CN111516895B - Accurate take-off and landing equipment for mooring unmanned aerial vehicle - Google Patents
Accurate take-off and landing equipment for mooring unmanned aerial vehicle Download PDFInfo
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- CN111516895B CN111516895B CN202010354864.9A CN202010354864A CN111516895B CN 111516895 B CN111516895 B CN 111516895B CN 202010354864 A CN202010354864 A CN 202010354864A CN 111516895 B CN111516895 B CN 111516895B
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- 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
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Abstract
The application provides accurate take-off and landing equipment of staying unmanned aerial vehicle belongs to unmanned aerial vehicle technical field. Accurate take off and land equipment of mooring unmanned aerial vehicle includes: the system comprises a mooring unmanned aerial vehicle and a take-off and landing platform, wherein the take-off and landing platform is connected with the mooring unmanned aerial vehicle through a mooring cable; the bottom of the mooring unmanned aerial vehicle is provided with a take-off and landing airborne end which is a cone or a truncated cone; the top of the take-off and landing platform is provided with a take-off and landing receiving end, the take-off and landing receiving end is provided with a groove matched with the shape of the take-off and landing machine carrying end, the groove is used for containing the take-off and landing machine carrying end, and the bottom end of the groove is provided with a through hole for the mooring cable to pass through. Through the shape fit of the take-off and landing airborne terminal and the take-off and landing receiving terminal, the accurate landing of the unmanned aerial vehicle can be realized when the landing deviation is large, and the landing safety is improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, particularly, relate to a accurate take off and land equipment of staying unmanned aerial vehicle.
Background
Mooring unmanned aerial vehicle on the present market, for example many rotor unmanned aerial vehicle itself does not have high expectations to the place of taking off and land, and its precision control is at 1 meter, and the leading cause that arouses the landing deviation is many rotor unmanned aerial vehicle's paddle at the landing in-process, and paddle decurrent lift and gravity interact and counteraction when being close ground are close more obvious (newton's third law) of ground effect to lead to unmanned aerial vehicle to descend and appear the deviation. The deviation is caused by interaction of forces, and can not meet the vehicle-mounted platform or a designated point with extremely high landing requirements through correction of RTK (Real-Time Kinematic) carrier phase differential technology equipment or other external equipment under the condition that conditions allow, but the existing tethered unmanned aerial vehicle generally has the problems of high possibility of equipment damage caused by landing deviation and low landing safety because related equipment is expensive and equipment use conditions are high.
Disclosure of Invention
In view of this, the purpose of this application embodiment is to provide an accurate take off and landing equipment of mooring unmanned aerial vehicle to improve the mooring unmanned aerial vehicle that exists among the prior art and have usually that the landing deviation leads to the problem that the possibility is great, the landing security is lower that the equipment damages.
The embodiment of the application provides accurate take-off and landing equipment for a tethered unmanned aerial vehicle, which comprises the tethered unmanned aerial vehicle and a take-off and landing platform, wherein the take-off and landing platform is connected with the tethered unmanned aerial vehicle through a tethered cable; the bottom of the mooring unmanned aerial vehicle is provided with a take-off and landing airborne end which is a cone or a truncated cone; the top of the take-off and landing platform is provided with a take-off and landing receiving end, the take-off and landing receiving end is provided with a groove matched with the shape of the take-off and landing machine carrying end, the groove is used for containing the take-off and landing machine carrying end, and the bottom end of the groove is provided with a through hole for the mooring cable to pass through.
In above-mentioned implementation, the recess of the take-off and landing machine that takes off and land machine through cone or frustum and shape matching carries the end and the take-off and land receiving terminal coordinates, when mooring unmanned aerial vehicle descends in the take-off and landing platform, because conical design characteristics, even descending process deviation is great, as long as do not surpass the scope of toper take-off and landing platform, can realize accurate descending to unmanned aerial vehicle descending accuracy and security have been improved.
Optionally, the area of the bottom surface of the airborne end of the take-off and landing machine is larger than the area of the bottom surface of the groove, and the difference value between the area of the bottom surface of the airborne end of the take-off and landing machine and the area of the bottom surface of the groove is within a preset range.
In above-mentioned implementation, when the bottom surface area of the airborne end of taking off and landing slightly is greater than the bottom surface area of recess, mooring unmanned aerial vehicle can increase descending area of contact when descending to reduce the requirement of descending to the accuracy, improve the descending security.
Optionally, a contact surface between the take-off and landing machine-mounted end and the take-off and landing receiving end is a first side surface, a contact surface between the take-off and landing receiving end and the take-off and landing machine-mounted end is a second side surface, and a friction member is arranged on the first side surface or the second side surface and used for improving friction force when the take-off and landing machine-mounted end is in contact with the take-off and landing receiving end.
In the implementation mode, friction is provided for the lifting machine-mounted end and the lifting receiving end through the friction part, and the equipment is prevented from being damaged due to the fact that the equipment is too fast in sliding speed when in landing contact.
Optionally, the friction member is at least one convex strip extending from the top surface to the bottom surface on the first side surface of the take-off and landing machine mounting end, or at least one convex strip extending from the top surface to the bottom surface on the second side surface of the take-off and landing receiving end; the take-off and landing receiving end further comprises a fan, an air outlet of the fan is located on the bottom surface of the groove, and the fan is used for supplying air to the take-off and landing airborne end along the direction perpendicular to the bottom surface of the groove.
In above-mentioned implementation, there is the space through the sand grip messenger take-off and land machine year end and take-off and land receiving terminal when the cooperation contacts, avoids the foreign matter to damage equipment surface material, adopts the fan to clean the foreign matter simultaneously, has guaranteed equipment stability.
Optionally, the bottom surface of the on-board end of the lifting machine or the bottom surface of the groove is provided with an elastic member with a preset length, so as to avoid rigid collision between the bottom surface of the on-board end of the lifting machine and the bottom surface of the groove.
In above-mentioned implementation, avoid mooring unmanned aerial vehicle because the landing speed takes place the rigidity collision when the platform descends that takes off and land through the elastic component, improved the security of taking off and land.
Optionally, the tethered drone further comprises a drone body for providing flight capability and an onboard load device for providing load capability.
In above-mentioned implementation, mooring unmanned aerial vehicle can have multiple functions through airborne load equipment, has improved mooring unmanned aerial vehicle's suitability.
Optionally, the mooring cable is composed of a power supply cable, an optical fiber and a kevlar fiber, and is used for transmitting electric energy and/or data between the mooring unmanned aerial vehicle and the take-off and landing platform.
In above-mentioned implementation, the mooring cable that comprises power supply cable, optic fibre and kevlar fibre can make the transmission function that takes off and land the platform and provide electric energy and data to mooring unmanned aerial vehicle simultaneously, and has better stability.
Optionally, a winch and a stress sensor are arranged in the landing platform, the mooring cable is wound on the winch, the winch is used for increasing the release length of the mooring cable when the stress sensor obtains that the tension of the mooring cable is greater than a preset threshold value, maintaining the release length of the mooring cable when the stress sensor obtains that the tension of the mooring cable is equal to the preset threshold value, and decreasing the release length of the mooring cable when the stress sensor obtains that the tension of the mooring cable is less than the preset threshold value.
In above-mentioned implementation, release and withdraw mooring cable based on the sensor, can effectively avoid the winding problem that mooring cable overlength produced, improved mooring unmanned aerial vehicle's security.
Optionally, a buckle is arranged at the top of the take-off and landing platform and used for fixing the tethered unmanned aerial vehicle parked on the take-off and landing platform.
In the above implementation mode, the mooring unmanned aerial vehicle parked on the take-off and landing platform is fixed through the buckle, so that the parking stability of the mooring unmanned aerial vehicle is improved.
Optionally, the take-off and landing platform is provided on a mobile vehicle.
In above-mentioned implementation, the platform of taking off and land sets up based on vehicles such as car, can improve the flexibility of mooring unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an accurate take-off and landing device for a tethered unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a tethered drone provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a take-off and landing platform according to an embodiment of the present application.
Icon: 10-mooring an unmanned aerial vehicle accurate take-off and landing device; 11-mooring the unmanned aerial vehicle; 111-unmanned aerial vehicle body; 112-an onboard load device; 113-a take-off and landing airborne terminal; 12-a take-off and landing platform; 121-a take-off and landing receiving end; 122-a scaffold; 123-mooring the cable.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
In recent years, along with the progress of artificial intelligence and advanced manufacturing technology, the application range of the unmanned aerial vehicle is continuously expanded. Besides military use, the unmanned aerial vehicle has good application in civil fields such as agricultural plant protection, power inspection, police law enforcement, geological exploration, environment monitoring, forest fire prevention, environment monitoring, emergency rescue, film and television aerial photography, and the application scene and the use mode of the unmanned aerial vehicle are also in rapid iteration.
The unmanned aerial vehicle has the advantages of being free of human intervention, capable of being deployed rapidly and the like, and is widely applied to various fields. However, the endurance of the drone is short, which limits the large-scale application of the drone. Most unmanned aerial vehicles all adopt an airborne rechargeable lithium battery, and the endurance time rarely exceeds 1 hour. But in some fields, for example field control, field commander etc. require that unmanned aerial vehicle can leave empty operation for a long time. Therefore, the unmanned aerial vehicle powered by the ground power supply through the wire, namely the tethered unmanned aerial vehicle, can be transported as needed.
Mooring unmanned aerial vehicle, also known as mooring unmanned aerial vehicle, for many rotor unmanned aerial vehicle's a special form, use the ground power supply through mooring cable transmission as power source, replace traditional power battery, the leading characteristics are long-time stagnation and hang the ability of stopping. At present, a tethered unmanned aerial vehicle on the market can supply power through a ground generator, 24-hour all-weather stagnation can be realized, the tethered unmanned aerial vehicle works continuously for 72 hours, and hovers at a fixed point of 200 meters, so that the tethered unmanned aerial vehicle is widely applied to a plurality of wide fields of disaster relief and rescue, border patrol, base safety, scenic spot monitoring, geological survey, field operation, forest fire prevention, emergency communication, public security anti-terrorism, traffic supervision, news interview, engineering monitoring, environment monitoring, movie and television shooting, scientific research, national defense war industry and the like.
But mooring unmanned aerial vehicle ground take-off and landing platform and vehicle-mounted platform all use the plane mode of taking off and landing at present, and the plane mode of taking off and landing is close to the landing point more at the landing in-process, receives the influence of ground effect big more, and the risk that exists is also big more at the landing in-process, and airborne equipment is generally all more expensive, in case the accident appears, economic loss is great. And current unmanned aerial vehicle platform of taking off and land is mostly planar platform, needs unmanned aerial vehicle and the accurate cooperation of platform just can accomplish the descending, and the control accuracy requirement to unmanned aerial vehicle is high, or need carry out accurate location through other external equipment such as RTK and love can satisfy the descending accuracy, but relevant equipment is comparatively expensive, moors unmanned aerial vehicle under most circumstances and does not be equipped with relevant equipment, consequently has the descending precision not enough, descends the relatively poor and relatively poor problem of descending back stability of security.
In order to solve the above problem, the embodiment of the present application provides an accurate take-off and landing equipment 10 for staying an unmanned aerial vehicle. Referring to fig. 1, fig. 1 is a schematic structural diagram of a precise take-off and landing device for a tethered unmanned aerial vehicle according to an embodiment of the present application.
The accurate take-off and landing equipment 10 of mooring unmanned aerial vehicle comprises a mooring unmanned aerial vehicle 11 and a take-off and landing platform 12, the take-off and landing platform 12 is electrically connected with the mooring unmanned aerial vehicle 11 through a cable, and the mooring unmanned aerial vehicle 11 is stably placed on the take-off and landing platform 12 before taking off or after landing.
Please refer to fig. 2, fig. 2 is a schematic structural diagram of a tethered drone according to an embodiment of the present application.
The tethered drone 11 includes a drone body 111, an onboard load device 112, and a takeoff and landing onboard end 113. Be provided with airborne load equipment 112 on unmanned aerial vehicle organism 111, both connect through screw thread, hinge, buckle or other fixed connection modes, or unmanned aerial vehicle organism 111 and airborne load equipment 112 integrated into one piece.
Unmanned aerial vehicle organism 111 is used for providing the flight function for mooring unmanned aerial vehicle 11, usually for mooring the common many rotor unmanned aerial vehicle among the unmanned aerial vehicle, and unmanned aerial vehicle organism 111 can also be the unmanned aerial vehicle of types such as VTOL fixed wing, small-size electronic unmanned helicopter in other embodiments.
The onboard load devices 112 are used for performing one or more functions, such as photoelectric pod, photoelectric cradle head, mobile base station onboard device, interference device, etc., and the onboard load devices 112 in different tethered drones 11 can flexibly adjust the load capacity and the load mode according to specific load types.
Because mooring unmanned aerial vehicle 11 is in the top of taking off and landing platform 12 under the flight condition, the airborne end 113 of taking off and landing sets up in mooring unmanned aerial vehicle 11's bottom and is more convenient for mooring unmanned aerial vehicle 11's taking off and landing and the setting of cable.
The take-off and landing onboard end 113 may be a cone or frustum fixed to the bottom of the tethered drone 11 by a hinge, threaded connection, snap-fit connection, or other connection. Specifically, the bottom surface of the cone or the bottom surface with a large frustum area is fixedly connected with the bottom of the mooring drone 11, for example, when the airborne load equipment 112 is located below the drone body 111, the bottom surface of the cone or the bottom surface with a large frustum area is fixedly connected with the bottom of the airborne load equipment 112. Optionally, the take-off and landing airborne terminal 113 may also be directly connected to the unmanned aerial vehicle body 111 through a bracket or the like, but the position of the take-off and landing airborne terminal 113 is the bottommost part of the whole mooring unmanned aerial vehicle 11, so that the take-off and landing airborne terminal 113 cooperates with the take-off and landing platform 12 to complete the take-off and landing actions of the mooring unmanned aerial vehicle 11.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a take-off and landing platform according to an embodiment of the present disclosure.
The take-off and landing platform 12 comprises a take-off and landing receiving end 121, a bracket 122 and a mooring cable 123, wherein the take-off and landing receiving end 121 is located at the top of the take-off and landing platform 12 so as to cooperate with the take-off and landing aircraft-mounted end 113 to complete the take-off and landing of the mooring unmanned aerial vehicle 11. The support 122 is located at the bottom of the landing platform 12, and may be integrally formed with the landing platform 12 or fixedly connected by means of a hinge, a thread, or the like, for fixing the landing platform 12 on an object such as a mobile transportation device or a floor. The mooring cable 123 extends through the take-off and landing receiver 121 and is connected to the mooring drone 11.
The take-off and landing receiving end 121 is provided with a groove matched with the shape of the take-off and landing aircraft carrying end 113, for example, when the take-off and landing aircraft carrying end 113 is a truncated cone with a smaller area and a downward bottom surface, the groove is also a truncated cone with a smaller area and a downward bottom surface, and the mooring cable 123 can penetrate through the through hole from the bottom surface of the groove to be connected to the mooring unmanned aerial vehicle 11.
Optionally, the bottom surface area of the take-off and landing airborne end 113 is slightly larger than the bottom surface area of the groove, and the difference between the two bottom surface areas is within a preset range, specifically, the preset range should make the diameter difference between the two bottom surfaces on the centimeter or decimeter level, and the specific numerical value can be adjusted according to the overall size of the accurate take-off and landing equipment 10 of the tethered unmanned aerial vehicle. Further, in order to guarantee that the airborne end 113 of taking off and landing can almost wholly cooperate to stably block into the groove, the top surface area of the airborne end 113 of taking off and landing should be greater than the bottom surface area of the groove, so that when the mooring unmanned aerial vehicle 11 does not need to use auxiliary positioning equipment to land, even if the landing process deviation is large, as long as the range of the airborne end 113 of taking off and landing and the groove is not exceeded, accurate landing can also be realized.
Need take off and land aircraft and carry end 113 and take off and land receiving terminal 121 cooperation and accomplish whole descending process when mooring unmanned aerial vehicle 11 descends, take off and land aircraft and carry end 113 and take off and land receiving terminal 121's contact surface friction when too little, may have mooring unmanned aerial vehicle 11 whereabouts speed too fast striking take off and land receiving terminal 121 and cause the problem of equipment damage. Therefore, one or two of the first side face in the take-off and landing airborne end 113 in contact with the take-off and landing receiving end 121 and the second side face in the take-off and landing receiving end 121 in contact with the take-off and landing airborne end 113 are provided with friction parts for improving the relative friction force between the take-off and landing airborne end 113 and the take-off and landing receiving end 121, and avoiding the mooring unmanned aerial vehicle 11 from falling too fast. Alternatively, the friction member may be a non-slip texture etched on the first side or the second side, a non-slip rubber coated on the first side or the second side, or the like.
Further, in order to prevent the landing gear carrier end 113 from rigidly colliding with the landing gear receiving end 121, in addition to the friction member, an elastic member with a predetermined length may be disposed on the bottom surface of the groove of the landing gear receiving end 121. The predetermined length should be such that the resilient member does not touch the bottom surface of the take-off and landing carrier end 113 of the tethered drone 11 that normally lands on the take-off and landing receiver end 121. In addition, the friction member may be made of a material having a certain elasticity, such as a spring, a rubber strip, or the like.
It should be understood that, in addition to rigid collisions, there is also a possibility that the surfaces of the equipment may be scratched by hard particles between the contact surfaces, and so on, between the take-off and landing carrier end 113 and the take-off and landing receiver end 121, and therefore, the first side surface or the second side surface in this embodiment may be provided with at least one rib extending from the top surface to the bottom surface of the contact surfaces. Alternatively, the protruding strips may be formed of a protruding point or the like that can support a gap between the lifting/lowering machine-side end 113 and the lifting/lowering receiving end 121.
Further, in order to remove the foreign matters between the lifting machine carrying end 113 and the lifting receiving end 121, the lifting receiving end 121 may further be provided with a fan, an air outlet of the fan is located on a bottom surface of a groove of the lifting receiving end 121, the fan supplies air to the lifting machine carrying end 113 along a direction perpendicular to the bottom surface of the groove, and the foreign matters in a gap between the lifting machine carrying end 113 and the lifting receiving end 121 are blown out of a contact surface.
The landing platform 12 usually further includes a ground power supply device, the high-voltage direct current provided by the ground power supply device is transmitted to the tethered unmanned aerial vehicle 11 through the tethered cable 123, and the power supply device at the end of the tethered unmanned aerial vehicle 11 reduces the high-voltage current to a voltage range usable by the unmanned aerial vehicle to supply power to the electrical elements in the tethered unmanned aerial vehicle 11.
The support 122 may be integrally disposed on the lifting platform 12, or may be fixed at the top end thereof to the lower portion of the lifting platform 12 by means of screw connection, snap connection, welding, or the like, and fixed at the bottom end thereof to the ground or a mobile transportation device.
Optionally, the bracket 122 may be hollowed out, so that the weight of the bracket is reduced on the basis of ensuring the strength, so that general impurities can be removed from the gap or the hollow.
Wherein, mooring cable 123 can be connected on mooring unmanned aerial vehicle 11's the machine of taking off and land carries end 113, carries end 113 with electric energy or data transmission to unmanned aerial vehicle organism 111 and machine and carries load equipment 112 through taking off and land, also can be along the axis that takes off and land the machine carries end 113 and seted up the through-hole that runs through, mooring cable 123 passes through this through-hole that runs through that the machine carries end 113 and unmanned aerial vehicle organism 111 and machine carries load equipment 112 and is connected electrically.
Alternatively, the mooring cable 123 is composed of a power supply cable, an optical fiber, and a kevlar fiber, and data and electric power can be transmitted while ensuring the tensile force and stability of the mooring cable 123.
In this embodiment, the landing platform 12 may further be provided with a winch and a stress sensor, the mooring cable 123 is wound on the winch, the winch is configured to increase the release length of the mooring cable 123 when the stress sensor obtains that the tension of the mooring cable 123 is greater than a preset threshold value, maintain the release length of the mooring cable 123 when the stress sensor obtains that the tension of the mooring cable 123 is equal to the preset threshold value, and decrease the release length of the mooring cable 123 when the stress sensor obtains that the tension of the mooring cable 123 is less than the preset threshold value.
The force sensor may be a tension sensor, and the predetermined threshold value is generally the tension applied to the mooring cable 123 during idle suspension.
Specifically, when the mooring cable 123 is in the winch and the mooring cable 123 is pulled upwards by the mooring unmanned aerial vehicle 11, the force sensor receives a tensioning signal of the mooring cable 123, the force sensor generates a wire loosening signal, and the mooring unmanned aerial vehicle 11 pulls the mooring cable 123 to fly to high altitude; when the tethered unmanned aerial vehicle 11 does not rise any more, the force sensor stops sending signals, the length of the tethered cable 123 and the height of the tethered unmanned aerial vehicle 11 are kept unchanged, and the working mode is entered; when the mooring unmanned aerial vehicle 11 descends downwards, the force sensor receives a loosening signal of the mooring cable 123, the winch takes up the wire at the maximum speed of 2 m/s.
As an alternative embodiment, the landing platform 12 may be located on the ground as well as on a vehicle, vessel, or other mobile vehicle.
The landing platform 12 is fixedly connected to the upward facing surface of the mobile vehicle via the bracket 122. in the case of a wagon-type vehicle, the landing platform 12 may be fixed to the outer surface of the ceiling of the rear compartment of the wagon via the bracket 122, and the lower end of the bracket 122 may be welded to the outer surface of the ceiling.
It should be understood that, considering the overall mobility and flexibility of the precise take-off and landing equipment 10 of the tethered unmanned aerial vehicle in this embodiment, both the tethered unmanned aerial vehicle 11 and the take-off and landing platform 12 can adopt partially hollowed-out designs, so as to reduce the overall weight.
In summary, the embodiment of the application provides a mooring unmanned aerial vehicle accurate take-off and landing device, which comprises a mooring unmanned aerial vehicle and a take-off and landing platform, wherein the take-off and landing platform is connected with the mooring unmanned aerial vehicle through a mooring cable; the bottom of the mooring unmanned aerial vehicle is provided with a take-off and landing airborne end which is a cone or a truncated cone; the top of the take-off and landing platform is provided with a take-off and landing receiving end, the take-off and landing receiving end is provided with a groove matched with the shape of the take-off and landing machine carrying end, the groove is used for containing the take-off and landing machine carrying end, and the bottom end of the groove is provided with a through hole for the mooring cable to pass through.
In above-mentioned implementation, the recess of the take-off and landing machine that takes off and land machine through cone or frustum and shape matching carries the end and the take-off and land receiving terminal coordinates, when mooring unmanned aerial vehicle descends in the take-off and landing platform, because conical design characteristics, even descending process deviation is great, as long as do not surpass the scope of toper take-off and landing platform, can realize accurate descending, need not adopt expensive auxiliary positioning equipment can be with descending error control in 0.1 meter's within range, thereby unmanned aerial vehicle descending accuracy and security have been improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. The accurate take-off and landing equipment for the tethered unmanned aerial vehicle is characterized by comprising the tethered unmanned aerial vehicle and a take-off and landing platform, wherein the take-off and landing platform is connected with the tethered unmanned aerial vehicle through a mooring cable;
the bottom of the mooring unmanned aerial vehicle is provided with a take-off and landing airborne end which is a cone or a truncated cone;
the top of the lifting platform is provided with a lifting receiving end, the lifting receiving end is provided with a groove matched with the shape of the lifting machine carrying end, the groove is used for accommodating the lifting machine carrying end, and the bottom end of the groove is provided with a through hole for the mooring cable to pass through;
the contact surface between the take-off and landing machine-mounted end and the take-off and landing receiving end is a first side surface, the contact surface between the take-off and landing receiving end and the take-off and landing machine-mounted end is a second side surface, and a friction part is arranged on the first side surface or the second side surface and used for improving the friction force when the take-off and landing machine-mounted end is contacted with the take-off and landing receiving end;
the friction part is at least one convex strip extending from the top surface to the bottom surface on the first side surface of the take-off and landing machine carrying end, or at least one convex strip extending from the top surface to the bottom surface on the second side surface of the take-off and landing receiving end;
the take-off and landing receiving end further comprises a fan, an air outlet of the fan is located on the bottom surface of the groove, and the fan is used for supplying air to the take-off and landing airborne end along the direction perpendicular to the bottom surface of the groove.
2. The apparatus of claim 1, wherein the ground area of the landing vehicle-mounted end is larger than the ground area of the groove, and the difference between the ground area of the landing vehicle-mounted end and the ground area of the groove is within a preset range.
3. The apparatus according to claim 1, wherein the bottom surface of the on-board take-off and landing end or the bottom surface of the groove is provided with an elastic member having a predetermined length for preventing the bottom surface of the on-board take-off and landing end from rigidly colliding with the bottom surface of the groove.
4. The apparatus of claim 1, wherein the tethered drone further comprises a drone body for providing flight capability and an onboard load device.
5. The apparatus of claim 1, wherein the tethered cable is comprised of a power supply cable, an optical fiber, and Kevlar fiber for power and data transfer between the tethered drone and the take-off and landing platform.
6. The apparatus according to claim 1 or 4, wherein a winch and a force sensor are arranged in the landing platform, the mooring cable is wound on the winch, the winch is used for increasing the release length of the mooring cable when the tension sensor acquires that the tension of the mooring cable is larger than a preset threshold value, maintaining the release length of the mooring cable when the tension sensor acquires that the tension of the mooring cable is equal to the preset threshold value, and reducing the release length of the mooring cable when the tension sensor acquires that the tension of the mooring cable is smaller than the preset threshold value.
7. The apparatus of claim 1, wherein a top of the landing platform is provided with a buckle for fixing a tethered drone parked on the landing platform.
8. The apparatus of claim 1, wherein the take-off and landing platform is disposed on a mobile vehicle.
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| CN112478190B (en) * | 2020-11-17 | 2022-12-09 | 上海交通大学 | Recovery and arrangement device for shipborne mooring unmanned aerial vehicle and autonomous take-off and landing control method |
| CN112389593A (en) * | 2020-11-17 | 2021-02-23 | 上海交通大学 | Unmanned sea-air three-dimensional monitoring ship driven by wind energy and solar energy in hybrid mode |
| CN113495579B (en) * | 2021-09-08 | 2021-11-30 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
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