CN106864738A - The control method and device of a kind of unmanned plane undercarriage - Google Patents
The control method and device of a kind of unmanned plane undercarriage Download PDFInfo
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- CN106864738A CN106864738A CN201710159853.3A CN201710159853A CN106864738A CN 106864738 A CN106864738 A CN 106864738A CN 201710159853 A CN201710159853 A CN 201710159853A CN 106864738 A CN106864738 A CN 106864738A
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- undercarriage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the control method and device of a kind of unmanned plane undercarriage, the unmanned plane includes at least two undercarriages, and methods described includes：Determine that unmanned plane rises and falls state, and obtain the distance between each undercarriage and ground information when parameter information corresponding with the state of rising and falling, the attitude information when parameter information takes off including unmanned plane, and unmanned plane land；The collapsing length of each undercarriage of unmanned plane is adjusted according to the parameter information.To realize the steady takeoff and landing of unmanned plane, it is to avoid unmanned plane is in the descent that takes off because place out-of-flatness causes rollover.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique, more particularly to a kind of unmanned plane undercarriage control method and device.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus are installed.Unmanned plane during flying is put down
Platform to high-altitude, high speed, boat long when, the direction such as stealthy develops.
The device for realizing unmanned plane takeoff and anding function is undercarriage, and the effect of unmanned plane undercarriage is divided into bears aircraft and exist
Gravity when ground is parked, slides, takeoff and anding slides race；Bear, consume and absorb aircraft hitting in landing and ground motion
Hit and bumping energy；It is sliding to run and braking when sliding；It is sliding to run and operating aircraft when sliding.
Existing unmanned plane undercarriage, using support, typically sets rigid support, therefore nobody below unmanned body
Being risen and fallen for machine typically carried out in smooth place, and when the place of out-of-flatness is taken off or landed, is easily turned on one's side.
The content of the invention
The present invention provides the control method and device of a kind of unmanned plane undercarriage, to realize steadily taking off and drop for unmanned plane
Fall, it is to avoid unmanned plane is in the descent that takes off because place out-of-flatness causes rollover.
In a first aspect, the embodiment of the invention provides a kind of control method of unmanned plane undercarriage, the unmanned plane includes
At least two undercarriages, methods described includes：
Determine that unmanned plane rises and falls state, and obtain parameter information corresponding with the state of rising and falling, the parameter information includes nothing
Man-machine attitude information when taking off, and unmanned plane the distance between each undercarriage and ground information when landing；
The collapsing length of each undercarriage of unmanned plane is adjusted according to the parameter information.
Further, the collapsing length for playing each frame that falls according to parameter information adjustment unmanned plane includes：
The collapsing length of each undercarriage when unmanned plane takes off is adjusted according to the attitude information；
The collapsing length of each undercarriage when unmanned plane lands is adjusted according to the range information.
Further, the attitude information of the unmanned plane includes：Yaw angle, the angle of pitch and roll angle.
Further, the collapsing length for adjusting each undercarriage when unmanned plane takes off according to the attitude information includes:
When the yaw angle is more than first angle threshold value, or
When the angle of pitch is more than second angle threshold value, or
When the roll angle is more than third angle threshold value, the flexible length of each undercarriage when the unmanned plane takes off is adjusted
Degree.
Further, the collapsing length for adjusting each undercarriage when unmanned plane lands according to the range information includes：
The length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, wherein, institute
The distance between the first undercarriage and ground are stated more than the distance between the second undercarriage and ground；
When the distance between the first undercarriage and ground are equal to the distance between second undercarriage and ground, stop adjustment
The collapsing length of undercarriage.
Second aspect, the embodiment of the invention provides a kind of control device of unmanned plane undercarriage, and the unmanned plane includes
At least two undercarriages, described device includes：
Information determines and acquisition module, for determining that unmanned plane rises and falls state, and obtains parameter corresponding with the state of rising and falling
Each undercarriage and ground when information, the attitude information when parameter information takes off including unmanned plane, and unmanned plane land
The distance between information；
Adjusting module, the collapsing length for adjusting each undercarriage of unmanned plane according to the parameter information.
Further, the adjusting module includes：
First adjustment submodule, the flexible length for adjusting each undercarriage when unmanned plane takes off according to the attitude information
Degree；
Second adjustment submodule, the flexible length for adjusting each undercarriage when unmanned plane lands according to the range information
Degree.
Further, the attitude information of the unmanned plane includes：Yaw angle, the angle of pitch and roll angle.
Further, it is described first adjustment submodule specifically for:
When the yaw angle is more than first angle threshold value, or
When the angle of pitch is more than second angle threshold value, or
When the roll angle is more than third angle threshold value, the flexible length of each undercarriage when the unmanned plane takes off is adjusted
Degree.
Further, it is described second adjustment submodule specifically for：
The length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, wherein, institute
The distance between the first undercarriage and ground are stated more than the distance between the second undercarriage and ground；
When the distance between the first undercarriage and ground are equal to the distance between second undercarriage and ground, stop adjustment
The collapsing length of undercarriage.
The present invention passes through
In the embodiment of the present invention, risen and fallen state by determining unmanned plane, and obtain parameter information corresponding with the state of rising and falling,
Attitude information when wherein parameter information takes off including unmanned plane, and during unmanned plane landing between each undercarriage and ground
Range information；The collapsing length of each undercarriage of unmanned plane is adjusted according to the parameter information.To realize that the steady of unmanned plane rises
Fly and land, it is to avoid unmanned plane is in the descent that takes off because place out-of-flatness causes rollover.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the control method of the unmanned plane undercarriage in the embodiment of the present invention one；
Fig. 2 is a kind of flow chart of the control method of the unmanned plane undercarriage in the embodiment of the present invention two；
Fig. 3 is a kind of flow chart of the control method of the unmanned plane undercarriage in the embodiment of the present invention three；
Fig. 4 is schematic diagram when a kind of unmanned plane of the prior art takes off；
Fig. 5 is schematic diagram when a kind of unmanned plane in the embodiment of the present invention takes off；
Schematic diagram when Fig. 6 is a kind of unmanned plane landing in the embodiment of the present invention；
Fig. 7 is a kind of structural representation of the control device of the unmanned plane undercarriage in the embodiment of the present invention four.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part rather than entire infrastructure related to the present invention is illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of flow chart of the control method of unmanned plane undercarriage that the embodiment of the present invention one is provided, the present embodiment
When being applicable to unmanned plane takeoff and landing, situation about being controlled to unmanned plane undercarriage, the method can be by of the invention real
The control device for applying a kind of unmanned plane undercarriage of example offer is performed, the device can by the way of software and/or hardware reality
It is existing.The method specifically includes following steps：
S110, determine that unmanned plane rises and falls state, and obtain parameter information corresponding with the state of rising and falling, the parameter information bag
Include attitude information when unmanned plane takes off, and the distance between each undercarriage and ground information during unmanned plane landing.
Specifically, the state of rising and falling of unmanned plane includes two kinds of takeoff and landing, when unmanned plane takes off, obtain unmanned plane and rise
Attitude information when flying, wherein, attitude information can be measured from by gravity sensor or acceleration transducer.In unmanned plane
During landing, the distance between each undercarriage and ground information when unmanned plane lands are obtained, optionally, the unmanned plane is at least wrapped
Two undercarriages are included, wherein, unmanned plane at least includes two undercarriages, and range sensor, distance are provided with each undercarriage
Information can be measured from by the range sensor on undercarriage.
S120, the collapsing length that each undercarriage of unmanned plane is adjusted according to the parameter information.
Specifically, attitude information when unmanned plane takes off is different, or during unmanned plane landing between each undercarriage and ground
Range information it is different, determine that the collapsing length of unmanned plane each undercarriage is different.Therefore, nobody is adjusted according to parameter information
The collapsing length of machine each undercarriage, takes off or lands to cause that unmanned plane is steady.Exemplary, Electromagnetic Control can be used
Or the mode such as Mechanical course adjusts the collapsing length of each undercarriage of unmanned plane, wherein, the undercarriage of Electromagnetic Control is to pass through
The current control electromagnet variation of magnetic force purpose flexible to reach control undercarriage；The undercarriage of Mechanical course is by motor belt motor
The moving gear purpose flexible to reach control undercarriage.
Exemplary, each undercarriage is commonly connected to same control unit, the just respective sensor of each undercarriage
The data of measurement are sent to control unit, are received via control unit after calculating, and different control signals are respectively sent into correspondence
Undercarriage control unit, for controlling undercarriage collapsing length, realize the steady takeoff and landing of unmanned plane.
In the embodiment of the present invention, risen and fallen state by determining unmanned plane, and obtain parameter information corresponding with the state of rising and falling,
Attitude information when wherein parameter information takes off including unmanned plane, and during unmanned plane landing between each undercarriage and ground
Range information；The collapsing length of each undercarriage of unmanned plane is adjusted according to the parameter information.To realize that the steady of unmanned plane rises
Fly and land, it is to avoid unmanned plane is in the descent that takes off because place out-of-flatness causes rollover.
Embodiment two
Fig. 2 is a kind of flow chart of the control method of unmanned plane undercarriage that the embodiment of the present invention two is provided.The present embodiment
On the basis of above-described embodiment, " described to adjust the collapsing length that unmanned plane plays each frame that falls according to the parameter information " is entered
Optimization is gone.The method specifically includes following steps：
S210, determine that unmanned plane rises and falls state, and obtain parameter information corresponding with the state of rising and falling, the parameter information bag
Include attitude information when unmanned plane takes off, and the distance between each undercarriage and ground information during unmanned plane landing.
S220, the collapsing length that each undercarriage when unmanned plane takes off is adjusted according to the attitude information.
Specifically, state when taking off first according to aircraft adjusts the flexible length of each undercarriage when corresponding unmanned plane takes off
Degree, makes unmanned plane reach poised state.Exemplary, after unmanned plane reaches poised state, each power unit (propeller motor)
The certain proportion value of hovering power output (rotating speed) is reached, the ratio value can be 90%；Hovering power output can be according to winged
Data accumulation during row is obtained, it is also possible to is used appearance preset value, each power unit increases power output simultaneously afterwards, is realized
Steadily take off current location.
Optionally, the attitude information of the unmanned plane includes：Yaw angle, the angle of pitch and roll angle.
Wherein, earth axes refer to select a point O on groundg, make XgAxle in the horizontal plane and points to a direction, ZgAxle
Perpendicular to ground and the earth's core is pointed to, YgAxle is in the horizontal plane perpendicular to XgAxle, it points to and determines by the right-hand rule.Unmanned plane body
Coordinate system, origin ObTake at unmanned plane barycenter, body axis system is connected with unmanned plane, XbAxle in unmanned plane symmetrical plane simultaneously
Design axis parallel to unmanned plane points to head, YbAxle points to fuselage right, Z perpendicular to unmanned plane symmetrical planebAxle is in aircraft
In symmetrical plane, with XbAxle vertically and point to fuselage lower section.
Yaw angle, body axis system XbAxle is projected and earth axes X in the horizontal planegAxle (in the horizontal plane, points to mesh
Be designated as just) between angle, by XgAxle goes to body X counterclockwisebDuring the projection line of axle, yaw angle is for just, i.e., head right avertence is navigated and is
Just, on the contrary be negative；The angle of pitch, body axis system XbAxle and the angle of horizontal plane, work as XbThe positive axis of axle is located at zeroaxial
On horizontal plane when (new line), it is otherwise negative just that the angle of pitch is；Roll angle, body axis system XbAxle with pass through body XbThe lead of axle
Angle between vertical plane, body is rolled to the right as just, otherwise is negative.
S230, the collapsing length that each undercarriage when unmanned plane lands is adjusted according to the range information.
Specifically, due to unmanned plane undercarriage at least two, distance of each undercarriage apart from ground may be equal
May be unequal, the collapsing length of each undercarriage when unmanned plane lands is adjusted according to the range information.Exemplary, work as tune
When whole unmanned plane lands after the collapsing length of each undercarriage, each power unit is gradually reduced power output, finally realizes nothing
The man-machine stable landing in current location.
In the embodiment of the present invention, the collapsing length of each undercarriage when unmanned plane takes off is adjusted according to the attitude information,
The collapsing length of each undercarriage when unmanned plane lands is adjusted according to the range information.By according to attitude information and distance letter
Breath adjusts the collapsing length of each undercarriage, to realize the steady takeoff and landing of unmanned plane.
On the basis of above-mentioned technical proposal, " each undercarriage when unmanned plane takes off is adjusted according to the attitude information
Collapsing length " can be preferably：When the yaw angle is more than first angle threshold value, or when the angle of pitch is more than second angle
During threshold value, or when the roll angle is more than third angle threshold value, each undercarriage is flexible when the adjustment unmanned plane takes off
Length.
Wherein, the angle information of yaw angle, the angle of pitch and roll angle show unmanned plane when taking off in which kind of attitude,
When yaw angle is in first angle threshold range, and the angle of pitch is in second angle threshold range, and roll angle is in third angle
When in threshold range, unmanned plane is in poised state, can steadily take off, and unmanned plane undercarriage need not be adjusted.Above-mentioned three
In individual angle, when having any one angle not in the range of corresponding angle threshold, illustrate that unmanned plane is in nonequilibrium condition, it is necessary to adjust
The collapsing length of each undercarriage when whole unmanned plane takes off.By the judgement to yaw angle, the angle of pitch and roll angle, it is right to realize
The adjustment of each undercarriage collapsing length.
Embodiment three
Fig. 3 is a kind of flow chart of the control method of unmanned plane undercarriage that the embodiment of the present invention three is provided.The present embodiment
On the basis of above-described embodiment, to " adjusting the collapsing length of each undercarriage when unmanned plane lands according to the range information "
It is optimized.The method specifically includes following steps：
S310, determine that unmanned plane rises and falls state, and obtain parameter information corresponding with the state of rising and falling, the parameter information bag
Include attitude information when unmanned plane takes off, and the distance between each undercarriage and ground information during unmanned plane landing.
S320, the collapsing length that each undercarriage when unmanned plane takes off is adjusted according to the attitude information.
S330, the length that the first undercarriage is increased according to the range information and/or the length for reducing the second undercarriage, its
In, the distance between first undercarriage and ground are more than the distance between the second undercarriage and ground.
Specifically, the distance between the first undercarriage and ground are designated as L1, the distance between the second undercarriage and ground note
It is L2, work as L1>L2When, increase the length of second undercarriage of length and/or reduction of the first undercarriage.It should be noted that can be with
The length for increasing the first undercarriage simultaneously and the length for reducing the second undercarriage, it is also possible to the length of selection the first undercarriage of increase
Or the length of the second undercarriage of reduction, wherein, the first undercarriage can be one or more, and the second undercarriage is one or many
Individual, the number of number and the second undercarriage to the first undercarriage is not specifically limited.
S340, when the distance between the first undercarriage and ground are equal to the distance between the second undercarriage and ground, stop
Only adjust the collapsing length of undercarriage.
Specifically, working as L1=L2When, illustrate that unmanned plane is in poised state, stop the collapsing length of adjustment undercarriage, nobody
Machine can realize stable landing.
In the embodiment of the present invention, when the distance between first undercarriage and ground more than the second undercarriage and ground it
Between apart from when, the length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, when the
When the distance between one undercarriage and ground are equal to the distance between the second undercarriage and ground, stop stretching for adjustment undercarriage
Length.The length of undercarriage is increased according to range information, reduction or constant three kinds of situations are processed, realized to rising and falling
The regulation of frame length.
In order that the statement of scheme becomes apparent from, on the basis of above-described embodiment, with reference to Fig. 4, Fig. 5 and Fig. 6 to unmanned plane
Situation during takeoff and landing is illustrated.Fig. 4 is schematic diagram when a kind of unmanned plane of the prior art takes off, and 410 is nothing
Man-machine, 420 is the horizontal plane that takes off, and as seen from Figure 4, unmanned plane deviates takeoff setting and direction in take-off process.Fig. 5 is
Schematic diagram when a kind of unmanned plane in the embodiment of the present invention takes off, 510 is unmanned plane, and 520 is take off horizontal plane, 530 and 540
It is unmanned plane undercarriage, as seen from Figure 5, controls unmanned plane steadily to take off by the unmanned plane undercarriage after regulation.Fig. 6 is
Schematic diagram when a kind of unmanned plane in the embodiment of the present invention lands, 610 is unmanned plane, and 620 is take off horizontal plane, 630 and 640
It is unmanned plane undercarriage, as seen from Figure 6, unmanned plane stable landing is controlled by the unmanned plane undercarriage after regulation.
Example IV
Fig. 7 is a kind of structural representation of the control device of unmanned plane undercarriage that the embodiment of the present invention four is provided.The dress
Put a kind of control method of unmanned plane undercarriage that the offer of the embodiment of the present invention one to three is provided.The device is specifically wrapped
Include：
Information determine with acquisition module 710, for determining that unmanned plane rises and falls state, and obtain ginseng corresponding with the state of rising and falling
Each undercarriage and ground when number information, the attitude information when parameter information takes off including unmanned plane, and unmanned plane land
The distance between face information；
Adjusting module 720, the collapsing length for adjusting each undercarriage of unmanned plane according to the parameter information.
Further, adjusting module 720 includes：
First adjustment submodule, the flexible length for adjusting each undercarriage when unmanned plane takes off according to the attitude information
Degree；
Second adjustment submodule, the flexible length for adjusting each undercarriage when unmanned plane lands according to the range information
Degree.
Further, the attitude information of the unmanned plane includes：Yaw angle, the angle of pitch and roll angle.
Further, it is described first adjustment submodule specifically for:
When the yaw angle is more than first angle threshold value, or
When the angle of pitch is more than second angle threshold value, or
When the roll angle is more than third angle threshold value, the flexible length of each undercarriage when the unmanned plane takes off is adjusted
Degree.
Further, it is described second adjustment submodule specifically for：
The length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, wherein, institute
The distance between the first undercarriage and ground are stated more than the distance between the second undercarriage and ground；
When the distance between the first undercarriage and ground are equal to the distance between second undercarriage and ground, stop adjustment
The collapsing length of undercarriage.
The control device of unmanned plane undercarriage provided in an embodiment of the present invention can perform any embodiment of the present invention and be provided
Unmanned plane undercarriage control method, possess the corresponding functional module of execution method and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of control method of unmanned plane undercarriage, the unmanned plane includes at least two undercarriages, it is characterised in that described
Method includes：
Determine that unmanned plane rises and falls state, and obtain parameter information corresponding with the state of rising and falling, the parameter information includes unmanned plane
Attitude information when taking off, and the distance between each undercarriage and ground information during unmanned plane landing；
The collapsing length of each undercarriage of unmanned plane is adjusted according to the parameter information.
2. method according to claim 1, it is characterised in that described unmanned plane is adjusted according to the parameter information to play each
The collapsing length of frame of falling includes：
The collapsing length of each undercarriage when unmanned plane takes off is adjusted according to the attitude information；
The collapsing length of each undercarriage when unmanned plane lands is adjusted according to the range information.
3. method according to claim 2, it is characterised in that the attitude information of the unmanned plane includes：Yaw angle, pitching
Angle and roll angle.
4. method according to claim 3, it is characterised in that each is adjusted when unmanned plane takes off according to the attitude information
The collapsing length of undercarriage includes:
When the yaw angle is more than first angle threshold value, or
When the angle of pitch is more than second angle threshold value, or
When the roll angle is more than third angle threshold value, the collapsing length of each undercarriage when the unmanned plane takes off is adjusted.
5. method according to claim 2, it is characterised in that each is adjusted when unmanned plane lands according to the range information
The collapsing length of undercarriage includes：
The length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, wherein, described the
The distance between one undercarriage and ground are more than the distance between the second undercarriage and ground；
When the distance between the first undercarriage and ground are equal to the distance between second undercarriage and ground, stop adjustment and rise and fall
The collapsing length of frame.
6. a kind of control device of unmanned plane undercarriage, the unmanned plane includes at least two undercarriages, it is characterised in that described
Device includes：
Information determines and acquisition module, for determining that unmanned plane rises and falls state, and obtains parameter information corresponding with the state of rising and falling,
The attitude information when parameter information takes off including unmanned plane, and during unmanned plane landing between each undercarriage and ground
Range information；
Adjusting module, the collapsing length for adjusting each undercarriage of unmanned plane according to the parameter information.
7. device according to claim 6, it is characterised in that the adjusting module includes：
First adjustment submodule, the collapsing length for adjusting each undercarriage when unmanned plane takes off according to the attitude information；
Second adjustment submodule, the collapsing length for adjusting each undercarriage when unmanned plane lands according to the range information.
8. device according to claim 7, it is characterised in that the attitude information of the unmanned plane includes：Yaw angle, pitching
Angle and roll angle.
9. device according to claim 8, it is characterised in that the first adjustment submodule specifically for:
When the yaw angle is more than first angle threshold value, or
When the angle of pitch is more than second angle threshold value, or
When the roll angle is more than third angle threshold value, the collapsing length of each undercarriage when the unmanned plane takes off is adjusted.
10. device according to claim 7, it is characterised in that the second adjustment submodule specifically for：
The length of the first undercarriage is increased according to the range information and/or reduces the length of the second undercarriage, wherein, described the
The distance between one undercarriage and ground are more than the distance between the second undercarriage and ground；
When the distance between the first undercarriage and ground are equal to the distance between second undercarriage and ground, stop adjustment and rise and fall
The collapsing length of frame.
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| CN107323656A (en) * | 2017-08-23 | 2017-11-07 | 吉林省彬生蓝航天际无人机科技有限公司 | A kind of high definition is taken photo by plane unmanned plane undercarriage protector and the localization method that rises and falls |
| CN108423166A (en) * | 2018-05-14 | 2018-08-21 | 天长市星舟航空技术有限公司 | A kind of horizontal landing system of multi-rotor unmanned aerial vehicle |
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