned aerial vehicle.
Background
With the development of technology, more and more consumers are paying attention to and using unmanned aerial vehicles. An Unmanned Aerial Vehicle (UAV) is a flying device in rapid development, and has the advantages of flexibility, quick response, unmanned flight and low operation requirement.
The research of unmanned aerial vehicles is a hot problem in the field of robots. In recent years, unmanned aerial vehicles are applied more and more widely in life, and the unmanned aerial vehicles also have a plurality of application scenes in marine environments, such as marine monitoring, environmental data collection, marine photography and the like. In marine environments, precise landing of drones is an important ring.
At present, the present main focus of unmanned aerial vehicle's accurate landing problem research is at land environment etc. owing to establish land environment under unmanned aerial vehicle's the landing platform be in comparatively steady state, unmanned aerial vehicle's the landing effect also relatively ideal. However, if when the unmanned aerial vehicle lands in the environment that often rocks such as surface of water environment (ocean), the landing platform of unmanned aerial vehicle is generally established on the environment that rocks, and the landing platform is in the state of rocking, leads to easily that unmanned aerial vehicle is difficult to accurately land to the landing platform.
Disclosure of Invention
The embodiment of the application provides a landing system, a landing method and a storage medium of an unmanned aerial vehicle, and the unmanned aerial vehicle can be effectively and accurately landed on a landing platform.
The embodiment of the application provides an unmanned aerial vehicle's descending system, includes: the magnetic-attraction gripping device and the magnetic metal block retracting device;
the magnetic suction gripping device is arranged on a landing platform of the unmanned aerial vehicle, and the magnetic metal block retracting device is arranged on the unmanned aerial vehicle;
the magnetic metal block retracting device comprises a driving motor, a magnetic metal block and a traction rope; the magnetic suction gripping device comprises a magnetic suction platform and a locking device;
the magnetic attraction platform is used for attracting the magnetic metal block close to the magnetic attraction platform; the locking device is arranged on the magnetic attraction platform and used for locking the magnetic metal block to the magnetic attraction platform when the magnetic metal block is in contact with the magnetic attraction platform;
the first end of the traction rope is arranged at the driving end of the driving motor, and the second end of the traction rope is connected with the magnetic metal block;
driving motor for work as when unmanned aerial vehicle need descend, release the haulage rope, so that the magnetism metal block descends to being close to under the action of gravity the platform is inhaled to magnetism, and works as magnetism metal block locking extremely behind the platform is inhaled to magnetism, the shrink the haulage rope, so that unmanned aerial vehicle is in descend extremely under the traction of haulage rope the platform is inhaled to magnetism.
Further, the magnetic metal block retraction device further comprises: a rope reel and a base;
the base is fixed at the bottom of the unmanned aerial vehicle, and the driving motor and the rope coiling disc are arranged on the base;
the first end of the traction rope is fixed on the rope winding disc, and the rope winding disc is arranged at the driving end of the driving motor;
the driving motor is used for driving the rope coiling disc to rotate, and driving the rope coiling disc to release or contract the traction rope.
Further, the method also comprises the following steps: the controller, a plurality of contact conductive points arranged on the base and conductive metal sheets arranged on the magnetic metal block and corresponding to the contact conductive points;
the controller is respectively electrically connected with the plurality of contact conductive points and the driving motor, and is used for detecting conduction signals of the plurality of contact conductive points conducted by the conductive metal sheet when the conductive metal sheet is in contact with the plurality of contact conductive points, and sending control signals to the driving motor according to the conduction signals;
and the driving motor is specifically used for stopping retracting the traction rope after receiving the control signal.
Further, the plurality of contact conductive points includes a first contact conductive point and a second contact conductive point, and the controller includes: an input/output interface and a power supply end;
the input/output interface and the power supply end are in a disconnected state;
the input/output interface is connected with the first contact conductive point, and the power supply end is connected with the second contact conductive point; or, the input/output interface is connected with the second contact conductive point, and the power end is connected with the first contact conductive point;
the controller is configured to switch the input/output interface and the power end from the off state to the on state and detect an on signal when the first contact conductive point and the second contact conductive point are respectively in contact with the conductive metal sheet.
Further, platform is inhaled to magnetism includes: a magnet array;
the magnet array is provided with a plurality of counter bores distributed in an array and used for generating magnetic adsorption force in the counter bores to adsorb the magnetic metal block.
Further, the locking device includes: the device comprises a worm and gear motor, a rotating claw disc, a fixed claw disc and a plurality of flexible ropes with preset lengths;
the fixed claw disc is fixedly arranged on the magnetic attraction platform, and the rotating claw disc is rotatably arranged at the bottom of the magnetic attraction platform;
the fixed claw disc is provided with a plurality of fixed claws at the outer side of the edge of the magnetic suction platform, and the rotating claw disc is provided with a plurality of rotating claws at the outer side of the edge of the magnetic suction platform;
the flexible ropes surround the outer edge of the magnetic suction platform, and the first end of each flexible rope is arranged at the second end of the fixed claw and arranged at the rotating claw;
the worm gear motor is connected with the rotary claw disc and used for driving the rotary claw disc to rotate so as to drive the second end of the flexible rope to rotate along the outer edge of the magnetic attraction platform and rotate to a tightening position, so that the flexible rope surrounds the side wall of the magnetic metal block, and the magnetic metal block is locked to the center of the magnetic attraction platform.
Further, the method also comprises the following steps: a controller, a first conductive wire, a second conductive wire, and a conductive sheet;
the first conductive wire and the second conductive wire are respectively embedded in the magnetic suction platform, and a preset distance exists between the first conductive wire and the second conductive wire;
the conducting strip is arranged on the contact surface of the magnetic metal block and the magnetic suction platform;
the controller is respectively connected with the worm gear motor, the first conducting wire and the second conducting wire, and is used for receiving a conducting signal of the first conducting wire and the second conducting wire conducted by the conducting strips after the magnetic metal block is adsorbed to the magnetic attraction platform, and sending the conducting signal to the worm gear motor to start the worm gear motor to lock the magnetic metal block.
Further, the controller includes: an input/output interface and a power supply end;
the input/output interface and the power supply end are in a disconnected state;
the input/output interface is connected with the first conductive wire, and the power supply end is connected with the second conductive wire; or, the input/output interface is connected with the second conductive wire, and the power supply end is connected with the first conductive wire;
the controller is configured to switch the input/output interface and the power end from the off state to the on state when the first conductive wire and the second conductive wire are respectively in contact with the conductive sheet, and detect an on signal.
The embodiment of the application also comprises a landing method of the unmanned aerial vehicle, which comprises the following steps:
acquiring the position information of the unmanned aerial vehicle and the landing platform;
controlling the unmanned aerial vehicle to move to a preset range relative to the landing platform based on the position information;
releasing the traction piece loaded by the unmanned aerial vehicle within the preset range;
when the traction piece is in contact with the landing platform, controlling the landing platform to lock the traction piece;
and contracting the traction piece to pull the unmanned aerial vehicle to the landing platform.
Embodiments of the present application also include a computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the landing method described above.
According to the technical scheme, the embodiment of the application has the following advantages:
unmanned aerial vehicle's descending system in this application embodiment includes: the magnetic suction gripping device and the magnetic metal block retracting device; the magnetic suction gripping device is arranged on a landing platform of the unmanned aerial vehicle, and the magnetic metal block retracting device is arranged on the unmanned aerial vehicle; the magnetic metal block retracting device comprises a driving motor, a magnetic metal block and a traction rope; the magnetic suction gripping device comprises a magnetic suction platform and a locking device; the magnetic attraction platform is used for attracting the magnetic metal block close to the magnetic attraction platform; the locking device is arranged on the magnetic attraction platform and used for locking the magnetic metal block to the magnetic attraction platform when the magnetic metal block is in contact with the magnetic attraction platform; one end of the traction rope is arranged at the driving end of the driving motor, and the other end of the traction rope is connected with the magnetic metal block; driving motor for when unmanned aerial vehicle need descend, release the haulage rope to make the magnetism metal block descend to being close to magnetism platform of inhaling under the action of gravity, and after magnetism metal block locking to magnetism platform of inhaling, the shrink haulage rope, so that unmanned aerial vehicle descends to magnetism platform of inhaling under the traction of haulage rope. When descending the platform and being in the state of rocking, can effectually make unmanned aerial vehicle descend to descending the platform accurately.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a diagram of a landing system of an unmanned aerial vehicle disclosed in an embodiment of the present application;
fig. 2 is a schematic view of a landing process of an unmanned aerial vehicle disclosed in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of a magnetic metal block retracting device disclosed in an embodiment of the present application;
FIG. 4 is a schematic diagram of a contact detection point of a magnetic metal block according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of a magnetic gripping device according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a locking device disclosed in an embodiment of the present application;
FIG. 7 is a schematic view of a magnetic attraction platform for detecting contact according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a touch detection system disclosed in an embodiment of the present application;
fig. 9 is a landing flowchart of an drone according to an embodiment of the present disclosure;
fig. 10 is a control process diagram of a landing system of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, a fixed connection, a detachable connection, or an integral connection unless otherwise explicitly stated or limited; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
Most of existing unmanned aerial vehicle landing methods are that the unmanned aerial vehicle is guided to land through machine vision, however, the landing points of each landing are difficult to be guaranteed to be consistent in a shaking environment through a vision algorithm, and the landing at a complete fixed point cannot be achieved. Therefore, when the landing platform that the fixed point was descended was sought to machine vision, this landing platform need have the landing plane of size bigger than unmanned aerial vehicle itself. And in unmanned aerial vehicle's automatic descending scene of charging, also realized unmanned aerial vehicle's accurate descending indirectly, but this kind of mode is that unmanned aerial vehicle lands after through using positioning mechanism again to carry out the centering or correct unmanned aerial vehicle's position, still great to the area requirement of descending platform. In addition, establish tether unmanned aerial vehicle in addition and guide the descending, this kind of mode is because drawing of rope can realize unmanned aerial vehicle's accurate descending, however in the present majority tether unmanned aerial vehicle scheme, the rope is pulling unmanned aerial vehicle all the time and is influencing unmanned aerial vehicle's flight and working range. The existing method that the magnetic force guides to enable the unmanned aerial vehicle to be in butt joint with the platform firstly and then guide the unmanned aerial vehicle to land accurately adopts the electromagnet to lock and release, the locking effect of the mode is very limited in the horizontal direction, and the method is difficult to be applied to shaking environments such as the water surface. And when unmanned aerial vehicle's landing platform was established on the environment that rocks, the landing platform was in the state of rocking, leads to unmanned aerial vehicle to be difficult to accurately land to the landing platform easily. Consequently, this application embodiment provides an unmanned aerial vehicle's system of descending, as shown in fig. 1 and fig. 2, can be when descending the platform and be in the state of rocking, effectual messenger unmanned aerial vehicle accurately descends to descending the platform, specifically as follows:
the landing system of unmanned aerial vehicle that this application embodiment provided mainly is in the system that the fixed point descended under the environment of rocking for realizing unmanned aerial vehicle's descending platform, including magnetism grabbing device 103 and magnetism metal block winding and unwinding devices (airborne iron block winding and unwinding devices) 102. The magnetic attraction gripping device 103 is arranged on the landing platform of the unmanned aerial vehicle 101, and it can be understood that the magnetic attraction gripping device 103 can be used as the landing platform of the unmanned aerial vehicle 101; the magnetic metal block collecting and releasing device 102 is arranged on the unmanned aerial vehicle 101; it can be understood that the landing platform of the drone 101 is generally in a swaying environment, and the magnetic gripping device 103 is generally in a swaying state; the magnetic metal block retraction device 102 is generally disposed at the bottom of the drone 101 so as not to affect the flight of the drone 101. The magnetic metal block retracting device 102 includes a driving motor 1021, a magnetic metal block 1022, and a traction rope 1023. It is understood that the driving motor 1021 can be a dc motor or an ac motor, and is not limited herein; the magnetic metal block 1022 may be an iron block or other metal blocks containing conductive magnetic substances, and is not limited herein. The magnetic grasping device 103 comprises a magnetic platform 1031 and a locking device 1032; the magnetic attraction platform 1031 has a magnetic attraction force for attracting the magnetic metal block 1022 close to the magnetic attraction platform 1031; the locking device 1032 is disposed on the magnetic platform 1032 and is used for locking the magnetic metal block 1022 to the magnetic platform 1032 when the magnetic metal block 1022 is attracted by the magnetic platform 1032 to contact with the magnetic platform 1032. The first end of the pulling rope 1023 is arranged at the second end of the driving motor 1021 and is connected with the magnetic metal block 1022. It can be understood that the weight of the magnetic metal block 1022 is generally not heavy, and the weight of the whole magnetic metal block retraction device 102 is also generally not heavy, so as to ensure that the unmanned aerial vehicle has flight instability due to the excessive weight.
Driving motor 1021 for when unmanned aerial vehicle 101 need descend, release haulage rope 1023 on the follow magnetism metal block winding and unwinding devices 102, so that magnetism metal block 1023 descends to being close to magnetism and inhale platform 1031 under the action of gravity, and when magnetism metal block 1022 locking to magnetism inhale platform 1031 back, shrink haulage rope 1023, so that unmanned aerial vehicle 101 descends to magnetism and inhale platform 1031 under the traction of haulage rope 1023. When the drone 101 is ready to land, the magnetic metal block releasing and storing device 102 on the drone 101 starts to release the magnetic metal block 1022. When the magnetic metal block 1022 is attracted by the magnetic attraction gripping device 103, the magnetic attraction gripping device 103 locks the magnetic metal block 1022; subsequently, the magnetic metal block retracting device 102 starts to retract the traction rope, and the unmanned aerial vehicle descends under the traction acting force of the traction rope.
Unmanned aerial vehicle's descending system in this application embodiment includes: the magnetic suction gripping device and the magnetic metal block retracting device; the magnetic suction gripping device is arranged on a landing platform of the unmanned aerial vehicle, and the magnetic metal block retracting device is arranged on the unmanned aerial vehicle; the magnetic metal block retracting device comprises a driving motor, a magnetic metal block and a telescopic traction rope; the magnetic suction gripping device comprises a magnetic suction platform and a locking device; the magnetic attraction platform is used for attracting the magnetic metal block close to the magnetic attraction platform; the locking device is arranged on the magnetic attraction platform and used for locking the magnetic metal block to the magnetic attraction platform when the magnetic metal block is in contact with the magnetic attraction platform; one end of the traction rope is arranged at the driving end of the driving motor, and the other end of the traction rope is connected with the magnetic metal block; driving motor for when unmanned aerial vehicle need descend, release the haulage rope to make the magnetism metal block descend to being close to magnetism and inhale the platform under the action of gravity, and after magnetism metal block locks to magnetism and inhale the platform, the shrink haulage rope, so that unmanned aerial vehicle descends to magnetism and inhales the platform under the traction of haulage rope. When descending the platform and being in the state of rocking, can effectually make unmanned aerial vehicle descend to descending the platform accurately. In one implementation, the application fields of the landing system of the present drone include, but are not limited to: an ocean unmanned aerial vehicle monitoring system is constructed, and accurate landing of the unmanned aerial vehicle in an ocean scene is guaranteed. For example, unmanned aerial vehicles mounted to buoys do not require buoys to provide a large platform area; landing multiple unmanned aerial vehicle scenes in a limited platform area, such as an unmanned aerial vehicle landing platform and an unmanned ship platform on the sea surface. Meanwhile, the magnetic force absorption butt joint locking device is used for butt joint of a multi-robot system.
Further, as shown in fig. 3, the magnetic metal block accommodating device further includes: a cord reel 1024 and a base 1025; the base 1025 is fixed to the bottom of the unmanned aerial vehicle 101, and the driving motor 1021 and the rope reel 1024 are arranged on the base 1025; a first end of the traction rope 1023 is fixed on a rope reel 1024, and the rope reel 1024 is arranged at a driving end of the driving motor 1021; the driving motor 1021 is used for driving the rope winding disc 1024 to rotate, and driving the rope winding disc 1024 to release or contract the traction rope 1023. It can be appreciated that, in general, during normal operation of the drone, the pull rope 1023 is wound on the rope reel 1024, and the magnetic metal block 1022 is in contact with the base 1025. The drive motor 1021 controls the release and retraction of the magnetic metal block 1022 through forward and reverse rotation.
Further, as shown in fig. 4, the landing system of the drone further includes: the controller, a plurality of contact conductive points 201 disposed on the base, and a conductive metal sheet 202 disposed on the magnetic metal block 1022 and corresponding to the plurality of contact conductive points 201; it can be understood that the controller is mainly configured to be associated with a magnetic metal block retraction device, the shape of the conductive metal sheet 202 may be a conductive metal ring or a conductive metal block, and is not limited herein, and a plurality of contact conductive points 201 are disposed on a surface of the base of the magnetic metal block retraction device, which is attached to the magnetic metal block 1022. A controller electrically connected to the plurality of contact conductive points 201 and the driving motor 1021, respectively, for detecting a conduction signal that the plurality of contact conductive points 201 are conducted by the conductive sheet metal 202 when the conductive sheet metal 202 contacts the plurality of contact conductive points 201, and sending a control signal to the driving motor 1021 according to the conduction signal; and the driving motor 1021 is specifically used for stopping retracting the traction rope after receiving the control signal. It can be understood that the plurality of contact conductive points 210 are disconnected, when the magnetic metal block is tightened to be attached to the base, the conductive metal sheet 202 is contacted with the plurality of contact conductive points (contact points) 201, a path is formed through the conductive metal sheet 202, the plurality of contact conductive points 201 are closed and conducted, and the conduction signal is detected by the controller and is used for judging whether the magnetic metal block is contacted with the base, so as to stop continuously contracting the traction rope and protect the magnetic metal block retracting device. The controller may be an ESP32 controller with a wifi chip or other microprocessor with a communication control function, and is not limited herein.
In an implementation scheme, the magnetic metal block winding and unwinding device (an automatic winding and unwinding system of an iron block carried on an unmanned aerial vehicle) comprises an iron block, a rope, a driving motor and a controller, wherein the iron block is pulled by a thin rope and is controlled to be lowered and retracted by the rope winding motor. When unmanned aerial vehicle automatic flight executive task at ordinary times, the iron plate is in the state of withdrawing, and the iron plate begins the motor control to release when waiting for unmanned aerial vehicle to prepare to descend. After waiting for the iron plate to be grabbed and centering, the system begins to tighten up the iron plate to guide unmanned aerial vehicle to descend.
Further, as shown in fig. 8, the plurality of contact conductive points includes a first contact conductive point and a second contact conductive point, and the controller includes: the input/output interface GPIO and the power supply end are 3.3V; the input/output interface GPIO and the power supply end are in a disconnection state, namely the input/output interface GPIO and the power supply end are kept disconnected when in low level; the off-state is a conductive Switch formed by a conductive metal plate on the magnetic metal block. In the contact detection circuit, the controller continuously detects the logic level of the GPIO, when no contact is made, the controller obtains low voltage, when contact is detected, the Switch is in a conducting state, and the logic level detected by the GPIO is high voltage. Specifically, the input/output interface GPIO is connected to the first contact conductive point, and the power supply terminal is connected to the second contact conductive point; or the input/output interface is connected with the second contact conductive point, and the power supply end is connected with the first contact conductive point; namely, the first contact conductive point and the second contact conductive point are connected with the GPIO and the 3.3V pin of the controller. And the controller is used for conducting the input-output interface and the power supply end when the first contact conductive point and the second contact conductive point are respectively contacted with the conductive metal sheet, switching the input-output interface and the power supply end from a disconnected state to a connected state, and detecting a corresponding conducting signal by the controller.
Further, as shown in fig. 5, the magnetic attraction platform includes: a magnet array; the magnet array is provided with a plurality of counter bores distributed in an array and used for generating magnetic adsorption force to adsorb the magnetic metal blocks in the plurality of counter bores so that the magnetic metal blocks can be attracted by magnetic force when approaching. The magnet array may be configured as a circle or a square, and is not limited herein. In this magnet array, a counterbore serving as an air gap is formed between mutually adjacent counterbores spaced at the shortest distance (end faces of the permanent magnets having different polarities of the magnetic poles inserted into the two counterbores), and therefore magnetic flux is concentrated in the counterbore and a space in the vicinity of the counterbore to form a magnetic attraction force.
Further, as shown in fig. 5 and 6, the locking device includes: a worm gear motor 10321, a rotating claw disk 10322, a fixed claw disk 10323 and a plurality of flexible ropes 10324 with preset lengths; it is understood that the worm gear motor may be a worm gear dc motor or a worm gear ac motor, and is not limited herein; the predetermined length may be 20 cm or 30 cm, and is not limited herein. Generally, the preset length is slightly larger than the diameter of the magnetic attraction platform, and the diameter of the magnetic attraction platform is slightly larger than the peripheral diameter of the unmanned aerial vehicle. The fixed claw disk 10323 is fixedly arranged on the magnetic attraction platform 1031, and the rotating claw disk 10322 is arranged at the bottom of the magnetic attraction platform 1031 in a rotating way; the fixed claw disk 1032 is provided with a plurality of fixed claws at the outer side of the edge of the magnetic attraction platform 1031, and the rotating claw disk 10322 is provided with a plurality of rotating claws at the outer side of the edge of the magnetic attraction platform; a plurality of flexible ropes 10324 surround the outer edge of the magnetic attraction platform 1031, and a first end of each flexible rope 10324 is arranged at a second end of the fixed claw and arranged at the rotating claw; the worm gear motor 10321 is connected to the rotating claw disk 10322, and is configured to drive the rotating claw disk 10322 to rotate, so as to drive the second end of the flexible cord 10324 to rotate along the outer edge of the magnetic attraction platform 1031, and rotate to the tightening position, so that the flexible cord 10324 surrounds the side wall of the magnetic metal block 1022, and the magnetic metal block 1022 is locked to the center of the magnetic attraction platform 1031. The flexible rope 10324 represents that the rope has a certain curvature, but cannot be stretched at will, otherwise, the rope which can be stretched cannot lock the magnetic metal block 1022, and generally can be a plastic steel wire.
It can be understood that the flexible rope is used for fixing the magnetic metal block, the structure is simple, and the positioning precision is high. The second end of the flexible cord is movable between a tightened position and a released position. When the second end of flexible rope was in the release position, flexible rope was in the lax state, and the edge of the platform is inhaled to the main part of flexible rope is located magnetism. When the second end of flexible rope was in the tightening position, the lateral wall of flexible rope encircleing the magnetism metal block, and the flexible rope is in the tensioning state, and the magnetic attraction platform is crossed to the main part of flexible rope. In an implementation, the magnetic gripping device mainly includes a worm and gear dc motor 10321, a set of rotating three-jaw discs 10322 and a fixed three-jaw disc 10323 (three-jaw base), and three flexible ropes 10324. The contact position of the iron block 1022 just contacting the magnetic platform 1031 of the magnetic grasping apparatus is uncertain, and the rotating three-jaw disc 10322 is rotated by the movement of the worm gear dc motor 10321, and the three flexible strings 10324 are pulled to perform the rotating movement. Wherein, the three flexible ropes 10324 are fixed by one end fixedly connected to the rotary three-jaw disc 10322 and the other end fixedly connected to the jaw of the three-jaw base 10323. In the initial state, the three flexible cords 10324 are opened, and when the iron piece 1022 is attracted, the worm gear dc motor 10321 rotates to form a smaller closed shape for the three flexible cords 10324, so as to force the iron piece 1022 to move to the middle position of the magnetic attraction platform 1031. It will be appreciated that the flexible cord 10324 can be switched between open and closed states, during which the iron blocks 1022 can be secured in the middle or released. The angle of movement of the flexible cord 10324 may be determined by the number of revolutions of the worm gear dc motor 10321. And because of the self-locking property of the turbine worm and direct current motor 10321, when the flexible rope 10324 is in the closed state, the iron block 1022 is locked. The magnetic attraction gripping device can be a circular device with a magnet array distributed on the plane, and the magnetic metal block is adsorbed and centered by the uniformly distributed magnets, so that the magnetic metal block finally moves to the center of the circular device. Wherein, the process of centering is realized through three flexible plastic steel lines that possess to three plastic steel lines have satisfied the locking effect to the iron plate, have guaranteed that unmanned aerial vehicle does not receive the influence under the environment of rocking after falling. Further, the system that the accurate fixed point of unmanned aerial vehicle of a set of all-autonomous that scene that this application embodiment mainly rocked when rocking environment, especially ocean etc. often provided descended. In this scheme, unmanned aerial vehicle at first releases an iron plate automatically when preparing to descend, and this iron plate is inhaled grabbing device by another set of magnetism in the system and is snatched and make both successfully dock. Magnetic force grabbing device snatchs and makes the iron plate dock to the intermediate position after succeeding in, and unmanned aerial vehicle descends under the work of automatic iron plate system that receive and releases afterwards, has satisfied the absorption butt joint, and centering locking, the multiple functions of outage locking
Further, as shown in fig. 4 and 7, the landing system of the drone further includes: a controller, a first conductive line 203, a second conductive line 204, and a conductive sheet 205; the first conductive wire 203 and the second conductive wire 204 may be conductive copper wires, the first conductive wire 203 and the second conductive wire 204 are respectively embedded in the magnetic attraction platform 1031, and a predetermined distance exists between the first conductive wire 203 and the second conductive wire 204; the predetermined distance is generally smaller than the diameter of the magnetic metal block 1022, and may be 5 cm or 7 cm, which is not limited herein. The conducting strip 205 is disposed on the magnetic metal block 1022 and the contact surface of the magnetic attraction platform 1031, and generally spreads over the bottom of the magnetic metal block 1022; the controller is generally disposed on the magnetic attraction grasping device, and is respectively connected to the worm gear motor, the first conductive wire 203 and the second conductive wire 204, and configured to receive a conduction signal that the first conductive wire 203 and the second conductive wire 204 are conducted by the conductive sheet 205 after the magnetic metal block 1022 is attracted to the magnetic attraction platform 1031, and send the conduction signal to the worm gear motor to start the worm gear motor to lock the magnetic metal block 1022. It will be appreciated that the first conductive wire 203 and the second conductive wire 204 on the disc surface of the magnetic platform 1031 initially do not attract the magnetic metal block 1022 to the magnetic platform 1031. The first conductive line 203 and the second conductive line 204 are not conductive, and the first conductive line 203 and the second conductive line 204 are closed to be conductive due to the attraction of the magnetic metal block 1022. Specifically, when the magnetic metal piece 1022 is sucked, the magnetic metal piece 1022 will press the first conductive line 203 and the second conductive line 204 at the same time. The contact surface between the magnetic metal block 1022 and the magnetic attraction platform 1031 is the conductive sheet 205, the embedded first conductive wire 203 and the embedded second conductive wire 204 are conducted, and the generated conduction signal can be detected by the controller of the magnetic attraction grasping device, and is determined as contact.
Further, as shown in fig. 8, the controller includes: the input/output interface GPIO and the power supply end 3.3V end; the input/output interface GPIO and the power supply end are in a disconnected state; the input/output interface is connected with the first conductive wire, and the power supply end is connected with the second conductive wire; or, the input/output interface is connected with the second conductive wire, and the power supply end is connected with the first conductive wire, that is, the first conductive wire and the second conductive wire are respectively connected to the GPIO and 3.3V pins of the controller. And the controller is used for conducting the input/output interface and the power supply end when the first conducting wire and the second conducting wire are respectively contacted with the conducting sheet, switching the input/output interface and the power supply end from the off state to the on state, and detecting an on signal.
It can be understood that, as shown in fig. 10, the controller on the magnetic gripping device and the controller on the magnetic metal block retraction device in the embodiment of the present application generally adopts an ESP32 controller with a wifi chip. The controller constantly gathers the contact signal, combines to detect the contact signal, and unmanned aerial vehicle's the full autonomic descending flow alright accomplish. ESP32 is the controller that has integrated the wifi function, selects one as the server in this unmanned aerial vehicle's landing system's two controllers, and another is as the customer end, satisfies the data interaction in the autonomic flow behind the ad hoc network. This application embodiment is based on magnetism and inhales the butt joint mode, all has automatic contact to detect the function on grabbing device and magnetism metal block winding and unwinding devices are inhaled to magnetism, simultaneously, but the adoption makes between the controller of two devices can organize LAN certainly and data interaction from the control module of network certainly, realizes the full autonomous landing after the unmanned aerial vehicle docks. The contact detection function of the magnetic suction gripping device can actively judge whether an iron block on the magnetic metal block retracting device is in contact with the magnetic suction gripping device or not; meanwhile, the contact detection function of the magnetic metal block retracting device can judge that the iron block is in contact with the fixed base. If the contact is judged, the rope winding and unwinding motor stops the rope winding action to protect the rope winding device. But ad hoc network function adopts the control module of ad hoc network with above-mentioned two devices, like ESP32 for two devices can construct the LAN, thereby carry out data transmission, guarantee the autonomous operation of unmanned aerial vehicle descending flow.
Further, the embodiment of the present application further provides a landing method for an unmanned aerial vehicle, and the specific steps are as shown in fig. 9, including:
901. and acquiring the position information of the unmanned aerial vehicle and the landing platform.
The controller that can choose for use to load on the unmanned aerial vehicle in this application embodiment is as the server, and the controller that loads on the landing platform is connected with the client as the client. The server on the unmanned aerial vehicle can acquire the position information of the landing platform through wireless or wired communication and acquire the position information of the unmanned aerial vehicle according to the GPS.
902. And controlling the unmanned aerial vehicle to move to the preset range of the relative landing platform based on the position information.
The server controls the unmanned aerial vehicle to move to the preset range of the relative landing platform based on the position information. Specifically, can control unmanned aerial vehicle to the landing platform removal through the navigation on the unmanned aerial vehicle to the relative distance of real-time detection unmanned aerial vehicle and landing platform, until removing the predetermined scope of landing platform relatively. It is understood that the preset range may be 5 meters or 3 meters from the landing platform, and is not limited herein; the predetermined range is generally above the landing platform.
903. Release the pulling piece that unmanned aerial vehicle loaded in predetermineeing the within range.
The server controls the unmanned aerial vehicle to release the traction piece loaded by the unmanned aerial vehicle within a preset range. It will be appreciated that the towing member is, when released, in connection with the drone, typically by way of a tow rope of the towing member. Unmanned aerial vehicle is when needs descend, generally controls unmanned aerial vehicle earlier and removes to the top of descending platform, and unmanned aerial vehicle will pull a piece and transfer.
904. When the traction piece is in contact with the landing platform, the landing platform is controlled to lock the traction piece.
When the traction piece is in contact with the landing platform, the server can control the landing platform to lock the traction piece. It can be understood that the landing platform is generally a magnetic assembly, the pulling member is generally a magnetic material, and when the pulling member is under the magnetic assembly to the magnetic range, the pulling member will be attracted by the landing platform to contact the landing platform. When the traction piece is in contact with the landing platform, the server receives the contact signal and controls the locking device on the landing platform to lock the traction piece.
905. The shrink is drawn the piece and is drawn unmanned aerial vehicle to the descending platform.
The server controls the unmanned aerial vehicle to contract and pull the unmanned aerial vehicle to the landing platform. It can be understood that, when the piece is pull in the shrink, pull the piece by the locking on descending the platform, pull unmanned aerial vehicle to descending the platform under the pulling force effect of pulling the piece to make unmanned aerial vehicle descend to descending the platform.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Claims (10)
1. A landing system for a drone, comprising: the magnetic-attraction gripping device and the magnetic metal block retracting device;
the magnetic suction gripping device is arranged on a landing platform of the unmanned aerial vehicle, and the magnetic metal block retracting device is arranged on the unmanned aerial vehicle;
the magnetic metal block retracting device comprises a driving motor, a magnetic metal block and a traction rope; the magnetic suction gripping device comprises a magnetic suction platform and a locking device;
the magnetic attraction platform is used for attracting the magnetic metal block close to the magnetic attraction platform; the locking device is arranged on the magnetic attraction platform and used for locking the magnetic metal block to the magnetic attraction platform when the magnetic metal block is in contact with the magnetic attraction platform;
the first end of the traction rope is arranged at the driving end of the driving motor, and the second end of the traction rope is connected with the magnetic metal block;
the driving motor is used for working as when unmanned aerial vehicle need descend, release the haulage rope, so that the magnetism metal block descends to being close to under the action of gravity the platform is inhaled to magnetism, and works as the magnetism metal block locks extremely behind the platform is inhaled to magnetism, the shrink the haulage rope, so that unmanned aerial vehicle is in descend extremely under the traction of haulage rope the platform is inhaled to magnetism.
2. A descent system according to claim 1, wherein the magnetic metal block retraction device further comprises: a rope reel and a base;
the base is fixed at the bottom of the unmanned aerial vehicle, and the driving motor and the rope coiling disc are arranged on the base;
the first end of the traction rope is fixed on the rope winding disc, and the rope winding disc is arranged at the driving end of the driving motor;
the driving motor is used for driving the rope coiling disc to rotate, and driving the rope coiling disc to release or contract the traction rope.
3. A descent system according to claim 2, further comprising: the controller, a plurality of contact conductive points arranged on the base and conductive metal sheets arranged on the magnetic metal block and corresponding to the contact conductive points;
the controller is respectively electrically connected with the plurality of contact conductive points and the driving motor, and is used for detecting conducting signals of the plurality of contact conductive points conducted by the conductive metal sheet when the conductive metal sheet is in contact with the plurality of contact conductive points, and sending control signals to the driving motor according to the conducting signals;
and the driving motor is specifically used for stopping retracting the traction rope after receiving the control signal.
4. A descent system according to claim 3, wherein the plurality of contact conduction points comprises a first contact conduction point and a second contact conduction point, the controller comprising: an input/output interface and a power supply end;
the input/output interface and the power supply end are in a disconnected state;
the input/output interface is connected with the first contact conductive point, and the power supply end is connected with the second contact conductive point; or, the input/output interface is connected with the second contact conductive point, and the power end is connected with the first contact conductive point;
the controller is configured to switch the input/output interface and the power end from the off state to the on state when the first contact conductive point and the second contact conductive point are respectively in contact with the conductive metal sheet, and detect an on signal.
5. A descent system according to claim 1, wherein the magnetically attractive platform comprises: a magnet array;
the magnet array is provided with a plurality of counter bores distributed in an array and used for generating magnetic adsorption force in the counter bores to adsorb the magnetic metal block.
6. A descent system according to claim 1, wherein the locking means comprises: the device comprises a worm and gear motor, a rotating claw disc, a fixed claw disc and a plurality of flexible ropes with preset lengths;
the fixed claw disc is fixedly arranged on the magnetic attraction platform, and the rotating claw disc is rotatably arranged at the bottom of the magnetic attraction platform;
the fixed claw disc is provided with a plurality of fixed claws at the outer side of the edge of the magnetic suction platform, and the rotating claw disc is provided with a plurality of rotating claws at the outer side of the edge of the magnetic suction platform;
the flexible ropes surround the outer edge of the magnetic suction platform, and the first end of each flexible rope is arranged at the second end of the fixed claw and arranged at the rotating claw;
the worm gear motor is connected with the rotary claw disc and used for driving the rotary claw disc to rotate so as to drive the second end of the flexible rope to rotate along the outer edge of the magnetic attraction platform and rotate to a tightening position, so that the flexible rope surrounds the side wall of the magnetic metal block, and the magnetic metal block is locked to the center of the magnetic attraction platform.
7. A descent system according to claim 6, further comprising: a controller, a first conductive wire, a second conductive wire, and a conductive sheet;
the first conductive wire and the second conductive wire are respectively embedded in the magnetic attraction platform, and a preset distance exists between the first conductive wire and the second conductive wire;
the conducting plate is arranged on the contact surface of the magnetic metal block and the magnetic attraction platform;
the controller is respectively connected with the worm gear motor, the first conducting wire and the second conducting wire, and is used for receiving a conducting signal of the first conducting wire and the second conducting wire conducted by the conducting strips after the magnetic metal block is adsorbed to the magnetic attraction platform, and sending the conducting signal to the worm gear motor to start the worm gear motor to lock the magnetic metal block.
8. A descent system according to claim 7, wherein the controller comprises: an input/output interface and a power supply terminal;
the input/output interface and the power supply end are in a disconnected state;
the input/output interface is connected with the first conductive wire, and the power supply end is connected with the second conductive wire; or, the input/output interface is connected with the second conductive wire, and the power supply end is connected with the first conductive wire;
the controller is configured to switch the input/output interface and the power end from the off state to the on state when the first conductive wire and the second conductive wire are respectively in contact with the conductive sheet, and detect an on signal.
9. A landing method of an unmanned aerial vehicle, comprising:
acquiring the position information of the unmanned aerial vehicle and the landing platform;
controlling the unmanned aerial vehicle to move to a preset range relative to the landing platform based on the position information;
releasing the traction piece loaded by the unmanned aerial vehicle within the preset range;
when the traction piece is in contact with the landing platform, controlling the landing platform to lock the traction piece;
and contracting the traction piece to pull the unmanned aerial vehicle to the landing platform.
10. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of claim 9.
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